adhoc

completed
2026-09-22T20:54:50.436903+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
657.8 s
total steps
280
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 a row across the table. I'm moving the left arm above the leftmost bottle to inspect it with the wrist camera before grasping.
move_to
left_x0.3700left_y-0.1600left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7937, 0.6079, -0.3767, -0.0227, -0.0319, 0.9986, -0.0158, 0.7898, 0.6041, -0.387, -0.0128, -0.0357, 0.9986] state[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1825 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0012 right_z=0.1797 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9986 state[joint_eff]: [-0.3897, -1.4701, 9.7026, 1.7656, -0.0122, 0.1783, -0.1587, -1.0188, -1.2513, 10.3726, 1.8291, -0.0952, 0.1929, -0.1685] 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": 0.37, "left_y": -0.16, "left_z": 0.15, "left_gripper": 1}, "note": "Three bottles lie on their sides in a row across the table. I'm moving the left arm above the leftmost bottle to inspect it with the wrist camera before grasping."})
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 noteThe left wrist camera shows the nearest bottle just left of the jaw column with its cap pointing away from the base; I'm shifting left and forward and dropping lower to line the jaws up with its neck.
move_to
left_x0.3900left_y-0.1300left_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6342, 1.4078, 0.7933, -0.1154, -0.5091, -0.3939, 0.9987, -0.0193, 0.794, 0.6033, -0.4038, -0.0227, -0.036, 0.9985] state[eef_state]: left_x=0.3586 left_y=-0.1524 left_z=0.1308 left_yaw=-0.0168 left_pitch=-0.06 left_roll=0.028 left_gripper=0.9987 right_x=0.2915 right_y=0.002 right_z=0.1747 right_yaw=0.0053 right_pitch=-0.022 right_roll=0.0053 right_gripper=0.9985 state[joint_eff]: [-0.1846, -5.8051, 9.3197, 1.6093, -0.3492, 0.0904, -0.149, 0.1846, -1.4291, 7.0359, 1.9023, 0.0757, -0.0415, -0.0171] 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": 0.39, "left_y": -0.13, "left_z": 0.06}, "note": "The left wrist camera shows the nearest bottle just left of the jaw column with its cap pointing away from the base; I'm shifting left and forward and dropping lower to line the jaws up with its neck."})
tool
executing move_to over 5 steps (0.5s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe bottle now fills the wrist view running diagonally with its capped neck up and to the left of the jaws; I'm stepping 3 cm left and 3 cm forward at neck height to line the jaws up on the neck/shoulder of the bottle.
move_to
left_x0.4100left_y-0.0900left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.514, 1.6279, 0.614, 0.289, -0.4419, -0.3313, 0.9984, -0.0193, 0.7891, 0.5838, -0.4015, -0.0231, -0.0364, 0.9985] state[eef_state]: left_x=0.3764 left_y=-0.1217 left_z=0.0471 left_yaw=0.017 left_pitch=-0.0816 left_roll=0.0383 left_gripper=0.9984 right_x=0.289 right_y=0.0021 right_z=0.1677 right_yaw=0.0059 right_pitch=-0.0342 right_roll=0.0055 right_gripper=0.9985 state[joint_eff]: [0.5949, -6.9128, 4.9983, 1.8486, -0.0904, 0.2955, -0.0366, 0.1436, -2.0991, 6.9538, 1.9658, -0.022, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.09, "left_z": 0.035}, "note": "The bottle now fills the wrist view running diagonally with its capped neck up and to the left of the jaws; I'm stepping 3 cm left and 3 cm forward at neck height to line the jaws up on the neck/shoulder of the bottle."})
tool
executing move_to over 3 steps (0.3s)
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 bottle is now roughly along the jaw column but the capped neck still lies up and to the left; I'm advancing another 3 cm forward and left so the open jaws straddle the neck rather than the fat body.
move_to
left_x0.4400left_y-0.0650left_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3828, 1.7313, 0.5838, 0.5449, -0.3462, -0.284, 0.9983, -0.0193, 0.7723, 0.551, -0.3885, -0.0231, -0.0364, 0.9985] state[eef_state]: left_x=0.4062 left_y=-0.0951 left_z=0.0402 left_yaw=0.0429 left_pitch=-0.0004 left_roll=-0.0314 left_gripper=0.9983 right_x=0.2855 right_y=0.0022 right_z=0.1599 right_yaw=0.0059 right_pitch=-0.0373 right_roll=0.0056 right_gripper=0.9985 state[joint_eff]: [0.1983, -5.6684, 5.3812, 1.3114, -0.2564, 0.5397, -0.0171, 0.1846, -1.7709, 7.1316, 1.9902, 0.0073, -0.0513, -0.0073] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.065, "left_z": 0.04}, "note": "The bottle is now roughly along the jaw column but the capped neck still lies up and to the left; I'm advancing another 3 cm forward and left so the open jaws straddle the neck rather than the fat body."})
tool
executing move_to over 3 steps (0.3s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteClosing the jaws here to read the grasped width, which tells me whether the fingertips are on the bottle's neck (~0.3) or its fat body (~0.7) — the wrist view alone can't resolve depth.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2821, 1.7851, 0.651, 0.5716, -0.2806, -0.2344, 0.9983, -0.0193, 0.7544, 0.5179, -0.3744, -0.0231, -0.0364, 0.9985] state[eef_state]: left_x=0.4345 left_y=-0.0713 left_z=0.0456 left_yaw=0.0629 left_pitch=0.0237 left_roll=-0.0377 left_gripper=0.9983 right_x=0.2822 right_y=0.0022 right_z=0.1524 right_yaw=0.0059 right_pitch=-0.0384 right_roll=0.0056 right_gripper=0.9985 state[joint_eff]: [0.1846, -6.1197, 6.1744, 1.5214, -0.0952, 0.4127, -0.0122, 0.1026, -1.812, 6.8581, 1.9951, 0.0269, -0.0562, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Closing the jaws here to read the grasped width, which tells me whether the fingertips are on the bottle's neck (~0.3) or its fat body (~0.7) \u2014 the wrist view alone can't resolve depth."})
tool
executing move_to over 10 steps (1.0s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe close came back empty (0.014) and the bottle sits entirely beyond the fingertips — I have been nudging it forward. Retracting the left arm so the overhead camera can show me exactly where that bottle now lies.
move_to
left_x0.3000left_y0.0000left_z0.2500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2554, 1.7939, 0.6762, 0.6212, -0.2718, -0.2047, 0.0141, -0.0193, 0.7326, 0.4793, -0.3584, -0.0231, -0.0368, 0.9985] state[eef_state]: left_x=0.4493 left_y=-0.0646 left_z=0.0612 left_yaw=0.0675 left_pitch=0.0851 left_roll=-0.0375 left_gripper=0.0141 right_x=0.2781 right_y=0.0023 right_z=0.1438 right_yaw=0.0061 right_pitch=-0.0392 right_roll=0.0053 right_gripper=0.9985 state[joint_eff]: [-0.1299, -6.7487, 5.4632, 1.072, 0.0611, 0.1832, 1.0037, 0.1026, -1.4974, 7.1453, 2.0537, 0.0024, -0.0513, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.25, "left_gripper": 1}, "note": "The close came back empty (0.014) and the bottle sits entirely beyond the fingertips \u2014 I have been nudging it forward. Retracting the left arm so the overhead camera can show me exactly where that bottle now lies."})
tool
executing move_to over 13 steps (1.3s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteOverhead view shows all three bottles lying radially with their caps pointing away from the robot, so the necks are out of reach; plan is to grab the near (base) end of the left bottle, lift, yaw 180° and set it down with the cap pointing toward me. Moving above that near end first.
move_to
left_x0.4700left_y-0.0650left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1062, 0.8902, 0.857, -0.514, -0.1696, -0.1448, 0.9965, -0.0193, 0.7101, 0.4408, -0.3355, -0.0235, -0.0399, 0.9985] state[eef_state]: left_x=0.3112 left_y=0.0004 left_z=0.2421 left_yaw=0.098 left_pitch=0.0234 left_roll=-0.0211 left_gripper=0.9965 right_x=0.2751 right_y=0.0024 right_z=0.1367 right_yaw=0.008 right_pitch=-0.0323 right_roll=0.0028 right_gripper=0.9985 state[joint_eff]: [0.2667, -2.0718, 9.2103, 1.7118, 0.0562, 0.2564, -0.0317, -0.1026, -1.4017, 7.241, 1.9414, -0.0122, -0.0659, -0.0122] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.065, "left_z": 0.1, "left_gripper": 1}, "note": "Overhead view shows all three bottles lying radially with their caps pointing away from the robot, so the necks are out of reach; plan is to grab the near (base) end of the left bottle, lift, yaw 180\u00b0 and set it down with the cap pointing toward me. Moving above that near end first."})
tool
executing move_to over 13 steps (1.3s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteWrist view shows the bottle centred on the jaw column with its near (base) end right at the bottom edge; descending to bottle-centre height to close on that near end.
move_to
left_x0.4600left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2523, 1.7092, 0.8684, 0.152, -0.2966, -0.2142, 0.998, -0.0193, 0.6914, 0.4072, -0.3206, -0.0231, -0.0399, 0.9985] state[eef_state]: left_x=0.4487 left_y=-0.0587 left_z=0.0792 left_yaw=0.0966 left_pitch=-0.0919 left_roll=0.0309 left_gripper=0.998 right_x=0.2718 right_y=0.0024 right_z=0.1291 right_yaw=0.0077 right_pitch=-0.0323 right_roll=0.0026 right_gripper=0.9985 state[joint_eff]: [-0.4718, -8.4718, 8.4308, 1.8144, -0.2222, -0.0659, -0.2271, -0.1573, -1.1419, 7.2, 1.9023, -0.0122, -0.0611, -0.0122] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_z": 0.035}, "note": "Wrist view shows the bottle centred on the jaw column with its near (base) end right at the bottom edge; descending to bottle-centre height to close on that near end."})
tool
executing move_to over 3 steps (0.3s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe bottle's near end is between the jaws in the wrist view; closing to grip it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2485, 1.8553, 0.7734, 0.4294, -0.2996, -0.2176, 0.9978, -0.0193, 0.672, 0.3794, -0.3107, -0.0235, -0.0395, 0.9985] state[eef_state]: left_x=0.4519 left_y=-0.0572 left_z=0.0324 left_yaw=0.1039 left_pitch=-0.0572 left_roll=0.0174 left_gripper=0.9978 right_x=0.2687 right_y=0.0026 right_z=0.1233 right_yaw=0.0078 right_pitch=-0.0308 right_roll=0.0031 right_gripper=0.9985 state[joint_eff]: [0.1026, -8.841, 5.0803, 1.8584, -0.0659, 0.0513, -0.0366, -0.2393, -0.9641, 6.9265, 1.9805, -0.0513, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The bottle's near end is between the jaws in the wrist view; closing to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteClose came back empty again and the bottle has crept a bit further out; opening the jaws and commanding 3 cm more reach so the fingertips actually straddle the bottle's near end.
move_to
left_gripper1.0000left_x0.5000left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2481, 1.8645, 0.7441, 0.6426, -0.3202, -0.2165, 0.0144, -0.0193, 0.6533, 0.3534, -0.2977, -0.0235, -0.0399, 0.9985] state[eef_state]: left_x=0.4686 left_y=-0.0577 left_z=0.0611 left_yaw=0.1225 left_pitch=0.1102 left_roll=-0.033 left_gripper=0.0144 right_x=0.2663 right_y=0.0026 right_z=0.1188 right_yaw=0.008 right_pitch=-0.025 right_roll=0.0026 right_gripper=0.9985 state[joint_eff]: [0.0205, -7.9111, 3.6581, 0.8962, 0.0659, 0.0073, 1.2869, 0.0479, -0.7453, 6.7624, 1.9316, -0.0024, -0.0415, -0.0122] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_x": 0.5, "left_z": 0.03}, "note": "Close came back empty again and the bottle has crept a bit further out; opening the jaws and commanding 3 cm more reach so the fingertips actually straddle the bottle's near end."})
tool
executing move_to over 10 steps (1.0s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe wrist view now shows both jaw tips bracketing the bottle's near end; closing on it (not fully, to avoid crushing the plastic).
move_to
left_gripper0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2276, 1.9804, 0.9188, 0.5014, -0.3073, -0.2359, 0.9943, -0.0193, 0.6392, 0.3283, -0.2909, -0.0231, -0.0399, 0.9985] state[eef_state]: left_x=0.4991 left_y=-0.0571 left_z=0.0429 left_yaw=0.1405 left_pitch=0.0308 left_roll=-0.0264 left_gripper=0.9943 right_x=0.2633 right_y=0.0026 right_z=0.1122 right_yaw=0.0077 right_pitch=-0.0292 right_roll=0.0025 right_gripper=0.9985 state[joint_eff]: [0.2667, -7.0769, 6.8991, 1.5604, -0.0269, 0.1783, -0.1538, 0.0752, -0.8684, 7.1453, 1.9512, -0.0513, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.15}, "note": "The wrist view now shows both jaw tips bracketing the bottle's near end; closing on it (not fully, to avoid crushing the plastic)."})
tool
executing move_to over 9 steps (0.9s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe jaws have closed on the bottle's near end (gripper settled at 0.41, so it is holding something). Lifting straight up to see how the bottle hangs.
move_to
left_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2344, 1.969, 0.9363, 0.4904, -0.3267, -0.2394, 0.4074, -0.0193, 0.6209, 0.3027, -0.2867, -0.0235, -0.0395, 0.9985] state[eef_state]: left_x=0.5032 left_y=-0.0582 left_z=0.0534 left_yaw=0.1519 left_pitch=0.0512 left_roll=-0.0266 left_gripper=0.4074 right_x=0.2599 right_y=0.0027 right_z=0.1058 right_yaw=0.0078 right_pitch=-0.0323 right_roll=0.0031 right_gripper=0.9985 state[joint_eff]: [0.0752, -9.3333, 6.3932, 1.199, -0.0415, 0.0855, 0.4664, 0.0479, -0.7726, 6.8718, 2.0, 0.0024, -0.0464, -0.0073] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "The jaws have closed on the bottle's near end (gripper settled at 0.41, so it is holding something). Lifting straight up to see how the bottle hangs."})
tool
executing move_to over 13 steps (1.3s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteExcellent — the wrist view and the load on the shoulder show the bottle is hanging vertically from the jaws, cap up. Lowering gently so its base touches the table before I release.
move_to
left_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2359, 1.7367, 1.4471, -0.337, -0.3378, -0.2443, 0.406, -0.0193, 0.5999, 0.2756, -0.2714, -0.0235, -0.0399, 0.9985] state[eef_state]: left_x=0.5079 left_y=-0.0582 left_z=0.2213 left_yaw=0.1618 left_pitch=-0.0244 left_roll=0.0071 left_gripper=0.406 right_x=0.2579 right_y=0.0028 right_z=0.1016 right_yaw=0.008 right_pitch=-0.0231 right_roll=0.0026 right_gripper=0.9985 state[joint_eff]: [-0.3624, -11.9453, 9.6889, 1.6093, -0.1099, 0.0708, -0.1587, -0.1846, -0.7453, 6.7761, 1.873, -0.022, -0.0611, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.19}, "note": "Excellent \u2014 the wrist view and the load on the shoulder show the bottle is hanging vertically from the jaws, cap up. Lowering gently so its base touches the table before I release."})
tool
executing move_to over 3 steps (0.3s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe hanging bottle's base should now be on the table (shoulder load dropped as it touched down); opening the jaws to release it standing upright.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2359, 1.7359, 1.3258, -0.2481, -0.3382, -0.2436, 0.4058, -0.0193, 0.5861, 0.2569, -0.268, -0.0235, -0.0399, 0.9985] state[eef_state]: left_x=0.5001 left_y=-0.0563 left_z=0.1851 left_yaw=0.1622 left_pitch=-0.0535 left_roll=0.0202 left_gripper=0.4058 right_x=0.2555 right_y=0.0028 right_z=0.097 right_yaw=0.008 right_pitch=-0.0247 right_roll=0.0026 right_gripper=0.9985 state[joint_eff]: [-0.0752, -9.0598, 7.8017, 2.1758, -0.1685, -0.0562, -0.0269, -0.0615, -0.6359, 6.8718, 1.9219, -0.0269, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "The hanging bottle's base should now be on the table (shoulder load dropped as it touched down); opening the jaws to release it standing upright."})
tool
executing move_to over 6 steps (0.6s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe first bottle is now standing upright on the table (visible in the left wrist view). Lifting the left arm clear of it and bringing the right arm above the near end of the rightmost bottle to repeat the trick.
move_to
left_z0.3200right_x0.3800right_y0.2300right_z0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2359, 1.7466, 1.2552, -0.1608, -0.3382, -0.2451, 0.9944, -0.0193, 0.569, 0.2363, -0.2649, -0.0235, -0.0399, 0.9985] state[eef_state]: left_x=0.4995 left_y=-0.0561 left_z=0.1657 left_yaw=0.1629 left_pitch=-0.0478 left_roll=0.0166 left_gripper=0.9944 right_x=0.2529 right_y=0.0029 right_z=0.0923 right_yaw=0.008 right_pitch=-0.025 right_roll=0.0026 right_gripper=0.9985 state[joint_eff]: [-0.3761, -11.5761, 6.9265, 1.8291, -0.2271, 0.0659, -0.1392, -0.1026, -0.1436, 6.9538, 1.8877, -0.0122, -0.0806, -0.0122] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.32, "right_x": 0.38, "right_y": 0.23, "right_z": 0.1, "right_gripper": 1}, "note": "The first bottle is now standing upright on the table (visible in the left wrist view). Lifting the left arm clear of it and bringing the right arm above the near end of the rightmost bottle to repeat the trick."})
tool
executing move_to over 19 steps (1.9s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteRight wrist view shows the rightmost bottle on the jaw column with its capped neck farther out; advancing ~6 cm and dropping to bottle-axis height so the jaws land on the neck (that is what worked for the first bottle).
move_to
right_x0.4300right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2359, 1.7321, 1.787, -0.6605, -0.3382, -0.2485, 0.9956, 0.7654, 1.6936, 0.878, 0.0456, 0.5808, 0.416, 0.9986] state[eef_state]: left_x=0.4992 left_y=-0.0561 left_z=0.3113 left_yaw=0.1642 left_pitch=-0.0049 left_roll=-0.0044 left_gripper=0.9956 right_x=0.3678 right_y=0.2239 right_z=0.0853 right_yaw=0.0503 right_pitch=-0.0493 right_roll=-0.0373 right_gripper=0.9986 state[joint_eff]: [-0.4171, -7.7744, 8.8957, 1.7363, -0.1294, -0.0024, 0.1148, -0.0479, -7.4735, 8.3487, 1.6435, 0.5348, 0.2759, -0.1636] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_z": 0.035}, "note": "Right wrist view shows the rightmost bottle on the jaw column with its capped neck farther out; advancing ~6 cm and dropping to bottle-axis height so the jaws land on the neck (that is what worked for the first bottle)."})
tool
executing move_to over 5 steps (0.5s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe right jaws are now at the bottle with it filling the wrist view; raising slightly to the bottle's axis height and closing to read the grasped width (≈0.4 means neck, ≈0.7 means fat body).
move_to
right_z0.0330right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2359, 1.7355, 1.7805, -0.6773, -0.3386, -0.2474, 0.9958, 0.6605, 1.9495, 0.8913, 0.2764, 0.5011, 0.3321, 0.9985] state[eef_state]: left_x=0.4972 left_y=-0.0555 left_z=0.3037 left_yaw=0.1641 left_pitch=-0.0294 left_roll=0.0072 left_gripper=0.9958 right_x=0.4051 right_y=0.2118 right_z=0.0148 right_yaw=0.0505 right_pitch=-0.0954 right_roll=-0.0678 right_gripper=0.9985 state[joint_eff]: [-0.3214, -9.3333, 6.612, 1.9219, -0.232, -0.0317, 0.0024, -1.1145, -8.6769, 8.1299, 1.9414, 0.3492, 0.0855, -0.0171] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.033, "right_gripper": 0.15}, "note": "The right jaws are now at the bottle with it filling the wrist view; raising slightly to the bottle's axis height and closing to read the grasped width (\u22480.4 means neck, \u22480.7 means fat body)."})
tool
executing move_to over 9 steps (0.9s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe right gripper closed onto something 4.5 cm thick (likely the bottle's shoulder/neck). Lifting to see whether the bottle hangs cap-up like the first one did.
move_to
right_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2359, 1.7317, 1.7267, -0.6334, -0.3382, -0.2474, 0.9962, 0.6502, 1.9732, 0.9108, 0.3401, 0.4816, 0.3092, 0.4713] state[eef_state]: left_x=0.4986 left_y=-0.0559 left_z=0.2905 left_yaw=0.1639 left_pitch=-0.0351 left_roll=0.0093 left_gripper=0.9962 right_x=0.4176 right_y=0.2193 right_z=0.0204 right_yaw=0.0702 right_pitch=-0.0543 right_roll=-0.0416 right_gripper=0.4713 state[joint_eff]: [-0.4581, -10.5368, 6.9265, 1.8388, -0.2222, -0.0366, 0.0317, -0.5812, -9.1145, 7.2137, 1.9121, 0.2808, 0.0855, 1.3407] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.25}, "note": "The right gripper closed onto something 4.5 cm thick (likely the bottle's shoulder/neck). Lifting to see whether the bottle hangs cap-up like the first one did."})
tool
executing move_to over 15 steps (1.5s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe right arm stalled at z=0.16 with high load, consistent with the bottle hanging cap-up and its base already resting on the table; opening the jaws to leave it standing.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2359, 1.7264, 1.6642, -0.5797, -0.3382, -0.2474, 0.9963, 0.6506, 1.6966, 1.3365, -0.5365, 0.4179, 0.3008, 0.4956] state[eef_state]: left_x=0.4996 left_y=-0.0562 left_z=0.2759 left_yaw=0.1639 left_pitch=-0.0383 left_roll=0.0107 left_gripper=0.9963 right_x=0.3978 right_y=0.2172 right_z=0.163 right_yaw=0.1117 right_pitch=-0.2268 right_roll=-0.1018 right_gripper=0.4956 state[joint_eff]: [-0.4581, -10.6325, 7.0496, 1.8242, -0.2027, -0.0317, 0.0024, -0.4444, -14.3385, 12.4513, 2.63, 0.7643, 0.1245, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The right arm stalled at z=0.16 with high load, consistent with the bottle hanging cap-up and its base already resting on the table; opening the jaws to leave it standing."})
tool
executing move_to over 6 steps (0.6s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteTwo bottles now appear standing in the right wrist view; lifting the right arm well above the 23 cm tall standing bottle before traversing to the middle bottle.
move_to
right_z0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2359, 1.7206, 1.602, -0.527, -0.3378, -0.2474, 0.9963, 0.6674, 1.5982, 1.0298, -0.1711, 0.4412, 0.2806, 0.9955] state[eef_state]: left_x=0.4997 left_y=-0.0562 left_z=0.2613 left_yaw=0.1637 left_pitch=-0.0419 left_roll=0.0119 left_gripper=0.9963 right_x=0.3868 right_y=0.2134 right_z=0.1399 right_yaw=0.134 right_pitch=-0.0838 right_roll=-0.0507 right_gripper=0.9955 state[joint_eff]: [-0.4581, -10.6462, 6.8855, 1.8486, -0.2369, -0.0366, -0.0073, -0.5402, -8.4308, 7.788, 2.0, 0.2369, 0.1392, 0.0415] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.3}, "note": "Two bottles now appear standing in the right wrist view; lifting the right arm well above the 23 cm tall standing bottle before traversing to the middle bottle."})
tool
executing move_to over 11 steps (1.1s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteI cannot tell from the wrist views whether the bottles I released are really standing; raising the left arm clear and retracting the right arm so the overhead camera gives an unobstructed look.
move_to
left_z0.3600right_x0.2500right_y0.0500right_z0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2359, 1.7161, 1.5375, -0.4671, -0.3382, -0.2474, 0.9964, 0.6674, 1.5234, 1.4662, -0.6186, 0.4328, 0.2707, 0.9955] state[eef_state]: left_x=0.4999 left_y=-0.0562 left_z=0.2465 left_yaw=0.164 left_pitch=-0.0418 left_roll=0.0122 left_gripper=0.9964 right_x=0.3856 right_y=0.2141 right_z=0.2776 right_yaw=0.1478 right_pitch=-0.0317 right_roll=-0.0219 right_gripper=0.9955 state[joint_eff]: [-0.4034, -10.6872, 6.8581, 1.8926, -0.1929, -0.022, -0.0073, -0.212, -6.5299, 9.9761, 1.7363, 0.2466, 0.0757, -0.0024] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.36, "right_x": 0.25, "right_y": 0.05, "right_z": 0.3}, "note": "I cannot tell from the wrist views whether the bottles I released are really standing; raising the left arm clear and retracting the right arm so the overhead camera gives an unobstructed look."})
tool
executing move_to over 14 steps (1.4s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe clean overhead view shows all three bottles still lying down, so my earlier releases did not leave them standing. Moving the left gripper low next to the leftmost bottle so I can see gripper and bottle together in the overhead frame and calibrate my pixel-to-metre mapping.
move_to
left_x0.4200left_y-0.1700left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2359, 1.8099, 2.0567, -0.8505, -0.3386, -0.2626, 0.9964, 0.2596, 0.812, 1.1114, -0.8707, 0.1368, 0.057, 0.9955] state[eef_state]: left_x=0.5011 left_y=-0.0565 left_z=0.3523 left_yaw=0.1721 left_pitch=-0.0031 left_roll=-0.0169 left_gripper=0.9964 right_x=0.2576 right_y=0.0472 right_z=0.3008 right_yaw=0.0999 right_pitch=0.0071 right_roll=-0.0028 right_gripper=0.9955 state[joint_eff]: [-0.3761, -8.253, 8.4308, 1.5214, -0.1978, 0.1343, -0.0171, 0.0479, -0.5538, 6.0513, 1.9853, -0.0757, -0.0415, -0.0122] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.17, "left_z": 0.12}, "note": "The clean overhead view shows all three bottles still lying down, so my earlier releases did not leave them standing. Moving the left gripper low next to the leftmost bottle so I can see gripper and bottle together in the overhead frame and calibrate my pixel-to-metre mapping."})
tool
executing move_to over 15 steps (1.5s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteWith the gripper and bottles visible together I now have a pixel-to-metre calibration; the rightmost bottle's capped neck sits near right-arm (0.38, 0.28). Moving above that neck, since gripping the neck and lifting lets the bottle swing base-down.
