adhoc - adhoc_30d8a194.json

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: 637.5 s
total steps: 305

success_at_end

scenes

trials

errored

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

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

user

Goal: Stand all three bottles upright.

step 0

assistant

agent noteThree water bottles lie on their sides in a row in the middle of the table. I'm flying the left arm to hover over the leftmost bottle to get a close wrist view before planning the grasp.

move_to

left_x0.3800left_y-0.1100left_z0.1800left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7925, 0.6075, -0.3779, -0.0231, -0.0284, 0.9988, -0.0166, 0.7891, 0.6037, -0.3855, -0.017, -0.0353, 0.9998] state[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2937 right_y=0.0017 right_z=0.18 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.3624, -1.265, 9.7846, 1.8339, 0.022, 0.1587, -0.1441, -0.7863, -1.0051, 10.2906, 1.8339, -0.0904, 0.1832, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.38, "left_y": -0.11, "left_z": 0.18, "left_gripper": 1}, "note": "Three water bottles lie on their sides in a row in the middle of the table. I'm flying the left arm to hover over the leftmost bottle to get a close wrist view before planning the grasp."})

tool

executing move_to over 10 steps (1.0s)

step 10

assistant

agent noteLeft wrist view shows the nearest bottle lying just right of the jaw column with its neck/cap toward the upper-left. Descending to 6 cm to get a closer, better-scaled view before aligning on the neck.

move_to

left_z0.0600

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4526, 1.2922, 0.8131, -0.2085, -0.3576, -0.2661, 0.9988, -0.0193, 0.794, 0.6037, -0.4042, -0.0235, -0.036, 0.9998] state[eef_state]: left_x=0.3655 left_y=-0.105 left_z=0.1568 left_yaw=-0.0243 left_pitch=-0.0743 left_roll=0.0218 left_gripper=0.9988 right_x=0.2915 right_y=0.0021 right_z=0.1748 right_yaw=0.0032 right_pitch=-0.0236 right_roll=0.0034 right_gripper=0.9998 state[joint_eff]: [-0.3624, -5.0803, 9.6615, 1.8828, -0.2906, -0.0317, -0.1392, -0.0342, -1.5521, 7.0632, 1.8632, 0.0269, -0.0024, -0.0122] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.06}, "note": "Left wrist view shows the nearest bottle lying just right of the jaw column with its neck/cap toward the upper-left. Descending to 6 cm to get a closer, better-scaled view before aligning on the neck."})

tool

executing move_to over 7 steps (0.7s)

step 17

assistant

agent noteClose-up wrist view: the bottle lies with its cap/neck at the far upper-left; the jaws are well short of it. Moving forward 8 cm and slightly left, at a safe 9 cm height, to bring the neck under the jaw column.

move_to

left_x0.4400left_y-0.0750left_z0.0900

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4633, 1.4967, 0.495, 0.3336, -0.3752, -0.2821, 0.9983, -0.0193, 0.7845, 0.5827, -0.3973, -0.0235, -0.0364, 0.9998] state[eef_state]: left_x=0.359 left_y=-0.103 left_z=0.0561 left_yaw=-0.0126 left_pitch=-0.0518 left_roll=0.0105 left_gripper=0.9983 right_x=0.2892 right_y=0.0022 right_z=0.1692 right_yaw=0.0034 right_pitch=-0.0281 right_roll=0.0032 right_gripper=0.9998 state[joint_eff]: [0.4034, -5.3949, 5.0803, 1.5214, -0.0806, 0.1978, -0.0611, -0.1026, -1.7983, 7.0085, 1.9414, -0.0464, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.075, "left_z": 0.09}, "note": "Close-up wrist view: the bottle lies with its cap/neck at the far upper-left; the jaws are well short of it. Moving forward 8 cm and slightly left, at a safe 9 cm height, to bring the neck under the jaw column."})

tool

executing move_to over 7 steps (0.7s)

step 24

assistant

agent noteThe bottle's cap now sits just left of and slightly above the jaw convergence point in the wrist view, so I'm nudging 2.5 cm further forward and dropping to 3.5 cm height to straddle the bottle's neck with the open jaws.

move_to

left_x0.4550left_y-0.0730left_z0.0350

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2718, 1.6367, 0.712, 0.3302, -0.2493, -0.1902, 0.9982, -0.0193, 0.7712, 0.5541, -0.3882, -0.0235, -0.0364, 0.9998] state[eef_state]: left_x=0.4296 left_y=-0.0708 left_z=0.081 left_yaw=0.025 left_pitch=-0.011 left_roll=-0.0093 left_gripper=0.9982 right_x=0.286 right_y=0.0022 right_z=0.1616 right_yaw=0.0034 right_pitch=-0.0343 right_roll=0.0033 right_gripper=0.9998 state[joint_eff]: [0.4855, -6.4889, 8.1983, 1.7216, -0.0366, 0.1392, -0.022, 0.1846, -1.6342, 7.0359, 1.956, -0.0269, -0.0464, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.455, "left_y": -0.073, "left_z": 0.035}, "note": "The bottle's cap now sits just left of and slightly above the jaw convergence point in the wrist view, so I'm nudging 2.5 cm further forward and dropping to 3.5 cm height to straddle the bottle's neck with the open jaws."})

tool

executing move_to over 3 steps (0.3s)

step 27

assistant

agent noteThe jaws now straddle the bottle's cap/neck in the wrist view; closing to ~2.4 cm to grip the neck just under the cap so the bottle can swing down and hang vertically when lifted.

move_to

left_gripper0.2500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2619, 1.8343, 0.7349, 0.4938, -0.2337, -0.2035, 0.9982, -0.0193, 0.7563, 0.5236, -0.3756, -0.0238, -0.036, 0.9998] state[eef_state]: left_x=0.4486 left_y=-0.0742 left_z=0.0383 left_yaw=0.029 left_pitch=-0.0242 left_roll=-0.0257 left_gripper=0.9982 right_x=0.2829 right_y=0.0024 right_z=0.1542 right_yaw=0.0035 right_pitch=-0.0373 right_roll=0.0039 right_gripper=0.9998 state[joint_eff]: [-0.0752, -8.294, 5.8598, 0.2906, -0.6667, 0.9988, -0.0122, -0.2256, -1.8393, 7.0085, 2.0147, -0.0317, -0.0415, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.25}, "note": "The jaws now straddle the bottle's cap/neck in the wrist view; closing to ~2.4 cm to grip the neck just under the cap so the bottle can swing down and hang vertically when lifted."})

tool

executing move_to over 8 steps (0.8s)

step 35

assistant

agent noteGripper closed to 2.4 cm around what should be the bottle neck. Lifting to 22 cm so the bottle can swing down and hang vertically from the cap; the top view will show whether I actually have it.

move_to

left_z0.2200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2668, 1.8519, 0.7433, 0.5831, -0.2443, -0.202, 0.2548, -0.0193, 0.7372, 0.4881, -0.3588, -0.0238, -0.0364, 0.9998] state[eef_state]: left_x=0.461 left_y=-0.078 left_z=0.0521 left_yaw=0.0325 left_pitch=0.0541 left_roll=-0.0423 left_gripper=0.2548 right_x=0.2795 right_y=0.0024 right_z=0.1465 right_yaw=0.0037 right_pitch=-0.0369 right_roll=0.0036 right_gripper=0.9998 state[joint_eff]: [0.3077, -6.8171, 4.9162, 1.3846, -0.1001, 0.2564, 0.2222, -0.0479, -1.2513, 6.9812, 1.9951, -0.0317, -0.0757, -0.0122] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.22}, "note": "Gripper closed to 2.4 cm around what should be the bottle neck. Lifting to 22 cm so the bottle can swing down and hang vertically from the cap; the top view will show whether I actually have it."})

tool

executing move_to over 11 steps (1.1s)

step 46

assistant

agent noteThe lift came up empty — the top view still shows three bottles lying down, and the wrist view shows the target bottle off to the right of the jaws. Sliding 5 cm to the arm's right with the gripper reopened to re-centre on it.

move_to

left_y-0.1250left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2695, 1.5841, 1.1591, -0.1955, -0.2626, -0.2092, 0.2542, -0.0193, 0.7174, 0.4534, -0.3428, -0.0235, -0.0364, 0.9998] state[eef_state]: left_x=0.4637 left_y=-0.0768 left_z=0.1899 left_yaw=0.0487 left_pitch=-0.0334 left_roll=-0.0101 left_gripper=0.2542 right_x=0.2761 right_y=0.0024 right_z=0.1391 right_yaw=0.0034 right_pitch=-0.0358 right_roll=0.0034 right_gripper=0.9998 state[joint_eff]: [-0.5675, -10.4547, 9.4427, 1.7021, -0.105, 0.1929, -0.0855, 0.0205, -1.4017, 6.9128, 2.0098, -0.022, -0.0757, -0.0122] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.125, "left_gripper": 1}, "note": "The lift came up empty \u2014 the top view still shows three bottles lying down, and the wrist view shows the target bottle off to the right of the jaws. Sliding 5 cm to the arm's right with the gripper reopened to re-centre on it."})

tool

executing move_to over 8 steps (0.8s)

step 54

assistant

agent noteWrist view now shows the target bottle just below-left of the jaw column and a second bottle further right. Descending to 5 cm and nudging 1 cm back to the left to line the jaws up on the near bottle's neck.

move_to

left_y-0.1130left_z0.0500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4046, 1.6283, 1.1538, -0.1818, -0.3676, -0.2695, 0.996, -0.0193, 0.6979, 0.4206, -0.3283, -0.0235, -0.0364, 0.9998] state[eef_state]: left_x=0.4555 left_y=-0.1221 left_z=0.1738 left_yaw=0.0329 left_pitch=-0.0433 left_roll=0.0115 left_gripper=0.996 right_x=0.2728 right_y=0.0025 right_z=0.132 right_yaw=0.0034 right_pitch=-0.0346 right_roll=0.0033 right_gripper=0.9998 state[joint_eff]: [-0.253, -7.4188, 10.3863, 1.7656, -0.3394, -0.0269, -0.1099, -0.1709, -1.3607, 6.8581, 1.9658, -0.0317, -0.0659, -0.0122] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.113, "left_z": 0.05}, "note": "Wrist view now shows the target bottle just below-left of the jaw column and a second bottle further right. Descending to 5 cm and nudging 1 cm back to the left to line the jaws up on the near bottle's neck."})

tool

executing move_to over 8 steps (0.8s)

step 62

assistant

agent noteStill not centred: the top view shows my jaws just to the left of the first bottle. Shifting 3 cm to the arm's right at low height to bracket the bottle's neck.

move_to

left_y-0.1430left_z0.0450

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3908, 1.8385, 0.8333, 0.345, -0.3645, -0.2619, 0.9968, -0.0193, 0.6785, 0.3897, -0.3134, -0.0238, -0.0364, 0.9998] state[eef_state]: left_x=0.4485 left_y=-0.1128 left_z=0.0479 left_yaw=0.0402 left_pitch=-0.0476 left_roll=0.0177 left_gripper=0.9968 right_x=0.2699 right_y=0.0026 right_z=0.1259 right_yaw=0.0037 right_pitch=-0.0312 right_roll=0.0035 right_gripper=0.9998 state[joint_eff]: [0.7453, -8.3487, 5.2991, 1.7558, -0.0513, 0.0366, 0.0611, -0.1846, -1.1692, 6.8308, 1.9609, -0.0611, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). 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_y": -0.143, "left_z": 0.045}, "note": "Still not centred: the top view shows my jaws just to the left of the first bottle. Shifting 3 cm to the arm's right at low height to bracket the bottle's neck."})

tool

executing move_to over 3 steps (0.3s)

step 65

assistant

agent noteThe wrist view still shows a bottle hugging the right edge of frame, so the jaws are left of it. Shifting another 4 cm to the arm's right at the same low height.

move_to

left_y-0.1700

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.448, 1.8687, 0.8318, 0.4301, -0.4393, -0.2718, 0.9969, -0.0193, 0.6605, 0.3626, -0.3012, -0.0235, -0.036, 0.9998] state[eef_state]: left_x=0.4513 left_y=-0.1296 left_z=0.0531 left_yaw=0.0487 left_pitch=0.0201 left_roll=0.0251 left_gripper=0.9969 right_x=0.2673 right_y=0.0026 right_z=0.1205 right_yaw=0.0032 right_pitch=-0.0282 right_roll=0.0035 right_gripper=0.9998 state[joint_eff]: [-1.4564, -6.7761, 6.4615, 1.4432, 0.3199, -0.4371, -0.0024, -0.1983, -1.0188, 7.0769, 1.917, -0.0171, -0.0513, -0.0122] 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_y": -0.17}, "note": "The wrist view still shows a bottle hugging the right edge of frame, so the jaws are left of it. Shifting another 4 cm to the arm's right at the same low height."})

tool

executing move_to over 4 steps (0.4s)

step 69

assistant

agent noteWrist view: the bottle (cap at upper right) is still ~9 cm to the arm's right of the jaws, judged from the pixel shift of the last 3.5 cm move. Moving right 8 cm and forward 2 cm to bring its neck onto the jaw column.

move_to

left_y-0.2450left_x0.4750

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5297, 1.8988, 0.9081, 0.3687, -0.4877, -0.3431, 0.9969, -0.0193, 0.6456, 0.3389, -0.2909, -0.0235, -0.0364, 0.9998] state[eef_state]: left_x=0.4522 left_y=-0.1647 left_z=0.0583 left_yaw=0.0441 left_pitch=0.022 left_roll=-0.0043 left_gripper=0.9969 right_x=0.265 right_y=0.0026 right_z=0.1155 right_yaw=0.0034 right_pitch=-0.0266 right_roll=0.0031 right_gripper=0.9998 state[joint_eff]: [-0.1846, -7.9932, 7.1179, 1.4872, -0.3199, -0.1197, -0.0122, 0.1026, -1.0188, 6.9949, 1.9609, 0.0024, -0.0611, -0.0073] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.245, "left_x": 0.475}, "note": "Wrist view: the bottle (cap at upper right) is still ~9 cm to the arm's right of the jaws, judged from the pixel shift of the last 3.5 cm move. Moving right 8 cm and forward 2 cm to bring its neck onto the jaw column."})

tool

executing move_to over 8 steps (0.8s)

step 77

assistant

agent noteI appear to have skipped past the first bottle to the next one, which again sits right of the jaws. Making a calibrated 4 cm rightward step to measure how far the bottle shifts in the wrist image.

move_to

left_y-0.2750

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6559, 2.0747, 1.2041, 0.1764, -0.588, -0.4503, 0.9969, -0.0193, 0.6319, 0.3145, -0.2878, -0.0238, -0.036, 0.9998] state[eef_state]: left_x=0.4726 left_y=-0.2355 left_z=0.0558 left_yaw=0.0534 left_pitch=0.0015 left_roll=-0.0033 left_gripper=0.9969 right_x=0.2616 right_y=0.0028 right_z=0.1083 right_yaw=0.0035 right_pitch=-0.0342 right_roll=0.0039 right_gripper=0.9998 state[joint_eff]: [-0.8, -10.2769, 8.0068, 1.4237, -0.1099, -0.022, -0.0122, 0.0068, -0.9778, 6.9402, 1.9756, -0.0513, -0.0317, -0.0073] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.275}, "note": "I appear to have skipped past the first bottle to the next one, which again sits right of the jaws. Making a calibrated 4 cm rightward step to measure how far the bottle shifts in the wrist image."})

tool

executing move_to over 4 steps (0.4s)

step 81

assistant

agent noteThe 2.7 cm step barely shifted the bottle in the wrist view, so it is farther away than it looks; the top view says the bottles are ~6 cm further to the arm's right. Moving right 6 cm.

move_to

left_y-0.3200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7086, 2.1323, 1.314, 0.1123, -0.6483, -0.5034, 0.9969, -0.0193, 0.6083, 0.2878, -0.2741, -0.0235, -0.0364, 0.9998] state[eef_state]: left_x=0.476 left_y=-0.2628 left_z=0.061 left_yaw=0.0748 left_pitch=0.0193 left_roll=-0.0119 left_gripper=0.9969 right_x=0.2594 right_y=0.0027 right_z=0.1046 right_yaw=0.0034 right_pitch=-0.0236 right_roll=0.0031 right_gripper=0.9998 state[joint_eff]: [-1.1282, -10.1949, 7.788, 1.1746, -0.1245, -0.0562, -0.0122, 0.1573, -0.6632, 6.653, 1.9609, 0.022, -0.0855, -0.0073] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.32}, "note": "The 2.7 cm step barely shifted the bottle in the wrist view, so it is farther away than it looks; the top view says the bottles are ~6 cm further to the arm's right. Moving right 6 cm."})

tool

executing move_to over 6 steps (0.6s)

step 87

assistant

agent noteThe bottle stubbornly stays at the right edge of the wrist view, so I'm making a large, unambiguous 10 cm move to the arm's right to see it shift toward the jaw column.

move_to

left_y-0.4100

assistant

agent noteMaking a large 9 cm move to the arm's right (to the workspace limit) to see how much the bottle shifts in the wrist view and settle the alignment question.

move_to

left_y-0.4000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7887, 2.2406, 1.5375, -0.0463, -0.7128, -0.5884, 0.9969, -0.0193, 0.5941, 0.2684, -0.2687, -0.0235, -0.036, 0.9999] state[eef_state]: left_x=0.4783 left_y=-0.3125 left_z=0.0677 left_yaw=0.087 left_pitch=0.0213 left_roll=-0.0238 left_gripper=0.9969 right_x=0.2572 right_y=0.0028 right_z=0.1002 right_yaw=0.0032 right_pitch=-0.0236 right_roll=0.0034 right_gripper=0.9999 state[joint_eff]: [-0.7179, -10.6462, 8.335, 1.0867, -0.2857, 0.0269, -0.0122, 0.0205, -0.6085, 6.8308, 1.873, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.41}, "note": "The bottle stubbornly stays at the right edge of the wrist view, so I'm making a large, unambiguous 10 cm move to the arm's right to see it shift toward the jaw column."})

tool

target for left_y is outside [-0.4, 0.05]

assistant

move_to({"targets": {"left_y": -0.4}, "note": "Making a large 9 cm move to the arm's right (to the workspace limit) to see how much the bottle shifts in the wrist view and settle the alignment question."})

tool

executing move_to over 8 steps (0.8s)

step 95

assistant

agent noteThe wrist view finally shows a bottle centred near the jaws, but the left arm is at its y limit, so this bottle belongs to the right arm. Parking the left arm home and bringing the right arm out over that bottle to take a look.

move_to

left_x0.3000left_y0.0000left_z0.2500right_x0.4200right_y0.2000right_z0.1500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8963, 2.505, 2.0476, -0.371, -0.7799, -0.7074, 0.9969, -0.0193, 0.5804, 0.2478, -0.2646, -0.0238, -0.036, 0.9998] state[eef_state]: left_x=0.4814 left_y=-0.3973 left_z=0.0705 left_yaw=0.0888 left_pitch=0.0112 left_roll=-0.0337 left_gripper=0.9969 right_x=0.2546 right_y=0.0029 right_z=0.0949 right_yaw=0.0035 right_pitch=-0.0262 right_roll=0.0037 right_gripper=0.9998 state[joint_eff]: [-0.4855, -13.7368, 8.1573, 1.1551, -0.4029, 0.1978, -0.0073, -0.1573, -0.3897, 6.9675, 1.8779, 0.0024, -0.0659, -0.0171] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.25, "right_x": 0.42, "right_y": 0.2, "right_z": 0.15}, "note": "The wrist view finally shows a bottle centred near the jaws, but the left arm is at its y limit, so this bottle belongs to the right arm. Parking the left arm home and bringing the right arm out over that bottle to take a look."})

tool

executing move_to over 36 steps (3.6s)

step 131

assistant

agent noteClear view now: the right wrist camera has the rightmost bottle nearly centred (cap far, body near). Moving 4 cm right-of-arm and 4 cm forward while dropping to 8 cm to line the jaws up over its neck.

move_to

right_x0.4500right_y0.1500right_z0.0800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.141, 0.8883, 0.878, -0.5735, -0.2413, -0.1822, 0.9969, 0.6216, 1.6466, 1.0267, -0.0967, 0.4751, 0.3107, 0.9998] state[eef_state]: left_x=0.3043 left_y=0.0031 left_z=0.2413 left_yaw=0.1448 left_pitch=-0.0021 left_roll=-0.0099 left_gripper=0.9969 right_x=0.4073 right_y=0.1968 right_z=0.1327 right_yaw=0.0432 right_pitch=-0.0532 right_roll=-0.036 right_gripper=0.9998 state[joint_eff]: [0.1846, -2.1538, 8.9504, 1.6825, -0.0904, 0.1685, -0.0122, 0.0205, -7.2, 9.3333, 1.707, 0.442, 0.2564, -0.0122] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.45, "right_y": 0.15, "right_z": 0.08}, "note": "Clear view now: the right wrist camera has the rightmost bottle nearly centred (cap far, body near). Moving 4 cm right-of-arm and 4 cm forward while dropping to 8 cm to line the jaws up over its neck."})

tool

executing move_to over 4 steps (0.4s)

step 135

assistant

agent noteThe bottle is nicely centred on the jaw column in the right wrist view with its cap pointing away; advancing 5 cm (and lifting slightly to clear the bottle) to bring the neck under the fingertips.

move_to

right_x0.4830right_z0.0900

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1471, 0.8921, 0.878, -0.5915, -0.2337, -0.1757, 0.9969, 0.4435, 1.7714, 0.8886, 0.1642, 0.3645, 0.2218, 0.9998] state[eef_state]: left_x=0.3024 left_y=0.0002 left_z=0.2365 left_yaw=0.129 left_pitch=-0.0242 left_roll=-0.0026 left_gripper=0.9969 right_x=0.4334 right_y=0.1401 right_z=0.0649 right_yaw=0.0011 right_pitch=-0.0921 right_roll=-0.0446 right_gripper=0.9998 state[joint_eff]: [-0.0205, -1.7983, 6.9265, 1.873, -0.1832, 0.0806, -0.0073, 0.4718, -8.7453, 6.3658, 2.21, 0.1197, 0.022, -0.0122] 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": 0.483, "right_z": 0.09}, "note": "The bottle is nicely centred on the jaw column in the right wrist view with its cap pointing away; advancing 5 cm (and lifting slightly to clear the bottle) to bring the neck under the fingertips."})

tool

executing move_to over 4 steps (0.4s)

step 139

assistant

agent noteForward motion is working — the bottle grew and slid down the wrist image by ~25 px for 3 cm. Advancing another 4 cm and 2 cm to the arm's right to put the neck between the jaws.

move_to

right_x0.5030right_y0.1200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1513, 0.8841, 0.8581, -0.5762, -0.244, -0.1829, 0.9969, 0.3973, 1.8477, 0.9672, 0.21, 0.3088, 0.178, 0.9998] state[eef_state]: left_x=0.3018 left_y=0.0008 left_z=0.2332 left_yaw=0.1372 left_pitch=-0.0192 left_roll=-0.0039 left_gripper=0.9969 right_x=0.4632 right_y=0.14 right_z=0.0673 right_yaw=0.0256 right_pitch=-0.0628 right_roll=-0.0278 right_gripper=0.9998 state[joint_eff]: [-0.4581, -2.3316, 6.3521, 1.8437, -0.1538, 0.0611, -0.0122, -0.8137, -8.6769, 8.9915, 1.956, 0.1587, 0.0855, -0.0122] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.503, "right_y": 0.12}, "note": "Forward motion is working \u2014 the bottle grew and slid down the wrist image by ~25 px for 3 cm. Advancing another 4 cm and 2 cm to the arm's right to put the neck between the jaws."})

tool

executing move_to over 4 steps (0.4s)

step 143

assistant

agent noteThe arm has hit its forward reach (~0.467 m) so I cannot get to the bottle's cap; instead I will grasp the body under the jaws now and drag the bottle closer to the base. Descending to mid-bottle height.

