adhoc

completed
2026-09-22T23:05:52.422328+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
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
742.8 s
total steps
336
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles lie on their sides in the middle of the table, caps pointing up-left in the top view. I am moving the left arm above the leftmost bottle to get a wrist-camera look and calibrate my position estimate.
move_to
left_x0.3800left_y-0.1600left_z0.2500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7925, 0.6067, -0.3782, -0.0227, -0.0288, 0.9986, -0.0204, 0.7883, 0.6037, -0.3855, -0.0128, -0.017, 0.9998] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.182 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=-0.0001 right_z=0.1802 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.3487, -1.388, 9.7846, 1.8535, -0.0171, 0.105, -0.1538, -0.6496, -0.9094, 10.2632, 1.8437, -0.1294, 0.0415, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.16, "left_z": 0.25, "left_gripper": 1.0}, "note": "Three bottles lie on their sides in the middle of the table, caps pointing up-left in the top view. I am moving the left arm above the leftmost bottle to get a wrist-camera look and calibrate my position estimate."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteWrist view shows all three bottles lying with caps pointing away/up-right. Descending to 12 cm over the leftmost bottle's neck area to get a closer, better-scaled look before grasping the neck.
move_to
left_x0.4000left_y-0.1200left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6132, 1.3827, 1.169, -0.4801, -0.4889, -0.3763, 0.9988, -0.0212, 0.794, 0.6033, -0.4038, -0.0124, -0.017, 0.9998] state[eef_state]: left_x=0.3742 left_y=-0.1575 left_z=0.2337 left_yaw=-0.0204 left_pitch=-0.0361 left_roll=0.0084 left_gripper=0.9988 right_x=0.2915 right_y=-0.0004 right_z=0.1747 right_yaw=-0.0008 right_pitch=-0.0244 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.2667, -5.9692, 9.347, 1.5604, -0.4811, -0.1001, -0.1294, -0.1162, -1.5385, 7.2821, 1.8486, -0.0415, -0.0317, -0.0122] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.12, "left_z": 0.12}, "note": "Wrist view shows all three bottles lying with caps pointing away/up-right. Descending to 12 cm over the leftmost bottle's neck area to get a closer, better-scaled look before grasping the neck."})
tool
executing move_to over 8 steps (0.8s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe wrist view shows a bottle's blue cap and neck up and to the right of the jaw column; shifting ~4 cm right and 3 cm forward, down to 7 cm, to line the jaws up over that neck.
move_to
left_x0.4200left_y-0.1550left_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4618, 1.4727, 0.7689, 0.028, -0.3916, -0.2871, 0.9985, -0.0212, 0.7845, 0.5823, -0.3969, -0.012, -0.0174, 0.9998] state[eef_state]: left_x=0.3915 left_y=-0.1155 left_z=0.1161 left_yaw=0.0051 left_pitch=-0.0529 left_roll=0.0195 left_gripper=0.9985 right_x=0.2892 right_y=-0.0004 right_z=0.1691 right_yaw=-0.0009 right_pitch=-0.029 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.4991, -5.9145, 6.3795, 1.8779, -0.1099, 0.2027, -0.0513, -0.3761, -1.8393, 6.735, 1.9756, -0.0415, -0.0806, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.155, "left_z": 0.07}, "note": "The wrist view shows a bottle's blue cap and neck up and to the right of the jaw column; shifting ~4 cm right and 3 cm forward, down to 7 cm, to line the jaws up over that neck."})
tool
executing move_to over 4 steps (0.4s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe blue cap and neck now sit on the jaw column but high in the wrist frame, meaning the neck is still a few cm beyond the fingertips; advancing 4 cm at a safe 10 cm height so I can then drop straight onto the neck.
move_to
left_x0.4500left_y-0.1520left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5323, 1.7206, 0.7555, 0.2695, -0.4316, -0.3256, 0.9983, -0.0212, 0.7712, 0.5537, -0.3885, -0.012, -0.017, 0.9998] state[eef_state]: left_x=0.4058 left_y=-0.1491 left_z=0.0582 left_yaw=-0.0121 left_pitch=-0.0577 left_roll=0.0199 left_gripper=0.9983 right_x=0.2858 right_y=-0.0003 right_z=0.1614 right_yaw=-0.0011 right_pitch=-0.0359 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.3761, -6.7761, 8.0342, 1.1502, -0.4127, 0.1148, -0.0269, -0.3761, -1.6479, 6.9675, 1.9756, -0.0562, -0.0708, -0.0073] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.152, "left_z": 0.1}, "note": "The blue cap and neck now sit on the jaw column but high in the wrist frame, meaning the neck is still a few cm beyond the fingertips; advancing 4 cm at a safe 10 cm height so I can then drop straight onto the neck."})
tool
executing move_to over 4 steps (0.4s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe arm is falling ~3 cm short of commanded x at this low height (reach limit with the tool vertical), and the bottle's cap sits right of the jaw column; rising to 15 cm and reaching further out/right to hover over the neck.
move_to
left_x0.4700left_y-0.1800left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5201, 1.7393, 0.7654, 0.3332, -0.4416, -0.3328, 0.9983, -0.0212, 0.7544, 0.5205, -0.374, -0.012, -0.017, 0.9998] state[eef_state]: left_x=0.4176 left_y=-0.1481 left_z=0.0662 left_yaw=0.0111 left_pitch=-0.007 left_roll=-0.0084 left_gripper=0.9983 right_x=0.2826 right_y=-0.0003 right_z=0.1536 right_yaw=-0.0011 right_pitch=-0.0378 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [-0.0889, -8.6222, 5.0256, 1.7753, -0.0513, 0.2222, -0.0122, -0.1436, -1.7846, 6.8171, 2.0635, -0.0708, -0.0464, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.18, "left_z": 0.15}, "note": "The arm is falling ~3 cm short of commanded x at this low height (reach limit with the tool vertical), and the bottle's cap sits right of the jaw column; rising to 15 cm and reaching further out/right to hover over the neck."})
tool
executing move_to over 6 steps (0.6s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe last command produced no motion at all — the arm is stalled at its reach limit with the tool vertical. Retreating back and up to 20 cm to recover a well-conditioned pose.
move_to
left_x0.3600left_y-0.1500left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5201, 1.7393, 0.7654, 0.3332, -0.4416, -0.329, 0.9983, -0.0212, 0.7345, 0.4843, -0.358, -0.012, -0.017, 0.9998] state[eef_state]: left_x=0.4176 left_y=-0.1481 left_z=0.0662 left_yaw=0.009 left_pitch=-0.0071 left_roll=-0.0052 left_gripper=0.9983 right_x=0.279 right_y=-0.0002 right_z=0.1456 right_yaw=-0.0011 right_pitch=-0.0381 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1709, -8.5402, 5.012, 1.7509, -0.0952, 0.1734, -0.0122, -0.3761, -1.6205, 6.9949, 2.0537, -0.0269, -0.0562, -0.0122] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.15, "left_z": 0.2}, "note": "The last command produced no motion at all \u2014 the arm is stalled at its reach limit with the tool vertical. Retreating back and up to 20 cm to recover a well-conditioned pose."})
tool
executing move_to over 9 steps (0.9s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteAll three bottles lie with caps pointing away from the arms, and their necks are just past the left arm's vertical-tool reach. Plan: grab the middle bottle mid-body, carry it closer to the base, set it down, then lift it by the neck so it swings upright. Hovering over the middle bottle's body now.
move_to
left_x0.4100left_y-0.1700left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6323, 1.3571, 0.9138, -0.234, -0.5179, -0.4004, 0.9983, -0.0212, 0.7113, 0.4477, -0.3401, -0.0124, -0.017, 0.9998] state[eef_state]: left_x=0.3647 left_y=-0.1543 left_z=0.1792 left_yaw=-0.0041 left_pitch=-0.012 left_roll=-0.006 left_gripper=0.9983 right_x=0.2755 right_y=-0.0001 right_z=0.1385 right_yaw=-0.0008 right_pitch=-0.0336 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [-0.3487, -7.0359, 9.6615, 1.5897, -0.442, 0.0024, -0.0122, -0.2256, -1.2513, 7.1453, 1.956, -0.0611, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.17, "left_z": 0.1}, "note": "All three bottles lie with caps pointing away from the arms, and their necks are just past the left arm's vertical-tool reach. Plan: grab the middle bottle mid-body, carry it closer to the base, set it down, then lift it by the neck so it swings upright. Hovering over the middle bottle's body now."})
tool
executing move_to over 6 steps (0.6s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe middle bottle is now centred on the jaw column in the wrist view, lying with its cap away; descending to bottle-axis height to straddle its body just below the label.
move_to
left_x0.4150left_y-0.1780left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5938, 1.6409, 0.8448, 0.0765, -0.503, -0.3893, 0.9983, -0.0212, 0.6914, 0.4168, -0.3244, -0.012, -0.017, 0.9998] state[eef_state]: left_x=0.3994 left_y=-0.1625 left_z=0.0942 left_yaw=0.0177 left_pitch=-0.0521 left_roll=0.02 left_gripper=0.9983 right_x=0.2727 right_y=-0.0001 right_z=0.1327 right_yaw=-0.0011 right_pitch=-0.029 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [0.4171, -7.3231, 6.2427, 1.6728, -0.0904, 0.2906, -0.0122, -0.2256, -1.1419, 6.9265, 1.917, -0.0317, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.415, "left_y": -0.178, "left_z": 0.03}, "note": "The middle bottle is now centred on the jaw column in the wrist view, lying with its cap away; descending to bottle-axis height to straddle its body just below the label."})
tool
executing move_to over 5 steps (0.5s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe bottle sits centred between the open jaws in the wrist view; closing to ~3.8 cm to grip its body firmly without crushing it.
move_to
left_gripper0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.614, 1.8538, 0.7868, 0.4507, -0.5167, -0.403, 0.9983, -0.0212, 0.6777, 0.3916, -0.3138, -0.012, -0.017, 0.9998] state[eef_state]: left_x=0.4179 left_y=-0.1834 left_z=0.0508 left_yaw=0.0152 left_pitch=0.037 left_roll=-0.0447 left_gripper=0.9983 right_x=0.2702 right_y=-0.0 right_z=0.1268 right_yaw=-0.0011 right_pitch=-0.0298 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [0.0889, -6.2291, 5.4906, 0.5495, -0.3004, 0.2125, -0.0171, -0.1846, -1.2923, 7.0222, 1.9512, -0.0415, -0.0464, -0.0122] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.4}, "note": "The bottle sits centred between the open jaws in the wrist view; closing to ~3.8 cm to grip its body firmly without crushing it."})
tool
executing move_to over 6 steps (0.6s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteGripper settled at 0.41 (~3.9 cm), suggesting it has caught the bottle's tapered shoulder/neck rather than the fat body. Lifting to 25 cm to see whether the bottle comes up and how it hangs.
move_to
left_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6186, 1.8584, 0.8249, 0.4133, -0.5396, -0.4183, 0.4069, -0.0212, 0.6601, 0.3664, -0.2981, -0.0124, -0.017, 0.9998] state[eef_state]: left_x=0.4232 left_y=-0.1854 left_z=0.0568 left_yaw=0.0369 left_pitch=0.0416 left_roll=-0.045 left_gripper=0.4069 right_x=0.2683 right_y=0.0001 right_z=0.1229 right_yaw=-0.0008 right_pitch=-0.0217 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.1162, -8.9504, 5.9692, 0.9939, -0.0855, 0.2906, 0.1832, -0.2256, -0.8, 7.0632, 1.8926, -0.0366, -0.0757, -0.0122] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "Gripper settled at 0.41 (~3.9 cm), suggesting it has caught the bottle's tapered shoulder/neck rather than the fat body. Lifting to 25 cm to see whether the bottle comes up and how it hangs."})
tool
executing move_to over 13 steps (1.3s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe close was empty — the bottle was beyond my fingertips even though it looked centred in the wrist view. Reopening and testing whether the arm can reach 3 cm further out (x=0.46) at 10 cm height.
move_to
left_x0.4600left_y-0.1900left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6186, 1.6371, 1.3582, -0.4313, -0.5472, -0.424, 0.4071, -0.0212, 0.6514, 0.347, -0.2909, -0.012, -0.017, 0.9998] state[eef_state]: left_x=0.4278 left_y=-0.1873 left_z=0.2218 left_yaw=0.0456 left_pitch=-0.0267 left_roll=0.009 left_gripper=0.4071 right_x=0.2663 right_y=0.0001 right_z=0.1177 right_yaw=-0.0011 right_pitch=-0.0252 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.4444, -10.8923, 9.2239, 1.5995, -0.2662, 0.0806, 0.0171, -0.3761, -0.8274, 7.4325, 1.9023, -0.022, -0.0415, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.19, "left_z": 0.1, "left_gripper": 1.0}, "note": "The close was empty \u2014 the bottle was beyond my fingertips even though it looked centred in the wrist view. Reopening and testing whether the arm can reach 3 cm further out (x=0.46) at 10 cm height."})
tool
executing move_to over 8 steps (0.8s)
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 noteReach to x=0.45 works at 10 cm. The bottle body now runs off the bottom of the wrist frame, so its mid-body is roughly under the fingertips; shifting 2.8 cm left to line the body axis up with the jaw column and descending to body-centre height.
move_to
left_y-0.1620left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5838, 1.8389, 1.103, 0.0261, -0.5312, -0.3965, 0.9965, -0.0212, 0.6365, 0.3241, -0.2901, -0.012, -0.017, 0.9998] state[eef_state]: left_x=0.4523 left_y=-0.1873 left_z=0.1018 left_yaw=0.0532 left_pitch=-0.0331 left_roll=0.0233 left_gripper=0.9965 right_x=0.2627 right_y=0.0001 right_z=0.111 right_yaw=-0.0011 right_pitch=-0.0324 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [0.5812, -9.0051, 5.8188, 1.7607, -0.1001, 0.0904, -0.0317, -0.1026, -0.8137, 6.9265, 1.9805, -0.0513, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.162, "left_z": 0.035}, "note": "Reach to x=0.45 works at 10 cm. The bottle body now runs off the bottom of the wrist frame, so its mid-body is roughly under the fingertips; shifting 2.8 cm left to line the body axis up with the jaw column and descending to body-centre height."})
tool
executing move_to over 5 steps (0.5s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteJaws are straddling the bottle's lower body at table height; closing to ~3.3 cm to squeeze the plastic body and get a firm grip.
move_to
left_gripper0.3500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.532, 1.9373, 0.9195, 0.3401, -0.4969, -0.3798, 0.997, -0.0212, 0.614, 0.2951, -0.2794, -0.012, -0.017, 0.9998] state[eef_state]: left_x=0.4496 left_y=-0.1628 left_z=0.0403 left_yaw=0.0687 left_pitch=-0.0199 left_roll=0.0007 left_gripper=0.997 right_x=0.2597 right_y=0.0002 right_z=0.1055 right_yaw=-0.0011 right_pitch=-0.0282 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [0.4581, -7.9248, 4.7521, 1.663, -0.1245, 0.1294, 0.0464, -0.1983, -0.6222, 6.8991, 1.9219, -0.0073, -0.0464, -0.0073] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.35}, "note": "Jaws are straddling the bottle's lower body at table height; closing to ~3.3 cm to squeeze the plastic body and get a firm grip."})
tool
executing move_to over 7 steps (0.7s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteJaws are closed around the bottle's lower body; lifting to 20 cm to check in the overhead view whether the bottle came with them.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5285, 1.9465, 0.9077, 0.4709, -0.4973, -0.3668, 0.3562, -0.0212, 0.5991, 0.2699, -0.2687, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4614 left_y=-0.1677 left_z=0.0559 left_yaw=0.0671 left_pitch=0.0711 left_roll=-0.0498 left_gripper=0.3562 right_x=0.2573 right_y=0.0003 right_z=0.0997 right_yaw=-0.0013 right_pitch=-0.0278 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [0.5538, -8.2803, 4.7248, 0.9011, -0.0122, 0.0952, 0.2759, -0.253, -0.7179, 6.9265, 1.9267, -0.0464, -0.0317, -0.0073] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "Jaws are closed around the bottle's lower body; lifting to 20 cm to check in the overhead view whether the bottle came with them."})
tool
executing move_to over 10 steps (1.0s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteSecond empty close — I need a direct look at where the open jaws sit relative to the bottle. Reopening and returning to table height at the same x,y so the overhead camera shows the jaw/bottle offset.
move_to
left_gripper1.0000left_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5297, 1.7294, 1.2613, -0.1921, -0.5049, -0.3717, 0.3556, -0.0212, 0.5804, 0.2451, -0.2642, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4635 left_y=-0.1682 left_z=0.1781 left_yaw=0.073 left_pitch=-0.0027 left_roll=0.0016 left_gripper=0.3556 right_x=0.2542 right_y=0.0003 right_z=0.0938 right_yaw=-0.0013 right_pitch=-0.0294 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [-0.3624, -11.0017, 10.2359, 1.8437, -0.188, 0.0122, -0.0806, -0.335, -0.3487, 6.9265, 1.9707, -0.0366, -0.0366, -0.0073] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.04}, "note": "Second empty close \u2014 I need a direct look at where the open jaws sit relative to the bottle. Reopening and returning to table height at the same x,y so the overhead camera shows the jaw/bottle offset."})
tool
executing move_to over 9 steps (0.9s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteTwo empty closes despite the bottle looking centred, so I will probe: closing the jaws fully and rising to 13 cm, then I will descend on this spot — if the descent stops around 6-7 cm the bottle really is underneath, if it goes to the table my x/y estimate is wrong.
move_to
left_gripper0.0000left_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5293, 1.9652, 0.9859, 0.2752, -0.5053, -0.3706, 0.9965, -0.0212, 0.5598, 0.223, -0.2615, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4586 left_y=-0.1651 left_z=0.0406 left_yaw=0.0735 left_pitch=-0.0387 left_roll=0.0276 left_gripper=0.9965 right_x=0.2514 right_y=0.0004 right_z=0.089 right_yaw=-0.0013 right_pitch=-0.0282 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [-0.0889, -9.306, 5.2308, 1.7558, -0.1978, -0.0611, -0.0562, -0.2667, -0.3077, 6.6256, 1.9609, -0.022, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0, "left_z": 0.13}, "note": "Two empty closes despite the bottle looking centred, so I will probe: closing the jaws fully and rising to 13 cm, then I will descend on this spot \u2014 if the descent stops around 6-7 cm the bottle really is underneath, if it goes to the table my x/y estimate is wrong."})
tool
executing move_to over 10 steps (1.0s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteProbing with closed jaws: descending straight down to the table. If the descent halts near 6-7 cm the bottle is directly beneath the tool; if it reaches the table, my alignment is off.
move_to
left_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5304, 1.8084, 1.0664, 0.0425, -0.5056, -0.3752, 0.0188, -0.0212, 0.54, 0.1982, -0.2611, -0.0124, -0.017, 0.9998] state[eef_state]: left_x=0.4551 left_y=-0.1635 left_z=0.1028 left_yaw=0.075 left_pitch=-0.0347 left_roll=0.0215 left_gripper=0.0188 right_x=0.2479 right_y=0.0005 right_z=0.0824 right_yaw=-0.0008 right_pitch=-0.0328 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [0.0752, -11.6855, 8.7179, 1.5507, -0.1832, 0.0024, 0.8669, -0.2393, -0.2393, 7.0496, 1.956, -0.022, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.0}, "note": "Probing with closed jaws: descending straight down to the table. If the descent halts near 6-7 cm the bottle is directly beneath the tool; if it reaches the table, my alignment is off."})
tool
executing move_to over 7 steps (0.7s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe descent stopped at z=0.058 with the wrist pushing — confirmed the bottle top is directly under the tool at x=0.477, y=-0.170. Opening the jaws and lifting slightly before dropping down alongside the bottle for a proper grasp.
move_to
left_gripper1.0000left_z0.0900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5304, 2.014, 0.9413, 0.5747, -0.5446, -0.3748, 0.0222, -0.0212, 0.5102, 0.1703, -0.2523, -0.012, -0.017, 0.9998] state[eef_state]: left_x=0.4772 left_y=-0.1696 left_z=0.0585 left_yaw=0.1125 left_pitch=0.1417 left_roll=-0.0781 left_gripper=0.0222 right_x=0.2455 right_y=0.0005 right_z=0.0783 right_yaw=-0.0011 right_pitch=-0.0221 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.2256, -5.2444, 2.0444, 0.149, 0.2564, -0.0611, 1.0281, -0.3624, 0.0615, 7.0769, 1.917, -0.0317, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.09}, "note": "The descent stopped at z=0.058 with the wrist pushing \u2014 confirmed the bottle top is directly under the tool at x=0.477, y=-0.170. Opening the jaws and lifting slightly before dropping down alongside the bottle for a proper grasp."})
tool
executing move_to over 10 steps (1.0s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteWrist view shows the bottle's blue cap and neck sitting right between the open jaws. Descending to bottle-axis height so the jaws can pinch the neck.
move_to
left_z0.0320
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5285, 1.9572, 1.0885, 0.1368, -0.5388, -0.3988, 0.9945, -0.0212, 0.4942, 0.152, -0.2459, -0.0124, -0.0166, 0.9998] state[eef_state]: left_x=0.4694 left_y=-0.165 left_z=0.0602 left_yaw=0.1162 left_pitch=-0.0478 left_roll=0.0386 left_gripper=0.9945 right_x=0.244 right_y=0.0006 right_z=0.0748 right_yaw=-0.001 right_pitch=-0.0179 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [-0.2393, -13.1214, 8.9641, 1.453, -0.232, 0.0415, -0.1148, -0.335, -0.1299, 6.9265, 1.873, -0.0366, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.032}, "note": "Wrist view shows the bottle's blue cap and neck sitting right between the open jaws. Descending to bottle-axis height so the jaws can pinch the neck."})
tool
executing move_to over 2 steps (0.2s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe bottle neck is centred between the jaws at 5 cm height; closing to ~1.9 cm to pinch the neck just below the cap.
move_to
left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5285, 1.9785, 1.0443, 0.2455, -0.5392, -0.3969, 0.9959, -0.0212, 0.4831, 0.1444, -0.2459, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4705 left_y=-0.1656 left_z=0.0523 left_yaw=0.1146 left_pitch=-0.0132 left_roll=0.0145 left_gripper=0.9959 right_x=0.2432 right_y=0.0006 right_z=0.0738 right_yaw=-0.0013 right_pitch=-0.0145 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.1846, -7.5282, 4.4103, 1.3162, -0.188, -0.0806, 0.1343, -0.335, 0.253, 6.6393, 1.917, -0.0317, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.2}, "note": "The bottle neck is centred between the jaws at 5 cm height; closing to ~1.9 cm to pinch the neck just below the cap."})
tool
executing move_to over 8 steps (0.8s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe jaws stalled at 4.8 cm — that is the bottle's shoulder held firmly. Lifting to 25 cm; since the grip is near the top, the bottle should swing cap-up under gravity.
move_to
left_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5293, 2.001, 1.0145, 0.3054, -0.5392, -0.3973, 0.5016, -0.0212, 0.4755, 0.1326, -0.2455, -0.0124, -0.0166, 0.9998] state[eef_state]: left_x=0.4685 left_y=-0.1648 left_z=0.0413 left_yaw=0.114 left_pitch=-0.0071 left_roll=0.0096 left_gripper=0.5016 right_x=0.2416 right_y=0.0007 right_z=0.0702 right_yaw=-0.001 right_pitch=-0.0183 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [-0.0479, -11.9453, 6.6256, 1.2772, -0.1685, -0.0904, 0.9158, -0.1846, -0.1299, 6.9402, 1.8046, -0.0269, -0.0269, -0.0122] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "The jaws stalled at 4.8 cm \u2014 that is the bottle's shoulder held firmly. Lifting to 25 cm; since the grip is near the top, the bottle should swing cap-up under gravity."})
tool
executing move_to over 14 steps (1.4s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe bottle is now hanging cap-up from the jaws — exactly the upright orientation. Lowering until its base touches the table so I can release it standing.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5285, 1.771, 1.499, -0.4351, -0.5323, -0.4049, 0.5019, -0.0212, 0.4618, 0.1184, -0.2455, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4734 left_y=-0.1684 left_z=0.2185 left_yaw=0.1138 left_pitch=-0.0304 left_roll=0.0153 left_gripper=0.5019 right_x=0.2399 right_y=0.0006 right_z=0.0668 right_yaw=-0.0013 right_pitch=-0.0187 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.0615, -12.3556, 9.0598, 1.5458, -0.232, -0.0171, 0.022, -0.0889, -0.0889, 7.0632, 1.8877, 0.0073, -0.0122, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15}, "note": "The bottle is now hanging cap-up from the jaws \u2014 exactly the upright orientation. Lowering until its base touches the table so I can release it standing."})
tool
executing move_to over 5 steps (0.5s)
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 noteThe bottle hangs cap-up in the jaws; lowering a bit further so its base is certainly resting on the table before I release.
move_to
left_z0.1100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5297, 1.8015, 1.2449, -0.2012, -0.5323, -0.4011, 0.5019, -0.0212, 0.4465, 0.1047, -0.2455, -0.012, -0.017, 0.9998] state[eef_state]: left_x=0.4627 left_y=-0.1629 left_z=0.1379 left_yaw=0.1122 left_pitch=-0.0711 left_roll=0.0488 left_gripper=0.5019 right_x=0.2384 right_y=0.0007 right_z=0.0639 right_yaw=-0.0011 right_pitch=-0.0172 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1299, -8.8274, 7.159, 2.0488, -0.2808, -0.0562, -0.0122, -0.0889, -0.0205, 7.0222, 1.8193, -0.0073, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": {"left_z": 0.11}, "note": "The bottle hangs cap-up in the jaws; lowering a bit further so its base is certainly resting on the table before I release."})
tool
executing move_to over 2 steps (0.2s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteDescent stopped — the bottle's base is on the table. Opening the jaws to release it standing upright.
move_to
left_gripper0.8500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5293, 1.7992, 1.1477, -0.0139, -0.535, -0.4007, 0.5019, -0.0212, 0.4366, 0.0978, -0.2459, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4666 left_y=-0.1644 left_z=0.1313 left_yaw=0.1126 left_pitch=0.0039 left_roll=-0.0047 left_gripper=0.5019 right_x=0.2377 right_y=0.0007 right_z=0.0628 right_yaw=-0.0015 right_pitch=-0.0145 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [-0.1709, -7.5419, 5.9282, 1.5311, -0.2076, -0.022, -0.0122, -0.3761, 0.1162, 6.7214, 1.8242, -0.0366, -0.022, -0.0122] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.85}, "note": "Descent stopped \u2014 the bottle's base is on the table. Opening the jaws to release it standing upright."})
tool
executing move_to over 4 steps (0.4s)
step 177
assistant
agent noteReleased the first bottle; it looks like it is standing. Retracting the left arm up and back so the overhead camera can show all three bottles clearly.
move_to
left_x0.3300left_y-0.0800left_z0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5293, 1.8362, 1.0775, 0.049, -0.5323, -0.4011, 0.8452, -0.0212, 0.429, 0.0925, -0.2451, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4588 left_y=-0.1604 left_z=0.097 left_yaw=0.1111 left_pitch=-0.0326 left_roll=0.0201 left_gripper=0.8452 right_x=0.2374 right_y=0.0007 right_z=0.0622 right_yaw=-0.0013 right_pitch=-0.0114 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1709, -10.3726, 7.2957, 1.6825, -0.2759, -0.0073, -0.022, -0.3077, -0.212, 6.4615, 1.7998, -0.022, -0.0366, -0.0122] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.08, "left_z": 0.3}, "note": "Released the first bottle; it looks like it is standing. Retracting the left arm up and back so the overhead camera can show all three bottles clearly."})
tool
executing move_to over 14 steps (1.4s)
step 191
assistant
agent noteParking the left arm back near home and out of the overhead view so I can see clearly which bottles are standing and which are still lying.
move_to
left_x0.2500left_y0.0200left_z0.2000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5152, 1.1831, 1.1919, -0.6731, -0.5236, -0.3965, 0.8465, -0.0212, 0.4179, 0.0849, -0.2459, -0.0124, -0.0166, 0.9998] state[eef_state]: left_x=0.3415 left_y=-0.0877 left_z=0.2812 left_yaw=0.1155 left_pitch=0.0006 left_roll=-0.0075 left_gripper=0.8465 right_x=0.2366 right_y=0.0008 right_z=0.0609 right_yaw=-0.001 right_pitch=-0.0088 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [0.5538, -6.1744, 10.5915, 1.8046, -0.1832, 0.0952, 0.1245, -0.0889, 0.5128, 6.8581, 1.8339, -0.0366, -0.0269, -0.0122] 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": {"left_x": 0.25, "left_y": 0.02, "left_z": 0.2, "left_gripper": 1.0}, "note": "Parking the left arm back near home and out of the overhead view so I can see clearly which bottles are standing and which are still lying."})
tool
executing move_to over 10 steps (1.0s)
step 201
assistant
agent noteAll three bottles are still lying down — the first one toppled on release, probably because I opened while it was still ~2 cm above the table. Going back to the same known-good grasp pose on the left bottle's shoulder.
move_to
left_x0.4680left_y-0.1650left_z0.0450left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0517, 0.6159, 0.6609, -0.617, -0.1989, -0.1551, 0.9979, -0.0212, 0.4118, 0.0795, -0.2455, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.2529 left_y=0.0255 left_z=0.204 left_yaw=0.1843 left_pitch=0.0045 left_roll=-0.0119 left_gripper=0.9979 right_x=0.2361 right_y=0.0007 right_z=0.0599 right_yaw=-0.0013 right_pitch=-0.0076 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [0.0342, 0.0889, 7.241, 1.8681, -0.1148, 0.2955, -0.2222, -0.0889, 0.3624, 6.8581, 1.7753, -0.0317, -0.0122, -0.0122] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.468, "left_y": -0.165, "left_z": 0.045, "left_gripper": 1.0}, "note": "All three bottles are still lying down \u2014 the first one toppled on release, probably because I opened while it was still ~2 cm above the table. Going back to the same known-good grasp pose on the left bottle's shoulder."})
tool
executing move_to over 17 steps (1.7s)
step 218
assistant
agent noteAt the same pose that grasped successfully before (the bottle is too close to appear in the wrist view). Closing to pinch the bottle's shoulder.
move_to
left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5434, 1.9717, 1.0168, 0.2508, -0.6136, -0.4805, 0.9979, -0.0212, 0.4099, 0.0792, -0.2455, -0.0124, -0.0166, 0.9998] state[eef_state]: left_x=0.4629 left_y=-0.1566 left_z=0.0511 left_yaw=0.2017 left_pitch=0.0062 left_roll=-0.0095 left_gripper=0.9979 right_x=0.2362 right_y=0.0008 right_z=0.0601 right_yaw=-0.001 right_pitch=-0.0061 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.6632, -9.1966, 6.1744, 1.0085, -0.2173, 0.2173, -0.2369, -0.2256, 0.0479, 6.5573, 1.7314, -0.0317, -0.0269, -0.0122] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.2}, "note": "At the same pose that grasped successfully before (the bottle is too close to appear in the wrist view). Closing to pinch the bottle's shoulder."})
tool
executing move_to over 8 steps (0.8s)
step 226
assistant
agent noteEmpty close — the overhead view shows the bottle is slightly nearer the base than the jaws. Reopening and shifting 1.6 cm back and 1 cm right to straddle the bottle's upper body.
move_to
left_gripper1.0000left_x0.4450left_y-0.1680left_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5484, 1.9972, 1.029, 0.2279, -0.6109, -0.4763, 0.205, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.461 left_y=-0.1587 left_z=0.0398 left_yaw=0.1926 left_pitch=-0.0217 left_roll=0.0173 left_gripper=0.205 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [0.3761, -12.0, 5.3538, 1.536, -0.2418, -0.0464, 0.1099, -0.0205, 0.0752, 6.694, 1.79, -0.0659, -0.0122, -0.0073] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.445, "left_y": -0.168, "left_z": 0.045}, "note": "Empty close \u2014 the overhead view shows the bottle is slightly nearer the base than the jaws. Reopening and shifting 1.6 cm back and 1 cm right to straddle the bottle's upper body."})
tool
executing move_to over 8 steps (0.8s)
step 234
assistant
agent noteRepositioned 1.6 cm back over the bottle's upper body; closing the jaws to grip it.