move_to
right_x0.3800right_y0.2800right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6243, 1.7004, 1.0355, -0.1024, -0.627, -0.5018, 0.9964, 0.255, 0.8238, 1.1095, -0.9012, 0.1238, 0.0402, 0.9956] state[eef_state]: left_x=0.4176 left_y=-0.1687 left_z=0.122 left_yaw=0.1412 left_pitch=-0.0355 left_roll=0.0251 left_gripper=0.9964 right_x=0.2555 right_y=0.0478 right_z=0.2908 right_yaw=0.1151 right_pitch=-0.0379 right_roll=-0.0162 right_gripper=0.9956 state[joint_eff]: [-0.2803, -7.5556, 6.3932, 1.663, -0.4127, -0.1294, -0.0122, -0.2393, -0.9915, 6.9675, 1.917, 0.0904, 0.1343, -0.0073] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.28, "right_z": 0.12, "right_gripper": 1}, "note": "With the gripper and bottles visible together I now have a pixel-to-metre calibration; the rightmost bottle's capped neck sits near right-arm (0.38, 0.28). Moving above that neck, since gripping the neck and lifting lets the bottle swing base-down."})
tool
executing move_to over 20 steps (2.0s)
step 230
top_cam
camera top_cam step 230
left_cam
camera left_cam step 230
right_cam
camera right_cam step 230
assistant
agent noteRight wrist view shows the target bottle's blue cap just above and slightly right of the jaw column; descending to bottle-axis height while advancing ~5 cm so the jaws land on the neck just behind the cap.
move_to
right_x0.4200right_y0.2700right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6334, 1.7206, 0.9955, -0.0326, -0.6365, -0.5171, 0.9964, 0.8314, 1.7409, 1.0336, -0.0795, 0.5575, 0.3923, 0.9971] state[eef_state]: left_x=0.4163 left_y=-0.171 left_z=0.1098 left_yaw=0.147 left_pitch=-0.0238 left_roll=0.0105 left_gripper=0.9964 right_x=0.3665 right_y=0.2685 right_z=0.103 right_yaw=0.1458 right_pitch=-0.0733 right_roll=-0.0548 right_gripper=0.9971 state[joint_eff]: [0.2803, -10.6051, 5.9419, 1.5458, -0.2662, 0.1392, -0.0122, 0.4991, -8.5402, 8.6906, 1.6874, 0.4713, 0.188, -0.315] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.27, "right_z": 0.035}, "note": "Right wrist view shows the target bottle's blue cap just above and slightly right of the jaw column; descending to bottle-axis height while advancing ~5 cm so the jaws land on the neck just behind the cap."})
tool
executing move_to over 5 steps (0.5s)
step 235
assistant
agent noteThe bottle's neck is now between the jaws in the right wrist view; closing on the neck.
move_to
right_gripper0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6346, 1.7206, 0.9745, 0.0025, -0.6369, -0.5179, 0.9964, 0.7315, 1.9728, 0.976, 0.276, 0.5198, 0.3149, 0.9971] state[eef_state]: left_x=0.4157 left_y=-0.1711 left_z=0.1073 left_yaw=0.1464 left_pitch=-0.0136 left_roll=0.0001 left_gripper=0.9964 right_x=0.4094 right_y=0.2544 right_z=0.0345 right_yaw=0.1188 right_pitch=-0.0387 right_roll=-0.0569 right_gripper=0.9971 state[joint_eff]: [-0.253, -8.4718, 5.7915, 1.5263, -0.359, 0.0513, -0.0122, -0.1162, -7.9248, 7.3231, 1.619, -0.2515, 0.3004, -0.022] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.12}, "note": "The bottle's neck is now between the jaws in the right wrist view; closing on the neck."})
tool
executing move_to over 9 steps (0.9s)
step 244
assistant
agent noteThat close came up empty (0.12) — the neck is still just beyond the fingertips. Opening and advancing 2.5 cm so the jaws straddle the neck properly.
move_to
right_gripper1.0000right_x0.4500right_z0.0330
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6346, 1.7206, 0.973, 0.012, -0.6369, -0.5182, 0.9964, 0.73, 1.9907, 0.9962, 0.4114, 0.4911, 0.2943, 0.1245] state[eef_state]: left_x=0.4165 left_y=-0.1717 left_z=0.1083 left_yaw=0.1465 left_pitch=-0.0079 left_roll=-0.0058 left_gripper=0.9964 right_x=0.4259 right_y=0.2741 right_z=0.0561 right_yaw=0.15 right_pitch=0.0653 right_roll=0.0173 right_gripper=0.1245 state[joint_eff]: [-0.5402, -8.2393, 5.3265, 1.6239, -0.3492, -0.0073, -0.0122, 0.0889, -7.8291, 6.3932, 1.2039, 0.1245, 0.1441, 0.1343] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.45, "right_z": 0.033}, "note": "That close came up empty (0.12) \u2014 the neck is still just beyond the fingertips. Opening and advancing 2.5 cm so the jaws straddle the neck properly."})
tool
executing move_to over 9 steps (0.9s)
step 253
assistant
agent noteThe blue cap now sits right between the jaw tips in the right wrist view; closing on the cap/neck.
move_to
right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6353, 1.7206, 0.9634, 0.0189, -0.6369, -0.5175, 0.9964, 0.7006, 2.0583, 1.0935, 0.3183, 0.44, 0.2718, 0.9949] state[eef_state]: left_x=0.4151 left_y=-0.1711 left_z=0.1057 left_yaw=0.1454 left_pitch=-0.0098 left_roll=-0.0033 left_gripper=0.9964 right_x=0.4408 right_y=0.278 right_z=0.0397 right_yaw=0.1749 right_pitch=-0.004 right_roll=-0.0102 right_gripper=0.9949 state[joint_eff]: [-0.3487, -7.8427, 6.5162, 1.5018, -0.398, 0.0415, -0.0122, -1.3744, -7.5419, 7.5419, 1.8242, 0.105, 0.0952, -0.2271] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.15}, "note": "The blue cap now sits right between the jaw tips in the right wrist view; closing on the cap/neck."})
tool
executing move_to over 9 steps (0.9s)
step 262
assistant
agent noteEmpty again and the bottle has slid out of the wrist view, so the jaws are still short of it; opening and making one last 2 cm advance at bottle-axis height before closing.
move_to
right_gripper1.0000right_x0.4700right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6353, 1.7206, 0.9615, 0.02, -0.6369, -0.5175, 0.9964, 0.701, 2.0541, 1.0943, 0.3767, 0.4404, 0.2604, 0.1547] state[eef_state]: left_x=0.4148 left_y=-0.1709 left_z=0.1052 left_yaw=0.1454 left_pitch=-0.0103 left_roll=-0.0028 left_gripper=0.9964 right_x=0.447 right_y=0.2834 right_z=0.0531 right_yaw=0.1804 right_pitch=0.051 right_roll=0.0115 right_gripper=0.1547 state[joint_eff]: [-0.2393, -8.0479, 5.7641, 1.6484, -0.3883, 0.0317, -0.0122, -0.5128, -10.4547, 5.1761, 1.243, 0.0904, 0.149, 0.0952] camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.47, "right_z": 0.03}, "note": "Empty again and the bottle has slid out of the wrist view, so the jaws are still short of it; opening and making one last 2 cm advance at bottle-axis height before closing."})
tool
executing move_to over 9 steps (0.9s)
step 271
assistant
agent noteThe cap sits just left of the jaws in the wrist view; shifting 2.5 cm left while closing, as a final attempt to catch the neck.
move_to
right_y0.3150right_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6353, 1.7206, 0.9588, 0.0231, -0.6369, -0.5179, 0.9964, 0.6785, 2.1185, 1.1816, 0.3145, 0.3912, 0.231, 0.9952] state[eef_state]: left_x=0.4146 left_y=-0.1707 left_z=0.1047 left_yaw=0.1456 left_pitch=-0.0101 left_roll=-0.0034 left_gripper=0.9964 right_x=0.461 right_y=0.2897 right_z=0.0396 right_yaw=0.2142 right_pitch=0.0032 right_roll=-0.0076 right_gripper=0.9952 state[joint_eff]: [-0.3077, -8.0615, 5.9009, 1.619, -0.3834, 0.0562, -0.0073, -1.5521, -8.0479, 7.5829, 1.7851, 0.188, 0.1734, -0.2564] 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": {"right_y": 0.315, "right_gripper": 0.2}, "note": "The cap sits just left of the jaws in the wrist view; shifting 2.5 cm left while closing, as a final attempt to catch the neck."})
tool
executing move_to over 8 steps (0.8s)
step 279
assistant
agent noteOut of LLM-call budget with all three bottles still lying down. I did briefly get one bottle standing (confirmed in the left wrist view) by gripping its neck and letting it swing base-down, but knocked it over when I retracted diagonally, and subsequent grasp attempts kept closing a few centimetres short of the necks.
give_up
hindsightConcrete lessons for this bottle-uprighting task on yam_arms: 1) Method that works: pitch/roll are pinned, so you cannot tilt the tool. The only way to upright a lying bottle is to grip it near the CAP/NECK (settled gripper reading ≈0.3–0.45) and lift; the heavy base swings down and the bottle hangs vertical, cap up. Then lower until the base touches (grip z ≈ 0.19 m when holding just below the cap) and open. Gripping the base end instead makes it hang cap-down — useless. 2) After releasing a standing bottle, retract STRAIGHT UP to z ≥ 0.35 before any horizontal move. I stood one bottle up and then knocked it over by moving diagonally from (0.50,-0.06,0.35) to (0.42,-0.17,0.12) — the path swept through it. 3) Depth is the killer. The wrist camera badly understates how far the fingertips are short of an object: a bottle that looks centred on the jaw column with its near end at the bottom edge is still ~5–8 cm short in x. Every approach drive in +x nudges the bottle further away 1–2 cm, so you chase it out to the reach limit (table-level reach dies around x≈0.47–0.50). 4) Much better localisation trick than either camera alone: put the open gripper low (z≈0.12) next to the target and read gripper and object in the SAME top_cam frame. With both near the table the local scale is ≈2.9 px/cm across image columns (Δy = −0.0035 m per +1 px col in the left frame) and ≈1.8 px/cm down image rows (Δx ≈ −0.0055 m per +1 row). Comparing at similar heights removes the big parallax error you get comparing a z=0.3 gripper to a table-level bottle. 5) In top_cam the left arm is on image-left and the right arm image-right; the three bottles started lying roughly radially with caps pointing AWAY from the robot, so the neck is the far end and is often at x≈0.55+ — out of table-level reach. Plan a drag-back or a lift-and-yaw-180 to bring the neck into reach before trying the neck grasp. 6) Gripper readings are reliable: a commanded close that settles at the commanded value means empty; 0.40–0.47 was a real neck/shoulder grip and showed up as shoulder effort going from ≈−9 to ≈−12 N·m when lifting.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6353, 1.7206, 0.9581, 0.0235, -0.6373, -0.5175, 0.9964, 0.7189, 2.1311, 1.2465, 0.2764, 0.4145, 0.2417, 0.2059] state[eef_state]: left_x=0.4145 left_y=-0.1706 left_z=0.1045 left_yaw=0.1457 left_pitch=-0.0102 left_roll=-0.0026 left_gripper=0.9964 right_x=0.4601 right_y=0.3129 right_z=0.0518 right_yaw=0.2299 right_pitch=0.0219 right_roll=-0.004 right_gripper=0.2059 state[joint_eff]: [-0.5949, -8.212, 5.6, 1.6532, -0.359, 0.022, -0.0171, 0.5128, -8.3487, 7.9932, 1.5214, 0.0611, 0.1929, 0.0171] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
give_up({"reason": "Out of LLM-call budget with all three bottles still lying down. I did briefly get one bottle standing (confirmed in the left wrist view) by gripping its neck and letting it swing base-down, but knocked it over when I retracted diagonally, and subsequent grasp attempts kept closing a few centimetres short of the necks.", "hindsight": "Concrete lessons for this bottle-uprighting task on yam_arms:\n1) Method that works: pitch/roll are pinned, so you cannot tilt the tool. The only way to upright a lying bottle is to grip it near the CAP/NECK (settled gripper reading \u22480.3\u20130.45) and lift; the heavy base swings down and the bottle hangs vertical, cap up. Then lower until the base touches (grip z \u2248 0.19 m when holding just below the cap) and open. Gripping the base end instead makes it hang cap-down \u2014 useless.\n2) After releasing a standing bottle, retract STRAIGHT UP to z \u2265 0.35 before any horizontal move. I stood one bottle up and then knocked it over by moving diagonally from (0.50,-0.06,0.35) to (0.42,-0.17,0.12) \u2014 the path swept through it.\n3) Depth is the killer. The wrist camera badly understates how far the fingertips are short of an object: a bottle that looks centred on the jaw column with its near end at the bottom edge is still ~5\u20138 cm short in x. Every approach drive in +x nudges the bottle further away 1\u20132 cm, so you chase it out to the reach limit (table-level reach dies around x\u22480.47\u20130.50).\n4) Much better localisation trick than either camera alone: put the open gripper low (z\u22480.12) next to the target and read gripper and object in the SAME top_cam frame. With both near the table the local scale is \u22482.9 px/cm across image columns (\u0394y = \u22120.0035 m per +1 px col in the left frame) and \u22481.8 px/cm down image rows (\u0394x \u2248 \u22120.0055 m per +1 row). Comparing at similar heights removes the big parallax error you get comparing a z=0.3 gripper to a table-level bottle.\n5) In top_cam the left arm is on image-left and the right arm image-right; the three bottles started lying roughly radially with caps pointing AWAY from the robot, so the neck is the far end and is often at x\u22480.55+ \u2014 out of table-level reach. Plan a drag-back or a lift-and-yaw-180 to bring the neck into reach before trying the neck grasp.\n6) Gripper readings are reliable: a commanded close that settles at the commanded value means empty; 0.40\u20130.47 was a real neck/shoulder grip and showed up as shoulder effort going from \u2248\u22129 to \u2248\u221212 N\u00b7m when lifting."})
tool
give_up: Out of LLM-call budget with all three bottles still lying down. I did briefly get one bottle standing (confirmed in the left wrist view) by gripping its neck and letting it swing base-down, but knocked it over when I retracted diagonally, and subsequent grasp attempts kept closing a few centimetres short of the necks.
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 · 26.93 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, 0.7937, 0.6079, -0.3767, -0.0227, -0.0319, 0.9986, -0.0158, 0.7898, 0.6041, -0.387, -0.0128, -0.0357, 0.9986]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1825 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0012 right_z=0.1797 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9986\nstate[joint_eff]: [-0.3897, -1.4701, 9.7026, 1.7656, -0.0122, 0.1783, -0.1587, -1.0188, -1.2513, 10.3726, 1.8291, -0.0952, 0.1929, -0.1685]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a3e372643c7afbac72dce2eb523c0964b00791054da45074844cc97dfa8c0da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5b57e28b30455a9f5655172cddb0d91c3da7400f19de9b9f25c2b2f93c7b382",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3461e4ff18d732c369d29caab18acfe1ea3ce5d4b19b53b4e49bf1f820a26266",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 42.28 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, 0.7937, 0.6079, -0.3767, -0.0227, -0.0319, 0.9986, -0.0158, 0.7898, 0.6041, -0.387, -0.0128, -0.0357, 0.9986]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1825 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0012 right_z=0.1797 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9986\nstate[joint_eff]: [-0.3897, -1.4701, 9.7026, 1.7656, -0.0122, 0.1783, -0.1587, -1.0188, -1.2513, 10.3726, 1.8291, -0.0952, 0.1929, -0.1685]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a3e372643c7afbac72dce2eb523c0964b00791054da45074844cc97dfa8c0da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5b57e28b30455a9f5655172cddb0d91c3da7400f19de9b9f25c2b2f93c7b382",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3461e4ff18d732c369d29caab18acfe1ea3ce5d4b19b53b4e49bf1f820a26266",
        "media_type": "image/png",
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  "role": "user"
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W8Rc2FUSCnNDKsXERu4xym",
      "input": {
        "note": "Three bottles lie on their sides in a row across the table. I'm moving the left arm above the leftmost bottle to inspect it with the wrist camera before grasping.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.37,
          "left_y": -0.16,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01W8Rc2FUSCnNDKsXERu4xym",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6342, 1.4078, 0.7933, -0.1154, -0.5091, -0.3939, 0.9987, -0.0193, 0.794, 0.6033, -0.4038, -0.0227, -0.036, 0.9985]\nstate[eef_state]: left_x=0.3586 left_y=-0.1524 left_z=0.1308 left_yaw=-0.0168 left_pitch=-0.06 left_roll=0.028 left_gripper=0.9987 right_x=0.2915 right_y=0.002 right_z=0.1747 right_yaw=0.0053 right_pitch=-0.022 right_roll=0.0053 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -5.8051, 9.3197, 1.6093, -0.3492, 0.0904, -0.149, 0.1846, -1.4291, 7.0359, 1.9023, 0.0757, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfa2e915c54da98a5ae914f466aaff8e16ee2ff1d54d8ddb5c7474ea71a44002",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f411f22d83c265b32add3ec7ec8bc6e5b13b5595223754453cb185a15ca11dd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a984cad7615c24c5c3c8bef2ce5c6a6e4e93fa625db21187bc268a90b5b33615",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 22.45 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, 0.7937, 0.6079, -0.3767, -0.0227, -0.0319, 0.9986, -0.0158, 0.7898, 0.6041, -0.387, -0.0128, -0.0357, 0.9986]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1825 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0012 right_z=0.1797 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9986\nstate[joint_eff]: [-0.3897, -1.4701, 9.7026, 1.7656, -0.0122, 0.1783, -0.1587, -1.0188, -1.2513, 10.3726, 1.8291, -0.0952, 0.1929, -0.1685]",