move_to

right_z0.0330

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.8833, 0.8425, -0.5724, -0.2462, -0.1829, 0.9969, 0.3737, 1.8656, 0.9337, 0.2916, 0.2859, 0.1688, 0.9998] state[eef_state]: left_x=0.3009 left_y=0.0011 left_z=0.2272 left_yaw=0.1385 left_pitch=-0.0295 left_roll=0.0005 left_gripper=0.9969 right_x=0.4667 right_y=0.1333 right_z=0.0607 right_yaw=0.0262 right_pitch=-0.0396 right_roll=-0.0116 right_gripper=0.9998 state[joint_eff]: [-0.4171, -2.6872, 6.8034, 1.8681, -0.1685, 0.0366, -0.0122, -0.1846, -8.1436, 5.9145, 2.0781, 0.0562, -0.0708, -0.0122] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.033}, "note": "The arm has hit its forward reach (~0.467 m) so I cannot get to the bottle's cap; instead I will grasp the body under the jaws now and drag the bottle closer to the base. Descending to mid-bottle height."})

tool

executing move_to over 2 steps (0.2s)

step 145

assistant

agent noteThe descent was clipped; re-sending a drop to 3 cm so the open jaws straddle the bottle's body just below its shoulder.

move_to

right_z0.0300

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.8753, 0.8246, -0.556, -0.2478, -0.1829, 0.9969, 0.3737, 1.8656, 0.9321, 0.3084, 0.2829, 0.1631, 0.9998] state[eef_state]: left_x=0.3006 left_y=0.0014 left_z=0.2247 left_yaw=0.1397 left_pitch=-0.023 left_roll=-0.0005 left_gripper=0.9969 right_x=0.4684 right_y=0.1346 right_z=0.0633 right_yaw=0.032 right_pitch=-0.0259 right_roll=-0.0094 right_gripper=0.9998 state[joint_eff]: [-0.5949, -2.4137, 6.6256, 1.9512, -0.1685, 0.0269, -0.0122, -0.212, -8.5265, 6.0513, 1.9756, 0.0904, 0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.03}, "note": "The descent was clipped; re-sending a drop to 3 cm so the open jaws straddle the bottle's body just below its shoulder."})

tool

executing move_to over 3 steps (0.3s)

step 148

assistant

agent noteThe arm is at its radial reach limit and refuses to descend there, so I'm pulling back 3 cm to x=0.44 and dropping to 3.3 cm, which should put the open jaws around the near (bottom) end of the bottle so I can drag it closer to the base.

move_to

right_x0.4400right_z0.0330

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.8707, 0.8101, -0.5472, -0.2478, -0.1833, 0.9969, 0.3737, 1.8656, 0.9321, 0.3084, 0.2829, 0.1627, 0.9998] state[eef_state]: left_x=0.3 left_y=0.0015 left_z=0.2213 left_yaw=0.1399 left_pitch=-0.0241 left_roll=-0.0005 left_gripper=0.9969 right_x=0.4684 right_y=0.1346 right_z=0.0633 right_yaw=0.0322 right_pitch=-0.0259 right_roll=-0.0097 right_gripper=0.9998 state[joint_eff]: [-0.5949, -2.4547, 6.106, 1.9023, -0.1978, -0.0073, -0.0122, -0.3897, -8.4581, 6.0376, 1.9463, 0.0708, -0.0366, -0.0122] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.44, "right_z": 0.033}, "note": "The arm is at its radial reach limit and refuses to descend there, so I'm pulling back 3 cm to x=0.44 and dropping to 3.3 cm, which should put the open jaws around the near (bottom) end of the bottle so I can drag it closer to the base."})

tool

executing move_to over 3 steps (0.3s)

step 151

assistant

agent noteThe right arm has stopped tracking entirely (joints frozen at full stretch). Raising the tool to 18 cm and pulling back to x=0.42 to escape the singular stretched pose.

move_to

right_z0.1800right_x0.4200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.8673, 0.7933, -0.5323, -0.2478, -0.1833, 0.9969, 0.3737, 1.8656, 0.9321, 0.3084, 0.2829, 0.1627, 0.9998] state[eef_state]: left_x=0.3001 left_y=0.0015 left_z=0.2177 left_yaw=0.1399 left_pitch=-0.0226 left_roll=-0.001 left_gripper=0.9969 right_x=0.4684 right_y=0.1346 right_z=0.0633 right_yaw=0.0322 right_pitch=-0.0259 right_roll=-0.0097 right_gripper=0.9998 state[joint_eff]: [-0.4171, -2.6872, 6.2154, 1.8193, -0.2271, -0.0171, -0.0122, -0.294, -8.5402, 6.3658, 1.9512, 0.0855, -0.0317, -0.0122] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.18, "right_x": 0.42}, "note": "The right arm has stopped tracking entirely (joints frozen at full stretch). Raising the tool to 18 cm and pulling back to x=0.42 to escape the singular stretched pose."})

tool

executing move_to over 8 steps (0.8s)

step 159

assistant

agent noteArm is free again and the bottle is centred on the jaw column in the wrist view. Descending to 3.5 cm so the open jaws straddle the bottle body, ready to grip and drag it closer to the base.

move_to

right_z0.0350

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.8604, 0.7769, -0.5201, -0.2478, -0.1833, 0.9969, 0.4278, 1.5295, 0.9646, -0.0704, 0.3096, 0.1753, 0.9998] state[eef_state]: left_x=0.2995 left_y=0.0016 left_z=0.2147 left_yaw=0.1399 left_pitch=-0.0201 left_roll=-0.0017 left_gripper=0.9969 right_x=0.4213 right_y=0.1369 right_z=0.154 right_yaw=0.0575 right_pitch=-0.03 right_roll=-0.0177 right_gripper=0.9998 state[joint_eff]: [-0.4171, -1.812, 6.3385, 1.8877, -0.1832, -0.0024, -0.0122, 0.294, -9.0188, 9.9761, 1.8144, 0.3101, 0.1929, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.035}, "note": "Arm is free again and the bottle is centred on the jaw column in the wrist view. Descending to 3.5 cm so the open jaws straddle the bottle body, ready to grip and drag it closer to the base."})

tool

executing move_to over 8 steps (0.8s)

step 167

assistant

agent noteThe bottle fills the wrist view centred between the jaws. Closing to 3 cm: the settled reading will tell me whether I have the fat body (~0.6) or the narrow neck (~0.3).

move_to

right_gripper0.3000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.8562, 0.7616, -0.5056, -0.2478, -0.1837, 0.9969, 0.4309, 1.7981, 0.6983, 0.4332, 0.3092, 0.1776, 0.9998] state[eef_state]: left_x=0.2996 left_y=0.0016 left_z=0.2119 left_yaw=0.14 left_pitch=-0.0168 left_roll=-0.0031 left_gripper=0.9969 right_x=0.4131 right_y=0.1347 right_z=0.0309 right_yaw=0.0591 right_pitch=-0.0592 right_roll=-0.0269 right_gripper=0.9998 state[joint_eff]: [-0.4171, -2.3453, 6.4889, 1.7705, -0.2027, -0.0269, -0.0122, -0.4308, -7.3641, 4.8068, 1.8974, 0.0073, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.3}, "note": "The bottle fills the wrist view centred between the jaws. Closing to 3 cm: the settled reading will tell me whether I have the fat body (~0.6) or the narrow neck (~0.3)."})

tool

executing move_to over 7 steps (0.7s)

step 174

assistant

agent noteThe jaws closed to 3.1 cm without stalling, so they are around the narrow neck rather than the fat body. Lifting to 25 cm: if I have the neck the bottle should swing down and hang vertically.

move_to

right_z0.2500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.8562, 0.7483, -0.5018, -0.2478, -0.1833, 0.9969, 0.432, 1.8095, 0.6571, 0.6262, 0.3099, 0.1749, 0.3117] state[eef_state]: left_x=0.2987 left_y=0.0017 left_z=0.2066 left_yaw=0.1399 left_pitch=-0.0259 left_roll=0.0 left_gripper=0.9969 right_x=0.4234 right_y=0.1398 right_z=0.0495 right_yaw=0.0607 right_pitch=0.0718 right_roll=0.0213 right_gripper=0.3117 state[joint_eff]: [-0.5812, -2.1265, 6.612, 1.8584, -0.1978, 0.0073, -0.0122, -0.3761, -7.0222, 4.2872, 0.7448, 0.0317, 0.0024, -0.0806] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.25}, "note": "The jaws closed to 3.1 cm without stalling, so they are around the narrow neck rather than the fat body. Lifting to 25 cm: if I have the neck the bottle should swing down and hang vertically."})

tool

executing move_to over 13 steps (1.3s)

step 187

assistant

agent noteThe lift was empty — the bottle never moved, so the jaws closed just short of it. Reopening and going back down 4 cm further forward so the fingertips reach past the bottle's near end.

move_to

right_x0.4500right_z0.0350right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.8467, 0.728, -0.4831, -0.2481, -0.1833, 0.9969, 0.432, 1.5002, 1.2144, -0.3683, 0.3012, 0.1661, 0.3107] state[eef_state]: left_x=0.2983 left_y=0.0018 left_z=0.2039 left_yaw=0.1402 left_pitch=-0.0182 left_roll=-0.0021 left_gripper=0.9969 right_x=0.4227 right_y=0.1411 right_z=0.2187 right_yaw=0.0733 right_pitch=-0.0493 right_roll=-0.0271 right_gripper=0.3107 state[joint_eff]: [-0.6359, -2.2085, 6.4752, 1.8291, -0.232, -0.0415, -0.0122, -0.3897, -9.0325, 10.0991, 1.8828, 0.1538, 0.0904, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.45, "right_z": 0.035, "right_gripper": 1}, "note": "The lift was empty \u2014 the bottle never moved, so the jaws closed just short of it. Reopening and going back down 4 cm further forward so the fingertips reach past the bottle's near end."})

tool

executing move_to over 12 steps (1.2s)

step 199

assistant

agent noteWrist view shows the bottle body filling the frame right between the jaws. Closing to 4.3 cm to squeeze its body firmly so I can drag the whole bottle closer to the base, where its cap will be within reach.

move_to

right_gripper0.4500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.8429, 0.7216, -0.4755, -0.2478, -0.1833, 0.9969, 0.403, 1.8755, 0.8108, 0.4095, 0.2687, 0.1474, 0.9968] state[eef_state]: left_x=0.2983 left_y=0.0018 left_z=0.2035 left_yaw=0.1398 left_pitch=-0.0135 left_roll=-0.0037 left_gripper=0.9969 right_x=0.4412 right_y=0.141 right_z=0.0323 right_yaw=0.0811 right_pitch=-0.0572 right_roll=-0.0241 right_gripper=0.9968 state[joint_eff]: [-0.335, -2.1265, 6.2291, 1.8388, -0.2125, -0.0073, -0.0122, -0.9231, -7.8564, 4.7932, 1.8584, 0.0366, 0.0513, -0.1392] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.45}, "note": "Wrist view shows the bottle body filling the frame right between the jaws. Closing to 4.3 cm to squeeze its body firmly so I can drag the whole bottle closer to the base, where its cap will be within reach."})

tool

executing move_to over 6 steps (0.6s)

step 205

assistant

agent noteThe jaws closed freely to 4.3 cm, so they are still just short of the bottle's near end. Reopening and creeping 2.5 cm further forward (near the reach limit) to get the bottle's base between the jaws.

move_to

right_x0.4720right_z0.0350right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.8429, 0.7162, -0.4755, -0.2478, -0.1833, 0.9969, 0.3996, 1.8843, 0.7731, 0.5591, 0.26, 0.1452, 0.4568] state[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.2011 left_yaw=0.1399 left_pitch=-0.0186 left_roll=-0.0022 left_gripper=0.9969 right_x=0.4483 right_y=0.1439 right_z=0.044 right_yaw=0.0865 right_pitch=0.0391 right_roll=0.0109 right_gripper=0.4568 state[joint_eff]: [-0.4034, -2.0308, 6.2974, 1.8779, -0.1978, -0.0171, -0.0122, -0.0342, -8.212, 4.2188, 1.4383, 0.1294, 0.0513, 0.2418] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.472, "right_z": 0.035, "right_gripper": 1}, "note": "The jaws closed freely to 4.3 cm, so they are still just short of the bottle's near end. Reopening and creeping 2.5 cm further forward (near the reach limit) to get the bottle's base between the jaws."})

tool

executing move_to over 6 steps (0.6s)

step 211

assistant

agent noteNow the bottle's labelled body sits squarely between the jaws in the wrist view. Closing to 4.8 cm to squeeze the body and get a firm hold.

move_to

right_gripper0.5000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.8398, 0.709, -0.4675, -0.2478, -0.1833, 0.9969, 0.3836, 1.9327, 0.8658, 0.4877, 0.231, 0.1211, 0.9957] state[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.2003 left_yaw=0.1398 left_pitch=-0.015 left_roll=-0.0033 left_gripper=0.9969 right_x=0.4654 right_y=0.1481 right_z=0.041 right_yaw=0.1077 right_pitch=0.0088 right_roll=-0.0026 right_gripper=0.9957 state[joint_eff]: [-0.7316, -2.1402, 6.0239, 1.8339, -0.1783, 0.0073, -0.0122, -1.1829, -6.9812, 7.2684, 1.6581, 0.0611, 0.0952, 0.0611] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.5}, "note": "Now the bottle's labelled body sits squarely between the jaws in the wrist view. Closing to 4.8 cm to squeeze the body and get a firm hold."})

tool

executing move_to over 5 steps (0.5s)

step 216

assistant

agent noteJaws appear to be clamped on the bottle's shoulder. Lifting to 16 cm and dragging 10 cm back toward the base so the bottle's cap ends up inside my reach.

move_to

right_z0.1600right_x0.3600

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.8391, 0.6998, -0.4667, -0.2478, -0.1833, 0.9969, 0.3801, 1.9388, 0.8734, 0.4919, 0.2234, 0.115, 0.5085] state[eef_state]: left_x=0.2968 left_y=0.002 left_z=0.1965 left_yaw=0.1399 left_pitch=-0.0223 left_roll=-0.0011 left_gripper=0.9969 right_x=0.468 right_y=0.1487 right_z=0.0417 right_yaw=0.1139 right_pitch=0.0132 right_roll=-0.0023 right_gripper=0.5085 state[joint_eff]: [-0.6359, -2.2085, 6.4752, 1.9414, -0.2173, -0.0269, -0.0122, 0.0068, -9.935, 5.3538, 1.5263, 0.105, 0.0904, 0.3346] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.16, "right_x": 0.36}, "note": "Jaws appear to be clamped on the bottle's shoulder. Lifting to 16 cm and dragging 10 cm back toward the base so the bottle's cap ends up inside my reach."})

tool

executing move_to over 9 steps (0.9s)

step 225

assistant

agent noteUnclear whether the bottle is held; lifting high to 32 cm so that if it is gripped near its shoulder it will swing down and hang vertically, which the top camera will show clearly.

move_to

right_z0.3200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.8303, 0.6819, -0.4496, -0.2478, -0.1837, 0.9969, 0.5316, 1.3392, 0.7658, -0.0124, 0.3199, 0.1879, 0.5095] state[eef_state]: left_x=0.2964 left_y=0.002 left_z=0.1943 left_yaw=0.14 left_pitch=-0.0146 left_roll=-0.0037 left_gripper=0.9969 right_x=0.3677 right_y=0.156 right_z=0.1552 right_yaw=0.1461 right_pitch=0.0183 right_roll=0.0057 right_gripper=0.5095 state[joint_eff]: [-0.7316, -1.5111, 6.5983, 1.8437, -0.1978, -0.0366, -0.0122, 0.0889, -5.4496, 7.9111, 1.8095, 0.2906, 0.1636, 0.0952] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.32}, "note": "Unclear whether the bottle is held; lifting high to 32 cm so that if it is gripped near its shoulder it will swing down and hang vertically, which the top camera will show clearly."})

tool

executing move_to over 11 steps (1.1s)

step 236

assistant

agent noteFrom above, all three bottles are still lying down; my closes have been missing. Returning to the pose where the third bottle looked perfectly framed, this time to make a full close whose settled reading will tell me if I actually have it.

move_to

right_x0.4500right_y0.1400right_z0.0350right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.8299, 0.6765, -0.445, -0.2478, -0.1833, 0.9969, 0.5365, 1.3411, 1.4006, -0.6716, 0.3099, 0.1745, 0.5097] state[eef_state]: left_x=0.2964 left_y=0.0021 left_z=0.1929 left_yaw=0.1398 left_pitch=-0.015 left_roll=-0.0033 left_gripper=0.9969 right_x=0.3661 right_y=0.1592 right_z=0.3068 right_yaw=0.1665 right_pitch=-0.0082 right_roll=-0.0101 right_gripper=0.5097 state[joint_eff]: [-0.6222, -2.0308, 6.2427, 1.8144, -0.2076, -0.0122, -0.0122, -0.7726, -4.4786, 9.0325, 1.6679, 0.1832, 0.1197, -0.0024] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.45, "right_y": 0.14, "right_z": 0.035, "right_gripper": 1}, "note": "From above, all three bottles are still lying down; my closes have been missing. Returning to the pose where the third bottle looked perfectly framed, this time to make a full close whose settled reading will tell me if I actually have it."})

tool

executing move_to over 18 steps (1.8s)

step 254

assistant

agent noteThe bottle fills the wrist view centred between the jaws. Commanding a full close: the settled reading will tell me the thickness of whatever is actually in the jaws.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.8299, 0.6643, -0.4423, -0.2478, -0.1833, 0.9969, 0.3576, 1.8645, 0.7826, 0.4377, 0.1585, 0.0757, 0.9985] state[eef_state]: left_x=0.2953 left_y=0.0022 left_z=0.1879 left_yaw=0.1399 left_pitch=-0.0241 left_roll=-0.0005 left_gripper=0.9969 right_x=0.4395 right_y=0.1383 right_z=0.0299 right_yaw=0.1664 right_pitch=-0.064 right_roll=-0.0147 right_gripper=0.9985 state[joint_eff]: [-0.4444, -2.1949, 6.7624, 1.8291, -0.1929, -0.0024, -0.0122, -0.8, -8.0615, 5.0393, 1.8828, -0.0415, -0.022, -0.0513] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "The bottle fills the wrist view centred between the jaws. Commanding a full close: the settled reading will tell me the thickness of whatever is actually in the jaws."})

tool

executing move_to over 10 steps (1.0s)

step 264

assistant

agent noteFull close read 0.016 — empty, so the bottle sits nearer the base than the fingertips (the wrist view exaggerates distance). Opening and pulling back 5 cm to put the jaws over the bottle's body.

move_to

right_x0.4000right_z0.0330right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.8242, 0.646, -0.4225, -0.2481, -0.1833, 0.9969, 0.3588, 1.8729, 0.746, 0.6529, 0.1524, 0.07, 0.0158] state[eef_state]: left_x=0.2954 left_y=0.0023 left_z=0.1852 left_yaw=0.1402 left_pitch=-0.0171 left_roll=-0.0024 left_gripper=0.9969 right_x=0.4537 right_y=0.1453 right_z=0.0571 right_yaw=0.1752 right_pitch=0.1026 right_roll=0.0153 right_gripper=0.0158 state[joint_eff]: [-0.4034, -2.2769, 6.4889, 1.8242, -0.2271, 0.0171, -0.0122, -0.3624, -7.788, 4.0274, 1.0818, 0.0757, 0.0611, 1.0232] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_z": 0.033, "right_gripper": 1}, "note": "Full close read 0.016 \u2014 empty, so the bottle sits nearer the base than the fingertips (the wrist view exaggerates distance). Opening and pulling back 5 cm to put the jaws over the bottle's body."})

tool

executing move_to over 10 steps (1.0s)

step 274

assistant

agent noteNow the bottle's near end is clearly between the two visible jaw tips at the bottom of the wrist image. Closing fully: a settled reading near 0.5–0.7 means I have the body.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.8242, 0.6334, -0.4156, -0.2481, -0.1833, 0.9969, 0.4202, 1.7893, 0.617, 0.6086, 0.1883, 0.0994, 0.9957] state[eef_state]: left_x=0.2948 left_y=0.0024 left_z=0.1809 left_yaw=0.1402 left_pitch=-0.0226 left_roll=-0.0008 left_gripper=0.9969 right_x=0.408 right_y=0.15 right_z=0.0372 right_yaw=0.1917 right_pitch=0.0183 right_roll=0.0052 right_gripper=0.9957 state[joint_eff]: [-0.4034, -2.1265, 6.6256, 1.8486, -0.2369, -0.0269, -0.0122, 0.4718, -8.8137, 3.6855, 1.5214, 0.1148, 0.0611, -0.105] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "Now the bottle's near end is clearly between the two visible jaw tips at the bottom of the wrist image. Closing fully: a settled reading near 0.5\u20130.7 means I have the body."})

tool

executing move_to over 10 steps (1.0s)

step 284

assistant

agent noteEmpty again, and the arm rose 1.7 cm during the close — the wedge-shaped jaw tips are riding up over the round bottle. Reopening and dropping to table level (z=0.005) so the fingers go down beside the bottle instead of over it.

move_to

right_x0.3900right_z0.0050right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.8185, 0.6159, -0.3988, -0.2481, -0.1833, 0.9969, 0.4206, 1.7752, 0.6331, 0.6334, 0.1856, 0.0921, 0.0156] state[eef_state]: left_x=0.2945 left_y=0.0024 left_z=0.1779 left_yaw=0.1402 left_pitch=-0.0178 left_roll=-0.0022 left_gripper=0.9969 right_x=0.4162 right_y=0.1544 right_z=0.0541 right_yaw=0.1977 right_pitch=0.0715 right_roll=0.0126 right_gripper=0.0156 state[joint_eff]: [-0.5538, -2.1675, 6.6256, 1.8486, -0.2418, -0.0024, -0.0122, -0.2256, -7.0769, 5.1624, 1.1746, 0.1294, 0.0366, 0.8327] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_z": 0.005, "right_gripper": 1}, "note": "Empty again, and the arm rose 1.7 cm during the close \u2014 the wedge-shaped jaw tips are riding up over the round bottle. Reopening and dropping to table level (z=0.005) so the fingers go down beside the bottle instead of over it."})

tool

executing move_to over 10 steps (1.0s)

step 294

assistant

agent noteAt table level the bottle now fills the wrist view right between the open jaws; closing fully to grip its body.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.8169, 0.6006, -0.392, -0.2481, -0.1833, 0.9969, 0.4568, 1.8641, 0.551, 0.7197, 0.2077, 0.1066, 0.9958] state[eef_state]: left_x=0.2934 left_y=0.0026 left_z=0.1728 left_yaw=0.1402 left_pitch=-0.0244 left_roll=-0.0002 left_gripper=0.9969 right_x=0.3899 right_y=0.1551 right_z=0.0074 right_yaw=0.2082 right_pitch=-0.0082 right_roll=-0.0061 right_gripper=0.9958 state[joint_eff]: [-0.4171, -2.1949, 6.9538, 1.8291, -0.2222, 0.0171, -0.0122, -0.0342, -6.8581, 4.4923, 2.0244, 0.0757, 0.0513, -0.1783] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "At table level the bottle now fills the wrist view right between the open jaws; closing fully to grip its body."})

tool

executing move_to over 10 steps (1.0s)

step 304

assistant

agent noteI ran out of LLM-call budget before standing any bottle. On the final call I finally achieved a genuine grasp (full close settled at 0.53 ≈ 5 cm, i.e. the bottle body), but with pitch and roll pinned there is no way to rotate a horizontal bottle upright except by grabbing its neck/cap and letting it hang, and I had no calls left to re-approach the neck.

give_up

hindsightConcrete lessons from this run: 1. Wrist-camera depth is badly misleading on this rig. A bottle that fills the frame and looks perfectly centred between the jaws can still be OUT of the jaws. Three full closes at x = 0.47, 0.45 and 0.41 all read 0.016 (empty) while the bottle looked centred; only at x = 0.39 AND z ≈ 0.005 (table level) did the close stall at 0.53 and actually grip. Objects are NEARER the base and LOWER than the wrist view suggests — err 5 cm toward the base and put the grasp point almost on the table. 2. Never judge a grasp from a partial-close command: the reading just echoes the command (I commanded 0.45/0.5 and read 0.457/0.509 with nothing in the jaws). Always command gripper = 0; the settled value is the only reliable signal. 3. Round bottles push the jaws up: during a failing close the readback z rose 1.5–2 cm. Rising z during a close means the wedge tips are riding over the object — go lower, not sideways. 4. Reach: the right arm froze completely (joints stopped tracking, several moves ignored) once the grasp point radius exceeded ≈ 0.49 m. To unfreeze, raise z to ~0.18 and pull x back; then it moves again. Plan grasps at radius ≤ 0.47. 5. Frames: the top camera's image-right = arm's right (-y for either arm) and image-up = forward, but an elevated gripper is displaced a long way in the image relative to its ground projection, so never compare a gripper at z > 0.1 with objects on the table in the top view — it cost me ~10 calls of chasing phantom offsets. 6. Task strategy with pitch/roll pinned: the only way to stand a fallen bottle is to grip the neck just under the cap (jaw opening ≈ 0.28–0.32) and lift, letting the bottle swing to hang from the cap, then lower it to the table and release. Budget ~8 calls per bottle, and get the y alignment from a single low, close wrist view plus a deliberate 5 cm lateral calibration step.