move_to
left_gripper0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.588, 1.9953, 0.9886, 0.2504, -0.638, -0.506, 0.9945, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.447 left_y=-0.1673 left_z=0.0323 left_yaw=0.1892 left_pitch=-0.0202 left_roll=0.0168 left_gripper=0.9945 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.7453, -12.7932, 4.4923, 1.4335, -0.3883, 0.0024, -0.2271, -0.3487, 0.0752, 6.694, 1.7802, -0.0415, -0.0415, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.25}, "note": "Repositioned 1.6 cm back over the bottle's upper body; closing the jaws to grip it."})
tool
executing move_to over 8 steps (0.8s)
step 242
assistant
agent noteEmpty again — the bottle probably shifted when it toppled earlier. Backing off and rising to 11 cm so the wrist camera can show me exactly where the bottle lies before the next attempt.
move_to
left_gripper1.0000left_x0.4200left_y-0.1700left_z0.1100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5896, 1.9953, 0.973, 0.2844, -0.6369, -0.5026, 0.2547, -0.0212, 0.4099, 0.0792, -0.2462, -0.0124, -0.0166, 0.9998] state[eef_state]: left_x=0.4466 left_y=-0.1681 left_z=0.0322 left_yaw=0.1848 left_pitch=-0.0077 left_roll=0.0063 left_gripper=0.2547 right_x=0.2361 right_y=0.0008 right_z=0.06 right_yaw=-0.001 right_pitch=-0.0069 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.0068, -9.6889, 5.1487, 1.6923, -0.2515, -0.0562, 0.0855, -0.2803, 0.1299, 6.653, 1.8144, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.42, "left_y": -0.17, "left_z": 0.11}, "note": "Empty again \u2014 the bottle probably shifted when it toppled earlier. Backing off and rising to 11 cm so the wrist camera can show me exactly where the bottle lies before the next attempt."})
tool
executing move_to over 8 steps (0.8s)
step 250
assistant
agent noteThe wrist view shows bottles at both image edges and nothing between the jaws — my y was aimed into the gap. Sliding ~11 cm toward the arm's left to line up with the nearest bottle.
move_to
left_y-0.0600left_x0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6323, 1.7847, 0.9718, 0.0357, -0.6571, -0.535, 0.9951, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.419 left_y=-0.1688 left_z=0.0862 left_yaw=0.1748 left_pitch=-0.0251 left_roll=0.0169 left_gripper=0.9951 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.5265, -11.1658, 9.0598, 1.3455, -0.4615, -0.0269, -0.1197, -0.1299, 0.1026, 6.5709, 1.8144, -0.0708, 0.0024, -0.0122] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.06, "left_x": 0.45}, "note": "The wrist view shows bottles at both image edges and nothing between the jaws \u2014 my y was aimed into the gap. Sliding ~11 cm toward the arm's left to line up with the nearest bottle."})
tool
executing move_to over 10 steps (1.0s)
step 260
assistant
agent noteA bottle cap is visible at the very bottom of the wrist frame, just left of the jaws: the toppled bottle now lies cap-toward-me. Shifting 3 cm left and down to jaw height to straddle its neck/shoulder.
move_to
left_y-0.0250left_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3038, 1.7424, 0.828, 0.2367, -0.4381, -0.3275, 0.9963, -0.0212, 0.4099, 0.0792, -0.2459, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4447 left_y=-0.0571 left_z=0.0706 left_yaw=0.2222 left_pitch=-0.0401 left_roll=0.0129 left_gripper=0.9963 right_x=0.2361 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0065 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [0.212, -10.5641, 5.4085, 1.8828, 0.0269, 0.2466, 0.105, -0.1983, 0.1026, 6.6256, 1.8095, -0.0269, -0.0317, -0.0122] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.025, "left_z": 0.04}, "note": "A bottle cap is visible at the very bottom of the wrist frame, just left of the jaws: the toppled bottle now lies cap-toward-me. Shifting 3 cm left and down to jaw height to straddle its neck/shoulder."})
tool
executing move_to over 3 steps (0.3s)
step 263
assistant
agent noteSomething (the bottle neck) is now right at the bottom centre of the wrist frame between the jaws; closing to grip it.
move_to
left_gripper0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2234, 1.8034, 0.7238, 0.4217, -0.3824, -0.2874, 0.9964, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4392 left_y=-0.0285 left_z=0.0383 left_yaw=0.236 left_pitch=-0.0394 left_roll=0.0061 left_gripper=0.9964 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [0.1436, -7.7197, 5.5316, 1.8779, -0.2173, 0.2564, -0.0024, -0.3487, 0.0479, 6.612, 1.8095, -0.0269, -0.0317, -0.0122] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.25}, "note": "Something (the bottle neck) is now right at the bottom centre of the wrist frame between the jaws; closing to grip it."})
tool
executing move_to over 8 steps (0.8s)
step 271
assistant
agent noteMissed to the left — the overhead view shows the fallen bottle is to the right of my jaws. Shifting 7 cm right (y=-0.10) at jaw height to straddle it.
move_to
left_y-0.1000left_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2077, 1.8122, 0.7151, 0.522, -0.374, -0.2783, 0.2552, -0.0212, 0.4099, 0.0792, -0.2462, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4497 left_y=-0.0251 left_z=0.0503 left_yaw=0.2397 left_pitch=0.0329 left_roll=-0.0268 left_gripper=0.2552 right_x=0.2361 right_y=0.0007 right_z=0.06 right_yaw=-0.0013 right_pitch=-0.0069 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [0.0615, -7.3641, 4.7795, 1.4725, -0.0073, 0.1636, 0.0708, -0.335, 0.1983, 6.6256, 1.7998, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.1, "left_z": 0.04}, "note": "Missed to the left \u2014 the overhead view shows the fallen bottle is to the right of my jaws. Shifting 7 cm right (y=-0.10) at jaw height to straddle it."})
tool
executing move_to over 7 steps (0.7s)
step 278
assistant
agent noteThe overhead view finally shows the fallen bottle lying sideways (axis along y, cap to my left) — my jaws were closing along its axis, which is why they kept slipping past. Rotating the wrist 90° and hovering over its neck.
move_to
left_yaw1.7700left_x0.4500left_y-0.0500left_z0.0900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4267, 1.8797, 0.836, 0.4282, -0.5293, -0.3935, 0.2549, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4546 left_y=-0.1048 left_z=0.0536 left_yaw=0.2075 left_pitch=0.042 left_roll=-0.031 left_gripper=0.2549 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.212, -7.1453, 6.2154, 1.0672, -0.2027, 0.0366, -0.0562, -0.335, 0.0068, 6.7624, 1.8046, -0.022, -0.0317, -0.0122] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_yaw": 1.77, "left_x": 0.45, "left_y": -0.05, "left_z": 0.09, "left_gripper": 1.0}, "note": "The overhead view finally shows the fallen bottle lying sideways (axis along y, cap to my left) \u2014 my jaws were closing along its axis, which is why they kept slipping past. Rotating the wrist 90\u00b0 and hovering over its neck."})
tool
executing move_to over 10 steps (1.0s)
step 288
assistant
agent noteThe yaw move overshot to y=+0.01 and the wrist view is blank. Backing off to 13 cm height with the wrist still rotated 90° so I can see the fallen bottle and line the jaws across its neck.
move_to
left_x0.4000left_y-0.0200left_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2771, 2.5416, 2.0911, -1.2533, -0.9211, -1.972, 0.9968, -0.0212, 0.4099, 0.0792, -0.2459, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4827 left_y=0.0126 left_z=0.0332 left_yaw=1.5049 left_pitch=-0.0883 left_roll=-0.1771 left_gripper=0.9968 right_x=0.2361 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0065 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-4.5197, -15.2137, 6.8991, -0.2418, -0.4225, -0.1392, -0.0659, -0.0752, 0.1983, 6.8034, 1.7998, -0.0659, -0.0562, -0.0122] camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.02, "left_z": 0.13}, "note": "The yaw move overshot to y=+0.01 and the wrist view is blank. Backing off to 13 cm height with the wrist still rotated 90\u00b0 so I can see the fallen bottle and line the jaws across its neck."})
tool
executing move_to over 7 steps (0.7s)
step 295
assistant
agent noteThe left arm is stuck in an awkward yawed pose and the two untouched bottles sit near the table centre; bringing the fresh right arm over them to try the neck-lift trick with its jaws already square to the bottle axis.
move_to
right_x0.4300right_y0.3300right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2817, 2.5416, 2.093, -1.3888, -0.9211, -2.0598, 0.9972, -0.0212, 0.4099, 0.0792, -0.2459, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4606 left_y=0.0168 left_z=0.0384 left_yaw=1.5568 left_pitch=-0.063 left_roll=-0.1176 left_gripper=0.9972 right_x=0.2361 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0065 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.3077, -15.1043, 6.4615, -0.359, -0.5201, -0.4029, 0.0317, -0.1983, 0.0479, 6.9949, 1.7705, -0.0317, -0.0513, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.33, "right_z": 0.12, "right_gripper": 1.0}, "note": "The left arm is stuck in an awkward yawed pose and the two untouched bottles sit near the table centre; bringing the fresh right arm over them to try the neck-lift trick with its jaws already square to the bottle axis."})
tool
executing move_to over 28 steps (2.8s)
step 323
assistant
agent noteThe right wrist camera shows both bottles clearly with the left one almost on the jaw column; moving 2.3 cm forward and down to 5 cm so the jaws straddle its shoulder just below the cap.
move_to
right_x0.4420right_y0.3350right_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2817, 2.6499, 2.2303, -1.5501, -0.9298, -2.0594, 0.9972, 0.8577, 2.0377, 1.4357, -0.2131, 0.6621, 0.5243, 0.9998] state[eef_state]: left_x=0.4557 left_y=0.0193 left_z=0.03 left_yaw=1.5589 left_pitch=-0.0198 left_roll=0.0082 left_gripper=0.9972 right_x=0.4185 right_y=0.3234 right_z=0.1062 right_yaw=0.0384 right_pitch=-0.042 right_roll=-0.0363 right_gripper=0.9998 state[joint_eff]: [-0.3077, -13.6684, 6.612, -0.6227, -0.6618, -0.1832, -0.0122, 0.0479, -10.6051, 9.1556, 1.4872, 0.525, 0.2955, -0.0366] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.442, "right_y": 0.335, "right_z": 0.05}, "note": "The right wrist camera shows both bottles clearly with the left one almost on the jaw column; moving 2.3 cm forward and down to 5 cm so the jaws straddle its shoulder just below the cap."})
tool
executing move_to over 4 steps (0.4s)
step 327
assistant
agent noteThe left bottle's cap sits exactly on the jaw column; nudging 1 cm forward and closing the jaws on its shoulder.
move_to
right_x0.4430right_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2817, 2.6499, 2.2303, -1.549, -0.9325, -2.0598, 0.9972, 0.8421, 2.1757, 1.4017, -0.0242, 0.6533, 0.5003, 0.9997] state[eef_state]: left_x=0.4561 left_y=0.0194 left_z=0.0303 left_yaw=1.5581 left_pitch=-0.0177 left_roll=0.0062 left_gripper=0.9972 right_x=0.4331 right_y=0.3294 right_z=0.0503 right_yaw=0.0424 right_pitch=-0.0356 right_roll=-0.0395 right_gripper=0.9997 state[joint_eff]: [-0.5128, -13.3402, 5.2034, -0.4518, -0.6471, -0.2369, -0.0122, -0.6496, -11.5897, 6.5026, 1.3846, 0.105, 0.2271, -0.0269] camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.443, "right_gripper": 0.2}, "note": "The left bottle's cap sits exactly on the jaw column; nudging 1 cm forward and closing the jaws on its shoulder."})
tool
executing move_to over 8 steps (0.8s)
step 335
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2817, 2.6499, 2.2303, -1.5486, -0.9325, -2.0598, 0.9972, 0.8406, 2.1872, 1.4021, 0.0757, 0.6579, 0.4889, 0.2058] state[eef_state]: left_x=0.4561 left_y=0.0194 left_z=0.0302 left_yaw=1.5581 left_pitch=-0.0178 left_roll=0.0058 left_gripper=0.9972 right_x=0.4431 right_y=0.3384 right_z=0.0601 right_yaw=0.0439 right_pitch=0.0286 right_roll=0.0123 right_gripper=0.2058 state[joint_eff]: [-0.3214, -13.3128, 5.4769, -0.4078, -0.6227, -0.2418, -0.0122, -0.5949, -11.1385, 6.5162, 1.1258, 0.1392, 0.1441, 0.3053] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]
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 · 35.99 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7925, 0.6067, -0.3782, -0.0227, -0.0288, 0.9986, -0.0204, 0.7883, 0.6037, -0.3855, -0.0128, -0.017, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.182 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=-0.0001 right_z=0.1802 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.388, 9.7846, 1.8535, -0.0171, 0.105, -0.1538, -0.6496, -0.9094, 10.2632, 1.8437, -0.1294, 0.0415, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3be9b2dff1d5b916b44bb7c4645a6c9f439dc1d09c49c2662acace93e97e1902",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc592961687eb10e760941ef7ca45317f51b24275b69365fcc3824ffde6bd349",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5aebcd57b50b308671c42493143fff66bce8f06df6fd1fe660618255103f4cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 28.94 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7925, 0.6067, -0.3782, -0.0227, -0.0288, 0.9986, -0.0204, 0.7883, 0.6037, -0.3855, -0.0128, -0.017, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.182 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=-0.0001 right_z=0.1802 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.388, 9.7846, 1.8535, -0.0171, 0.105, -0.1538, -0.6496, -0.9094, 10.2632, 1.8437, -0.1294, 0.0415, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3be9b2dff1d5b916b44bb7c4645a6c9f439dc1d09c49c2662acace93e97e1902",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc592961687eb10e760941ef7ca45317f51b24275b69365fcc3824ffde6bd349",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5aebcd57b50b308671c42493143fff66bce8f06df6fd1fe660618255103f4cc",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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  ],
  "role": "user"
}
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{
  "content": [
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      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015iXzXkaXYTvBkMuxTsVQSg",
      "input": {
        "note": "Three bottles lie on their sides in the middle of the table, caps pointing up-left in the top view. I am moving the left arm above the leftmost bottle to get a wrist-camera look and calibrate my position estimate.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.38,
          "left_y": -0.16,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_015iXzXkaXYTvBkMuxTsVQSg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6132, 1.3827, 1.169, -0.4801, -0.4889, -0.3763, 0.9988, -0.0212, 0.794, 0.6033, -0.4038, -0.0124, -0.017, 0.9998]\nstate[eef_state]: left_x=0.3742 left_y=-0.1575 left_z=0.2337 left_yaw=-0.0204 left_pitch=-0.0361 left_roll=0.0084 left_gripper=0.9988 right_x=0.2915 right_y=-0.0004 right_z=0.1747 right_yaw=-0.0008 right_pitch=-0.0244 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -5.9692, 9.347, 1.5604, -0.4811, -0.1001, -0.1294, -0.1162, -1.5385, 7.2821, 1.8486, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3806f543a0aee35e7883667e9ca86c9b274ba463fcc060794b8ca9af3d666d81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dab901c9390260460e4e94730d7193fb81e02ef673aa7049b146f8f8006bda5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5fe9fda51136b98a49e2a20bdc53edbc5163748c49d8d185f286e8159712222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 13.03 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7925, 0.6067, -0.3782, -0.0227, -0.0288, 0.9986, -0.0204, 0.7883, 0.6037, -0.3855, -0.0128, -0.017, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.182 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=-0.0001 right_z=0.1802 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.388, 9.7846, 1.8535, -0.0171, 0.105, -0.1538, -0.6496, -0.9094, 10.2632, 1.8437, -0.1294, 0.0415, -0.0366]",
      "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]: [-0.6132, 1.3827, 1.169, -0.4801, -0.4889, -0.3763, 0.9988, -0.0212, 0.794, 0.6033, -0.4038, -0.0124, -0.017, 0.9998]\nstate[eef_state]: left_x=0.3742 left_y=-0.1575 left_z=0.2337 left_yaw=-0.0204 left_pitch=-0.0361 left_roll=0.0084 left_gripper=0.9988 right_x=0.2915 right_y=-0.0004 right_z=0.1747 right_yaw=-0.0008 right_pitch=-0.0244 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -5.9692, 9.347, 1.5604, -0.4811, -0.1001, -0.1294, -0.1162, -1.5385, 7.2821, 1.8486, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3806f543a0aee35e7883667e9ca86c9b274ba463fcc060794b8ca9af3d666d81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dab901c9390260460e4e94730d7193fb81e02ef673aa7049b146f8f8006bda5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5fe9fda51136b98a49e2a20bdc53edbc5163748c49d8d185f286e8159712222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E1pex4uUMVncMn6hDPinGX",
      "input": {
        "note": "Wrist view shows all three bottles lying with caps pointing away/up-right. Descending to 12 cm over the leftmost bottle's neck area to get a closer, better-scaled look before grasping the neck.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.12,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01E1pex4uUMVncMn6hDPinGX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4618, 1.4727, 0.7689, 0.028, -0.3916, -0.2871, 0.9985, -0.0212, 0.7845, 0.5823, -0.3969, -0.012, -0.0174, 0.9998]\nstate[eef_state]: left_x=0.3915 left_y=-0.1155 left_z=0.1161 left_yaw=0.0051 left_pitch=-0.0529 left_roll=0.0195 left_gripper=0.9985 right_x=0.2892 right_y=-0.0004 right_z=0.1691 right_yaw=-0.0009 right_pitch=-0.029 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -5.9145, 6.3795, 1.8779, -0.1099, 0.2027, -0.0513, -0.3761, -1.8393, 6.735, 1.9756, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e8a352cdd531782e562dc95c7f20c69fba44ab53697f1164c58b2f27316ebfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9b84f57f5c9f3eb6feea81f86873a2635cd0b0815d5a9db674b25f955184fa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4854fca8b713c84763edb5fde448ee97186757cc134ea58d11d77803a15b5571",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /messages · status 200 · 15.28 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7925, 0.6067, -0.3782, -0.0227, -0.0288, 0.9986, -0.0204, 0.7883, 0.6037, -0.3855, -0.0128, -0.017, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.182 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=-0.0001 right_z=0.1802 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -1.388, 9.7846, 1.8535, -0.0171, 0.105, -0.1538, -0.6496, -0.9094, 10.2632, 1.8437, -0.1294, 0.0415, -0.0366]",
      "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]: [-0.6132, 1.3827, 1.169, -0.4801, -0.4889, -0.3763, 0.9988, -0.0212, 0.794, 0.6033, -0.4038, -0.0124, -0.017, 0.9998]\nstate[eef_state]: left_x=0.3742 left_y=-0.1575 left_z=0.2337 left_yaw=-0.0204 left_pitch=-0.0361 left_roll=0.0084 left_gripper=0.9988 right_x=0.2915 right_y=-0.0004 right_z=0.1747 right_yaw=-0.0008 right_pitch=-0.0244 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -5.9692, 9.347, 1.5604, -0.4811, -0.1001, -0.1294, -0.1162, -1.5385, 7.2821, 1.8486, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4618, 1.4727, 0.7689, 0.028, -0.3916, -0.2871, 0.9985, -0.0212, 0.7845, 0.5823, -0.3969, -0.012, -0.0174, 0.9998]\nstate[eef_state]: left_x=0.3915 left_y=-0.1155 left_z=0.1161 left_yaw=0.0051 left_pitch=-0.0529 left_roll=0.0195 left_gripper=0.9985 right_x=0.2892 right_y=-0.0004 right_z=0.1691 right_yaw=-0.0009 right_pitch=-0.029 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -5.9145, 6.3795, 1.8779, -0.1099, 0.2027, -0.0513, -0.3761, -1.8393, 6.735, 1.9756, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e8a352cdd531782e562dc95c7f20c69fba44ab53697f1164c58b2f27316ebfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9b84f57f5c9f3eb6feea81f86873a2635cd0b0815d5a9db674b25f955184fa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4854fca8b713c84763edb5fde448ee97186757cc134ea58d11d77803a15b5571",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0181fRToTC1iteaJSPbSidah",
      "input": {
        "note": "The wrist view shows a bottle's blue cap and neck up and to the right of the jaw column; shifting ~4 cm right and 3 cm forward, down to 7 cm, to line the jaws up over that neck.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.155,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0181fRToTC1iteaJSPbSidah",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5323, 1.7206, 0.7555, 0.2695, -0.4316, -0.3256, 0.9983, -0.0212, 0.7712, 0.5537, -0.3885, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4058 left_y=-0.1491 left_z=0.0582 left_yaw=-0.0121 left_pitch=-0.0577 left_roll=0.0199 left_gripper=0.9983 right_x=0.2858 right_y=-0.0003 right_z=0.1614 right_yaw=-0.0011 right_pitch=-0.0359 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -6.7761, 8.0342, 1.1502, -0.4127, 0.1148, -0.0269, -0.3761, -1.6479, 6.9675, 1.9756, -0.0562, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5113f29c9db9f0d0666361c306d0c1afc23ebf040427c7f72e9e21435a505d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35d089464328d01dcf8e880130864d27b474df92b41dfe6fec9c09d3e8f6817c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c893df232e1717dbd011f6b85d6ba7518eb522294f563927c83f5ee7c7cae616",
        "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 · 19.47 s
model
claude-opus-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]: [-0.6132, 1.3827, 1.169, -0.4801, -0.4889, -0.3763, 0.9988, -0.0212, 0.794, 0.6033, -0.4038, -0.0124, -0.017, 0.9998]\nstate[eef_state]: left_x=0.3742 left_y=-0.1575 left_z=0.2337 left_yaw=-0.0204 left_pitch=-0.0361 left_roll=0.0084 left_gripper=0.9988 right_x=0.2915 right_y=-0.0004 right_z=0.1747 right_yaw=-0.0008 right_pitch=-0.0244 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -5.9692, 9.347, 1.5604, -0.4811, -0.1001, -0.1294, -0.1162, -1.5385, 7.2821, 1.8486, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4618, 1.4727, 0.7689, 0.028, -0.3916, -0.2871, 0.9985, -0.0212, 0.7845, 0.5823, -0.3969, -0.012, -0.0174, 0.9998]\nstate[eef_state]: left_x=0.3915 left_y=-0.1155 left_z=0.1161 left_yaw=0.0051 left_pitch=-0.0529 left_roll=0.0195 left_gripper=0.9985 right_x=0.2892 right_y=-0.0004 right_z=0.1691 right_yaw=-0.0009 right_pitch=-0.029 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -5.9145, 6.3795, 1.8779, -0.1099, 0.2027, -0.0513, -0.3761, -1.8393, 6.735, 1.9756, -0.0415, -0.0806, -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]: [-0.5323, 1.7206, 0.7555, 0.2695, -0.4316, -0.3256, 0.9983, -0.0212, 0.7712, 0.5537, -0.3885, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4058 left_y=-0.1491 left_z=0.0582 left_yaw=-0.0121 left_pitch=-0.0577 left_roll=0.0199 left_gripper=0.9983 right_x=0.2858 right_y=-0.0003 right_z=0.1614 right_yaw=-0.0011 right_pitch=-0.0359 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -6.7761, 8.0342, 1.1502, -0.4127, 0.1148, -0.0269, -0.3761, -1.6479, 6.9675, 1.9756, -0.0562, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5113f29c9db9f0d0666361c306d0c1afc23ebf040427c7f72e9e21435a505d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35d089464328d01dcf8e880130864d27b474df92b41dfe6fec9c09d3e8f6817c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c893df232e1717dbd011f6b85d6ba7518eb522294f563927c83f5ee7c7cae616",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017dSi2DRRABY4WTHB613r8Y",
      "input": {
        "note": "The blue cap and neck now sit on the jaw column but high in the wrist frame, meaning the neck is still a few cm beyond the fingertips; advancing 4 cm at a safe 10 cm height so I can then drop straight onto the neck.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.152,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_017dSi2DRRABY4WTHB613r8Y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5201, 1.7393, 0.7654, 0.3332, -0.4416, -0.3328, 0.9983, -0.0212, 0.7544, 0.5205, -0.374, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4176 left_y=-0.1481 left_z=0.0662 left_yaw=0.0111 left_pitch=-0.007 left_roll=-0.0084 left_gripper=0.9983 right_x=0.2826 right_y=-0.0003 right_z=0.1536 right_yaw=-0.0011 right_pitch=-0.0378 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -8.6222, 5.0256, 1.7753, -0.0513, 0.2222, -0.0122, -0.1436, -1.7846, 6.8171, 2.0635, -0.0708, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad8896afa97d003e90157d74da5af4bb869544f4c4443b3d5adc7b87ead734c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce356a956bb4be06dadedfa63f182c8dc0804038938db466c323ca0c12b11bba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:06ce5d2bb7ab990c49853bb1d7a00be520c63d8a5e0f452fc2567773adb180c4",
        "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 · 10 s
model
claude-opus-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]: [-0.4618, 1.4727, 0.7689, 0.028, -0.3916, -0.2871, 0.9985, -0.0212, 0.7845, 0.5823, -0.3969, -0.012, -0.0174, 0.9998]\nstate[eef_state]: left_x=0.3915 left_y=-0.1155 left_z=0.1161 left_yaw=0.0051 left_pitch=-0.0529 left_roll=0.0195 left_gripper=0.9985 right_x=0.2892 right_y=-0.0004 right_z=0.1691 right_yaw=-0.0009 right_pitch=-0.029 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -5.9145, 6.3795, 1.8779, -0.1099, 0.2027, -0.0513, -0.3761, -1.8393, 6.735, 1.9756, -0.0415, -0.0806, -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]: [-0.5323, 1.7206, 0.7555, 0.2695, -0.4316, -0.3256, 0.9983, -0.0212, 0.7712, 0.5537, -0.3885, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4058 left_y=-0.1491 left_z=0.0582 left_yaw=-0.0121 left_pitch=-0.0577 left_roll=0.0199 left_gripper=0.9983 right_x=0.2858 right_y=-0.0003 right_z=0.1614 right_yaw=-0.0011 right_pitch=-0.0359 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -6.7761, 8.0342, 1.1502, -0.4127, 0.1148, -0.0269, -0.3761, -1.6479, 6.9675, 1.9756, -0.0562, -0.0708, -0.0073]",