      "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]: [-0.6342, 1.4078, 0.7933, -0.1154, -0.5091, -0.3939, 0.9987, -0.0193, 0.794, 0.6033, -0.4038, -0.0227, -0.036, 0.9985]\nstate[eef_state]: left_x=0.3586 left_y=-0.1524 left_z=0.1308 left_yaw=-0.0168 left_pitch=-0.06 left_roll=0.028 left_gripper=0.9987 right_x=0.2915 right_y=0.002 right_z=0.1747 right_yaw=0.0053 right_pitch=-0.022 right_roll=0.0053 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -5.8051, 9.3197, 1.6093, -0.3492, 0.0904, -0.149, 0.1846, -1.4291, 7.0359, 1.9023, 0.0757, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfa2e915c54da98a5ae914f466aaff8e16ee2ff1d54d8ddb5c7474ea71a44002",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f411f22d83c265b32add3ec7ec8bc6e5b13b5595223754453cb185a15ca11dd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a984cad7615c24c5c3c8bef2ce5c6a6e4e93fa625db21187bc268a90b5b33615",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS/jIKjgEIEhgCKkBvCku9je8ANUj09hcEsJmWq0ECl5RlGjZn/aSa0xvViW2yuYN1TSU333tZLOjkP6pKbUcoThmt/MdrPDimodkxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAezWy9UGEgwXLpeVyRsB+Q/eHBQaDBeIIyk1CG+joy4ITSIwBxNIUqXMETU8bxP1tGo259oDxtrBQnRnfkIv5NcpXCMieI9hmD5MMrliYoSQrVZnKpwxCcXiYurGv4JNldG1mFaeexU5hAFhapZNn4D9Ykz6q1w3OzlEw1jTsZa1z21tL5QDBqFBW9B7OOdILhHzGaoeiB7+4/Pn/m7ZwolzvFDh1phmSQV+AdpZ9DwOfkA3uPhkz9wJXdjmG/9le3yAJkGC5CRL0l4HYIsBggP/uhy/Bbg7SeRMb5JBPJ06ZUocn651IX31a8K19JnxeyiYwi+Z+B2wXWa+DPtzpmpWkMHaanVLVf/wf3DESg4h2rsvB4R+1dYyDbIVAlxz39xwKd9qkDgsyA7aK966/kyViLu0qbmN1UaXaIJZMzr4KZ4YdFqyItSQ7bQKPf0xFCe201ed2eoKm1tRDPUTjrPkq3LgHDntRJjMspHAmomI/SxksJIqVJwDA+TtgMh4YRhkDlDCR+suslSxc5QrmfEfoccP8XJa15Gy+xtd3nmc8y3EVJ06L+s7lMvZUfxYEJHeBxXl6hC4gqSRF8/oZV5QSVbxl9zViGqhYuniWw6NbCVFQLPyBp/GnWt8s0XMTSJ6oX8RfTy6FIUwH3FNl6tBJsxSxINAmydObwwhbBCBugUDC5FgL20Zkb7kdyxlbSXniWlzfcDwEVVCbw4r19FaYNob3pvOZ80m7pA3v9U15xeVAPBGHZ74jbtAVT5vWlT9KmxYijWXauEgb3/P1YjpZ2qBNCqaDyCs95TAfae4QbpgNTGuh+32AS5I00G9HmYBYqp4hasRHYtjHmPgDLbx36imrCXB0zQ9hChY0Kdc3X0WTs2uOLKhbpdoH9/6dszFeWEeu6xExWV64MJz7pD7vNJVjzCU63GRcDwxKXJSeLLlnVrhAgTciHL1Cbw6CyV+rTknd6w63caFK4RM9eAdLSvXt07IqMFsQfIHEbnUTsQ1Zlk1EM+c5bZLiDXgTYDB7BndJgig+6qL/vusbQiBoFIB0/ZKmn1ms26W3faSq3jv+9KPrFNHrISoTnF47IfdgoB9lI8O3BIgVVaS5P9XwF8lufZGaZq8b+V51mM0Mj1PrQJvKI3cjRcLwNupq3VEsZowGkDUz3qkcNocykUHltjJLuQ88ijHa3WHDKYlgGu4jNOPia0kf+gbeZRDKVO+Y5m9MoUurHr3jVQc2f/1vmiYkol2Y3Z1H5KkGhjkywpE/R0aYn2T5pm5vgzI+JtdqE2oxIVFc25aPcS1O9BNb+R81wg2r7IvXpm3OJgvAuTYDnS3wWoMcvHMdevgE6W29vStkegzKCxJZuRjsBKfI+CndpVheMHdwYOJ/D/oAKuI7sM1S40gQobWWgkarWSaXF9UM/RG3xH6PpJ4UPk52nS9nCKbrVpeUJWR/ccxegRjyPD3AUxqlmg+0UJnBj6NK8LDv/Cun1wxcix8qz2EMpNnkJ0XJ0B98NIVl44byU/6uezKfVGXWsN6yP9k5O4QadYrpebVWQh+sArtn/drmAhjQ+7QXgAAG9dXk4bSGjLjcdJkCLNaMmkN7j0LzemxBoJDjgDHdglFp9JFHIehAh8mMQyViumN4gsSP6R4vFeopVX1qZkovPHeFcJqXiHhJxaaqqP5edX3r4YcHFukrsJteryieucrRUooE1vMCc0KHlkO97+lmZ1ZUW0fKJAjPGtHSVNAM+y4kqG9OyR8cqkZ4hcnSQRZMYOZG6Q0ldtFHK/OhDcIYDKe3pxzB3GybqIUJ7vNn2VouZFw85P4clPbRTbtioxapYPKrCnGVZvRTY+05elPIChY3Ci6T0gvE4gIjTrxIFTfrOWKpc00xPJItyyajHay5myZl0HkYYFXK2Gpy8TyQLu8dmZg3hjZw4dknnqFlJxO47ZzTQEQaF4FywDXKdL9WCFCElGYncPWPGG3U9mRtm9oMb53DXu+oWKMPEBn1Vddp41OG7C3qqpPFL35CqDTECAOtwgDdu4g+IldAZlCPk/QWlFy4IAk866I91MJlcUtQCj1Hy41CVtIL2Im6vkcPoQz67bXPmCYtz57jb2gbw2M+uBTYVEmDqki1UQ4KZF9jSoKmbsTDwl0b13EVjZPqZe+JcaQhhczyCsf9OHw9wbgPDwxtqeoVuovOBV/Mt7UKpvYJLH+gp5YDuCI+TDBtJVxhs1MK05AWxuoaKQZiSCcGzrHGhwOFWZVRK56A/5RlUZCVNgT+objtAnRD1YPsozhU6xOw6N0W6t0et3Ydh+QocCu+LfvgMApwXqAl+z0cjJ+deDq9IRrhspL4H1rDAz02lxdJPljZAU6JXJgzKyFYtAfWynNH2iy/SVF2wNDfNi8OW4yzB/78DibUX/S5k6ODLjmdMKZX2irN35BiQrzWtfVYJ9F2CjDlK/gLYtyizAfaDvIe+f6TNPPTJyzT0Pr361pXPqOisiNaK0Tfi70ift7OtMzUsz7fy4zlJdkTS7JKGBn/jgctwFCFfWAUMz4eSg2V57Y8+zEpKmNRfFwNh9/MGF9N/P+tD4X4+Tyt3bU2lXoo4GDJR5XiMAq9HjYMZdRsbAW1qJy5q7izF0Mcmu1WJnYMg3bmKlePG9eMj4/qWgdYAHnHpysFAyS2wm2SpafV6NKpf6h0mO3vKdNQRxbJdQkAm01Xu4cByfwALmMPxTW7gc489hoaKUyic47/myfKDcvaEAT5Xl/ylTY/UDcGZxKdSvweGvj55mW8+JrfRP+xgbWO0QbTvD8tCfnE9tR4pH2KAWFL3eTns1Dyyw9CHTYIlf9TiBghE5EwGyM/dNf/hpi7RdE3gqEBNPYCZjcq2jsmNldp3NdYJ8lIxVMlP8J5GtWstGfpa2C6+tbr/L/vEyBPf4RjhR6K6R10MpPlh539QdMY/f/neUGwzftHKesWtxhX0RJ5vWQpVLx28rF9eOPUgHOOhUI4YyI3WWFUGtPQUWF3dGfHkrTNlt41Qx/Z2dZQ8HASMQFben1vTzmxXpz2gLmunU+viKoAvLtjhRBydvR4g8NOYlifOPhs3us+mEuaUxmv8VgF6e3RmBJUprN9JUrJr7jhcXo40WRkxHOgNHTaF75X4Idp03ajYL+oVDB6A1Cg8M+nGxc+EdwdaNFbXT69rSnLjTZTR3h4eearkKgK5mKk7ANzux0FQ30amWBYx9c02TjR66mR7uisXS7/6KRLjK+7M+hWPJO4iAPKt1nJ5O5MgZbknhMxhAgwuaOHAzVd0HcBo47FiJlCapdZS52NcCTX3xtFpJTpMJ86YTezPvGngF30AlmupPPrMHyabtcTIKwZKxCl/+cUgSnol1364+YfenplDTEXNw7KrFAHjDJcXwpSmovwddZq3II+B2gK8VZZxe43t43+8m22wtr123G76stbx7SR4PG0bgL3fauvv1cBjvJKfkhgBxZDCFcvo4E9nYlXdhaNVMcWuM0zWHz9kscvoBkiwPQtCkgBoZItU69ClAXUVSbjklbPINCXIrTnM6P9OL8qdQEf+LhRnIm1zgk1GIr9jl9TbyCDfpUowUJQ0fcUuyeW3oveDDOOUYXyPqzliYL+0IdF6AFYjS1oGyf2O6xWR+yXMUqpj2aIDkkZhQ5FrPCdHk0bGxoIEnAPmh64RIAcem/KWJTRhZL4UgpiYxpLN8Gs+IwnqROes4+a+sklh2ueD80N/cuOSXvsd434EPA9BNjBsLDMur2gV277UMNbLRHL3Vo8xcybHU+23/o98DDBGpMkaymek+nPcebCzCrL4CcwU5Npt/iArZG5u6redeLVPGivl+I00H6QebS6A3r8nuNmo6UbeT/qCY/PQDnoD7ia318zYddgUNlJwo9hc4Z1WxzzBU8sfmbtJUOifKTEZZYronoTgQmZjJajF9figVTzMDOGVTETvspbzG+dWLg+nA9gpcil0vjAWt24HAohkEAIjH8i6ClBCp0sF4BqIb28j7tcy8IIMnaYw8BIAO5emYA3ZdZmaCzCcfWKPuMIrK0jdGDaqkZ+k22PenbUgBjV2HWdExHvuOhwfXumr/lmjZj8mGkSe+0G/sEAhJWv8vIVZ9F0aKrtw8mYnH+KxeKKKQpG+2f7C6mngq6nE588vVnPuqvYmYru/KC4cmIgkh4nPPX0j50n8oF5c0jSbIaifImrc0EtqeObCGYMMDKTIrZwP/IW62GQZmroBlj9LmraUwY+I29hVsbwct406Xb9yeersKmvlQnjsM934cmfp+WwbK7HNG6ia2t6suGGOe1G9HHzuQBQnxkjlAni/pEuIys+lV98omMoceRyPdey/hWRiMy2JAbO/XmDIanTECsYnSMIjYeZIKOpkIysYTxWR/GPGpaGr5Ez4/9PJqgr49sBQ6zjW6owHYuixIRaNZch+w/Bnm/nU/tFWw+kosY1C+zUtWI3CUK7Ntw39LWI+En6Of0gn+oLuAG1GgJaA8mDN1D3VlFEFICkbtHv65bPMOL4gEKo3uifPon9KKLKnTqMkWYWRoSykYfptg1ffisko51KrgbedkZrFvN9Or49PyQdNfFSnTrr9zWLRIMju0SVjb+Z+A3Hc/576yhB+zSczIR8n/7hGUZYhuYnS2PEClswpZ28D979HV3QzpDIto7dH1seHfSMSDUiypvhj9gOoqjra7mGG5F+i0nLE4kx88Y+vjItrz7uOiPe/fwkG6q4gq0CJPr9XV99lQr204kjCC+N7ezrXQJRGP+Yx2jPBuwY/spUM+odzE59s3y1cUjygNztLmipDZfDh97QnyIJwsEfu2AwBRHKvI6s78oz5ntFZcZZrhXX7wnOE5aTCmawKpVBg0ICOJ40G9Fd4aIZ15jlwt+dtTrhScyfcQQc1u1agusM5/q6SGzw7OGSWwk1JHuEDgyvn88ldP54NfnaEv89eL9yIA3pKP2l0QqyyMA8eNqYgJlrB56ckXYqDLrnDqHtD7LUVSuj1iaR1Vpt8fhW+nfFBsmACpocnIbVZ2trLR1reBHCbf7iL2mxQfwiNJR0VszUmVRhq880pSPTf5jADS5pOKexU+OrsbPNyNoMqWBd6xpaRAVSgnklZIHmV5bzCfZMsYnts/iqfXx8BnnZSShMHfjlqv1Mt5in2mElC/NNhoOiboZL2tGm9D/AlFCmw+KRgjcDdBp1855eoJHgwIH5cSykfdgIeR0YmTtILooX+pYk3X4NzJh7rQ2uZAD3cg0/C3rAS/KjxnN5J355nGDd/QcaXhxYCSkgTx8iS5Hm6rkvFJYtgClO+BWDOMPpbBs+r2Lly/QMSjqa2QDy+CuV8XZfFEl/Ej/xjcIbiS0aHZvKEuc2i+E/J1CbDkKgRZjwvIrCFJvh7KM+zLkwJr3KeDQ8kZBSzaKrDsfLr9BV0bMpClI0+tIq7pGj87oIepP+P8FPbIATMlTGJNP5d4KSM9J4T3znR0q8fV0OlgtlxHAwSvhf6DQeFRGK8qRQlpbIGfVnVXW//k4COKW5qPAB53Ye9X7+4aWnysbVAaPDno/XCpuV6G7Xcw/+DhyOshMskJ9KIF9W8TRkH9xUe/QpoToBWk2qdGVMCDU+JVS/42fNjQBBEReVrvd4XbB+53A2A1H44E8vM4k1wh0+nTJ6M2n7OkYk7u6W4XBRnCpH8ykLCkmt4O3VUVCyvFw6HcISJfCYDrhIksM1Lci5F1ejps/eyXKsXeeP44eIBWI+ZjYY76f5sUN1e7WsCJjkjnLxz+LHnCrMD6w0uQS+AQXaFI3q/RxL4/J8+Ak75hR7hr2/dE4SSZAGt6yTGZSzYDWIIQAUu6CQyfuNGmEWeDH6knjvWJfFo5PKF7aVgX/8m1pNV7mz5ev4N8lTCYBnADjfR3eVnyhoJnES1zOC4+uijdz63WImlQUkbwKFP+BDkuj0w8XaJOKz4VQItU1UWXiWrzIV6MqfvApxxgh1CHO+KdYUy05Atk1sdObFbqIsW6xL5rnCFwZAVIrvCKFuv1cIsYzGwvPF80OywTui9brcVKwpoXVGsKFgObav0ZfXstZGHKeJtjl72NAtQDW8CctHQ+2GnC7QH4P7Nu0rQEP1NbOndz6//konIH3y5GH48uNefc/Xb8f/4xF2R8gNAEbfM6JdAaeV2gL53GQhzTzgyUZhwp4WkVieTNVHnoMt9cPW4PeWmr6RrOeJ+GPNnvC9fFX21abagTFOFZ6lNiOa5ELW9KXcgSbS4S8XV2X/4g22N+P4NnL+YP8+eoW5vcBTd6G0+bGzdgyCoua9KtQ1dS9bUGX2dkYubfmk6E0lHSEEuGGHWjuyDBhNk5fpc29mrZF/34IQfo+YFywTH06yiVhe5gpKohK/Xu67esa+41BygPX6h81RIwV9DHVWbNEdhAbg55yuRm1s7nAKB/yFep7+BlMrk0narFOIufuoscl4i9DiFhf35heu49OIndvAhk2SfU3fQqwG1c6v8C+mxFHEFNpJ2XiLc9JTYOo79/YRVeGbyzXKfQHo8dXbQZB5Z243iVSY4yfmT9dHBj2stuNH2yMS3tPxM2iwd1wD/oULlYQxbUtsdeJQM38AoiZ0k0D9cVbrl4ET/HSGxeGyEUHJQeGF02cEIrsCLFdM/OB7QEJYHMX4pqbgznKwZujUNWFAZXtESKeMM8w/Ukc36AbwUbIy3j5a0L8TZp9304L9dI6oydh5XCmdOnakZSnnHzm8tyfwowZyMkSTqwqCjkcL2qoPcisKaMaDoWp1NlMR6Vx2J82SQum2bHanzYSzpuc1G4hisvu5u6XxxRJwP61WJNhykyHm2nE53KyE7qb13KNwwpXO+PeARiulAa5py1lm94CB55H5gvzB/1q9AxvJIt99nMQHz2TNAVGNtMJ5yOxo5iSgmeJrhCTNEYnWo32LVZkEH8Lyx643Pl00GZ9hK/JTk32O9if/v3+wa6UJqDgwN1W+DG1cUSmsQj6wCvRREOyUoLvrCHsqdbtMnq24Oo7SlpeCbA8ftQ4K/yjKahAc4wuJCM/GNsB8x0c9U99FDZLqrpgXey4JRX/r85CqHHJVVNGqt3InZ2GtIbHkddV5v74YOEltBHMbaD8ndoa1SZMwlBTAJvre2I8Bg001o40JZ2RmmTGTRNpSPQRd4WJHRqx0EH8NLyWFx7W0yCyl/oOC4BPby/CrSvmFvf06gGSESHfYsYwJLJHdR3lN9g/xrqgekfJ4yNS2wkFD8QOkFjPDsXvYQPN82iblG3UKV8MZCU7xjfHWDxQK0iV+yfBe9Cn9+xKgJR184fjoWnQ+eA2PECAR9hjJzAnZKhGvIjGTmRpRLouWTtnP37mrwK8LpOnX4Ixr2EvFaa3BRDPJlSdxiO6lPiU0w7RABYuzY/cfFoXNoyypK4sN10B1w6tlk63MDrln4qMHQeH1tYJjMPaMLztApUkpPoYGp+mzMMf9L52FFZ+6/QFchTofiOPScANjgaCN9Vmta9r5MILYfZt/OHLGcMCG1Zt940MjtxIEBkJHBHkZqPo5CWFU+BUYIyXja+js6aJIH3ZuXZ9Dk+K2lsTjoJon9SpBZSbcX9tcca9btDIB0x7guFNUHW0z6VlOtRPZpmsgaj+VlzX3Ii2LwgK92iS2xSCYCQI9TjjLDxOTplnq0lxkeSWgtAg/upube68OdteWZgtpEL+VSa0W2W5awqqIaJ4FCFXm+ZvfghHIgoA2qruQr5UJK1I1jyjgv1KlyPPPcxEuhII4EUgMTcH40eOGs8witO+7IHqUa7IGv/oXPp3hrTWes6oNvVnhnNw6jOtLjfiyihGT+H3wJhXs06ujEfINFlYwlN/RqM3kOOIX0zhpz3aiRiF8Ua7sOlr7wE1Gz1JY6qndZsv03NxToSCk/MSmr6BTqgdBOMpSHEKJsSOezmRBcmjEx53tRU/DXJjIlidnTQ2Y3toDzdf2U3PshDa6cQ0Us1r+HI7prUl2CMVlf7teXPXZcy/RPhffU68dSKB9qhgK2AjRejZGMvzQiTt6W7jIofqAaup7Vv7cc8wqHBigACCRrMbwK+ZvK+yuxxVZLM9qmZghMYFOaqwCPOYTBlHcEWpFyKkIVAgiDj9cJqRO7zkG0HXOPeXR7xY4ktex27eS25tZ/6/DSFdk4ZCPHjoYrMbdFP3HSoCBAMciO8Vk3gXRQJSVcMs+RtLjov5TK2JmVoQ9DxemFdRda5gXoj2Hs97yEF7wVfaAXwQza0CoiPOfIE/1wa9/z5pJ9EIy9u9xhn5ltVfKL6pFVqVVZGs0JoqZcvQzym5VQPuKLIxb2lfKRzkBypU3Aq2n5mx8N0iycHgXKdaXExTZhp/FI7D1W48kP40fr7ESIH3kCT3n+TuUh6cSJTv5R7lJanQl0uUpguiFxxddyzOf2WBlC2gKwMrCL7L43fEm6KF+xuUVOiTPNzQtDSxyzffPB205eq3VRO8NInUfhAEdEW0PpMJ/2FqPpCF4L/2kkQDWpAaUP1Lss7+8i3jOINIXcr70hLqNHDaGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014Sh8pXqzd2JUPyWTyy2CGJ",
      "input": {
        "note": "The left wrist camera shows the nearest bottle just left of the jaw column with its cap pointing away from the base; I'm shifting left and forward and dropping lower to line the jaws up with its neck.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.13,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014Sh8pXqzd2JUPyWTyy2CGJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.514, 1.6279, 0.614, 0.289, -0.4419, -0.3313, 0.9984, -0.0193, 0.7891, 0.5838, -0.4015, -0.0231, -0.0364, 0.9985]\nstate[eef_state]: left_x=0.3764 left_y=-0.1217 left_z=0.0471 left_yaw=0.017 left_pitch=-0.0816 left_roll=0.0383 left_gripper=0.9984 right_x=0.289 right_y=0.0021 right_z=0.1677 right_yaw=0.0059 right_pitch=-0.0342 right_roll=0.0055 right_gripper=0.9985\nstate[joint_eff]: [0.5949, -6.9128, 4.9983, 1.8486, -0.0904, 0.2955, -0.0366, 0.1436, -2.0991, 6.9538, 1.9658, -0.022, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a23a4bec62285e55124728511874e3efa368e6ad418793ce30b4dfe8c8ecb5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36b8600db66bab2176a343ba2642f9b50aa2de41715ac2e917e9ccb8f2f40c2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72659dad31a6836cf722acaa87d971b88783b0c995eea0ddb8e70b675bd86b8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 11.61 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, 0.7937, 0.6079, -0.3767, -0.0227, -0.0319, 0.9986, -0.0158, 0.7898, 0.6041, -0.387, -0.0128, -0.0357, 0.9986]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1825 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0012 right_z=0.1797 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9986\nstate[joint_eff]: [-0.3897, -1.4701, 9.7026, 1.7656, -0.0122, 0.1783, -0.1587, -1.0188, -1.2513, 10.3726, 1.8291, -0.0952, 0.1929, -0.1685]",
      "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]: [-0.6342, 1.4078, 0.7933, -0.1154, -0.5091, -0.3939, 0.9987, -0.0193, 0.794, 0.6033, -0.4038, -0.0227, -0.036, 0.9985]\nstate[eef_state]: left_x=0.3586 left_y=-0.1524 left_z=0.1308 left_yaw=-0.0168 left_pitch=-0.06 left_roll=0.028 left_gripper=0.9987 right_x=0.2915 right_y=0.002 right_z=0.1747 right_yaw=0.0053 right_pitch=-0.022 right_roll=0.0053 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -5.8051, 9.3197, 1.6093, -0.3492, 0.0904, -0.149, 0.1846, -1.4291, 7.0359, 1.9023, 0.0757, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.514, 1.6279, 0.614, 0.289, -0.4419, -0.3313, 0.9984, -0.0193, 0.7891, 0.5838, -0.4015, -0.0231, -0.0364, 0.9985]\nstate[eef_state]: left_x=0.3764 left_y=-0.1217 left_z=0.0471 left_yaw=0.017 left_pitch=-0.0816 left_roll=0.0383 left_gripper=0.9984 right_x=0.289 right_y=0.0021 right_z=0.1677 right_yaw=0.0059 right_pitch=-0.0342 right_roll=0.0055 right_gripper=0.9985\nstate[joint_eff]: [0.5949, -6.9128, 4.9983, 1.8486, -0.0904, 0.2955, -0.0366, 0.1436, -2.0991, 6.9538, 1.9658, -0.022, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a23a4bec62285e55124728511874e3efa368e6ad418793ce30b4dfe8c8ecb5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36b8600db66bab2176a343ba2642f9b50aa2de41715ac2e917e9ccb8f2f40c2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72659dad31a6836cf722acaa87d971b88783b0c995eea0ddb8e70b675bd86b8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013F5F1BiExuH8r6mao274xJ",
      "input": {
        "note": "The bottle now fills the wrist view running diagonally with its capped neck up and to the left of the jaws; I'm stepping 3 cm left and 3 cm forward at neck height to line the jaws up on the neck/shoulder of the bottle.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.09,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013F5F1BiExuH8r6mao274xJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3828, 1.7313, 0.5838, 0.5449, -0.3462, -0.284, 0.9983, -0.0193, 0.7723, 0.551, -0.3885, -0.0231, -0.0364, 0.9985]\nstate[eef_state]: left_x=0.4062 left_y=-0.0951 left_z=0.0402 left_yaw=0.0429 left_pitch=-0.0004 left_roll=-0.0314 left_gripper=0.9983 right_x=0.2855 right_y=0.0022 right_z=0.1599 right_yaw=0.0059 right_pitch=-0.0373 right_roll=0.0056 right_gripper=0.9985\nstate[joint_eff]: [0.1983, -5.6684, 5.3812, 1.3114, -0.2564, 0.5397, -0.0171, 0.1846, -1.7709, 7.1316, 1.9902, 0.0073, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59249495a259c4ca7b2c326684420b10433636e312950b13df656bf3b780b9cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71db93d32337144f3fd7d99f65b117d0aa8397147f317809a157a994f96b1cd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cfc35e7e2c7d3d156ad6780cdd71664e39974f2211ecd1f0b888675ac0ec80e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 15.57 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]: [-0.6342, 1.4078, 0.7933, -0.1154, -0.5091, -0.3939, 0.9987, -0.0193, 0.794, 0.6033, -0.4038, -0.0227, -0.036, 0.9985]\nstate[eef_state]: left_x=0.3586 left_y=-0.1524 left_z=0.1308 left_yaw=-0.0168 left_pitch=-0.06 left_roll=0.028 left_gripper=0.9987 right_x=0.2915 right_y=0.002 right_z=0.1747 right_yaw=0.0053 right_pitch=-0.022 right_roll=0.0053 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -5.8051, 9.3197, 1.6093, -0.3492, 0.0904, -0.149, 0.1846, -1.4291, 7.0359, 1.9023, 0.0757, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.514, 1.6279, 0.614, 0.289, -0.4419, -0.3313, 0.9984, -0.0193, 0.7891, 0.5838, -0.4015, -0.0231, -0.0364, 0.9985]\nstate[eef_state]: left_x=0.3764 left_y=-0.1217 left_z=0.0471 left_yaw=0.017 left_pitch=-0.0816 left_roll=0.0383 left_gripper=0.9984 right_x=0.289 right_y=0.0021 right_z=0.1677 right_yaw=0.0059 right_pitch=-0.0342 right_roll=0.0055 right_gripper=0.9985\nstate[joint_eff]: [0.5949, -6.9128, 4.9983, 1.8486, -0.0904, 0.2955, -0.0366, 0.1436, -2.0991, 6.9538, 1.9658, -0.022, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3828, 1.7313, 0.5838, 0.5449, -0.3462, -0.284, 0.9983, -0.0193, 0.7723, 0.551, -0.3885, -0.0231, -0.0364, 0.9985]\nstate[eef_state]: left_x=0.4062 left_y=-0.0951 left_z=0.0402 left_yaw=0.0429 left_pitch=-0.0004 left_roll=-0.0314 left_gripper=0.9983 right_x=0.2855 right_y=0.0022 right_z=0.1599 right_yaw=0.0059 right_pitch=-0.0373 right_roll=0.0056 right_gripper=0.9985\nstate[joint_eff]: [0.1983, -5.6684, 5.3812, 1.3114, -0.2564, 0.5397, -0.0171, 0.1846, -1.7709, 7.1316, 1.9902, 0.0073, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59249495a259c4ca7b2c326684420b10433636e312950b13df656bf3b780b9cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71db93d32337144f3fd7d99f65b117d0aa8397147f317809a157a994f96b1cd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfc35e7e2c7d3d156ad6780cdd71664e39974f2211ecd1f0b888675ac0ec80e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TRLsuoNzGVMdB1LWQmrdmB",
      "input": {
        "note": "The bottle is now roughly along the jaw column but the capped neck still lies up and to the left; I'm advancing another 3 cm forward and left so the open jaws straddle the neck rather than the fat body.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.065,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TRLsuoNzGVMdB1LWQmrdmB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2821, 1.7851, 0.651, 0.5716, -0.2806, -0.2344, 0.9983, -0.0193, 0.7544, 0.5179, -0.3744, -0.0231, -0.0364, 0.9985]\nstate[eef_state]: left_x=0.4345 left_y=-0.0713 left_z=0.0456 left_yaw=0.0629 left_pitch=0.0237 left_roll=-0.0377 left_gripper=0.9983 right_x=0.2822 right_y=0.0022 right_z=0.1524 right_yaw=0.0059 right_pitch=-0.0384 right_roll=0.0056 right_gripper=0.9985\nstate[joint_eff]: [0.1846, -6.1197, 6.1744, 1.5214, -0.0952, 0.4127, -0.0122, 0.1026, -1.812, 6.8581, 1.9951, 0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e306e1b1a720d773c87af43aece81352e0b58191244d5341ed03fd3eca61ae2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc388bc08a4be13a36a3d2443c0ff860bfb4367735fcd032804e55a679430442",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e05bd31d6fbacd80300fd850abcc31832d8cdc0bf789ec9f110de384aaf74f0a",
        "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 · 30.08 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]: [-0.514, 1.6279, 0.614, 0.289, -0.4419, -0.3313, 0.9984, -0.0193, 0.7891, 0.5838, -0.4015, -0.0231, -0.0364, 0.9985]\nstate[eef_state]: left_x=0.3764 left_y=-0.1217 left_z=0.0471 left_yaw=0.017 left_pitch=-0.0816 left_roll=0.0383 left_gripper=0.9984 right_x=0.289 right_y=0.0021 right_z=0.1677 right_yaw=0.0059 right_pitch=-0.0342 right_roll=0.0055 right_gripper=0.9985\nstate[joint_eff]: [0.5949, -6.9128, 4.9983, 1.8486, -0.0904, 0.2955, -0.0366, 0.1436, -2.0991, 6.9538, 1.9658, -0.022, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3828, 1.7313, 0.5838, 0.5449, -0.3462, -0.284, 0.9983, -0.0193, 0.7723, 0.551, -0.3885, -0.0231, -0.0364, 0.9985]\nstate[eef_state]: left_x=0.4062 left_y=-0.0951 left_z=0.0402 left_yaw=0.0429 left_pitch=-0.0004 left_roll=-0.0314 left_gripper=0.9983 right_x=0.2855 right_y=0.0022 right_z=0.1599 right_yaw=0.0059 right_pitch=-0.0373 right_roll=0.0056 right_gripper=0.9985\nstate[joint_eff]: [0.1983, -5.6684, 5.3812, 1.3114, -0.2564, 0.5397, -0.0171, 0.1846, -1.7709, 7.1316, 1.9902, 0.0073, -0.0513, -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]: [-0.2821, 1.7851, 0.651, 0.5716, -0.2806, -0.2344, 0.9983, -0.0193, 0.7544, 0.5179, -0.3744, -0.0231, -0.0364, 0.9985]\nstate[eef_state]: left_x=0.4345 left_y=-0.0713 left_z=0.0456 left_yaw=0.0629 left_pitch=0.0237 left_roll=-0.0377 left_gripper=0.9983 right_x=0.2822 right_y=0.0022 right_z=0.1524 right_yaw=0.0059 right_pitch=-0.0384 right_roll=0.0056 right_gripper=0.9985\nstate[joint_eff]: [0.1846, -6.1197, 6.1744, 1.5214, -0.0952, 0.4127, -0.0122, 0.1026, -1.812, 6.8581, 1.9951, 0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e306e1b1a720d773c87af43aece81352e0b58191244d5341ed03fd3eca61ae2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc388bc08a4be13a36a3d2443c0ff860bfb4367735fcd032804e55a679430442",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e05bd31d6fbacd80300fd850abcc31832d8cdc0bf789ec9f110de384aaf74f0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018TAZhiCMGjwhaKDqwzYxNn",
      "input": {
        "note": "Closing the jaws here to read the grasped width, which tells me whether the fingertips are on the bottle's neck (~0.3) or its fat body (~0.7) — the wrist view alone can't resolve depth.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018TAZhiCMGjwhaKDqwzYxNn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2554, 1.7939, 0.6762, 0.6212, -0.2718, -0.2047, 0.0141, -0.0193, 0.7326, 0.4793, -0.3584, -0.0231, -0.0368, 0.9985]\nstate[eef_state]: left_x=0.4493 left_y=-0.0646 left_z=0.0612 left_yaw=0.0675 left_pitch=0.0851 left_roll=-0.0375 left_gripper=0.0141 right_x=0.2781 right_y=0.0023 right_z=0.1438 right_yaw=0.0061 right_pitch=-0.0392 right_roll=0.0053 right_gripper=0.9985\nstate[joint_eff]: [-0.1299, -6.7487, 5.4632, 1.072, 0.0611, 0.1832, 1.0037, 0.1026, -1.4974, 7.1453, 2.0537, 0.0024, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dd042a0edb1ac43ee4ce75324fcab882aad6d07e3a8073be3fc95d22dc84e62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da73ac844e079d5ebcb25d7e5b4354223436947f64649faf9246c4a01545fc2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:baa3f06e4b14af54443f4950bcb05746aa96e83556cf67c0b1259352c7b7a20e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 57.05 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]: [-0.3828, 1.7313, 0.5838, 0.5449, -0.3462, -0.284, 0.9983, -0.0193, 0.7723, 0.551, -0.3885, -0.0231, -0.0364, 0.9985]\nstate[eef_state]: left_x=0.4062 left_y=-0.0951 left_z=0.0402 left_yaw=0.0429 left_pitch=-0.0004 left_roll=-0.0314 left_gripper=0.9983 right_x=0.2855 right_y=0.0022 right_z=0.1599 right_yaw=0.0059 right_pitch=-0.0373 right_roll=0.0056 right_gripper=0.9985\nstate[joint_eff]: [0.1983, -5.6684, 5.3812, 1.3114, -0.2564, 0.5397, -0.0171, 0.1846, -1.7709, 7.1316, 1.9902, 0.0073, -0.0513, -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]: [-0.2821, 1.7851, 0.651, 0.5716, -0.2806, -0.2344, 0.9983, -0.0193, 0.7544, 0.5179, -0.3744, -0.0231, -0.0364, 0.9985]\nstate[eef_state]: left_x=0.4345 left_y=-0.0713 left_z=0.0456 left_yaw=0.0629 left_pitch=0.0237 left_roll=-0.0377 left_gripper=0.9983 right_x=0.2822 right_y=0.0022 right_z=0.1524 right_yaw=0.0059 right_pitch=-0.0384 right_roll=0.0056 right_gripper=0.9985\nstate[joint_eff]: [0.1846, -6.1197, 6.1744, 1.5214, -0.0952, 0.4127, -0.0122, 0.1026, -1.812, 6.8581, 1.9951, 0.0269, -0.0562, -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]: [-0.2554, 1.7939, 0.6762, 0.6212, -0.2718, -0.2047, 0.0141, -0.0193, 0.7326, 0.4793, -0.3584, -0.0231, -0.0368, 0.9985]\nstate[eef_state]: left_x=0.4493 left_y=-0.0646 left_z=0.0612 left_yaw=0.0675 left_pitch=0.0851 left_roll=-0.0375 left_gripper=0.0141 right_x=0.2781 right_y=0.0023 right_z=0.1438 right_yaw=0.0061 right_pitch=-0.0392 right_roll=0.0053 right_gripper=0.9985\nstate[joint_eff]: [-0.1299, -6.7487, 5.4632, 1.072, 0.0611, 0.1832, 1.0037, 0.1026, -1.4974, 7.1453, 2.0537, 0.0024, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dd042a0edb1ac43ee4ce75324fcab882aad6d07e3a8073be3fc95d22dc84e62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da73ac844e079d5ebcb25d7e5b4354223436947f64649faf9246c4a01545fc2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baa3f06e4b14af54443f4950bcb05746aa96e83556cf67c0b1259352c7b7a20e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015VWJ9tkuznF1A2K6k33Nzo",