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.152, 0.8112, 0.5812, -0.371, -0.2481, -0.1833, 0.9969, 0.458, 1.8748, 0.543, 0.7296, 0.2012, 0.1001, 0.5294] state[eef_state]: left_x=0.2934 left_y=0.0026 left_z=0.1697 left_yaw=0.1402 left_pitch=-0.0174 left_roll=-0.0023 left_gripper=0.9969 right_x=0.387 right_y=0.1554 right_z=0.0025 right_yaw=0.2182 right_pitch=-0.0176 right_roll=-0.01 right_gripper=0.5294 state[joint_eff]: [-0.6222, -2.0171, 6.6803, 1.8632, -0.2271, -0.0122, -0.0122, -0.4171, -8.0615, 4.2325, 1.7656, 0.0904, 0.0464, 1.0232] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]

assistant

give_up({"reason": "I ran out of LLM-call budget before standing any bottle. On the final call I finally achieved a genuine grasp (full close settled at 0.53 \u2248 5 cm, i.e. the bottle body), but with pitch and roll pinned there is no way to rotate a horizontal bottle upright except by grabbing its neck/cap and letting it hang, and I had no calls left to re-approach the neck.", "hindsight": "Concrete lessons from this run:\n1. Wrist-camera depth is badly misleading on this rig. A bottle that fills the frame and looks perfectly centred between the jaws can still be OUT of the jaws. Three full closes at x = 0.47, 0.45 and 0.41 all read 0.016 (empty) while the bottle looked centred; only at x = 0.39 AND z \u2248 0.005 (table level) did the close stall at 0.53 and actually grip. Objects are NEARER the base and LOWER than the wrist view suggests \u2014 err 5 cm toward the base and put the grasp point almost on the table.\n2. Never judge a grasp from a partial-close command: the reading just echoes the command (I commanded 0.45/0.5 and read 0.457/0.509 with nothing in the jaws). Always command gripper = 0; the settled value is the only reliable signal.\n3. Round bottles push the jaws up: during a failing close the readback z rose 1.5\u20132 cm. Rising z during a close means the wedge tips are riding over the object \u2014 go lower, not sideways.\n4. Reach: the right arm froze completely (joints stopped tracking, several moves ignored) once the grasp point radius exceeded \u2248 0.49 m. To unfreeze, raise z to ~0.18 and pull x back; then it moves again. Plan grasps at radius \u2264 0.47.\n5. Frames: the top camera's image-right = arm's right (-y for either arm) and image-up = forward, but an elevated gripper is displaced a long way in the image relative to its ground projection, so never compare a gripper at z > 0.1 with objects on the table in the top view \u2014 it cost me ~10 calls of chasing phantom offsets.\n6. Task strategy with pitch/roll pinned: the only way to stand a fallen bottle is to grip the neck just under the cap (jaw opening \u2248 0.28\u20130.32) and lift, letting the bottle swing to hang from the cap, then lower it to the table and release. Budget ~8 calls per bottle, and get the y alignment from a single low, close wrist view plus a deliberate 5 cm lateral calibration step."})

tool

give_up: I ran out of LLM-call budget before standing any bottle. On the final call I finally achieved a genuine grasp (full close settled at 0.53 ≈ 5 cm, i.e. the bottle body), but with pitch and roll pinned there is no way to rotate a horizontal bottle upright except by grabbing its neck/cap and letting it hang, and I had no calls left to re-approach the neck.

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)

[
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"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.",
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]