      "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]: [-0.5201, 1.7393, 0.7654, 0.3332, -0.4416, -0.3328, 0.9983, -0.0212, 0.7544, 0.5205, -0.374, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4176 left_y=-0.1481 left_z=0.0662 left_yaw=0.0111 left_pitch=-0.007 left_roll=-0.0084 left_gripper=0.9983 right_x=0.2826 right_y=-0.0003 right_z=0.1536 right_yaw=-0.0011 right_pitch=-0.0378 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -8.6222, 5.0256, 1.7753, -0.0513, 0.2222, -0.0122, -0.1436, -1.7846, 6.8171, 2.0635, -0.0708, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad8896afa97d003e90157d74da5af4bb869544f4c4443b3d5adc7b87ead734c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce356a956bb4be06dadedfa63f182c8dc0804038938db466c323ca0c12b11bba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06ce5d2bb7ab990c49853bb1d7a00be520c63d8a5e0f452fc2567773adb180c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISghcKjgEIEhgCKkDdVymwhiv4k1TETtA2FUfbTQL9GWseZMxkVMFn5FSiWq+EPNrSBhUuHU4sjXKroSgv1Ub2beTiYrJocbFdG1C1Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc+UzNUGEgwXTR9bDllDwY5YNhUaDNOT8J8VIVAWR5zOliIw3iZ9aO7Y8IbQEHgLWsKedSUxZDKOs0bNFHUXSyaTSnWcpMEhNK61rtWXUWo30M7nKqAV/OyE1b+DYTdNDSADcziWM+alu6sgvMWZ2weBPfPkQadICHgmFV9Rxw+aTcovE9gqgxMA3KFIMuN29J+YrVXt3ZTd/mpFQyfL2ceEttkqWRpCv5ZBVQPlhCnDr6MrcuHZeDQQqC9j/Fy190Gd7qHhpftepl/B6/mOoMYF9xzBm+lKBjUpNgt01/ntJxahZ3tEtUY1aQHgtGmmB5mfmJyxcdVut/RDSHyxnNZT17SlTjgGumYid7FEafkvyW1wJ3buZxDdbEgzkBS/y6oS7vQOAD327NK0e3/mqMurYOWYVcyQLbAUojf3ltQ2+SkaP9+TMibCW1FYGLgeLUzvjp0MZtzl80CCca18Fa4cHC1nc1euiJhBAwdi1lnB72GgtxxrL3rqPzVg2DcceHLR3LkBRjdh5tm8kpv5rLUa94+GJxcnq4pCK3rAn1E3JknIO0OpN/LJz6fPeKPWHkji8EZqcAjvRnoFHihw6SWmEqxuqyp+BmyyqX4hynn7vABYIxeV40PpNwSZHTA/UgXFRD6ZNJJxiQZuFT6Mtk01bzp4MVsDX8fbHxieWqSGfpG//+gJkuRYQ/J2l/JjK84OwGqVEWwLjsab+cS6YGgO3hMbSDmzRRlU91Sn3NIUXzK7/6d26ThpIG3W3QMdZW5Hj903otGLKcFk6rUiWpRmrX+KMTL/8iftzfbgL4DWH4uIuXuM2TpoEjT474LzQwJ5ZBy8fLYXTRKuYFUAvz9ZrvrDAXm36BCTuuGKNi8m7QetFm3ZJP3NbAjRD5iVso1665FPixlGFVadg/hydbWO3nwrTwHnkInQwEn8UHlFeO7fsjtQ6AHgZRPnNkTi6b9L1/eM9+5FPrE/xAwm9ITz0O5LnzmZ4S3bVu06bMyHIsLmirtYEXr5JdeaXkcnEIL+4efSJjADPIzzO6SzwWWNC5rCf1vw7WwPh0HyF0o0SBJTTtmgcLe0ZiWyVqMN2pGm95D+X0fsXpj+W9vbyUS/+j/Nu7sI2MfYOZEbwE+iHgvKpnU0EmHE0qxsE4WdbuXMAMTuT6NbmFrjqvk3XK8vXeAKlOMDLcchaa8qsYIYT3Orq5scbkHgUsaVk/94OaToDxcJmV5MNK+Paf0SOku9RoxX3RE3Lx13gfEKvoYeJW38MEiQejIzFAfXoWJzxD7Ab24kUXtudULj1Nnsy9FpMgyLDTcUep8qALHdQvh6jbralbr6k+NWtGm1RTbO7/c8Cc4Mk4t4rVDVDvJPAfHetTusvhSl4LmhbQAJG71HHISryyy54HY4eNekxLd7cf9WWNf4wGVfXQeRfjClEf19b4yZ39sk0HU8+3RujOA0t04Mlh5tmAipGLRXtMULBO39rZYTMYnIXvPTEsHY2XURudljxsGG9q0BzDBjJx79/sFfkPbtDlB5pMu2ujwO5IT/zXTv2mMHZxHmN0k6Cl6CqU6D9/dw+B3O7vU818sjmqzFo41+h6qxkH4aTjfygoIAVPu2Ko4amrf/xhp6WehrYfeg9iTMD5X1mkqE9ngPzNaVB8GYmMMrbz2LauIHOQjXPcaY6IElJp0u8knP3d5v3HP6ihn44/NrklA7X7rO9t6usrWqVimJFAaeEdKEyFC0SeEGGkkJJr74ZRfKnT35uBQM65XBXE2NIWt2xCEws72Ut2ZY5pNPl/0p4qQN/cSvEtTyXIA6YX0e/RHn79GmydfzxRx4yl/exKvFsyx7H4zDEyj3jAgf+8Tn+X4mIXBYMESjbIbysbrzbY3Mdy345M4xOwHhov5JdNgleqqYRzEG2WeLEEBBmE9rgqzV+rELtu2/TstX3g4kM7y69c+1sHHcDTd1fzxWb8yvjJ1Ks3o6pmwY5rUlspoc1qXfr3QU3HwVcv/2Zmm8qqEA/FjHdI2sL+07oZOuklUhLlv07xFPYmDd0SI+g1kaV3rBPFUtRxKVcT645OKNucPXnv46oX+4r3/D7ytfAFRuATHV46Pspa8ydLMfCNR0rGW/jPSp7nJ7LC6ENSc1JArBrUbiW+UbduntKHAWW1c8Ewwynh7ZJA3hlFrboebmPpPPg/d2zZh4iFsevaNO668j9N3zCRI1etZkChTsHdeIM0/np93uQ4i3iM7hu/lBt7ET9LNigjwBFaoECuBqHOa9QcTSIhVgk3moJEH4GngBWS/jNueGk7d8ABEmsb0XwnaQ17Jy1nek+Urc5xglG26FmDOxjKmbV+uql9KWS8hc1RZs1NAY5CleSp1E3MLr1qNw35zoEtqUSUE87nHJ5R34q3WHAueea6m49VUI2QqUWF1zUbqJzFNlxqGq0QoV3T4QtZQrZQSYMVl2RpLCHp+YwJmsSeVNnktmgqEfOX2qoEiGXo/Z+Y4dR07GDw0Nb9UowgiXJ88l0O+J5eHxBUruWUSUGtbBm2is6KJAmswpvBm3eovi+iRxNskJ6OTkGujVsdnnd0NHZWe6HxAeL0db2k+EwdEWV4cER+Y1Kk9odWVW82Wz13ytLnDFOu3oe7rAMiSjLKgDAhn/mzDVOzKaza0BcONuSgQPF/RtgkEtY0mjA0GvIo9wVF/BqN4FpLFdom+1ZM5QSn6nkab7k3IgwPdDtHpnB/sgc2ZSRkyrZrC8qGs3J309FF5qnA5nZuo1FB2/9uKiUqZt/Bnmfe8HmNLAhp0OrIUUEasK1nqC5SwjJsbIsUwgh8kh8YiqvBxDChC9bAIwNumNuZ4Y6S3W9N3axE1Fga31PzahkDG/N8KvfcEdYWZc3uO2lkwC+/lWUZyhON7PTHEZjAoRh+ORMp2UwEzMPITFwoLXvASCVj72tJlvuzsc5Md40MBxUxKjzignNI3CEVcB7pOXLREM2PAgtfruKmWyCLJdRvUWWOCVShbtovjbBxIVRw6rQX3m/TfM3lplHf7jokNLWKYZW2CCSNNMDGw4aJh5AemaX4UmnHC6TA0KoXlyGJElizO5LnxTaQ63LrtcRNEpfR9VLbR0p5JMxZSMvDu/gKGb/+8TF+5Vzt7UsYhnDpEQyCa2VIPayuRyUsy1JgtF879nFpRToFO9HOt0FllSdlN9c9TCiW7ZtV8P/Ka1jtZwKg+aJi5BcTsbbNaXgWRmptZVjaGxnmnd03Z9Ot6gGZ6O/T2O85ArR/WyVLg4iCjwzTNKXgBotk8w03GIHcZg1llOGvUlSZT0Hzpf97P4SoA/r2OVbO+3M8cr3DeUIHeVIUSNcDCjQ0R8Be0M/YZEo2JZsHDzEhK8MHI+lZLKMFHvtY+rSSotRsHO975y8GEqVtlMRgbyOfZ0GA82POtxsJwKxUq4wSO3DUDyo3ugjQDCcLudr1eRkdICEwWVgJtH0pVYL9Drt34q400BcgucrwBkZea73mByG5gxxAB9Jy11PLAA2p54l8rc+ipq5/24kdEIiIGW8AGhfb9zmAfJBMNUxOgqAITJaLAfx+X1bvdZh9vifGedRrgtCT95ZdF+YHs+aSWXptceT/Rotm7jjXGo9lndyChKkVo5aOMCaoYVsSGzxav4XIzMUAl04zuJjjdqh8GS+phVtZH07/8rAjSrPw3Ir8SqSq2/bgqLuEXMrOAZsdx0Xk13rvfIESKRb5kzu3fl+z61xPyKVuWjzLf9+QBpU4xBF3EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TutQmGXaTbYYRVGU8ZjUMD",
      "input": {
        "note": "The arm is falling ~3 cm short of commanded x at this low height (reach limit with the tool vertical), and the bottle's cap sits right of the jaw column; rising to 15 cm and reaching further out/right to hover over the neck.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.18,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TutQmGXaTbYYRVGU8ZjUMD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5201, 1.7393, 0.7654, 0.3332, -0.4416, -0.329, 0.9983, -0.0212, 0.7345, 0.4843, -0.358, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4176 left_y=-0.1481 left_z=0.0662 left_yaw=0.009 left_pitch=-0.0071 left_roll=-0.0052 left_gripper=0.9983 right_x=0.279 right_y=-0.0002 right_z=0.1456 right_yaw=-0.0011 right_pitch=-0.0381 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.5402, 5.012, 1.7509, -0.0952, 0.1734, -0.0122, -0.3761, -1.6205, 6.9949, 2.0537, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7bc8b67a5438b7c51cc5cb59782b984c8930771e9bda1c7d197ac293c0d9d82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fad81d178cca68658c7ce15412c7d46694ad4f1388ba148fbae6e60badc8c9d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:001a66527f3cba8f4c51ff341e164f6e2b3f661cccc95d653ac4a08711a60aaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 39.51 s
model
claude-opus-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]: [-0.5323, 1.7206, 0.7555, 0.2695, -0.4316, -0.3256, 0.9983, -0.0212, 0.7712, 0.5537, -0.3885, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4058 left_y=-0.1491 left_z=0.0582 left_yaw=-0.0121 left_pitch=-0.0577 left_roll=0.0199 left_gripper=0.9983 right_x=0.2858 right_y=-0.0003 right_z=0.1614 right_yaw=-0.0011 right_pitch=-0.0359 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -6.7761, 8.0342, 1.1502, -0.4127, 0.1148, -0.0269, -0.3761, -1.6479, 6.9675, 1.9756, -0.0562, -0.0708, -0.0073]",
      "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]: [-0.5201, 1.7393, 0.7654, 0.3332, -0.4416, -0.3328, 0.9983, -0.0212, 0.7544, 0.5205, -0.374, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4176 left_y=-0.1481 left_z=0.0662 left_yaw=0.0111 left_pitch=-0.007 left_roll=-0.0084 left_gripper=0.9983 right_x=0.2826 right_y=-0.0003 right_z=0.1536 right_yaw=-0.0011 right_pitch=-0.0378 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -8.6222, 5.0256, 1.7753, -0.0513, 0.2222, -0.0122, -0.1436, -1.7846, 6.8171, 2.0635, -0.0708, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5201, 1.7393, 0.7654, 0.3332, -0.4416, -0.329, 0.9983, -0.0212, 0.7345, 0.4843, -0.358, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4176 left_y=-0.1481 left_z=0.0662 left_yaw=0.009 left_pitch=-0.0071 left_roll=-0.0052 left_gripper=0.9983 right_x=0.279 right_y=-0.0002 right_z=0.1456 right_yaw=-0.0011 right_pitch=-0.0381 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.5402, 5.012, 1.7509, -0.0952, 0.1734, -0.0122, -0.3761, -1.6205, 6.9949, 2.0537, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7bc8b67a5438b7c51cc5cb59782b984c8930771e9bda1c7d197ac293c0d9d82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fad81d178cca68658c7ce15412c7d46694ad4f1388ba148fbae6e60badc8c9d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:001a66527f3cba8f4c51ff341e164f6e2b3f661cccc95d653ac4a08711a60aaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISygsKjgEIEhgCKkAGBSgZ/yl/8Kvk+Had1HWxuPh/OVZCNzRpeJRaZQQYhk4e/UV2TWGPY1ZED+2jZEuPH/1y9WDQBxBmbmjLqniNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdmUzNUGEgw3Xai/AEdzAFDo8l4aDFVxIqIOmgKFoVDg7yIwFxG2erZSLocmZHkeE6QfSQ3yxIOkp48p20Blj1h+I1IIhEmw6h0SkamZ/Q0s9exgKugJWHLmGQCYSAN0h/r6vP1IK+a42EgLv6y/XUKmayZ47bXUZbjBf8dQZHjQnC6Ry4MgcU9Q8MryJbtUEBXen+XZLU8NAk6cAZ0cBQmZX7Yb0v3BIeuJ2wmnXBptz+vczOEEcOTs+fXNIf4ig1JxZme1qJu5xNOa5MtArwVcFZo5XT2UUC8hRCF3/rGRlhtgIXLdBBTj7brHejAWyiiMW/tx+0Of8Tn2Vj0ThXheaG1Pd7L0CHcFR3dPeekTosq+RHyDTYI9VGu8ElBYTHzlqzbWBG1iky07cHPHX4XkvMJ+7klSBv74Oj7O92wskOOH4TdCp2GDLWqyoW4hJQQsG859vEXfqgdahTirjkdME4/e0CcdcIijmRHeRBZjNH5P5iC8nQnYNBYQbZzfgFe8m43+dRg4QjJdjlO8QVMDkl+Lcx7nsMhSQi729oDEl4zX2UbabffMncLD7ftDK+OqG3Tcd8tGLr0ahqj8fATty+joXzZxQG+AtKnttmdl/olGIFb1jABXiZc0NGBwKAVNIxj0z3minfuHkPdqamyPMVvtyzE2KUYOD+uUIh23e7TWFMYRSm34RhASpQXyDuMF8wY75og+j22Jl7oEmINkKk0bTKBaaPpTN/EyqxftdNqFqbbDrHaZCxmISyOYY/28+Oiz+r1OJPGpS2iNLwpEoAP20ofaBi+MM1bQSxE0V4VN0xo6ry3iXfb+Zsovz8Eh038DG41UgOJeAXfMAWFT4CVqRyfh5HJCf+9HXR25A+noorziIuZLL+QcNeNeA4gvOByzpiILgGvsCUtGmfsD+qgpkO7T3hEYFDt533v3GtEpgG5GsS2H/3eV++2NZ9L5tnuWcOs7Rln0V6BHsjVXo2RaBSUMAODh+RXKjL8WWXMyzoMKAcGCTJtDt3G/XwyIU4ULp2nKjXciOFnFPU7tLpEFEMiPuM6C800GGnmaDVHinnYhTVjCFLZ043kzobLC9ONzQ12ak85kJMn+jQth7vi/M1pjm1HiLy1+f9anXnQ8uJ4aoF+HISoJGtFgB6Z9El/8OBh2dvU/x1g+bGop/QuC4zvY7hY8bCyAhIRv1sMV8LwDGobzjZ7zpkOjT0ac8mTV2AEBHMZzop2LZripU7oPp+e4DtXn0Vdl8C91qeIp9IZW2F0j1KUUCtzb1GElUpAinoKAVzh1uWjj2OnjF/LrXREw6aJCiHM8KItnGf1+qUK6cvVQonLar9Gpnwjp28+NLKO0U22fr491fmPoz3QHV9+YaVmRou/MvouaslJM2a6xSBzXfk7EOnvYs71QgjV3wkGZVBLRa+0R0aL38X1GqK/tsrd8tIOFdhd5gSnyQbRZ0gSK5I8xXWK5RGtQ0tfr11IGRMVJqPAjXkc6LsCT2I3SbgZu/JuWTWX6G6c4Vd0Fvi7LJfZDXs1gXJZ+ORZXcPgXcuI3ni9xlUFsulhy7FNUsWrJQ5ve69RouWXpIXXJgdvokqtd7hqZs7b3LlkGBJdmcCQeRPhOEg8fqSgcnlMWk4oeGDZfCpsl2pyhSDMKcWkWdF3cjB/raklFCZBJY4JEd9O2kSAUF0cD9X3h8pJZXB+Wb4I2CbSxSNZjcRUvxdRpTdj4SiVzLMBwmuulWETAEWxUQDz7IWOjKMuO47SwXIKu8bcn9gCdweov32vZyX8Twv8g5QsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KqgK1z9epWVCpnuzTDoURF",
      "input": {
        "note": "The last command produced no motion at all — the arm is stalled at its reach limit with the tool vertical. Retreating back and up to 20 cm to recover a well-conditioned pose.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.15,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01KqgK1z9epWVCpnuzTDoURF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6323, 1.3571, 0.9138, -0.234, -0.5179, -0.4004, 0.9983, -0.0212, 0.7113, 0.4477, -0.3401, -0.0124, -0.017, 0.9998]\nstate[eef_state]: left_x=0.3647 left_y=-0.1543 left_z=0.1792 left_yaw=-0.0041 left_pitch=-0.012 left_roll=-0.006 left_gripper=0.9983 right_x=0.2755 right_y=-0.0001 right_z=0.1385 right_yaw=-0.0008 right_pitch=-0.0336 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.0359, 9.6615, 1.5897, -0.442, 0.0024, -0.0122, -0.2256, -1.2513, 7.1453, 1.956, -0.0611, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40b1fbce1465f1546e9c57d6b79a90c0d7b68d8e011e6365a2bb0cd9947bfa73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21199575dfe5ca6eafaf5a4919b3c5f1f738db3d1b059a7b644a205340a81f15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2816bea0a17b8c53c6af0567adbbf83d965d57072681d7c26969b66f9861f6c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 12.04 s
model
claude-opus-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]: [-0.5201, 1.7393, 0.7654, 0.3332, -0.4416, -0.3328, 0.9983, -0.0212, 0.7544, 0.5205, -0.374, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4176 left_y=-0.1481 left_z=0.0662 left_yaw=0.0111 left_pitch=-0.007 left_roll=-0.0084 left_gripper=0.9983 right_x=0.2826 right_y=-0.0003 right_z=0.1536 right_yaw=-0.0011 right_pitch=-0.0378 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -8.6222, 5.0256, 1.7753, -0.0513, 0.2222, -0.0122, -0.1436, -1.7846, 6.8171, 2.0635, -0.0708, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5201, 1.7393, 0.7654, 0.3332, -0.4416, -0.329, 0.9983, -0.0212, 0.7345, 0.4843, -0.358, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4176 left_y=-0.1481 left_z=0.0662 left_yaw=0.009 left_pitch=-0.0071 left_roll=-0.0052 left_gripper=0.9983 right_x=0.279 right_y=-0.0002 right_z=0.1456 right_yaw=-0.0011 right_pitch=-0.0381 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.5402, 5.012, 1.7509, -0.0952, 0.1734, -0.0122, -0.3761, -1.6205, 6.9949, 2.0537, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6323, 1.3571, 0.9138, -0.234, -0.5179, -0.4004, 0.9983, -0.0212, 0.7113, 0.4477, -0.3401, -0.0124, -0.017, 0.9998]\nstate[eef_state]: left_x=0.3647 left_y=-0.1543 left_z=0.1792 left_yaw=-0.0041 left_pitch=-0.012 left_roll=-0.006 left_gripper=0.9983 right_x=0.2755 right_y=-0.0001 right_z=0.1385 right_yaw=-0.0008 right_pitch=-0.0336 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.0359, 9.6615, 1.5897, -0.442, 0.0024, -0.0122, -0.2256, -1.2513, 7.1453, 1.956, -0.0611, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40b1fbce1465f1546e9c57d6b79a90c0d7b68d8e011e6365a2bb0cd9947bfa73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21199575dfe5ca6eafaf5a4919b3c5f1f738db3d1b059a7b644a205340a81f15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2816bea0a17b8c53c6af0567adbbf83d965d57072681d7c26969b66f9861f6c6",
        "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_019hQyjzHUuC4zTXTcMsYHec",
      "input": {
        "note": "All three bottles lie with caps pointing away from the arms, and their necks are just past the left arm's vertical-tool reach. Plan: grab the middle bottle mid-body, carry it closer to the base, set it down, then lift it by the neck so it swings upright. Hovering over the middle bottle's body now.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.17,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_019hQyjzHUuC4zTXTcMsYHec",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5938, 1.6409, 0.8448, 0.0765, -0.503, -0.3893, 0.9983, -0.0212, 0.6914, 0.4168, -0.3244, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.3994 left_y=-0.1625 left_z=0.0942 left_yaw=0.0177 left_pitch=-0.0521 left_roll=0.02 left_gripper=0.9983 right_x=0.2727 right_y=-0.0001 right_z=0.1327 right_yaw=-0.0011 right_pitch=-0.029 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -7.3231, 6.2427, 1.6728, -0.0904, 0.2906, -0.0122, -0.2256, -1.1419, 6.9265, 1.917, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f6f950684f5465444e9efaed64873f32a49cabf7d47df899a74158b4b4cf105",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6373addc2c6b38024229c1c1509bd74fffb64dcc0de16d29a1771c4d8bf9a1fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:003e8e41ce72f21dcc6bf0f3d7d5586c69511dcb5e4816fc45459851fefdf741",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 10.22 s
model
claude-opus-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]: [-0.5201, 1.7393, 0.7654, 0.3332, -0.4416, -0.329, 0.9983, -0.0212, 0.7345, 0.4843, -0.358, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4176 left_y=-0.1481 left_z=0.0662 left_yaw=0.009 left_pitch=-0.0071 left_roll=-0.0052 left_gripper=0.9983 right_x=0.279 right_y=-0.0002 right_z=0.1456 right_yaw=-0.0011 right_pitch=-0.0381 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.5402, 5.012, 1.7509, -0.0952, 0.1734, -0.0122, -0.3761, -1.6205, 6.9949, 2.0537, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6323, 1.3571, 0.9138, -0.234, -0.5179, -0.4004, 0.9983, -0.0212, 0.7113, 0.4477, -0.3401, -0.0124, -0.017, 0.9998]\nstate[eef_state]: left_x=0.3647 left_y=-0.1543 left_z=0.1792 left_yaw=-0.0041 left_pitch=-0.012 left_roll=-0.006 left_gripper=0.9983 right_x=0.2755 right_y=-0.0001 right_z=0.1385 right_yaw=-0.0008 right_pitch=-0.0336 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.0359, 9.6615, 1.5897, -0.442, 0.0024, -0.0122, -0.2256, -1.2513, 7.1453, 1.956, -0.0611, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5938, 1.6409, 0.8448, 0.0765, -0.503, -0.3893, 0.9983, -0.0212, 0.6914, 0.4168, -0.3244, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.3994 left_y=-0.1625 left_z=0.0942 left_yaw=0.0177 left_pitch=-0.0521 left_roll=0.02 left_gripper=0.9983 right_x=0.2727 right_y=-0.0001 right_z=0.1327 right_yaw=-0.0011 right_pitch=-0.029 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -7.3231, 6.2427, 1.6728, -0.0904, 0.2906, -0.0122, -0.2256, -1.1419, 6.9265, 1.917, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f6f950684f5465444e9efaed64873f32a49cabf7d47df899a74158b4b4cf105",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6373addc2c6b38024229c1c1509bd74fffb64dcc0de16d29a1771c4d8bf9a1fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:003e8e41ce72f21dcc6bf0f3d7d5586c69511dcb5e4816fc45459851fefdf741",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ApSb7HJkukXR4xziR1LL95",
      "input": {
        "note": "The middle bottle is now centred on the jaw column in the wrist view, lying with its cap away; descending to bottle-axis height to straddle its body just below the label.",
        "targets": {
          "left_x": 0.415,
          "left_y": -0.178,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01ApSb7HJkukXR4xziR1LL95",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.614, 1.8538, 0.7868, 0.4507, -0.5167, -0.403, 0.9983, -0.0212, 0.6777, 0.3916, -0.3138, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4179 left_y=-0.1834 left_z=0.0508 left_yaw=0.0152 left_pitch=0.037 left_roll=-0.0447 left_gripper=0.9983 right_x=0.2702 right_y=-0.0 right_z=0.1268 right_yaw=-0.0011 right_pitch=-0.0298 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -6.2291, 5.4906, 0.5495, -0.3004, 0.2125, -0.0171, -0.1846, -1.2923, 7.0222, 1.9512, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00e5ce68a4824e38ac986ea19a870fe73cf3fee52698658044e5ba7cfc7878c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af6421b022eef4bdcf1204a886295d9ad40068fc9c7dfd9b91308bf0d5ab6395",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:68c0268a47639917b97f55fc349311ac0c9716bdee69762e076a0ad5fa0884fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 7.184 s
model
claude-opus-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]: [-0.6323, 1.3571, 0.9138, -0.234, -0.5179, -0.4004, 0.9983, -0.0212, 0.7113, 0.4477, -0.3401, -0.0124, -0.017, 0.9998]\nstate[eef_state]: left_x=0.3647 left_y=-0.1543 left_z=0.1792 left_yaw=-0.0041 left_pitch=-0.012 left_roll=-0.006 left_gripper=0.9983 right_x=0.2755 right_y=-0.0001 right_z=0.1385 right_yaw=-0.0008 right_pitch=-0.0336 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.0359, 9.6615, 1.5897, -0.442, 0.0024, -0.0122, -0.2256, -1.2513, 7.1453, 1.956, -0.0611, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5938, 1.6409, 0.8448, 0.0765, -0.503, -0.3893, 0.9983, -0.0212, 0.6914, 0.4168, -0.3244, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.3994 left_y=-0.1625 left_z=0.0942 left_yaw=0.0177 left_pitch=-0.0521 left_roll=0.02 left_gripper=0.9983 right_x=0.2727 right_y=-0.0001 right_z=0.1327 right_yaw=-0.0011 right_pitch=-0.029 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -7.3231, 6.2427, 1.6728, -0.0904, 0.2906, -0.0122, -0.2256, -1.1419, 6.9265, 1.917, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.614, 1.8538, 0.7868, 0.4507, -0.5167, -0.403, 0.9983, -0.0212, 0.6777, 0.3916, -0.3138, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4179 left_y=-0.1834 left_z=0.0508 left_yaw=0.0152 left_pitch=0.037 left_roll=-0.0447 left_gripper=0.9983 right_x=0.2702 right_y=-0.0 right_z=0.1268 right_yaw=-0.0011 right_pitch=-0.0298 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -6.2291, 5.4906, 0.5495, -0.3004, 0.2125, -0.0171, -0.1846, -1.2923, 7.0222, 1.9512, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00e5ce68a4824e38ac986ea19a870fe73cf3fee52698658044e5ba7cfc7878c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af6421b022eef4bdcf1204a886295d9ad40068fc9c7dfd9b91308bf0d5ab6395",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68c0268a47639917b97f55fc349311ac0c9716bdee69762e076a0ad5fa0884fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6QoKjgEIEhgCKkAy1EeQB5O2Na8qsfVurEMzPtAVPUCGCpokI9MVVTA5DEk2HMc2RidWM74a5upTvSYpG9e3TTM9A6/qSkVoiV26Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZmVzNUGEgxYG3RtZ+XCi8bNeoMaDKyvTfdPeFYlt1i1RiIwCThpTtFpx74WqzaI8gRyFP0JzlzPJGtTFzLbYFl1WotcEYYKqwgPuEWhB2muaEVfKocJgl54Kf/OynQebdYURNLr09DAOaLweTq7HqktIOek3aivDWmJuycfqFF+3D69S5MdaaYZS4PfMoifhaX3AwMxcrJi0lz0fHzIyINXzB/JBKA+0wo621cVl5rCBlLWw6hx8ViD8tf9sFD9ypfWxFNs1oc6rGjK5Uw87IPnxIJyFO/NiDYg8/uy1gSJMsGRsu0bGixHZlHMwX19QYvUoM7dfu7qcpFybgg320DYb3BF8uOsNB4vxOL8sG/8u2JL2se7j/amr5hXSr6U0bgezXAY7/zBshStHJRTkVQjiLoclknQRU8kkncnVp3u+j5YJhPLDCmL/w+4yddxEGRYvgPGawJwXsNYQ4fKoGGpKyTeVqr/FPAd/lkZxcsfUTeH6pGUZyZR3HsVxcYwDyx2ZWOvl+Xyoru48wl1DVj+7M2fNsZdFkNMaKKLs5219/sX7t6rctS0QoDcyA+psEGyOgYRcnMWPG9JAgrsZTAM9P4uWkVy2pqt9PWT8KUXchIgLhLzP2/wFywIvfXUS+rW9NhjGpDtUZTgq8XD/cphTEoZ85KJGk96nvePWqvkBKVR11wOqG3yZqvo0EbuBV9ScxWOF5qHMbyUQypYoa/RG4DJRQYf9d8oNozlbx25NchPtrY4eNgWH9bdWUk7Gx6R13RWfQViNEmcRMQMtIbxQDZr65NhextijaYv+bWRF+3G/wayDUbE+HA7wTvlIDssrVFX53ioeYjz+K12qZ73DsauXv7hduXWNkyZ1Z0r0WY1xie4P85S57F5CyOP4GLAg2vf2gfZI9/bY2jyyuVT43eOTRrt0uWfzFqrT7dPsn88B4p7G4SeiYbPWwdxFNqBFlyqSMzcrET4eI3Xc/H+oVbjnnW7Sm2jbTSvDaLf6bNXM9pCvw6f0LzdyWWhUuz6+DsV9BvPhDHaZ7bg0u22sBuR1+50t4kp9kL/1aHw7m7ZuPXlzIiyFpMuomaIUK8aQRb54O+S4dpYYjZFKBafSGMTgE9fGk/BlkNYOX/fUnU1Ezw0Fiv6EeNLUNZ38PAPfHiPo14gD7PLQ77cGFRJedfiAIMkQuGle6QjYfiR1zN1XTnTmCrjfFJJ9+Di9jomGMcA44bvVu4ugxfph7SNziUAtX56CUNfBvj78wMbsxPndbvZdYWVZgm4FEBt8JhCIC4tMunHI0CWf4VcS4576mHGmE09O+X9qnpKmVGe9ObCpdQiG0iuetVyoL5OaxKGnfluGwHbBcOdPxxe+OFXQbuY5lSWgrudIzJCafjemsYGHjlpp2h9o8+2QK8nKaKPeFUI6Dx0sA4egogiW+BZrlx4dsUnZUTFgtjsKiLb4N5sqlMAE5BI0Z8zLMkTrDNv9KqViSZtx6n6fHUESSEPQcMcP4/xgTR2zJTGDv7qD1SB/D11M+ERprEbHEln9qkJLKcWKhodFiEswr7pUGMv7wl265F0DAuAkAyydg65maL2BEfmptRclll2oaEDB92rYfajxEyySeqlfee1eokQ0GbF2fLc/PZGNNXY4LLBralzLNKkeXc2C8kZ3BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J1XPAgveSyzGfb4tsbTzK4",
      "input": {
        "note": "The bottle sits centred between the open jaws in the wrist view; closing to ~3.8 cm to grip its body firmly without crushing it.",
        "targets": {
          "left_gripper": 0.4
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01J1XPAgveSyzGfb4tsbTzK4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6186, 1.8584, 0.8249, 0.4133, -0.5396, -0.4183, 0.4069, -0.0212, 0.6601, 0.3664, -0.2981, -0.0124, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4232 left_y=-0.1854 left_z=0.0568 left_yaw=0.0369 left_pitch=0.0416 left_roll=-0.045 left_gripper=0.4069 right_x=0.2683 right_y=0.0001 right_z=0.1229 right_yaw=-0.0008 right_pitch=-0.0217 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -8.9504, 5.9692, 0.9939, -0.0855, 0.2906, 0.1832, -0.2256, -0.8, 7.0632, 1.8926, -0.0366, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c447d92e64258096cebd56776627f0fd3871c7acba12be87b672a22f0acbc741",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d326768647b4bbc7d0982a52ff36ddfe19c1d17a465163bb64850c9184560d79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1e7c71c577c20cd882485c53c9e9eaba48dc2944ec87ef5e0fe52902f7d6ffbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 26.91 s
model