      "input": {
        "note": "The close came back empty (0.014) and the bottle sits entirely beyond the fingertips — I have been nudging it forward. Retracting the left arm so the overhead camera can show me exactly where that bottle now lies.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_015VWJ9tkuznF1A2K6k33Nzo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1062, 0.8902, 0.857, -0.514, -0.1696, -0.1448, 0.9965, -0.0193, 0.7101, 0.4408, -0.3355, -0.0235, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.3112 left_y=0.0004 left_z=0.2421 left_yaw=0.098 left_pitch=0.0234 left_roll=-0.0211 left_gripper=0.9965 right_x=0.2751 right_y=0.0024 right_z=0.1367 right_yaw=0.008 right_pitch=-0.0323 right_roll=0.0028 right_gripper=0.9985\nstate[joint_eff]: [0.2667, -2.0718, 9.2103, 1.7118, 0.0562, 0.2564, -0.0317, -0.1026, -1.4017, 7.241, 1.9414, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d39a126a2d8fab203327c816ab13e870b1f65dcd1c56b5d1a361fb152f6b0c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7723c1e1cc15a53da8a83951611ccf80544e3710eb6438a7073d2df0da035a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1fedd5bf752c01c29f0ab6a8abe13f4bac2e2df3da8149784b2bfb5c1a604dd1",
        "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 · 8.637 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]: [-0.2821, 1.7851, 0.651, 0.5716, -0.2806, -0.2344, 0.9983, -0.0193, 0.7544, 0.5179, -0.3744, -0.0231, -0.0364, 0.9985]\nstate[eef_state]: left_x=0.4345 left_y=-0.0713 left_z=0.0456 left_yaw=0.0629 left_pitch=0.0237 left_roll=-0.0377 left_gripper=0.9983 right_x=0.2822 right_y=0.0022 right_z=0.1524 right_yaw=0.0059 right_pitch=-0.0384 right_roll=0.0056 right_gripper=0.9985\nstate[joint_eff]: [0.1846, -6.1197, 6.1744, 1.5214, -0.0952, 0.4127, -0.0122, 0.1026, -1.812, 6.8581, 1.9951, 0.0269, -0.0562, -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]: [-0.2554, 1.7939, 0.6762, 0.6212, -0.2718, -0.2047, 0.0141, -0.0193, 0.7326, 0.4793, -0.3584, -0.0231, -0.0368, 0.9985]\nstate[eef_state]: left_x=0.4493 left_y=-0.0646 left_z=0.0612 left_yaw=0.0675 left_pitch=0.0851 left_roll=-0.0375 left_gripper=0.0141 right_x=0.2781 right_y=0.0023 right_z=0.1438 right_yaw=0.0061 right_pitch=-0.0392 right_roll=0.0053 right_gripper=0.9985\nstate[joint_eff]: [-0.1299, -6.7487, 5.4632, 1.072, 0.0611, 0.1832, 1.0037, 0.1026, -1.4974, 7.1453, 2.0537, 0.0024, -0.0513, -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]: [-0.1062, 0.8902, 0.857, -0.514, -0.1696, -0.1448, 0.9965, -0.0193, 0.7101, 0.4408, -0.3355, -0.0235, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.3112 left_y=0.0004 left_z=0.2421 left_yaw=0.098 left_pitch=0.0234 left_roll=-0.0211 left_gripper=0.9965 right_x=0.2751 right_y=0.0024 right_z=0.1367 right_yaw=0.008 right_pitch=-0.0323 right_roll=0.0028 right_gripper=0.9985\nstate[joint_eff]: [0.2667, -2.0718, 9.2103, 1.7118, 0.0562, 0.2564, -0.0317, -0.1026, -1.4017, 7.241, 1.9414, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d39a126a2d8fab203327c816ab13e870b1f65dcd1c56b5d1a361fb152f6b0c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7723c1e1cc15a53da8a83951611ccf80544e3710eb6438a7073d2df0da035a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fedd5bf752c01c29f0ab6a8abe13f4bac2e2df3da8149784b2bfb5c1a604dd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
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    {
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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MfY8nRaFqMGDDNj3PifHY3",
      "input": {
        "note": "Overhead view shows all three bottles lying radially with their caps pointing away from the robot, so the necks are out of reach; plan is to grab the near (base) end of the left bottle, lift, yaw 180° and set it down with the cap pointing toward me. Moving above that near end first.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.47,
          "left_y": -0.065,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01MfY8nRaFqMGDDNj3PifHY3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2523, 1.7092, 0.8684, 0.152, -0.2966, -0.2142, 0.998, -0.0193, 0.6914, 0.4072, -0.3206, -0.0231, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.4487 left_y=-0.0587 left_z=0.0792 left_yaw=0.0966 left_pitch=-0.0919 left_roll=0.0309 left_gripper=0.998 right_x=0.2718 right_y=0.0024 right_z=0.1291 right_yaw=0.0077 right_pitch=-0.0323 right_roll=0.0026 right_gripper=0.9985\nstate[joint_eff]: [-0.4718, -8.4718, 8.4308, 1.8144, -0.2222, -0.0659, -0.2271, -0.1573, -1.1419, 7.2, 1.9023, -0.0122, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cea120d45f5d16e3182c2c1bf739a8aa850b29a9f82514c122d16137e4124a3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8fddb632c7261a53de5de914bd2e381be2b098f8ac832dec0e60fd91732bc83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1835b9aeba6021b662d831625e029fe7c3a5722fd09a73ecd4a1891b21ccafa",
        "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 · 5.464 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]: [-0.2554, 1.7939, 0.6762, 0.6212, -0.2718, -0.2047, 0.0141, -0.0193, 0.7326, 0.4793, -0.3584, -0.0231, -0.0368, 0.9985]\nstate[eef_state]: left_x=0.4493 left_y=-0.0646 left_z=0.0612 left_yaw=0.0675 left_pitch=0.0851 left_roll=-0.0375 left_gripper=0.0141 right_x=0.2781 right_y=0.0023 right_z=0.1438 right_yaw=0.0061 right_pitch=-0.0392 right_roll=0.0053 right_gripper=0.9985\nstate[joint_eff]: [-0.1299, -6.7487, 5.4632, 1.072, 0.0611, 0.1832, 1.0037, 0.1026, -1.4974, 7.1453, 2.0537, 0.0024, -0.0513, -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]: [-0.1062, 0.8902, 0.857, -0.514, -0.1696, -0.1448, 0.9965, -0.0193, 0.7101, 0.4408, -0.3355, -0.0235, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.3112 left_y=0.0004 left_z=0.2421 left_yaw=0.098 left_pitch=0.0234 left_roll=-0.0211 left_gripper=0.9965 right_x=0.2751 right_y=0.0024 right_z=0.1367 right_yaw=0.008 right_pitch=-0.0323 right_roll=0.0028 right_gripper=0.9985\nstate[joint_eff]: [0.2667, -2.0718, 9.2103, 1.7118, 0.0562, 0.2564, -0.0317, -0.1026, -1.4017, 7.241, 1.9414, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2523, 1.7092, 0.8684, 0.152, -0.2966, -0.2142, 0.998, -0.0193, 0.6914, 0.4072, -0.3206, -0.0231, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.4487 left_y=-0.0587 left_z=0.0792 left_yaw=0.0966 left_pitch=-0.0919 left_roll=0.0309 left_gripper=0.998 right_x=0.2718 right_y=0.0024 right_z=0.1291 right_yaw=0.0077 right_pitch=-0.0323 right_roll=0.0026 right_gripper=0.9985\nstate[joint_eff]: [-0.4718, -8.4718, 8.4308, 1.8144, -0.2222, -0.0659, -0.2271, -0.1573, -1.1419, 7.2, 1.9023, -0.0122, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cea120d45f5d16e3182c2c1bf739a8aa850b29a9f82514c122d16137e4124a3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8fddb632c7261a53de5de914bd2e381be2b098f8ac832dec0e60fd91732bc83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1835b9aeba6021b662d831625e029fe7c3a5722fd09a73ecd4a1891b21ccafa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwwcKjgEIEhgCKkAvq8UMasptjVLpuZrgrj+jM9GpAm0EDoFsjw4n23urtGoX5ViP5pzdiKjoGwgO0tNARuNyyLXucAIYOWicV8fiMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYLYy9UGEgxKfcnR9RjAMhcv+BsaDNeXyFQo4EVcHbGN0iIwPfjMlp5AO0yHdDDo6L7fDRuJqtUjh/S4d/0NwlNEkAAGHkrcRiVZESf+QpTae/JsKuEFZ9pCSnC5wMGe/ocGgD9fJDNlEQfNIGl6x6obZvj0NId1JVODNKrTLCXHIx9p+C1MKl79Bu058FNAN2OFdYVffU13q1l3sHRQnN+LCDZPc8DulYA35R/x/WxaCE0yzOeqtalbOx4zd/4yfUtlAMhJXmJ3DGpO4ivTOiK1w0sL+O+LBP/oieeg2VFq0k6eLJyIDN8WHnEI7TsEbvBuMf7dYvYGBeIAZZW8kUlcdaH+MOCh3sfqD9ls+GLfvSRHxnf+X/m3eHVdLlPXWeyxEwZ74Oup6kNmUc5gb5YBtpooZXen+opmS5eZr0tZ9IGgkdni35PlxurxjyOtx44zvKe9USl9sdjAi28TSHxAZmNkskgifkxFKfydVmS7Ga0YIHwAbG3d+VsxRzvNJ8eUkQbN+1WoojVioJu2d8T37aOb2emB8EMzFCppE4EMxWQOeXWX3egTYlVhbIkYvcns3938B9TWvaIAA0oSM2I+uQjUku4sZX6BoSb5V0p8EDiQ5ydlimih+qqNF/qLASMZOPjStBaU9JFbJfud963Z4NAHQkOSQ9r2/n5gIE9DrjgSz9LdkJvfa9zgDYlNyEYIC9zqw2BDBsR3b6hg7Jf0HJRiupIQMquPpoNcwCiX2OG+X6xXNprXIqA7TXzUiH1Q6iGKzvMOiWWh4JF0dUBcMCHruz8IynO/A3otSekJfOHxhjbikxQHIxSNKJihkhTbLH0kmVSIaCec9YQ4skN70auQTT4MZQVw2KTAY2EcSY3EZZTCrVLtb8A55CbAv8i3l1UmhDkH9UlQJgdSyF6TDKwle1lvfAcLKMm2XKfX32xBxzTC54sBDE72B/wHM2K+ku4lEzn9LaXJvVOZQhaYVwpO0VzYZU43asQqUmR2BaImB63zryPtJk8sTKDUYCumBMkU4OEjTaE3TVcym6p0JCcx1a8hxLNPUsBk+K07VXxPk3QeWd9EmDJDY+hNl6wScv0XIV0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YKLEsrdz6wvhXNfZkeDWRJ",
      "input": {
        "note": "Wrist view shows the bottle centred on the jaw column with its near (base) end right at the bottom edge; descending to bottle-centre height to close on that near end.",
        "targets": {
          "left_x": 0.46,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01YKLEsrdz6wvhXNfZkeDWRJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2485, 1.8553, 0.7734, 0.4294, -0.2996, -0.2176, 0.9978, -0.0193, 0.672, 0.3794, -0.3107, -0.0235, -0.0395, 0.9985]\nstate[eef_state]: left_x=0.4519 left_y=-0.0572 left_z=0.0324 left_yaw=0.1039 left_pitch=-0.0572 left_roll=0.0174 left_gripper=0.9978 right_x=0.2687 right_y=0.0026 right_z=0.1233 right_yaw=0.0078 right_pitch=-0.0308 right_roll=0.0031 right_gripper=0.9985\nstate[joint_eff]: [0.1026, -8.841, 5.0803, 1.8584, -0.0659, 0.0513, -0.0366, -0.2393, -0.9641, 6.9265, 1.9805, -0.0513, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f527296f3140163d277df11af90693b895eeb09acc6d8b5bfd58eb5d8b135fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e53294f397fd52a5eab979f2776624ac2d6e7d249b1e354e329c87ccc15cc574",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:12e8ea8231187770c0cdcaec0c8bb8873c735394433bfce73976018ea49d894b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 23.85 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]: [-0.1062, 0.8902, 0.857, -0.514, -0.1696, -0.1448, 0.9965, -0.0193, 0.7101, 0.4408, -0.3355, -0.0235, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.3112 left_y=0.0004 left_z=0.2421 left_yaw=0.098 left_pitch=0.0234 left_roll=-0.0211 left_gripper=0.9965 right_x=0.2751 right_y=0.0024 right_z=0.1367 right_yaw=0.008 right_pitch=-0.0323 right_roll=0.0028 right_gripper=0.9985\nstate[joint_eff]: [0.2667, -2.0718, 9.2103, 1.7118, 0.0562, 0.2564, -0.0317, -0.1026, -1.4017, 7.241, 1.9414, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2523, 1.7092, 0.8684, 0.152, -0.2966, -0.2142, 0.998, -0.0193, 0.6914, 0.4072, -0.3206, -0.0231, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.4487 left_y=-0.0587 left_z=0.0792 left_yaw=0.0966 left_pitch=-0.0919 left_roll=0.0309 left_gripper=0.998 right_x=0.2718 right_y=0.0024 right_z=0.1291 right_yaw=0.0077 right_pitch=-0.0323 right_roll=0.0026 right_gripper=0.9985\nstate[joint_eff]: [-0.4718, -8.4718, 8.4308, 1.8144, -0.2222, -0.0659, -0.2271, -0.1573, -1.1419, 7.2, 1.9023, -0.0122, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2485, 1.8553, 0.7734, 0.4294, -0.2996, -0.2176, 0.9978, -0.0193, 0.672, 0.3794, -0.3107, -0.0235, -0.0395, 0.9985]\nstate[eef_state]: left_x=0.4519 left_y=-0.0572 left_z=0.0324 left_yaw=0.1039 left_pitch=-0.0572 left_roll=0.0174 left_gripper=0.9978 right_x=0.2687 right_y=0.0026 right_z=0.1233 right_yaw=0.0078 right_pitch=-0.0308 right_roll=0.0031 right_gripper=0.9985\nstate[joint_eff]: [0.1026, -8.841, 5.0803, 1.8584, -0.0659, 0.0513, -0.0366, -0.2393, -0.9641, 6.9265, 1.9805, -0.0513, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f527296f3140163d277df11af90693b895eeb09acc6d8b5bfd58eb5d8b135fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e53294f397fd52a5eab979f2776624ac2d6e7d249b1e354e329c87ccc15cc574",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12e8ea8231187770c0cdcaec0c8bb8873c735394433bfce73976018ea49d894b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3gMKjgEIEhgCKkAweRksNwFYtmebiK+zqvyutIoUsfodcwFOI7Ai5I6fWgL16lqNns3Edu8obt2sNrrDvzaGNfG/zPnkGT74GDtBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYjYy9UGEgwdiAe8PnJ85k1LdGIaDMf838r40thDS+GgfCIwt09L/zorTXxmJiIHKleuGZ4veb5O94VtYEm2Irzu8VpsHSTnBxLvWsF/yQ86vg2AKvwB+PMsYZyAwtZIvzWcicwqR9Y4TNP7a/Hgb9xP3cdI8oWowNKcSEjxiTqUFv8eLKxYGBg3+UjJ+VIXmQRNGYY2mHkUj+6gr5AscTViQ+IfYdnWl3dt2SdsG8UvPc1T/89o27NicDesW0AsHMFrv5DN9tPYrpaQyzdIyLPDGl6aQdT+UWdY0WyxrgRaF2AGzbQCOcsdjgGZo7mhDHkL9alhc+Jyrg7ZSumCXOXIbOIHW3rM0bLB5z/FKz/d3MC9NZpwxr9sAMTZ5sVO3mJ8CgNiBW0y2c/HZD6G7qbOcg4bQ263wnuNR8+VabsGMHsJug3jC00+jy/BofcKNH1RGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019jeShssoCm9sNhb9HJCTfD",
      "input": {
        "note": "The bottle's near end is between the jaws in the wrist view; closing to grip it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019jeShssoCm9sNhb9HJCTfD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2481, 1.8645, 0.7441, 0.6426, -0.3202, -0.2165, 0.0144, -0.0193, 0.6533, 0.3534, -0.2977, -0.0235, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.4686 left_y=-0.0577 left_z=0.0611 left_yaw=0.1225 left_pitch=0.1102 left_roll=-0.033 left_gripper=0.0144 right_x=0.2663 right_y=0.0026 right_z=0.1188 right_yaw=0.008 right_pitch=-0.025 right_roll=0.0026 right_gripper=0.9985\nstate[joint_eff]: [0.0205, -7.9111, 3.6581, 0.8962, 0.0659, 0.0073, 1.2869, 0.0479, -0.7453, 6.7624, 1.9316, -0.0024, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e92a519bab99dfe692f9f99fed24a2479155d74d028a61ee4e28e8de0cea8bb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab0cee4860dd2f2812a17c2893dcd46fbc9d3c86f7830e1e77c147fae593ddb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57b09d6f37253c241b7bd5c76f0ed34ebdb6585a6f74e91a3e2c6523b2cfde9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 4.98 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]: [-0.2523, 1.7092, 0.8684, 0.152, -0.2966, -0.2142, 0.998, -0.0193, 0.6914, 0.4072, -0.3206, -0.0231, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.4487 left_y=-0.0587 left_z=0.0792 left_yaw=0.0966 left_pitch=-0.0919 left_roll=0.0309 left_gripper=0.998 right_x=0.2718 right_y=0.0024 right_z=0.1291 right_yaw=0.0077 right_pitch=-0.0323 right_roll=0.0026 right_gripper=0.9985\nstate[joint_eff]: [-0.4718, -8.4718, 8.4308, 1.8144, -0.2222, -0.0659, -0.2271, -0.1573, -1.1419, 7.2, 1.9023, -0.0122, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2485, 1.8553, 0.7734, 0.4294, -0.2996, -0.2176, 0.9978, -0.0193, 0.672, 0.3794, -0.3107, -0.0235, -0.0395, 0.9985]\nstate[eef_state]: left_x=0.4519 left_y=-0.0572 left_z=0.0324 left_yaw=0.1039 left_pitch=-0.0572 left_roll=0.0174 left_gripper=0.9978 right_x=0.2687 right_y=0.0026 right_z=0.1233 right_yaw=0.0078 right_pitch=-0.0308 right_roll=0.0031 right_gripper=0.9985\nstate[joint_eff]: [0.1026, -8.841, 5.0803, 1.8584, -0.0659, 0.0513, -0.0366, -0.2393, -0.9641, 6.9265, 1.9805, -0.0513, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2481, 1.8645, 0.7441, 0.6426, -0.3202, -0.2165, 0.0144, -0.0193, 0.6533, 0.3534, -0.2977, -0.0235, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.4686 left_y=-0.0577 left_z=0.0611 left_yaw=0.1225 left_pitch=0.1102 left_roll=-0.033 left_gripper=0.0144 right_x=0.2663 right_y=0.0026 right_z=0.1188 right_yaw=0.008 right_pitch=-0.025 right_roll=0.0026 right_gripper=0.9985\nstate[joint_eff]: [0.0205, -7.9111, 3.6581, 0.8962, 0.0659, 0.0073, 1.2869, 0.0479, -0.7453, 6.7624, 1.9316, -0.0024, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e92a519bab99dfe692f9f99fed24a2479155d74d028a61ee4e28e8de0cea8bb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab0cee4860dd2f2812a17c2893dcd46fbc9d3c86f7830e1e77c147fae593ddb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57b09d6f37253c241b7bd5c76f0ed34ebdb6585a6f74e91a3e2c6523b2cfde9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QtcJ3ebq4f3PqLMa4VcYHT",
      "input": {
        "note": "Close came back empty again and the bottle has crept a bit further out; opening the jaws and commanding 3 cm more reach so the fingertips actually straddle the bottle's near end.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.5,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QtcJ3ebq4f3PqLMa4VcYHT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2276, 1.9804, 0.9188, 0.5014, -0.3073, -0.2359, 0.9943, -0.0193, 0.6392, 0.3283, -0.2909, -0.0231, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.4991 left_y=-0.0571 left_z=0.0429 left_yaw=0.1405 left_pitch=0.0308 left_roll=-0.0264 left_gripper=0.9943 right_x=0.2633 right_y=0.0026 right_z=0.1122 right_yaw=0.0077 right_pitch=-0.0292 right_roll=0.0025 right_gripper=0.9985\nstate[joint_eff]: [0.2667, -7.0769, 6.8991, 1.5604, -0.0269, 0.1783, -0.1538, 0.0752, -0.8684, 7.1453, 1.9512, -0.0513, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:161d9f6c49af0b216189430e33e5cf94af535eef36a351caa9259f078212dd35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56e2220eb54869d5bed2ecef325a771f44176633ee5e86fb9ca3e785a6c9effb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f061588b087783382420438854b6a65d6abe38286839c7bd50a366b422e70805",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 14.3 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]: [-0.2485, 1.8553, 0.7734, 0.4294, -0.2996, -0.2176, 0.9978, -0.0193, 0.672, 0.3794, -0.3107, -0.0235, -0.0395, 0.9985]\nstate[eef_state]: left_x=0.4519 left_y=-0.0572 left_z=0.0324 left_yaw=0.1039 left_pitch=-0.0572 left_roll=0.0174 left_gripper=0.9978 right_x=0.2687 right_y=0.0026 right_z=0.1233 right_yaw=0.0078 right_pitch=-0.0308 right_roll=0.0031 right_gripper=0.9985\nstate[joint_eff]: [0.1026, -8.841, 5.0803, 1.8584, -0.0659, 0.0513, -0.0366, -0.2393, -0.9641, 6.9265, 1.9805, -0.0513, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2481, 1.8645, 0.7441, 0.6426, -0.3202, -0.2165, 0.0144, -0.0193, 0.6533, 0.3534, -0.2977, -0.0235, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.4686 left_y=-0.0577 left_z=0.0611 left_yaw=0.1225 left_pitch=0.1102 left_roll=-0.033 left_gripper=0.0144 right_x=0.2663 right_y=0.0026 right_z=0.1188 right_yaw=0.008 right_pitch=-0.025 right_roll=0.0026 right_gripper=0.9985\nstate[joint_eff]: [0.0205, -7.9111, 3.6581, 0.8962, 0.0659, 0.0073, 1.2869, 0.0479, -0.7453, 6.7624, 1.9316, -0.0024, -0.0415, -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]: [-0.2276, 1.9804, 0.9188, 0.5014, -0.3073, -0.2359, 0.9943, -0.0193, 0.6392, 0.3283, -0.2909, -0.0231, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.4991 left_y=-0.0571 left_z=0.0429 left_yaw=0.1405 left_pitch=0.0308 left_roll=-0.0264 left_gripper=0.9943 right_x=0.2633 right_y=0.0026 right_z=0.1122 right_yaw=0.0077 right_pitch=-0.0292 right_roll=0.0025 right_gripper=0.9985\nstate[joint_eff]: [0.2667, -7.0769, 6.8991, 1.5604, -0.0269, 0.1783, -0.1538, 0.0752, -0.8684, 7.1453, 1.9512, -0.0513, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:161d9f6c49af0b216189430e33e5cf94af535eef36a351caa9259f078212dd35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56e2220eb54869d5bed2ecef325a771f44176633ee5e86fb9ca3e785a6c9effb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f061588b087783382420438854b6a65d6abe38286839c7bd50a366b422e70805",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3QQKjgEIEhgCKkDWFMjgSLMrpdFnXNbteCz+5wlNmiOGxH5Td2u434PKJNuBoLwLwmF7/xxMIA8igEZUsvc8tjyDvjlt6Gs9sTSXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAafYy9UGEgx8d8/3YuKwHLU1ziwaDL036XBRD3fvAPkODSIwV7u+NaX6T91JtPUs4+SqlaMgKTW7T+YwikUk4LeYGym/mkys57roEB8lbHf9ul/5KvsCHrJfOocnujS2EftIF6+0ZHQ9VxEkdOIX1Ui5Cp+TKkcOAazxI1cfCxBPJzki2iIb8cOGlbTq7zoNgB5niEQkM8f0X1FXJfq9yCwhU9AfSOTYown8y3WG642vvqb41FuRL4iOcAG35oZxS3LfGOyZc6WFNjEiQDDKzWk426mi8ZBK2gzEBv27TwqcVXOajKOEhRQVZfpxQpF0vxyoj0vVZOyezj9lRBq4dk11t70+nwB8YNc6CMAhgUMQzyOfhCFfLcEaaNxx6nzUFSmohYxWHIq0YB3+roGFV7dO0w9TKsrme3cC54IVgfkMmZirfj+gFQANND5R+nojq3KJ1p6FNQluI6rnDmkx9f62ympkOw242kwhC7AyTnKrgcBjVHOVHQFWmOVR7M8lYOE4NvVadT8nstw08KHHP3EPxn+YaDjr7oyIzhfAr5Iu3dYApF+asi89gh987OxUA/9phW7pYhphwhMPxk116Ai3LuT6Dz1yjAW5dofJOx2wZxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0173PiGsGYwj4GygCNK5bXUK",