call 0 attempt 0 · /messages · status 200 · 26.15 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7925, 0.6075, -0.3779, -0.0231, -0.0284, 0.9988, -0.0166, 0.7891, 0.6037, -0.3855, -0.017, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2937 right_y=0.0017 right_z=0.18 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.265, 9.7846, 1.8339, 0.022, 0.1587, -0.1441, -0.7863, -1.0051, 10.2906, 1.8339, -0.0904, 0.1832, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7428cb9444cfe6b3e8e6bed619760c1e33330371d006f5f664cd97ee5c5b508e",
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        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
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        "data": "$blob:69ea32735bc363a01551562e1fa054f6561abb6c80ca7490e547f8a04f5e7d14",
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    {
      "text": "camera 'right_cam' (step 0):",
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  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 23.58 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7925, 0.6075, -0.3779, -0.0231, -0.0284, 0.9988, -0.0166, 0.7891, 0.6037, -0.3855, -0.017, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2937 right_y=0.0017 right_z=0.18 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.265, 9.7846, 1.8339, 0.022, 0.1587, -0.1441, -0.7863, -1.0051, 10.2906, 1.8339, -0.0904, 0.1832, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7428cb9444cfe6b3e8e6bed619760c1e33330371d006f5f664cd97ee5c5b508e",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
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        "data": "$blob:69ea32735bc363a01551562e1fa054f6561abb6c80ca7490e547f8a04f5e7d14",
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    {
      "text": "camera 'right_cam' (step 0):",
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{
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    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LJRix7wA8y7eJxBJpeofZF",
      "input": {
        "note": "Three water bottles lie on their sides in a row in the middle of the table. I'm flying the left arm to hover over the leftmost bottle to get a close wrist view before planning the grasp.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.38,
          "left_y": -0.11,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LJRix7wA8y7eJxBJpeofZF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4526, 1.2922, 0.8131, -0.2085, -0.3576, -0.2661, 0.9988, -0.0193, 0.794, 0.6037, -0.4042, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3655 left_y=-0.105 left_z=0.1568 left_yaw=-0.0243 left_pitch=-0.0743 left_roll=0.0218 left_gripper=0.9988 right_x=0.2915 right_y=0.0021 right_z=0.1748 right_yaw=0.0032 right_pitch=-0.0236 right_roll=0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -5.0803, 9.6615, 1.8828, -0.2906, -0.0317, -0.1392, -0.0342, -1.5521, 7.0632, 1.8632, 0.0269, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e62528102317e0b1eb4f3666d104e9024e198b7a69a01f38d3d61f42c6f4fda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa73a0728bb9e67b00d74d770035dc483581bf82766c95ea5ea0b09d5363650d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f4e9acff2a332da85814d3e256079f89382ef699e7c03276b10c2675f641514",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 22.53 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7925, 0.6075, -0.3779, -0.0231, -0.0284, 0.9988, -0.0166, 0.7891, 0.6037, -0.3855, -0.017, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2937 right_y=0.0017 right_z=0.18 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.265, 9.7846, 1.8339, 0.022, 0.1587, -0.1441, -0.7863, -1.0051, 10.2906, 1.8339, -0.0904, 0.1832, -0.0317]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4526, 1.2922, 0.8131, -0.2085, -0.3576, -0.2661, 0.9988, -0.0193, 0.794, 0.6037, -0.4042, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3655 left_y=-0.105 left_z=0.1568 left_yaw=-0.0243 left_pitch=-0.0743 left_roll=0.0218 left_gripper=0.9988 right_x=0.2915 right_y=0.0021 right_z=0.1748 right_yaw=0.0032 right_pitch=-0.0236 right_roll=0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -5.0803, 9.6615, 1.8828, -0.2906, -0.0317, -0.1392, -0.0342, -1.5521, 7.0632, 1.8632, 0.0269, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e62528102317e0b1eb4f3666d104e9024e198b7a69a01f38d3d61f42c6f4fda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa73a0728bb9e67b00d74d770035dc483581bf82766c95ea5ea0b09d5363650d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f4e9acff2a332da85814d3e256079f89382ef699e7c03276b10c2675f641514",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VSpgQci3x9bwNh5Z2xi8Bd",
      "input": {
        "note": "Left wrist view shows the nearest bottle lying just right of the jaw column with its neck/cap toward the upper-left. Descending to 6 cm to get a closer, better-scaled view before aligning on the neck.",
        "targets": {
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01VSpgQci3x9bwNh5Z2xi8Bd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4633, 1.4967, 0.495, 0.3336, -0.3752, -0.2821, 0.9983, -0.0193, 0.7845, 0.5827, -0.3973, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.359 left_y=-0.103 left_z=0.0561 left_yaw=-0.0126 left_pitch=-0.0518 left_roll=0.0105 left_gripper=0.9983 right_x=0.2892 right_y=0.0022 right_z=0.1692 right_yaw=0.0034 right_pitch=-0.0281 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -5.3949, 5.0803, 1.5214, -0.0806, 0.1978, -0.0611, -0.1026, -1.7983, 7.0085, 1.9414, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d65d87de009a60061015257273bb5639cea746986b31ef8c7ebc5d6ae0c842c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d740226580c2d5e251681cd0e84ba29bc8df0a15074fe1c862423a4521bacdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9885fc7b534f4592327f95dc53009fbae3449170c23f16787a3c3c9ed4e4a31e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 13.36 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7925, 0.6075, -0.3779, -0.0231, -0.0284, 0.9988, -0.0166, 0.7891, 0.6037, -0.3855, -0.017, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2937 right_y=0.0017 right_z=0.18 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.265, 9.7846, 1.8339, 0.022, 0.1587, -0.1441, -0.7863, -1.0051, 10.2906, 1.8339, -0.0904, 0.1832, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4526, 1.2922, 0.8131, -0.2085, -0.3576, -0.2661, 0.9988, -0.0193, 0.794, 0.6037, -0.4042, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3655 left_y=-0.105 left_z=0.1568 left_yaw=-0.0243 left_pitch=-0.0743 left_roll=0.0218 left_gripper=0.9988 right_x=0.2915 right_y=0.0021 right_z=0.1748 right_yaw=0.0032 right_pitch=-0.0236 right_roll=0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -5.0803, 9.6615, 1.8828, -0.2906, -0.0317, -0.1392, -0.0342, -1.5521, 7.0632, 1.8632, 0.0269, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4633, 1.4967, 0.495, 0.3336, -0.3752, -0.2821, 0.9983, -0.0193, 0.7845, 0.5827, -0.3973, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.359 left_y=-0.103 left_z=0.0561 left_yaw=-0.0126 left_pitch=-0.0518 left_roll=0.0105 left_gripper=0.9983 right_x=0.2892 right_y=0.0022 right_z=0.1692 right_yaw=0.0034 right_pitch=-0.0281 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -5.3949, 5.0803, 1.5214, -0.0806, 0.1978, -0.0611, -0.1026, -1.7983, 7.0085, 1.9414, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d65d87de009a60061015257273bb5639cea746986b31ef8c7ebc5d6ae0c842c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d740226580c2d5e251681cd0e84ba29bc8df0a15074fe1c862423a4521bacdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9885fc7b534f4592327f95dc53009fbae3449170c23f16787a3c3c9ed4e4a31e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019jSuJDPdmt2pmKnfg4TobJ",
      "input": {
        "note": "Close-up wrist view: the bottle lies with its cap/neck at the far upper-left; the jaws are well short of it. Moving forward 8 cm and slightly left, at a safe 9 cm height, to bring the neck under the jaw column.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.075,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_019jSuJDPdmt2pmKnfg4TobJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2718, 1.6367, 0.712, 0.3302, -0.2493, -0.1902, 0.9982, -0.0193, 0.7712, 0.5541, -0.3882, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4296 left_y=-0.0708 left_z=0.081 left_yaw=0.025 left_pitch=-0.011 left_roll=-0.0093 left_gripper=0.9982 right_x=0.286 right_y=0.0022 right_z=0.1616 right_yaw=0.0034 right_pitch=-0.0343 right_roll=0.0033 right_gripper=0.9998\nstate[joint_eff]: [0.4855, -6.4889, 8.1983, 1.7216, -0.0366, 0.1392, -0.022, 0.1846, -1.6342, 7.0359, 1.956, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71f7506a4d0c2c045573051c559c3685a74c3e7765c1c6a1c9c214023c893862",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffb7e02e44f971e89f6f136376e870789dce4c85f9f03b9aad955bf104a8e96b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ccea58087c16e44a3afe58f58b585cc0a0529ae17e366c3d9b5cb60602417f53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 13.39 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]: [-0.4526, 1.2922, 0.8131, -0.2085, -0.3576, -0.2661, 0.9988, -0.0193, 0.794, 0.6037, -0.4042, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3655 left_y=-0.105 left_z=0.1568 left_yaw=-0.0243 left_pitch=-0.0743 left_roll=0.0218 left_gripper=0.9988 right_x=0.2915 right_y=0.0021 right_z=0.1748 right_yaw=0.0032 right_pitch=-0.0236 right_roll=0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -5.0803, 9.6615, 1.8828, -0.2906, -0.0317, -0.1392, -0.0342, -1.5521, 7.0632, 1.8632, 0.0269, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4633, 1.4967, 0.495, 0.3336, -0.3752, -0.2821, 0.9983, -0.0193, 0.7845, 0.5827, -0.3973, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.359 left_y=-0.103 left_z=0.0561 left_yaw=-0.0126 left_pitch=-0.0518 left_roll=0.0105 left_gripper=0.9983 right_x=0.2892 right_y=0.0022 right_z=0.1692 right_yaw=0.0034 right_pitch=-0.0281 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -5.3949, 5.0803, 1.5214, -0.0806, 0.1978, -0.0611, -0.1026, -1.7983, 7.0085, 1.9414, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2718, 1.6367, 0.712, 0.3302, -0.2493, -0.1902, 0.9982, -0.0193, 0.7712, 0.5541, -0.3882, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4296 left_y=-0.0708 left_z=0.081 left_yaw=0.025 left_pitch=-0.011 left_roll=-0.0093 left_gripper=0.9982 right_x=0.286 right_y=0.0022 right_z=0.1616 right_yaw=0.0034 right_pitch=-0.0343 right_roll=0.0033 right_gripper=0.9998\nstate[joint_eff]: [0.4855, -6.4889, 8.1983, 1.7216, -0.0366, 0.1392, -0.022, 0.1846, -1.6342, 7.0359, 1.956, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71f7506a4d0c2c045573051c559c3685a74c3e7765c1c6a1c9c214023c893862",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffb7e02e44f971e89f6f136376e870789dce4c85f9f03b9aad955bf104a8e96b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccea58087c16e44a3afe58f58b585cc0a0529ae17e366c3d9b5cb60602417f53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UB2VzxPV91kmHwULK7838H",
      "input": {
        "note": "The bottle's cap now sits just left of and slightly above the jaw convergence point in the wrist view, so I'm nudging 2.5 cm further forward and dropping to 3.5 cm height to straddle the bottle's neck with the open jaws.",
        "targets": {
          "left_x": 0.455,
          "left_y": -0.073,
          "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_01UB2VzxPV91kmHwULK7838H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2619, 1.8343, 0.7349, 0.4938, -0.2337, -0.2035, 0.9982, -0.0193, 0.7563, 0.5236, -0.3756, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4486 left_y=-0.0742 left_z=0.0383 left_yaw=0.029 left_pitch=-0.0242 left_roll=-0.0257 left_gripper=0.9982 right_x=0.2829 right_y=0.0024 right_z=0.1542 right_yaw=0.0035 right_pitch=-0.0373 right_roll=0.0039 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.294, 5.8598, 0.2906, -0.6667, 0.9988, -0.0122, -0.2256, -1.8393, 7.0085, 2.0147, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ddb082fb3f1525fb4a545cc203e119e0a5b9f79b0cd5bf8a8647e72fe980e84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a62b6852a65b375bb02561bc8b2553cce455e4664c34b58d6b5f8ddf343e8ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9a8ec2a87d86f4144f6f6ea9fcddd3d4aba373c15064f9defffb340601cf70b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 11.53 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]: [-0.4633, 1.4967, 0.495, 0.3336, -0.3752, -0.2821, 0.9983, -0.0193, 0.7845, 0.5827, -0.3973, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.359 left_y=-0.103 left_z=0.0561 left_yaw=-0.0126 left_pitch=-0.0518 left_roll=0.0105 left_gripper=0.9983 right_x=0.2892 right_y=0.0022 right_z=0.1692 right_yaw=0.0034 right_pitch=-0.0281 right_roll=0.0032 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -5.3949, 5.0803, 1.5214, -0.0806, 0.1978, -0.0611, -0.1026, -1.7983, 7.0085, 1.9414, -0.0464, -0.0464, -0.0122]\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]: [-0.2718, 1.6367, 0.712, 0.3302, -0.2493, -0.1902, 0.9982, -0.0193, 0.7712, 0.5541, -0.3882, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4296 left_y=-0.0708 left_z=0.081 left_yaw=0.025 left_pitch=-0.011 left_roll=-0.0093 left_gripper=0.9982 right_x=0.286 right_y=0.0022 right_z=0.1616 right_yaw=0.0034 right_pitch=-0.0343 right_roll=0.0033 right_gripper=0.9998\nstate[joint_eff]: [0.4855, -6.4889, 8.1983, 1.7216, -0.0366, 0.1392, -0.022, 0.1846, -1.6342, 7.0359, 1.956, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2619, 1.8343, 0.7349, 0.4938, -0.2337, -0.2035, 0.9982, -0.0193, 0.7563, 0.5236, -0.3756, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4486 left_y=-0.0742 left_z=0.0383 left_yaw=0.029 left_pitch=-0.0242 left_roll=-0.0257 left_gripper=0.9982 right_x=0.2829 right_y=0.0024 right_z=0.1542 right_yaw=0.0035 right_pitch=-0.0373 right_roll=0.0039 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.294, 5.8598, 0.2906, -0.6667, 0.9988, -0.0122, -0.2256, -1.8393, 7.0085, 2.0147, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ddb082fb3f1525fb4a545cc203e119e0a5b9f79b0cd5bf8a8647e72fe980e84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a62b6852a65b375bb02561bc8b2553cce455e4664c34b58d6b5f8ddf343e8ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9a8ec2a87d86f4144f6f6ea9fcddd3d4aba373c15064f9defffb340601cf70b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D6PgfXzUpc8rawfjTQ81eA",
      "input": {
        "note": "The jaws now straddle the bottle's cap/neck in the wrist view; closing to ~2.4 cm to grip the neck just under the cap so the bottle can swing down and hang vertically when lifted.",
        "targets": {
          "left_gripper": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01D6PgfXzUpc8rawfjTQ81eA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2668, 1.8519, 0.7433, 0.5831, -0.2443, -0.202, 0.2548, -0.0193, 0.7372, 0.4881, -0.3588, -0.0238, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.461 left_y=-0.078 left_z=0.0521 left_yaw=0.0325 left_pitch=0.0541 left_roll=-0.0423 left_gripper=0.2548 right_x=0.2795 right_y=0.0024 right_z=0.1465 right_yaw=0.0037 right_pitch=-0.0369 right_roll=0.0036 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -6.8171, 4.9162, 1.3846, -0.1001, 0.2564, 0.2222, -0.0479, -1.2513, 6.9812, 1.9951, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9a1b8ddd336b13a58dcee21d4b250f9651044e445d65d0cab4b9ee11c57cddb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b640b416e67d9a943b2702efc61b7528a93e0dfaddf822c28d635a0b9cca6f06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0241079a599d0427c2c8d337943163591491b7334410e3c784b6fbbef0de86c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 18.88 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]: [-0.2718, 1.6367, 0.712, 0.3302, -0.2493, -0.1902, 0.9982, -0.0193, 0.7712, 0.5541, -0.3882, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4296 left_y=-0.0708 left_z=0.081 left_yaw=0.025 left_pitch=-0.011 left_roll=-0.0093 left_gripper=0.9982 right_x=0.286 right_y=0.0022 right_z=0.1616 right_yaw=0.0034 right_pitch=-0.0343 right_roll=0.0033 right_gripper=0.9998\nstate[joint_eff]: [0.4855, -6.4889, 8.1983, 1.7216, -0.0366, 0.1392, -0.022, 0.1846, -1.6342, 7.0359, 1.956, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2619, 1.8343, 0.7349, 0.4938, -0.2337, -0.2035, 0.9982, -0.0193, 0.7563, 0.5236, -0.3756, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4486 left_y=-0.0742 left_z=0.0383 left_yaw=0.029 left_pitch=-0.0242 left_roll=-0.0257 left_gripper=0.9982 right_x=0.2829 right_y=0.0024 right_z=0.1542 right_yaw=0.0035 right_pitch=-0.0373 right_roll=0.0039 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.294, 5.8598, 0.2906, -0.6667, 0.9988, -0.0122, -0.2256, -1.8393, 7.0085, 2.0147, -0.0317, -0.0415, -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]: [-0.2668, 1.8519, 0.7433, 0.5831, -0.2443, -0.202, 0.2548, -0.0193, 0.7372, 0.4881, -0.3588, -0.0238, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.461 left_y=-0.078 left_z=0.0521 left_yaw=0.0325 left_pitch=0.0541 left_roll=-0.0423 left_gripper=0.2548 right_x=0.2795 right_y=0.0024 right_z=0.1465 right_yaw=0.0037 right_pitch=-0.0369 right_roll=0.0036 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -6.8171, 4.9162, 1.3846, -0.1001, 0.2564, 0.2222, -0.0479, -1.2513, 6.9812, 1.9951, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9a1b8ddd336b13a58dcee21d4b250f9651044e445d65d0cab4b9ee11c57cddb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b640b416e67d9a943b2702efc61b7528a93e0dfaddf822c28d635a0b9cca6f06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0241079a599d0427c2c8d337943163591491b7334410e3c784b6fbbef0de86c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISkAYKjgEIEhgCKkAsbpn7RH0/PUE6R+kjoS5jQn/i0J3RzlUy/I2fSLlQwcasfKHfPkUubT37fzSz+mKkmvmd+PWRGwHOnUxMy9NKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYvRzNUGEgzz15DZy2ys0XL7X+gaDIfpxNVDYM7uorNX6yIwVTEKSnYMLKQvwf4aa9vxu6ciba3ELiEUG0Pvt6oEbJmpyVMFbgg4kxg00PbtL61cKq4EkGmkWYdXKkIeRWwtbVSSg+uV8v5PpeTB+Pmc6mZpEK1kyEp8jCLckNUYdMSP4S6RKTYVP7yeyXVjzgvN9uuhTQljibVY3+RaPZGzM9gzLtp2RIDNjgEmMFKyn15yE9J86uu7yzBAUhl9oVp/ivDgsQdCu2DZoqsjYhArNZGCy3oase4YT1/dZg+NJ7lFhMmiO5FnvMSKoiupX9ym1riTrFZR42u1BprKRAZX27TMabLZq2oTURqIxeIPy2L90wB3TZrkZdj510ocRBxypab3N8tLmRcCb4OFQ5MxHVNH3QaDsGDx5k7mC1qLL7vrtQJRA3/wgLfk7UEOqJSK8chRLxIiFKsNQizwJ7huT/IWAQTt4hiErEsNv3IUYzTnnevMp1yTqWC7XzxMzZn1GJhWUE5OXRXnfJU9oev3gDz3CdTEDIgZp9qHbdaTMTooORsfVqxB5Y24oL/FcoUIapiPV+ClN9yB88BxGKECIRXOnW5Bq8BVW4+xUa7AOXoj2wXIo48FKEEGCkZFW5VXs+vhExECz4ffxA9WxO2NU1HJtZX176GWeq95YpYA3qOYAO+pDsObVAjmR3Wgd8SNm2VeZvVHSFBMoc3Jl7Z+vxCSf23Iyj+PCE9X3KKHuT5G7VErEBpoCY6qMaW/4U7ABVy9GmzfP8W4r+c/d/xruyJyVZw3EDYILL7QyZNn0Bm7nVfSPGtgltg4/C1vIwdUigsJK+LTks0cC92KTdVzrV7EGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Uhea7PteJTs4B8SCkwVB3P",
      "input": {
        "note": "Gripper closed to 2.4 cm around what should be the bottle neck. Lifting to 22 cm so the bottle can swing down and hang vertically from the cap; the top view will show whether I actually have it.",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Uhea7PteJTs4B8SCkwVB3P",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2695, 1.5841, 1.1591, -0.1955, -0.2626, -0.2092, 0.2542, -0.0193, 0.7174, 0.4534, -0.3428, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4637 left_y=-0.0768 left_z=0.1899 left_yaw=0.0487 left_pitch=-0.0334 left_roll=-0.0101 left_gripper=0.2542 right_x=0.2761 right_y=0.0024 right_z=0.1391 right_yaw=0.0034 right_pitch=-0.0358 right_roll=0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -10.4547, 9.4427, 1.7021, -0.105, 0.1929, -0.0855, 0.0205, -1.4017, 6.9128, 2.0098, -0.022, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f4a00b27f81573161a28f9f25a6ece502a0c0c47fe678cdef22147300b2c541",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bab019890299063e68bd21aadeea8c48f52f7696f9b569ca93f0c8d5d11d5d0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aded65c8d6d00d2314690a8445aa9ef05095b8293ce035136f862d5772fc26b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 14.53 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]: [-0.2619, 1.8343, 0.7349, 0.4938, -0.2337, -0.2035, 0.9982, -0.0193, 0.7563, 0.5236, -0.3756, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4486 left_y=-0.0742 left_z=0.0383 left_yaw=0.029 left_pitch=-0.0242 left_roll=-0.0257 left_gripper=0.9982 right_x=0.2829 right_y=0.0024 right_z=0.1542 right_yaw=0.0035 right_pitch=-0.0373 right_roll=0.0039 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.294, 5.8598, 0.2906, -0.6667, 0.9988, -0.0122, -0.2256, -1.8393, 7.0085, 2.0147, -0.0317, -0.0415, -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]: [-0.2668, 1.8519, 0.7433, 0.5831, -0.2443, -0.202, 0.2548, -0.0193, 0.7372, 0.4881, -0.3588, -0.0238, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.461 left_y=-0.078 left_z=0.0521 left_yaw=0.0325 left_pitch=0.0541 left_roll=-0.0423 left_gripper=0.2548 right_x=0.2795 right_y=0.0024 right_z=0.1465 right_yaw=0.0037 right_pitch=-0.0369 right_roll=0.0036 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -6.8171, 4.9162, 1.3846, -0.1001, 0.2564, 0.2222, -0.0479, -1.2513, 6.9812, 1.9951, -0.0317, -0.0757, -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]: [-0.2695, 1.5841, 1.1591, -0.1955, -0.2626, -0.2092, 0.2542, -0.0193, 0.7174, 0.4534, -0.3428, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4637 left_y=-0.0768 left_z=0.1899 left_yaw=0.0487 left_pitch=-0.0334 left_roll=-0.0101 left_gripper=0.2542 right_x=0.2761 right_y=0.0024 right_z=0.1391 right_yaw=0.0034 right_pitch=-0.0358 right_roll=0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -10.4547, 9.4427, 1.7021, -0.105, 0.1929, -0.0855, 0.0205, -1.4017, 6.9128, 2.0098, -0.022, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f4a00b27f81573161a28f9f25a6ece502a0c0c47fe678cdef22147300b2c541",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bab019890299063e68bd21aadeea8c48f52f7696f9b569ca93f0c8d5d11d5d0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aded65c8d6d00d2314690a8445aa9ef05095b8293ce035136f862d5772fc26b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015V6SSoxf2HH5YPQuJfBXqn",
      "input": {
        "note": "The lift came up empty — the top view still shows three bottles lying down, and the wrist view shows the target bottle off to the right of the jaws. Sliding 5 cm to the arm's right with the gripper reopened to re-centre on it.",
        "targets": {
          "left_gripper": 1,
          "left_y": -0.125
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_015V6SSoxf2HH5YPQuJfBXqn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4046, 1.6283, 1.1538, -0.1818, -0.3676, -0.2695, 0.996, -0.0193, 0.6979, 0.4206, -0.3283, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4555 left_y=-0.1221 left_z=0.1738 left_yaw=0.0329 left_pitch=-0.0433 left_roll=0.0115 left_gripper=0.996 right_x=0.2728 right_y=0.0025 right_z=0.132 right_yaw=0.0034 right_pitch=-0.0346 right_roll=0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.4188, 10.3863, 1.7656, -0.3394, -0.0269, -0.1099, -0.1709, -1.3607, 6.8581, 1.9658, -0.0317, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbabf96ba925c34a1eb36f2f1e7bdfb0f9e422229682307a1a0f96f837ea3597",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ed524091d67daf1ec1601ae6d1ed6c88b4a851f77c967245f0945d4c3e96bce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8777670bf302d37d33a6f25706f3f533dbd64664eeec349a2ae0a4d55e9a4d39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 16.66 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]: [-0.2668, 1.8519, 0.7433, 0.5831, -0.2443, -0.202, 0.2548, -0.0193, 0.7372, 0.4881, -0.3588, -0.0238, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.461 left_y=-0.078 left_z=0.0521 left_yaw=0.0325 left_pitch=0.0541 left_roll=-0.0423 left_gripper=0.2548 right_x=0.2795 right_y=0.0024 right_z=0.1465 right_yaw=0.0037 right_pitch=-0.0369 right_roll=0.0036 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -6.8171, 4.9162, 1.3846, -0.1001, 0.2564, 0.2222, -0.0479, -1.2513, 6.9812, 1.9951, -0.0317, -0.0757, -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]: [-0.2695, 1.5841, 1.1591, -0.1955, -0.2626, -0.2092, 0.2542, -0.0193, 0.7174, 0.4534, -0.3428, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4637 left_y=-0.0768 left_z=0.1899 left_yaw=0.0487 left_pitch=-0.0334 left_roll=-0.0101 left_gripper=0.2542 right_x=0.2761 right_y=0.0024 right_z=0.1391 right_yaw=0.0034 right_pitch=-0.0358 right_roll=0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -10.4547, 9.4427, 1.7021, -0.105, 0.1929, -0.0855, 0.0205, -1.4017, 6.9128, 2.0098, -0.022, -0.0757, -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]: [-0.4046, 1.6283, 1.1538, -0.1818, -0.3676, -0.2695, 0.996, -0.0193, 0.6979, 0.4206, -0.3283, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4555 left_y=-0.1221 left_z=0.1738 left_yaw=0.0329 left_pitch=-0.0433 left_roll=0.0115 left_gripper=0.996 right_x=0.2728 right_y=0.0025 right_z=0.132 right_yaw=0.0034 right_pitch=-0.0346 right_roll=0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.4188, 10.3863, 1.7656, -0.3394, -0.0269, -0.1099, -0.1709, -1.3607, 6.8581, 1.9658, -0.0317, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbabf96ba925c34a1eb36f2f1e7bdfb0f9e422229682307a1a0f96f837ea3597",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ed524091d67daf1ec1601ae6d1ed6c88b4a851f77c967245f0945d4c3e96bce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8777670bf302d37d33a6f25706f3f533dbd64664eeec349a2ae0a4d55e9a4d39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018pM2tK3kKTRHsDqDDTdtBS",
      "input": {
        "note": "Wrist view now shows the target bottle just below-left of the jaw column and a second bottle further right. Descending to 5 cm and nudging 1 cm back to the left to line the jaws up on the near bottle's neck.",
        "targets": {
          "left_y": -0.113,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_018pM2tK3kKTRHsDqDDTdtBS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3908, 1.8385, 0.8333, 0.345, -0.3645, -0.2619, 0.9968, -0.0193, 0.6785, 0.3897, -0.3134, -0.0238, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4485 left_y=-0.1128 left_z=0.0479 left_yaw=0.0402 left_pitch=-0.0476 left_roll=0.0177 left_gripper=0.9968 right_x=0.2699 right_y=0.0026 right_z=0.1259 right_yaw=0.0037 right_pitch=-0.0312 right_roll=0.0035 right_gripper=0.9998\nstate[joint_eff]: [0.7453, -8.3487, 5.2991, 1.7558, -0.0513, 0.0366, 0.0611, -0.1846, -1.1692, 6.8308, 1.9609, -0.0611, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0929038adadf1da5d569860e64d4e3013ff2f1c9e0bae71ae29457a0d8129223",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6f1dc61da1dd3bae54e317d983b303a0bf284ce1a1d584698d57c7231b1ef92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e95954a23ce338bb6048b27b0d6ec2cf389ab5982030ffbf07b4ec4f191e0be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 19.32 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]: [-0.2695, 1.5841, 1.1591, -0.1955, -0.2626, -0.2092, 0.2542, -0.0193, 0.7174, 0.4534, -0.3428, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4637 left_y=-0.0768 left_z=0.1899 left_yaw=0.0487 left_pitch=-0.0334 left_roll=-0.0101 left_gripper=0.2542 right_x=0.2761 right_y=0.0024 right_z=0.1391 right_yaw=0.0034 right_pitch=-0.0358 right_roll=0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -10.4547, 9.4427, 1.7021, -0.105, 0.1929, -0.0855, 0.0205, -1.4017, 6.9128, 2.0098, -0.022, -0.0757, -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]: [-0.4046, 1.6283, 1.1538, -0.1818, -0.3676, -0.2695, 0.996, -0.0193, 0.6979, 0.4206, -0.3283, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4555 left_y=-0.1221 left_z=0.1738 left_yaw=0.0329 left_pitch=-0.0433 left_roll=0.0115 left_gripper=0.996 right_x=0.2728 right_y=0.0025 right_z=0.132 right_yaw=0.0034 right_pitch=-0.0346 right_roll=0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.4188, 10.3863, 1.7656, -0.3394, -0.0269, -0.1099, -0.1709, -1.3607, 6.8581, 1.9658, -0.0317, -0.0659, -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]: [-0.3908, 1.8385, 0.8333, 0.345, -0.3645, -0.2619, 0.9968, -0.0193, 0.6785, 0.3897, -0.3134, -0.0238, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4485 left_y=-0.1128 left_z=0.0479 left_yaw=0.0402 left_pitch=-0.0476 left_roll=0.0177 left_gripper=0.9968 right_x=0.2699 right_y=0.0026 right_z=0.1259 right_yaw=0.0037 right_pitch=-0.0312 right_roll=0.0035 right_gripper=0.9998\nstate[joint_eff]: [0.7453, -8.3487, 5.2991, 1.7558, -0.0513, 0.0366, 0.0611, -0.1846, -1.1692, 6.8308, 1.9609, -0.0611, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0929038adadf1da5d569860e64d4e3013ff2f1c9e0bae71ae29457a0d8129223",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6f1dc61da1dd3bae54e317d983b303a0bf284ce1a1d584698d57c7231b1ef92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e95954a23ce338bb6048b27b0d6ec2cf389ab5982030ffbf07b4ec4f191e0be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TkqNdECpKdZqLgjFNbETyw",
      "input": {
        "note": "Still not centred: the top view shows my jaws just to the left of the first bottle. Shifting 3 cm to the arm's right at low height to bracket the bottle's neck.",
        "targets": {
          "left_y": -0.143,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TkqNdECpKdZqLgjFNbETyw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.448, 1.8687, 0.8318, 0.4301, -0.4393, -0.2718, 0.9969, -0.0193, 0.6605, 0.3626, -0.3012, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4513 left_y=-0.1296 left_z=0.0531 left_yaw=0.0487 left_pitch=0.0201 left_roll=0.0251 left_gripper=0.9969 right_x=0.2673 right_y=0.0026 right_z=0.1205 right_yaw=0.0032 right_pitch=-0.0282 right_roll=0.0035 right_gripper=0.9998\nstate[joint_eff]: [-1.4564, -6.7761, 6.4615, 1.4432, 0.3199, -0.4371, -0.0024, -0.1983, -1.0188, 7.0769, 1.917, -0.0171, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d5861df572c6e14d2febdcfcc94bc7e9f8b00bf9c91fbd1fbde796f8d1fac1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2099b039f23c9264f5081cef5d3baebf805cf4b69e488f570e7bddc94d325d83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dee20ff72ad164996113fe1a3fd3fb7493825ffdc86553de7311df58eccec2f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 15.09 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]: [-0.4046, 1.6283, 1.1538, -0.1818, -0.3676, -0.2695, 0.996, -0.0193, 0.6979, 0.4206, -0.3283, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4555 left_y=-0.1221 left_z=0.1738 left_yaw=0.0329 left_pitch=-0.0433 left_roll=0.0115 left_gripper=0.996 right_x=0.2728 right_y=0.0025 right_z=0.132 right_yaw=0.0034 right_pitch=-0.0346 right_roll=0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.4188, 10.3863, 1.7656, -0.3394, -0.0269, -0.1099, -0.1709, -1.3607, 6.8581, 1.9658, -0.0317, -0.0659, -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]: [-0.3908, 1.8385, 0.8333, 0.345, -0.3645, -0.2619, 0.9968, -0.0193, 0.6785, 0.3897, -0.3134, -0.0238, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4485 left_y=-0.1128 left_z=0.0479 left_yaw=0.0402 left_pitch=-0.0476 left_roll=0.0177 left_gripper=0.9968 right_x=0.2699 right_y=0.0026 right_z=0.1259 right_yaw=0.0037 right_pitch=-0.0312 right_roll=0.0035 right_gripper=0.9998\nstate[joint_eff]: [0.7453, -8.3487, 5.2991, 1.7558, -0.0513, 0.0366, 0.0611, -0.1846, -1.1692, 6.8308, 1.9609, -0.0611, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.448, 1.8687, 0.8318, 0.4301, -0.4393, -0.2718, 0.9969, -0.0193, 0.6605, 0.3626, -0.3012, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4513 left_y=-0.1296 left_z=0.0531 left_yaw=0.0487 left_pitch=0.0201 left_roll=0.0251 left_gripper=0.9969 right_x=0.2673 right_y=0.0026 right_z=0.1205 right_yaw=0.0032 right_pitch=-0.0282 right_roll=0.0035 right_gripper=0.9998\nstate[joint_eff]: [-1.4564, -6.7761, 6.4615, 1.4432, 0.3199, -0.4371, -0.0024, -0.1983, -1.0188, 7.0769, 1.917, -0.0171, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d5861df572c6e14d2febdcfcc94bc7e9f8b00bf9c91fbd1fbde796f8d1fac1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2099b039f23c9264f5081cef5d3baebf805cf4b69e488f570e7bddc94d325d83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dee20ff72ad164996113fe1a3fd3fb7493825ffdc86553de7311df58eccec2f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QVX7tRxi5o8qpfrTnFg88e",
      "input": {
        "note": "The wrist view still shows a bottle hugging the right edge of frame, so the jaws are left of it. Shifting another 4 cm to the arm's right at the same low height.",
        "targets": {
          "left_y": -0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QVX7tRxi5o8qpfrTnFg88e",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5297, 1.8988, 0.9081, 0.3687, -0.4877, -0.3431, 0.9969, -0.0193, 0.6456, 0.3389, -0.2909, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4522 left_y=-0.1647 left_z=0.0583 left_yaw=0.0441 left_pitch=0.022 left_roll=-0.0043 left_gripper=0.9969 right_x=0.265 right_y=0.0026 right_z=0.1155 right_yaw=0.0034 right_pitch=-0.0266 right_roll=0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.9932, 7.1179, 1.4872, -0.3199, -0.1197, -0.0122, 0.1026, -1.0188, 6.9949, 1.9609, 0.0024, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a499072ed1095185ba05ddf01145cca4e54016766b970c651a7384fa85b613a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e166119022896e1275780deeea9dd2f74d5fab3622008eb43a8a6da66d1ad64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8e06a3ee8b67afef3b7eacbac50473f7699d1a62efd33cf0a55065f3cf2e092b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 18.58 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]: [-0.3908, 1.8385, 0.8333, 0.345, -0.3645, -0.2619, 0.9968, -0.0193, 0.6785, 0.3897, -0.3134, -0.0238, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4485 left_y=-0.1128 left_z=0.0479 left_yaw=0.0402 left_pitch=-0.0476 left_roll=0.0177 left_gripper=0.9968 right_x=0.2699 right_y=0.0026 right_z=0.1259 right_yaw=0.0037 right_pitch=-0.0312 right_roll=0.0035 right_gripper=0.9998\nstate[joint_eff]: [0.7453, -8.3487, 5.2991, 1.7558, -0.0513, 0.0366, 0.0611, -0.1846, -1.1692, 6.8308, 1.9609, -0.0611, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.448, 1.8687, 0.8318, 0.4301, -0.4393, -0.2718, 0.9969, -0.0193, 0.6605, 0.3626, -0.3012, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4513 left_y=-0.1296 left_z=0.0531 left_yaw=0.0487 left_pitch=0.0201 left_roll=0.0251 left_gripper=0.9969 right_x=0.2673 right_y=0.0026 right_z=0.1205 right_yaw=0.0032 right_pitch=-0.0282 right_roll=0.0035 right_gripper=0.9998\nstate[joint_eff]: [-1.4564, -6.7761, 6.4615, 1.4432, 0.3199, -0.4371, -0.0024, -0.1983, -1.0188, 7.0769, 1.917, -0.0171, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5297, 1.8988, 0.9081, 0.3687, -0.4877, -0.3431, 0.9969, -0.0193, 0.6456, 0.3389, -0.2909, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4522 left_y=-0.1647 left_z=0.0583 left_yaw=0.0441 left_pitch=0.022 left_roll=-0.0043 left_gripper=0.9969 right_x=0.265 right_y=0.0026 right_z=0.1155 right_yaw=0.0034 right_pitch=-0.0266 right_roll=0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.9932, 7.1179, 1.4872, -0.3199, -0.1197, -0.0122, 0.1026, -1.0188, 6.9949, 1.9609, 0.0024, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a499072ed1095185ba05ddf01145cca4e54016766b970c651a7384fa85b613a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e166119022896e1275780deeea9dd2f74d5fab3622008eb43a8a6da66d1ad64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e06a3ee8b67afef3b7eacbac50473f7699d1a62efd33cf0a55065f3cf2e092b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H9g7CZyrEML6MsZLDNZGBF",
      "input": {
        "note": "Wrist view: the bottle (cap at upper right) is still ~9 cm to the arm's right of the jaws, judged from the pixel shift of the last 3.5 cm move. Moving right 8 cm and forward 2 cm to bring its neck onto the jaw column.",
        "targets": {
          "left_x": 0.475,
          "left_y": -0.245
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01H9g7CZyrEML6MsZLDNZGBF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6559, 2.0747, 1.2041, 0.1764, -0.588, -0.4503, 0.9969, -0.0193, 0.6319, 0.3145, -0.2878, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4726 left_y=-0.2355 left_z=0.0558 left_yaw=0.0534 left_pitch=0.0015 left_roll=-0.0033 left_gripper=0.9969 right_x=0.2616 right_y=0.0028 right_z=0.1083 right_yaw=0.0035 right_pitch=-0.0342 right_roll=0.0039 right_gripper=0.9998\nstate[joint_eff]: [-0.8, -10.2769, 8.0068, 1.4237, -0.1099, -0.022, -0.0122, 0.0068, -0.9778, 6.9402, 1.9756, -0.0513, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1756b86666a354ab0f7f4f392d8af66b6c90ca7dee3215280a096e07f55dcad0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eff921495b11c52cf7f68923857fd7fc0a5f7266754b934d50ae48afd18ce791",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d0610c99800e5b8293a85b8c8a1aba3d494be4ae349938f049ce6d6d7dd89e8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 26.25 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]: [-0.448, 1.8687, 0.8318, 0.4301, -0.4393, -0.2718, 0.9969, -0.0193, 0.6605, 0.3626, -0.3012, -0.0235, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4513 left_y=-0.1296 left_z=0.0531 left_yaw=0.0487 left_pitch=0.0201 left_roll=0.0251 left_gripper=0.9969 right_x=0.2673 right_y=0.0026 right_z=0.1205 right_yaw=0.0032 right_pitch=-0.0282 right_roll=0.0035 right_gripper=0.9998\nstate[joint_eff]: [-1.4564, -6.7761, 6.4615, 1.4432, 0.3199, -0.4371, -0.0024, -0.1983, -1.0188, 7.0769, 1.917, -0.0171, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5297, 1.8988, 0.9081, 0.3687, -0.4877, -0.3431, 0.9969, -0.0193, 0.6456, 0.3389, -0.2909, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4522 left_y=-0.1647 left_z=0.0583 left_yaw=0.0441 left_pitch=0.022 left_roll=-0.0043 left_gripper=0.9969 right_x=0.265 right_y=0.0026 right_z=0.1155 right_yaw=0.0034 right_pitch=-0.0266 right_roll=0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.9932, 7.1179, 1.4872, -0.3199, -0.1197, -0.0122, 0.1026, -1.0188, 6.9949, 1.9609, 0.0024, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6559, 2.0747, 1.2041, 0.1764, -0.588, -0.4503, 0.9969, -0.0193, 0.6319, 0.3145, -0.2878, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4726 left_y=-0.2355 left_z=0.0558 left_yaw=0.0534 left_pitch=0.0015 left_roll=-0.0033 left_gripper=0.9969 right_x=0.2616 right_y=0.0028 right_z=0.1083 right_yaw=0.0035 right_pitch=-0.0342 right_roll=0.0039 right_gripper=0.9998\nstate[joint_eff]: [-0.8, -10.2769, 8.0068, 1.4237, -0.1099, -0.022, -0.0122, 0.0068, -0.9778, 6.9402, 1.9756, -0.0513, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1756b86666a354ab0f7f4f392d8af66b6c90ca7dee3215280a096e07f55dcad0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eff921495b11c52cf7f68923857fd7fc0a5f7266754b934d50ae48afd18ce791",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0610c99800e5b8293a85b8c8a1aba3d494be4ae349938f049ce6d6d7dd89e8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M5xcRsc5gfQxYdp72geUEb",
      "input": {
        "note": "I appear to have skipped past the first bottle to the next one, which again sits right of the jaws. Making a calibrated 4 cm rightward step to measure how far the bottle shifts in the wrist image.",
        "targets": {
          "left_y": -0.275
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01M5xcRsc5gfQxYdp72geUEb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7086, 2.1323, 1.314, 0.1123, -0.6483, -0.5034, 0.9969, -0.0193, 0.6083, 0.2878, -0.2741, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.476 left_y=-0.2628 left_z=0.061 left_yaw=0.0748 left_pitch=0.0193 left_roll=-0.0119 left_gripper=0.9969 right_x=0.2594 right_y=0.0027 right_z=0.1046 right_yaw=0.0034 right_pitch=-0.0236 right_roll=0.0031 right_gripper=0.9998\nstate[joint_eff]: [-1.1282, -10.1949, 7.788, 1.1746, -0.1245, -0.0562, -0.0122, 0.1573, -0.6632, 6.653, 1.9609, 0.022, -0.0855, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f3e31c12cfa7f0ba3780b0c0434d86663d66cc49ff1c203a942372bebc44210",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ebb13910992aa2f04cf72b6fe6b629fcba97438a08425182a8855e997f8df9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:73a78dae8cfa37014a4d119505161d2450825aa98fcce6526e56f57cf635ec77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 41.35 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]: [-0.5297, 1.8988, 0.9081, 0.3687, -0.4877, -0.3431, 0.9969, -0.0193, 0.6456, 0.3389, -0.2909, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4522 left_y=-0.1647 left_z=0.0583 left_yaw=0.0441 left_pitch=0.022 left_roll=-0.0043 left_gripper=0.9969 right_x=0.265 right_y=0.0026 right_z=0.1155 right_yaw=0.0034 right_pitch=-0.0266 right_roll=0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.9932, 7.1179, 1.4872, -0.3199, -0.1197, -0.0122, 0.1026, -1.0188, 6.9949, 1.9609, 0.0024, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6559, 2.0747, 1.2041, 0.1764, -0.588, -0.4503, 0.9969, -0.0193, 0.6319, 0.3145, -0.2878, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4726 left_y=-0.2355 left_z=0.0558 left_yaw=0.0534 left_pitch=0.0015 left_roll=-0.0033 left_gripper=0.9969 right_x=0.2616 right_y=0.0028 right_z=0.1083 right_yaw=0.0035 right_pitch=-0.0342 right_roll=0.0039 right_gripper=0.9998\nstate[joint_eff]: [-0.8, -10.2769, 8.0068, 1.4237, -0.1099, -0.022, -0.0122, 0.0068, -0.9778, 6.9402, 1.9756, -0.0513, -0.0317, -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]: [-0.7086, 2.1323, 1.314, 0.1123, -0.6483, -0.5034, 0.9969, -0.0193, 0.6083, 0.2878, -0.2741, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.476 left_y=-0.2628 left_z=0.061 left_yaw=0.0748 left_pitch=0.0193 left_roll=-0.0119 left_gripper=0.9969 right_x=0.2594 right_y=0.0027 right_z=0.1046 right_yaw=0.0034 right_pitch=-0.0236 right_roll=0.0031 right_gripper=0.9998\nstate[joint_eff]: [-1.1282, -10.1949, 7.788, 1.1746, -0.1245, -0.0562, -0.0122, 0.1573, -0.6632, 6.653, 1.9609, 0.022, -0.0855, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f3e31c12cfa7f0ba3780b0c0434d86663d66cc49ff1c203a942372bebc44210",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ebb13910992aa2f04cf72b6fe6b629fcba97438a08425182a8855e997f8df9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73a78dae8cfa37014a4d119505161d2450825aa98fcce6526e56f57cf635ec77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PTffLWyK3m2DdZke6XQSLH",
      "input": {
        "note": "The 2.7 cm step barely shifted the bottle in the wrist view, so it is farther away than it looks; the top view says the bottles are ~6 cm further to the arm's right. Moving right 6 cm.",
        "targets": {
          "left_y": -0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PTffLWyK3m2DdZke6XQSLH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7887, 2.2406, 1.5375, -0.0463, -0.7128, -0.5884, 0.9969, -0.0193, 0.5941, 0.2684, -0.2687, -0.0235, -0.036, 0.9999]\nstate[eef_state]: left_x=0.4783 left_y=-0.3125 left_z=0.0677 left_yaw=0.087 left_pitch=0.0213 left_roll=-0.0238 left_gripper=0.9969 right_x=0.2572 right_y=0.0028 right_z=0.1002 right_yaw=0.0032 right_pitch=-0.0236 right_roll=0.0034 right_gripper=0.9999\nstate[joint_eff]: [-0.7179, -10.6462, 8.335, 1.0867, -0.2857, 0.0269, -0.0122, 0.0205, -0.6085, 6.8308, 1.873, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8c2182985978264f1e13536a915c92e3cdfd823f6790b0d18be757d2663f99b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f41f67216088452f3d217374813aa46f984b6ebbcaf0ab365dfb1711cb347bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:48f9a7bc33a2aea239862c6769d4c3fd9c4b40d3baba49e2f31f59530b85cfc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 2.714 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 40 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7887, 2.2406, 1.5375, -0.0463, -0.7128, -0.5884, 0.9969, -0.0193, 0.5941, 0.2684, -0.2687, -0.0235, -0.036, 0.9999]\nstate[eef_state]: left_x=0.4783 left_y=-0.3125 left_z=0.0677 left_yaw=0.087 left_pitch=0.0213 left_roll=-0.0238 left_gripper=0.9969 right_x=0.2572 right_y=0.0028 right_z=0.1002 right_yaw=0.0032 right_pitch=-0.0236 right_roll=0.0034 right_gripper=0.9999\nstate[joint_eff]: [-0.7179, -10.6462, 8.335, 1.0867, -0.2857, 0.0269, -0.0122, 0.0205, -0.6085, 6.8308, 1.873, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8c2182985978264f1e13536a915c92e3cdfd823f6790b0d18be757d2663f99b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f41f67216088452f3d217374813aa46f984b6ebbcaf0ab365dfb1711cb347bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48f9a7bc33a2aea239862c6769d4c3fd9c4b40d3baba49e2f31f59530b85cfc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014mFY6tSnBnvZBi8QheMmfZ",
      "input": {
        "note": "The bottle stubbornly stays at the right edge of the wrist view, so I'm making a large, unambiguous 10 cm move to the arm's right to see it shift toward the jaw column.",
        "targets": {
          "left_y": -0.41
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "content": "target for left_y is outside [-0.4, 0.05]",
      "tool_use_id": "toolu_014mFY6tSnBnvZBi8QheMmfZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /messages · status 200 · 32.42 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 34 changed as sent