claude-opus-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]: [-0.5938, 1.6409, 0.8448, 0.0765, -0.503, -0.3893, 0.9983, -0.0212, 0.6914, 0.4168, -0.3244, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.3994 left_y=-0.1625 left_z=0.0942 left_yaw=0.0177 left_pitch=-0.0521 left_roll=0.02 left_gripper=0.9983 right_x=0.2727 right_y=-0.0001 right_z=0.1327 right_yaw=-0.0011 right_pitch=-0.029 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -7.3231, 6.2427, 1.6728, -0.0904, 0.2906, -0.0122, -0.2256, -1.1419, 6.9265, 1.917, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.614, 1.8538, 0.7868, 0.4507, -0.5167, -0.403, 0.9983, -0.0212, 0.6777, 0.3916, -0.3138, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4179 left_y=-0.1834 left_z=0.0508 left_yaw=0.0152 left_pitch=0.037 left_roll=-0.0447 left_gripper=0.9983 right_x=0.2702 right_y=-0.0 right_z=0.1268 right_yaw=-0.0011 right_pitch=-0.0298 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -6.2291, 5.4906, 0.5495, -0.3004, 0.2125, -0.0171, -0.1846, -1.2923, 7.0222, 1.9512, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6186, 1.8584, 0.8249, 0.4133, -0.5396, -0.4183, 0.4069, -0.0212, 0.6601, 0.3664, -0.2981, -0.0124, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4232 left_y=-0.1854 left_z=0.0568 left_yaw=0.0369 left_pitch=0.0416 left_roll=-0.045 left_gripper=0.4069 right_x=0.2683 right_y=0.0001 right_z=0.1229 right_yaw=-0.0008 right_pitch=-0.0217 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -8.9504, 5.9692, 0.9939, -0.0855, 0.2906, 0.1832, -0.2256, -0.8, 7.0632, 1.8926, -0.0366, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c447d92e64258096cebd56776627f0fd3871c7acba12be87b672a22f0acbc741",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d326768647b4bbc7d0982a52ff36ddfe19c1d17a465163bb64850c9184560d79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e7c71c577c20cd882485c53c9e9eaba48dc2944ec87ef5e0fe52902f7d6ffbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkAYKjgEIEhgCKkAhjHCJBCc1Wov18wFg3ZY9WAvX2/FpOUSU+pm4XUzUn2bEeplszncRdDBnkGWyeB30KXKiyuwl4/xa6timnNvDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaGVzNUGEgyXV2aWQqa3qbX4OrQaDGo1vwZOqAbzSxiMrSIw95F8Yc7mePS8z5MQ4bWhu3T5VG84cpt2YyBvKRvps+gqPJUDXtPh89NVkpDV1BUuKq4EoWvECAqHtUL1rz37qTZv5tTTUWo7sZOv8Hil44rB6AhEsyuk2Q3d0hyRM8hkXIoljRBB4jfzafwF+3H217bNlePXv2iVScMprnDWxMneKHGV/9oOnS7gA7YJTO9/+rPsZfSQXyVrMLpplsxwZorQwxUKx6mElLtwceHN2w2I5DfhoSCqFGxkYF4Zq+cNr4TKQmNEGMkm9Wpy/sKp1J4t3/ocB9Ncur9j+z8hyuAhMyoDUGBZ9Po5rFyKIBg/TE3aDEqgdzIfI7rNHGXNYc1uw0BHpF02x55F2SV8XG2JZtkQSZ/pslkpYUNUS31NZMjm4n+EjExYbn+VDl5BjHCyx55pqNEug3OrlHCllvWCRBrBY8CUFTHltMbWcTWo9phSL6yNaLtCKQb3oVEG4hITmfYHcd1frpKiGzlrA01F57vdSNMScYFiv/7UEvMGsCSTbnHlSnE9vLJkWGcfMw2HiShSQ5Ol08d0mlWzkqPuqug5TDzempLRxK0r7gUgA7s9dMfB+1rNkT4bfO9QhxfTdlQ5x7flTxD07XgEPpaIlKabaEwjJ0MhMLRAJVJQzQgH7ovsG/vmINJYaHAvGsefnXO6ZUiwjnOhxNTG54z7yVrHoNMfCBOkCYFhzE3CERTXbO7F4hWX/t/OEy/wR9wRekMtkCjny+7CW+TSrFhyK93OdV6ABHfR4mXE6VwJ/BtNA3sHauoARvMSre3ejRJkBGeJ3ccyHq9T74WKzZ0+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014DrpPFvizNwZtXcBzpV2iY",
      "input": {
        "note": "Gripper settled at 0.41 (~3.9 cm), suggesting it has caught the bottle's tapered shoulder/neck rather than the fat body. Lifting to 25 cm to see whether the bottle comes up and how it hangs.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_014DrpPFvizNwZtXcBzpV2iY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6186, 1.6371, 1.3582, -0.4313, -0.5472, -0.424, 0.4071, -0.0212, 0.6514, 0.347, -0.2909, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4278 left_y=-0.1873 left_z=0.2218 left_yaw=0.0456 left_pitch=-0.0267 left_roll=0.009 left_gripper=0.4071 right_x=0.2663 right_y=0.0001 right_z=0.1177 right_yaw=-0.0011 right_pitch=-0.0252 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -10.8923, 9.2239, 1.5995, -0.2662, 0.0806, 0.0171, -0.3761, -0.8274, 7.4325, 1.9023, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c05d79ac354e9f7549f9d25c006669e39b50a21a4b7e2fdc3c0717e44350bd0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d100f54748f0f49ea0b9b0f1f7173333ce5530d10b867a408a468c7b32b1f38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9cb1a4d5d14c6042da3dcc77d34f5a5338f6dfdd61d1406fcb114468dc5f2cfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 18.44 s
model
claude-opus-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]: [-0.614, 1.8538, 0.7868, 0.4507, -0.5167, -0.403, 0.9983, -0.0212, 0.6777, 0.3916, -0.3138, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4179 left_y=-0.1834 left_z=0.0508 left_yaw=0.0152 left_pitch=0.037 left_roll=-0.0447 left_gripper=0.9983 right_x=0.2702 right_y=-0.0 right_z=0.1268 right_yaw=-0.0011 right_pitch=-0.0298 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -6.2291, 5.4906, 0.5495, -0.3004, 0.2125, -0.0171, -0.1846, -1.2923, 7.0222, 1.9512, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6186, 1.8584, 0.8249, 0.4133, -0.5396, -0.4183, 0.4069, -0.0212, 0.6601, 0.3664, -0.2981, -0.0124, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4232 left_y=-0.1854 left_z=0.0568 left_yaw=0.0369 left_pitch=0.0416 left_roll=-0.045 left_gripper=0.4069 right_x=0.2683 right_y=0.0001 right_z=0.1229 right_yaw=-0.0008 right_pitch=-0.0217 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -8.9504, 5.9692, 0.9939, -0.0855, 0.2906, 0.1832, -0.2256, -0.8, 7.0632, 1.8926, -0.0366, -0.0757, -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]: [-0.6186, 1.6371, 1.3582, -0.4313, -0.5472, -0.424, 0.4071, -0.0212, 0.6514, 0.347, -0.2909, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4278 left_y=-0.1873 left_z=0.2218 left_yaw=0.0456 left_pitch=-0.0267 left_roll=0.009 left_gripper=0.4071 right_x=0.2663 right_y=0.0001 right_z=0.1177 right_yaw=-0.0011 right_pitch=-0.0252 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -10.8923, 9.2239, 1.5995, -0.2662, 0.0806, 0.0171, -0.3761, -0.8274, 7.4325, 1.9023, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c05d79ac354e9f7549f9d25c006669e39b50a21a4b7e2fdc3c0717e44350bd0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d100f54748f0f49ea0b9b0f1f7173333ce5530d10b867a408a468c7b32b1f38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cb1a4d5d14c6042da3dcc77d34f5a5338f6dfdd61d1406fcb114468dc5f2cfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016YsTNwWReude8V1EaDi8og",
      "input": {
        "note": "The close was empty — the bottle was beyond my fingertips even though it looked centred in the wrist view. Reopening and testing whether the arm can reach 3 cm further out (x=0.46) at 10 cm height.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.46,
          "left_y": -0.19,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_016YsTNwWReude8V1EaDi8og",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5838, 1.8389, 1.103, 0.0261, -0.5312, -0.3965, 0.9965, -0.0212, 0.6365, 0.3241, -0.2901, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4523 left_y=-0.1873 left_z=0.1018 left_yaw=0.0532 left_pitch=-0.0331 left_roll=0.0233 left_gripper=0.9965 right_x=0.2627 right_y=0.0001 right_z=0.111 right_yaw=-0.0011 right_pitch=-0.0324 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.5812, -9.0051, 5.8188, 1.7607, -0.1001, 0.0904, -0.0317, -0.1026, -0.8137, 6.9265, 1.9805, -0.0513, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bbe3733b798f702a4184f6e9017b031b498c6d4a232881a6c9f716990bfb26b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d4cede064bfc1e786e303aacb3f050532a5fc9cf07d1eb9096f7e1f494f6eed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7155c1d4cc18b71b4723dbb6ee7cc6dd7011d5c5a87bf2c0b8dc26e8bedeeda0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 7.065 s
model
claude-opus-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]: [-0.6186, 1.8584, 0.8249, 0.4133, -0.5396, -0.4183, 0.4069, -0.0212, 0.6601, 0.3664, -0.2981, -0.0124, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4232 left_y=-0.1854 left_z=0.0568 left_yaw=0.0369 left_pitch=0.0416 left_roll=-0.045 left_gripper=0.4069 right_x=0.2683 right_y=0.0001 right_z=0.1229 right_yaw=-0.0008 right_pitch=-0.0217 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -8.9504, 5.9692, 0.9939, -0.0855, 0.2906, 0.1832, -0.2256, -0.8, 7.0632, 1.8926, -0.0366, -0.0757, -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]: [-0.6186, 1.6371, 1.3582, -0.4313, -0.5472, -0.424, 0.4071, -0.0212, 0.6514, 0.347, -0.2909, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4278 left_y=-0.1873 left_z=0.2218 left_yaw=0.0456 left_pitch=-0.0267 left_roll=0.009 left_gripper=0.4071 right_x=0.2663 right_y=0.0001 right_z=0.1177 right_yaw=-0.0011 right_pitch=-0.0252 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -10.8923, 9.2239, 1.5995, -0.2662, 0.0806, 0.0171, -0.3761, -0.8274, 7.4325, 1.9023, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5838, 1.8389, 1.103, 0.0261, -0.5312, -0.3965, 0.9965, -0.0212, 0.6365, 0.3241, -0.2901, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4523 left_y=-0.1873 left_z=0.1018 left_yaw=0.0532 left_pitch=-0.0331 left_roll=0.0233 left_gripper=0.9965 right_x=0.2627 right_y=0.0001 right_z=0.111 right_yaw=-0.0011 right_pitch=-0.0324 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.5812, -9.0051, 5.8188, 1.7607, -0.1001, 0.0904, -0.0317, -0.1026, -0.8137, 6.9265, 1.9805, -0.0513, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bbe3733b798f702a4184f6e9017b031b498c6d4a232881a6c9f716990bfb26b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d4cede064bfc1e786e303aacb3f050532a5fc9cf07d1eb9096f7e1f494f6eed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7155c1d4cc18b71b4723dbb6ee7cc6dd7011d5c5a87bf2c0b8dc26e8bedeeda0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GkC6j6nMKhQnMjCMAnudVc",
      "input": {
        "note": "Reach to x=0.45 works at 10 cm. The bottle body now runs off the bottom of the wrist frame, so its mid-body is roughly under the fingertips; shifting 2.8 cm left to line the body axis up with the jaw column and descending to body-centre height.",
        "targets": {
          "left_y": -0.162,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01GkC6j6nMKhQnMjCMAnudVc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.532, 1.9373, 0.9195, 0.3401, -0.4969, -0.3798, 0.997, -0.0212, 0.614, 0.2951, -0.2794, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4496 left_y=-0.1628 left_z=0.0403 left_yaw=0.0687 left_pitch=-0.0199 left_roll=0.0007 left_gripper=0.997 right_x=0.2597 right_y=0.0002 right_z=0.1055 right_yaw=-0.0011 right_pitch=-0.0282 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -7.9248, 4.7521, 1.663, -0.1245, 0.1294, 0.0464, -0.1983, -0.6222, 6.8991, 1.9219, -0.0073, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e45cf7f81a40c6182b948962cccfad6932e052c891d93e334c91ede675bc416b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae8a5e26a754aaabb435c062178926c7d4457052521a5310eac6401b6ddc794f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:baa15c352ed883ebd3ae0769106a751fab2ee0e3befa22637f1e94665eced3f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 5.973 s
model
claude-opus-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]: [-0.6186, 1.6371, 1.3582, -0.4313, -0.5472, -0.424, 0.4071, -0.0212, 0.6514, 0.347, -0.2909, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4278 left_y=-0.1873 left_z=0.2218 left_yaw=0.0456 left_pitch=-0.0267 left_roll=0.009 left_gripper=0.4071 right_x=0.2663 right_y=0.0001 right_z=0.1177 right_yaw=-0.0011 right_pitch=-0.0252 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -10.8923, 9.2239, 1.5995, -0.2662, 0.0806, 0.0171, -0.3761, -0.8274, 7.4325, 1.9023, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5838, 1.8389, 1.103, 0.0261, -0.5312, -0.3965, 0.9965, -0.0212, 0.6365, 0.3241, -0.2901, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4523 left_y=-0.1873 left_z=0.1018 left_yaw=0.0532 left_pitch=-0.0331 left_roll=0.0233 left_gripper=0.9965 right_x=0.2627 right_y=0.0001 right_z=0.111 right_yaw=-0.0011 right_pitch=-0.0324 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.5812, -9.0051, 5.8188, 1.7607, -0.1001, 0.0904, -0.0317, -0.1026, -0.8137, 6.9265, 1.9805, -0.0513, -0.0513, -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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.532, 1.9373, 0.9195, 0.3401, -0.4969, -0.3798, 0.997, -0.0212, 0.614, 0.2951, -0.2794, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4496 left_y=-0.1628 left_z=0.0403 left_yaw=0.0687 left_pitch=-0.0199 left_roll=0.0007 left_gripper=0.997 right_x=0.2597 right_y=0.0002 right_z=0.1055 right_yaw=-0.0011 right_pitch=-0.0282 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -7.9248, 4.7521, 1.663, -0.1245, 0.1294, 0.0464, -0.1983, -0.6222, 6.8991, 1.9219, -0.0073, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e45cf7f81a40c6182b948962cccfad6932e052c891d93e334c91ede675bc416b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae8a5e26a754aaabb435c062178926c7d4457052521a5310eac6401b6ddc794f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baa15c352ed883ebd3ae0769106a751fab2ee0e3befa22637f1e94665eced3f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3QYKjgEIEhgCKkCc/HMF57fa3MgToxA7dKtdX+5Fjuf+Dwu/cohdfty4LNgUoRhR1rb6NTLnZVMfMGgNujTXOeRPOmoirNu+5RxwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdiVzNUGEgzlZsgnidDt+PiRqoUaDMkvWvTWaGK5cOwUuiIwn8SGN7lE2N47y+ppfc364uQHAe6+T4adjXsD8WJ+4q0vh4Q2nSh6nnsXKZmcuU7aKvsErVVXHElynYhAw4jvEo1P4mM/D4PwnPf0q1vUeaHYryRTnPsGRD6ihskONhMpi09z3KexWWjk/No6cDsyZRtMkNl1Z8iS96FH07QnqKu/odcKbqmatkG5ur9kEQsFQD7x7UupDdx98kNgPHodC/cJStprTCbFzgtMe0LoK3WZAIFNan9h17EgIgYTfc6kmsG1G/lafO2vCKi3DlBsz3gQ6QiB6t6WBP38oS3+ZWFK3jFVH6y3UQ/0Yg3r4hp0dlYyB+V9kqi8vMGnc/zV4IUYNLjazJoTxrX9BmhleZe3HLutW0eID8Ayeb41b3PPJ6/R+Rek0XlnW9xmLRkSfDFhYVqPaGWmURCoJhzML+IF2MLukG9tpitzFRkizF9DHHDEl9+kdWECJqC3zrZ4nvKE+oAfHTXdex6nL5KWtGl0VCgMMcQRs2yNBTXhGUYbg6gsmYcqy5D70fyn+QL+lyYGGKn061sPIhTrQu/w5a85S1PB/VvH+wS5tdKgYK9KllOmERxs7ZRumSq9+YJSoGPibSAvJseTPByRY7uwvo54KzN7K4458i2K/rp/axS4Mz3GVZwsLGbFkH/HFUWU4k695x70dwqUNDHlyfll10UEBPUg6kJOpnkhZ29Vf/An9872yCNg2t5PifI7XKcJ+IRWBsgSI7XbfSEBiTuSMeQSaIbTbNHj5mfhAuxQjU7xiWjHgYEKI4SEwSvLh8hOqxdObflTvWoIcUcHv9/YtdiCwq3ifAumY+DyrHzkie9hk0SFvIKVpYWZdVuS6VJmTuEEEY2ZX3R7GaHX+b6vwfDG+3QK9uVG212oZBSeXuOLV3IPrxELZaT/85tosmgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CoH8PdSJh6vNijqH5h3c9j",
      "input": {
        "note": "Jaws are straddling the bottle's lower body at table height; closing to ~3.3 cm to squeeze the plastic body and get a firm grip.",
        "targets": {
          "left_gripper": 0.35
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01CoH8PdSJh6vNijqH5h3c9j",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5285, 1.9465, 0.9077, 0.4709, -0.4973, -0.3668, 0.3562, -0.0212, 0.5991, 0.2699, -0.2687, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4614 left_y=-0.1677 left_z=0.0559 left_yaw=0.0671 left_pitch=0.0711 left_roll=-0.0498 left_gripper=0.3562 right_x=0.2573 right_y=0.0003 right_z=0.0997 right_yaw=-0.0013 right_pitch=-0.0278 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5538, -8.2803, 4.7248, 0.9011, -0.0122, 0.0952, 0.2759, -0.253, -0.7179, 6.9265, 1.9267, -0.0464, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:398f57b1fef8f7245bb79d7cec7bb7dd246e29512f2e5906146c214c63556059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87a9b79286b275d0b9db20602be582a5df425f4cef9ce9d275a3ea413f4e0905",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0ecf402ddc623540cbc349e046ab0214e508e3cdc712169d7f59df8366025e5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 55.13 s
model
claude-opus-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]: [-0.5838, 1.8389, 1.103, 0.0261, -0.5312, -0.3965, 0.9965, -0.0212, 0.6365, 0.3241, -0.2901, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4523 left_y=-0.1873 left_z=0.1018 left_yaw=0.0532 left_pitch=-0.0331 left_roll=0.0233 left_gripper=0.9965 right_x=0.2627 right_y=0.0001 right_z=0.111 right_yaw=-0.0011 right_pitch=-0.0324 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.5812, -9.0051, 5.8188, 1.7607, -0.1001, 0.0904, -0.0317, -0.1026, -0.8137, 6.9265, 1.9805, -0.0513, -0.0513, -0.0073]\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]: [-0.532, 1.9373, 0.9195, 0.3401, -0.4969, -0.3798, 0.997, -0.0212, 0.614, 0.2951, -0.2794, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4496 left_y=-0.1628 left_z=0.0403 left_yaw=0.0687 left_pitch=-0.0199 left_roll=0.0007 left_gripper=0.997 right_x=0.2597 right_y=0.0002 right_z=0.1055 right_yaw=-0.0011 right_pitch=-0.0282 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -7.9248, 4.7521, 1.663, -0.1245, 0.1294, 0.0464, -0.1983, -0.6222, 6.8991, 1.9219, -0.0073, -0.0464, -0.0073]",
      "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]: [-0.5285, 1.9465, 0.9077, 0.4709, -0.4973, -0.3668, 0.3562, -0.0212, 0.5991, 0.2699, -0.2687, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4614 left_y=-0.1677 left_z=0.0559 left_yaw=0.0671 left_pitch=0.0711 left_roll=-0.0498 left_gripper=0.3562 right_x=0.2573 right_y=0.0003 right_z=0.0997 right_yaw=-0.0013 right_pitch=-0.0278 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5538, -8.2803, 4.7248, 0.9011, -0.0122, 0.0952, 0.2759, -0.253, -0.7179, 6.9265, 1.9267, -0.0464, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:398f57b1fef8f7245bb79d7cec7bb7dd246e29512f2e5906146c214c63556059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87a9b79286b275d0b9db20602be582a5df425f4cef9ce9d275a3ea413f4e0905",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ecf402ddc623540cbc349e046ab0214e508e3cdc712169d7f59df8366025e5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0wUKjgEIEhgCKkAQ5LHaSnmAPJz+khiDXfYbj+cwdiUR4VSHkiUsqNGHXWwyBWwipfsBwsF3iJSWntxaHeO9zSsaZAJL3Un1dJhwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd6VzNUGEgzrZVEDZRNWVkZ9+7caDDYpKwNGV533K6a2oiIwP+Ao6lR0Mi+nvj76+Zir5rKHyMVSLuUFt+yalnWVafLdhbYekHIxbH4DHzJ964cJKvEDHKOW+Y6upIKNVxq7MC37ethTYXVhwS+NKUHhSqRCCNiCrAQoyP+HtMUfL++EwqIKpuOHw64JVc6s5wW0T2UPykJ+djhxN1wKUTYw0NoERaATYWCMIy81tdT5muurSyZSe6OJRjLRv6tyJzT7+hoXBzc1qFz9FNIWnbBugB3SuP7ZAqbG4HynRtGNSO+EkOEwA3dHqBPbJGGXHcdGabvkmh0z8vJVcWIUSYOmUThRDcwQudICvFuOzAqA9AXN/86DROVO8jDwBeIl7YG5jwLz+2+jyyzKKZvKAU2JtQ8q5CaM36dqO+k1rrGiCV6AHsyjOrgY2eSETjQDJpT7pzyl6/5QWVfFSqyGjPrsldaOEwG7L1bYRsnQuhi4Iy9jyaAV1lJEoMv3cLjeIFEuCiJsSet1qz7buL8vUaROF7B+zPgAbT8AAY3rRccDHJ8HNgu8nap9JHib+1bdyw1AilqjjdPTFAdBZcNu5P9LS/OVpGUn1yqIZs+nmBBv+Os1Z3SkHGDinjEjFZTJypZxgcSkOBZIpbo8s+rHti0XIWxs8btK6PvkHXptn+AmdbJxEquHYCSKOLOpz9skVUnhAsoj42q3L/II4490qmlKt7nYWaDkus+VTxs8S6J6GOI0Nite3Rz329H/AP/0W990ANxL5+wYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CP7mKSnj8KwYMKdRNRRPjp",
      "input": {
        "note": "Jaws are closed around the bottle's lower body; lifting to 20 cm to check in the overhead view whether the bottle came with them.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CP7mKSnj8KwYMKdRNRRPjp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5297, 1.7294, 1.2613, -0.1921, -0.5049, -0.3717, 0.3556, -0.0212, 0.5804, 0.2451, -0.2642, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4635 left_y=-0.1682 left_z=0.1781 left_yaw=0.073 left_pitch=-0.0027 left_roll=0.0016 left_gripper=0.3556 right_x=0.2542 right_y=0.0003 right_z=0.0938 right_yaw=-0.0013 right_pitch=-0.0294 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -11.0017, 10.2359, 1.8437, -0.188, 0.0122, -0.0806, -0.335, -0.3487, 6.9265, 1.9707, -0.0366, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ccd17d68cf0354d7af0000f3993906016258b3898ab51667715c4e4c792946b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e20f4885992d14c8bd3761c1aeff1926a7356315b452637192e6c1ffb241ea32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2a3b672f6d272ce139f9331fa1e8de0045782d973ec3394334675b0e4eadcdd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 40.48 s
model
claude-opus-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]: [-0.532, 1.9373, 0.9195, 0.3401, -0.4969, -0.3798, 0.997, -0.0212, 0.614, 0.2951, -0.2794, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4496 left_y=-0.1628 left_z=0.0403 left_yaw=0.0687 left_pitch=-0.0199 left_roll=0.0007 left_gripper=0.997 right_x=0.2597 right_y=0.0002 right_z=0.1055 right_yaw=-0.0011 right_pitch=-0.0282 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -7.9248, 4.7521, 1.663, -0.1245, 0.1294, 0.0464, -0.1983, -0.6222, 6.8991, 1.9219, -0.0073, -0.0464, -0.0073]",
      "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]: [-0.5285, 1.9465, 0.9077, 0.4709, -0.4973, -0.3668, 0.3562, -0.0212, 0.5991, 0.2699, -0.2687, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4614 left_y=-0.1677 left_z=0.0559 left_yaw=0.0671 left_pitch=0.0711 left_roll=-0.0498 left_gripper=0.3562 right_x=0.2573 right_y=0.0003 right_z=0.0997 right_yaw=-0.0013 right_pitch=-0.0278 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5538, -8.2803, 4.7248, 0.9011, -0.0122, 0.0952, 0.2759, -0.253, -0.7179, 6.9265, 1.9267, -0.0464, -0.0317, -0.0073]",
      "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]: [-0.5297, 1.7294, 1.2613, -0.1921, -0.5049, -0.3717, 0.3556, -0.0212, 0.5804, 0.2451, -0.2642, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4635 left_y=-0.1682 left_z=0.1781 left_yaw=0.073 left_pitch=-0.0027 left_roll=0.0016 left_gripper=0.3556 right_x=0.2542 right_y=0.0003 right_z=0.0938 right_yaw=-0.0013 right_pitch=-0.0294 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -11.0017, 10.2359, 1.8437, -0.188, 0.0122, -0.0806, -0.335, -0.3487, 6.9265, 1.9707, -0.0366, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ccd17d68cf0354d7af0000f3993906016258b3898ab51667715c4e4c792946b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e20f4885992d14c8bd3761c1aeff1926a7356315b452637192e6c1ffb241ea32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a3b672f6d272ce139f9331fa1e8de0045782d973ec3394334675b0e4eadcdd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FgLpDEBsj5v2u9R3qV8DAZ",
      "input": {
        "note": "Second empty close — I need a direct look at where the open jaws sit relative to the bottle. Reopening and returning to table height at the same x,y so the overhead camera shows the jaw/bottle offset.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01FgLpDEBsj5v2u9R3qV8DAZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5293, 1.9652, 0.9859, 0.2752, -0.5053, -0.3706, 0.9965, -0.0212, 0.5598, 0.223, -0.2615, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4586 left_y=-0.1651 left_z=0.0406 left_yaw=0.0735 left_pitch=-0.0387 left_roll=0.0276 left_gripper=0.9965 right_x=0.2514 right_y=0.0004 right_z=0.089 right_yaw=-0.0013 right_pitch=-0.0282 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -9.306, 5.2308, 1.7558, -0.1978, -0.0611, -0.0562, -0.2667, -0.3077, 6.6256, 1.9609, -0.022, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9775b0ea3f5c7ea9dd221aecaa58828af33890cd9a478cb01ed2526c0a1c758",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b155bf1663e907b970e34ddbde5902ee95039638eb7f40c82e93427bd7015194",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ddaffae4a7c0c3bc3a677dae95586cc0045475cf9491d576c730c8afe61f7ae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 5.886 s
model
claude-opus-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]: [-0.5285, 1.9465, 0.9077, 0.4709, -0.4973, -0.3668, 0.3562, -0.0212, 0.5991, 0.2699, -0.2687, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4614 left_y=-0.1677 left_z=0.0559 left_yaw=0.0671 left_pitch=0.0711 left_roll=-0.0498 left_gripper=0.3562 right_x=0.2573 right_y=0.0003 right_z=0.0997 right_yaw=-0.0013 right_pitch=-0.0278 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5538, -8.2803, 4.7248, 0.9011, -0.0122, 0.0952, 0.2759, -0.253, -0.7179, 6.9265, 1.9267, -0.0464, -0.0317, -0.0073]",
      "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]: [-0.5297, 1.7294, 1.2613, -0.1921, -0.5049, -0.3717, 0.3556, -0.0212, 0.5804, 0.2451, -0.2642, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4635 left_y=-0.1682 left_z=0.1781 left_yaw=0.073 left_pitch=-0.0027 left_roll=0.0016 left_gripper=0.3556 right_x=0.2542 right_y=0.0003 right_z=0.0938 right_yaw=-0.0013 right_pitch=-0.0294 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -11.0017, 10.2359, 1.8437, -0.188, 0.0122, -0.0806, -0.335, -0.3487, 6.9265, 1.9707, -0.0366, -0.0366, -0.0073]",