      "input": {
        "note": "The wrist view now shows both jaw tips bracketing the bottle's near end; closing on it (not fully, to avoid crushing the plastic).",
        "targets": {
          "left_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0173PiGsGYwj4GygCNK5bXUK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2344, 1.969, 0.9363, 0.4904, -0.3267, -0.2394, 0.4074, -0.0193, 0.6209, 0.3027, -0.2867, -0.0235, -0.0395, 0.9985]\nstate[eef_state]: left_x=0.5032 left_y=-0.0582 left_z=0.0534 left_yaw=0.1519 left_pitch=0.0512 left_roll=-0.0266 left_gripper=0.4074 right_x=0.2599 right_y=0.0027 right_z=0.1058 right_yaw=0.0078 right_pitch=-0.0323 right_roll=0.0031 right_gripper=0.9985\nstate[joint_eff]: [0.0752, -9.3333, 6.3932, 1.199, -0.0415, 0.0855, 0.4664, 0.0479, -0.7726, 6.8718, 2.0, 0.0024, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a1a713a48a926bd9111167fa995034b4f414f3236c5ff11a6a24d63a5c7cab2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58b9d163c7db9b1db5fc653f02447367cda45e38f62f386a98f9041e56bd1410",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e52d3c5317e75549d86d70b2af005bf3e103b2d9198635e2b374674f489f72a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 21.78 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]: [-0.2481, 1.8645, 0.7441, 0.6426, -0.3202, -0.2165, 0.0144, -0.0193, 0.6533, 0.3534, -0.2977, -0.0235, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.4686 left_y=-0.0577 left_z=0.0611 left_yaw=0.1225 left_pitch=0.1102 left_roll=-0.033 left_gripper=0.0144 right_x=0.2663 right_y=0.0026 right_z=0.1188 right_yaw=0.008 right_pitch=-0.025 right_roll=0.0026 right_gripper=0.9985\nstate[joint_eff]: [0.0205, -7.9111, 3.6581, 0.8962, 0.0659, 0.0073, 1.2869, 0.0479, -0.7453, 6.7624, 1.9316, -0.0024, -0.0415, -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]: [-0.2276, 1.9804, 0.9188, 0.5014, -0.3073, -0.2359, 0.9943, -0.0193, 0.6392, 0.3283, -0.2909, -0.0231, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.4991 left_y=-0.0571 left_z=0.0429 left_yaw=0.1405 left_pitch=0.0308 left_roll=-0.0264 left_gripper=0.9943 right_x=0.2633 right_y=0.0026 right_z=0.1122 right_yaw=0.0077 right_pitch=-0.0292 right_roll=0.0025 right_gripper=0.9985\nstate[joint_eff]: [0.2667, -7.0769, 6.8991, 1.5604, -0.0269, 0.1783, -0.1538, 0.0752, -0.8684, 7.1453, 1.9512, -0.0513, -0.0757, -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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2344, 1.969, 0.9363, 0.4904, -0.3267, -0.2394, 0.4074, -0.0193, 0.6209, 0.3027, -0.2867, -0.0235, -0.0395, 0.9985]\nstate[eef_state]: left_x=0.5032 left_y=-0.0582 left_z=0.0534 left_yaw=0.1519 left_pitch=0.0512 left_roll=-0.0266 left_gripper=0.4074 right_x=0.2599 right_y=0.0027 right_z=0.1058 right_yaw=0.0078 right_pitch=-0.0323 right_roll=0.0031 right_gripper=0.9985\nstate[joint_eff]: [0.0752, -9.3333, 6.3932, 1.199, -0.0415, 0.0855, 0.4664, 0.0479, -0.7726, 6.8718, 2.0, 0.0024, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a1a713a48a926bd9111167fa995034b4f414f3236c5ff11a6a24d63a5c7cab2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58b9d163c7db9b1db5fc653f02447367cda45e38f62f386a98f9041e56bd1410",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e52d3c5317e75549d86d70b2af005bf3e103b2d9198635e2b374674f489f72a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XFA4VwNj79EPSZdG4bPUWB",
      "input": {
        "note": "The jaws have closed on the bottle's near end (gripper settled at 0.41, so it is holding something). Lifting straight up to see how the bottle hangs.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01XFA4VwNj79EPSZdG4bPUWB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2359, 1.7367, 1.4471, -0.337, -0.3378, -0.2443, 0.406, -0.0193, 0.5999, 0.2756, -0.2714, -0.0235, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.5079 left_y=-0.0582 left_z=0.2213 left_yaw=0.1618 left_pitch=-0.0244 left_roll=0.0071 left_gripper=0.406 right_x=0.2579 right_y=0.0028 right_z=0.1016 right_yaw=0.008 right_pitch=-0.0231 right_roll=0.0026 right_gripper=0.9985\nstate[joint_eff]: [-0.3624, -11.9453, 9.6889, 1.6093, -0.1099, 0.0708, -0.1587, -0.1846, -0.7453, 6.7761, 1.873, -0.022, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55623ca15d26c5b6bc3545abf39366f6b7e14839357cb608087bfe9b1cf27153",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd8ad562e65486edbcdf47a6fa25fd6483fde3d6b063e2abb398eed49bdda56b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c40cacde38b238c22eb6ea949e43f5aea4dae4976c8f77851e0a8f65a6efa14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 7.335 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]: [-0.2276, 1.9804, 0.9188, 0.5014, -0.3073, -0.2359, 0.9943, -0.0193, 0.6392, 0.3283, -0.2909, -0.0231, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.4991 left_y=-0.0571 left_z=0.0429 left_yaw=0.1405 left_pitch=0.0308 left_roll=-0.0264 left_gripper=0.9943 right_x=0.2633 right_y=0.0026 right_z=0.1122 right_yaw=0.0077 right_pitch=-0.0292 right_roll=0.0025 right_gripper=0.9985\nstate[joint_eff]: [0.2667, -7.0769, 6.8991, 1.5604, -0.0269, 0.1783, -0.1538, 0.0752, -0.8684, 7.1453, 1.9512, -0.0513, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.2344, 1.969, 0.9363, 0.4904, -0.3267, -0.2394, 0.4074, -0.0193, 0.6209, 0.3027, -0.2867, -0.0235, -0.0395, 0.9985]\nstate[eef_state]: left_x=0.5032 left_y=-0.0582 left_z=0.0534 left_yaw=0.1519 left_pitch=0.0512 left_roll=-0.0266 left_gripper=0.4074 right_x=0.2599 right_y=0.0027 right_z=0.1058 right_yaw=0.0078 right_pitch=-0.0323 right_roll=0.0031 right_gripper=0.9985\nstate[joint_eff]: [0.0752, -9.3333, 6.3932, 1.199, -0.0415, 0.0855, 0.4664, 0.0479, -0.7726, 6.8718, 2.0, 0.0024, -0.0464, -0.0073]",
      "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]: [-0.2359, 1.7367, 1.4471, -0.337, -0.3378, -0.2443, 0.406, -0.0193, 0.5999, 0.2756, -0.2714, -0.0235, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.5079 left_y=-0.0582 left_z=0.2213 left_yaw=0.1618 left_pitch=-0.0244 left_roll=0.0071 left_gripper=0.406 right_x=0.2579 right_y=0.0028 right_z=0.1016 right_yaw=0.008 right_pitch=-0.0231 right_roll=0.0026 right_gripper=0.9985\nstate[joint_eff]: [-0.3624, -11.9453, 9.6889, 1.6093, -0.1099, 0.0708, -0.1587, -0.1846, -0.7453, 6.7761, 1.873, -0.022, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55623ca15d26c5b6bc3545abf39366f6b7e14839357cb608087bfe9b1cf27153",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd8ad562e65486edbcdf47a6fa25fd6483fde3d6b063e2abb398eed49bdda56b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c40cacde38b238c22eb6ea949e43f5aea4dae4976c8f77851e0a8f65a6efa14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS6xwKjgEIEhgCKkCynd8flCX3kXT1IjfJMJAXSBnqpKO9eL/caFd9TG2LvIhnD3RhwDUR1gqMIoS4sMeHfWWNPNNRTdj0LNomhf+KMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAczYy9UGEgxq1ORHQSsvgrqdg7waDOFJlOpIGCujtf99FSIw6x9xoNFu4vFuzkTrkRWvPP3yoJ8Vs41zzDFEn+lXoyqXvqn7JnjowHRNODWn5B8/Kokbc5RqQd/6+HIAoMCHjFyjUrdTRcYhncRSoeSLR5iDCrxwJgj/0I0TJYtKHpNT9QAbCLLckwmwDYSKtyhi0lPINBQ25+apcB9O3mUqNSVXCJzA/FTgIWFCkhhWTlbzVkqzMHlJ4tbeFzaeJcAqKFutmDK5DzuD3cR1BFLTdAoY+7wEZFTXwNE0ndMEVPgtzcWP4KYXADDqzwkdrBDBSP3Y3DyXerhM8rA3QOP46Dx+ZgHdkm0fnY74iU5J1r2fbZr5Mq1qgBHzBBilnmTDMs+PRA18mudLWAl7Dgj+o8/4WhnsibCkQtKEwMMoxyvq8s9s0MGxgOfxcHGOPuPVV4QJAhufBAsnsEJh8re2eMnTc0ih8bXK/+5F1kl4AzTK4vtPZlwQ/lCtruESeww+sk12r6Nns/j5FQWFO/Wl29yFQEjrbJZpv4pPaCyOe4V/EQ0Z9MdKOrcgpKs2x/MF1xLQieRrYx6SNl4Icdc7S5J2qqlXT4/+U7fDjYVBlTTr/j2AAJs3jr3L1OQ0NhlTF7DGPblmTXLxGATelpMqKskMXOPoJyWtTWQR+QbxDK0tPN9aX0dbD0xRXWNbo6tDamvzhiNuOYwgYFAufu0AQsl8Lql/18nYnfCsKHUn+uGHGIdoz+jazlvJ+Kud7MQqVYiHCTRyw29l1cM4wsfDoIM30S+f9egglS9LJSE2BaoRg0Hcb+ZN+/53wt/Xx9Dpghwr78JzAF7Cb+0toanq1NEEPKPQbBYUkBWRgiremfuuV8gxIW9iRElihx2SxkYNGgK64rb95VWxpPwnx4Yw6OCV3ccndG35Sgi47Wpb+EbIAR/LcEvb3C3rGpKn8MMytmJnvWhBW0+e+NDt0/h0AibnrrD7hoP2slpgreJVl1pQCsXyBIsUk/tUWadMZl2qSy21rmBPiTncsZRLnGzjfehHeFTlnNMRgBZsKZDpe0GNzV9nBQMboXuaw3aARFzR5jyxODC7eYYhAy7Qh7/qoxxtpDFDTlSp4fHgujjb4fr62DI0dl6/si+z/wCsMdiS2H6i5mWcO2AVVS+7ozlCYfmjMHa19LgpgDxwBT0yDf0FOA+DPFWkul1t6IkzeQ7OOoz/96qIHNlRu1Dy/UFExW95gZjWpswF1HUd+Cab9TojxYHpl48U2ySQmdTwozBTNzLVHm8/CgPxO1PDx9FVs3dnlH/2aXvdw6URBLf9txQPBZV3ap+wU8rFFn8bFBgbfhJf76O7FYA6jfRZ5Thrpy4YzSdPwb1NTY7orvpsbo/ZjJUdx8wK9k1KbAMEKLdI4/xZvL4aTOfTigj9CVJQI9pgw4ug6E4/LD75fHyDExn804up1MKihyWvh2z9jALcrwXUyJvTVfMff4zb1Af8wYbgNf9upVcyXab6wyiRAI0ceaUobfLbBdc/NtM/iISz8LAdmFZnNyoevZE5FgEB/tOuZZwoNIiEFM0rzaIZYPK6nx5nnGfSOcXETQVtIVm2Ym3mUeSOZ7Oz5BDgV7pkQNOgbLPAmmme4jKVb2dm4BVlHHOFKCIRO7pjW0iU0OWJZm1gLZ+H/mZ7XniIB3j9QjHfkd4L7sSpzuFKUdbRZ8h78ACeCOmSvB0oC7NOGAaj6cjvYnVMIfSlyy4e/66O8q4YES90hOASQK/pN144GtNZFz1pQl/yXV+jgy4pggqOvG/4WiUvbQCi4zlmIlDR4SZ7Z+9ot3bxO4WWFSw+0hF99Qw8SyicjbRnWvusROxLlHjK3paP3+SRawe/7lxLaDjQZ7iX2KLQjuegHOURtZ3J6WcibFhIZ1yF349w6JRc+e15HA1c45dmNOYP+jbomBH37deFgCu1/9Su0eyT6BCxIRNaTw1p2TapnVS8Rmhif3qhIpT1WxIbMCSCVkgwg6lFck6AGXLQ0Pivi0VN9VH97BsNtqfqb4CYAl2X4zn/KVKV7s9e7qcPtw+iZ2wTlNMLLjl7VP57UtRKvxMY01JxyocG/tK77hMEuwerAHrfDGVV/A3M4EkQQDJpVgAU1aP6CtksFy14o5pL9lYs+WCEbSwA3DYheY2TPp9Bws4R45YYIVdxHMV175v9HWTB1wLp/529DL4Fl/whOr6jGIqjvFsXW4XrZ26J29RHl78JlQqRlU3OBfMwC63/O4VkTzBaNxBMbambGxF6aSz0e7exEXeCI51EK0jQFF+7dWvqr0ZVOHLj+YJ3pE78kRVUL9MDE1tRWTbhBTD9bobQmSyFDwp33GVGOn+n+K3Lv3eZ5sPkUGaCfUy8scCqIctEbC6s9nXiC097iuPXkMtxRCI55qGnlXQ0A/VbtgXwOTVQVeZzbg6MissYQwQqg8FT+H+fMgS3mW0zsjLapk44woIK+mWlN4vP71zE/bB18U+8iLB5Qmcavhlif/cXUrj5VbKI+Yud4LE4quo6qZd4v1AzChCPMdLu/aQcUvwroyBisbsoN/t8UYwMR78tLKtMeDk3Z2Wk2IO+TggFvJfcmoIY4YcPMezL99WZhh/uenI/a/tjMUUcCErggTVHrChj2wLAuZHsljhYNaq+/hXO3NYHgZARfAyHZK/2RSOyar4iET0X0fqhFsDEjgfDwwwNuHvRcRW+OAscctQsPMHwO5Dv15dWAzpu/toQTc9S1wH3SKFbzC43YyMU+FFDCoN3zZiFGL2fBdSIbw6vtVhacRje6N5UBIGDVK3p/yUyc1BxOzVb9b/VUbAWXxJSPbLH+7FZhVcO3uOB+kGoF6DiP3QIWo134xajyG7bobkTZ4FHxDvAgutQwTMyJCUSaFg0M6JhjGfIIRu1ZSGKUDRWhEkctD2ZD7yDmgT3gl2ts5SFGB19Pt9vJ/SmQs5MjYWGBBgJXAto7k+o8z/hJtG2vaAuYvLKUgSe9wcFl0oERI7lOHYtC5Lmh5eFAel0UR41aB19xf1Xfq2dtOQBeUNT+7jTVtdJ+jwJGH0NYWQNHqmNkGF5Np/B1I8CZ1IlUhEubVVKIUueP2ixkzDeIJ+3OEb7Hf2/wxu1qnpJwyUfYPRkJmTUq1fkSkQfXiuYNWd0ttKGbw8iDM3MsZTqFzxOMOVscZnWLe8PiQYaDguij/lXwuTcMTxX98tCm7NcaAWH2zsnf5WytaeqWpB8N3tYp5Ym8ns9b73YmN88TSzoBhrlP+lsPUN/5BioOQadEbReks8jUaKjoYDEs8jveIeGjYdEuDaIuxD2TPgzSX7PStigWqt2giqUn1b0+oBV0/cDLpw1sW2k5RDxM/R2+HAZy3MQyISYkDFjW/Oh9V2BBwhzvZd0L2gW0kAY0sB++WJjaH0s5hL5SOfrkzlow987ee7+9u2IwHHWCFlIVoLsiux73iC/ws2+28R691/oaNMrAA4zYt8PXYGVnbZZ0bs+SZmBX0REtpEpxq8Znb2ITOUAMu8WlTeusG2s4qkppmkw7BpjlHxdPge/imEjKU9/+HUMhiaML0jQpKYs70pO0j2hGMOEZC4FGpHevjpnWaEtVGTjWJRsHc0HPjQNDt9QfYlpAoTQ7Shj8QC1LJ6eSvtMP6RJgO3elJ4Rwuo5G7SUiQVSRlCaOlA7+kl1gIablfEXhSVmsXDVrvcCpWn/QPVk+fSmSe5JI6/cjfBUjHuoDVpMU6q7O7c6NUBiWyl60GpUlCvca5K6KbsoawFkM0h1CSvcPhMXSlU9STEu4v/8fjYFwmUzX073tC5OT46qIZYyij4JhkayrbY9of3WetgXloXEL8gJVTsyJfad8lsLW7yHHzuZEZzMAe6PaDfpcUQCVu2cCUgFQ/2CdzHz6tRTv5PaGUh9oF1pH6uU2yEerKOBzqIztfwTNa09RODxilpI3nLAGvDv2ZAu3A+x4r40l94X6ovhVOs6/RluE86nJDhLG/ILAAfhe6DEFtR3lCma3soZA2efwN+GITYoA/d6CWZjlf+SW1ab3XcmITMJum9sfL+slHPgRyuD74aJfMchdFnixWppuMMHevA6op2Dl8xFD+4MMSzRqpEwzUtf8XcMMyNgOKYbor+i/dREG/txCAa1TtUFxpqkCRsawDkUNpPEfbVmeD9VPhuVT1N5j2G4br3NT8bLNHeZIaXaekZrhQtd66q1uwHh/UO10Bss0X1m91xAa8VACj3/V0yeKlqI9xQkT/XIGKZA6qQV7s59ZCtnzD/PDte2Auj4hWFEH9SFSEQrGJuDDjc3iuEnoZwThEhBLdn37sxISkSkdkqHWqixMgfPznkjlVW97BJtPlEirgQ6iNyn1tRFQXdW2FGfHaU7GwLRVi+vIMgokg3n1odn9FzTHy08F8MeiQQj909P5HeyERi8OLH12AnSj4kfIbwcZ9N2/GW0RY5wViIbY8sW0hk1u4uXvqrAp+RaXoQk7JzSatRD42VpmqxnZe3LqHjsu+gJxaMJT92pGx8S3GVoVI6Kza60uLDjfXHx/CZc3JQEiGtXeLqNz092uKzWhI3z05cPbG8QZ9rIQtYbZ3iByXjKQn1Okz6Fv/3Nxc29uZE9UhPm4IdZQQ7s/IyDDTVCZUKbjHU7Pp10alsvXOnvjD8Qz2C5BnFvsbM0CwAft8hnsy/GDSRvYqx5Sw+yy5e7yN9NijJeq79NhuuTVolv4x8f7Za7jz0tGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MyCqi7tYgzigRazhvGq76z",
      "input": {
        "note": "Excellent — the wrist view and the load on the shoulder show the bottle is hanging vertically from the jaws, cap up. Lowering gently so its base touches the table before I release.",
        "targets": {
          "left_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01MyCqi7tYgzigRazhvGq76z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2359, 1.7359, 1.3258, -0.2481, -0.3382, -0.2436, 0.4058, -0.0193, 0.5861, 0.2569, -0.268, -0.0235, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.5001 left_y=-0.0563 left_z=0.1851 left_yaw=0.1622 left_pitch=-0.0535 left_roll=0.0202 left_gripper=0.4058 right_x=0.2555 right_y=0.0028 right_z=0.097 right_yaw=0.008 right_pitch=-0.0247 right_roll=0.0026 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -9.0598, 7.8017, 2.1758, -0.1685, -0.0562, -0.0269, -0.0615, -0.6359, 6.8718, 1.9219, -0.0269, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42310e9712f05a3e4a443d40eeee37c9a87624bac58ad6a270d9d10ddfaf90b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ca45087a8b18f29e74a7735425d490634207cad894b2d958677f3e14fa7ae44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c3f1041d80a46fde30524aa48ce5b953d926acf92bda19011cdb1dc1e618509",
        "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 · 30.71 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]: [-0.2344, 1.969, 0.9363, 0.4904, -0.3267, -0.2394, 0.4074, -0.0193, 0.6209, 0.3027, -0.2867, -0.0235, -0.0395, 0.9985]\nstate[eef_state]: left_x=0.5032 left_y=-0.0582 left_z=0.0534 left_yaw=0.1519 left_pitch=0.0512 left_roll=-0.0266 left_gripper=0.4074 right_x=0.2599 right_y=0.0027 right_z=0.1058 right_yaw=0.0078 right_pitch=-0.0323 right_roll=0.0031 right_gripper=0.9985\nstate[joint_eff]: [0.0752, -9.3333, 6.3932, 1.199, -0.0415, 0.0855, 0.4664, 0.0479, -0.7726, 6.8718, 2.0, 0.0024, -0.0464, -0.0073]",
      "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]: [-0.2359, 1.7367, 1.4471, -0.337, -0.3378, -0.2443, 0.406, -0.0193, 0.5999, 0.2756, -0.2714, -0.0235, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.5079 left_y=-0.0582 left_z=0.2213 left_yaw=0.1618 left_pitch=-0.0244 left_roll=0.0071 left_gripper=0.406 right_x=0.2579 right_y=0.0028 right_z=0.1016 right_yaw=0.008 right_pitch=-0.0231 right_roll=0.0026 right_gripper=0.9985\nstate[joint_eff]: [-0.3624, -11.9453, 9.6889, 1.6093, -0.1099, 0.0708, -0.1587, -0.1846, -0.7453, 6.7761, 1.873, -0.022, -0.0611, -0.0073]\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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2359, 1.7359, 1.3258, -0.2481, -0.3382, -0.2436, 0.4058, -0.0193, 0.5861, 0.2569, -0.268, -0.0235, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.5001 left_y=-0.0563 left_z=0.1851 left_yaw=0.1622 left_pitch=-0.0535 left_roll=0.0202 left_gripper=0.4058 right_x=0.2555 right_y=0.0028 right_z=0.097 right_yaw=0.008 right_pitch=-0.0247 right_roll=0.0026 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -9.0598, 7.8017, 2.1758, -0.1685, -0.0562, -0.0269, -0.0615, -0.6359, 6.8718, 1.9219, -0.0269, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42310e9712f05a3e4a443d40eeee37c9a87624bac58ad6a270d9d10ddfaf90b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ca45087a8b18f29e74a7735425d490634207cad894b2d958677f3e14fa7ae44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c3f1041d80a46fde30524aa48ce5b953d926acf92bda19011cdb1dc1e618509",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkwgKjgEIEhgCKkBiBTYg9EJqkyy25dB88e186S/oaGC/l2Pv6Uz8Q5WcZWED474OnI/08xQNMdJ/OWV4qIt237THAc/1yxrvKzUvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdTYy9UGEgyPlVmQ/8yxr21MQZAaDGahavf19KYx5WmA6yIwTSC1dkXRWpXeoZjlUVrVfHpCy089kCWcuCEGe5AFMclA8lhnzi3EowfBQNHHchRLKrEGTBcnz7F4O/bEFJZMbSt3+KOQhrAjJtTQ4By8qwW4isxzvkMT0UD6GUroiSGx+54r+iCbi/tax/aPTsSbfYOunDT5jIrgAA3uqfp/O9rDjwV99vMNVPkml44Q/EiFXHyOHe8xeDbZ3k5f1fBfLUzWSkXIdxrBUykgQjOUeqegFFHwDaGrhxVIucyqgKfvAdpn2ZIMWuqLrfVQEltfTbDsYJc4PnkA+S9MvlvEfsRT5/V76bFcpMWyMGM9JBz3xWkKTqjFpHynJrlyMC84Hbt/BktrSCekgJ2NGb2s+XN79L4bcu8mOhazPeSbNMYgCMQ1jFT2So+X1JT/h1hzWToT4OAKgMt3ZM+qf8i87PMKXkfVVuxXXGQ0pWsl8V7htibdZCYIOrfC4JXM56hnf4HjTDYa4zMTcR/nS+gm8ZiaUgUEo3Uiy1NAobqf0jf4JlvP70PkVW64h5FE3+EL5cCJqL0upencR+/fwyW5JHDVnBS3EMzTET9E2Tb/b/4vvTQmatUI1AXUgkqzG1J2k9/3Ak3dJMRuRmdZaOUc5v32PZ5UwSaZS8cZhUyI7dizlKbdwVAFGm6cwWQFh6lUUG+wPvKYxs1OkrHqwH/hZrb3rS+zrcLN85PAgzPGBaNdGZYUw5RP+b4JpXA1HkqSLjPiXD9+YTXp8smQMJX07c7bg5PHyX4kwgmzAGI8kuG6qz8yk4QaUefpQIapNvH2Gyheyx/NX2jF5TpbZPfQOwfxfKnRGXXrrMsquiNFlmDoGItp3MOS53P5YTE2nQz33xguFmRj1tWVgrwldri6hxtqvx9Cz2BfXbF4VO+LLAXNWBybuR5dwaJ3k2RoXM6zO/+FAgYKnoTgvMX/5CbFhuw8DdF+BzWBtysolXn5NcVLGwHsvlkeYQYJnmUXiepBXi57YinYDFjDdQwStkajp9dBXIDpcCLdmTTB/qnq/4VbkkfDe+4yQENjj3S/cNX47W5BDepjAVf2sRp07D8+HsRuursYh7MCuWYsHgFA+2a67yBswJlMAYGm6c61sRLR59uITbDvnGWPVtwfHVV4mRfdJxu7SsLqQWd1F0ZZm/rRE52t/hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012r6JmZZ5TjggacY8HbvFXu",
      "input": {
        "note": "The hanging bottle's base should now be on the table (shoulder load dropped as it touched down); opening the jaws to release it standing upright.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_012r6JmZZ5TjggacY8HbvFXu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2359, 1.7466, 1.2552, -0.1608, -0.3382, -0.2451, 0.9944, -0.0193, 0.569, 0.2363, -0.2649, -0.0235, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.4995 left_y=-0.0561 left_z=0.1657 left_yaw=0.1629 left_pitch=-0.0478 left_roll=0.0166 left_gripper=0.9944 right_x=0.2529 right_y=0.0029 right_z=0.0923 right_yaw=0.008 right_pitch=-0.025 right_roll=0.0026 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -11.5761, 6.9265, 1.8291, -0.2271, 0.0659, -0.1392, -0.1026, -0.1436, 6.9538, 1.8877, -0.0122, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38aaeae0b7b45d5920c0814dc4a27c9b7bad7325a532910ab38b6a49c7f3896d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bc9e15add5230517b12817518a77f56e5c2179d96565d8c7e863169a04a1c98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:85856ce853240e6697affbf7461ad5fdea6e6d6140ad76face166c02d231bf21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 37.48 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]: [-0.2359, 1.7367, 1.4471, -0.337, -0.3378, -0.2443, 0.406, -0.0193, 0.5999, 0.2756, -0.2714, -0.0235, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.5079 left_y=-0.0582 left_z=0.2213 left_yaw=0.1618 left_pitch=-0.0244 left_roll=0.0071 left_gripper=0.406 right_x=0.2579 right_y=0.0028 right_z=0.1016 right_yaw=0.008 right_pitch=-0.0231 right_roll=0.0026 right_gripper=0.9985\nstate[joint_eff]: [-0.3624, -11.9453, 9.6889, 1.6093, -0.1099, 0.0708, -0.1587, -0.1846, -0.7453, 6.7761, 1.873, -0.022, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.2359, 1.7359, 1.3258, -0.2481, -0.3382, -0.2436, 0.4058, -0.0193, 0.5861, 0.2569, -0.268, -0.0235, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.5001 left_y=-0.0563 left_z=0.1851 left_yaw=0.1622 left_pitch=-0.0535 left_roll=0.0202 left_gripper=0.4058 right_x=0.2555 right_y=0.0028 right_z=0.097 right_yaw=0.008 right_pitch=-0.0247 right_roll=0.0026 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -9.0598, 7.8017, 2.1758, -0.1685, -0.0562, -0.0269, -0.0615, -0.6359, 6.8718, 1.9219, -0.0269, -0.0611, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2359, 1.7466, 1.2552, -0.1608, -0.3382, -0.2451, 0.9944, -0.0193, 0.569, 0.2363, -0.2649, -0.0235, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.4995 left_y=-0.0561 left_z=0.1657 left_yaw=0.1629 left_pitch=-0.0478 left_roll=0.0166 left_gripper=0.9944 right_x=0.2529 right_y=0.0029 right_z=0.0923 right_yaw=0.008 right_pitch=-0.025 right_roll=0.0026 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -11.5761, 6.9265, 1.8291, -0.2271, 0.0659, -0.1392, -0.1026, -0.1436, 6.9538, 1.8877, -0.0122, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38aaeae0b7b45d5920c0814dc4a27c9b7bad7325a532910ab38b6a49c7f3896d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bc9e15add5230517b12817518a77f56e5c2179d96565d8c7e863169a04a1c98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85856ce853240e6697affbf7461ad5fdea6e6d6140ad76face166c02d231bf21",