message 37 changed as sent

message 42 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6559, 2.0747, 1.2041, 0.1764, -0.588, -0.4503, 0.9969, -0.0193, 0.6319, 0.3145, -0.2878, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4726 left_y=-0.2355 left_z=0.0558 left_yaw=0.0534 left_pitch=0.0015 left_roll=-0.0033 left_gripper=0.9969 right_x=0.2616 right_y=0.0028 right_z=0.1083 right_yaw=0.0035 right_pitch=-0.0342 right_roll=0.0039 right_gripper=0.9998\nstate[joint_eff]: [-0.8, -10.2769, 8.0068, 1.4237, -0.1099, -0.022, -0.0122, 0.0068, -0.9778, 6.9402, 1.9756, -0.0513, -0.0317, -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]: [-0.7086, 2.1323, 1.314, 0.1123, -0.6483, -0.5034, 0.9969, -0.0193, 0.6083, 0.2878, -0.2741, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.476 left_y=-0.2628 left_z=0.061 left_yaw=0.0748 left_pitch=0.0193 left_roll=-0.0119 left_gripper=0.9969 right_x=0.2594 right_y=0.0027 right_z=0.1046 right_yaw=0.0034 right_pitch=-0.0236 right_roll=0.0031 right_gripper=0.9998\nstate[joint_eff]: [-1.1282, -10.1949, 7.788, 1.1746, -0.1245, -0.0562, -0.0122, 0.1573, -0.6632, 6.653, 1.9609, 0.022, -0.0855, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 42 current as-sent form

{
  "content": [
    {
      "content": "target for left_y is outside [-0.4, 0.05]",
      "tool_use_id": "toolu_014mFY6tSnBnvZBi8QheMmfZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "signature": "CAIS/wEKjgEIEhgCKkDx5cBSaOVsDEELVnra+YSCx7n3KkYEXIDRWpvnIpNBz4PtN3qAGL49K6XBodQ0m/mSeEzDdrnIHiVLY2f4PEIkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb3SzNUGEgyH/PHUcoZau3ZPEV8aDLZp4fABZdqngSJDACIw5VIsW/yG80HstjD6Oki/oonOGxjhtXz75gJ4KFxwIFw06USkpFJZv/GZeLtiabyuKh6a45KSKFwjhu5JsP7l3ZvM+ymsPPe8My1Ju5zGHCMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EXwoLMBpLLWGFXF9XQQcSU",
      "input": {
        "note": "Making a large 9 cm move to the arm's right (to the workspace limit) to see how much the bottle shifts in the wrist view and settle the alignment question.",
        "targets": {
          "left_y": -0.4
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01EXwoLMBpLLWGFXF9XQQcSU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8963, 2.505, 2.0476, -0.371, -0.7799, -0.7074, 0.9969, -0.0193, 0.5804, 0.2478, -0.2646, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4814 left_y=-0.3973 left_z=0.0705 left_yaw=0.0888 left_pitch=0.0112 left_roll=-0.0337 left_gripper=0.9969 right_x=0.2546 right_y=0.0029 right_z=0.0949 right_yaw=0.0035 right_pitch=-0.0262 right_roll=0.0037 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -13.7368, 8.1573, 1.1551, -0.4029, 0.1978, -0.0073, -0.1573, -0.3897, 6.9675, 1.8779, 0.0024, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67edbda9df77b3aba2025514f1c81f83faf21f86f34aa3bb06ca885418f77446",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29b288dd6726a7c631b11a5c11b4d985100b4ce17af9de30ee2332546bbfffbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:73f89b9f4ec4a35a581ca8627c9056e7fdd271c57d4fe3d47cda39353509da0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 13.01 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 37 changed as sent

message 40 changed as sent

message 45 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7086, 2.1323, 1.314, 0.1123, -0.6483, -0.5034, 0.9969, -0.0193, 0.6083, 0.2878, -0.2741, -0.0235, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.476 left_y=-0.2628 left_z=0.061 left_yaw=0.0748 left_pitch=0.0193 left_roll=-0.0119 left_gripper=0.9969 right_x=0.2594 right_y=0.0027 right_z=0.1046 right_yaw=0.0034 right_pitch=-0.0236 right_roll=0.0031 right_gripper=0.9998\nstate[joint_eff]: [-1.1282, -10.1949, 7.788, 1.1746, -0.1245, -0.0562, -0.0122, 0.1573, -0.6632, 6.653, 1.9609, 0.022, -0.0855, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7887, 2.2406, 1.5375, -0.0463, -0.7128, -0.5884, 0.9969, -0.0193, 0.5941, 0.2684, -0.2687, -0.0235, -0.036, 0.9999]\nstate[eef_state]: left_x=0.4783 left_y=-0.3125 left_z=0.0677 left_yaw=0.087 left_pitch=0.0213 left_roll=-0.0238 left_gripper=0.9969 right_x=0.2572 right_y=0.0028 right_z=0.1002 right_yaw=0.0032 right_pitch=-0.0236 right_roll=0.0034 right_gripper=0.9999\nstate[joint_eff]: [-0.7179, -10.6462, 8.335, 1.0867, -0.2857, 0.0269, -0.0122, 0.0205, -0.6085, 6.8308, 1.873, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8963, 2.505, 2.0476, -0.371, -0.7799, -0.7074, 0.9969, -0.0193, 0.5804, 0.2478, -0.2646, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4814 left_y=-0.3973 left_z=0.0705 left_yaw=0.0888 left_pitch=0.0112 left_roll=-0.0337 left_gripper=0.9969 right_x=0.2546 right_y=0.0029 right_z=0.0949 right_yaw=0.0035 right_pitch=-0.0262 right_roll=0.0037 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -13.7368, 8.1573, 1.1551, -0.4029, 0.1978, -0.0073, -0.1573, -0.3897, 6.9675, 1.8779, 0.0024, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67edbda9df77b3aba2025514f1c81f83faf21f86f34aa3bb06ca885418f77446",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29b288dd6726a7c631b11a5c11b4d985100b4ce17af9de30ee2332546bbfffbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73f89b9f4ec4a35a581ca8627c9056e7fdd271c57d4fe3d47cda39353509da0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0126ht4eWTa4hqqCHywCrKai",
      "input": {
        "note": "The wrist view finally shows a bottle centred near the jaws, but the left arm is at its y limit, so this bottle belongs to the right arm. Parking the left arm home and bringing the right arm out over that bottle to take a look.",
        "targets": {
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.25,
          "right_x": 0.42,
          "right_y": 0.2,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 36 steps (3.6s)",
      "tool_use_id": "toolu_0126ht4eWTa4hqqCHywCrKai",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.141, 0.8883, 0.878, -0.5735, -0.2413, -0.1822, 0.9969, 0.6216, 1.6466, 1.0267, -0.0967, 0.4751, 0.3107, 0.9998]\nstate[eef_state]: left_x=0.3043 left_y=0.0031 left_z=0.2413 left_yaw=0.1448 left_pitch=-0.0021 left_roll=-0.0099 left_gripper=0.9969 right_x=0.4073 right_y=0.1968 right_z=0.1327 right_yaw=0.0432 right_pitch=-0.0532 right_roll=-0.036 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -2.1538, 8.9504, 1.6825, -0.0904, 0.1685, -0.0122, 0.0205, -7.2, 9.3333, 1.707, 0.442, 0.2564, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b47222e328c0aa1fe5289dec9e1c95e65117a8d562266d3666436baf38fcd92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de5f8cc47865cf80a5bbf153f4cc79d851d196a18ac7300519ced54d28547efd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57a69c7642bd5a76a2115fc12a6c13bb0f0d2990231b894bd0e4d7d6d370ba4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 11.75 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 40 changed as sent

message 45 changed as sent

message 48 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7887, 2.2406, 1.5375, -0.0463, -0.7128, -0.5884, 0.9969, -0.0193, 0.5941, 0.2684, -0.2687, -0.0235, -0.036, 0.9999]\nstate[eef_state]: left_x=0.4783 left_y=-0.3125 left_z=0.0677 left_yaw=0.087 left_pitch=0.0213 left_roll=-0.0238 left_gripper=0.9969 right_x=0.2572 right_y=0.0028 right_z=0.1002 right_yaw=0.0032 right_pitch=-0.0236 right_roll=0.0034 right_gripper=0.9999\nstate[joint_eff]: [-0.7179, -10.6462, 8.335, 1.0867, -0.2857, 0.0269, -0.0122, 0.0205, -0.6085, 6.8308, 1.873, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8963, 2.505, 2.0476, -0.371, -0.7799, -0.7074, 0.9969, -0.0193, 0.5804, 0.2478, -0.2646, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4814 left_y=-0.3973 left_z=0.0705 left_yaw=0.0888 left_pitch=0.0112 left_roll=-0.0337 left_gripper=0.9969 right_x=0.2546 right_y=0.0029 right_z=0.0949 right_yaw=0.0035 right_pitch=-0.0262 right_roll=0.0037 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -13.7368, 8.1573, 1.1551, -0.4029, 0.1978, -0.0073, -0.1573, -0.3897, 6.9675, 1.8779, 0.0024, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.141, 0.8883, 0.878, -0.5735, -0.2413, -0.1822, 0.9969, 0.6216, 1.6466, 1.0267, -0.0967, 0.4751, 0.3107, 0.9998]\nstate[eef_state]: left_x=0.3043 left_y=0.0031 left_z=0.2413 left_yaw=0.1448 left_pitch=-0.0021 left_roll=-0.0099 left_gripper=0.9969 right_x=0.4073 right_y=0.1968 right_z=0.1327 right_yaw=0.0432 right_pitch=-0.0532 right_roll=-0.036 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -2.1538, 8.9504, 1.6825, -0.0904, 0.1685, -0.0122, 0.0205, -7.2, 9.3333, 1.707, 0.442, 0.2564, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b47222e328c0aa1fe5289dec9e1c95e65117a8d562266d3666436baf38fcd92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de5f8cc47865cf80a5bbf153f4cc79d851d196a18ac7300519ced54d28547efd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57a69c7642bd5a76a2115fc12a6c13bb0f0d2990231b894bd0e4d7d6d370ba4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KPaokg7GtyZYH2LkSyr5Wv",
      "input": {
        "note": "Clear view now: the right wrist camera has the rightmost bottle nearly centred (cap far, body near). Moving 4 cm right-of-arm and 4 cm forward while dropping to 8 cm to line the jaws up over its neck.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.15,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KPaokg7GtyZYH2LkSyr5Wv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1471, 0.8921, 0.878, -0.5915, -0.2337, -0.1757, 0.9969, 0.4435, 1.7714, 0.8886, 0.1642, 0.3645, 0.2218, 0.9998]\nstate[eef_state]: left_x=0.3024 left_y=0.0002 left_z=0.2365 left_yaw=0.129 left_pitch=-0.0242 left_roll=-0.0026 left_gripper=0.9969 right_x=0.4334 right_y=0.1401 right_z=0.0649 right_yaw=0.0011 right_pitch=-0.0921 right_roll=-0.0446 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -1.7983, 6.9265, 1.873, -0.1832, 0.0806, -0.0073, 0.4718, -8.7453, 6.3658, 2.21, 0.1197, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fdcf2be822cdf47b63df3a7f02696633c71f434a514e752c4fa6c795a7447d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:528fdd210f9b88e8b6833637488bdd545d54e0d05409a4c3361dca5fbd627f63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ca899428d13d0c6c60a7b243b075e9f5736c76e6a0e3a5da083d1c497c927381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 12.01 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 45 changed as sent

message 48 changed as sent

message 51 changed as sent

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8963, 2.505, 2.0476, -0.371, -0.7799, -0.7074, 0.9969, -0.0193, 0.5804, 0.2478, -0.2646, -0.0238, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4814 left_y=-0.3973 left_z=0.0705 left_yaw=0.0888 left_pitch=0.0112 left_roll=-0.0337 left_gripper=0.9969 right_x=0.2546 right_y=0.0029 right_z=0.0949 right_yaw=0.0035 right_pitch=-0.0262 right_roll=0.0037 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -13.7368, 8.1573, 1.1551, -0.4029, 0.1978, -0.0073, -0.1573, -0.3897, 6.9675, 1.8779, 0.0024, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.141, 0.8883, 0.878, -0.5735, -0.2413, -0.1822, 0.9969, 0.6216, 1.6466, 1.0267, -0.0967, 0.4751, 0.3107, 0.9998]\nstate[eef_state]: left_x=0.3043 left_y=0.0031 left_z=0.2413 left_yaw=0.1448 left_pitch=-0.0021 left_roll=-0.0099 left_gripper=0.9969 right_x=0.4073 right_y=0.1968 right_z=0.1327 right_yaw=0.0432 right_pitch=-0.0532 right_roll=-0.036 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -2.1538, 8.9504, 1.6825, -0.0904, 0.1685, -0.0122, 0.0205, -7.2, 9.3333, 1.707, 0.442, 0.2564, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1471, 0.8921, 0.878, -0.5915, -0.2337, -0.1757, 0.9969, 0.4435, 1.7714, 0.8886, 0.1642, 0.3645, 0.2218, 0.9998]\nstate[eef_state]: left_x=0.3024 left_y=0.0002 left_z=0.2365 left_yaw=0.129 left_pitch=-0.0242 left_roll=-0.0026 left_gripper=0.9969 right_x=0.4334 right_y=0.1401 right_z=0.0649 right_yaw=0.0011 right_pitch=-0.0921 right_roll=-0.0446 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -1.7983, 6.9265, 1.873, -0.1832, 0.0806, -0.0073, 0.4718, -8.7453, 6.3658, 2.21, 0.1197, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fdcf2be822cdf47b63df3a7f02696633c71f434a514e752c4fa6c795a7447d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:528fdd210f9b88e8b6833637488bdd545d54e0d05409a4c3361dca5fbd627f63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca899428d13d0c6c60a7b243b075e9f5736c76e6a0e3a5da083d1c497c927381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GaqcN6azshpZYApeH6FuMj",
      "input": {
        "note": "The bottle is nicely centred on the jaw column in the right wrist view with its cap pointing away; advancing 5 cm (and lifting slightly to clear the bottle) to bring the neck under the fingertips.",
        "targets": {
          "right_x": 0.483,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GaqcN6azshpZYApeH6FuMj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1513, 0.8841, 0.8581, -0.5762, -0.244, -0.1829, 0.9969, 0.3973, 1.8477, 0.9672, 0.21, 0.3088, 0.178, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=0.0008 left_z=0.2332 left_yaw=0.1372 left_pitch=-0.0192 left_roll=-0.0039 left_gripper=0.9969 right_x=0.4632 right_y=0.14 right_z=0.0673 right_yaw=0.0256 right_pitch=-0.0628 right_roll=-0.0278 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -2.3316, 6.3521, 1.8437, -0.1538, 0.0611, -0.0122, -0.8137, -8.6769, 8.9915, 1.956, 0.1587, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6765cd412d072e7325fe342a86721a098059bde5ce5ddb70bd43f29a7ff0d9a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08ca1ce139dbb2fb3e65859df1c6c3d31c1c7e4dd9c138a62f82c3b150318de2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:90b3a266e45aa63f568f93d0fc6dc7dc6b0e4af313e848a1e5f6ce62150837b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 16 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 48 changed as sent

message 51 changed as sent

message 54 changed as sent

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.141, 0.8883, 0.878, -0.5735, -0.2413, -0.1822, 0.9969, 0.6216, 1.6466, 1.0267, -0.0967, 0.4751, 0.3107, 0.9998]\nstate[eef_state]: left_x=0.3043 left_y=0.0031 left_z=0.2413 left_yaw=0.1448 left_pitch=-0.0021 left_roll=-0.0099 left_gripper=0.9969 right_x=0.4073 right_y=0.1968 right_z=0.1327 right_yaw=0.0432 right_pitch=-0.0532 right_roll=-0.036 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -2.1538, 8.9504, 1.6825, -0.0904, 0.1685, -0.0122, 0.0205, -7.2, 9.3333, 1.707, 0.442, 0.2564, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1471, 0.8921, 0.878, -0.5915, -0.2337, -0.1757, 0.9969, 0.4435, 1.7714, 0.8886, 0.1642, 0.3645, 0.2218, 0.9998]\nstate[eef_state]: left_x=0.3024 left_y=0.0002 left_z=0.2365 left_yaw=0.129 left_pitch=-0.0242 left_roll=-0.0026 left_gripper=0.9969 right_x=0.4334 right_y=0.1401 right_z=0.0649 right_yaw=0.0011 right_pitch=-0.0921 right_roll=-0.0446 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -1.7983, 6.9265, 1.873, -0.1832, 0.0806, -0.0073, 0.4718, -8.7453, 6.3658, 2.21, 0.1197, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1513, 0.8841, 0.8581, -0.5762, -0.244, -0.1829, 0.9969, 0.3973, 1.8477, 0.9672, 0.21, 0.3088, 0.178, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=0.0008 left_z=0.2332 left_yaw=0.1372 left_pitch=-0.0192 left_roll=-0.0039 left_gripper=0.9969 right_x=0.4632 right_y=0.14 right_z=0.0673 right_yaw=0.0256 right_pitch=-0.0628 right_roll=-0.0278 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -2.3316, 6.3521, 1.8437, -0.1538, 0.0611, -0.0122, -0.8137, -8.6769, 8.9915, 1.956, 0.1587, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6765cd412d072e7325fe342a86721a098059bde5ce5ddb70bd43f29a7ff0d9a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08ca1ce139dbb2fb3e65859df1c6c3d31c1c7e4dd9c138a62f82c3b150318de2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90b3a266e45aa63f568f93d0fc6dc7dc6b0e4af313e848a1e5f6ce62150837b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EjzresbxRBgKoq41hP88Zg",
      "input": {
        "note": "Forward motion is working — the bottle grew and slid down the wrist image by ~25 px for 3 cm. Advancing another 4 cm and 2 cm to the arm's right to put the neck between the jaws.",
        "targets": {
          "right_x": 0.503,
          "right_y": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EjzresbxRBgKoq41hP88Zg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8833, 0.8425, -0.5724, -0.2462, -0.1829, 0.9969, 0.3737, 1.8656, 0.9337, 0.2916, 0.2859, 0.1688, 0.9998]\nstate[eef_state]: left_x=0.3009 left_y=0.0011 left_z=0.2272 left_yaw=0.1385 left_pitch=-0.0295 left_roll=0.0005 left_gripper=0.9969 right_x=0.4667 right_y=0.1333 right_z=0.0607 right_yaw=0.0262 right_pitch=-0.0396 right_roll=-0.0116 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.6872, 6.8034, 1.8681, -0.1685, 0.0366, -0.0122, -0.1846, -8.1436, 5.9145, 2.0781, 0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c619116248b81998f171a433d909906044d488a37fdb9a66bdf70efaf1602434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b64780254e258f86b097b44a618442214e6d50dd1f5fc052be83d6c81f9cc7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:808d30c6909e3534be6cd1391ca2bebe98b67ecd3f9442d6d57442b25fdd0d07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 7.875 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 51 changed as sent