      "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]: [-0.5293, 1.9652, 0.9859, 0.2752, -0.5053, -0.3706, 0.9965, -0.0212, 0.5598, 0.223, -0.2615, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4586 left_y=-0.1651 left_z=0.0406 left_yaw=0.0735 left_pitch=-0.0387 left_roll=0.0276 left_gripper=0.9965 right_x=0.2514 right_y=0.0004 right_z=0.089 right_yaw=-0.0013 right_pitch=-0.0282 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -9.306, 5.2308, 1.7558, -0.1978, -0.0611, -0.0562, -0.2667, -0.3077, 6.6256, 1.9609, -0.022, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9775b0ea3f5c7ea9dd221aecaa58828af33890cd9a478cb01ed2526c0a1c758",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b155bf1663e907b970e34ddbde5902ee95039638eb7f40c82e93427bd7015194",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddaffae4a7c0c3bc3a677dae95586cc0045475cf9491d576c730c8afe61f7ae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5TIKjgEIEhgCKkDgg7MDtPxNvEHsiuvJZCzIeJ1xFoesTzNNr1V3ieYXIVxrFag6WEqSm/BA9u05+1Glp7W5XknMmbakzRjquIbgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb+WzNUGEgy+LTsY81UZWrhmCh0aDPTt81Uv4iRCVAuZNyIwnQgz/Gkc7eMpaJZKn7XU71InqD4HT9WAbMy8w5dztmO2lcIRZuJsYY4uxdtAFF6oKoMxenLFbs7x/AE3veTi6QMJU9z/CWnE7KGaknfZt8Lnlbd0B3uw4sKL+SuM0Hz+5bDqw2m01N9ZwrGZNTROTpWw0Bmm8xs0vnBP8t7YW6LC6Xik6KoOA/Z2xpbCDW0zflVlH/EBnGxvM8xwYuxSkoaPgMBqBlc4dkkyWxRHP9xC2WXEYpeaV3KnEwSZd5GDbyOYEsLHQW1eMaCmhtY6MgJWhK5BfvNOZRRir6mL1g3K0N4ul6q6mq8cCzU5acOTdPxJ6dhFjffsMzKCHufBxGSEUHX4ukuw2tNXsL+Slc+yD9BVx4diwYQ02JWEW6KkVTOY1aKkEmlcMNEDmr86arGncbkhkHBFfZHNQQ9R4M3ZFfyexNO8WT7oNHPxwO+hOc9lh/INDipOJT+l3NOb+8KDXzRaXpbBwcPrLLQsrJR0yU1Hfqp+A0PYHQU+YZDjpy5oXB1jime8Xm8U31mKodnaMmAFplYekgUAX+ffmNt3inESgkGKaK9xJTEJpETqF0GEFuEZB1x1LKXj56UBRt/lDik/jvW/ag1/AgQvn6v+U0ywh4DiO+UsTEYunqf6/I0VmXh/n0oi+PaiuSTsyCf8LpItLMUk9+bRhzclkDF41ytiChkz0G1Lt7mCPMwkO3MR/TZ9R9U06C/wof4IlTrgEJcm0lQ246COhU5Bh3YgLuw/dWSYjSnhQreVJz2BFYNnlhRMfcaxgukH7O1LBYw4ftXJiWToZxETFjO1wGZQwbSukbYVd49ArRKnMRwR779P1qONZSmuvzpk/6x+AhlD1m/USyN1bEyCtKwVj9j0707ZatdIyNy2R9aTELjxDQXJC/j7TNnoO3j3StI7n4bLm6LfeSHOqBXrU0YXsXm8JfWIQcsXehAQ3ypHUy0EcHdVjT4AyWuPn3fmK6Ddgy/aodCUXxTqQ+b+higP43P3UZBTwbYLqHNLQ1BiwK3BojWU1gDMnAh6SY5U64g3P0+BUozSSZNt6jB+N7Y3iguBtSiEyUIgdulW4wc5+45zeA0ZToLf75lLQDmqi3W7rKyJB2WKHP9+WG1U5exAUSvYnzIdK+Gi2j8UketFBxTnlxgokR5WZH7gtueVB+mOyPOP5khwoCukbRWzVYHfr/V6NfsgGVqaWOH9H4YimErHiBbLU2cXmkrFnFfHHoYyTaCyRq0nzp83oRZOtnHluEdh+BUh2TvOQtCqPWrTXZhRh0I8hriEJhGlRnfsRrIpiyNMNYKZmujpFm6ArCNWKB7JIEoDaoMz7IShWEWHXow/BOv6WGCMXelOtj5WD1l+SJsjmD+6ZF0aChXJgf9K1H3mJC1qfE/oepjZh71FWK0jfqXj/ezPISptO9BUWgJscwPYpsYVYYhysA9Jmmfw/tav3/qjMzTp5tiIiFKBi9yLTYlQaJqPvogwnWMeWN8jr8EOJDOaFOBL1in+Boqgzd0n0O1zQmdmLr5tRPFvR+mmRnu7hHQ0Duqz8hp1tPHSuRXuUqAAP6cKMBpowaw2CqeiVkEE1EHzbZarmEGye8SeJnYDDJR8798fDwi8S5WXXTvrnJMDS7uSRGpuMn/LgKziDIgE3LZ/WZakN/RSysl6dDQbq1kJB1Z19ktcb9ItMLQ9wnatxJXui6m1PNcKsojb62i1XWYnNFYNkrddR+kqNLshft3vuvX9xfRTmtzh1zbb2ifY/MhJopr1SPTlD4Sb06vBp2uPfDewmMBiCBKToMFJwg0ZGeOggV+AogAmk+VgkOt/FaYeu3hqd4IWymQpXLkUc/L6rFsH0ZZqU2gV55jpEOcv5p6tN2rUxGA9aKz7UerObPBrJ3XWSFOSdYQt7+UWxuqkyYJ5FLCK7Y9TDaSkDixMFd1UDS6f8QOMbYepbTEGrkaohoyZceVJwEnaPtyBjJkq6390P+BmI5g7I7xOY9aPs7TqS3XjP32pEJE8syAtE9KS/ChP9wv9Bzvm4pbl6nqkTyUm4KkI1GYqu5pRm8q6NPEonBRfa19Y2QXVHjS0SeXW3l6XlHz3HItnTEZ0bDHZG0nOogdWXYCnEl6F+/1g0tlYoIurRZ24EHL9A/XeUfFjM4NYGWoU7O8hZqxFYvO96DEIS2NUjDAmS6G66WBmj+QZG1d3tMX5/bC/jXNe/n/Ig1dcdUmBPwH5QB/pY3AXZZ67Z30d39aI3raVgW91ScQJgZBEx+EYnNnxH6aSZyq1dxPl3g0QM3HfinFI/x+PMCG9wG/FrzPiJQK+Ithk6peIZmMlWYvbJdUKyviqUOiiQ98DUV5w/q8uhtOC8kIIT3tkTmXXpn6YsQHExff1G+CDCKTJlK9w/k1Jrmqp8LUZvFwJqEd8WiK5MxM+3KlkWIYA8GE7tPqnr82yOZHLA91bmH1Xl9KesT4R0LJFOFPS90S/kEqonAsDQlHHuPPXbir2hyGQzj0CVTlCzsZ1kJxWq6CvdFIdVscWBoLxLuz/KTW3i7mit5Tl3l9mUVIvDI/QXOp8aXtf2K9Mm2IuPdGYl4NFwz2InpvOvt+EDw4lQcE4btlckq5oljSiMcM4fVg8rkjGHvkJCysmdn1uwiiXVs1+FoYg5xoWcxA1O8DNfK+oifmzLHSompfGPI9UA1bAged2ATclfkh4I/HWo4mICAZY3GeRqsQWdiTg+BVpqZvKNHwtdcA06ijBgFPil3AVwU16hM9BhRgAhkLpjkbQ/yj7mrg914auij+gD4gVPs0ZQr3cArd7+fp3s57sBFhJidXXXkVQ6KKqApDnS+cTvUcBeKUJsMBf4/M7xLP9PsTXJVwdXQMWLofdhVKxTtCE/pHfAMVwaWBqh+NOicgRa0k+p66LEYz4qiRF2eSLsMz5h/jnD9m1jfC8Rx7ccOPRhkH+yk9RSn4h/Ix+q0hPrzcWpy5/5zFtK7zE0IsiPcwbVx9Wp8zE18FbStwARMcdBEzFktRC4M1JoAqENDmmQ3BFFWJ9EKhYWhXghalsRRtnXuArPRltkqxuP7aZx3+o3FQPufrrqrbleG9aSTNRB+59U/S9+vOz/St6UPsqR77wpRIO5afGBMlklVl+KnttadXIj7+4hub/BlQ783p2tkQW8ROt1jUzFnfQsK/ZiFjijVJpzcrbjCou6WWjeo/QuKjvCD+JpNHZ9Qal+wx2xZFN6dCJfVxtsGk6Fe4qwOkFKKl797zlvLdRmAEbRfTfx5lwHKZ3eKaArumI9p9D6+z5aafvhLTu0IesVCkc3/H22DJUGdU6gnLD/oHaYrn9Z0A9qCKHTb6lmpVCb3s04VH0Eys1WGgPa8aBf0O+2df7CfRPr4ajbZLWdmIruYYNFqMdfPG3PAvxQpTurY55fCgL1u1Cr3tC3KMIPO1T+lEPi4RCL6ujQyBUx45tEJtId7O499KEu3BrzrVgh51ZHZ6tyaaMeNIytP9rCpKPkQP3mk5SXYq7kRsoxcUphtuRKjtD76SAny34ypUtzgaJ4J5osDaf8Dq9MHbRM0F0lfuofteoheDYLsTDQG31CKLK9T0FiopHn5onppm6USWHj6AcxIjzZzzPMSZTQOLY35xIGAofTVaqCnSvBhbydoOIskrpDSUOkGrbYxkBbU3/y4V0ZSdJfimE4a67TIOwMwBtUpVPIeJFkIOVtwpsWATxbSrdsTyuvyhbxRJk27C6tTsQq5tJ1pSCsn8cyd7tA0sGOwWOQwsS/Nf7ahvDgJGjtUV01STnL7O9MN3/lFhZ4CuMWs43Cll8rr580eWAwpT6wVUGRk1CY+QjAgLGfUqFgXPTVs4d5guKgQGcZTpUAmtTiMfytUAwUhxbklhkHKicTP0Cf8P7Z3zux2S7t/hpYxwIRj5mkLKzXOIEUqQI+60nI6joiYMPvVOthQ0PV3H3uhcJbNmxhR9e1dWkuKC719RkfY2Rh9eVDxanA+IeypU2fDA21dBiL5TIMWL7WcEfd6KWkoTODyY3S1ZD3qsGkGgTInoQO6w2KRS9II8s7Sr1S9xm+e74eStjNlzvYAZ8C81pG5T66UzoZMI/K/gWzJf2GjSXLjBMt7BvnIt2NnVzcYE2OjOwyufh9cbPArItgfurM3rtTVkn25sn/da0A9AaoNDDjxf/B68/WFtYo7bZFmTBrf5rXve/Q+hODH8tf01FdfZeEd2gY98DMW3D7O5sQObEurrUKi17TmR9Zge0LEXs82HWAW1+eMV2+P5yTQgQw3RW9slAHPO1kx46eTsH4or895aCSHTUbSa7GE04mNQnsviyEN+1wYtttIiZaxn+YSXOesFehsvfp3HtyE1FLwAzWxpr13FhZBdjFV84BeONGd0L/oBQuVGtL7LjgrQBnqfo7tz5O1rtOrrfRKupfAzYkfx5DssL1yrcn7/IHxCBalQ5pdAu/qD1NKWJ3XOwAsr21Pp2CcxxUsJwtabycSvh4Ruz3T+N9HrgPBJCYIJ7aEkiPsNEbE0CExDUxYhYgmQPnBmVNCuIo8ElSjhgRTstONAV+vj4fRFxMzV9aTos4QjMkfiNhOvcU1MdJQnTgHcAOiBc+OTffBB5Dpfev/QZe90jJoqv83Fbrii3ycbFjwWqsOujYm3FTclFXPw63f1PKKWZyeQUH01e1Mz8Z04IkDwbohbkW8q5UTlhRXJMTdaNyW0pfPgpTrUA39qLnCspCITmjjsKlhY9Ui7WlpZka80IXZS/JWyoQKsmLTldPhqBc65Ofsq4T2dvg5AAlpDaNxfraUzZzSwhU++kR/9Y6TmhzNXaqO1EJ5IaRpVSpEOPr0MsU5fZkbXsHbazmdsL6LgguUaNcSUB9KIxk3V3hH80FeRdSaxFJ3pXZY6KcwGduvOVEIIzZGqqERp048AtcBBMeqOKE+8IwwfDiZ1c9v4Q8BY7RWo7uc1kLSycyEPKOOuI7PraoEO2FYbvFNwhyzKMhaYfTrMCyi9ki1VfguMsEe8fenOAE0G5YuKec3tov57BslJ4LUAgAZsdo3kapuqtusn40qxh/m75fCJGg18C4L6qsX+aBflVsnnfAnn9O5QgbYtSAcJCG79+ERLkXdRdZfbeWSpnTZZkPDykmR/IF13PMYuZbtrXExNmT94o8ksGkFEtbkEQXCXDclYcWAtNRHxOYxMu6J+EFj/giEydBwDq4yL2Xa5Qgw6z0TpbpmLoB9nJ1ecCdga4it6mY2uUSiVrG3yBjG4Z+S4dkxUic+R91s9XMmG22RhpZEz984Nrv3d64eAExvgSLyryvPmZXccox08AsCTpZpmw0oVBglWNPASZSyzAXJisXj0g8AHCe8m4A0An6UdTzC9zDKSgavT/RtpoNjdC3EM0F+3dPrPLnvuhj0Yy2XwqMC8R1CRK/97s39T2wnWa0CSFK48nazZg+9l0FswksZ9+t+/NNbARhdHek67r/uM2Kr+NupRDVtMIj1QHD/INIgoA2LtrsZSePoWZ6XyiFqCXNJQsGBEAO31ICgbcZyGzCQMS5qxqnCm+RQwFSB8yf2LT4LsZq3ZkzaeoX0TScBcfRYONlljaYsbl9myhTIojh26a8tsnkozHsnvcMIFOT8eWom9rJxYCZvz0UbSfc9o72Wd5AnKhdpj81TzUDwqKG2aFbz+X5OBkMrAeMkb1zJBXAd7sNZXpEG09BE9L58eN9AkH6l4mz0xBRmGpr7h/9Qlbq+VF196G0kzK2IPROGDc36/jvcB7rYRJwODuyPWEm9onvH0DQjFHNUtD04hyaE3RdCJsulzlLMcIFOqg8entjwtMmGYSP+Z84RLUlSHPPe5dZaArp01EzPUetYwthf1qDdl6+457BhMytvDicuTqSwDQzNZlo0ONXUGrNLGco7YS50UG/3XJVbGbNiJRIjWDTWqoKY0zUesYD4Z6JHykJCf9yDHBUkM33ZaYcG14dT1hbHocXoJDarI2Vo3wOtvCpX7AnTToQIVX7ED8qDno6v2reaZ7pVjygYA+HxUYoig9JRfECqkXLCJcz/aSvjHUpaHienMfH29MQsowmH+5/fOk8aboIG2GuapSIWqSZvc4jIJY6pKXFVoE/wQiCOKP/Fj4tWH7fRyPeShyvKMxhXMP/2zP9qqyln9Xxd2BtblNzDwpvhCFDEgo4IRdGCMxSEwMsTq3opfE+TZOQGohPc1n5Voy2sB7ozrxX75b0E82dbHKyKAOXA4O1bnkFa1WdC3Mnp7VzcnCSI9cJeNum0pFTSXxU1PwO0ZfLwCF0bN2UszO9Ozl5y1E212fWn348vokIdctudoyToTNLpbMGCKf3uyRTeMZ0x0viVm6ekcXZtm+phyNK73UKaqLuC+ddChd6qTs7tcGjJXbYE+jhKThg+r2MEosP9XiVsUxmDOjdNNKxiPlEMsG29YYDAvgDyDAJ3k+pSNlm9Pfs+NGNjpIxelLWlM0PnJVZw1CE35/zrfhzHRL1kPoHhX4KCyii4SYLiSmESvo2e1Orsk3dOYQV04TkrirO7wlRPUSfqlmeEJrfFda4uxsLE1r8Z3NT1SmujK7DxR9EmSRkunmePjp7cHXegqI+tH1qMOHA/0X3z09C8MArSO00X+yG3lF6jRs7DuB0IsVvCv4xLeZRnTLs7PB1d+qGnbLawSd4Mcs3oowig2ShkPeFyTgrT6+sIvPo0N2zv37Lli+Q+d0/zenKnwvJf1jAsgIoTAgAt7QMaKTqbUpn0kduhMuSdCDqKibnW2PHlBcOZfQV+XQ7IhpsCcJcx0wXPLAoRs5jHnhNC6He4Wj72fT1p8Zj47kQCidjUEYXe2Qqvh0gnRT7JTQ4gNOlzJEStBogRQeIJLLjnNUD64XdCaDollvdT63C9vsSedxCiOQWjlwqCwcVGHNPgGTJ+2iG59BA+0OFuvLeB8+x1rsHo3h6DRMgJ8lYF7sCK6i/TMrCBxQGzFN1TT1dYqM5AOF3DYxDqv2Q5K6qdZP66CDHuCx+oSanusWjaMQm31J0uuYsKbIGN/8FZ1dWWxvSbOpSjR/ejZR+4JYjc9YPOkBxBYCvVKL9aCE9aBfIqq36kgGzz/iC/yuk0TmstGlxH3rtJnIQH1x1puO2m5i/HS4vNJ5Dw+dmKXGu9RKnqBPGas4/kjiK77M2NzuRL2EsDpECF9ZLzX7sz13nAOvv3bvbQQkztRcbiXXBR6KzmxsBu98LGSEPvU8hgzkgavtj/ZOrnpSIbbrY6jG/VrVW4uVac3qtr2ps+usnse6xpR1ehvXmZ3gCWcdw8istO2f6xzGVJzAdJp7NE3mxgQba8uxFEhiabP5hivaxribwcdsa+KOtXpjuXQEo5dsFR6M1xutGSwtBDCqYjY593YmFSGaOYNGIaAuhSnKVQ6Hft9K0mmeVnAVsP6/ByeS8vP8+1cQ4vtvwDoZ7cqYWGXBTHOKSltxtfXqzBDxryMJleZ0waky/0BsyxyPI4rmVuRC5BMoALclWEuSbAQg8PWOeOQ58Ebnvd/OuiofST7o75gjyfPbJL7qk8fTX+MyX8lhGJrvHwsdsmsOxuAcxX9/vwTenj0nsDEdvXQ5Q/3CAt0+prrRzYA4+BUUfAcy+5mkqat0uZyCUEl9SKTwcn7iRqYNZFrCl5mcl/ZdbAcyhnT/fxGSTNYiGQ6yfjYyXtQt1VcbFu51CTVWAgEsUn990zhdXB30tNsZApDpyik4Nv8GTeuGV7z5EgseAHuyG7Lil3vVyBxeNnn4NAKv8106B7JVbyVrX5X3rdgFeJ1NYilzX/7ZNhnKkyYNyj5Rah+7/7iSUWaFpqTn99E8lvR3tCrtXnpUEfC/qIEofkxYzyiPxWC3K1G/E9FIr9DFDbflxctwTRbNDQM6JQ3ebQRRKNwRLujKkAw5mL3sDmGex7gQ2laZ+5hxcqm3fu5H7jAS4k+DEkJIb1sLoMbwq/0z6ZV7yCZwNa91rV5j4ixHC4bsXxwGdv3zDarEpVvTRL2UU3CjMMy5YwOnpxDiBgXr7g8GaL+ZOamniCY1AzA5a+2nOY8oCZMk9096zUgqbkTxNwh43ooeTLd/bTPDk3dLL5C66/Q5+aTivMED5KDOdBOYqji5oCWqZUaOvYb7ME8H/ZL17/Li34qeiojfhYnxNs4lmr7JPHtzFzawPC/xL3S1YKBZKzVnuEOwlQ8pS1B3ufFM8ux5T4B1N90mGcWLPBtSdyqrCB2JeukmAyKc3EF8MQBjis/Qagt7Zj5LbJCXAwt+jES1Pst3haIqsf35w+eXw4LfCrs0QhalR/XJHYrcpb4n2qMgTeo3Z+EL3VCjMn4+yoQewo2LB0sHGdlx9zU/O0g1+Wfc69lME34RF77baWAcKUZQt92H+UdS7ECrZr2eF5tr7hS0+MlviuooQE2SU0cCPo3s4NQ9J09rWdPYtx6tvEW6+hKbZQLENIMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A2HA77Voj8XmFGUhQnfjTS",
      "input": {
        "note": "Two empty closes despite the bottle looking centred, so I will probe: closing the jaws fully and rising to 13 cm, then I will descend on this spot — if the descent stops around 6-7 cm the bottle really is underneath, if it goes to the table my x/y estimate is wrong.",
        "targets": {
          "left_gripper": 0.0,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01A2HA77Voj8XmFGUhQnfjTS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5304, 1.8084, 1.0664, 0.0425, -0.5056, -0.3752, 0.0188, -0.0212, 0.54, 0.1982, -0.2611, -0.0124, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4551 left_y=-0.1635 left_z=0.1028 left_yaw=0.075 left_pitch=-0.0347 left_roll=0.0215 left_gripper=0.0188 right_x=0.2479 right_y=0.0005 right_z=0.0824 right_yaw=-0.0008 right_pitch=-0.0328 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -11.6855, 8.7179, 1.5507, -0.1832, 0.0024, 0.8669, -0.2393, -0.2393, 7.0496, 1.956, -0.022, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd6aabacc7537d613979b34a2bdb45aa40f5c02f482543186815af3142635e9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6fe205ce14dfc4209d4210ad4774f6e496eded658a58d8b921596a42d17c164",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a825e0fceae5eb82e8f43d9b1228036829dd2411836a8d573a9098a92b7cf8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 18.18 s
model
claude-opus-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]: [-0.5297, 1.7294, 1.2613, -0.1921, -0.5049, -0.3717, 0.3556, -0.0212, 0.5804, 0.2451, -0.2642, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4635 left_y=-0.1682 left_z=0.1781 left_yaw=0.073 left_pitch=-0.0027 left_roll=0.0016 left_gripper=0.3556 right_x=0.2542 right_y=0.0003 right_z=0.0938 right_yaw=-0.0013 right_pitch=-0.0294 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -11.0017, 10.2359, 1.8437, -0.188, 0.0122, -0.0806, -0.335, -0.3487, 6.9265, 1.9707, -0.0366, -0.0366, -0.0073]",
      "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]: [-0.5293, 1.9652, 0.9859, 0.2752, -0.5053, -0.3706, 0.9965, -0.0212, 0.5598, 0.223, -0.2615, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4586 left_y=-0.1651 left_z=0.0406 left_yaw=0.0735 left_pitch=-0.0387 left_roll=0.0276 left_gripper=0.9965 right_x=0.2514 right_y=0.0004 right_z=0.089 right_yaw=-0.0013 right_pitch=-0.0282 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -9.306, 5.2308, 1.7558, -0.1978, -0.0611, -0.0562, -0.2667, -0.3077, 6.6256, 1.9609, -0.022, -0.0464, -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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5304, 1.8084, 1.0664, 0.0425, -0.5056, -0.3752, 0.0188, -0.0212, 0.54, 0.1982, -0.2611, -0.0124, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4551 left_y=-0.1635 left_z=0.1028 left_yaw=0.075 left_pitch=-0.0347 left_roll=0.0215 left_gripper=0.0188 right_x=0.2479 right_y=0.0005 right_z=0.0824 right_yaw=-0.0008 right_pitch=-0.0328 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -11.6855, 8.7179, 1.5507, -0.1832, 0.0024, 0.8669, -0.2393, -0.2393, 7.0496, 1.956, -0.022, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd6aabacc7537d613979b34a2bdb45aa40f5c02f482543186815af3142635e9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6fe205ce14dfc4209d4210ad4774f6e496eded658a58d8b921596a42d17c164",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a825e0fceae5eb82e8f43d9b1228036829dd2411836a8d573a9098a92b7cf8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxgUKjgEIEhgCKkBfpW5+GUlmSlRsqRhm5U+a4pGkP6/pKdtPesYJN5HkSdg3M9p3afSDQQubhyzUevf7ls5cvucDGp6rvBlEuBaxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAceWzNUGEgyfRoun3g0X4GzZDnQaDLcVb3AtIPS5JUc8ICIwRpw73Yi9TzLW/fmq30KrxJx5NUe1TS9JZ/sKcM19J54TOreRs5RDwQ2qzHCPWJKoKuQDxrsK3dnBtcz/T8lRTrvjRzoWo1YTuFPPcxX0BUlca+bw8ZvNV5coBujm6Ewz00qpQmd8o184xfHv2ejNNGFWYLfquyuVu8dDy6ed8J6znwKV0LCwf1UNXK3bzzHvTVO1CSLU0hlndj2wmCmj3oD7Yi4TcwmNtzTwvzkAnlWHAsm0k5uKn8jMq36ZTZIv8D9ob7SeBLo52HSOay0axH8XeAVgZqO0WmMWSzMh5uTXwf4eevzxtjGd6hzDxiIHhsKJyaN+z+caGp4/ddXdow+usKc3nAnNvWLH5HSXd3Wf+3+AI637QdGZXCF/+GitxEUY7elYi/kMa6dVyBFomMztoRrVjHFVSWLPt28uJE/M+ET3g9wwfhIvi4pCYpVVKS5EWHHu3lA10Qsw0Ek9LsDz3Ax04Dzd67h/QpFai7d/gZiJS8l5zlM56lf4IOLebizCR2RkAyplU2V29RIv0TPEF9Aq4M8FlG0mPlzxm30zX+03z/b07PoId27HhazzefC7PEb18Gv6YV7oZOVGIxNwUV1mHdmCBp2JuUpTDvqIDJ+W4oT24ql09NKYOGeEl3EFErA4mvvDMu5eUcPGy/lIJeQVdYuXH1yCjh+gP7FDxfD+9h6ongFzK3ZNEMwr+WK6nyOsqhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JKEk4AQprbB9NpTD1L1Xjp",
      "input": {
        "note": "Probing with closed jaws: descending straight down to the table. If the descent halts near 6-7 cm the bottle is directly beneath the tool; if it reaches the table, my alignment is off.",
        "targets": {
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01JKEk4AQprbB9NpTD1L1Xjp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5304, 2.014, 0.9413, 0.5747, -0.5446, -0.3748, 0.0222, -0.0212, 0.5102, 0.1703, -0.2523, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4772 left_y=-0.1696 left_z=0.0585 left_yaw=0.1125 left_pitch=0.1417 left_roll=-0.0781 left_gripper=0.0222 right_x=0.2455 right_y=0.0005 right_z=0.0783 right_yaw=-0.0011 right_pitch=-0.0221 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -5.2444, 2.0444, 0.149, 0.2564, -0.0611, 1.0281, -0.3624, 0.0615, 7.0769, 1.917, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b770cb02a40637867c56336ef3ec325fe768993fa7c41458200b751dce42a540",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5d4068e4da4dfd305539489accda9e41df2028d5859aad3e98e3837f227704a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8932de095d7e6a418153592f60aa635f6418be59f453290d374affdd983125c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 21.1 s
model
claude-opus-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]: [-0.5293, 1.9652, 0.9859, 0.2752, -0.5053, -0.3706, 0.9965, -0.0212, 0.5598, 0.223, -0.2615, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4586 left_y=-0.1651 left_z=0.0406 left_yaw=0.0735 left_pitch=-0.0387 left_roll=0.0276 left_gripper=0.9965 right_x=0.2514 right_y=0.0004 right_z=0.089 right_yaw=-0.0013 right_pitch=-0.0282 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -9.306, 5.2308, 1.7558, -0.1978, -0.0611, -0.0562, -0.2667, -0.3077, 6.6256, 1.9609, -0.022, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5304, 1.8084, 1.0664, 0.0425, -0.5056, -0.3752, 0.0188, -0.0212, 0.54, 0.1982, -0.2611, -0.0124, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4551 left_y=-0.1635 left_z=0.1028 left_yaw=0.075 left_pitch=-0.0347 left_roll=0.0215 left_gripper=0.0188 right_x=0.2479 right_y=0.0005 right_z=0.0824 right_yaw=-0.0008 right_pitch=-0.0328 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -11.6855, 8.7179, 1.5507, -0.1832, 0.0024, 0.8669, -0.2393, -0.2393, 7.0496, 1.956, -0.022, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5304, 2.014, 0.9413, 0.5747, -0.5446, -0.3748, 0.0222, -0.0212, 0.5102, 0.1703, -0.2523, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4772 left_y=-0.1696 left_z=0.0585 left_yaw=0.1125 left_pitch=0.1417 left_roll=-0.0781 left_gripper=0.0222 right_x=0.2455 right_y=0.0005 right_z=0.0783 right_yaw=-0.0011 right_pitch=-0.0221 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -5.2444, 2.0444, 0.149, 0.2564, -0.0611, 1.0281, -0.3624, 0.0615, 7.0769, 1.917, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b770cb02a40637867c56336ef3ec325fe768993fa7c41458200b751dce42a540",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5d4068e4da4dfd305539489accda9e41df2028d5859aad3e98e3837f227704a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8932de095d7e6a418153592f60aa635f6418be59f453290d374affdd983125c6",
        "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_012NoVaUPYzr8n2J9RjKfMub",
      "input": {
        "note": "The descent stopped at z=0.058 with the wrist pushing — confirmed the bottle top is directly under the tool at x=0.477, y=-0.170. Opening the jaws and lifting slightly before dropping down alongside the bottle for a proper grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012NoVaUPYzr8n2J9RjKfMub",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5285, 1.9572, 1.0885, 0.1368, -0.5388, -0.3988, 0.9945, -0.0212, 0.4942, 0.152, -0.2459, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4694 left_y=-0.165 left_z=0.0602 left_yaw=0.1162 left_pitch=-0.0478 left_roll=0.0386 left_gripper=0.9945 right_x=0.244 right_y=0.0006 right_z=0.0748 right_yaw=-0.001 right_pitch=-0.0179 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -13.1214, 8.9641, 1.453, -0.232, 0.0415, -0.1148, -0.335, -0.1299, 6.9265, 1.873, -0.0366, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b74fe5bdaad1877a369904838af33497b346a5f2aec171ef421ccfa9f6145581",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1019d6f5732e35d16c6986c2e82a3152cbfa9e2fbb2f3cf5810892e124891212",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61445f95db411c0713e4c63d77f5fa4a96a82cc84be6bf8affba1518c54153ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 9.905 s
model
claude-opus-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]: [-0.5304, 1.8084, 1.0664, 0.0425, -0.5056, -0.3752, 0.0188, -0.0212, 0.54, 0.1982, -0.2611, -0.0124, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4551 left_y=-0.1635 left_z=0.1028 left_yaw=0.075 left_pitch=-0.0347 left_roll=0.0215 left_gripper=0.0188 right_x=0.2479 right_y=0.0005 right_z=0.0824 right_yaw=-0.0008 right_pitch=-0.0328 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -11.6855, 8.7179, 1.5507, -0.1832, 0.0024, 0.8669, -0.2393, -0.2393, 7.0496, 1.956, -0.022, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.5304, 2.014, 0.9413, 0.5747, -0.5446, -0.3748, 0.0222, -0.0212, 0.5102, 0.1703, -0.2523, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4772 left_y=-0.1696 left_z=0.0585 left_yaw=0.1125 left_pitch=0.1417 left_roll=-0.0781 left_gripper=0.0222 right_x=0.2455 right_y=0.0005 right_z=0.0783 right_yaw=-0.0011 right_pitch=-0.0221 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -5.2444, 2.0444, 0.149, 0.2564, -0.0611, 1.0281, -0.3624, 0.0615, 7.0769, 1.917, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5285, 1.9572, 1.0885, 0.1368, -0.5388, -0.3988, 0.9945, -0.0212, 0.4942, 0.152, -0.2459, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4694 left_y=-0.165 left_z=0.0602 left_yaw=0.1162 left_pitch=-0.0478 left_roll=0.0386 left_gripper=0.9945 right_x=0.244 right_y=0.0006 right_z=0.0748 right_yaw=-0.001 right_pitch=-0.0179 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -13.1214, 8.9641, 1.453, -0.232, 0.0415, -0.1148, -0.335, -0.1299, 6.9265, 1.873, -0.0366, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b74fe5bdaad1877a369904838af33497b346a5f2aec171ef421ccfa9f6145581",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1019d6f5732e35d16c6986c2e82a3152cbfa9e2fbb2f3cf5810892e124891212",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61445f95db411c0713e4c63d77f5fa4a96a82cc84be6bf8affba1518c54153ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SEdvnaoBDp9CnLa94pKVeH",
      "input": {
        "note": "Wrist view shows the bottle's blue cap and neck sitting right between the open jaws. Descending to bottle-axis height so the jaws can pinch the neck.",
        "targets": {
          "left_z": 0.032
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01SEdvnaoBDp9CnLa94pKVeH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5285, 1.9785, 1.0443, 0.2455, -0.5392, -0.3969, 0.9959, -0.0212, 0.4831, 0.1444, -0.2459, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4705 left_y=-0.1656 left_z=0.0523 left_yaw=0.1146 left_pitch=-0.0132 left_roll=0.0145 left_gripper=0.9959 right_x=0.2432 right_y=0.0006 right_z=0.0738 right_yaw=-0.0013 right_pitch=-0.0145 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.5282, 4.4103, 1.3162, -0.188, -0.0806, 0.1343, -0.335, 0.253, 6.6393, 1.917, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f2f26fe3ded0b4e279fdbc2460075a6e0acf8c497fbd2d5d70cf6264d8c0d95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30bd7c9d8d27b3900a9b867638d44c8d04eed3ed6cc0108462e7e18babe8afd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f89d2b0aa7caf55dedd71c835b7efeba38f6fbf83f23e2c998d738b015398cd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 9.141 s
model
claude-opus-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]: [-0.5304, 2.014, 0.9413, 0.5747, -0.5446, -0.3748, 0.0222, -0.0212, 0.5102, 0.1703, -0.2523, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4772 left_y=-0.1696 left_z=0.0585 left_yaw=0.1125 left_pitch=0.1417 left_roll=-0.0781 left_gripper=0.0222 right_x=0.2455 right_y=0.0005 right_z=0.0783 right_yaw=-0.0011 right_pitch=-0.0221 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -5.2444, 2.0444, 0.149, 0.2564, -0.0611, 1.0281, -0.3624, 0.0615, 7.0769, 1.917, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5285, 1.9572, 1.0885, 0.1368, -0.5388, -0.3988, 0.9945, -0.0212, 0.4942, 0.152, -0.2459, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4694 left_y=-0.165 left_z=0.0602 left_yaw=0.1162 left_pitch=-0.0478 left_roll=0.0386 left_gripper=0.9945 right_x=0.244 right_y=0.0006 right_z=0.0748 right_yaw=-0.001 right_pitch=-0.0179 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -13.1214, 8.9641, 1.453, -0.232, 0.0415, -0.1148, -0.335, -0.1299, 6.9265, 1.873, -0.0366, -0.0317, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5285, 1.9785, 1.0443, 0.2455, -0.5392, -0.3969, 0.9959, -0.0212, 0.4831, 0.1444, -0.2459, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4705 left_y=-0.1656 left_z=0.0523 left_yaw=0.1146 left_pitch=-0.0132 left_roll=0.0145 left_gripper=0.9959 right_x=0.2432 right_y=0.0006 right_z=0.0738 right_yaw=-0.0013 right_pitch=-0.0145 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.5282, 4.4103, 1.3162, -0.188, -0.0806, 0.1343, -0.335, 0.253, 6.6393, 1.917, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f2f26fe3ded0b4e279fdbc2460075a6e0acf8c497fbd2d5d70cf6264d8c0d95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30bd7c9d8d27b3900a9b867638d44c8d04eed3ed6cc0108462e7e18babe8afd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f89d2b0aa7caf55dedd71c835b7efeba38f6fbf83f23e2c998d738b015398cd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwQsKjgEIEhgCKkBaS3wccHoD2lo7Y8unHCJ/6mOMZcePKG0ZK4Xlfbm/5/tx56KvyvHevlNWYBZ0ElF3XFxO9nt8XH1vEXd4o7ASMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfmWzNUGEgwiV/VflYJ200EjRSUaDL7otz9zhiKhVWwomiIwZWa2DK+eoPJk2MJIDVvSuPZ+GQq6wdLuWVpkh0LdAyIY8Ki0xf7idjTk1evR7mQkKt8J5XpzVlQYgmcxG+xLITmKaMfKzJC6vPEt1V/+5GA5OL4pJJGepFGEzMJZvO+gMb5eF03iS+kwMuZB3maDKuLrmhJBC7A/9I4gCKFhBvYGVD5naesidiXfYa+P9jE9P0J7o6XBbPpEWpjJFOTiKxIYBPphqmKft+ALdjWzUN9waXRL9Q4rG7oQhe+zMpDb+KwDvWhaGwdpbt6RSuytyahVjx0ty19qZ48bjSGgdbCTPLHrDZCfiGmfbPhBVsfHCsY09i4/OQnGQzBmbrIcRKGZyov3tGYmUWblL+DGMqiFZ50OQ1bjPsQJuV7nLyWT0iVwv8Pesc9MG5juNgx0UWM1hDkZ0kI/qwcOzo0NQ+1IW4dF7G1YRrwEvg1Iz7NP0tbZm9W+cmLMZfKdX3+q0qrKmie3Wn6suDydR4A8s0Itd+e4frtaRh4cqO9Vw/jC9GY9bZ4Yepb7qV7jm8qnLk+AdgNAZqPGc/MnMEVhw6w3gvJeoneU9cAiEPRlrvoRMkb4oy7s8ZcbtpF6m7jTG+ZMPxtgsuFH16FAyiIjkZAWeNQ+V2L92zYXo/Rsy2mTu0zcHbWd6ZyAX2C7DXw5mnoXJjnBHP3SXR4iS+gqSiI4yimmuZ7XYkHPHZj1B9yxBPcfPGFaVwz/K/ubOoY3GLHGO1WUUIH6f7qU5uDcbXMcQqE/oLZnJXUsNN4YijBjwgL+qh7foLQVk8X4dW+5jSfRq6Oq4KszHfkbj4kSC9AQPgDDQy1HPmR/2Zi43ng+wF2c1k+Bfpa5wV8+QuanQYwc2Bjvmlis0SxbHINRLUOkikvQ2USStpUZ93+FHl3IdzYoCrHKfT+w16I+SEJmKcBVASYcALgKKtl8bT9txMizRz5LKWLZVCcRSp4cUpomYAGYo/FuZdma5BgG/olGbE/VUWSjAvzZwBSSubll4gWTTVDNA38MZXI4JnFNVj8JQITPP0V2Tl56O89L63Tni/cjDR5nRh9RKybZ3yQz4YmCHSSTLihVkknE18wjc3L+p73H5pn1VOO9bmaZqgZXLw9kBmK94uET6KdbiNeW/jsI9il0XHOTxHnvPZH2RNd4vsCGoBsV3Hh4KE2ZBWnXv9CDQ52R/VLLXvNtaQfQo4njTmkEpmz7ye4bfwsyNJgSt8xk5ZTmLKY5SKnW+kF9XSIzzHXSVOEnKii/4LWt2OQzlgWK03/r2IlR0AYqK5/XRyQBy8GXO7GNLmzqQyY4MWCBlLvZApNCHDFKnytvM2vIJRI1vnjsgR6EUzqZ8v2xd0Og+5WYHKbigtNf2o4HYdLOgwa2cL0vME7ScsuUWmZ/GIGLOWoXY8RTZXY2Jqvkz1x0X4U4aXZLzEBpVgNuWjDLUfk7iP+297iL2nNEJUNJe0jUEpONjWIlJY/BUEU9hs2pc6cSX/BYdftJ8dfWjio8tbcB/gYMtg/8TF1NkdzlG2riVk0Yc/lnksUNE5oVqMBxvJ2WhjUOXFDFN98z1nlJrEm3G+gX9eY7CUMIpnRNr5luXsckMx8iLPnZJK0FNlo5NN9gY5NYEiA+NRgg1QgnOIt+9xaDCsbApfbnbmYZFipSuqaCFqvTGKE3N5QPWPn2PRX+9Ski1Ib0dd+LT41Onju8H+2lttbN8OhOiSXmupfYLTICURLnIdx15UzsefwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019ZrJRevxi9no72anzeGZ4G",
      "input": {
        "note": "The bottle neck is centred between the jaws at 5 cm height; closing to ~1.9 cm to pinch the neck just below the cap.",
        "targets": {
          "left_gripper": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_019ZrJRevxi9no72anzeGZ4G",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5293, 2.001, 1.0145, 0.3054, -0.5392, -0.3973, 0.5016, -0.0212, 0.4755, 0.1326, -0.2455, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4685 left_y=-0.1648 left_z=0.0413 left_yaw=0.114 left_pitch=-0.0071 left_roll=0.0096 left_gripper=0.5016 right_x=0.2416 right_y=0.0007 right_z=0.0702 right_yaw=-0.001 right_pitch=-0.0183 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -11.9453, 6.6256, 1.2772, -0.1685, -0.0904, 0.9158, -0.1846, -0.1299, 6.9402, 1.8046, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fffe7284272752498d77df4ea805c9cb47a06db6bd3df4651f780e98e1e6890",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2344aab8dc660b122a061886686e79e2dca0c7f6b59eace3e9123fad3098589f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e4d166d197bbc234f122bdfd1c3dc0a02341c0e6e660338d82f4de1769a65ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 21 attempt 0 · /messages · status 200 · 10.61 s
model