        "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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eRKAjL1hK4zPadPdm371IToM2tznA0BbbHfMvNF5kES9CiICopaZ2Catrbiam1E0KifFsve2sd7QwaNyjF6tQuTiuLUef4davkyhaQ/WevWcZGDkRYFAoxvFWwcTzlU61cFdZAV69QkauhxjrhL8oCYarpUkq+8KxSRGg8v5D4HMVDNXkIpHP0CzZPjSlqcjS5+sRMJ3oZVX7JAO2Y/EOpMT9JpO4KttgHA4appPIUXgPFk74/Jg9I+Tw9rherKOlgdbsoEBeNqYluYoM3AdVgm1k/gh8InfAQVumb7sIEYFs986UlsIpQG3KocKa6kCofeDg30InERS+DYU2ufHdUtLoDSk8Qzl4GPIYgkBIjwqKZMPlme1qDd+ZCK8VxAKaRFIjZZnNKlWqLsKuiDoAVD4oZ/+CRvpaEz3SkWR/OX1Vhf8Mb4o80pSpy3UEcPbp4ew/C/n3RWvrVw2qHNGOhsZJ/9iyR75IUQm+oxgWx5B87uVZtwI78TGGmjwvAVx3p9OumrW/mrHJvRrHlqggpf6ZZv1hk9X2pCWRFWy1CtM8Y9MIPHJAiQ97w/R03t0SZ+vxFIGEdylFBmnrTTNleLNXMHmA4vjIU56mNd6DQ79uQbDQl2dBruEu+FFd+OMCn7OpNkKVmZrEe9hr1llhQglKBGtWJ35FTx+qtoaDu7ynLehntVq2vy6W8+F2ca2+1t+DWS5sa9l+ypJeZw3dZoa6yJjDyLMflistlyq2TmEfYBciYc7rETblNffLzuLakZjvQ/pmIEE64S2qhUXhnPUag0s6u9c6qu80QjSRu4eoFZDzMnsMAbOh2uEpzahFYjyO84d51cOaeoGDzln2qRNp/d1ZJa7P0kAvuId8y5PRx8NQkVdyOp5pkkfuBjcxMn5dZawHrWTom0bGJy+ArF+PiX7oyX9CQM15eTcdoPQU1WpQKyob0XG2V6rdr3JBlkQbTEqzyHdLM98TVW0giDX6cPTnajRWyumWyCdeJOW6wHvv7ALIHZ2z40O0fsfbkXYx2nvUC9hEahbw/E6fmN822I0jpvDSmZ9ojsvUKks7P9d0PUExUsCtLUj+qCKRBpiZp/fnmx7CkfUEio6VTVgxlWyPmffqnfRuaUV7L3Fe6BioIl8Fqio8T5QezPH0VQuerue9TwAmVS28HQOIdHCcZJNW0o4NZ06lgvLdteOFqvb0I/Ox+bXNy+3d9IRDxNCfO+odSBr7DmY8cJeF2Q3rcu3lvijlvQXSe5yvHdy04fnHsF6lg8HW009OYofJkT0amCJw/V3FcsDBj8fC+1NTJIW6p6mMN2BnHVzCoglCGQKzQMgE+kNxZL0XzrLtRrErgoIXpBarDDLlar3rzpi9rxNV2m5RhmyK+GLmnJHS0LMpjNYk38rrJ7o0vvkV0XEgV4PF1wSv2Aw48u0coZpcmnd+CozZ1ncmfwbeDuxIxA4zsnxZeTmQmoF7Dyw9pjTK58rQb4+i9ycF3wQW997TSosy/0CMPTS0rJ41Lg3bGHyByXcoyBB5Ic4YrzAgmMp3h58eulv36DR5eMATtzZnxRWPra+I8b2Tdo71dG6SpQuxdAlY3ucsY6Ik/uZezRXco0qOFt13MJscATA9jMzI2nuH0bUxs0qKfjEntPE8/z4NN71QA8Sa1YmcjrbCnCJwFGUArPwhga8fMIhwG3CaAK0aeBLXGd9Z+SMgcZuw+PaKh8YR1Rng6G3DvNmJaUoL3YFbG2HMIvQMu9RRWKjzFFd74YXYUQq9OuCqkVfWnsJGrCwpXKYdCd51ozMzwxwa8qbl+XFIZxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AZasT8sXMGRjiWpTTrJQn9",
      "input": {
        "note": "The first bottle is now standing upright on the table (visible in the left wrist view). Lifting the left arm clear of it and bringing the right arm above the near end of the rightmost bottle to repeat the trick.",
        "targets": {
          "left_z": 0.32,
          "right_gripper": 1,
          "right_x": 0.38,
          "right_y": 0.23,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01AZasT8sXMGRjiWpTTrJQn9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2359, 1.7321, 1.787, -0.6605, -0.3382, -0.2485, 0.9956, 0.7654, 1.6936, 0.878, 0.0456, 0.5808, 0.416, 0.9986]\nstate[eef_state]: left_x=0.4992 left_y=-0.0561 left_z=0.3113 left_yaw=0.1642 left_pitch=-0.0049 left_roll=-0.0044 left_gripper=0.9956 right_x=0.3678 right_y=0.2239 right_z=0.0853 right_yaw=0.0503 right_pitch=-0.0493 right_roll=-0.0373 right_gripper=0.9986\nstate[joint_eff]: [-0.4171, -7.7744, 8.8957, 1.7363, -0.1294, -0.0024, 0.1148, -0.0479, -7.4735, 8.3487, 1.6435, 0.5348, 0.2759, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9077eefb5e70c2d195c7027f8096f8be4184e701d74da6ccbfbf0ca1b8b6ddf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d94bb7017aaf8a5e63cce83e96ff6762c206cc0ef3447a2ab4bf49cd8c658782",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4659b15ea178f5d438612dfe3807ca01929acd2e7326ece5c5f85fbaac218e28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 8.027 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]: [-0.2359, 1.7359, 1.3258, -0.2481, -0.3382, -0.2436, 0.4058, -0.0193, 0.5861, 0.2569, -0.268, -0.0235, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.5001 left_y=-0.0563 left_z=0.1851 left_yaw=0.1622 left_pitch=-0.0535 left_roll=0.0202 left_gripper=0.4058 right_x=0.2555 right_y=0.0028 right_z=0.097 right_yaw=0.008 right_pitch=-0.0247 right_roll=0.0026 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -9.0598, 7.8017, 2.1758, -0.1685, -0.0562, -0.0269, -0.0615, -0.6359, 6.8718, 1.9219, -0.0269, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2359, 1.7466, 1.2552, -0.1608, -0.3382, -0.2451, 0.9944, -0.0193, 0.569, 0.2363, -0.2649, -0.0235, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.4995 left_y=-0.0561 left_z=0.1657 left_yaw=0.1629 left_pitch=-0.0478 left_roll=0.0166 left_gripper=0.9944 right_x=0.2529 right_y=0.0029 right_z=0.0923 right_yaw=0.008 right_pitch=-0.025 right_roll=0.0026 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -11.5761, 6.9265, 1.8291, -0.2271, 0.0659, -0.1392, -0.1026, -0.1436, 6.9538, 1.8877, -0.0122, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2359, 1.7321, 1.787, -0.6605, -0.3382, -0.2485, 0.9956, 0.7654, 1.6936, 0.878, 0.0456, 0.5808, 0.416, 0.9986]\nstate[eef_state]: left_x=0.4992 left_y=-0.0561 left_z=0.3113 left_yaw=0.1642 left_pitch=-0.0049 left_roll=-0.0044 left_gripper=0.9956 right_x=0.3678 right_y=0.2239 right_z=0.0853 right_yaw=0.0503 right_pitch=-0.0493 right_roll=-0.0373 right_gripper=0.9986\nstate[joint_eff]: [-0.4171, -7.7744, 8.8957, 1.7363, -0.1294, -0.0024, 0.1148, -0.0479, -7.4735, 8.3487, 1.6435, 0.5348, 0.2759, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9077eefb5e70c2d195c7027f8096f8be4184e701d74da6ccbfbf0ca1b8b6ddf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d94bb7017aaf8a5e63cce83e96ff6762c206cc0ef3447a2ab4bf49cd8c658782",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4659b15ea178f5d438612dfe3807ca01929acd2e7326ece5c5f85fbaac218e28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NTtxYj8eHCMd1ADrZ7NyN2",
      "input": {
        "note": "Right wrist view shows the rightmost bottle on the jaw column with its capped neck farther out; advancing ~6 cm and dropping to bottle-axis height so the jaws land on the neck (that is what worked for the first bottle).",
        "targets": {
          "right_x": 0.43,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01NTtxYj8eHCMd1ADrZ7NyN2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2359, 1.7355, 1.7805, -0.6773, -0.3386, -0.2474, 0.9958, 0.6605, 1.9495, 0.8913, 0.2764, 0.5011, 0.3321, 0.9985]\nstate[eef_state]: left_x=0.4972 left_y=-0.0555 left_z=0.3037 left_yaw=0.1641 left_pitch=-0.0294 left_roll=0.0072 left_gripper=0.9958 right_x=0.4051 right_y=0.2118 right_z=0.0148 right_yaw=0.0505 right_pitch=-0.0954 right_roll=-0.0678 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -9.3333, 6.612, 1.9219, -0.232, -0.0317, 0.0024, -1.1145, -8.6769, 8.1299, 1.9414, 0.3492, 0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04800feb0bfef80cc64f6a3cfecc22fa64f1010daca0db619c30df3c2951c8cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d4cb4d5bf195b12751038184c351d82a78131c9e21dafe9f6b5dcbb6adb32c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb316606c76b9099be334435bd01e4c4c25be9a5075774211fea49ae414f5f35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 5.293 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]: [-0.2359, 1.7466, 1.2552, -0.1608, -0.3382, -0.2451, 0.9944, -0.0193, 0.569, 0.2363, -0.2649, -0.0235, -0.0399, 0.9985]\nstate[eef_state]: left_x=0.4995 left_y=-0.0561 left_z=0.1657 left_yaw=0.1629 left_pitch=-0.0478 left_roll=0.0166 left_gripper=0.9944 right_x=0.2529 right_y=0.0029 right_z=0.0923 right_yaw=0.008 right_pitch=-0.025 right_roll=0.0026 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -11.5761, 6.9265, 1.8291, -0.2271, 0.0659, -0.1392, -0.1026, -0.1436, 6.9538, 1.8877, -0.0122, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2359, 1.7321, 1.787, -0.6605, -0.3382, -0.2485, 0.9956, 0.7654, 1.6936, 0.878, 0.0456, 0.5808, 0.416, 0.9986]\nstate[eef_state]: left_x=0.4992 left_y=-0.0561 left_z=0.3113 left_yaw=0.1642 left_pitch=-0.0049 left_roll=-0.0044 left_gripper=0.9956 right_x=0.3678 right_y=0.2239 right_z=0.0853 right_yaw=0.0503 right_pitch=-0.0493 right_roll=-0.0373 right_gripper=0.9986\nstate[joint_eff]: [-0.4171, -7.7744, 8.8957, 1.7363, -0.1294, -0.0024, 0.1148, -0.0479, -7.4735, 8.3487, 1.6435, 0.5348, 0.2759, -0.1636]",
      "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]: [-0.2359, 1.7355, 1.7805, -0.6773, -0.3386, -0.2474, 0.9958, 0.6605, 1.9495, 0.8913, 0.2764, 0.5011, 0.3321, 0.9985]\nstate[eef_state]: left_x=0.4972 left_y=-0.0555 left_z=0.3037 left_yaw=0.1641 left_pitch=-0.0294 left_roll=0.0072 left_gripper=0.9958 right_x=0.4051 right_y=0.2118 right_z=0.0148 right_yaw=0.0505 right_pitch=-0.0954 right_roll=-0.0678 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -9.3333, 6.612, 1.9219, -0.232, -0.0317, 0.0024, -1.1145, -8.6769, 8.1299, 1.9414, 0.3492, 0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04800feb0bfef80cc64f6a3cfecc22fa64f1010daca0db619c30df3c2951c8cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d4cb4d5bf195b12751038184c351d82a78131c9e21dafe9f6b5dcbb6adb32c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb316606c76b9099be334435bd01e4c4c25be9a5075774211fea49ae414f5f35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4AcKjgEIEhgCKkASSsbW3/OmETlYNWAaHbHneiA6yA/cnb3dyddeNVrNGIbjP+MfyVvs/17JAPi+f/pzlEy++m259NiMqggEivt2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaPZy9UGEgxCASRhCorimiYvVXcaDBUDYJVpgIijvl/7KyIwwuA/IJUML0JNtQ2KB1WQxu5AE/C659gl7zOMEM2vocTrLPHCTrFonT2nPQUfYQ17Kv4FCJHK2ufD29iOqNvnpuMPfvlQt+jIKmX4/4ailyovQYU+TZDi0o37icN9qHh0JZs590AGYa30nBNF6TcZS4bkYADRvZXY5Y8HspU5wpcRwGm1qwXMi3Q5UwiygNMqaW/P4i0LSynMQVSG5LdaUiaH2gCtZIsEm8R4nRaJb5K7Fg8kt2qOKGyUNalfQbJPN8NAjXn7dNZMR3ke7eYNKcW92GKyiEEEzzIrPOgqSU82VZLglYrO09nosgtd8//SEorns28Lcq3KdSdIVJ+oH3sBjn1yvaY7Cuq/G0uJqayZwpnDYv4vjkO5CwfPUuwZtvEQNlabSZ+DPyFZs9H9Q9pFon/NdqlQfsiew2IlCvtx+J+YIgKG6brpVT3pV/6s5zawvnYSjatd+4c+t0uHmkvjVTtaGrm9ynusxiOkxrLIYClKDBwCZ0xkv8kPVfg2X/vaeNV1JEM3VO/2JJoCRw1tv8CY04uOaqQ+/ndIuU5EGs2OVEDLnUeMZknTUxL/vmcymNt6pZ6SsUfggvQGZm0QiKeYprflgeVUV/xDgNBIE/w8YY3xsSGdDvbyEnQaaSwYLp6anlAKgUWPKpV7/ybyauNQ0B5r8++H8aNh+mHWJL0GKISYJs+jt+Awlr7Z0RdCl4y+JpZsKZGTbqKBW4HtffGY0ZOANK0clOq5yEgY+bRL5bh8NtiMSL6Uzf5ruQcBjdxkpOBz3hjyrkb8Scx/FX1/TlyjqbwYZa+eMCRZd08vZpEN1l+C87ylsTuXGsI6hQKAAP5+T+SLRhKCemziELz+5I2kOWTdzYlSEAL7/5T3DZQfcORNcE4LWrSEdXA6DLFdjW0vbvlfbcyE6+UpM9LSwhR/5xyaHlblXdg54x6gv1b6QPCsMJfEMlv4EjOX2T9FazNzoSi46eYO1NX/6RewlcmgIn7MR4+a1ja3WOQieCR+cW6sJORlM84DTKZIFrtnh3+fb5F4WXZm4g96PNup2sHkUqFj9hEFz3vlpWO/oCM0ZddLOWtZdyD63xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014TPWTu9c4DQdsbdst9Xz7Y",
      "input": {
        "note": "The right jaws are now at the bottle with it filling the wrist view; raising slightly to the bottle's axis height and closing to read the grasped width (≈0.4 means neck, ≈0.7 means fat body).",
        "targets": {
          "right_gripper": 0.15,
          "right_z": 0.033
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_014TPWTu9c4DQdsbdst9Xz7Y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2359, 1.7317, 1.7267, -0.6334, -0.3382, -0.2474, 0.9962, 0.6502, 1.9732, 0.9108, 0.3401, 0.4816, 0.3092, 0.4713]\nstate[eef_state]: left_x=0.4986 left_y=-0.0559 left_z=0.2905 left_yaw=0.1639 left_pitch=-0.0351 left_roll=0.0093 left_gripper=0.9962 right_x=0.4176 right_y=0.2193 right_z=0.0204 right_yaw=0.0702 right_pitch=-0.0543 right_roll=-0.0416 right_gripper=0.4713\nstate[joint_eff]: [-0.4581, -10.5368, 6.9265, 1.8388, -0.2222, -0.0366, 0.0317, -0.5812, -9.1145, 7.2137, 1.9121, 0.2808, 0.0855, 1.3407]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:181ecaf8b77b37a6465967f5ea496425ae2b42dd9c8a88c7314ebe11cb3f1e53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89dceb6e313c8381b8fad90447dea69519bcca54fa9a9edeb1fe8f037b2f9a99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43e1aa53d00fcde75fe7bf3ccf2a630525966a2ed4b61d3764c457485811ad1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 16.87 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]: [-0.2359, 1.7321, 1.787, -0.6605, -0.3382, -0.2485, 0.9956, 0.7654, 1.6936, 0.878, 0.0456, 0.5808, 0.416, 0.9986]\nstate[eef_state]: left_x=0.4992 left_y=-0.0561 left_z=0.3113 left_yaw=0.1642 left_pitch=-0.0049 left_roll=-0.0044 left_gripper=0.9956 right_x=0.3678 right_y=0.2239 right_z=0.0853 right_yaw=0.0503 right_pitch=-0.0493 right_roll=-0.0373 right_gripper=0.9986\nstate[joint_eff]: [-0.4171, -7.7744, 8.8957, 1.7363, -0.1294, -0.0024, 0.1148, -0.0479, -7.4735, 8.3487, 1.6435, 0.5348, 0.2759, -0.1636]",
      "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]: [-0.2359, 1.7355, 1.7805, -0.6773, -0.3386, -0.2474, 0.9958, 0.6605, 1.9495, 0.8913, 0.2764, 0.5011, 0.3321, 0.9985]\nstate[eef_state]: left_x=0.4972 left_y=-0.0555 left_z=0.3037 left_yaw=0.1641 left_pitch=-0.0294 left_roll=0.0072 left_gripper=0.9958 right_x=0.4051 right_y=0.2118 right_z=0.0148 right_yaw=0.0505 right_pitch=-0.0954 right_roll=-0.0678 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -9.3333, 6.612, 1.9219, -0.232, -0.0317, 0.0024, -1.1145, -8.6769, 8.1299, 1.9414, 0.3492, 0.0855, -0.0171]",
      "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]: [-0.2359, 1.7317, 1.7267, -0.6334, -0.3382, -0.2474, 0.9962, 0.6502, 1.9732, 0.9108, 0.3401, 0.4816, 0.3092, 0.4713]\nstate[eef_state]: left_x=0.4986 left_y=-0.0559 left_z=0.2905 left_yaw=0.1639 left_pitch=-0.0351 left_roll=0.0093 left_gripper=0.9962 right_x=0.4176 right_y=0.2193 right_z=0.0204 right_yaw=0.0702 right_pitch=-0.0543 right_roll=-0.0416 right_gripper=0.4713\nstate[joint_eff]: [-0.4581, -10.5368, 6.9265, 1.8388, -0.2222, -0.0366, 0.0317, -0.5812, -9.1145, 7.2137, 1.9121, 0.2808, 0.0855, 1.3407]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:181ecaf8b77b37a6465967f5ea496425ae2b42dd9c8a88c7314ebe11cb3f1e53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89dceb6e313c8381b8fad90447dea69519bcca54fa9a9edeb1fe8f037b2f9a99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43e1aa53d00fcde75fe7bf3ccf2a630525966a2ed4b61d3764c457485811ad1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISqgQKjgEIEhgCKkDgbKq3HUVXx1+UFT8F4420uAw5I8JZujeIT4vZW669Ks5fyDoYrXBIa1BE7pDIj71tORlfrohkPtxD8NyBKyuRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAanZy9UGEgwdjR2sNdJnhrZ+RBYaDOV+5Zrprk/ZFLGVUCIwX7bY21Iltn5OzbgarvpJ42aQnjQUZJu662ee0Z4UymIOjUnEFMtHIeT5941ZRWZhKsgC1FzApjpAeZmm1ajixQS7b6FxolKfMeUAtYEiyRWu1BkqC4aNikDNIaHNV3Wad9WGKxLMXdHNuyGddItmqTWzku+nUAF3SHyqfsxHtpZKiPThw0DkshcRACxIRUESlmlzfPuDL4XF5ePGSQyqMvOIPmw3V03LX+UH7gVYPXkgonsjiDp+S9K/8aWLVXRRUKheihRGEgRV9uci/W9F2G4AhBkkiZflkytiCBk2aqefkGu4f6G0Y9eoQ/2eGL/3pD3A4HzYmPkRaW7u/pL90TNsNph2bq4Da5vBxsQIYKG2dJoVqecB31s1R/IqsV0eSh2sPBrntWA/bo8a07G3xice72Gcd/a+MJiRLP8+43+dktb7qFjEBtOftQirvRTGDjiNOHSG5iFexqoCcD/WJ22L6aeLByzx7w0HQac5aqDS7tti84nj/QpLHxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LuPa3FLnyB5XviGen7uSWC",
      "input": {
        "note": "The right gripper closed onto something 4.5 cm thick (likely the bottle's shoulder/neck). Lifting to see whether the bottle hangs cap-up like the first one did.",
        "targets": {
          "right_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_01LuPa3FLnyB5XviGen7uSWC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2359, 1.7264, 1.6642, -0.5797, -0.3382, -0.2474, 0.9963, 0.6506, 1.6966, 1.3365, -0.5365, 0.4179, 0.3008, 0.4956]\nstate[eef_state]: left_x=0.4996 left_y=-0.0562 left_z=0.2759 left_yaw=0.1639 left_pitch=-0.0383 left_roll=0.0107 left_gripper=0.9963 right_x=0.3978 right_y=0.2172 right_z=0.163 right_yaw=0.1117 right_pitch=-0.2268 right_roll=-0.1018 right_gripper=0.4956\nstate[joint_eff]: [-0.4581, -10.6325, 7.0496, 1.8242, -0.2027, -0.0317, 0.0024, -0.4444, -14.3385, 12.4513, 2.63, 0.7643, 0.1245, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0704ef0a155f41c83892529196a62870fa61c9742781c0116bac606f1738ff03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a437a508e1504cf8c8a6498da8980014a2a90427dad6ba44d8736d416ff856b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f63152fb3e05516f93f415a9228d04cd600018dd66d72b8064f7c46d629db8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 11.78 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]: [-0.2359, 1.7355, 1.7805, -0.6773, -0.3386, -0.2474, 0.9958, 0.6605, 1.9495, 0.8913, 0.2764, 0.5011, 0.3321, 0.9985]\nstate[eef_state]: left_x=0.4972 left_y=-0.0555 left_z=0.3037 left_yaw=0.1641 left_pitch=-0.0294 left_roll=0.0072 left_gripper=0.9958 right_x=0.4051 right_y=0.2118 right_z=0.0148 right_yaw=0.0505 right_pitch=-0.0954 right_roll=-0.0678 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -9.3333, 6.612, 1.9219, -0.232, -0.0317, 0.0024, -1.1145, -8.6769, 8.1299, 1.9414, 0.3492, 0.0855, -0.0171]",
      "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]: [-0.2359, 1.7317, 1.7267, -0.6334, -0.3382, -0.2474, 0.9962, 0.6502, 1.9732, 0.9108, 0.3401, 0.4816, 0.3092, 0.4713]\nstate[eef_state]: left_x=0.4986 left_y=-0.0559 left_z=0.2905 left_yaw=0.1639 left_pitch=-0.0351 left_roll=0.0093 left_gripper=0.9962 right_x=0.4176 right_y=0.2193 right_z=0.0204 right_yaw=0.0702 right_pitch=-0.0543 right_roll=-0.0416 right_gripper=0.4713\nstate[joint_eff]: [-0.4581, -10.5368, 6.9265, 1.8388, -0.2222, -0.0366, 0.0317, -0.5812, -9.1145, 7.2137, 1.9121, 0.2808, 0.0855, 1.3407]",
      "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]: [-0.2359, 1.7264, 1.6642, -0.5797, -0.3382, -0.2474, 0.9963, 0.6506, 1.6966, 1.3365, -0.5365, 0.4179, 0.3008, 0.4956]\nstate[eef_state]: left_x=0.4996 left_y=-0.0562 left_z=0.2759 left_yaw=0.1639 left_pitch=-0.0383 left_roll=0.0107 left_gripper=0.9963 right_x=0.3978 right_y=0.2172 right_z=0.163 right_yaw=0.1117 right_pitch=-0.2268 right_roll=-0.1018 right_gripper=0.4956\nstate[joint_eff]: [-0.4581, -10.6325, 7.0496, 1.8242, -0.2027, -0.0317, 0.0024, -0.4444, -14.3385, 12.4513, 2.63, 0.7643, 0.1245, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0704ef0a155f41c83892529196a62870fa61c9742781c0116bac606f1738ff03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a437a508e1504cf8c8a6498da8980014a2a90427dad6ba44d8736d416ff856b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f63152fb3e05516f93f415a9228d04cd600018dd66d72b8064f7c46d629db8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WMv9DGRQeQdgEUjp5uPMPv",
      "input": {
        "note": "The right arm stalled at z=0.16 with high load, consistent with the bottle hanging cap-up and its base already resting on the table; opening the jaws to leave it standing.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01WMv9DGRQeQdgEUjp5uPMPv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2359, 1.7206, 1.602, -0.527, -0.3378, -0.2474, 0.9963, 0.6674, 1.5982, 1.0298, -0.1711, 0.4412, 0.2806, 0.9955]\nstate[eef_state]: left_x=0.4997 left_y=-0.0562 left_z=0.2613 left_yaw=0.1637 left_pitch=-0.0419 left_roll=0.0119 left_gripper=0.9963 right_x=0.3868 right_y=0.2134 right_z=0.1399 right_yaw=0.134 right_pitch=-0.0838 right_roll=-0.0507 right_gripper=0.9955\nstate[joint_eff]: [-0.4581, -10.6462, 6.8855, 1.8486, -0.2369, -0.0366, -0.0073, -0.5402, -8.4308, 7.788, 2.0, 0.2369, 0.1392, 0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84e82a6a4edde6eccbd848b19dc4bee05495483abae4b102b169ade6d95d2db8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b467ba239f994fdf73abc5018125d4eaa46e4dcf9696dd91cc791b672f79affb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4505e6d6631f29d98fbbeeb3d987d2deb6cacf3f73589f34fe9b03584b322aa6",