message 54 changed as sent

message 57 changed as sent

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1471, 0.8921, 0.878, -0.5915, -0.2337, -0.1757, 0.9969, 0.4435, 1.7714, 0.8886, 0.1642, 0.3645, 0.2218, 0.9998]\nstate[eef_state]: left_x=0.3024 left_y=0.0002 left_z=0.2365 left_yaw=0.129 left_pitch=-0.0242 left_roll=-0.0026 left_gripper=0.9969 right_x=0.4334 right_y=0.1401 right_z=0.0649 right_yaw=0.0011 right_pitch=-0.0921 right_roll=-0.0446 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -1.7983, 6.9265, 1.873, -0.1832, 0.0806, -0.0073, 0.4718, -8.7453, 6.3658, 2.21, 0.1197, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1513, 0.8841, 0.8581, -0.5762, -0.244, -0.1829, 0.9969, 0.3973, 1.8477, 0.9672, 0.21, 0.3088, 0.178, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=0.0008 left_z=0.2332 left_yaw=0.1372 left_pitch=-0.0192 left_roll=-0.0039 left_gripper=0.9969 right_x=0.4632 right_y=0.14 right_z=0.0673 right_yaw=0.0256 right_pitch=-0.0628 right_roll=-0.0278 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -2.3316, 6.3521, 1.8437, -0.1538, 0.0611, -0.0122, -0.8137, -8.6769, 8.9915, 1.956, 0.1587, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8833, 0.8425, -0.5724, -0.2462, -0.1829, 0.9969, 0.3737, 1.8656, 0.9337, 0.2916, 0.2859, 0.1688, 0.9998]\nstate[eef_state]: left_x=0.3009 left_y=0.0011 left_z=0.2272 left_yaw=0.1385 left_pitch=-0.0295 left_roll=0.0005 left_gripper=0.9969 right_x=0.4667 right_y=0.1333 right_z=0.0607 right_yaw=0.0262 right_pitch=-0.0396 right_roll=-0.0116 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.6872, 6.8034, 1.8681, -0.1685, 0.0366, -0.0122, -0.1846, -8.1436, 5.9145, 2.0781, 0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c619116248b81998f171a433d909906044d488a37fdb9a66bdf70efaf1602434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b64780254e258f86b097b44a618442214e6d50dd1f5fc052be83d6c81f9cc7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:808d30c6909e3534be6cd1391ca2bebe98b67ecd3f9442d6d57442b25fdd0d07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C5Vn8UyEmtqJn9k7tkHUne",
      "input": {
        "note": "The arm has hit its forward reach (~0.467 m) so I cannot get to the bottle's cap; instead I will grasp the body under the jaws now and drag the bottle closer to the base. Descending to mid-bottle height.",
        "targets": {
          "right_z": 0.033
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01C5Vn8UyEmtqJn9k7tkHUne",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8753, 0.8246, -0.556, -0.2478, -0.1829, 0.9969, 0.3737, 1.8656, 0.9321, 0.3084, 0.2829, 0.1631, 0.9998]\nstate[eef_state]: left_x=0.3006 left_y=0.0014 left_z=0.2247 left_yaw=0.1397 left_pitch=-0.023 left_roll=-0.0005 left_gripper=0.9969 right_x=0.4684 right_y=0.1346 right_z=0.0633 right_yaw=0.032 right_pitch=-0.0259 right_roll=-0.0094 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -2.4137, 6.6256, 1.9512, -0.1685, 0.0269, -0.0122, -0.212, -8.5265, 6.0513, 1.9756, 0.0904, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c036cb07a823f1623f10d0a840506d654b1578adcf13989a76b37c3d3d32611f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50ee483f580f29a61715cb0c4815baab397afd27715a3e5e9e3fe925c6f07bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:10dd3c46ae3775a58d62e90c824d544309775bca20d0a14afe21687a0bbec1b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 19.26 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 54 changed as sent

message 57 changed as sent

message 60 changed as sent

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1513, 0.8841, 0.8581, -0.5762, -0.244, -0.1829, 0.9969, 0.3973, 1.8477, 0.9672, 0.21, 0.3088, 0.178, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=0.0008 left_z=0.2332 left_yaw=0.1372 left_pitch=-0.0192 left_roll=-0.0039 left_gripper=0.9969 right_x=0.4632 right_y=0.14 right_z=0.0673 right_yaw=0.0256 right_pitch=-0.0628 right_roll=-0.0278 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -2.3316, 6.3521, 1.8437, -0.1538, 0.0611, -0.0122, -0.8137, -8.6769, 8.9915, 1.956, 0.1587, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8833, 0.8425, -0.5724, -0.2462, -0.1829, 0.9969, 0.3737, 1.8656, 0.9337, 0.2916, 0.2859, 0.1688, 0.9998]\nstate[eef_state]: left_x=0.3009 left_y=0.0011 left_z=0.2272 left_yaw=0.1385 left_pitch=-0.0295 left_roll=0.0005 left_gripper=0.9969 right_x=0.4667 right_y=0.1333 right_z=0.0607 right_yaw=0.0262 right_pitch=-0.0396 right_roll=-0.0116 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.6872, 6.8034, 1.8681, -0.1685, 0.0366, -0.0122, -0.1846, -8.1436, 5.9145, 2.0781, 0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8753, 0.8246, -0.556, -0.2478, -0.1829, 0.9969, 0.3737, 1.8656, 0.9321, 0.3084, 0.2829, 0.1631, 0.9998]\nstate[eef_state]: left_x=0.3006 left_y=0.0014 left_z=0.2247 left_yaw=0.1397 left_pitch=-0.023 left_roll=-0.0005 left_gripper=0.9969 right_x=0.4684 right_y=0.1346 right_z=0.0633 right_yaw=0.032 right_pitch=-0.0259 right_roll=-0.0094 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -2.4137, 6.6256, 1.9512, -0.1685, 0.0269, -0.0122, -0.212, -8.5265, 6.0513, 1.9756, 0.0904, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c036cb07a823f1623f10d0a840506d654b1578adcf13989a76b37c3d3d32611f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50ee483f580f29a61715cb0c4815baab397afd27715a3e5e9e3fe925c6f07bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10dd3c46ae3775a58d62e90c824d544309775bca20d0a14afe21687a0bbec1b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISgwkKjgEIEhgCKkCY/mglkjjdQtAy9pzHg1O59UYkP1c+E8+XWTCip07K+XPHSK9ekroft2UC5tpDusc6JieM+o/adiQ8xuaf0Y1SMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaDTzNUGEgzQZZ4lSmgyiniN74MaDNdFIed1C52O9MkHXiIw/Tl0/74wWVjQJQbic8shRQ57IxS6LoIMezuOSc3H8d76kx8NXmtkNF1230hifNYEKqEHvFiDXnvshDkPuxRR5GspD77KVdI19cL/ptI/McmqlCIGdqjjy00x67BCPXwB9XSWg1T1S8moNn0pskexYx4Y04yg9CrLPcewR3R7lAAC5JDBb2BJ4i8FP2YG7QsPiAcODEbs4GJycJB5c5iV2NMNhUOifEc1gnKxtGQ9SjKJ4xRMrWL5VNadYaYrgavnjdRqzSvUUFc1peoORO4i1yGC3X3tf0D52M7Oo8FDSgu5DGSnh19JamLO8vvIJGUg0xOhe4I9Tm9ZVJJsWgccn+BtOln90DxIIwJDwg/Y3LKNZ2dXvg06NvtHjyqJ2mTvG+/fDLcyXvyUNlZYr43352VS6IhVurj64bhzq4GtlQ0lCd3stIqRa4voBxWjDMCjl3vM3JV12m5a5LxAYb0Q30PZjT5fR512PkxvddhMZZjdb+8T4AcQTT/NBVkGiShNYIhdmne0CU9hAccN7nIT1y0KO47IAjuTd17aR8qDXq8LvklWY5iPYETnqN1xhUSoGDTR5BLrfWD372nSQ1ZdiZb2BEOIJ1qMkmx4d8SYe9an5fHEfvNwXhuw3Us+AVgtuxZwcdQ8rVH5/Tp6FSqGU+eAV4BCSlbw1q4Lx91TV4NIAHLvJFPHgWa1jq4ihBDbKNzDfMVgOB3aRCKuRcwJ8k6Gr9evPZgSQmlJlF4rQoeUkmMsNzu4EHoHqTEf3TJKRoqTFfLz8e5K2F4+w2WNQ2AhT5PAu1+T5GuauHHbqQkNwdWeBt2DzDMDGipJuRF8iAXVfNUMDpdxN9VGAfpLkqbxUGY6WPC/hUeVTpxDmmzQrxYfcPEeILm60sUodVQ3Z9NPwfhdK7sIqH3qA+gBK7PU5+zxGbxb7dKYN3ZGICLCIM+rgnj6TJ6luZ0nYm1brz6YG6xRKBFhFtGIEIHdX4xl2wcB3CxxPxdBJ2asM5r5W+j9ogXqGTWPvVLBO9o8h7N3jl6KinBtTjGn5CdBedJyotYKIUlr1unCE+srEiUHVM8IMXtKaqOF1d6I0YUZibJ181PZZVMFERW95bOoD+m0jG41286XYnV+k4E9lQXsuzOg1YIfJz7SuTovLWSoMPs43xMl10RO8t0YGFytCLzANPxl8fiJZz2j9c0T6oq/9+lt1OCvT4IfOmGaBYoLx7EeooSUnKD8+6QckSyNQ/eENE8Np1ZBuARUDpUYgQbetyVUuPvO7hZAjkT18harSfDLmmVjr+T9k9b0d29Zxcv10S4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RA56d16Fbh6TB5kgWNgcYx",
      "input": {
        "note": "The descent was clipped; re-sending a drop to 3 cm so the open jaws straddle the bottle's body just below its shoulder.",
        "targets": {
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01RA56d16Fbh6TB5kgWNgcYx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8707, 0.8101, -0.5472, -0.2478, -0.1833, 0.9969, 0.3737, 1.8656, 0.9321, 0.3084, 0.2829, 0.1627, 0.9998]\nstate[eef_state]: left_x=0.3 left_y=0.0015 left_z=0.2213 left_yaw=0.1399 left_pitch=-0.0241 left_roll=-0.0005 left_gripper=0.9969 right_x=0.4684 right_y=0.1346 right_z=0.0633 right_yaw=0.0322 right_pitch=-0.0259 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -2.4547, 6.106, 1.9023, -0.1978, -0.0073, -0.0122, -0.3897, -8.4581, 6.0376, 1.9463, 0.0708, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e0be3fc293338e57cc97518c71d7d521d315fd4539706db08274cfbdad0ea04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b736f3e643504f31202a075d65483a2ec57c0e3f5e42d76bb36c2f97b04ca82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:caa033fc4c383903a9ee4a10d52ef0864f2f17df6c3074f613c9f26f5fb9e48c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 5.446 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 57 changed as sent

message 60 changed as sent

message 63 changed as sent

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8833, 0.8425, -0.5724, -0.2462, -0.1829, 0.9969, 0.3737, 1.8656, 0.9337, 0.2916, 0.2859, 0.1688, 0.9998]\nstate[eef_state]: left_x=0.3009 left_y=0.0011 left_z=0.2272 left_yaw=0.1385 left_pitch=-0.0295 left_roll=0.0005 left_gripper=0.9969 right_x=0.4667 right_y=0.1333 right_z=0.0607 right_yaw=0.0262 right_pitch=-0.0396 right_roll=-0.0116 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.6872, 6.8034, 1.8681, -0.1685, 0.0366, -0.0122, -0.1846, -8.1436, 5.9145, 2.0781, 0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8753, 0.8246, -0.556, -0.2478, -0.1829, 0.9969, 0.3737, 1.8656, 0.9321, 0.3084, 0.2829, 0.1631, 0.9998]\nstate[eef_state]: left_x=0.3006 left_y=0.0014 left_z=0.2247 left_yaw=0.1397 left_pitch=-0.023 left_roll=-0.0005 left_gripper=0.9969 right_x=0.4684 right_y=0.1346 right_z=0.0633 right_yaw=0.032 right_pitch=-0.0259 right_roll=-0.0094 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -2.4137, 6.6256, 1.9512, -0.1685, 0.0269, -0.0122, -0.212, -8.5265, 6.0513, 1.9756, 0.0904, 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 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8707, 0.8101, -0.5472, -0.2478, -0.1833, 0.9969, 0.3737, 1.8656, 0.9321, 0.3084, 0.2829, 0.1627, 0.9998]\nstate[eef_state]: left_x=0.3 left_y=0.0015 left_z=0.2213 left_yaw=0.1399 left_pitch=-0.0241 left_roll=-0.0005 left_gripper=0.9969 right_x=0.4684 right_y=0.1346 right_z=0.0633 right_yaw=0.0322 right_pitch=-0.0259 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -2.4547, 6.106, 1.9023, -0.1978, -0.0073, -0.0122, -0.3897, -8.4581, 6.0376, 1.9463, 0.0708, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e0be3fc293338e57cc97518c71d7d521d315fd4539706db08274cfbdad0ea04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b736f3e643504f31202a075d65483a2ec57c0e3f5e42d76bb36c2f97b04ca82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caa033fc4c383903a9ee4a10d52ef0864f2f17df6c3074f613c9f26f5fb9e48c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DSxUhNCcFLBF17NHBqnWQf",
      "input": {
        "note": "The arm is at its radial reach limit and refuses to descend there, so I'm pulling back 3 cm to x=0.44 and dropping to 3.3 cm, which should put the open jaws around the near (bottom) end of the bottle so I can drag it closer to the base.",
        "targets": {
          "right_x": 0.44,
          "right_z": 0.033
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DSxUhNCcFLBF17NHBqnWQf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8673, 0.7933, -0.5323, -0.2478, -0.1833, 0.9969, 0.3737, 1.8656, 0.9321, 0.3084, 0.2829, 0.1627, 0.9998]\nstate[eef_state]: left_x=0.3001 left_y=0.0015 left_z=0.2177 left_yaw=0.1399 left_pitch=-0.0226 left_roll=-0.001 left_gripper=0.9969 right_x=0.4684 right_y=0.1346 right_z=0.0633 right_yaw=0.0322 right_pitch=-0.0259 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.6872, 6.2154, 1.8193, -0.2271, -0.0171, -0.0122, -0.294, -8.5402, 6.3658, 1.9512, 0.0855, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c39b49e625252e2ae8665e5f8a625a6d8f902af3845bf8b85e4347d5d788cdd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:546cf686608abb3d5b98e030a17ae80795572e6f8e7f508c3472f457feeb1d8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63c4bcdfb7040fb7d8b18ffab8930d27453bc16fc110d13042923decf4d1c1db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 7.244 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 60 changed as sent

message 63 changed as sent

message 66 changed as sent

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8753, 0.8246, -0.556, -0.2478, -0.1829, 0.9969, 0.3737, 1.8656, 0.9321, 0.3084, 0.2829, 0.1631, 0.9998]\nstate[eef_state]: left_x=0.3006 left_y=0.0014 left_z=0.2247 left_yaw=0.1397 left_pitch=-0.023 left_roll=-0.0005 left_gripper=0.9969 right_x=0.4684 right_y=0.1346 right_z=0.0633 right_yaw=0.032 right_pitch=-0.0259 right_roll=-0.0094 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -2.4137, 6.6256, 1.9512, -0.1685, 0.0269, -0.0122, -0.212, -8.5265, 6.0513, 1.9756, 0.0904, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8707, 0.8101, -0.5472, -0.2478, -0.1833, 0.9969, 0.3737, 1.8656, 0.9321, 0.3084, 0.2829, 0.1627, 0.9998]\nstate[eef_state]: left_x=0.3 left_y=0.0015 left_z=0.2213 left_yaw=0.1399 left_pitch=-0.0241 left_roll=-0.0005 left_gripper=0.9969 right_x=0.4684 right_y=0.1346 right_z=0.0633 right_yaw=0.0322 right_pitch=-0.0259 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -2.4547, 6.106, 1.9023, -0.1978, -0.0073, -0.0122, -0.3897, -8.4581, 6.0376, 1.9463, 0.0708, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8673, 0.7933, -0.5323, -0.2478, -0.1833, 0.9969, 0.3737, 1.8656, 0.9321, 0.3084, 0.2829, 0.1627, 0.9998]\nstate[eef_state]: left_x=0.3001 left_y=0.0015 left_z=0.2177 left_yaw=0.1399 left_pitch=-0.0226 left_roll=-0.001 left_gripper=0.9969 right_x=0.4684 right_y=0.1346 right_z=0.0633 right_yaw=0.0322 right_pitch=-0.0259 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.6872, 6.2154, 1.8193, -0.2271, -0.0171, -0.0122, -0.294, -8.5402, 6.3658, 1.9512, 0.0855, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c39b49e625252e2ae8665e5f8a625a6d8f902af3845bf8b85e4347d5d788cdd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:546cf686608abb3d5b98e030a17ae80795572e6f8e7f508c3472f457feeb1d8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63c4bcdfb7040fb7d8b18ffab8930d27453bc16fc110d13042923decf4d1c1db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISpwQKjgEIEhgCKkBjzaT03OwODJ6zV2kQJctBW0GJpEghTsDpqoq9AQADh/CEqt4CBF/47ovQuc/R3gHxHbu+8v8+V/FzjTbQffyyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbjTzNUGEgz+8FZ3GxT/A1H1FPYaDD7FuDWE0i5sW1x3gSIwkg0XnmgyUjgZ4WQmq754rtFOu3hukOviTLXcgL7j3gOrMU6SGgq0qBTCJLnS088oKsUCImebpls+sAh7I8I5qLDsXaCBaFissmaOVwoh/ZbR86OWdfpvxE61UT766A5ou/dRRW5PHaNsFexdhBbj6ZdTkUVlkCvvdZyANbAl142QoC0Yk+YWYAm+2EsduF8aKd7cQEHkL1f/vmmmapyuOmJBhQSUZaf4qs9isbzBxWNbmjkd3sg/YzTxnze49+no246t+NuAu72DJLgeFR5aokONY+MWcj4inNz54Xovk59lX/FwNLOnf4J7vGtd0034aks5e3zDBzlQI0K03qQxIABboiLYPPnYGr7qm2FYlPO99Khx9LQPuumlC+aRztR/lYWmXxMA9pGB+WblbKzq3A7xLRPm1iFnn15PJtbuC5wc+0QJ9bie1mcwfxSa9cCsWuEPhV5wiZkuaPOkfLsUNcRKWfnK4aV5YA/i2EF44Lj6FGHPNL02SxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M7VTaa5GQyan4jLB29bbyo",
      "input": {
        "note": "The right arm has stopped tracking entirely (joints frozen at full stretch). Raising the tool to 18 cm and pulling back to x=0.42 to escape the singular stretched pose.",
        "targets": {
          "right_x": 0.42,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01M7VTaa5GQyan4jLB29bbyo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8604, 0.7769, -0.5201, -0.2478, -0.1833, 0.9969, 0.4278, 1.5295, 0.9646, -0.0704, 0.3096, 0.1753, 0.9998]\nstate[eef_state]: left_x=0.2995 left_y=0.0016 left_z=0.2147 left_yaw=0.1399 left_pitch=-0.0201 left_roll=-0.0017 left_gripper=0.9969 right_x=0.4213 right_y=0.1369 right_z=0.154 right_yaw=0.0575 right_pitch=-0.03 right_roll=-0.0177 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.812, 6.3385, 1.8877, -0.1832, -0.0024, -0.0122, 0.294, -9.0188, 9.9761, 1.8144, 0.3101, 0.1929, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f43adca95fd44dfddd0de50fb20a65034e005196800243d0d65de7187795fef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99cb0e8c7d7b5005a1f41b8ae217f5969b9968d915360bdb3ecced8ac1df5b31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7ff97dcda3f110f43f490d79fed54d484ed96c58d86ef8d7fe43d3be63f1d34c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 10.22 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 63 changed as sent

message 66 changed as sent

message 69 changed as sent

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8707, 0.8101, -0.5472, -0.2478, -0.1833, 0.9969, 0.3737, 1.8656, 0.9321, 0.3084, 0.2829, 0.1627, 0.9998]\nstate[eef_state]: left_x=0.3 left_y=0.0015 left_z=0.2213 left_yaw=0.1399 left_pitch=-0.0241 left_roll=-0.0005 left_gripper=0.9969 right_x=0.4684 right_y=0.1346 right_z=0.0633 right_yaw=0.0322 right_pitch=-0.0259 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -2.4547, 6.106, 1.9023, -0.1978, -0.0073, -0.0122, -0.3897, -8.4581, 6.0376, 1.9463, 0.0708, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8673, 0.7933, -0.5323, -0.2478, -0.1833, 0.9969, 0.3737, 1.8656, 0.9321, 0.3084, 0.2829, 0.1627, 0.9998]\nstate[eef_state]: left_x=0.3001 left_y=0.0015 left_z=0.2177 left_yaw=0.1399 left_pitch=-0.0226 left_roll=-0.001 left_gripper=0.9969 right_x=0.4684 right_y=0.1346 right_z=0.0633 right_yaw=0.0322 right_pitch=-0.0259 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.6872, 6.2154, 1.8193, -0.2271, -0.0171, -0.0122, -0.294, -8.5402, 6.3658, 1.9512, 0.0855, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8604, 0.7769, -0.5201, -0.2478, -0.1833, 0.9969, 0.4278, 1.5295, 0.9646, -0.0704, 0.3096, 0.1753, 0.9998]\nstate[eef_state]: left_x=0.2995 left_y=0.0016 left_z=0.2147 left_yaw=0.1399 left_pitch=-0.0201 left_roll=-0.0017 left_gripper=0.9969 right_x=0.4213 right_y=0.1369 right_z=0.154 right_yaw=0.0575 right_pitch=-0.03 right_roll=-0.0177 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.812, 6.3385, 1.8877, -0.1832, -0.0024, -0.0122, 0.294, -9.0188, 9.9761, 1.8144, 0.3101, 0.1929, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f43adca95fd44dfddd0de50fb20a65034e005196800243d0d65de7187795fef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99cb0e8c7d7b5005a1f41b8ae217f5969b9968d915360bdb3ecced8ac1df5b31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ff97dcda3f110f43f490d79fed54d484ed96c58d86ef8d7fe43d3be63f1d34c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS6AcKjgEIEhgCKkC78ZOlvj0EJxnzSQfN2EpsT5hcD5VEv7an14o1ZMN/0RrJy91vuU8SCXwpphiVPecBz1gqHPJDTutwkkxUWbBEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcHTzNUGEgyh0CtTEj0rr7PVcSsaDJv6Y2q5AfeEvSVx3SIwHoL+GId5HBR8/lzWWNQaBCBvcsatvSEKPwqx761G8/i+b+hBQPSeExkDztQ5J5VOKoYGL6NJYgXIRM8LCZ6EfBJDJBwK8QA5+PfyWtnDnP9HWmj67Jro5jY3rMYn7YS29+zdFooVLINRswAmB5OQX32FFUtJyV9M6EGMYlX/y6ZloxsPUEJL2LoXn9BUCiRH64954ZypwOKAYrmFqXNRrCkjGPw4+eH1uCZ1fzJHicNQlTQk9yidjanEDZcJsAs7EDF/0x+TR7Ri9Vv56iGiKBBZ7+KW1X8ushDkDNh8Qyvip67tsktAaH7maCyD1O/7GV6LGhH1zPJmbotSLXP+HRR8i7h3lL+kHqN7qBgpRonnDNNKOW3ccoom1oW/XtvRxraMli9y66olajP3U+Vf16xgT8afy8zD49yqmrW8CMtd/ITnVm5muY8Q8nevWX3G+KaO8DBg2cXIBMs9w4YVIsNROp85MjMdgIR05Wl9UueX9MtinGM2wJbw2DZuUMcL/XP0x92jWKj6TWgxXJ5v0wobte8U60o6w7a0ZmcTvxcYBIE5wwY/GS0KXRJ6uM46MJtQvsuzuYZCScX2KON4w0BJef2IdoM1GhjjuGxiI/OqKtyByqEYHue/zlb3Yba/Vf52RquRNtjMnlJYjIjxxDycgvHdfOopPtfKxwnm+GJLFpUjz91mTE99WZR/cCzFc4wBHhcPGbnhI6YApcUWaGqT2SGWXae0g3RS8zB/T2ZpSttCy/r5bXGZrsYIc2IJRfqPU1wTE7qc9sg4iRITtbZ+GY0AbOOErhWEr/HuTv8TJWm6qm4jf5I4Met+UAbP/hcxcVOPV1mp4WGiwK4vL2gJ98kquLY5CLNTU47RLZHrtO1ntMGTmzGlniIeedZlN3LxJvjP3A6xl8w1/pgTDojzkruhzPa7XQi+PZ5nDwrpkeI9vwojMHdMtwIHihEpkDpjr/wYdL8ju5QCcQkBkprVVFHcHzEob/l/q4nMu1VOboUkOoOwlf12o4Wkf772L0hRA3wtQtEK+KLpVwMVapaU/xSMBK+0L4etK30hwlO8K2tkeKGKUzdxW66yHH7zbzctbfEE85nNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WzFgeK9PFoBQQUY5yU2Z9S",
      "input": {
        "note": "Arm is free again and the bottle is centred on the jaw column in the wrist view. Descending to 3.5 cm so the open jaws straddle the bottle body, ready to grip and drag it closer to the base.",
        "targets": {
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01WzFgeK9PFoBQQUY5yU2Z9S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8562, 0.7616, -0.5056, -0.2478, -0.1837, 0.9969, 0.4309, 1.7981, 0.6983, 0.4332, 0.3092, 0.1776, 0.9998]\nstate[eef_state]: left_x=0.2996 left_y=0.0016 left_z=0.2119 left_yaw=0.14 left_pitch=-0.0168 left_roll=-0.0031 left_gripper=0.9969 right_x=0.4131 right_y=0.1347 right_z=0.0309 right_yaw=0.0591 right_pitch=-0.0592 right_roll=-0.0269 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.3453, 6.4889, 1.7705, -0.2027, -0.0269, -0.0122, -0.4308, -7.3641, 4.8068, 1.8974, 0.0073, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26f95cccf2226254b6722c7a5f34434ba9b6260a4973efabd4d4c8d69278639e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d3e6681ea4d4db472009bb382532b44a4853fa21901a7acd54509bc289724d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c48523aa111a3eada5048fe738b415ce46216cfcdfb2b2195830dab4eb15819",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 8.487 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 66 changed as sent