claude-opus-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]: [-0.5285, 1.9572, 1.0885, 0.1368, -0.5388, -0.3988, 0.9945, -0.0212, 0.4942, 0.152, -0.2459, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4694 left_y=-0.165 left_z=0.0602 left_yaw=0.1162 left_pitch=-0.0478 left_roll=0.0386 left_gripper=0.9945 right_x=0.244 right_y=0.0006 right_z=0.0748 right_yaw=-0.001 right_pitch=-0.0179 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -13.1214, 8.9641, 1.453, -0.232, 0.0415, -0.1148, -0.335, -0.1299, 6.9265, 1.873, -0.0366, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.5285, 1.9785, 1.0443, 0.2455, -0.5392, -0.3969, 0.9959, -0.0212, 0.4831, 0.1444, -0.2459, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4705 left_y=-0.1656 left_z=0.0523 left_yaw=0.1146 left_pitch=-0.0132 left_roll=0.0145 left_gripper=0.9959 right_x=0.2432 right_y=0.0006 right_z=0.0738 right_yaw=-0.0013 right_pitch=-0.0145 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.5282, 4.4103, 1.3162, -0.188, -0.0806, 0.1343, -0.335, 0.253, 6.6393, 1.917, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5293, 2.001, 1.0145, 0.3054, -0.5392, -0.3973, 0.5016, -0.0212, 0.4755, 0.1326, -0.2455, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4685 left_y=-0.1648 left_z=0.0413 left_yaw=0.114 left_pitch=-0.0071 left_roll=0.0096 left_gripper=0.5016 right_x=0.2416 right_y=0.0007 right_z=0.0702 right_yaw=-0.001 right_pitch=-0.0183 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -11.9453, 6.6256, 1.2772, -0.1685, -0.0904, 0.9158, -0.1846, -0.1299, 6.9402, 1.8046, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fffe7284272752498d77df4ea805c9cb47a06db6bd3df4651f780e98e1e6890",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2344aab8dc660b122a061886686e79e2dca0c7f6b59eace3e9123fad3098589f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e4d166d197bbc234f122bdfd1c3dc0a02341c0e6e660338d82f4de1769a65ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3QgKjgEIEhgCKkDZW54R6ka+4xPwj6s0NSE39GPEihptVMAupQR/i/dk/sznvXCk/JJfdtbK8xqOLeF54h6AJM0J4YgHD7YFKdU9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYOXzNUGEgyMYSLYOF3d4nbzxKAaDNNrWYUZv0G9x+ObzCIwAXzJWAVpoX+rQ6KjkjFCiU/Q9ALHNJ5p8zVeYq0H6qilWDPyU422lpFS2KerO2RZKvsGrS9QtvUTMuXFMjsJFKlCiEQ0OWKDBOrs9CeWZON+vTHNPBK8ZRFJcpZotBo1IqrtnBin39C/woGmRU+sRsHiBopHaYAXqtubFUqxygwaueqoNCGoDT13PY1WYOAeKKGEvCs/TODlAapKrEbNz3ySnh3OCq2glRDY8NCMJSzzQ/KPbSJetmnoPDEvyJkQeqkh7y5lpfwO+Vpp7uk0lsgMrj9HA6701Ppied8WBPdmuzZ0tdWpfNqq1mxbTyDQ70Odpb8puKsIjqMIymlMPrnvN5WULCjnVVnUbTR3BJ6r1U1tWRz1HvbQkk3PpYPHBfcdTjN3ih7GFHxhXYkKlIcLkALMq7SGpU10g2pOJ/+wHbfAyTkWU6sd4OrnZ0x/0wijjgGlYuEo9Cy4m+q1V8asfQa29XNCG68Evt2hyJnXvdlqhOZdkCbUc8QNdE6dX5YbYb+Vw8puhMXeUbP/mj9ozgsn+gCPj9jD2XFich16zLMy4KfhCQP7ZJtidCjMIGFAI0TVqH+MK+e+nWlxItgyiHNmIQwgK4WeKy3om/KYh6ryfYPX2jcnt/baQ2iPd26yP7AZdYFK0F6S+OZWrHqGeAegxptjfTCYv/2jTryJD8MdqlU3SkvlNDgszVseb9+CFrF4EJ7qiC9T5J7rasAV78pvLqsagX6UK3zSvAmJJm7R5y7AQjSoOkolUZi5Cf16GgRa3dUqrICOD8NisSdR1FdL4Rlj11VLS/jyXhoaIaQJvpBHtQ9OmMHR1OBM2kdEptpI98p/9m2LwTO6fy60hfbvHjYSal22Jj7L8EBrx6Gr3cK6AChI2RQ7ITYGIA9X94Qxr1AIUUPe/4HmkaISi4SxAO/0X6UUTg3pYUF87NS3ULrc3+CMUUuqtiTFaUN5mqQQ/OzKxOlCocpYOh30R3oFlEXBaeNjmMKs9q1A7GPjhH72QVD84ETFIy/l8EOjt5UAYw07XtFRdMiL2ufEY5SzgOwXss2xqBi+IM6QA/60OJfHCr6iB9IutFtUW2nV6TERX0E1S9qTuo7/C4YaWyOW4Ro548v67a2JFaN6LnkZb6tvw7KeUGK98dCqwbYcl/nqYoo132MRqxDIZmEQg3100HnZAOahCKkcqrpJ4F8vLA8Lm1t5gw8yKP2/4OFv8yUCX06UKgrO5onQXPj/mEzAJECnmRNMGZwGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016KWHZwrDz9AdeQ7YfadsYk",
      "input": {
        "note": "The jaws stalled at 4.8 cm — that is the bottle's shoulder held firmly. Lifting to 25 cm; since the grip is near the top, the bottle should swing cap-up under gravity.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_016KWHZwrDz9AdeQ7YfadsYk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5285, 1.771, 1.499, -0.4351, -0.5323, -0.4049, 0.5019, -0.0212, 0.4618, 0.1184, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4734 left_y=-0.1684 left_z=0.2185 left_yaw=0.1138 left_pitch=-0.0304 left_roll=0.0153 left_gripper=0.5019 right_x=0.2399 right_y=0.0006 right_z=0.0668 right_yaw=-0.0013 right_pitch=-0.0187 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -12.3556, 9.0598, 1.5458, -0.232, -0.0171, 0.022, -0.0889, -0.0889, 7.0632, 1.8877, 0.0073, -0.0122, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51fc14bc31aef6ed1765f22d292206e5486b3dc07a1a3b1ecf7ea44d8efeadf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9cea618bbc69871b8a3b16979f650bc45d7fcfe64a6b68d1d0266a65addded9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:503790e98578fe0ecaed36fec6643d9c2f8a5ade39945fcdb8458a1cd337211c",
        "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 · 8.135 s
model
claude-opus-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]: [-0.5285, 1.9785, 1.0443, 0.2455, -0.5392, -0.3969, 0.9959, -0.0212, 0.4831, 0.1444, -0.2459, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4705 left_y=-0.1656 left_z=0.0523 left_yaw=0.1146 left_pitch=-0.0132 left_roll=0.0145 left_gripper=0.9959 right_x=0.2432 right_y=0.0006 right_z=0.0738 right_yaw=-0.0013 right_pitch=-0.0145 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.5282, 4.4103, 1.3162, -0.188, -0.0806, 0.1343, -0.335, 0.253, 6.6393, 1.917, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5293, 2.001, 1.0145, 0.3054, -0.5392, -0.3973, 0.5016, -0.0212, 0.4755, 0.1326, -0.2455, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4685 left_y=-0.1648 left_z=0.0413 left_yaw=0.114 left_pitch=-0.0071 left_roll=0.0096 left_gripper=0.5016 right_x=0.2416 right_y=0.0007 right_z=0.0702 right_yaw=-0.001 right_pitch=-0.0183 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -11.9453, 6.6256, 1.2772, -0.1685, -0.0904, 0.9158, -0.1846, -0.1299, 6.9402, 1.8046, -0.0269, -0.0269, -0.0122]",
      "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]: [-0.5285, 1.771, 1.499, -0.4351, -0.5323, -0.4049, 0.5019, -0.0212, 0.4618, 0.1184, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4734 left_y=-0.1684 left_z=0.2185 left_yaw=0.1138 left_pitch=-0.0304 left_roll=0.0153 left_gripper=0.5019 right_x=0.2399 right_y=0.0006 right_z=0.0668 right_yaw=-0.0013 right_pitch=-0.0187 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -12.3556, 9.0598, 1.5458, -0.232, -0.0171, 0.022, -0.0889, -0.0889, 7.0632, 1.8877, 0.0073, -0.0122, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51fc14bc31aef6ed1765f22d292206e5486b3dc07a1a3b1ecf7ea44d8efeadf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9cea618bbc69871b8a3b16979f650bc45d7fcfe64a6b68d1d0266a65addded9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:503790e98578fe0ecaed36fec6643d9c2f8a5ade39945fcdb8458a1cd337211c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS+AkKjgEIEhgCKkB7eMoEZYMZ20Qn6zFUOnRSyVyj9QQVWdfhuVLXM+FUs6wab3XxW1x2e7zqS8zvAZoT0ZX+2zfnAm/WkjmVTNloMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY+XzNUGEgzjahERKBzqWK153MkaDHautHt3/yfMsTF3liIwo10xVeDpbOKhAj7zAp3cQirF5/tnaJ3uRgCeM0ThbASBc8kiq9DCw8W6F81I2sj9KpYINgIEZNoNduTv4zZgQdLBb4mPCxHaoVM5Ze7W2wgpLLaA/0IA+d1asYJXtCJjMmiQk3opzp0ifLDAcAPi28WJBKzoKswRjwilHXjY4EOheV0SzVa3RRlu/Iy6yWYOqfA7lULtW023tMrn0uwpsagWgpfBhZoyYqC3g7jkb/txMu3y3I3j+Uo2g1+16YZ+j66exE0EPAsWv5R9/EMzrBwohk3PG0W6GsVvQSVREKNWoDT0xVOCO7FWm41L/s6GhRnWovGPCTK75hrHu9HBw7ekXT6bwnIHyR1X4sQqYuwQKInfChNGIuBCGgSWb2PZAL584sQaejkXoBkoMuoadw49hShiHfu7rC/XlGAgIV+8imeljo8576AbI9eGDlYpxJtALYxZfPMdGvMaKuc403uZxfRKho90koX33+P3zWT1zrWUnIcbtzFvkWdINgPwXVUKN/UwKH9FAIhyerzXfDJ4yRlci9bh7yOBgD0S1lMeQ1a/0sh/sv7v5naoW/1A0e7HdUZhT8QtZoaOMuc0Sk6FtwUoikIJHPK+t7Q6LnjKoCt+pZBU5z7T3/ryF4ROsQl4qteHg/I5XMTT1tMIBVeB+6JVvdsAz8aeRe6gL2/nOkfIq6dKxrc4if9vToY3V56v+pNjZaety0tmFbli9sIaJkesE4QohQliZF49cpqLWrHhK9ycPNO+bFrPacLvFtwFPvN83cV7asQSMaZ9A+Comr4hp4hJIwzCG6qiDnl5FEYGhv2fWRljnNLDLgNCGZt/LymSH11Q6H1rS8QeZkEZ5uRTsAQzH8o3EIHezvzBCg3KDTxK+k5o70Xm3rzeY3esXIuaXV0404CIyTvK3sqML9zCZr/imtMl0+0pGBE5HDk6Avc7IvDVNoObcqWAntF2gAuMb/naHyV6b/pqaTEznyuDWHcc5oVk3dTQvdXE5C6kk++I6kUnmzdwBaHZPOAn6kDB4Qg+386lfIjmXybAU70dRTDVNRQGmQYP+K4bsLyItih6GCkRqswQWMs1fyN8fr3LFgmuxmueWp031ZKFyE5HT5KF9I+bSsZ1rET0YAcvJvfV8A1C+JNPRZnWLT4xKyMCSWuZd6z5GZyrBSR75I0i9tQ+yLMyujB4po3WsLV9dthmDmfPZbvy7HFkglOf02vRRVb22fH5zAkG7A+8I7nDZ+i+GlJ5FMFdt/tzfBUQPb169AhGUR4GQ7Cw9GVHbY8KnMzZTqN75cqUBuQtHOXlcURH0FvHCMgrcURxGn+5ey+W31kHOXhY/mGqF0QXrIrSgTW9YEudJkxtyGPI6D9Q5fv/6f1JilnryeL3puzYhD8IO0I0hDMvUIYYE47Aa90dTtpMrL54WHhFFtB3LOwnLWJ2nbDY5wtWkOHzr4FYj2+aCxoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0135C53DrtXZxyYAtaAgpKdk",
      "input": {
        "note": "The bottle is now hanging cap-up from the jaws — exactly the upright orientation. Lowering until its base touches the table so I can release it standing.",
        "targets": {
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0135C53DrtXZxyYAtaAgpKdk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5297, 1.8015, 1.2449, -0.2012, -0.5323, -0.4011, 0.5019, -0.0212, 0.4465, 0.1047, -0.2455, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4627 left_y=-0.1629 left_z=0.1379 left_yaw=0.1122 left_pitch=-0.0711 left_roll=0.0488 left_gripper=0.5019 right_x=0.2384 right_y=0.0007 right_z=0.0639 right_yaw=-0.0011 right_pitch=-0.0172 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.8274, 7.159, 2.0488, -0.2808, -0.0562, -0.0122, -0.0889, -0.0205, 7.0222, 1.8193, -0.0073, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b6b83b44fbd73d49722d8f71fb61ea872c18c1d2338fb3d346796077f192fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:893b0af62fcd911dd973ed9b26aeb85c20eed668ea4c98dea52d72c95c65005f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d98b7ae73b86889089ff46464f433186c6b9a6c77e467b4f963eb672206e51e6",
        "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 · 3.865 s
model
claude-opus-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]: [-0.5293, 2.001, 1.0145, 0.3054, -0.5392, -0.3973, 0.5016, -0.0212, 0.4755, 0.1326, -0.2455, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4685 left_y=-0.1648 left_z=0.0413 left_yaw=0.114 left_pitch=-0.0071 left_roll=0.0096 left_gripper=0.5016 right_x=0.2416 right_y=0.0007 right_z=0.0702 right_yaw=-0.001 right_pitch=-0.0183 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -11.9453, 6.6256, 1.2772, -0.1685, -0.0904, 0.9158, -0.1846, -0.1299, 6.9402, 1.8046, -0.0269, -0.0269, -0.0122]",
      "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]: [-0.5285, 1.771, 1.499, -0.4351, -0.5323, -0.4049, 0.5019, -0.0212, 0.4618, 0.1184, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4734 left_y=-0.1684 left_z=0.2185 left_yaw=0.1138 left_pitch=-0.0304 left_roll=0.0153 left_gripper=0.5019 right_x=0.2399 right_y=0.0006 right_z=0.0668 right_yaw=-0.0013 right_pitch=-0.0187 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -12.3556, 9.0598, 1.5458, -0.232, -0.0171, 0.022, -0.0889, -0.0889, 7.0632, 1.8877, 0.0073, -0.0122, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5297, 1.8015, 1.2449, -0.2012, -0.5323, -0.4011, 0.5019, -0.0212, 0.4465, 0.1047, -0.2455, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4627 left_y=-0.1629 left_z=0.1379 left_yaw=0.1122 left_pitch=-0.0711 left_roll=0.0488 left_gripper=0.5019 right_x=0.2384 right_y=0.0007 right_z=0.0639 right_yaw=-0.0011 right_pitch=-0.0172 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.8274, 7.159, 2.0488, -0.2808, -0.0562, -0.0122, -0.0889, -0.0205, 7.0222, 1.8193, -0.0073, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b6b83b44fbd73d49722d8f71fb61ea872c18c1d2338fb3d346796077f192fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:893b0af62fcd911dd973ed9b26aeb85c20eed668ea4c98dea52d72c95c65005f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d98b7ae73b86889089ff46464f433186c6b9a6c77e467b4f963eb672206e51e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS+wgKjgEIEhgCKkBuVk1aKaV0z4zEjGsXBh4ZMRQGxTxZhJXiRejn38IakfXtakjdtZwKYmw9zaXI0Ndn/ksfBUMn1rG/p2sWCz6VMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZiXzNUGEgyBwUQ5sTAL5H4SSbQaDObCSW6vSMeF59g4ISIwfTJqezma5YGtZ0lTzrwgoSfTom1XcQ1j3hTPuWWi1JmDmkOqrpg653Ltel07MrwaKpkHP5EH8Esw1TNf8H4hvr7j8oLLYRIWGEBibtF2EP7jhP4BECM9CIFxn4n1ruRp9z4Rf8XPlm9eztWol3bZLhdaQtaVNmgj+ZkPm0ONX6eAPh3TsKoDFEyatGdheqU2Q67ZlpIHXcq9XziriqTtlYMPY/m7uRVY7jrAdAn5iDmEJv3vPK5E+gBll5cobJOe2ub2LHnTq/EcA4VAhPexv4dci6BDzb799/CjFXYZpKORknUqG+12Eg9MBYzGqfsl/9Rfgh9PvOqXak8JAzexSJV5MjLSwSuiP9Wl0hwFzG3p1uu6L2n48gtaYFa3PAwBmHIb9r3vtBLdFGK1V6NDFXlsyvkZH9XElVnrsl8bLlQy26hgqf/rEZjVcs2WfzCyxeQZt6a6QrLFypWZ9/EtzjmcOM7pUiZkLpxFyEjumRXFRiXb6sLQxuKozGrQSRTJ3WhfWNyd9fo9NwuwaxRCKpQiU8P6Iqg5+n+Ktho7fTeLp4GMCItL6YFO2D3DS8RPY4Y9aMq6H05lRk2D4/uPEM1gs1EObdIoXBYqVOZ6C6SEWMd3gPi4kQ2lVQRaej9cGZhRfnm6AXlnCqFm9PdWqt+gDb2rCPccDyuRvU6FCl7NPzInoOQwgNUUxYwk9YjpGJ5Uqsmt9Bd3+v6CReBuEAEJyev5cnwE57bJoLj5tNXd9Tp8CV9R6td07JmspaxoOSN1l6Jh9qp0wxdQHaRu+6mK9dg1OM7yaz/M36Ar3uFu5qPO+LiH+23Qr+9r+f2X0Go0yj8xE3mzg78nvmti1fW3rYUcUPYCECbDw3uKMo4ZHCzUpxRmM766EHsVrLILpURQiOTbrGjrt6H/UCFc5SVzGU3FLVRd13hJshpKSt+Dx8iiLQwWH0orkY7VkF7GIoqffu98tskcAdECjOqB4/l/iALdPqTQ8Rgdtu6NkeDFEniFI0e52j0bjjqed0rp+peLuQBMHCaGIwWcDHY41BHtbqizSuWQTON0Bf+zAp90Q0aefhDJgktypCBu9ab1BqvApmTn4mhSfIp5dS3D8vEnVABvjZ7bv5JM4eYJUXi2GfQRnGKZK1hZB4TzE4IPVOttX85+sRXIhWz6baK9WEB0AZLX/YoIRJrX1j8oobztNMkMM56svuXqhCJMuI7roF+1BAzBXGUSQw7dV/RnMXsk5zXWNwgmJ2k+Vo4xx6hBAvopTeT5PCz/ZtveI0G/eSSr5uxYOpB43oXkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HbJgWtNTWA6Z1ypNcWB7DG",
      "input": {
        "note": "The bottle hangs cap-up in the jaws; lowering a bit further so its base is certainly resting on the table before I release.",
        "targets": {
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01HbJgWtNTWA6Z1ypNcWB7DG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5293, 1.7992, 1.1477, -0.0139, -0.535, -0.4007, 0.5019, -0.0212, 0.4366, 0.0978, -0.2459, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4666 left_y=-0.1644 left_z=0.1313 left_yaw=0.1126 left_pitch=0.0039 left_roll=-0.0047 left_gripper=0.5019 right_x=0.2377 right_y=0.0007 right_z=0.0628 right_yaw=-0.0015 right_pitch=-0.0145 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -7.5419, 5.9282, 1.5311, -0.2076, -0.022, -0.0122, -0.3761, 0.1162, 6.7214, 1.8242, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90ff71427aa9d1898384488d0f310269c1ca06a431b0831671f41870965c6b9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76f278030f97394b08d05e563817facd82704a04146d121a8ce88a69967c4a7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eafd8b3096e87fb6f38e58e226bf6200a4e42ccefac84c0a8c301ffb83ced84a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 12.01 s
model
claude-opus-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]: [-0.5285, 1.771, 1.499, -0.4351, -0.5323, -0.4049, 0.5019, -0.0212, 0.4618, 0.1184, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4734 left_y=-0.1684 left_z=0.2185 left_yaw=0.1138 left_pitch=-0.0304 left_roll=0.0153 left_gripper=0.5019 right_x=0.2399 right_y=0.0006 right_z=0.0668 right_yaw=-0.0013 right_pitch=-0.0187 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -12.3556, 9.0598, 1.5458, -0.232, -0.0171, 0.022, -0.0889, -0.0889, 7.0632, 1.8877, 0.0073, -0.0122, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.5297, 1.8015, 1.2449, -0.2012, -0.5323, -0.4011, 0.5019, -0.0212, 0.4465, 0.1047, -0.2455, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4627 left_y=-0.1629 left_z=0.1379 left_yaw=0.1122 left_pitch=-0.0711 left_roll=0.0488 left_gripper=0.5019 right_x=0.2384 right_y=0.0007 right_z=0.0639 right_yaw=-0.0011 right_pitch=-0.0172 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.8274, 7.159, 2.0488, -0.2808, -0.0562, -0.0122, -0.0889, -0.0205, 7.0222, 1.8193, -0.0073, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5293, 1.7992, 1.1477, -0.0139, -0.535, -0.4007, 0.5019, -0.0212, 0.4366, 0.0978, -0.2459, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4666 left_y=-0.1644 left_z=0.1313 left_yaw=0.1126 left_pitch=0.0039 left_roll=-0.0047 left_gripper=0.5019 right_x=0.2377 right_y=0.0007 right_z=0.0628 right_yaw=-0.0015 right_pitch=-0.0145 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -7.5419, 5.9282, 1.5311, -0.2076, -0.022, -0.0122, -0.3761, 0.1162, 6.7214, 1.8242, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90ff71427aa9d1898384488d0f310269c1ca06a431b0831671f41870965c6b9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76f278030f97394b08d05e563817facd82704a04146d121a8ce88a69967c4a7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eafd8b3096e87fb6f38e58e226bf6200a4e42ccefac84c0a8c301ffb83ced84a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzAMKjgEIEhgCKkDLTgmn/iYiDqDE8pwCNb/Mesd5EIW+NSmVVN5vwMYS+HFjJXwB4HLwHsAfIDsVdZzaaxyOgZFT8wWJSH4ONcuoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZyXzNUGEgw75xOJHPui/1AwsEcaDJVKWXEYmvNVtx0kFiIwRDT5ty5h3dYBiM2S3TZdvnvVkCMiAqDQtwFPx5HC3f/ott9bPWEWY5R1Qv8TNLgdKuoBDqM1myjF76aevSD2S4IDGrNIcELQH8uApSDR57LNqD4xBssagthhQVZRmj9c+HUv0K6uYns/GnXbGH4H4/KvIzYe1zxrvw0ncw6kRWMAhg7ry+fBp3jLe6jaoX9sB3VZUJJiUWCxzlpKiaD82WA+WkDOPk+91a9Uyziph0EZGrdCCDfIs4IJ3lEC4Gx7t9OlupWlTsEdRvM9Zr26bvTc6dTRc0NVv1Mf9DU+awUKRct8UiaoZujdBJLooI/8lx2goxQY/ndugTpuqw/CxtbXap/ipY1S2IFV7JQrWONlvLTcNliNK7ZfpH79GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kgo9K4RH9HUbWWLUxCcCYk",
      "input": {
        "note": "Descent stopped — the bottle's base is on the table. Opening the jaws to release it standing upright.",
        "targets": {
          "left_gripper": 0.85
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Kgo9K4RH9HUbWWLUxCcCYk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5293, 1.8362, 1.0775, 0.049, -0.5323, -0.4011, 0.8452, -0.0212, 0.429, 0.0925, -0.2451, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4588 left_y=-0.1604 left_z=0.097 left_yaw=0.1111 left_pitch=-0.0326 left_roll=0.0201 left_gripper=0.8452 right_x=0.2374 right_y=0.0007 right_z=0.0622 right_yaw=-0.0013 right_pitch=-0.0114 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.3726, 7.2957, 1.6825, -0.2759, -0.0073, -0.022, -0.3077, -0.212, 6.4615, 1.7998, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d403b429aabb0d5160ffe615d91e4890059e4d21abccc1c986235af1bed1787",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e38194d99873b66e932b31450175bacf0506d6428ee27b660cbbc7e8f7f190d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8bb80198d216cc6b8a883828128f304dff27815a972dbf2c6db08022550d36b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /messages · status 200 · 22.42 s
model
claude-opus-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]: [-0.5297, 1.8015, 1.2449, -0.2012, -0.5323, -0.4011, 0.5019, -0.0212, 0.4465, 0.1047, -0.2455, -0.012, -0.017, 0.9998]\nstate[eef_state]: left_x=0.4627 left_y=-0.1629 left_z=0.1379 left_yaw=0.1122 left_pitch=-0.0711 left_roll=0.0488 left_gripper=0.5019 right_x=0.2384 right_y=0.0007 right_z=0.0639 right_yaw=-0.0011 right_pitch=-0.0172 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.8274, 7.159, 2.0488, -0.2808, -0.0562, -0.0122, -0.0889, -0.0205, 7.0222, 1.8193, -0.0073, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5293, 1.7992, 1.1477, -0.0139, -0.535, -0.4007, 0.5019, -0.0212, 0.4366, 0.0978, -0.2459, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4666 left_y=-0.1644 left_z=0.1313 left_yaw=0.1126 left_pitch=0.0039 left_roll=-0.0047 left_gripper=0.5019 right_x=0.2377 right_y=0.0007 right_z=0.0628 right_yaw=-0.0015 right_pitch=-0.0145 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -7.5419, 5.9282, 1.5311, -0.2076, -0.022, -0.0122, -0.3761, 0.1162, 6.7214, 1.8242, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5293, 1.8362, 1.0775, 0.049, -0.5323, -0.4011, 0.8452, -0.0212, 0.429, 0.0925, -0.2451, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4588 left_y=-0.1604 left_z=0.097 left_yaw=0.1111 left_pitch=-0.0326 left_roll=0.0201 left_gripper=0.8452 right_x=0.2374 right_y=0.0007 right_z=0.0622 right_yaw=-0.0013 right_pitch=-0.0114 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.3726, 7.2957, 1.6825, -0.2759, -0.0073, -0.022, -0.3077, -0.212, 6.4615, 1.7998, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d403b429aabb0d5160ffe615d91e4890059e4d21abccc1c986235af1bed1787",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e38194d99873b66e932b31450175bacf0506d6428ee27b660cbbc7e8f7f190d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bb80198d216cc6b8a883828128f304dff27815a972dbf2c6db08022550d36b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HR1ZXDhGDSCbiLdd6fJDii",
      "input": {
        "note": "Released the first bottle; it looks like it is standing. Retracting the left arm up and back so the overhead camera can show all three bottles clearly.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.08,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01HR1ZXDhGDSCbiLdd6fJDii",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5152, 1.1831, 1.1919, -0.6731, -0.5236, -0.3965, 0.8465, -0.0212, 0.4179, 0.0849, -0.2459, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3415 left_y=-0.0877 left_z=0.2812 left_yaw=0.1155 left_pitch=0.0006 left_roll=-0.0075 left_gripper=0.8465 right_x=0.2366 right_y=0.0008 right_z=0.0609 right_yaw=-0.001 right_pitch=-0.0088 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.5538, -6.1744, 10.5915, 1.8046, -0.1832, 0.0952, 0.1245, -0.0889, 0.5128, 6.8581, 1.8339, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ba3ad765051edebd3e797ccd508f7e94c1603cc3e36dd2d78ac57c8929bfced",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd4b5621577e642275c4a0385522d45576527cab8c4c69166801069db40db622",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:93135973782336e44039abb18c4402e4f6c8296a564fc54bcc58178af5aed455",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /messages · status 200 · 32.95 s
model
claude-opus-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]: [-0.5293, 1.7992, 1.1477, -0.0139, -0.535, -0.4007, 0.5019, -0.0212, 0.4366, 0.0978, -0.2459, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4666 left_y=-0.1644 left_z=0.1313 left_yaw=0.1126 left_pitch=0.0039 left_roll=-0.0047 left_gripper=0.5019 right_x=0.2377 right_y=0.0007 right_z=0.0628 right_yaw=-0.0015 right_pitch=-0.0145 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -7.5419, 5.9282, 1.5311, -0.2076, -0.022, -0.0122, -0.3761, 0.1162, 6.7214, 1.8242, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5293, 1.8362, 1.0775, 0.049, -0.5323, -0.4011, 0.8452, -0.0212, 0.429, 0.0925, -0.2451, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4588 left_y=-0.1604 left_z=0.097 left_yaw=0.1111 left_pitch=-0.0326 left_roll=0.0201 left_gripper=0.8452 right_x=0.2374 right_y=0.0007 right_z=0.0622 right_yaw=-0.0013 right_pitch=-0.0114 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.3726, 7.2957, 1.6825, -0.2759, -0.0073, -0.022, -0.3077, -0.212, 6.4615, 1.7998, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5152, 1.1831, 1.1919, -0.6731, -0.5236, -0.3965, 0.8465, -0.0212, 0.4179, 0.0849, -0.2459, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3415 left_y=-0.0877 left_z=0.2812 left_yaw=0.1155 left_pitch=0.0006 left_roll=-0.0075 left_gripper=0.8465 right_x=0.2366 right_y=0.0008 right_z=0.0609 right_yaw=-0.001 right_pitch=-0.0088 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.5538, -6.1744, 10.5915, 1.8046, -0.1832, 0.0952, 0.1245, -0.0889, 0.5128, 6.8581, 1.8339, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ba3ad765051edebd3e797ccd508f7e94c1603cc3e36dd2d78ac57c8929bfced",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd4b5621577e642275c4a0385522d45576527cab8c4c69166801069db40db622",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93135973782336e44039abb18c4402e4f6c8296a564fc54bcc58178af5aed455",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019tbAKn1WxzQRjVDHxABpwK",
      "input": {
        "note": "Parking the left arm back near home and out of the overhead view so I can see clearly which bottles are standing and which are still lying.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.25,
          "left_y": 0.02,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019tbAKn1WxzQRjVDHxABpwK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0517, 0.6159, 0.6609, -0.617, -0.1989, -0.1551, 0.9979, -0.0212, 0.4118, 0.0795, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2529 left_y=0.0255 left_z=0.204 left_yaw=0.1843 left_pitch=0.0045 left_roll=-0.0119 left_gripper=0.9979 right_x=0.2361 right_y=0.0007 right_z=0.0599 right_yaw=-0.0013 right_pitch=-0.0076 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0342, 0.0889, 7.241, 1.8681, -0.1148, 0.2955, -0.2222, -0.0889, 0.3624, 6.8581, 1.7753, -0.0317, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e93da7004d42b80ee742c8b79dbbb994166a137c7ce2c0157180f1369ce1cd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e08c4dff3af3968ee535037c0c6cc653d5ec2160b61af856d689ede9208157b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3aa9cee4b0bb2e974145bd299034d4737792f27b4fb9dc0eaceb400968a5b59b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 7.981 s
model