        "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 · 40.75 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]: [-0.2359, 1.7317, 1.7267, -0.6334, -0.3382, -0.2474, 0.9962, 0.6502, 1.9732, 0.9108, 0.3401, 0.4816, 0.3092, 0.4713]\nstate[eef_state]: left_x=0.4986 left_y=-0.0559 left_z=0.2905 left_yaw=0.1639 left_pitch=-0.0351 left_roll=0.0093 left_gripper=0.9962 right_x=0.4176 right_y=0.2193 right_z=0.0204 right_yaw=0.0702 right_pitch=-0.0543 right_roll=-0.0416 right_gripper=0.4713\nstate[joint_eff]: [-0.4581, -10.5368, 6.9265, 1.8388, -0.2222, -0.0366, 0.0317, -0.5812, -9.1145, 7.2137, 1.9121, 0.2808, 0.0855, 1.3407]",
      "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]: [-0.2359, 1.7264, 1.6642, -0.5797, -0.3382, -0.2474, 0.9963, 0.6506, 1.6966, 1.3365, -0.5365, 0.4179, 0.3008, 0.4956]\nstate[eef_state]: left_x=0.4996 left_y=-0.0562 left_z=0.2759 left_yaw=0.1639 left_pitch=-0.0383 left_roll=0.0107 left_gripper=0.9963 right_x=0.3978 right_y=0.2172 right_z=0.163 right_yaw=0.1117 right_pitch=-0.2268 right_roll=-0.1018 right_gripper=0.4956\nstate[joint_eff]: [-0.4581, -10.6325, 7.0496, 1.8242, -0.2027, -0.0317, 0.0024, -0.4444, -14.3385, 12.4513, 2.63, 0.7643, 0.1245, 1.033]\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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2359, 1.7206, 1.602, -0.527, -0.3378, -0.2474, 0.9963, 0.6674, 1.5982, 1.0298, -0.1711, 0.4412, 0.2806, 0.9955]\nstate[eef_state]: left_x=0.4997 left_y=-0.0562 left_z=0.2613 left_yaw=0.1637 left_pitch=-0.0419 left_roll=0.0119 left_gripper=0.9963 right_x=0.3868 right_y=0.2134 right_z=0.1399 right_yaw=0.134 right_pitch=-0.0838 right_roll=-0.0507 right_gripper=0.9955\nstate[joint_eff]: [-0.4581, -10.6462, 6.8855, 1.8486, -0.2369, -0.0366, -0.0073, -0.5402, -8.4308, 7.788, 2.0, 0.2369, 0.1392, 0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84e82a6a4edde6eccbd848b19dc4bee05495483abae4b102b169ade6d95d2db8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b467ba239f994fdf73abc5018125d4eaa46e4dcf9696dd91cc791b672f79affb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4505e6d6631f29d98fbbeeb3d987d2deb6cacf3f73589f34fe9b03584b322aa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013fzWnHfukgwicf3HyF7nkk",
      "input": {
        "note": "Two bottles now appear standing in the right wrist view; lifting the right arm well above the 23 cm tall standing bottle before traversing to the middle bottle.",
        "targets": {
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_013fzWnHfukgwicf3HyF7nkk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2359, 1.7161, 1.5375, -0.4671, -0.3382, -0.2474, 0.9964, 0.6674, 1.5234, 1.4662, -0.6186, 0.4328, 0.2707, 0.9955]\nstate[eef_state]: left_x=0.4999 left_y=-0.0562 left_z=0.2465 left_yaw=0.164 left_pitch=-0.0418 left_roll=0.0122 left_gripper=0.9964 right_x=0.3856 right_y=0.2141 right_z=0.2776 right_yaw=0.1478 right_pitch=-0.0317 right_roll=-0.0219 right_gripper=0.9955\nstate[joint_eff]: [-0.4034, -10.6872, 6.8581, 1.8926, -0.1929, -0.022, -0.0073, -0.212, -6.5299, 9.9761, 1.7363, 0.2466, 0.0757, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:010734b44ab2736b74fac7949e4df43686c68582ef2a61a8e9f986decb4d21e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67117a224dcbae08ef38df5689415dd7e1791c44563c8dcff6c498ed07ddd39d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e4aa7af1015f202006f7476060ab0a351767c8ae2593de125cd8c513be7df8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 42.99 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]: [-0.2359, 1.7264, 1.6642, -0.5797, -0.3382, -0.2474, 0.9963, 0.6506, 1.6966, 1.3365, -0.5365, 0.4179, 0.3008, 0.4956]\nstate[eef_state]: left_x=0.4996 left_y=-0.0562 left_z=0.2759 left_yaw=0.1639 left_pitch=-0.0383 left_roll=0.0107 left_gripper=0.9963 right_x=0.3978 right_y=0.2172 right_z=0.163 right_yaw=0.1117 right_pitch=-0.2268 right_roll=-0.1018 right_gripper=0.4956\nstate[joint_eff]: [-0.4581, -10.6325, 7.0496, 1.8242, -0.2027, -0.0317, 0.0024, -0.4444, -14.3385, 12.4513, 2.63, 0.7643, 0.1245, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.2359, 1.7206, 1.602, -0.527, -0.3378, -0.2474, 0.9963, 0.6674, 1.5982, 1.0298, -0.1711, 0.4412, 0.2806, 0.9955]\nstate[eef_state]: left_x=0.4997 left_y=-0.0562 left_z=0.2613 left_yaw=0.1637 left_pitch=-0.0419 left_roll=0.0119 left_gripper=0.9963 right_x=0.3868 right_y=0.2134 right_z=0.1399 right_yaw=0.134 right_pitch=-0.0838 right_roll=-0.0507 right_gripper=0.9955\nstate[joint_eff]: [-0.4581, -10.6462, 6.8855, 1.8486, -0.2369, -0.0366, -0.0073, -0.5402, -8.4308, 7.788, 2.0, 0.2369, 0.1392, 0.0415]\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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2359, 1.7161, 1.5375, -0.4671, -0.3382, -0.2474, 0.9964, 0.6674, 1.5234, 1.4662, -0.6186, 0.4328, 0.2707, 0.9955]\nstate[eef_state]: left_x=0.4999 left_y=-0.0562 left_z=0.2465 left_yaw=0.164 left_pitch=-0.0418 left_roll=0.0122 left_gripper=0.9964 right_x=0.3856 right_y=0.2141 right_z=0.2776 right_yaw=0.1478 right_pitch=-0.0317 right_roll=-0.0219 right_gripper=0.9955\nstate[joint_eff]: [-0.4034, -10.6872, 6.8581, 1.8926, -0.1929, -0.022, -0.0073, -0.212, -6.5299, 9.9761, 1.7363, 0.2466, 0.0757, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:010734b44ab2736b74fac7949e4df43686c68582ef2a61a8e9f986decb4d21e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67117a224dcbae08ef38df5689415dd7e1791c44563c8dcff6c498ed07ddd39d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e4aa7af1015f202006f7476060ab0a351767c8ae2593de125cd8c513be7df8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HbsjHZg6Nm2cyLCQVUbVny",
      "input": {
        "note": "I cannot tell from the wrist views whether the bottles I released are really standing; raising the left arm clear and retracting the right arm so the overhead camera gives an unobstructed look.",
        "targets": {
          "left_z": 0.36,
          "right_x": 0.25,
          "right_y": 0.05,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01HbsjHZg6Nm2cyLCQVUbVny",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2359, 1.8099, 2.0567, -0.8505, -0.3386, -0.2626, 0.9964, 0.2596, 0.812, 1.1114, -0.8707, 0.1368, 0.057, 0.9955]\nstate[eef_state]: left_x=0.5011 left_y=-0.0565 left_z=0.3523 left_yaw=0.1721 left_pitch=-0.0031 left_roll=-0.0169 left_gripper=0.9964 right_x=0.2576 right_y=0.0472 right_z=0.3008 right_yaw=0.0999 right_pitch=0.0071 right_roll=-0.0028 right_gripper=0.9955\nstate[joint_eff]: [-0.3761, -8.253, 8.4308, 1.5214, -0.1978, 0.1343, -0.0171, 0.0479, -0.5538, 6.0513, 1.9853, -0.0757, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f1963f0be6a6492319754d147c339e6e308188934c9d9f5121d14ac2a787d10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b322f43f81642d518a9d8916e684a99db070761ab51209109b3903cb382323bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bff591af3e897f9e59756658d2c1dab26708607ebe1112e8d9a5e10cf226f298",
        "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 · 59.73 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]: [-0.2359, 1.7206, 1.602, -0.527, -0.3378, -0.2474, 0.9963, 0.6674, 1.5982, 1.0298, -0.1711, 0.4412, 0.2806, 0.9955]\nstate[eef_state]: left_x=0.4997 left_y=-0.0562 left_z=0.2613 left_yaw=0.1637 left_pitch=-0.0419 left_roll=0.0119 left_gripper=0.9963 right_x=0.3868 right_y=0.2134 right_z=0.1399 right_yaw=0.134 right_pitch=-0.0838 right_roll=-0.0507 right_gripper=0.9955\nstate[joint_eff]: [-0.4581, -10.6462, 6.8855, 1.8486, -0.2369, -0.0366, -0.0073, -0.5402, -8.4308, 7.788, 2.0, 0.2369, 0.1392, 0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.2359, 1.7161, 1.5375, -0.4671, -0.3382, -0.2474, 0.9964, 0.6674, 1.5234, 1.4662, -0.6186, 0.4328, 0.2707, 0.9955]\nstate[eef_state]: left_x=0.4999 left_y=-0.0562 left_z=0.2465 left_yaw=0.164 left_pitch=-0.0418 left_roll=0.0122 left_gripper=0.9964 right_x=0.3856 right_y=0.2141 right_z=0.2776 right_yaw=0.1478 right_pitch=-0.0317 right_roll=-0.0219 right_gripper=0.9955\nstate[joint_eff]: [-0.4034, -10.6872, 6.8581, 1.8926, -0.1929, -0.022, -0.0073, -0.212, -6.5299, 9.9761, 1.7363, 0.2466, 0.0757, -0.0024]",
      "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]: [-0.2359, 1.8099, 2.0567, -0.8505, -0.3386, -0.2626, 0.9964, 0.2596, 0.812, 1.1114, -0.8707, 0.1368, 0.057, 0.9955]\nstate[eef_state]: left_x=0.5011 left_y=-0.0565 left_z=0.3523 left_yaw=0.1721 left_pitch=-0.0031 left_roll=-0.0169 left_gripper=0.9964 right_x=0.2576 right_y=0.0472 right_z=0.3008 right_yaw=0.0999 right_pitch=0.0071 right_roll=-0.0028 right_gripper=0.9955\nstate[joint_eff]: [-0.3761, -8.253, 8.4308, 1.5214, -0.1978, 0.1343, -0.0171, 0.0479, -0.5538, 6.0513, 1.9853, -0.0757, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f1963f0be6a6492319754d147c339e6e308188934c9d9f5121d14ac2a787d10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b322f43f81642d518a9d8916e684a99db070761ab51209109b3903cb382323bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bff591af3e897f9e59756658d2c1dab26708607ebe1112e8d9a5e10cf226f298",
        "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_019PV1K3w1T6egQab4vtYdPV",
      "input": {
        "note": "The clean overhead view shows all three bottles still lying down, so my earlier releases did not leave them standing. Moving the left gripper low next to the leftmost bottle so I can see gripper and bottle together in the overhead frame and calibrate my pixel-to-metre mapping.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.17,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_019PV1K3w1T6egQab4vtYdPV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6243, 1.7004, 1.0355, -0.1024, -0.627, -0.5018, 0.9964, 0.255, 0.8238, 1.1095, -0.9012, 0.1238, 0.0402, 0.9956]\nstate[eef_state]: left_x=0.4176 left_y=-0.1687 left_z=0.122 left_yaw=0.1412 left_pitch=-0.0355 left_roll=0.0251 left_gripper=0.9964 right_x=0.2555 right_y=0.0478 right_z=0.2908 right_yaw=0.1151 right_pitch=-0.0379 right_roll=-0.0162 right_gripper=0.9956\nstate[joint_eff]: [-0.2803, -7.5556, 6.3932, 1.663, -0.4127, -0.1294, -0.0122, -0.2393, -0.9915, 6.9675, 1.917, 0.0904, 0.1343, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6010e1ded5a883ade31d84198d8d68065b6a527b16959fe47a68b07d0b02c535",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9053337fd29c0722532762e041ef660e0858471712036a467812614d8ff71f4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:243fcd490c757dec1996d726f36e733b4fdb0757682aa20377f3ed5e3c49004e",
        "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 · 13.92 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]: [-0.2359, 1.7161, 1.5375, -0.4671, -0.3382, -0.2474, 0.9964, 0.6674, 1.5234, 1.4662, -0.6186, 0.4328, 0.2707, 0.9955]\nstate[eef_state]: left_x=0.4999 left_y=-0.0562 left_z=0.2465 left_yaw=0.164 left_pitch=-0.0418 left_roll=0.0122 left_gripper=0.9964 right_x=0.3856 right_y=0.2141 right_z=0.2776 right_yaw=0.1478 right_pitch=-0.0317 right_roll=-0.0219 right_gripper=0.9955\nstate[joint_eff]: [-0.4034, -10.6872, 6.8581, 1.8926, -0.1929, -0.022, -0.0073, -0.212, -6.5299, 9.9761, 1.7363, 0.2466, 0.0757, -0.0024]",
      "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]: [-0.2359, 1.8099, 2.0567, -0.8505, -0.3386, -0.2626, 0.9964, 0.2596, 0.812, 1.1114, -0.8707, 0.1368, 0.057, 0.9955]\nstate[eef_state]: left_x=0.5011 left_y=-0.0565 left_z=0.3523 left_yaw=0.1721 left_pitch=-0.0031 left_roll=-0.0169 left_gripper=0.9964 right_x=0.2576 right_y=0.0472 right_z=0.3008 right_yaw=0.0999 right_pitch=0.0071 right_roll=-0.0028 right_gripper=0.9955\nstate[joint_eff]: [-0.3761, -8.253, 8.4308, 1.5214, -0.1978, 0.1343, -0.0171, 0.0479, -0.5538, 6.0513, 1.9853, -0.0757, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6243, 1.7004, 1.0355, -0.1024, -0.627, -0.5018, 0.9964, 0.255, 0.8238, 1.1095, -0.9012, 0.1238, 0.0402, 0.9956]\nstate[eef_state]: left_x=0.4176 left_y=-0.1687 left_z=0.122 left_yaw=0.1412 left_pitch=-0.0355 left_roll=0.0251 left_gripper=0.9964 right_x=0.2555 right_y=0.0478 right_z=0.2908 right_yaw=0.1151 right_pitch=-0.0379 right_roll=-0.0162 right_gripper=0.9956\nstate[joint_eff]: [-0.2803, -7.5556, 6.3932, 1.663, -0.4127, -0.1294, -0.0122, -0.2393, -0.9915, 6.9675, 1.917, 0.0904, 0.1343, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6010e1ded5a883ade31d84198d8d68065b6a527b16959fe47a68b07d0b02c535",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9053337fd29c0722532762e041ef660e0858471712036a467812614d8ff71f4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:243fcd490c757dec1996d726f36e733b4fdb0757682aa20377f3ed5e3c49004e",
        "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_01Quzqse9mU6cU9PZCtNuG9m",
      "input": {
        "note": "With the gripper and bottles visible together I now have a pixel-to-metre calibration; the rightmost bottle's capped neck sits near right-arm (0.38, 0.28). Moving above that neck, since gripping the neck and lifting lets the bottle swing base-down.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.38,
          "right_y": 0.28,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01Quzqse9mU6cU9PZCtNuG9m",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6334, 1.7206, 0.9955, -0.0326, -0.6365, -0.5171, 0.9964, 0.8314, 1.7409, 1.0336, -0.0795, 0.5575, 0.3923, 0.9971]\nstate[eef_state]: left_x=0.4163 left_y=-0.171 left_z=0.1098 left_yaw=0.147 left_pitch=-0.0238 left_roll=0.0105 left_gripper=0.9964 right_x=0.3665 right_y=0.2685 right_z=0.103 right_yaw=0.1458 right_pitch=-0.0733 right_roll=-0.0548 right_gripper=0.9971\nstate[joint_eff]: [0.2803, -10.6051, 5.9419, 1.5458, -0.2662, 0.1392, -0.0122, 0.4991, -8.5402, 8.6906, 1.6874, 0.4713, 0.188, -0.315]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adf3b4eb62345f13128cf7cff2b8a65d42e45cdaf5a725581c349e7787e323e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:540e6d6353e762e8b68d930a217588f620795116792858d471e1fc9ecf530c2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b3f7b48fa832a3a836f354e82485e92f723fd86854b116b2229cedd17a6b8163",
        "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 · 4.15 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]: [-0.2359, 1.8099, 2.0567, -0.8505, -0.3386, -0.2626, 0.9964, 0.2596, 0.812, 1.1114, -0.8707, 0.1368, 0.057, 0.9955]\nstate[eef_state]: left_x=0.5011 left_y=-0.0565 left_z=0.3523 left_yaw=0.1721 left_pitch=-0.0031 left_roll=-0.0169 left_gripper=0.9964 right_x=0.2576 right_y=0.0472 right_z=0.3008 right_yaw=0.0999 right_pitch=0.0071 right_roll=-0.0028 right_gripper=0.9955\nstate[joint_eff]: [-0.3761, -8.253, 8.4308, 1.5214, -0.1978, 0.1343, -0.0171, 0.0479, -0.5538, 6.0513, 1.9853, -0.0757, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6243, 1.7004, 1.0355, -0.1024, -0.627, -0.5018, 0.9964, 0.255, 0.8238, 1.1095, -0.9012, 0.1238, 0.0402, 0.9956]\nstate[eef_state]: left_x=0.4176 left_y=-0.1687 left_z=0.122 left_yaw=0.1412 left_pitch=-0.0355 left_roll=0.0251 left_gripper=0.9964 right_x=0.2555 right_y=0.0478 right_z=0.2908 right_yaw=0.1151 right_pitch=-0.0379 right_roll=-0.0162 right_gripper=0.9956\nstate[joint_eff]: [-0.2803, -7.5556, 6.3932, 1.663, -0.4127, -0.1294, -0.0122, -0.2393, -0.9915, 6.9675, 1.917, 0.0904, 0.1343, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6334, 1.7206, 0.9955, -0.0326, -0.6365, -0.5171, 0.9964, 0.8314, 1.7409, 1.0336, -0.0795, 0.5575, 0.3923, 0.9971]\nstate[eef_state]: left_x=0.4163 left_y=-0.171 left_z=0.1098 left_yaw=0.147 left_pitch=-0.0238 left_roll=0.0105 left_gripper=0.9964 right_x=0.3665 right_y=0.2685 right_z=0.103 right_yaw=0.1458 right_pitch=-0.0733 right_roll=-0.0548 right_gripper=0.9971\nstate[joint_eff]: [0.2803, -10.6051, 5.9419, 1.5458, -0.2662, 0.1392, -0.0122, 0.4991, -8.5402, 8.6906, 1.6874, 0.4713, 0.188, -0.315]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adf3b4eb62345f13128cf7cff2b8a65d42e45cdaf5a725581c349e7787e323e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:540e6d6353e762e8b68d930a217588f620795116792858d471e1fc9ecf530c2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3f7b48fa832a3a836f354e82485e92f723fd86854b116b2229cedd17a6b8163",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SJ32XXkVHoy8pf1BpAzCMz",
      "input": {
        "note": "Right wrist view shows the target bottle's blue cap just above and slightly right of the jaw column; descending to bottle-axis height while advancing ~5 cm so the jaws land on the neck just behind the cap.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.27,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01SJ32XXkVHoy8pf1BpAzCMz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6346, 1.7206, 0.9745, 0.0025, -0.6369, -0.5179, 0.9964, 0.7315, 1.9728, 0.976, 0.276, 0.5198, 0.3149, 0.9971]\nstate[eef_state]: left_x=0.4157 left_y=-0.1711 left_z=0.1073 left_yaw=0.1464 left_pitch=-0.0136 left_roll=0.0001 left_gripper=0.9964 right_x=0.4094 right_y=0.2544 right_z=0.0345 right_yaw=0.1188 right_pitch=-0.0387 right_roll=-0.0569 right_gripper=0.9971\nstate[joint_eff]: [-0.253, -8.4718, 5.7915, 1.5263, -0.359, 0.0513, -0.0122, -0.1162, -7.9248, 7.3231, 1.619, -0.2515, 0.3004, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59c1d1ba2784bfeb2e23c854f88f12d268348397834417c883847f4f888e232e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96eb1b56d0ea3e626cd11def140c7ee13f19d9e48aa5d17b55ffbfef793560d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:312d50b19c7c4f1b4b7f3eb134279f6a06e3c4fd197a37d6a9fc273fa2c64276",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 10.11 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]: [-0.6243, 1.7004, 1.0355, -0.1024, -0.627, -0.5018, 0.9964, 0.255, 0.8238, 1.1095, -0.9012, 0.1238, 0.0402, 0.9956]\nstate[eef_state]: left_x=0.4176 left_y=-0.1687 left_z=0.122 left_yaw=0.1412 left_pitch=-0.0355 left_roll=0.0251 left_gripper=0.9964 right_x=0.2555 right_y=0.0478 right_z=0.2908 right_yaw=0.1151 right_pitch=-0.0379 right_roll=-0.0162 right_gripper=0.9956\nstate[joint_eff]: [-0.2803, -7.5556, 6.3932, 1.663, -0.4127, -0.1294, -0.0122, -0.2393, -0.9915, 6.9675, 1.917, 0.0904, 0.1343, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6334, 1.7206, 0.9955, -0.0326, -0.6365, -0.5171, 0.9964, 0.8314, 1.7409, 1.0336, -0.0795, 0.5575, 0.3923, 0.9971]\nstate[eef_state]: left_x=0.4163 left_y=-0.171 left_z=0.1098 left_yaw=0.147 left_pitch=-0.0238 left_roll=0.0105 left_gripper=0.9964 right_x=0.3665 right_y=0.2685 right_z=0.103 right_yaw=0.1458 right_pitch=-0.0733 right_roll=-0.0548 right_gripper=0.9971\nstate[joint_eff]: [0.2803, -10.6051, 5.9419, 1.5458, -0.2662, 0.1392, -0.0122, 0.4991, -8.5402, 8.6906, 1.6874, 0.4713, 0.188, -0.315]",
      "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]: [-0.6346, 1.7206, 0.9745, 0.0025, -0.6369, -0.5179, 0.9964, 0.7315, 1.9728, 0.976, 0.276, 0.5198, 0.3149, 0.9971]\nstate[eef_state]: left_x=0.4157 left_y=-0.1711 left_z=0.1073 left_yaw=0.1464 left_pitch=-0.0136 left_roll=0.0001 left_gripper=0.9964 right_x=0.4094 right_y=0.2544 right_z=0.0345 right_yaw=0.1188 right_pitch=-0.0387 right_roll=-0.0569 right_gripper=0.9971\nstate[joint_eff]: [-0.253, -8.4718, 5.7915, 1.5263, -0.359, 0.0513, -0.0122, -0.1162, -7.9248, 7.3231, 1.619, -0.2515, 0.3004, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59c1d1ba2784bfeb2e23c854f88f12d268348397834417c883847f4f888e232e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96eb1b56d0ea3e626cd11def140c7ee13f19d9e48aa5d17b55ffbfef793560d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:312d50b19c7c4f1b4b7f3eb134279f6a06e3c4fd197a37d6a9fc273fa2c64276",
        "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+AMKjgEIEhgCKkCI/E+/7EUrLOSJmuqxjpu9fH/+zjA6EXzr7i8e1znEKyd8AJyacOSqzXVANHMgQFnh4wwyaA90G0D/SO1lUYqUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfDay9UGEgyCg89grViuRhK/YkQaDD2ofyhfTTOckAD4uSIwMq585tf27+/L/BhlYDJvJVbY0U9mW+mNUnC29hUCOwtfIXbwAW7wn3NhNQd6GKxqKpYCcUmOTSP7kvaUFiujhbBuMK9VeByYcbASmS17N/zyMq4wkFViT5w6jgxazM4JfJbHB6XtxDzVFl1PYqXWNjEXAz2v5Id3PKJlMWPTKiU4Ek/h5CAxwt6l1jcVuktUtAnDYUGCP0Dw2STDOYPP0W/gw53Kx4551cL+TUC7bJorQQk5/TKmQuy+ZAGrkfCE/1JPEDeY4f9uBS0iO4oAgD8BjjBUV3nONIbkVKYD7WZfMZLYXIddv9gytAnUMxylBvuJxKQuOPncUbpJS4/Z+OnUr2BbqeMEyMcDmu2qMRur14ap3RzevBB0klOHHpWFB7k1Rg0JLhgZN6Q0aMkZxNsxlQx7B4zaWQq0OAYANkCgdPQQozg6PlgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0183wp2TwGtUEtDjkzVyRsT2",