message 69 changed as sent

message 72 changed as sent

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8673, 0.7933, -0.5323, -0.2478, -0.1833, 0.9969, 0.3737, 1.8656, 0.9321, 0.3084, 0.2829, 0.1627, 0.9998]\nstate[eef_state]: left_x=0.3001 left_y=0.0015 left_z=0.2177 left_yaw=0.1399 left_pitch=-0.0226 left_roll=-0.001 left_gripper=0.9969 right_x=0.4684 right_y=0.1346 right_z=0.0633 right_yaw=0.0322 right_pitch=-0.0259 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.6872, 6.2154, 1.8193, -0.2271, -0.0171, -0.0122, -0.294, -8.5402, 6.3658, 1.9512, 0.0855, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8604, 0.7769, -0.5201, -0.2478, -0.1833, 0.9969, 0.4278, 1.5295, 0.9646, -0.0704, 0.3096, 0.1753, 0.9998]\nstate[eef_state]: left_x=0.2995 left_y=0.0016 left_z=0.2147 left_yaw=0.1399 left_pitch=-0.0201 left_roll=-0.0017 left_gripper=0.9969 right_x=0.4213 right_y=0.1369 right_z=0.154 right_yaw=0.0575 right_pitch=-0.03 right_roll=-0.0177 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.812, 6.3385, 1.8877, -0.1832, -0.0024, -0.0122, 0.294, -9.0188, 9.9761, 1.8144, 0.3101, 0.1929, -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 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8562, 0.7616, -0.5056, -0.2478, -0.1837, 0.9969, 0.4309, 1.7981, 0.6983, 0.4332, 0.3092, 0.1776, 0.9998]\nstate[eef_state]: left_x=0.2996 left_y=0.0016 left_z=0.2119 left_yaw=0.14 left_pitch=-0.0168 left_roll=-0.0031 left_gripper=0.9969 right_x=0.4131 right_y=0.1347 right_z=0.0309 right_yaw=0.0591 right_pitch=-0.0592 right_roll=-0.0269 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.3453, 6.4889, 1.7705, -0.2027, -0.0269, -0.0122, -0.4308, -7.3641, 4.8068, 1.8974, 0.0073, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26f95cccf2226254b6722c7a5f34434ba9b6260a4973efabd4d4c8d69278639e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d3e6681ea4d4db472009bb382532b44a4853fa21901a7acd54509bc289724d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c48523aa111a3eada5048fe738b415ce46216cfcdfb2b2195830dab4eb15819",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0124cgbaaKp4bdc7skTarkNv",
      "input": {
        "note": "The bottle fills the wrist view centred between the jaws. Closing to 3 cm: the settled reading will tell me whether I have the fat body (~0.6) or the narrow neck (~0.3).",
        "targets": {
          "right_gripper": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_0124cgbaaKp4bdc7skTarkNv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8562, 0.7483, -0.5018, -0.2478, -0.1833, 0.9969, 0.432, 1.8095, 0.6571, 0.6262, 0.3099, 0.1749, 0.3117]\nstate[eef_state]: left_x=0.2987 left_y=0.0017 left_z=0.2066 left_yaw=0.1399 left_pitch=-0.0259 left_roll=0.0 left_gripper=0.9969 right_x=0.4234 right_y=0.1398 right_z=0.0495 right_yaw=0.0607 right_pitch=0.0718 right_roll=0.0213 right_gripper=0.3117\nstate[joint_eff]: [-0.5812, -2.1265, 6.612, 1.8584, -0.1978, 0.0073, -0.0122, -0.3761, -7.0222, 4.2872, 0.7448, 0.0317, 0.0024, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93d7bd7189baedad463789f216fe2bed1a1a855eedc3388646eb0d580cf4ef3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c49ac1d248859d32f132a2d96a66f9df1dca4392b0d3f9501003f2675507c45e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ce985ffe58fcfd9995c4add28abfa854e8dfed02c2d30f59bc6aa6624234dc47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 13.93 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 69 changed as sent

message 72 changed as sent

message 75 changed as sent

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8604, 0.7769, -0.5201, -0.2478, -0.1833, 0.9969, 0.4278, 1.5295, 0.9646, -0.0704, 0.3096, 0.1753, 0.9998]\nstate[eef_state]: left_x=0.2995 left_y=0.0016 left_z=0.2147 left_yaw=0.1399 left_pitch=-0.0201 left_roll=-0.0017 left_gripper=0.9969 right_x=0.4213 right_y=0.1369 right_z=0.154 right_yaw=0.0575 right_pitch=-0.03 right_roll=-0.0177 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.812, 6.3385, 1.8877, -0.1832, -0.0024, -0.0122, 0.294, -9.0188, 9.9761, 1.8144, 0.3101, 0.1929, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8562, 0.7616, -0.5056, -0.2478, -0.1837, 0.9969, 0.4309, 1.7981, 0.6983, 0.4332, 0.3092, 0.1776, 0.9998]\nstate[eef_state]: left_x=0.2996 left_y=0.0016 left_z=0.2119 left_yaw=0.14 left_pitch=-0.0168 left_roll=-0.0031 left_gripper=0.9969 right_x=0.4131 right_y=0.1347 right_z=0.0309 right_yaw=0.0591 right_pitch=-0.0592 right_roll=-0.0269 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.3453, 6.4889, 1.7705, -0.2027, -0.0269, -0.0122, -0.4308, -7.3641, 4.8068, 1.8974, 0.0073, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8562, 0.7483, -0.5018, -0.2478, -0.1833, 0.9969, 0.432, 1.8095, 0.6571, 0.6262, 0.3099, 0.1749, 0.3117]\nstate[eef_state]: left_x=0.2987 left_y=0.0017 left_z=0.2066 left_yaw=0.1399 left_pitch=-0.0259 left_roll=0.0 left_gripper=0.9969 right_x=0.4234 right_y=0.1398 right_z=0.0495 right_yaw=0.0607 right_pitch=0.0718 right_roll=0.0213 right_gripper=0.3117\nstate[joint_eff]: [-0.5812, -2.1265, 6.612, 1.8584, -0.1978, 0.0073, -0.0122, -0.3761, -7.0222, 4.2872, 0.7448, 0.0317, 0.0024, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93d7bd7189baedad463789f216fe2bed1a1a855eedc3388646eb0d580cf4ef3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c49ac1d248859d32f132a2d96a66f9df1dca4392b0d3f9501003f2675507c45e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce985ffe58fcfd9995c4add28abfa854e8dfed02c2d30f59bc6aa6624234dc47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISwggKjgEIEhgCKkD9N5s5dcZceIhlz8qYp35fC++HfyAZTIoX3WNf5SfW/vMjohMF4RV2GobfOzIFnF33q62TCuO6dudMvyIx7FX9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdTTzNUGEgygnsq9UiujuSDd5VYaDNLNkSzFDlgW0lH7HCIwRcxOM7BlBDzmWD5x7xdkvL4JrSoLKayEzGekjxg32RDKuFlg4bJyJ/M2ptgrFydpKuAGCMY7bGuyo6HeLM8l19p1TQOd0ZwB1KbxYHvMm8+o93ar2QRSTT31Y6PmyqUCxHm8n4qstkqsphPjVuFeVrFHGs2gccnJiHX8TuhiQEMx9QEKwjV9AfVvEH7L3q8d5aoTaIqJU5pHTNLDfklRAC3Sh6zCRLDctbiS+NmdfDZ7yw4NA0iBw8WeUAUGNTFSoG3hItW3z2O6MyO5qV7VZQUy57DxGGhr+EG+ekxJ9m1bhcVnvOC7ea0ZD8pmx28W2s+rW9w1nFaLFCAwL1VrwEBquQAw1RTkvVmsDIEUFe4CIPfcXhD2AC7ZnoNwo4GXyO9XlQM4f2R7triGeH4sYf7eSIGW1gdytOAB3MbhAopY5lMWg9cNWX/vrmTeTD7DYBldRn90WP72Zuny2SdV7kPGfhRoZAmFvzEQUm2v+bkVRqcDMA2xENLODt0ZB5H+3hF7wS8dMllhYrPAXJLZb7CJuR9s7Af9q+R+QdruzxdroyXDZ/oxbsExwKWBpaRJEC1UVpd43U46xP5fCBfLOdOGWlXu7ZtNLzW8M8TDP/Wi6JUP1RhphA0T84FUNa+aWnNWmkenK6z4Qwu3YrM+ePf0+ENUP4Lg4d0J/FMvII5ZRxH6c2JT8RxvsigZQh7CO4BJ/Wi+aDLoMwMMuCkJbvlfVnV2UBI9R1x3XRcrGWHPA1kxsVrSjoQT+52yqvmVppF2EtPy6XZKWHNQgNmEsypN3dfXaGZC89y5i5hKpqfeCwE/Wsks+m35Z/zMe+EgocH8pOlWIe3tC2TpdP3KAFfcHwQVWEPZQVVPC59JzrYvPcxSBV2xZp7FOhqjzH26HM5jN+M5KxJ39wo3DUBSsPDl9/P4rLghzQPyDVsVqqOTNF/ewHjaHi+N0ds14jiD1E6PTOD1N0m+8S+Dc3IUDbzc8m1DBmvFe9HsW5Frczo6Lm5fV/Lm8wAVo3nAAqm0snCh3aamMkHzbu9B0ussnTdTTHlUQ7w6AdIZS1fdeHBz53dLocEB5gfzdFgCwsDgkzAudCEUR2hQUVLAZsNBpQvV/ILPaNMlY+JKZ8MyCT9XhFjYKb+xiTKkXfx9pFOA/oDgKljhnQ1e5C50FTfRiUvmAEX+lUKole4dwopUNWYwVTWz317xqdYWhEWshxejxqJjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UMF8nBfjx67yYA9nZMxfvd",
      "input": {
        "note": "The jaws closed to 3.1 cm without stalling, so they are around the narrow neck rather than the fat body. Lifting to 25 cm: if I have the neck the bottle should swing down and hang vertically.",
        "targets": {
          "right_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_01UMF8nBfjx67yYA9nZMxfvd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8467, 0.728, -0.4831, -0.2481, -0.1833, 0.9969, 0.432, 1.5002, 1.2144, -0.3683, 0.3012, 0.1661, 0.3107]\nstate[eef_state]: left_x=0.2983 left_y=0.0018 left_z=0.2039 left_yaw=0.1402 left_pitch=-0.0182 left_roll=-0.0021 left_gripper=0.9969 right_x=0.4227 right_y=0.1411 right_z=0.2187 right_yaw=0.0733 right_pitch=-0.0493 right_roll=-0.0271 right_gripper=0.3107\nstate[joint_eff]: [-0.6359, -2.2085, 6.4752, 1.8291, -0.232, -0.0415, -0.0122, -0.3897, -9.0325, 10.0991, 1.8828, 0.1538, 0.0904, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8da7251f177a1b7df02e1fc01c94733c3823d1c223497a63eed6454c41966358",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d63cc35440b59cca517f7d95ad363d09e87f56ee274df11be9582439da4e2bf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:034e7f98faaea200ccbd1d6744b0fdaf0732839b68b642ca7e891d8f54fa7b62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 16.17 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 72 changed as sent

message 75 changed as sent

message 78 changed as sent

message 72 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8562, 0.7616, -0.5056, -0.2478, -0.1837, 0.9969, 0.4309, 1.7981, 0.6983, 0.4332, 0.3092, 0.1776, 0.9998]\nstate[eef_state]: left_x=0.2996 left_y=0.0016 left_z=0.2119 left_yaw=0.14 left_pitch=-0.0168 left_roll=-0.0031 left_gripper=0.9969 right_x=0.4131 right_y=0.1347 right_z=0.0309 right_yaw=0.0591 right_pitch=-0.0592 right_roll=-0.0269 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.3453, 6.4889, 1.7705, -0.2027, -0.0269, -0.0122, -0.4308, -7.3641, 4.8068, 1.8974, 0.0073, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8562, 0.7483, -0.5018, -0.2478, -0.1833, 0.9969, 0.432, 1.8095, 0.6571, 0.6262, 0.3099, 0.1749, 0.3117]\nstate[eef_state]: left_x=0.2987 left_y=0.0017 left_z=0.2066 left_yaw=0.1399 left_pitch=-0.0259 left_roll=0.0 left_gripper=0.9969 right_x=0.4234 right_y=0.1398 right_z=0.0495 right_yaw=0.0607 right_pitch=0.0718 right_roll=0.0213 right_gripper=0.3117\nstate[joint_eff]: [-0.5812, -2.1265, 6.612, 1.8584, -0.1978, 0.0073, -0.0122, -0.3761, -7.0222, 4.2872, 0.7448, 0.0317, 0.0024, -0.0806]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8467, 0.728, -0.4831, -0.2481, -0.1833, 0.9969, 0.432, 1.5002, 1.2144, -0.3683, 0.3012, 0.1661, 0.3107]\nstate[eef_state]: left_x=0.2983 left_y=0.0018 left_z=0.2039 left_yaw=0.1402 left_pitch=-0.0182 left_roll=-0.0021 left_gripper=0.9969 right_x=0.4227 right_y=0.1411 right_z=0.2187 right_yaw=0.0733 right_pitch=-0.0493 right_roll=-0.0271 right_gripper=0.3107\nstate[joint_eff]: [-0.6359, -2.2085, 6.4752, 1.8291, -0.232, -0.0415, -0.0122, -0.3897, -9.0325, 10.0991, 1.8828, 0.1538, 0.0904, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8da7251f177a1b7df02e1fc01c94733c3823d1c223497a63eed6454c41966358",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d63cc35440b59cca517f7d95ad363d09e87f56ee274df11be9582439da4e2bf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:034e7f98faaea200ccbd1d6744b0fdaf0732839b68b642ca7e891d8f54fa7b62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017tejZrd875fsN1ng2uf2Az",
      "input": {
        "note": "The lift was empty — the bottle never moved, so the jaws closed just short of it. Reopening and going back down 4 cm further forward so the fingertips reach past the bottle's near end.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.45,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_017tejZrd875fsN1ng2uf2Az",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8429, 0.7216, -0.4755, -0.2478, -0.1833, 0.9969, 0.403, 1.8755, 0.8108, 0.4095, 0.2687, 0.1474, 0.9968]\nstate[eef_state]: left_x=0.2983 left_y=0.0018 left_z=0.2035 left_yaw=0.1398 left_pitch=-0.0135 left_roll=-0.0037 left_gripper=0.9969 right_x=0.4412 right_y=0.141 right_z=0.0323 right_yaw=0.0811 right_pitch=-0.0572 right_roll=-0.0241 right_gripper=0.9968\nstate[joint_eff]: [-0.335, -2.1265, 6.2291, 1.8388, -0.2125, -0.0073, -0.0122, -0.9231, -7.8564, 4.7932, 1.8584, 0.0366, 0.0513, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c3ab709a33654ad97c849cb74f2a0eebc8380c3f35e1aa8aa69a024dcd6589e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e7ae89dcd381dc99aa67e52a77642b406edf32a93e554c76bf27099093e355c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e73fc7a2a62fbd8166816a30a88375c3c6a9efa14d111a29837d5bd4a7138d7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 14.96 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 75 changed as sent

message 78 changed as sent

message 81 changed as sent

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8562, 0.7483, -0.5018, -0.2478, -0.1833, 0.9969, 0.432, 1.8095, 0.6571, 0.6262, 0.3099, 0.1749, 0.3117]\nstate[eef_state]: left_x=0.2987 left_y=0.0017 left_z=0.2066 left_yaw=0.1399 left_pitch=-0.0259 left_roll=0.0 left_gripper=0.9969 right_x=0.4234 right_y=0.1398 right_z=0.0495 right_yaw=0.0607 right_pitch=0.0718 right_roll=0.0213 right_gripper=0.3117\nstate[joint_eff]: [-0.5812, -2.1265, 6.612, 1.8584, -0.1978, 0.0073, -0.0122, -0.3761, -7.0222, 4.2872, 0.7448, 0.0317, 0.0024, -0.0806]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8467, 0.728, -0.4831, -0.2481, -0.1833, 0.9969, 0.432, 1.5002, 1.2144, -0.3683, 0.3012, 0.1661, 0.3107]\nstate[eef_state]: left_x=0.2983 left_y=0.0018 left_z=0.2039 left_yaw=0.1402 left_pitch=-0.0182 left_roll=-0.0021 left_gripper=0.9969 right_x=0.4227 right_y=0.1411 right_z=0.2187 right_yaw=0.0733 right_pitch=-0.0493 right_roll=-0.0271 right_gripper=0.3107\nstate[joint_eff]: [-0.6359, -2.2085, 6.4752, 1.8291, -0.232, -0.0415, -0.0122, -0.3897, -9.0325, 10.0991, 1.8828, 0.1538, 0.0904, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8429, 0.7216, -0.4755, -0.2478, -0.1833, 0.9969, 0.403, 1.8755, 0.8108, 0.4095, 0.2687, 0.1474, 0.9968]\nstate[eef_state]: left_x=0.2983 left_y=0.0018 left_z=0.2035 left_yaw=0.1398 left_pitch=-0.0135 left_roll=-0.0037 left_gripper=0.9969 right_x=0.4412 right_y=0.141 right_z=0.0323 right_yaw=0.0811 right_pitch=-0.0572 right_roll=-0.0241 right_gripper=0.9968\nstate[joint_eff]: [-0.335, -2.1265, 6.2291, 1.8388, -0.2125, -0.0073, -0.0122, -0.9231, -7.8564, 4.7932, 1.8584, 0.0366, 0.0513, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c3ab709a33654ad97c849cb74f2a0eebc8380c3f35e1aa8aa69a024dcd6589e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e7ae89dcd381dc99aa67e52a77642b406edf32a93e554c76bf27099093e355c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e73fc7a2a62fbd8166816a30a88375c3c6a9efa14d111a29837d5bd4a7138d7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BVKnVrVAVVxTmJ31o2R8n6",
      "input": {
        "note": "Wrist view shows the bottle body filling the frame right between the jaws. Closing to 4.3 cm to squeeze its body firmly so I can drag the whole bottle closer to the base, where its cap will be within reach.",
        "targets": {
          "right_gripper": 0.45
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01BVKnVrVAVVxTmJ31o2R8n6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8429, 0.7162, -0.4755, -0.2478, -0.1833, 0.9969, 0.3996, 1.8843, 0.7731, 0.5591, 0.26, 0.1452, 0.4568]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.2011 left_yaw=0.1399 left_pitch=-0.0186 left_roll=-0.0022 left_gripper=0.9969 right_x=0.4483 right_y=0.1439 right_z=0.044 right_yaw=0.0865 right_pitch=0.0391 right_roll=0.0109 right_gripper=0.4568\nstate[joint_eff]: [-0.4034, -2.0308, 6.2974, 1.8779, -0.1978, -0.0171, -0.0122, -0.0342, -8.212, 4.2188, 1.4383, 0.1294, 0.0513, 0.2418]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cb77d11f0518f65ca92d7c666339193d29ec26bb873afdbc40606bd7f00e7f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d856c23f93dc0f229aab7a84e102bff18cdfba9eeb085eb75a42a8c158e8f93d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:490c32e81c49f670588fcb49e8c769596f0268c601da36fec3d894e5d817b7e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 6.385 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 78 changed as sent