claude-opus-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]: [-0.5293, 1.8362, 1.0775, 0.049, -0.5323, -0.4011, 0.8452, -0.0212, 0.429, 0.0925, -0.2451, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4588 left_y=-0.1604 left_z=0.097 left_yaw=0.1111 left_pitch=-0.0326 left_roll=0.0201 left_gripper=0.8452 right_x=0.2374 right_y=0.0007 right_z=0.0622 right_yaw=-0.0013 right_pitch=-0.0114 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.3726, 7.2957, 1.6825, -0.2759, -0.0073, -0.022, -0.3077, -0.212, 6.4615, 1.7998, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5152, 1.1831, 1.1919, -0.6731, -0.5236, -0.3965, 0.8465, -0.0212, 0.4179, 0.0849, -0.2459, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3415 left_y=-0.0877 left_z=0.2812 left_yaw=0.1155 left_pitch=0.0006 left_roll=-0.0075 left_gripper=0.8465 right_x=0.2366 right_y=0.0008 right_z=0.0609 right_yaw=-0.001 right_pitch=-0.0088 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.5538, -6.1744, 10.5915, 1.8046, -0.1832, 0.0952, 0.1245, -0.0889, 0.5128, 6.8581, 1.8339, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0517, 0.6159, 0.6609, -0.617, -0.1989, -0.1551, 0.9979, -0.0212, 0.4118, 0.0795, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2529 left_y=0.0255 left_z=0.204 left_yaw=0.1843 left_pitch=0.0045 left_roll=-0.0119 left_gripper=0.9979 right_x=0.2361 right_y=0.0007 right_z=0.0599 right_yaw=-0.0013 right_pitch=-0.0076 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0342, 0.0889, 7.241, 1.8681, -0.1148, 0.2955, -0.2222, -0.0889, 0.3624, 6.8581, 1.7753, -0.0317, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e93da7004d42b80ee742c8b79dbbb994166a137c7ce2c0157180f1369ce1cd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e08c4dff3af3968ee535037c0c6cc653d5ec2160b61af856d689ede9208157b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3aa9cee4b0bb2e974145bd299034d4737792f27b4fb9dc0eaceb400968a5b59b",
        "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_015gKYLJxY6jjeQFSnVx4nQo",
      "input": {
        "note": "All three bottles are still lying down — the first one toppled on release, probably because I opened while it was still ~2 cm above the table. Going back to the same known-good grasp pose on the left bottle's shoulder.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.468,
          "left_y": -0.165,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_015gKYLJxY6jjeQFSnVx4nQo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5434, 1.9717, 1.0168, 0.2508, -0.6136, -0.4805, 0.9979, -0.0212, 0.4099, 0.0792, -0.2455, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4629 left_y=-0.1566 left_z=0.0511 left_yaw=0.2017 left_pitch=0.0062 left_roll=-0.0095 left_gripper=0.9979 right_x=0.2362 right_y=0.0008 right_z=0.0601 right_yaw=-0.001 right_pitch=-0.0061 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -9.1966, 6.1744, 1.0085, -0.2173, 0.2173, -0.2369, -0.2256, 0.0479, 6.5573, 1.7314, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a80eff0ca4697ac01abcdf26820ebd4cf4820e3f295d7f2e3f382df36cf5802",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4379d23b800dd694a39ffd99265629a003c847470232f20e4c9f7f59be2d0ab2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7030bff3b546cf2f61e35553015a17ae29afaca20712982e66670f3fb99f43fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 15.51 s
model
claude-opus-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]: [-0.5152, 1.1831, 1.1919, -0.6731, -0.5236, -0.3965, 0.8465, -0.0212, 0.4179, 0.0849, -0.2459, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3415 left_y=-0.0877 left_z=0.2812 left_yaw=0.1155 left_pitch=0.0006 left_roll=-0.0075 left_gripper=0.8465 right_x=0.2366 right_y=0.0008 right_z=0.0609 right_yaw=-0.001 right_pitch=-0.0088 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.5538, -6.1744, 10.5915, 1.8046, -0.1832, 0.0952, 0.1245, -0.0889, 0.5128, 6.8581, 1.8339, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0517, 0.6159, 0.6609, -0.617, -0.1989, -0.1551, 0.9979, -0.0212, 0.4118, 0.0795, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2529 left_y=0.0255 left_z=0.204 left_yaw=0.1843 left_pitch=0.0045 left_roll=-0.0119 left_gripper=0.9979 right_x=0.2361 right_y=0.0007 right_z=0.0599 right_yaw=-0.0013 right_pitch=-0.0076 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0342, 0.0889, 7.241, 1.8681, -0.1148, 0.2955, -0.2222, -0.0889, 0.3624, 6.8581, 1.7753, -0.0317, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5434, 1.9717, 1.0168, 0.2508, -0.6136, -0.4805, 0.9979, -0.0212, 0.4099, 0.0792, -0.2455, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4629 left_y=-0.1566 left_z=0.0511 left_yaw=0.2017 left_pitch=0.0062 left_roll=-0.0095 left_gripper=0.9979 right_x=0.2362 right_y=0.0008 right_z=0.0601 right_yaw=-0.001 right_pitch=-0.0061 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -9.1966, 6.1744, 1.0085, -0.2173, 0.2173, -0.2369, -0.2256, 0.0479, 6.5573, 1.7314, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a80eff0ca4697ac01abcdf26820ebd4cf4820e3f295d7f2e3f382df36cf5802",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4379d23b800dd694a39ffd99265629a003c847470232f20e4c9f7f59be2d0ab2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7030bff3b546cf2f61e35553015a17ae29afaca20712982e66670f3fb99f43fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyggKjgEIEhgCKkCHEtWgrQ8I+KrNpP3A4/jQVf4fL9fJ2WLYjH6TF2kbDnGuYJYj9nynEQKTElg6Eu8LepTDhosR8XsPPypakoEdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeyXzNUGEgxMldzRG4fdUcrAIcIaDCV4FUbahwzW4fIMuSIw8xk4o9Gun7bV1CdQThTRu2HkmqRALZvBgBLkjsQPq098C9rNliYjHrEIdtnRV0INKugGgUkp4v6dytCq24M1kFem4Oo2MVbEqqrV8O8pu6rp+D5PDxGDNna4OXooR+QoP/8FLhXMh5m49ye8iwE0T9ZYXzVrLi1XSKdivRNAJ5LPYL3xV2O5d9iT83Z4SfCFuVr6ywjvMoqmh2xFWlsPDNITc2uS79K7H+CLfwT4QlHgyIVlgjNkl3xJP2clrFH4N45tvJbU+o6TzkFz7AaengLUHc9lj9HsxDui/xeZg4s0M3l4KsVk8tdEAnS2DQ/mRAWJA1nDC6CJ6Zju+3prqrKmBb62vWvN4t9voIcWSjaHagf3k1wb3y7qtN8OhJkHDW2U/xfGmxXVYpkXMVxqJ0cqjQtrbq98KPAHLzraE0Vrkcs/ppOStQbH7h6L0dZ7OTtqLsarYoXuTr3OnXzKgFmUqe5CZ8L+SMs4VFlhjCPHHrkinz/j+8LiL4LmmQUbO8Pi9Epty7yDt/JofRtslKU+oW2B8q38n9VlJ6g5Q3I7jDhNtyTNC6OO9s40kRjErwe9f/feFBpxO/EDYelHiuXuxZe5Z2L5iIWmSDmaKVajlkyVdCRvlDOr9E6McmmzYLNWJRK0iwIZPxWZanSW2xQ2loDO1CTXIwpUptrBuR9Esc2/3pAdFT/INBXp7ug7k/S5t/UBuK0FJG2eYplLQFV3SpiIcpIOn/83pRoCzygkG5DZ621T0Fh2O4RMjmARttM7HlY8tUN4nhWs0zCj49wWgOqyrIbytkNVd65M8UVb3QdeOY2i2T36ECOUfLqer12xCMJmQZP+oP1iq+gEvi44Yrj1XXDq7M32ZUwrN7bKv2tELmbDkgKpb3wlu25DrfZfV+XBwj/GpaQmYMFFxPeBUa0Bs0vf684OALtENqbeyA+uIT6yl1lnSTuXa4Fi9jE6Ihzxk5Ymyw7qKGpmjbtklKX/BEjftPW7PunaLll4PwBGosSY0Hhy7Um/WoLII48WndIwxbdqueaVBaFLydfEcAX4Y2GuaowJ6p4h6L0nKQpuKEwTdn9q9wO7DaohyzFIJO2ebLkBFkKzFj8hBe8D7+AXCNlkefqIxmrDz6fuh1PdMRgKf1xAPJkfWAL//KT0ggS+ZVzhESjn+MLdE0ccr+6GmEIe4aHKEZR5wwUsnRggdQxM9V9hQO941PuK3byE8NLao4h3en4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UJS9rW6FhAWy3x9rPi8HcF",
      "input": {
        "note": "At the same pose that grasped successfully before (the bottle is too close to appear in the wrist view). Closing to pinch the bottle's shoulder.",
        "targets": {
          "left_gripper": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01UJS9rW6FhAWy3x9rPi8HcF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5484, 1.9972, 1.029, 0.2279, -0.6109, -0.4763, 0.205, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.461 left_y=-0.1587 left_z=0.0398 left_yaw=0.1926 left_pitch=-0.0217 left_roll=0.0173 left_gripper=0.205 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.3761, -12.0, 5.3538, 1.536, -0.2418, -0.0464, 0.1099, -0.0205, 0.0752, 6.694, 1.79, -0.0659, -0.0122, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6366bb1a1887c4d232cabed5bb31ebf17b682a5d539cd6a27bafe597a1f9b3e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:644b92807895fa171354785d6766e39d2b4ea2fd45a7284c81d50faa4810e548",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:374085b10ff36f743fb0b1f1618297d9a3f00378bc237a6c2c6fd87ca55fde2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 7.156 s
model
claude-opus-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]: [-0.0517, 0.6159, 0.6609, -0.617, -0.1989, -0.1551, 0.9979, -0.0212, 0.4118, 0.0795, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2529 left_y=0.0255 left_z=0.204 left_yaw=0.1843 left_pitch=0.0045 left_roll=-0.0119 left_gripper=0.9979 right_x=0.2361 right_y=0.0007 right_z=0.0599 right_yaw=-0.0013 right_pitch=-0.0076 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0342, 0.0889, 7.241, 1.8681, -0.1148, 0.2955, -0.2222, -0.0889, 0.3624, 6.8581, 1.7753, -0.0317, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5434, 1.9717, 1.0168, 0.2508, -0.6136, -0.4805, 0.9979, -0.0212, 0.4099, 0.0792, -0.2455, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4629 left_y=-0.1566 left_z=0.0511 left_yaw=0.2017 left_pitch=0.0062 left_roll=-0.0095 left_gripper=0.9979 right_x=0.2362 right_y=0.0008 right_z=0.0601 right_yaw=-0.001 right_pitch=-0.0061 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -9.1966, 6.1744, 1.0085, -0.2173, 0.2173, -0.2369, -0.2256, 0.0479, 6.5573, 1.7314, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5484, 1.9972, 1.029, 0.2279, -0.6109, -0.4763, 0.205, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.461 left_y=-0.1587 left_z=0.0398 left_yaw=0.1926 left_pitch=-0.0217 left_roll=0.0173 left_gripper=0.205 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.3761, -12.0, 5.3538, 1.536, -0.2418, -0.0464, 0.1099, -0.0205, 0.0752, 6.694, 1.79, -0.0659, -0.0122, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6366bb1a1887c4d232cabed5bb31ebf17b682a5d539cd6a27bafe597a1f9b3e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:644b92807895fa171354785d6766e39d2b4ea2fd45a7284c81d50faa4810e548",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:374085b10ff36f743fb0b1f1618297d9a3f00378bc237a6c2c6fd87ca55fde2c",
        "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_01WxXHPYLDQaXazcxDkqULM5",
      "input": {
        "note": "Empty close — the overhead view shows the bottle is slightly nearer the base than the jaws. Reopening and shifting 1.6 cm back and 1 cm right to straddle the bottle's upper body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.445,
          "left_y": -0.168,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01WxXHPYLDQaXazcxDkqULM5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.588, 1.9953, 0.9886, 0.2504, -0.638, -0.506, 0.9945, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.447 left_y=-0.1673 left_z=0.0323 left_yaw=0.1892 left_pitch=-0.0202 left_roll=0.0168 left_gripper=0.9945 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.7453, -12.7932, 4.4923, 1.4335, -0.3883, 0.0024, -0.2271, -0.3487, 0.0752, 6.694, 1.7802, -0.0415, -0.0415, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfd835da3a1566da6e36f68747b786548d438e7e13685973e77256c9808bd959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dec0871ba290fc005d82da8b16585b0ed5a8288087783522af1d271c6408b4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c496c72b43c1ed2a56010a9b1cd989661eaba017549b7fe8bd4c89c7b5b3536",
        "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 · 26.57 s
model
claude-opus-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]: [-0.5434, 1.9717, 1.0168, 0.2508, -0.6136, -0.4805, 0.9979, -0.0212, 0.4099, 0.0792, -0.2455, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4629 left_y=-0.1566 left_z=0.0511 left_yaw=0.2017 left_pitch=0.0062 left_roll=-0.0095 left_gripper=0.9979 right_x=0.2362 right_y=0.0008 right_z=0.0601 right_yaw=-0.001 right_pitch=-0.0061 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -9.1966, 6.1744, 1.0085, -0.2173, 0.2173, -0.2369, -0.2256, 0.0479, 6.5573, 1.7314, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5484, 1.9972, 1.029, 0.2279, -0.6109, -0.4763, 0.205, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.461 left_y=-0.1587 left_z=0.0398 left_yaw=0.1926 left_pitch=-0.0217 left_roll=0.0173 left_gripper=0.205 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.3761, -12.0, 5.3538, 1.536, -0.2418, -0.0464, 0.1099, -0.0205, 0.0752, 6.694, 1.79, -0.0659, -0.0122, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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]: [-0.588, 1.9953, 0.9886, 0.2504, -0.638, -0.506, 0.9945, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.447 left_y=-0.1673 left_z=0.0323 left_yaw=0.1892 left_pitch=-0.0202 left_roll=0.0168 left_gripper=0.9945 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.7453, -12.7932, 4.4923, 1.4335, -0.3883, 0.0024, -0.2271, -0.3487, 0.0752, 6.694, 1.7802, -0.0415, -0.0415, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfd835da3a1566da6e36f68747b786548d438e7e13685973e77256c9808bd959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dec0871ba290fc005d82da8b16585b0ed5a8288087783522af1d271c6408b4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c496c72b43c1ed2a56010a9b1cd989661eaba017549b7fe8bd4c89c7b5b3536",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6wYKjgEIEhgCKkCYuKcYylRrcc1t0jMa6k8QL44DdsDWaCP/DgI4DJpnoLgCydYYWRVH6YhFiXW1xWpLldk8g9q8MCeWfaY5RypqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYSYzNUGEgwllu7e3UK/QqV39b0aDBpuONlaSPWnL3VtTCIwWoAWkhehPrYcQh8mOKEvo+nKmlvDbB59P1ND2CDuJ3Y4S1HAjTnl69Pg/XMSPOtNKokFqSDx6+q3Nrs7TDTQAzGMV+I5+vuZVVsz3bmA0JX12OOXvc5JQ/OZwXqWaTwJMqrb6cDLvAcexX4khGriNZKsNdcePvELS4BjPxTF8uO+GO5dJG/XLV5XXuQ8qexXvc2EhDRVx4jPvTpHYggfuUxiC/qmfrn7Y7f8m/1WTn0sjiAa5i5D0z+ed0BAv6tKL/PrCCvkK+ZU1OsWeDnTNR1rXKwS/hs712rchiR2IiW7wiV8cpuWJ4wBo9V9lij3kPi8rDRqwQV2DU4EczUwhhK5lNWhGmfPZ8T/x7HFfTfZBfLCqGA/hV4p/TT/xCe3R+B9MoevWq0pkuuGs7DKR0oo8+kwwIYYwKvqHgSCSSpAtMtfqLTRzBwrQ31xAxtqWKfZzzJNS69DbZqmLviiOpbzvjdurd950fg4cdLI7tmoRfr4fHIQtl8yN03KklT+zhEki8JrqloPVDHl/LeaUxtQuSuEkWGfNQ6i3DglAlNpOQavY8ajNEuMHesZ/gqpgRngkpnUO5cfJesr2vPutnHIge2cXsLaq9cj75oHApcwCoNtHjobeg7RcoZvqtipWJQ0OlbQ/g2reAA8alYNVcyTqoKAuqsj8bIuQWk3oqZach+HnOxdubhXHr15b42w77NuRv4kVH22YJd7jfSijwElIRfA6rhSSCJJBLFKwybtBFelPPs0mEPdExaOQL/HUMyn9Jfdm9EK/hWuFNDBsh0KTbj+jR6R4xpHugpB1LZIok3rDlqJGqgpdz1QEVnXDXKzugjURJCE05hIgguBsDrQEsiwE1OicLg3gpqrj5gJW0QPvz5eSxxeWs45wSh1hpsiE3nyvozFkTZ9eapHA/viI35Uh3L2KO9DYRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ANU5B3voA8pFVXQCMDwxiT",
      "input": {
        "note": "Repositioned 1.6 cm back over the bottle's upper body; closing the jaws to grip it.",
        "targets": {
          "left_gripper": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01ANU5B3voA8pFVXQCMDwxiT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5896, 1.9953, 0.973, 0.2844, -0.6369, -0.5026, 0.2547, -0.0212, 0.4099, 0.0792, -0.2462, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4466 left_y=-0.1681 left_z=0.0322 left_yaw=0.1848 left_pitch=-0.0077 left_roll=0.0063 left_gripper=0.2547 right_x=0.2361 right_y=0.0008 right_z=0.06 right_yaw=-0.001 right_pitch=-0.0069 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -9.6889, 5.1487, 1.6923, -0.2515, -0.0562, 0.0855, -0.2803, 0.1299, 6.653, 1.8144, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:029ba531ad36f0a53944c5db23335a2f78dcdc554484448c4bdd9739e60d3863",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ad0263842b6661e599cebef9d093e9e9c9ecbbe15a2d7ca79ace3aa65b2bd68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:514765fec1d9941a1fbd00d0637fe85812d607d45d6cb2cf1a4a358ab9d646fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 34.18 s
model
claude-opus-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]: [-0.5484, 1.9972, 1.029, 0.2279, -0.6109, -0.4763, 0.205, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.461 left_y=-0.1587 left_z=0.0398 left_yaw=0.1926 left_pitch=-0.0217 left_roll=0.0173 left_gripper=0.205 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.3761, -12.0, 5.3538, 1.536, -0.2418, -0.0464, 0.1099, -0.0205, 0.0752, 6.694, 1.79, -0.0659, -0.0122, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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]: [-0.588, 1.9953, 0.9886, 0.2504, -0.638, -0.506, 0.9945, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.447 left_y=-0.1673 left_z=0.0323 left_yaw=0.1892 left_pitch=-0.0202 left_roll=0.0168 left_gripper=0.9945 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.7453, -12.7932, 4.4923, 1.4335, -0.3883, 0.0024, -0.2271, -0.3487, 0.0752, 6.694, 1.7802, -0.0415, -0.0415, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5896, 1.9953, 0.973, 0.2844, -0.6369, -0.5026, 0.2547, -0.0212, 0.4099, 0.0792, -0.2462, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4466 left_y=-0.1681 left_z=0.0322 left_yaw=0.1848 left_pitch=-0.0077 left_roll=0.0063 left_gripper=0.2547 right_x=0.2361 right_y=0.0008 right_z=0.06 right_yaw=-0.001 right_pitch=-0.0069 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -9.6889, 5.1487, 1.6923, -0.2515, -0.0562, 0.0855, -0.2803, 0.1299, 6.653, 1.8144, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:029ba531ad36f0a53944c5db23335a2f78dcdc554484448c4bdd9739e60d3863",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ad0263842b6661e599cebef9d093e9e9c9ecbbe15a2d7ca79ace3aa65b2bd68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:514765fec1d9941a1fbd00d0637fe85812d607d45d6cb2cf1a4a358ab9d646fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QduzJAotmPatMH5jrgaoq4",
      "input": {
        "note": "Empty again — the bottle probably shifted when it toppled earlier. Backing off and rising to 11 cm so the wrist camera can show me exactly where the bottle lies before the next attempt.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.42,
          "left_y": -0.17,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01QduzJAotmPatMH5jrgaoq4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6323, 1.7847, 0.9718, 0.0357, -0.6571, -0.535, 0.9951, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.419 left_y=-0.1688 left_z=0.0862 left_yaw=0.1748 left_pitch=-0.0251 left_roll=0.0169 left_gripper=0.9951 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -11.1658, 9.0598, 1.3455, -0.4615, -0.0269, -0.1197, -0.1299, 0.1026, 6.5709, 1.8144, -0.0708, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1019d6b7204618fe989a0a241b88330b89cc52075d01aa596a77d51e0aeec5e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6999a6d2ba94c79a3e1f2fb2cadd76842c0c5c2de631b62e94e353b83a7a6f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:446303b9a7d3d45ba53068106504ac3d108b46ea18d7e965e25a9f583facaa5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 26.17 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.588, 1.9953, 0.9886, 0.2504, -0.638, -0.506, 0.9945, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.447 left_y=-0.1673 left_z=0.0323 left_yaw=0.1892 left_pitch=-0.0202 left_roll=0.0168 left_gripper=0.9945 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.7453, -12.7932, 4.4923, 1.4335, -0.3883, 0.0024, -0.2271, -0.3487, 0.0752, 6.694, 1.7802, -0.0415, -0.0415, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5896, 1.9953, 0.973, 0.2844, -0.6369, -0.5026, 0.2547, -0.0212, 0.4099, 0.0792, -0.2462, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4466 left_y=-0.1681 left_z=0.0322 left_yaw=0.1848 left_pitch=-0.0077 left_roll=0.0063 left_gripper=0.2547 right_x=0.2361 right_y=0.0008 right_z=0.06 right_yaw=-0.001 right_pitch=-0.0069 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -9.6889, 5.1487, 1.6923, -0.2515, -0.0562, 0.0855, -0.2803, 0.1299, 6.653, 1.8144, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6323, 1.7847, 0.9718, 0.0357, -0.6571, -0.535, 0.9951, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.419 left_y=-0.1688 left_z=0.0862 left_yaw=0.1748 left_pitch=-0.0251 left_roll=0.0169 left_gripper=0.9951 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -11.1658, 9.0598, 1.3455, -0.4615, -0.0269, -0.1197, -0.1299, 0.1026, 6.5709, 1.8144, -0.0708, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1019d6b7204618fe989a0a241b88330b89cc52075d01aa596a77d51e0aeec5e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6999a6d2ba94c79a3e1f2fb2cadd76842c0c5c2de631b62e94e353b83a7a6f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:446303b9a7d3d45ba53068106504ac3d108b46ea18d7e965e25a9f583facaa5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N6bc6GmvzKdZfBH69Xhyo6",
      "input": {
        "note": "The wrist view shows bottles at both image edges and nothing between the jaws — my y was aimed into the gap. Sliding ~11 cm toward the arm's left to line up with the nearest bottle.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01N6bc6GmvzKdZfBH69Xhyo6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3038, 1.7424, 0.828, 0.2367, -0.4381, -0.3275, 0.9963, -0.0212, 0.4099, 0.0792, -0.2459, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.0571 left_z=0.0706 left_yaw=0.2222 left_pitch=-0.0401 left_roll=0.0129 left_gripper=0.9963 right_x=0.2361 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0065 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.212, -10.5641, 5.4085, 1.8828, 0.0269, 0.2466, 0.105, -0.1983, 0.1026, 6.6256, 1.8095, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f33ebb0eac15483d4c635ac429dbdd8c910581c6662d54cfdc423fac0f989fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f85f478fb649d53bddc576ac366d281ab4e1821d38b867f78094f7e5da8df29a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:79c127e7f6a660db91bbce8bf7a20ce300fdd9875b69827ad89c8bb11ab2426a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 6.458 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5896, 1.9953, 0.973, 0.2844, -0.6369, -0.5026, 0.2547, -0.0212, 0.4099, 0.0792, -0.2462, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4466 left_y=-0.1681 left_z=0.0322 left_yaw=0.1848 left_pitch=-0.0077 left_roll=0.0063 left_gripper=0.2547 right_x=0.2361 right_y=0.0008 right_z=0.06 right_yaw=-0.001 right_pitch=-0.0069 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -9.6889, 5.1487, 1.6923, -0.2515, -0.0562, 0.0855, -0.2803, 0.1299, 6.653, 1.8144, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6323, 1.7847, 0.9718, 0.0357, -0.6571, -0.535, 0.9951, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.419 left_y=-0.1688 left_z=0.0862 left_yaw=0.1748 left_pitch=-0.0251 left_roll=0.0169 left_gripper=0.9951 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -11.1658, 9.0598, 1.3455, -0.4615, -0.0269, -0.1197, -0.1299, 0.1026, 6.5709, 1.8144, -0.0708, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3038, 1.7424, 0.828, 0.2367, -0.4381, -0.3275, 0.9963, -0.0212, 0.4099, 0.0792, -0.2459, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.0571 left_z=0.0706 left_yaw=0.2222 left_pitch=-0.0401 left_roll=0.0129 left_gripper=0.9963 right_x=0.2361 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0065 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.212, -10.5641, 5.4085, 1.8828, 0.0269, 0.2466, 0.105, -0.1983, 0.1026, 6.6256, 1.8095, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f33ebb0eac15483d4c635ac429dbdd8c910581c6662d54cfdc423fac0f989fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f85f478fb649d53bddc576ac366d281ab4e1821d38b867f78094f7e5da8df29a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79c127e7f6a660db91bbce8bf7a20ce300fdd9875b69827ad89c8bb11ab2426a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnh4KjgEIEhgCKkDn1K99n+1bMoviMvtlK0fKDTx70M0oFi2LoDgFlF3YZ1Q4o8FlspnZ2eJR2+H+O+jIewe2t/fqFzl7F7LcEy+VMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdyYzNUGEgxSPVDce5CdQMQPyroaDPsdjt7w9Rc3a11alSIwBI9XzffPV8qevhrrdNGPZzX6orgCYmsKKht+gMqpETnOMolE3kyIjrz8/vEq8Is5KrwcqFy84JYC4ooVB2GpySLWIY0tcU5TaVpj1lZ2fIQTqIbhv3nUv4NjeQxScqt9Oj9EnPY6//bv24TKiVccoSo7WRTcbMnbJ6jAZsjywvTYio0LCYezELSOJarPRLRkghj00wRdYx+RRxKaMVM2sIC4VI7aKbu7XI7gyLWKTXv8edYFMGyj6si1jMnX6lI6gp992xlL4v10p1QkS/U6ocYogS5dimkGA3kC7RjQOCSDeyuuztZuEpKglUmNKwWb8LgEvLsvv7nf/xFBKMjAH7us4NoqAsv4S+XK13wcXPhRYeCaUhfl2hAFvfcYUX4Bfae5uBiOit0LAkMpxWnPw0Ed7PHxBUAraqlOHhESb2Ac/5KjQsmKOt7u19QbZ1v3bf/FMwvFyq0sTA0b3BERtIM7Bf8YVKrU434WkJ5SQBHvMF1616NJ7IzIW5rcOtWvezT/3XWhAivyOhmoF5uNAyp4t01Zph2UAtkGgD1AHq2GwxtEAGF9vPQ7md7/hGd4RPItZ0n532t1UB1keoYMqu8x8PDemY4xAqMjZSJBfufEpDrUzA2rG7nv3U2rsXSlDS/yOkVy2eUfstN0AqDoG/ms5gVjbJVEv/SsT9O5LP2fVUwt4NL8+x8BNlgFt53ywLQZNPwU+MEvDRielJdd/ArFoqM2HHy2pC9CFPO0FzLIqHHH9Ipq/7kDE2rBsl4Tsc7IlhxnOMAUlcPrz98A+wpFik0hFNb+y6wS/6csqcFhUH4FGRxzgMzraVa2CBnsdRZ5yhR6osGUytaVMu+KNYd9o3O6AHUh5/cWxGr7d4v06nh4AwCkfvOr3vd87pcZhqGJNSNYSikIOwQWf3LWjQiVbhSRhx8yh3YcLHcbsp8WwbEFpUHJXe6R/TJwrNB8XyIcFzmCqbGxkFiasEW5qJ+8JGIZPRRLJv7TXtK9kQEAspb2G+agMB5789lRaoF38rPqQfF1VgopiXmMsw/J6rKLzHwcWeX5jCNwXI6EnKOZ7chq6/ByaKigSMbZ5fWKNNm5vAML7OQz6rvjcMPoH8KixmtH2vpPNKpo9NSu17abCF7yzGXL/0jIiH8afFivqI7DDV26hXKnqyH+5fcmB1wb/ncA56FTCqEx18zGfczh2ufiFvtjNI8pjMTJ/A5BiaX3w7un8tqDoxzuPfXfMP5vsRJFfUYuzaBipmmk21zTlGWpUU2aCnmAg8loPtnARymAV2KbP1R5Zv2I6muZkKAtJBg2N3ppahAsLjhfA0+RjNa/uyRV8S9d/GGGsd4uQI0U9PV3zZBewmR7LXkkF9xLkDfj+lDK6oCMGYLTMNGESNq0MFIUtgOIDpxmR7BbOB2uVg4Wi9XwjwWmd8OZaPgsa3V8XifxrdtEbyb5esgMVB/ncaSDJUS+VyvVHYx9+eb5/QyazyDwxZUka+0u09uFU+RkZYBCE/Bqy/1FPgcUn93XURbjbGDItK+HiG9CN7MPtY13hz3VqW3rodO+lUzo/rbe80M3qlyDmKNIXE+fwYY8rQoDdUYEeGRGPmMw0NkE/LC/vWsYx1HJT0/kW0aF1Q+zjFx2k8JD+Ott10nine0nzCIxIGHKp+O5QPoyOHrtyR7gBeydlDft7Of04fNq8BRaTj4TIloH/A271Yw+2oQQFAY/44yambb5sHpLaiNTTO9kF38s0yZxDchoDqGonGF9u6IL6yvwRiVu2hawvx32Rsi/DuOFFNOFTbUzzik8kDR92dIdWedEN7HW7+YoT+QULYXOvHu8e/WOnHtKiHS6Q/WO83eyBYD/xZyRs+H9xf95mjlh+17jaCb4Vqm9mxw2ijxpPE5Vwg7SslkKlvoQE+gMxmOfAYWZsReiDaBmGqQKmKPHsTU9fBUC4K7lFGsz5r+T9GNu42zGjs5xY6jbLI7XFmDlzF7XMEK8yuzBj/uimXO7wvWLdOgvK1x1pxF4/+F1691Tr5FERRvdD/QnJbZ5sE0FqwEOYEu47thJA4JHGj+3dzSR/yf9z+23M8GNC9LXC9rV3joUAFEf75CTZ5psfp/twh20oHcqSGOy88QHQwsgUEu+RysNSUaz6WueRslVCitGto8nazVF0JBCBC9j45s2kDStiMz75KSqoHxmOuFyH9yhbegyFSerofdCMyqgmqzCD8OilU+INlyUQh2InSBXK3Onov7nfUrUhazh5bqmHSyaK6ufXjH/2LxpfCvl3B0cMpCQaq+iDWxXiJmtA/atnlPUIoCC9IPnjMph+CzJahUkrv8yfwAS51MS4+toAvoYiDn4atiWbshnxIpIifeVuQ2z7dr9T99DNWWE/RveS6CyLEXVEJb+4yc6+8dK3Qv22piBO/RRT+Rme/CrNVT6L/pAem/gXeTqZfAO3M5Se0SGuK+8Q0Ds/XrW9IChiOPVLKcQ2UZ1VsJqoE4UBjSAKy/sbzomZN9Zjhczfe5BlhM5gBj/D0dGH4ufHqqCikz9pg8do3v44qjTpDQI/+vfkS3WVxsEVxE3YV5ws+/8DFWpZBMAlUznnNbDxIr5hfaaYbQb/O9SC90QsHxdbVhI5OVZODRDwiVOhpc2Uf6IefSabFqWC4T+5JsEKIYCIiWiYkUiKW1HAR7QM7U2bfuN56gervJ9QfOwuIZqcl0UZZ5h9+JV14Kj2rRjsRDmPmMc098sAA7Muo1DlMYM9CSqtwtkIZ143oiXjkTSKYmI6o7Ze5q0nR2nTEnjTe/kE/s5FhwjiVkIYdW/JojWNeW+8yHMmACkp4b7U+6bHAP7t9/nUf9gMexGwjEwGl0uKExnjpagiWQFOJeNuyBHZGxugIzDV2xLLsOiH3lEotuLjSHooMQAG98NIJ6Teo1H1hhDfGMAV3pO6PrtMwSiMaKm4TjSqzqEAcRuIQhycZakSftW6rdeYBrWlbd7tVDIRFCm4R3IzuYyug8IsA9fvrNPMCQQOG/NwAkhU9JkgNiGTfsa+StHQ1NzIUt8bGyxS2802Ztol9xQUgArQWyvG+32cwTyBsa3r3+QCZJZ8KkGwL44jF/Ldv8o6/4ig8xoTOErDLlHAttlCKS+sGipWWftTm0Qu28i1dHeWUjBljYm6CGhmmKWChUVUcoUVwSp39ztiSGjpzqTZRvqn1ePRh3KJQv4z45RepKzqUTkMBJJ1NKVsy2YlPJS9nbpX4XjVU7Edtd0EqNAKXv9YPiu0Bi8ckFrihsZl2vCpG/2x4F+w/kl57e4OfHQXCmk3w0QutOMMI2gtCL7CPVtaP58oZXo4simHZdewzpU3+Ift+I1bjXHKNKhThmTIg2OcvDrET6AubJPgE/NWuSiMvu3G0NDGSqcNpISMF1NcQ4yHJGSc262xwnomDvkVC8X6AmZOLaEWY5CyikmoU97cHhqI7KUi6kY5HZa1JVN5r2aq+XNHqO28LuwCeIHIIIdmbV8sq2jJnrz1zUbE9m9Y0JX+tvIb4n0LIlVY5g013+gHY/s4LVVQOpcfUyBHGqtbiuGupXFC6MZOn7uuixoIgj25fcYasDjoeW3iFZr07sxiOAmCmsmh9WtmfhsshLdh7/aYob9kkaFeTVf/h94TEmOeDj1eUjWDPEGObEhiLJRu07d+cJ8VLLdvJFzU2oza/s8xeYj6FZHgrOzPeB3UQUETW0s27kmuF1n5fZ5iZQXlB0bRn+f1lUmoPxEO1/0v/gSvI5kTenOZd2VYZuNN8aBwMepaXF/ue5cBrQW6ocvYK0SkcXimWEHX6k0vhCL/urzu3Gq9H34HjYh/VIE2k2BFOrchgLqT22U7FnJe7gE+wxQPZnTU46E20LS6juvE/8Ip7WniSeUUW3gJJEWcraGSSxeACGLU6+NTp6Y37WreQqMLclmrobJ2pz1DV/DWWofij8aXVwQws4SGrI53rTnQ5eeoTQk5Y1Iply9Y01GDPPQGMOPk+77DlklKglJf6MTpDKk7aunDQ0ZUES7Uv2jjY385I6x4l27xQCYKUjd3UB0BEqmgOAK0BkK21ZMHIWqhqwq9/PODbH4uPor8/1o9HwUgAx/hntQlPXP87iHNsLUvPbBxMxnvFcjQk5T2Jwxl41f/dsPDDAVM+9EnqVKwkrU7NzlPgvVdkM+eI+oFsi/wPbquHDBauYbt1cqj0FPZXnyJTkVxiFnCQ7Tjk2OJwr47EjJwaXsZUQSWjptfuG60Z8qy0GtCNYm1Gx5IgrqESt9dAREmkeVQcFDuuhtC04K2a8y93tRXhtqEcCAPiwz7SfXrXNldRkVCZaN+3UrWWssFf7GTBn6UOjzF9vPBwWEZaX9dx6FozEGzoXq7EMwCIP6NOoujU0W0tCRPsP+bhPNG3KVlizRI2LWgpMwdnW1Sl7wd/DIkbiElEb6VQbmayjbjANVlV019pA1HEaFEu85Fa5W+f6T+119Tla3IW4axEeEr6X/6kDWpQV4M7SopxDZS7EphOHPXV3UJAgMsDKQivMTpkkmmYtOLMZ0qe+qpc5WyrAftOIPvDIzePk9utIve31ykofgtmOTLayANP0WLKbk1gjq1wTENgbxGtx7B5syGupj3Kynu6WrcBaHly0OfkK9VOTca782xHy4we9eI3eYGrR7eFonDpiEPXiY7+RDjmoiQds6jGvOqe+YpHWWOke6Mmop/7tpIRPxJqMIJju09CSSDu0DsVf1Kf4QyFHRT6FeH30TbMKTSs1IPtiKRJBPy4HvkjUsFBwSMse9qNJ85QH9P8Mzql1FIKPUaU0Pj8fgPPjYT26azLS1TlUx2rYXaXMPVCW630sAFulBFqdxvNA5fkkxwo3e4vfZfvs3l9M2daLaUzkrlMtMhGxJeMsTdMsMDlQV2y5iSo3SQtJ+j/KDLdHh2NQ2PasspjEYO0oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AryCBkKGASEjC3BU9RTgV9",