      "input": {
        "note": "The bottle's neck is now between the jaws in the right wrist view; closing on the neck.",
        "targets": {
          "right_gripper": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0183wp2TwGtUEtDjkzVyRsT2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6346, 1.7206, 0.973, 0.012, -0.6369, -0.5182, 0.9964, 0.73, 1.9907, 0.9962, 0.4114, 0.4911, 0.2943, 0.1245]\nstate[eef_state]: left_x=0.4165 left_y=-0.1717 left_z=0.1083 left_yaw=0.1465 left_pitch=-0.0079 left_roll=-0.0058 left_gripper=0.9964 right_x=0.4259 right_y=0.2741 right_z=0.0561 right_yaw=0.15 right_pitch=0.0653 right_roll=0.0173 right_gripper=0.1245\nstate[joint_eff]: [-0.5402, -8.2393, 5.3265, 1.6239, -0.3492, -0.0073, -0.0122, 0.0889, -7.8291, 6.3932, 1.2039, 0.1245, 0.1441, 0.1343]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c083f6981280128e7fefdf0186787e13e27657f72c34e3e04cd7c6996f4a29c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5df2ccb29bcb967b5d7cfc055feb3e8dc8e5c4897cc348e2f8decc1a0c42b6c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77c395f94ee95a44162027b87e867822cd7191deae348c873f5984cc1947dc44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 9.487 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]: [-0.6334, 1.7206, 0.9955, -0.0326, -0.6365, -0.5171, 0.9964, 0.8314, 1.7409, 1.0336, -0.0795, 0.5575, 0.3923, 0.9971]\nstate[eef_state]: left_x=0.4163 left_y=-0.171 left_z=0.1098 left_yaw=0.147 left_pitch=-0.0238 left_roll=0.0105 left_gripper=0.9964 right_x=0.3665 right_y=0.2685 right_z=0.103 right_yaw=0.1458 right_pitch=-0.0733 right_roll=-0.0548 right_gripper=0.9971\nstate[joint_eff]: [0.2803, -10.6051, 5.9419, 1.5458, -0.2662, 0.1392, -0.0122, 0.4991, -8.5402, 8.6906, 1.6874, 0.4713, 0.188, -0.315]",
      "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]: [-0.6346, 1.7206, 0.9745, 0.0025, -0.6369, -0.5179, 0.9964, 0.7315, 1.9728, 0.976, 0.276, 0.5198, 0.3149, 0.9971]\nstate[eef_state]: left_x=0.4157 left_y=-0.1711 left_z=0.1073 left_yaw=0.1464 left_pitch=-0.0136 left_roll=0.0001 left_gripper=0.9964 right_x=0.4094 right_y=0.2544 right_z=0.0345 right_yaw=0.1188 right_pitch=-0.0387 right_roll=-0.0569 right_gripper=0.9971\nstate[joint_eff]: [-0.253, -8.4718, 5.7915, 1.5263, -0.359, 0.0513, -0.0122, -0.1162, -7.9248, 7.3231, 1.619, -0.2515, 0.3004, -0.022]",
      "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]: [-0.6346, 1.7206, 0.973, 0.012, -0.6369, -0.5182, 0.9964, 0.73, 1.9907, 0.9962, 0.4114, 0.4911, 0.2943, 0.1245]\nstate[eef_state]: left_x=0.4165 left_y=-0.1717 left_z=0.1083 left_yaw=0.1465 left_pitch=-0.0079 left_roll=-0.0058 left_gripper=0.9964 right_x=0.4259 right_y=0.2741 right_z=0.0561 right_yaw=0.15 right_pitch=0.0653 right_roll=0.0173 right_gripper=0.1245\nstate[joint_eff]: [-0.5402, -8.2393, 5.3265, 1.6239, -0.3492, -0.0073, -0.0122, 0.0889, -7.8291, 6.3932, 1.2039, 0.1245, 0.1441, 0.1343]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c083f6981280128e7fefdf0186787e13e27657f72c34e3e04cd7c6996f4a29c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5df2ccb29bcb967b5d7cfc055feb3e8dc8e5c4897cc348e2f8decc1a0c42b6c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77c395f94ee95a44162027b87e867822cd7191deae348c873f5984cc1947dc44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISogkKjgEIEhgCKkATcNvHCAN5qsLr6ThzzI2xLX+Eb5zXE0agxwhiABJFeVsmML0XDlG5t/8akvk4gfQqSGQ+8lKffcoj32h1FF6MMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfray9UGEgz/nnDiGVoFcIujHLsaDM7n8JQtG6+6n8SweiIwhXJUfjwQiBnuUOVCdwOlP+3nrDCNIF5/C1rvm9Num+TIi5FyJ5RnbqYsK2VWF546KsAH/Zzji+isn1GmPOUCKqodC82ile3jRW3WlKgVMFu3R6vvbpD4E4asQXpNFm73oa5GM7LvaZ4qry7aUmTh7YoDOCuB2X2+u5mp5YoFMFK9a/yMLNlUKO9DyfwjkU2JsOcHqwU1Liibvh6d1dKUertzibmG9MRq9eMOZnY3sEa4mMN8FjUXP6zl9qXbTxzEq484p9DDBd3nh++BSZwSHWx3qFW65Zp4xb1EGuKxmpY6ZD/njpyAJFZNw4CzUO9xnxdLu2O+uLV88nUrfz+Rb1wSwT0ZSXov9sJ5zYNcjh6BGT/VocHG5IaIVok74DAxNaO7LLXn92DHrVUvKJIA5B6keMEg8/94HBoLoBgwmOu0ebVS/+K9gMdscFvrtuTQS/FwCkxsZt2GF4e1UJh4BorYECsnSu8tEosb8kd8N4lsxISGwK2WrwN2xaQVgx/7x0E13iUwAZgoTBVLc/n1V5gFiU1V5LKIkwc3Ch+ftCg5JoM6Z21w5fB2Rf3OpL58k2mSl4bkzwdqj7Kc6dNlZMRcmHBNNS3PZkasQ8SPx+Hu/qanPLL5RMwVw7DOEf56A3gHPjOeOGi9K33OM30f2CivieEBSvfkJ3w+M80QAsxXZ10azWdF6Ld03nXzyMJ/lIssL+XQjvPGkx/qlUznTclPfLo6olGUoKMjFNKiHH5sJNb6j+OtxXUBHaC6NVJlA50+nv5SnFvmA/jMioNpNZc+9f5FEiTgiGuDhTStgm6ub0zpcIO7yTcvQKT4rfFUliH4rRpmbJ5NOYxnDFNBgQv1F2X+zoPdB3dEP9UhhzIKQDZN1+x7AUL53DbyBlrXLJeQLHOgXTRq4t1cQGR8plzliXh9DG+mhkg943aueyMh8jN9g56Pfvgy9xJitMT2qDlW8ovtV+A1qBfA27sJK/74lqJFUOd9bO/jT6PqLHELhJ1e8JXT6BNcrI9bLePUNH1U/H9/+LQD8H5/Uxdu6MDgevi7K0LoKxBMmIfuBvrMMf0q7Mbg1rp/VosTfwm0nOMhZ9ksjWZbZYry9S8GH4JcqMxiYKHX00f+Pku55k+cCS2GOrVXNVWSLngDag8DEpmKnSorE7I03RnIN3Bb69GQKT3ihri1LEqmwI+CrTbj+8MSPlqIYiTbSdfP18ONYSNgaSsv09aHt2HxbyDOFXAWfgMl2RUhKfVbhV5j3Xa9PpUTvvdS8yKcp+bCGBFaIqkKJjq2GGK9zpB6WUyYX7+gzGKte90ZIKTEz7X3Lu0BZiI/MBnMvLWZkD8YZYUXdHy0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017ZKqMcmwjT2RTLn9BT2b5z",
      "input": {
        "note": "That close came up empty (0.12) — the neck is still just beyond the fingertips. Opening and advancing 2.5 cm so the jaws straddle the neck properly.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.45,
          "right_z": 0.033
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_017ZKqMcmwjT2RTLn9BT2b5z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6353, 1.7206, 0.9634, 0.0189, -0.6369, -0.5175, 0.9964, 0.7006, 2.0583, 1.0935, 0.3183, 0.44, 0.2718, 0.9949]\nstate[eef_state]: left_x=0.4151 left_y=-0.1711 left_z=0.1057 left_yaw=0.1454 left_pitch=-0.0098 left_roll=-0.0033 left_gripper=0.9964 right_x=0.4408 right_y=0.278 right_z=0.0397 right_yaw=0.1749 right_pitch=-0.004 right_roll=-0.0102 right_gripper=0.9949\nstate[joint_eff]: [-0.3487, -7.8427, 6.5162, 1.5018, -0.398, 0.0415, -0.0122, -1.3744, -7.5419, 7.5419, 1.8242, 0.105, 0.0952, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4353c7282df47f90a7e14a989648b9fbe01abde62324c862dadb3cabfb43a509",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:414507b4dfbaa6b45f724d537fb3aa6349ddeabdc4c9b382ba95dd3f4faaaa7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:37c6ab6f280e0d33d7c5268a5601215990591b7229f68ce8faa7e606d52e5ac2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 12.15 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]: [-0.6346, 1.7206, 0.9745, 0.0025, -0.6369, -0.5179, 0.9964, 0.7315, 1.9728, 0.976, 0.276, 0.5198, 0.3149, 0.9971]\nstate[eef_state]: left_x=0.4157 left_y=-0.1711 left_z=0.1073 left_yaw=0.1464 left_pitch=-0.0136 left_roll=0.0001 left_gripper=0.9964 right_x=0.4094 right_y=0.2544 right_z=0.0345 right_yaw=0.1188 right_pitch=-0.0387 right_roll=-0.0569 right_gripper=0.9971\nstate[joint_eff]: [-0.253, -8.4718, 5.7915, 1.5263, -0.359, 0.0513, -0.0122, -0.1162, -7.9248, 7.3231, 1.619, -0.2515, 0.3004, -0.022]",
      "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]: [-0.6346, 1.7206, 0.973, 0.012, -0.6369, -0.5182, 0.9964, 0.73, 1.9907, 0.9962, 0.4114, 0.4911, 0.2943, 0.1245]\nstate[eef_state]: left_x=0.4165 left_y=-0.1717 left_z=0.1083 left_yaw=0.1465 left_pitch=-0.0079 left_roll=-0.0058 left_gripper=0.9964 right_x=0.4259 right_y=0.2741 right_z=0.0561 right_yaw=0.15 right_pitch=0.0653 right_roll=0.0173 right_gripper=0.1245\nstate[joint_eff]: [-0.5402, -8.2393, 5.3265, 1.6239, -0.3492, -0.0073, -0.0122, 0.0889, -7.8291, 6.3932, 1.2039, 0.1245, 0.1441, 0.1343]",
      "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]: [-0.6353, 1.7206, 0.9634, 0.0189, -0.6369, -0.5175, 0.9964, 0.7006, 2.0583, 1.0935, 0.3183, 0.44, 0.2718, 0.9949]\nstate[eef_state]: left_x=0.4151 left_y=-0.1711 left_z=0.1057 left_yaw=0.1454 left_pitch=-0.0098 left_roll=-0.0033 left_gripper=0.9964 right_x=0.4408 right_y=0.278 right_z=0.0397 right_yaw=0.1749 right_pitch=-0.004 right_roll=-0.0102 right_gripper=0.9949\nstate[joint_eff]: [-0.3487, -7.8427, 6.5162, 1.5018, -0.398, 0.0415, -0.0122, -1.3744, -7.5419, 7.5419, 1.8242, 0.105, 0.0952, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4353c7282df47f90a7e14a989648b9fbe01abde62324c862dadb3cabfb43a509",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:414507b4dfbaa6b45f724d537fb3aa6349ddeabdc4c9b382ba95dd3f4faaaa7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37c6ab6f280e0d33d7c5268a5601215990591b7229f68ce8faa7e606d52e5ac2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISwAoKjgEIEhgCKkDBM0iF+6s+xxr7Yj+C+En6AsdcqL4YYkUyii/dBNzxGX7RD44k3w8HjJAL0IdW/irUG4eN+GytQf6d4oNCPhM8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYXby9UGEgzNo0UEEnuOGceKqu8aDOPR3u/R9dcGUuMlYyIwCnYnlVbRJ5oMLdh6uGZ5njRY5wtbXwvKCUXMJpgErb58sfVEyiTcCp6WQO0XYLE3Kt4IP2PA/5sgPKYNcac5OwWwRBH07BN9HM8q1Da6nISMmQ5T/CDXeVo9jnW9mUhxO0LoBZcFv0Z0ms9T3JnoqGBnUgmGk6hj25hwDTLNqTd8Lfnp1yxD42SBTOgAbuERimmJfWTBqUO77fGFgvY1DqrmH7S46hCkWyksKCsccWftUFmRyxGBO3xw8XlWUvGSlzvxZtXZPJEKD7ccyeQ/sPwhf97Rdbvyv2fPXy+TYnkPZwrzFmgp6u96/sjFzj4OeY0d/ovlE4iQjsV80VRvkdGIkr8Qg1CvPXJ9BSAD9q2r8ZAaBuIa3ixQYhHd6q5RVPHyrPPrJ9old3Uf1IvrD2LqALXj2VH/f7KX+22NdZMd5D6juIfgDFxWYDttNWOKUbq6Hxsgh+nI9M5MgwlGfqb59J8xUwEy2mg2LIqEg08km3Pdt7NogNoZg2ZiYUp7jKbykEFoA4fAMTM1ymUIwhCjuLN4SV/g01onJwqLugiYzMnZCvlb39K1vi/rjY5Ypzl+WlB6kOIUT90pieWetDQmK3QmG8tTg59Yba/Zlv8Vt2e3xTDai0mvRLqDOk1eaAmHge3mhP+LVAUbclfmr2mmrBy7ZpxU3QCGcs3WffFL2uA77L2/W76Eyh33wV62jK9MVYGN8u0IB4Jsd/G1TwMGyZxmHcoyrNBjjMxgaEEA1Fx6An9vpf9VGrULwMZezdp7Ho6o23GtwhwVmhpDLvLxzLZObfGz9LRSutUFhwFvaLo6j8KwRcnEHMDgLbvgoOPv8vUKFv7Rc6W8sj3cHRi/GR8RiPhIoiYbSDwq7u6wMHtfD9rsX8UTvUH6/4eiKfBLNesiexfd3PIaIjowEuE2VlWf4Ez0YL3IPdWXjjhnXcEzWjr+2wH3zmpKZh0GslvJlqMTdHRJRerQtDlmhY/6NyixaZPlZZd4uhJCCDOFh6SldX6UmMa+JV+ifRpL8uH1FqcpxvF6Ylqt8UeEilfVQ7uZm9RMvlbLiJ4sQzeX3vElxLvtlmqIIbpqwYcnkhAMzjfWQd34CcZSevyluhhdKJa+BAqTKhtm4zI94Yakk7uR2Rp/3nIN0Oiq+gCIixSN0kHAKsXJtBmmg3BH4WulIcWLLGgQy1CimmW4APbKl4cRpCjLr3/mLlYbyiG4Cs1YBBz6xUjWm2fuCdLWVqAoWFTgkQKIvRpN+FX0/XH2czuI6kgbMxuRw7ceaXaq0azHhztaIQ/d4eN0l6VAt7RcIeA3qopOuZrK4+wjYNM2Do9v1fv9SeAmB6baHYmxz8l+M9kUhLvuACI4Q5XrX16P5SqSbvpID9zqdNsP+PoYG0TFj3TVK9Zjdts/EODnNdXr5LM8cvsJUg7TL7Qh0t1WltR4ZegeRbmRWm0gPaZE6W+G5vUfzCM4wLefndwv1vVpxIs6/kee+1L1fDf7hELsKKwfC2AHUocp5y/qD2VBCz7ugT6zkdFf1qn99z4nN86b7cgJwHseRF3hHzuYDk4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nwf8MWb7QvxFKb5BPphbPG",
      "input": {
        "note": "The blue cap now sits right between the jaw tips in the right wrist view; closing on the cap/neck.",
        "targets": {
          "right_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Nwf8MWb7QvxFKb5BPphbPG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6353, 1.7206, 0.9615, 0.02, -0.6369, -0.5175, 0.9964, 0.701, 2.0541, 1.0943, 0.3767, 0.4404, 0.2604, 0.1547]\nstate[eef_state]: left_x=0.4148 left_y=-0.1709 left_z=0.1052 left_yaw=0.1454 left_pitch=-0.0103 left_roll=-0.0028 left_gripper=0.9964 right_x=0.447 right_y=0.2834 right_z=0.0531 right_yaw=0.1804 right_pitch=0.051 right_roll=0.0115 right_gripper=0.1547\nstate[joint_eff]: [-0.2393, -8.0479, 5.7641, 1.6484, -0.3883, 0.0317, -0.0122, -0.5128, -10.4547, 5.1761, 1.243, 0.0904, 0.149, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62900e277a0af7f5e176463ac26987820da44b489beffb61eb861062da760228",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51a6184d6ff5bbc4866fec36ab4263ad800a641969eadd83b0377e39ec63268e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:73a53bf9410366193340f889340e11b43de7334ac4ff927605c6cc8a8e713ee3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 8.512 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]: [-0.6346, 1.7206, 0.973, 0.012, -0.6369, -0.5182, 0.9964, 0.73, 1.9907, 0.9962, 0.4114, 0.4911, 0.2943, 0.1245]\nstate[eef_state]: left_x=0.4165 left_y=-0.1717 left_z=0.1083 left_yaw=0.1465 left_pitch=-0.0079 left_roll=-0.0058 left_gripper=0.9964 right_x=0.4259 right_y=0.2741 right_z=0.0561 right_yaw=0.15 right_pitch=0.0653 right_roll=0.0173 right_gripper=0.1245\nstate[joint_eff]: [-0.5402, -8.2393, 5.3265, 1.6239, -0.3492, -0.0073, -0.0122, 0.0889, -7.8291, 6.3932, 1.2039, 0.1245, 0.1441, 0.1343]",
      "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]: [-0.6353, 1.7206, 0.9634, 0.0189, -0.6369, -0.5175, 0.9964, 0.7006, 2.0583, 1.0935, 0.3183, 0.44, 0.2718, 0.9949]\nstate[eef_state]: left_x=0.4151 left_y=-0.1711 left_z=0.1057 left_yaw=0.1454 left_pitch=-0.0098 left_roll=-0.0033 left_gripper=0.9964 right_x=0.4408 right_y=0.278 right_z=0.0397 right_yaw=0.1749 right_pitch=-0.004 right_roll=-0.0102 right_gripper=0.9949\nstate[joint_eff]: [-0.3487, -7.8427, 6.5162, 1.5018, -0.398, 0.0415, -0.0122, -1.3744, -7.5419, 7.5419, 1.8242, 0.105, 0.0952, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6353, 1.7206, 0.9615, 0.02, -0.6369, -0.5175, 0.9964, 0.701, 2.0541, 1.0943, 0.3767, 0.4404, 0.2604, 0.1547]\nstate[eef_state]: left_x=0.4148 left_y=-0.1709 left_z=0.1052 left_yaw=0.1454 left_pitch=-0.0103 left_roll=-0.0028 left_gripper=0.9964 right_x=0.447 right_y=0.2834 right_z=0.0531 right_yaw=0.1804 right_pitch=0.051 right_roll=0.0115 right_gripper=0.1547\nstate[joint_eff]: [-0.2393, -8.0479, 5.7641, 1.6484, -0.3883, 0.0317, -0.0122, -0.5128, -10.4547, 5.1761, 1.243, 0.0904, 0.149, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62900e277a0af7f5e176463ac26987820da44b489beffb61eb861062da760228",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51a6184d6ff5bbc4866fec36ab4263ad800a641969eadd83b0377e39ec63268e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73a53bf9410366193340f889340e11b43de7334ac4ff927605c6cc8a8e713ee3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JYBSvmoRQSEdJcZ6jF16p5",
      "input": {
        "note": "Empty again and the bottle has slid out of the wrist view, so the jaws are still short of it; opening and making one last 2 cm advance at bottle-axis height before closing.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.47,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01JYBSvmoRQSEdJcZ6jF16p5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6353, 1.7206, 0.9588, 0.0231, -0.6369, -0.5179, 0.9964, 0.6785, 2.1185, 1.1816, 0.3145, 0.3912, 0.231, 0.9952]\nstate[eef_state]: left_x=0.4146 left_y=-0.1707 left_z=0.1047 left_yaw=0.1456 left_pitch=-0.0101 left_roll=-0.0034 left_gripper=0.9964 right_x=0.461 right_y=0.2897 right_z=0.0396 right_yaw=0.2142 right_pitch=0.0032 right_roll=-0.0076 right_gripper=0.9952\nstate[joint_eff]: [-0.3077, -8.0615, 5.9009, 1.619, -0.3834, 0.0562, -0.0073, -1.5521, -8.0479, 7.5829, 1.7851, 0.188, 0.1734, -0.2564]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5ea9a85f6191d933ae5df6458506ba4ba04085e8e1f76ddf41ebf2b23c96700",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aebfdb3c615cf7979a7224184ce316e41ddcba7259d7277a6e001bb104a314bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:42f3fb858a38a487afceb96edd7589f049c3d4c4284b46ca9e1562e47b7f84d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 19.73 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]: [-0.6353, 1.7206, 0.9634, 0.0189, -0.6369, -0.5175, 0.9964, 0.7006, 2.0583, 1.0935, 0.3183, 0.44, 0.2718, 0.9949]\nstate[eef_state]: left_x=0.4151 left_y=-0.1711 left_z=0.1057 left_yaw=0.1454 left_pitch=-0.0098 left_roll=-0.0033 left_gripper=0.9964 right_x=0.4408 right_y=0.278 right_z=0.0397 right_yaw=0.1749 right_pitch=-0.004 right_roll=-0.0102 right_gripper=0.9949\nstate[joint_eff]: [-0.3487, -7.8427, 6.5162, 1.5018, -0.398, 0.0415, -0.0122, -1.3744, -7.5419, 7.5419, 1.8242, 0.105, 0.0952, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6353, 1.7206, 0.9615, 0.02, -0.6369, -0.5175, 0.9964, 0.701, 2.0541, 1.0943, 0.3767, 0.4404, 0.2604, 0.1547]\nstate[eef_state]: left_x=0.4148 left_y=-0.1709 left_z=0.1052 left_yaw=0.1454 left_pitch=-0.0103 left_roll=-0.0028 left_gripper=0.9964 right_x=0.447 right_y=0.2834 right_z=0.0531 right_yaw=0.1804 right_pitch=0.051 right_roll=0.0115 right_gripper=0.1547\nstate[joint_eff]: [-0.2393, -8.0479, 5.7641, 1.6484, -0.3883, 0.0317, -0.0122, -0.5128, -10.4547, 5.1761, 1.243, 0.0904, 0.149, 0.0952]",
      "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]: [-0.6353, 1.7206, 0.9588, 0.0231, -0.6369, -0.5179, 0.9964, 0.6785, 2.1185, 1.1816, 0.3145, 0.3912, 0.231, 0.9952]\nstate[eef_state]: left_x=0.4146 left_y=-0.1707 left_z=0.1047 left_yaw=0.1456 left_pitch=-0.0101 left_roll=-0.0034 left_gripper=0.9964 right_x=0.461 right_y=0.2897 right_z=0.0396 right_yaw=0.2142 right_pitch=0.0032 right_roll=-0.0076 right_gripper=0.9952\nstate[joint_eff]: [-0.3077, -8.0615, 5.9009, 1.619, -0.3834, 0.0562, -0.0073, -1.5521, -8.0479, 7.5829, 1.7851, 0.188, 0.1734, -0.2564]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5ea9a85f6191d933ae5df6458506ba4ba04085e8e1f76ddf41ebf2b23c96700",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aebfdb3c615cf7979a7224184ce316e41ddcba7259d7277a6e001bb104a314bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42f3fb858a38a487afceb96edd7589f049c3d4c4284b46ca9e1562e47b7f84d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS3QcKjgEIEhgCKkCEEs4Cb686SaGWF33rLXi7LKyAVGJVeB4jly9sZPA6vLqULA7L9AtgmU6lR2VYFwzr2Fl2b1p53b3p2EOXqmiYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZvby9UGEgxxNgs9WspQpIeffQQaDClB7KfmYlLNpFlOHCIwyTJ5liddam52+j3t733c3IjhKgmVcqXTgMV7ozXzSqtQr/Mnw7tR2KYMa1UFDGRgKvsFE/ZpnvQRBAbDUghNSeYAyVy96CpyDmKIF2D9BBGCKhoqQ/R8htwsSAJ2MCFZNfVOz2qGP1hDWo8dMqKip30swDIagM31AWHC644wzZzYG9C1AP+PkmUOdX2lqRO89khR/xLVTwa3f0oyI/I3EMBPslbvbbPcfhWKam2uvnYgfui2DC8O58n79WgepR2KzXhCYrGD8PWfoa6mNT6MLGNtxgHF851dl1u4gX6qzi7WWBCBPfnzG/oO9Zjt5/gC6lanQlLaXK6BfXnygfosmIar9syRbpDdsmoXj2qeaSQi3T0GU0WVxJZ03JOuJTeWUpErSbfvT0S4tLOCf7wmH790cikQu8A/x9TzzXQ9pXMOkiq1JfkIW5z4wMxOPiPUUQMGP5uKdmBVSD8w2Ixm7/XIlEyKymizJEJ1COG5N3NImx6mtZt6KXFQc5HOqQxM7MYydgcBc8ZbMCATpp0qvPz4lsJrwFJxasZhbam29pZ/CBAFgApGBy4r48Zl0Eg0a8xY9qelnIWCMidj0SvIHvgr0b382MyIC+33CvuvD2lQCx5fGVzaGjlIfD0r0ez7aIWQFVlvpvFlyalRD7TCRKbizJGilMKqtc9+GZRcsfcoeFu2Jj1pG0Wi7dFbOV4CmSGVnhRj/NdC5I2D4hBfG0XwrXVZtB2Kn2/90jvwRVUHVNViiSuDw4f2qeNlwyj0aAXHGj77LvXL7714TTsS9MvG6S4IIndCpTEQQhEpjD5fVXGsJxCfnUEDtnfohq4KPLvrTy7ngwrZ6Jhh2uS+Y2tIb+pTXADZ3Uw7CleDjSGuYAYj17KMwnpjxyfCCd/2KxrTVyeLT2uJkq5mQOU7QoI6CtiN2RtOD+5ja+A78gyu+ir+JebC/hXhlA4efUnq+1DDS+2K1fyF45WFtc+AK4sDJRPopITfpvhSMoSudaidCjegOXTxwKhzPG3dlWG5PAjXIsojGngjXQ4KoKTDEmGn38KjPhip5xcgtbrtHyMoE/nbxsbpxWdIgSi3nxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B8uucMJeD6dPKWQmQyfZ3o",
      "input": {
        "note": "The cap sits just left of the jaws in the wrist view; shifting 2.5 cm left while closing, as a final attempt to catch the neck.",
        "targets": {
          "right_gripper": 0.2,
          "right_y": 0.315
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01B8uucMJeD6dPKWQmQyfZ3o",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6353, 1.7206, 0.9581, 0.0235, -0.6373, -0.5175, 0.9964, 0.7189, 2.1311, 1.2465, 0.2764, 0.4145, 0.2417, 0.2059]\nstate[eef_state]: left_x=0.4145 left_y=-0.1706 left_z=0.1045 left_yaw=0.1457 left_pitch=-0.0102 left_roll=-0.0026 left_gripper=0.9964 right_x=0.4601 right_y=0.3129 right_z=0.0518 right_yaw=0.2299 right_pitch=0.0219 right_roll=-0.004 right_gripper=0.2059\nstate[joint_eff]: [-0.5949, -8.212, 5.6, 1.6532, -0.359, 0.022, -0.0171, 0.5128, -8.3487, 7.9932, 1.5214, 0.0611, 0.1929, 0.0171]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f54866a997b681bea091b39783085379261034784f578f76777ee3e71801af42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da613573035bd6d121e3c391a72d6a6e7fbd3020276e42b0e71afbe2abf16a36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:613d81a799aee7db0284dd44d1a45f71fab71fea7075cab3a871830b9fa63664",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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