      "input": {
        "note": "A bottle cap is visible at the very bottom of the wrist frame, just left of the jaws: the toppled bottle now lies cap-toward-me. Shifting 3 cm left and down to jaw height to straddle its neck/shoulder.",
        "targets": {
          "left_y": -0.025,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01AryCBkKGASEjC3BU9RTgV9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2234, 1.8034, 0.7238, 0.4217, -0.3824, -0.2874, 0.9964, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4392 left_y=-0.0285 left_z=0.0383 left_yaw=0.236 left_pitch=-0.0394 left_roll=0.0061 left_gripper=0.9964 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -7.7197, 5.5316, 1.8779, -0.2173, 0.2564, -0.0024, -0.3487, 0.0479, 6.612, 1.8095, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08f7fe07505e2fa64ef7fb5496a9c89b404663b8b532c00c1b84ecaf0be94c77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e17f133b72aa181e33664ce5dc017cb0c2e3011aa35964ded43dad25eff01b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4f8d62f915acf9c731e51ce57a747812c3aeaa1028eae91140cdbe0845f05e67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 10.45 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6323, 1.7847, 0.9718, 0.0357, -0.6571, -0.535, 0.9951, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.419 left_y=-0.1688 left_z=0.0862 left_yaw=0.1748 left_pitch=-0.0251 left_roll=0.0169 left_gripper=0.9951 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -11.1658, 9.0598, 1.3455, -0.4615, -0.0269, -0.1197, -0.1299, 0.1026, 6.5709, 1.8144, -0.0708, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3038, 1.7424, 0.828, 0.2367, -0.4381, -0.3275, 0.9963, -0.0212, 0.4099, 0.0792, -0.2459, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.0571 left_z=0.0706 left_yaw=0.2222 left_pitch=-0.0401 left_roll=0.0129 left_gripper=0.9963 right_x=0.2361 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0065 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.212, -10.5641, 5.4085, 1.8828, 0.0269, 0.2466, 0.105, -0.1983, 0.1026, 6.6256, 1.8095, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2234, 1.8034, 0.7238, 0.4217, -0.3824, -0.2874, 0.9964, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4392 left_y=-0.0285 left_z=0.0383 left_yaw=0.236 left_pitch=-0.0394 left_roll=0.0061 left_gripper=0.9964 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -7.7197, 5.5316, 1.8779, -0.2173, 0.2564, -0.0024, -0.3487, 0.0479, 6.612, 1.8095, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08f7fe07505e2fa64ef7fb5496a9c89b404663b8b532c00c1b84ecaf0be94c77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e17f133b72aa181e33664ce5dc017cb0c2e3011aa35964ded43dad25eff01b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f8d62f915acf9c731e51ce57a747812c3aeaa1028eae91140cdbe0845f05e67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoAQKjgEIEhgCKkD5uaSYp4FKmIcICWRAjbJpXD4WJNh34QMQydNtIr9KzrD4kUCSUzyDGc4LOIfLXst0sYCnPRIrmsKK1WL3+JkqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeSYzNUGEgyWHvRDjRe+XDmGboEaDGycS+ujr1vdiuVabiIw/mOOu0pznaPsctdz4WzCGGtwhoC51QMLafJX5mSlsXXBtIeevYIH+VTgPuIbYhOTKr4CbQ1a6r85qZixb7UTaioUUTH/qQP6H8JGq+AbmmvLQcYVesjllSj1Ywls+XMcE19ujDwidBAYm5KeKf0f5I2QqWT2MLhyaWcIEjbg0uTTKIldINw11X7mTGJXUvFbY8yM2krOd/jaMKhvnJwkFGNpOpGr+PRcuC+a3a27BzgoJ6zOsWXK4TacuWh6HyuPz3Mxu6cMnrsqS4BXTXg/EROz1tL0qqfNCsmGtAc9ytfMul8e2oCuCcLFbbiNcokEVkv+FbO3HcD976/LBDhH7tVMMIPmGRVm1vApKnXv8mgdROm9TrSzPjRiEAyymq9SE05DUcSOEum4bO8y/CY8s1h+nMTVl4V8YexnHj9RsdN/Kyaa2IR9lRXaYBoCDPBTfhVvAt8pB8ymG99VRwHWGM2Nk0uopjFtEkzQUY7v2b3fGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019rxCC6sroGKTzAJjHaN7vx",
      "input": {
        "note": "Something (the bottle neck) is now right at the bottom centre of the wrist frame between the jaws; closing to grip it.",
        "targets": {
          "left_gripper": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_019rxCC6sroGKTzAJjHaN7vx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2077, 1.8122, 0.7151, 0.522, -0.374, -0.2783, 0.2552, -0.0212, 0.4099, 0.0792, -0.2462, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4497 left_y=-0.0251 left_z=0.0503 left_yaw=0.2397 left_pitch=0.0329 left_roll=-0.0268 left_gripper=0.2552 right_x=0.2361 right_y=0.0007 right_z=0.06 right_yaw=-0.0013 right_pitch=-0.0069 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -7.3641, 4.7795, 1.4725, -0.0073, 0.1636, 0.0708, -0.335, 0.1983, 6.6256, 1.7998, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:029859f28cf57eaa8ec90cde109bd0ab5d353ccf7fbf086435f57c0ba710b0ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1836e782847f6e8735fcc5b260756ad133bf825bf708c5f9dd08d95520bbb5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8121ae4c7858ed67527991fbbb626e51bd2ecdba596651c8ea619699d769aed7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 18.78 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3038, 1.7424, 0.828, 0.2367, -0.4381, -0.3275, 0.9963, -0.0212, 0.4099, 0.0792, -0.2459, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.0571 left_z=0.0706 left_yaw=0.2222 left_pitch=-0.0401 left_roll=0.0129 left_gripper=0.9963 right_x=0.2361 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0065 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.212, -10.5641, 5.4085, 1.8828, 0.0269, 0.2466, 0.105, -0.1983, 0.1026, 6.6256, 1.8095, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2234, 1.8034, 0.7238, 0.4217, -0.3824, -0.2874, 0.9964, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4392 left_y=-0.0285 left_z=0.0383 left_yaw=0.236 left_pitch=-0.0394 left_roll=0.0061 left_gripper=0.9964 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -7.7197, 5.5316, 1.8779, -0.2173, 0.2564, -0.0024, -0.3487, 0.0479, 6.612, 1.8095, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2077, 1.8122, 0.7151, 0.522, -0.374, -0.2783, 0.2552, -0.0212, 0.4099, 0.0792, -0.2462, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4497 left_y=-0.0251 left_z=0.0503 left_yaw=0.2397 left_pitch=0.0329 left_roll=-0.0268 left_gripper=0.2552 right_x=0.2361 right_y=0.0007 right_z=0.06 right_yaw=-0.0013 right_pitch=-0.0069 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -7.3641, 4.7795, 1.4725, -0.0073, 0.1636, 0.0708, -0.335, 0.1983, 6.6256, 1.7998, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:029859f28cf57eaa8ec90cde109bd0ab5d353ccf7fbf086435f57c0ba710b0ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1836e782847f6e8735fcc5b260756ad133bf825bf708c5f9dd08d95520bbb5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8121ae4c7858ed67527991fbbb626e51bd2ecdba596651c8ea619699d769aed7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISjQsKjgEIEhgCKkC4554FuItzdzrGHg7831V0/fdeVtufL35s/sKi2qW1ufU3H6Db5+pcCTozEWPnfkauALQ1JEuIp8t71CxfxIBoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe+YzNUGEgx4W45iIeNdAleBPsAaDJaLL6IWWrxp4fL2RiIwJ6HFldcew/W3GoTg+LtCLdvW0GMK3ADLNBpcVtlzSHMnylHa0uYbt0DBm27rOlwXKqsJ1XeTBaqEi+SRFpGeZWzrzI12MLDdBa41yVvdaqqYgczSp/PHsy5rvRJXqHwcnR59L4RhaAKgukfH+oXOXsIP6LQZdx/40386QlzZzkA6WqKrcZ+NbhaQ09yLNKEgEb9AP8oGVuCetFKdNv+edhBr9O82NWEjAdVxK+Nj5ZI6cAx+RvdizREvpTtkUPo/j/ByJ07rroR67LCzyWKPp5Zv+00quLd9+3TYOqLHnynNs0n6TfQwGqIBbI6uGpgQgJL57wHRuozjQz1CWXaJEp6HjTEA1HAXbmdPWqix1Ni5MejKylP6PeAViMcbF1+IjpuxT2NhMTgkLXofuaCnthVgt+qlst5rD4HuOJ6Zr6FvNrWXiMgR7pHtJmJ6G5gMRW/9ubVFy5zxaDSunEor4RNDVPApIe3vUUrmKEKVet/NvY3lAmmi7oj3xXlfegPfd+GaJdWAiJgufZHLKC2Nh88VY1Yr7IRruMylY4pw/Xr2ooSDIpari2cTs25h01zauEp2Tfu3M4wI5uPQwqhDe3MjHhMRz9vKdBKGQ3fuDR4a4BGB3bC4RD3dgjbEje/o+SuSha/jrSUhey2/JTPGdNWGqvOEEV4NVUFNMSp9spKfnQskl7SHgY8Omt29zGnqXW83cV8Ts2mB9WMZbBHWclRWSTxo3S5sP8LRHpm3iTA+d3qa++IjnyN/XnqjkWbg70EdtqtyT70HXvgNfHuMj/b0B9ouX9RwlasmFQIFQa1nSTJOfeF6lYbmSVUrjnYRMFgcirTRWxn8UysvCPrOOW4bs8af5g6O32UPdcF16j29rGAdxAdyTgKacHTaWP6h67oSeT9YaEzgYNUdxLgbZQQ26rctEpPuZ2/3/ig6aEoTrl6/GYFYqwkNwyzxBgTD4/dZ9QfcHLjBD/j9R+jz5B5ZX5I4AxQst0lhlv92sJlRkkOI8nEdDmdPeTw2Y628Ml81IMSqDCWhmmNO8uq8nnBv09+kWecoZSSyN61uS4Tnbe48y3R7UlUayreidOnuR9gHIQ2YojmgYYRZXwmC9GF8Lm6gw9EUF+K47QW+8o0KcYwAZPRW4jVyci9SQLqHhQlJzyKxLaE+gOhxktqDNsZPLP8xS5TLgQ9RpvpJk7efp0dXhfHokX4r7QJagQVIdF/41OoPyj0pEuKpT5/dL5dG0w5rMiYJ8Np3gAxsiyZrKfsASGTaorupOgJf/om5zWjJm32B8xMsRtXAMw9oXLez1S4rFTGXEJ6ZP6WcUi+3Uwx2OxOpHsMZGUQY59VREJIwsV8KDNQpOlhR5vE/0TrOxhBi86o8UREgbVyKp6XwXOltVtVIJ/YFCShglRPcggd341jXVVBJc4gAmSAUpIL/roVmlNoQTSk6dXiXEBQQIocm962rrc9MXNddRUXH/X49U4441oyC2EESSB2dHX4aJ5kIabvLWg3oImbJWd8/9QW+DcnAJH5DFZqTLjhzloUcCtK4cIlEz4deGiqKHFFrjkJTiM71QzosKTkOw7i2YxYZKA7SRcC33ONGpndDtFobS0bb/peKfTzhgTys4RFLMdebV86jyNM3VzwG1ljO72MoSMj/JHC3giO5hBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DVVsCAPULcwZtyb5Q82L7v",
      "input": {
        "note": "Missed to the left — the overhead view shows the fallen bottle is to the right of my jaws. Shifting 7 cm right (y=-0.10) at jaw height to straddle it.",
        "targets": {
          "left_y": -0.1,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01DVVsCAPULcwZtyb5Q82L7v",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4267, 1.8797, 0.836, 0.4282, -0.5293, -0.3935, 0.2549, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4546 left_y=-0.1048 left_z=0.0536 left_yaw=0.2075 left_pitch=0.042 left_roll=-0.031 left_gripper=0.2549 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.1453, 6.2154, 1.0672, -0.2027, 0.0366, -0.0562, -0.335, 0.0068, 6.7624, 1.8046, -0.022, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bb1ee5ce5b062c73d0e04998c212cdd51ca3fa6e57357bf1a54571a3aed8564",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42e068636d5b4043935a2dacda472d1f5aa6338cf64c550f99556b1c1757f486",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9092bcf95a8333a71c51d84018a30c57e467bf9e975fa5ed2702d9ae06defcf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 12.63 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2234, 1.8034, 0.7238, 0.4217, -0.3824, -0.2874, 0.9964, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4392 left_y=-0.0285 left_z=0.0383 left_yaw=0.236 left_pitch=-0.0394 left_roll=0.0061 left_gripper=0.9964 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -7.7197, 5.5316, 1.8779, -0.2173, 0.2564, -0.0024, -0.3487, 0.0479, 6.612, 1.8095, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2077, 1.8122, 0.7151, 0.522, -0.374, -0.2783, 0.2552, -0.0212, 0.4099, 0.0792, -0.2462, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4497 left_y=-0.0251 left_z=0.0503 left_yaw=0.2397 left_pitch=0.0329 left_roll=-0.0268 left_gripper=0.2552 right_x=0.2361 right_y=0.0007 right_z=0.06 right_yaw=-0.0013 right_pitch=-0.0069 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -7.3641, 4.7795, 1.4725, -0.0073, 0.1636, 0.0708, -0.335, 0.1983, 6.6256, 1.7998, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4267, 1.8797, 0.836, 0.4282, -0.5293, -0.3935, 0.2549, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4546 left_y=-0.1048 left_z=0.0536 left_yaw=0.2075 left_pitch=0.042 left_roll=-0.031 left_gripper=0.2549 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.1453, 6.2154, 1.0672, -0.2027, 0.0366, -0.0562, -0.335, 0.0068, 6.7624, 1.8046, -0.022, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bb1ee5ce5b062c73d0e04998c212cdd51ca3fa6e57357bf1a54571a3aed8564",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42e068636d5b4043935a2dacda472d1f5aa6338cf64c550f99556b1c1757f486",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9092bcf95a8333a71c51d84018a30c57e467bf9e975fa5ed2702d9ae06defcf4",
        "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_01FGSmatL5Lt2BsNat8sszph",
      "input": {
        "note": "The overhead view finally shows the fallen bottle lying sideways (axis along y, cap to my left) — my jaws were closing along its axis, which is why they kept slipping past. Rotating the wrist 90° and hovering over its neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.45,
          "left_y": -0.05,
          "left_yaw": 1.77,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FGSmatL5Lt2BsNat8sszph",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2771, 2.5416, 2.0911, -1.2533, -0.9211, -1.972, 0.9968, -0.0212, 0.4099, 0.0792, -0.2459, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4827 left_y=0.0126 left_z=0.0332 left_yaw=1.5049 left_pitch=-0.0883 left_roll=-0.1771 left_gripper=0.9968 right_x=0.2361 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0065 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-4.5197, -15.2137, 6.8991, -0.2418, -0.4225, -0.1392, -0.0659, -0.0752, 0.1983, 6.8034, 1.7998, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a636f299204636aa84da0e108bd926fc15b1e07c5a0e1db305e265c948d9201",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c3c4fe5803af4fa30305b0b46478ed96944666a31f0545cb4a1610e13ee2477",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5265ac619d639eba20b0d7300d3d0185ed2097d837cc16e9f789e7d1447a72e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 18.65 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2077, 1.8122, 0.7151, 0.522, -0.374, -0.2783, 0.2552, -0.0212, 0.4099, 0.0792, -0.2462, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4497 left_y=-0.0251 left_z=0.0503 left_yaw=0.2397 left_pitch=0.0329 left_roll=-0.0268 left_gripper=0.2552 right_x=0.2361 right_y=0.0007 right_z=0.06 right_yaw=-0.0013 right_pitch=-0.0069 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -7.3641, 4.7795, 1.4725, -0.0073, 0.1636, 0.0708, -0.335, 0.1983, 6.6256, 1.7998, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4267, 1.8797, 0.836, 0.4282, -0.5293, -0.3935, 0.2549, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4546 left_y=-0.1048 left_z=0.0536 left_yaw=0.2075 left_pitch=0.042 left_roll=-0.031 left_gripper=0.2549 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.1453, 6.2154, 1.0672, -0.2027, 0.0366, -0.0562, -0.335, 0.0068, 6.7624, 1.8046, -0.022, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2771, 2.5416, 2.0911, -1.2533, -0.9211, -1.972, 0.9968, -0.0212, 0.4099, 0.0792, -0.2459, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4827 left_y=0.0126 left_z=0.0332 left_yaw=1.5049 left_pitch=-0.0883 left_roll=-0.1771 left_gripper=0.9968 right_x=0.2361 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0065 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-4.5197, -15.2137, 6.8991, -0.2418, -0.4225, -0.1392, -0.0659, -0.0752, 0.1983, 6.8034, 1.7998, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a636f299204636aa84da0e108bd926fc15b1e07c5a0e1db305e265c948d9201",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c3c4fe5803af4fa30305b0b46478ed96944666a31f0545cb4a1610e13ee2477",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5265ac619d639eba20b0d7300d3d0185ed2097d837cc16e9f789e7d1447a72e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XAqucWBSWxY9HVD3m4ukxj",
      "input": {
        "note": "The yaw move overshot to y=+0.01 and the wrist view is blank. Backing off to 13 cm height with the wrist still rotated 90° so I can see the fallen bottle and line the jaws across its neck.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.02,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01XAqucWBSWxY9HVD3m4ukxj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2817, 2.5416, 2.093, -1.3888, -0.9211, -2.0598, 0.9972, -0.0212, 0.4099, 0.0792, -0.2459, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4606 left_y=0.0168 left_z=0.0384 left_yaw=1.5568 left_pitch=-0.063 left_roll=-0.1176 left_gripper=0.9972 right_x=0.2361 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0065 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -15.1043, 6.4615, -0.359, -0.5201, -0.4029, 0.0317, -0.1983, 0.0479, 6.9949, 1.7705, -0.0317, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a359652608bab70435f5e4ce2a9c8627ec9b693248b07f7f5fc59ef50d2d1608",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9afa93bfae3d1847c7c00c03268ece132d7ed5ddc0ad7fa1c3f531d19f927537",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e94257fd8804bd966f72fa16e1d921bf1c5eff8d42f0637e91020f56593ac021",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /messages · status 200 · 13.01 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4267, 1.8797, 0.836, 0.4282, -0.5293, -0.3935, 0.2549, -0.0212, 0.4099, 0.0792, -0.2455, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4546 left_y=-0.1048 left_z=0.0536 left_yaw=0.2075 left_pitch=0.042 left_roll=-0.031 left_gripper=0.2549 right_x=0.2362 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0061 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.1453, 6.2154, 1.0672, -0.2027, 0.0366, -0.0562, -0.335, 0.0068, 6.7624, 1.8046, -0.022, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2771, 2.5416, 2.0911, -1.2533, -0.9211, -1.972, 0.9968, -0.0212, 0.4099, 0.0792, -0.2459, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4827 left_y=0.0126 left_z=0.0332 left_yaw=1.5049 left_pitch=-0.0883 left_roll=-0.1771 left_gripper=0.9968 right_x=0.2361 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0065 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-4.5197, -15.2137, 6.8991, -0.2418, -0.4225, -0.1392, -0.0659, -0.0752, 0.1983, 6.8034, 1.7998, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2817, 2.5416, 2.093, -1.3888, -0.9211, -2.0598, 0.9972, -0.0212, 0.4099, 0.0792, -0.2459, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4606 left_y=0.0168 left_z=0.0384 left_yaw=1.5568 left_pitch=-0.063 left_roll=-0.1176 left_gripper=0.9972 right_x=0.2361 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0065 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -15.1043, 6.4615, -0.359, -0.5201, -0.4029, 0.0317, -0.1983, 0.0479, 6.9949, 1.7705, -0.0317, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a359652608bab70435f5e4ce2a9c8627ec9b693248b07f7f5fc59ef50d2d1608",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9afa93bfae3d1847c7c00c03268ece132d7ed5ddc0ad7fa1c3f531d19f927537",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e94257fd8804bd966f72fa16e1d921bf1c5eff8d42f0637e91020f56593ac021",
        "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_01HrCHtUsqWw5mNUaGh3RNu7",
      "input": {
        "note": "The left arm is stuck in an awkward yawed pose and the two untouched bottles sit near the table centre; bringing the fresh right arm over them to try the neck-lift trick with its jaws already square to the bottle axis.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.43,
          "right_y": 0.33,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 28 steps (2.8s)",
      "tool_use_id": "toolu_01HrCHtUsqWw5mNUaGh3RNu7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2817, 2.6499, 2.2303, -1.5501, -0.9298, -2.0594, 0.9972, 0.8577, 2.0377, 1.4357, -0.2131, 0.6621, 0.5243, 0.9998]\nstate[eef_state]: left_x=0.4557 left_y=0.0193 left_z=0.03 left_yaw=1.5589 left_pitch=-0.0198 left_roll=0.0082 left_gripper=0.9972 right_x=0.4185 right_y=0.3234 right_z=0.1062 right_yaw=0.0384 right_pitch=-0.042 right_roll=-0.0363 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -13.6684, 6.612, -0.6227, -0.6618, -0.1832, -0.0122, 0.0479, -10.6051, 9.1556, 1.4872, 0.525, 0.2955, -0.0366]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:212b6e052e61473a2d5eba7da8dc180b36ef461bc9d0ac9cffc41631b9f5c587",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:544fccf58604a89321bd06f0eb13141b68a464eda160d2dfdc22cefe011e33e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a76171e09171de7741831aa72f260b691388e865e48e293120354d9e322e7869",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /messages · status 200 · 6.805 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2771, 2.5416, 2.0911, -1.2533, -0.9211, -1.972, 0.9968, -0.0212, 0.4099, 0.0792, -0.2459, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4827 left_y=0.0126 left_z=0.0332 left_yaw=1.5049 left_pitch=-0.0883 left_roll=-0.1771 left_gripper=0.9968 right_x=0.2361 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0065 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-4.5197, -15.2137, 6.8991, -0.2418, -0.4225, -0.1392, -0.0659, -0.0752, 0.1983, 6.8034, 1.7998, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2817, 2.5416, 2.093, -1.3888, -0.9211, -2.0598, 0.9972, -0.0212, 0.4099, 0.0792, -0.2459, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4606 left_y=0.0168 left_z=0.0384 left_yaw=1.5568 left_pitch=-0.063 left_roll=-0.1176 left_gripper=0.9972 right_x=0.2361 right_y=0.0007 right_z=0.0601 right_yaw=-0.0013 right_pitch=-0.0065 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -15.1043, 6.4615, -0.359, -0.5201, -0.4029, 0.0317, -0.1983, 0.0479, 6.9949, 1.7705, -0.0317, -0.0513, -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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2817, 2.6499, 2.2303, -1.5501, -0.9298, -2.0594, 0.9972, 0.8577, 2.0377, 1.4357, -0.2131, 0.6621, 0.5243, 0.9998]\nstate[eef_state]: left_x=0.4557 left_y=0.0193 left_z=0.03 left_yaw=1.5589 left_pitch=-0.0198 left_roll=0.0082 left_gripper=0.9972 right_x=0.4185 right_y=0.3234 right_z=0.1062 right_yaw=0.0384 right_pitch=-0.042 right_roll=-0.0363 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -13.6684, 6.612, -0.6227, -0.6618, -0.1832, -0.0122, 0.0479, -10.6051, 9.1556, 1.4872, 0.525, 0.2955, -0.0366]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:212b6e052e61473a2d5eba7da8dc180b36ef461bc9d0ac9cffc41631b9f5c587",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:544fccf58604a89321bd06f0eb13141b68a464eda160d2dfdc22cefe011e33e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a76171e09171de7741831aa72f260b691388e865e48e293120354d9e322e7869",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CAiaQZXhzvVshYbhRm8NP6",
      "input": {
        "note": "The right wrist camera shows both bottles clearly with the left one almost on the jaw column; moving 2.3 cm forward and down to 5 cm so the jaws straddle its shoulder just below the cap.",
        "targets": {
          "right_x": 0.442,
          "right_y": 0.335,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01CAiaQZXhzvVshYbhRm8NP6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2817, 2.6499, 2.2303, -1.549, -0.9325, -2.0598, 0.9972, 0.8421, 2.1757, 1.4017, -0.0242, 0.6533, 0.5003, 0.9997]\nstate[eef_state]: left_x=0.4561 left_y=0.0194 left_z=0.0303 left_yaw=1.5581 left_pitch=-0.0177 left_roll=0.0062 left_gripper=0.9972 right_x=0.4331 right_y=0.3294 right_z=0.0503 right_yaw=0.0424 right_pitch=-0.0356 right_roll=-0.0395 right_gripper=0.9997\nstate[joint_eff]: [-0.5128, -13.3402, 5.2034, -0.4518, -0.6471, -0.2369, -0.0122, -0.6496, -11.5897, 6.5026, 1.3846, 0.105, 0.2271, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3d0bdbcfc9240cbbee6446e385658148637e6519d5351e1bcd584e8618be5af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:098da1315b817ecf7cb931b7b28b2fbd7693741d496382e5ab19c9c8f5a58764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a1fda215bd9545f917a953567014d0b00ef82f35b1b307abb72195a4532973ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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