message 81 changed as sent

message 84 changed as sent

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8467, 0.728, -0.4831, -0.2481, -0.1833, 0.9969, 0.432, 1.5002, 1.2144, -0.3683, 0.3012, 0.1661, 0.3107]\nstate[eef_state]: left_x=0.2983 left_y=0.0018 left_z=0.2039 left_yaw=0.1402 left_pitch=-0.0182 left_roll=-0.0021 left_gripper=0.9969 right_x=0.4227 right_y=0.1411 right_z=0.2187 right_yaw=0.0733 right_pitch=-0.0493 right_roll=-0.0271 right_gripper=0.3107\nstate[joint_eff]: [-0.6359, -2.2085, 6.4752, 1.8291, -0.232, -0.0415, -0.0122, -0.3897, -9.0325, 10.0991, 1.8828, 0.1538, 0.0904, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8429, 0.7216, -0.4755, -0.2478, -0.1833, 0.9969, 0.403, 1.8755, 0.8108, 0.4095, 0.2687, 0.1474, 0.9968]\nstate[eef_state]: left_x=0.2983 left_y=0.0018 left_z=0.2035 left_yaw=0.1398 left_pitch=-0.0135 left_roll=-0.0037 left_gripper=0.9969 right_x=0.4412 right_y=0.141 right_z=0.0323 right_yaw=0.0811 right_pitch=-0.0572 right_roll=-0.0241 right_gripper=0.9968\nstate[joint_eff]: [-0.335, -2.1265, 6.2291, 1.8388, -0.2125, -0.0073, -0.0122, -0.9231, -7.8564, 4.7932, 1.8584, 0.0366, 0.0513, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8429, 0.7162, -0.4755, -0.2478, -0.1833, 0.9969, 0.3996, 1.8843, 0.7731, 0.5591, 0.26, 0.1452, 0.4568]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.2011 left_yaw=0.1399 left_pitch=-0.0186 left_roll=-0.0022 left_gripper=0.9969 right_x=0.4483 right_y=0.1439 right_z=0.044 right_yaw=0.0865 right_pitch=0.0391 right_roll=0.0109 right_gripper=0.4568\nstate[joint_eff]: [-0.4034, -2.0308, 6.2974, 1.8779, -0.1978, -0.0171, -0.0122, -0.0342, -8.212, 4.2188, 1.4383, 0.1294, 0.0513, 0.2418]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cb77d11f0518f65ca92d7c666339193d29ec26bb873afdbc40606bd7f00e7f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d856c23f93dc0f229aab7a84e102bff18cdfba9eeb085eb75a42a8c158e8f93d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:490c32e81c49f670588fcb49e8c769596f0268c601da36fec3d894e5d817b7e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISmxEKjgEIEhgCKkCQkh+hmBvKttKHBVOjMURcso1LNYNk3KUTFxKgoxEsBs9HQac5xQPbO6rV5dqCWnrxfrPJ9gm6W8oR+SCLi23MMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYTUzNUGEgwOOnFmonRJzi/ROZMaDMEfIOmZgZNagQjkACIwbq0PgghNXl43G/mJ2GkZIEVayXdzUd0V+MkdtOWkrvZSrUhBj89hWpVYSckbeGnvKrkPsj0inGmRt5Lhop5mg5mOM5yECLGyPhrT58UQwYiXlob/lPLKAQlcMqTc0vYQ25DrjP4Yl6xd2JKoOpMzAk1EIWZ4P/j/NTJ3u4ItrPxijqo3R9NxxRIhYdkOeAS1eOXkhAl5gtrhm+riDfUrP/IU/TD5IJlX61BjKiSXu2b63TzsQ3AukwB1QDlBQ5yJ5ggNEag8ict56l10dmajNENd9bYNglpW/T6DwA3m8sqajNt9MfdDRZPTOMmyqnHnYi2d5MrWo5LQwhhYstmcf7ixmrZfVJ5WE4UhDbj1EkQonIebg5QjO/fzxFPh0EzPybfhZCHMnDyI+aBJZf7G0/76Rh4AuQSrqMLv98jk33vSiduQm78gLIQYifrUvJTGb34LGOwlF4qH+w+sqQsrlLkeBJEq84PhCxvUDnYMJdEqOe0NwsNcoqFuBGDhRdi6EUnJRJXbpjwuEVZwN384lvXc+pm+lp7CuJRV4HRVVfCWWi4NARpyKfB1lgm5VUM+3bz3mCKIwwgpNQTYpVk4DNQmCayzIYJ8dVr8R++6MiaO/rmiiApF/m1nHTvE2uQl+i1fRg8i8R3X1fACKLwy1ylnMKbk3FbskldxU2sMQB8EjqK8ro8rhcVeus/eZG6a1Bw6CDYk8Zo8xOcYTSsAajE7R3QOjuWIwzTk39FbdPpLpvbaaREFRNYzYat5i7fxA6AODW/YIlWCBQ1ylhyq/TuwIgVq7EWeTUVeUijaQyYIjwXfY+V4lj5CMPMD74OeQpuD67440YpAHshPnQGzP6KIRtFxAMga5kBFJ8FeK+C87wlP2Vm33HvAninBIjYxIH+QLrZNump1LsAozpWULxC/OawStzjRM0PJ/pnU9t1Q9suKiMHH8s/zKIad/xUwP9apYCWV1r1VapxXKb0ucB9F+q32r39jJ5L8/bZB7MvOkL6+up5IT4dxlwzIV4goj6g1Ckj0bilksQSPoiNzWF7kOqlbpBXBL7TN5k8fhftjn6AOfuuVDioiLJ7nYy1uuXM74srcRtW4A2KH8dKYuI+Sh6c8KrkLmWKMPUf+L9orbJlADdS3f3BLUnL0QvHVG+I154PdZcAfsZlznZPnmE3VCqmsLkU4YvcawV+R/fFqyZ2fBb2lekgVbPLSze8QyxgYc0GU1g0gk3m80NB5pDIJnRA4dMBTMTGV4lnY/bOkH2yHIw//+yLlJiwCVYtcfHbxiqtLL0Uo068xAc+LH5SZGtZ2qD5/z8Lkep9shDS+HIEFnYW4yT8cvKkwds86Zv0+Y5ECZ9+ZVjQ+hxts/eCjockzT+/49z7pboguXGRfeCBb5IfwknoDvFe/71p+yhrN3td+pRoAQ/sy4fjWbVzeXTiTux1YJqFMn6p6EMftEHi9SbysB6FjN3aEFVKuRzWtvKRzybXabtDAtU0XVZ5/CigtYMcShfMXZjoACZyqNYNbruygVS/AhnPW/S7TSsAbIoVQ7hUfzkpveAP3IgacxgMLaj5O0ngckuuZL/K3HzwCO087IZ0mmCT4ZvOHc2DqXfda13ra26/haYMNLKjpg6uvEZxLyaDaZx+sRw0gXaieRLUvItAtfyBfw5bRJQqfJZDXb9rNa+PWT5z3EgPR1UM2X9mxN7UsR6qhQ+biM8pznKSqnxQ/I07uw11Hb000iGJaMfFe8gdL4gCw/z+aQ2cYWj+Jv24Mnr9fxriOAL2KWBHcD9u1Rot8PT44HTZ7ZeFDYRlt9hmqdnR2PRigDpu8386AghBEZq9+Hhdgg45vaWWQVvIS0SpdNQEv8pagIquA0gNSI/nGvIPl8rXKFPA9TTqBfq6W9KQzv0XC2aua7l7uRjBQUtAiNb+eUfB+7E+zDX4uRN3sxKxnqrzy2ZdxfoJQLy7mt98QCDkcVYbux2nFIUyZCNPkn38mpybd+PYu+ISIeuMv0qskP0yEfz4rrI9smT18JCT4+XBFObcTSBc3avv0kAxmgJ4liWWw0lUK4VXA50F89CYfku6QrjwfT/G3wkil3fX1rlaP8rIxN+9tnFoFwLSfoQeVI8ESoqEmZzYRO0iPTB5ffdc7Ow08WnWKPgt8EMDFaxQjHZZLKLzNF/bDFkPySxmHLPhsYIwKv1/IdSGIU4DXmPjV8j8JgFtRpJJzrlOYGq/8+XEGaJzhVV9SkI0l0/i7PeslttouveuushBv3PW9Rg56RaErm6jhXIV61lofFbfJkF1873BIdR0iCP8v+j/EiyGlAjYPuAsZv6n0EAZxdJJuvXggmkqz0mEc+MAaH0VMLk/Z+pNWB5e1XirSYJd/lRe9ZdW69//u+Bh02/Ub63J/U9r87CzBCIIb9YBQ2RsHpXlx64E+6aHFEF2RRBidwoGH5RH39+MvIAse+/70EOy43EfY/SXdwfhF4QZ8DM4onGCMhQET78tF0RttXKPiZX9p1athpu/Ug7iBwCuVyInNmX0JBNQ9Yj9JZY43Gz0fiIL2SVlWw/X5Fbf28cuiMFaddXUWO/VksO5E7Y4sG4TyTRpp/g/EOZx7ulE94N2HrMSV4Gjo10kOwNr7CLhNh3FHTmRwzRhAlNaX/zk1iNxnDn3h+MXE78qH4pfL7RGho7BrdOWLZdgq3x3qhD3nhrx/QlEEvIOYC20mGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K7US125QMLp8ETEXi2Xbf6",
      "input": {
        "note": "The jaws closed freely to 4.3 cm, so they are still just short of the bottle's near end. Reopening and creeping 2.5 cm further forward (near the reach limit) to get the bottle's base between the jaws.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.472,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01K7US125QMLp8ETEXi2Xbf6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8398, 0.709, -0.4675, -0.2478, -0.1833, 0.9969, 0.3836, 1.9327, 0.8658, 0.4877, 0.231, 0.1211, 0.9957]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.2003 left_yaw=0.1398 left_pitch=-0.015 left_roll=-0.0033 left_gripper=0.9969 right_x=0.4654 right_y=0.1481 right_z=0.041 right_yaw=0.1077 right_pitch=0.0088 right_roll=-0.0026 right_gripper=0.9957\nstate[joint_eff]: [-0.7316, -2.1402, 6.0239, 1.8339, -0.1783, 0.0073, -0.0122, -1.1829, -6.9812, 7.2684, 1.6581, 0.0611, 0.0952, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:184135faa6360aef2a7267c6e102dc699c808d129c7091955a21814041e94c9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1f6f1e64858e590abdb38bc26755029ba6fe00fa9d56123412e27c783e218e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f582263562ca19b7226ce735c7da0d4c9041fdf2b0cddf0835a50f765c0c9ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 7.796 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 81 changed as sent

message 84 changed as sent

message 87 changed as sent

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8429, 0.7216, -0.4755, -0.2478, -0.1833, 0.9969, 0.403, 1.8755, 0.8108, 0.4095, 0.2687, 0.1474, 0.9968]\nstate[eef_state]: left_x=0.2983 left_y=0.0018 left_z=0.2035 left_yaw=0.1398 left_pitch=-0.0135 left_roll=-0.0037 left_gripper=0.9969 right_x=0.4412 right_y=0.141 right_z=0.0323 right_yaw=0.0811 right_pitch=-0.0572 right_roll=-0.0241 right_gripper=0.9968\nstate[joint_eff]: [-0.335, -2.1265, 6.2291, 1.8388, -0.2125, -0.0073, -0.0122, -0.9231, -7.8564, 4.7932, 1.8584, 0.0366, 0.0513, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8429, 0.7162, -0.4755, -0.2478, -0.1833, 0.9969, 0.3996, 1.8843, 0.7731, 0.5591, 0.26, 0.1452, 0.4568]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.2011 left_yaw=0.1399 left_pitch=-0.0186 left_roll=-0.0022 left_gripper=0.9969 right_x=0.4483 right_y=0.1439 right_z=0.044 right_yaw=0.0865 right_pitch=0.0391 right_roll=0.0109 right_gripper=0.4568\nstate[joint_eff]: [-0.4034, -2.0308, 6.2974, 1.8779, -0.1978, -0.0171, -0.0122, -0.0342, -8.212, 4.2188, 1.4383, 0.1294, 0.0513, 0.2418]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8398, 0.709, -0.4675, -0.2478, -0.1833, 0.9969, 0.3836, 1.9327, 0.8658, 0.4877, 0.231, 0.1211, 0.9957]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.2003 left_yaw=0.1398 left_pitch=-0.015 left_roll=-0.0033 left_gripper=0.9969 right_x=0.4654 right_y=0.1481 right_z=0.041 right_yaw=0.1077 right_pitch=0.0088 right_roll=-0.0026 right_gripper=0.9957\nstate[joint_eff]: [-0.7316, -2.1402, 6.0239, 1.8339, -0.1783, 0.0073, -0.0122, -1.1829, -6.9812, 7.2684, 1.6581, 0.0611, 0.0952, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:184135faa6360aef2a7267c6e102dc699c808d129c7091955a21814041e94c9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1f6f1e64858e590abdb38bc26755029ba6fe00fa9d56123412e27c783e218e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f582263562ca19b7226ce735c7da0d4c9041fdf2b0cddf0835a50f765c0c9ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISygYKjgEIEhgCKkD87aTBGEomyZ6WPiXyoPwZzKDeQK2J+BaFnYMk6vN9E1ufpvdctRYjepwpB2HPjVg+AmBRqv5SK4MhkClwIX0rMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYzUzNUGEgwkSQFOYW/whctycvQaDKF4mf834Iv760FeIiIwgEOHZz8ecDRgTadNyz1K++PUapLlIA2r2TNHK9liUDLIdNIX278oQ/lKnoclHdo9KugEAX3+4CFZYuY9SN5LGjCHX73MQIxq4c91ff9CutNnUYabEW/zo5jmLbRrAZHUXn+y5opDB+tcv3z+/6MYBnXX4SdUt4aPYCLZu0S+oSwZ7Bzi39qjcFBfgQWCpuMcKqJJqtQsP0mSKP5aSJ2Lm4GwwHx8N47w9kHcT8ILEJ5izcE5vrNf+6rf9F0QEDesfBeaXK05dNCW6dZ9VztuRr0UTzYefRfbl0/8gD7kUEFuLkTSG1+bV2kceLcJQ922ZYVH/zgO7FGOWqecafvD/NFpiDoDrwma5H/q21oTOReRzJLCDTdxxyYSWr1Nm1QMPyYwFI+prpYo/MOjzdqRBLqBDg0oEoRnu60Jm9RLz9nGD8e2urb3oAln/pMSD+SXsZzsbbFd/O09JrmP+iXEca8/GimawJxVS0Ho8UenIkvCIzOjGxeCi6JNYqkO163SIweYYxCvaT6NU+UC1wHh6l3IAqG5gCMZCCEB2McWVZnifYoykNvwn1xNqDSPrpv2cX0GV68tCroEXmFNw4X9LrWelE7YZgkr+YZ/3rE7YcLnzbDYUNJNn03/wPAFN7rEoFESzdFeJoLIG3GuUAsZGvjkEKRbeM3uI3sJ8cUIfY40mtQGdQ2J/SHP/8C03ouhk5nUo3wFoE/+HEfjZ5BJ3T1OJXlS7elcyDrNq6f0cPYusa1YZJ12+jYQUOQm0p3XWwdE6MJui/pUPesjkiCg1JqjGiTv5NNDIA3XXE1Rwmfcg3esrjm21Lc1mdKCFAOdTPi7DNq6I6AT/zhWCUWhRs1AyrwzuxyP5M8/uADa2Kd3Z/MtwbStcFOp4xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fkb8EsDX4F1tcnqawEtfgd",
      "input": {
        "note": "Now the bottle's labelled body sits squarely between the jaws in the wrist view. Closing to 4.8 cm to squeeze the body and get a firm hold.",
        "targets": {
          "right_gripper": 0.5
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Fkb8EsDX4F1tcnqawEtfgd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8391, 0.6998, -0.4667, -0.2478, -0.1833, 0.9969, 0.3801, 1.9388, 0.8734, 0.4919, 0.2234, 0.115, 0.5085]\nstate[eef_state]: left_x=0.2968 left_y=0.002 left_z=0.1965 left_yaw=0.1399 left_pitch=-0.0223 left_roll=-0.0011 left_gripper=0.9969 right_x=0.468 right_y=0.1487 right_z=0.0417 right_yaw=0.1139 right_pitch=0.0132 right_roll=-0.0023 right_gripper=0.5085\nstate[joint_eff]: [-0.6359, -2.2085, 6.4752, 1.9414, -0.2173, -0.0269, -0.0122, 0.0068, -9.935, 5.3538, 1.5263, 0.105, 0.0904, 0.3346]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5159efee38fe6771422cd44cb4e8d6421f76c89300d9f847c9463b4ffc533e51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6820b7105ab2d016db3bf75fcc7b7b4887f05aeefc314d349313ddf7cdbf2fb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61891d33eee563bed2fadb1679163ca8a48e5141993ad4e5e92d202f364ff979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 18.92 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 84 changed as sent

message 87 changed as sent

message 90 changed as sent

message 84 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8429, 0.7162, -0.4755, -0.2478, -0.1833, 0.9969, 0.3996, 1.8843, 0.7731, 0.5591, 0.26, 0.1452, 0.4568]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.2011 left_yaw=0.1399 left_pitch=-0.0186 left_roll=-0.0022 left_gripper=0.9969 right_x=0.4483 right_y=0.1439 right_z=0.044 right_yaw=0.0865 right_pitch=0.0391 right_roll=0.0109 right_gripper=0.4568\nstate[joint_eff]: [-0.4034, -2.0308, 6.2974, 1.8779, -0.1978, -0.0171, -0.0122, -0.0342, -8.212, 4.2188, 1.4383, 0.1294, 0.0513, 0.2418]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8398, 0.709, -0.4675, -0.2478, -0.1833, 0.9969, 0.3836, 1.9327, 0.8658, 0.4877, 0.231, 0.1211, 0.9957]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.2003 left_yaw=0.1398 left_pitch=-0.015 left_roll=-0.0033 left_gripper=0.9969 right_x=0.4654 right_y=0.1481 right_z=0.041 right_yaw=0.1077 right_pitch=0.0088 right_roll=-0.0026 right_gripper=0.9957\nstate[joint_eff]: [-0.7316, -2.1402, 6.0239, 1.8339, -0.1783, 0.0073, -0.0122, -1.1829, -6.9812, 7.2684, 1.6581, 0.0611, 0.0952, 0.0611]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8391, 0.6998, -0.4667, -0.2478, -0.1833, 0.9969, 0.3801, 1.9388, 0.8734, 0.4919, 0.2234, 0.115, 0.5085]\nstate[eef_state]: left_x=0.2968 left_y=0.002 left_z=0.1965 left_yaw=0.1399 left_pitch=-0.0223 left_roll=-0.0011 left_gripper=0.9969 right_x=0.468 right_y=0.1487 right_z=0.0417 right_yaw=0.1139 right_pitch=0.0132 right_roll=-0.0023 right_gripper=0.5085\nstate[joint_eff]: [-0.6359, -2.2085, 6.4752, 1.9414, -0.2173, -0.0269, -0.0122, 0.0068, -9.935, 5.3538, 1.5263, 0.105, 0.0904, 0.3346]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5159efee38fe6771422cd44cb4e8d6421f76c89300d9f847c9463b4ffc533e51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6820b7105ab2d016db3bf75fcc7b7b4887f05aeefc314d349313ddf7cdbf2fb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61891d33eee563bed2fadb1679163ca8a48e5141993ad4e5e92d202f364ff979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISuwcKjgEIEhgCKkCoEi7wf8sbRd8BhTSkrNHi60QiERNB9KE3DU/fJjaiKO/HrW0AdB8rLuX42/v9pXaeF7+x4DWhA1procxdjkHNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZTUzNUGEgy8Cx61Fv1svP/p+UYaDKZL/oRs9/oC9IzvMCIwkRwOcY+OGLejxcJCFlxcErSgszJF9pT6czikmkDuMc8grPmO+MZrVz41BNdCoQeFKtkFNK+4IV6kAlyaFoX6m4VZP0QSLIL8R1nd1XSdayzZ2EklQzIEsQljKsjNNvwW7Pf9KTgyr9KcRTLULrqnHdiAVZN7pcSJ94EKCpO/ZckLvmRFDbSswOtkvD7SSORmjlIfTJasPosinhH18NgdviII/ZPKtdP0qawbYwU3HpVprZ7fPT39S5OOWh9+1EDJ4U7ZTC9w4sVpaBEGEuPnoJ0QRZp7akKnboXFiS8/BM/qpe0O99yctFoMlwasHtbIM+LvkZj8ENFEcI2R8zCs0JjnK0pYLQk8PRTslQt7hPIVs/6mOym+0iXcocFQmOaNIcoIxevId74kupPkjE0U4SXkZ4ruXZYENfRQVOX4ESsmPtrB/4wSmyYtAm+/Hz8nzihXTszPy91WG0MQ/oJqjOAkQ/sl9bhnov+0MfSVb5OP3PCPqW7/QLiq6Y14NlWdsnjTBlinm3WWUwKU+a+2LHyvxHO0j5ESMs+3M8ZX7Cm2oJjK/I05S0WztErfIj4s56baxIFwTw30TnbUW+xId51CRiynZVFgGJyTaFotop2z6ApYrk3T/HQ5j7yeDWH8VrDcvBPXdFX8Odl8zLnX7W24X9LTA4EJJas8yesDn5V04FVIEfihRC/8RQ7G6GwZHmTWhdjagkPOO7tNhRICud5lJ7uPSfVusZaJwuSlTuu1x+/+b7Gkcp9NxdJ6H962bZD0sQfvNs6TdVz4/784ZKh244UyWXyLX8VUJUi5dl5T95WivwRzqZRQewCjSFlcj/i/hU/YXgofD6NvQRJhKq9WUqD7ILcT1AIXQ8eyizFNWw+lFfGcSwvnAuUFr0I5m2eT2JJM+xdod7iGZd4YG/jG0QBYrFYlxjoNn5dK57pz8HcCDyaaxcz5W9XHr+qi0FgO5hrzEwd4/5M3TkF+i1xc2uO/3rari+1+DBhb2B9eI7swSXXuZ3Z5hlU/p5YqShl9EOanoymXWMTIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W8D1LBKfZxQQn91Kdr9Msh",
      "input": {
        "note": "Jaws appear to be clamped on the bottle's shoulder. Lifting to 16 cm and dragging 10 cm back toward the base so the bottle's cap ends up inside my reach.",
        "targets": {
          "right_x": 0.36,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01W8D1LBKfZxQQn91Kdr9Msh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8303, 0.6819, -0.4496, -0.2478, -0.1837, 0.9969, 0.5316, 1.3392, 0.7658, -0.0124, 0.3199, 0.1879, 0.5095]\nstate[eef_state]: left_x=0.2964 left_y=0.002 left_z=0.1943 left_yaw=0.14 left_pitch=-0.0146 left_roll=-0.0037 left_gripper=0.9969 right_x=0.3677 right_y=0.156 right_z=0.1552 right_yaw=0.1461 right_pitch=0.0183 right_roll=0.0057 right_gripper=0.5095\nstate[joint_eff]: [-0.7316, -1.5111, 6.5983, 1.8437, -0.1978, -0.0366, -0.0122, 0.0889, -5.4496, 7.9111, 1.8095, 0.2906, 0.1636, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00ae23609dbbfb00acd33ffa048371bd590354a6460fb1479433e5f101226fbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a62088d542bc3538cd9a2638d1431781e32b4dafd71259e66091e0bd883a8e38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d67c717a05e7ba0f5d1746990f64ea0b81d8b6e74a54c570b3b84538a18674fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 26.85 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 87 changed as sent

message 90 changed as sent

message 93 changed as sent

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8398, 0.709, -0.4675, -0.2478, -0.1833, 0.9969, 0.3836, 1.9327, 0.8658, 0.4877, 0.231, 0.1211, 0.9957]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.2003 left_yaw=0.1398 left_pitch=-0.015 left_roll=-0.0033 left_gripper=0.9969 right_x=0.4654 right_y=0.1481 right_z=0.041 right_yaw=0.1077 right_pitch=0.0088 right_roll=-0.0026 right_gripper=0.9957\nstate[joint_eff]: [-0.7316, -2.1402, 6.0239, 1.8339, -0.1783, 0.0073, -0.0122, -1.1829, -6.9812, 7.2684, 1.6581, 0.0611, 0.0952, 0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8391, 0.6998, -0.4667, -0.2478, -0.1833, 0.9969, 0.3801, 1.9388, 0.8734, 0.4919, 0.2234, 0.115, 0.5085]\nstate[eef_state]: left_x=0.2968 left_y=0.002 left_z=0.1965 left_yaw=0.1399 left_pitch=-0.0223 left_roll=-0.0011 left_gripper=0.9969 right_x=0.468 right_y=0.1487 right_z=0.0417 right_yaw=0.1139 right_pitch=0.0132 right_roll=-0.0023 right_gripper=0.5085\nstate[joint_eff]: [-0.6359, -2.2085, 6.4752, 1.9414, -0.2173, -0.0269, -0.0122, 0.0068, -9.935, 5.3538, 1.5263, 0.105, 0.0904, 0.3346]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8303, 0.6819, -0.4496, -0.2478, -0.1837, 0.9969, 0.5316, 1.3392, 0.7658, -0.0124, 0.3199, 0.1879, 0.5095]\nstate[eef_state]: left_x=0.2964 left_y=0.002 left_z=0.1943 left_yaw=0.14 left_pitch=-0.0146 left_roll=-0.0037 left_gripper=0.9969 right_x=0.3677 right_y=0.156 right_z=0.1552 right_yaw=0.1461 right_pitch=0.0183 right_roll=0.0057 right_gripper=0.5095\nstate[joint_eff]: [-0.7316, -1.5111, 6.5983, 1.8437, -0.1978, -0.0366, -0.0122, 0.0889, -5.4496, 7.9111, 1.8095, 0.2906, 0.1636, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00ae23609dbbfb00acd33ffa048371bd590354a6460fb1479433e5f101226fbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a62088d542bc3538cd9a2638d1431781e32b4dafd71259e66091e0bd883a8e38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d67c717a05e7ba0f5d1746990f64ea0b81d8b6e74a54c570b3b84538a18674fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dywf3cdPxWxsNZL9wcZBYF",
      "input": {
        "note": "Unclear whether the bottle is held; lifting high to 32 cm so that if it is gripped near its shoulder it will swing down and hang vertically, which the top camera will show clearly.",
        "targets": {
          "right_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Dywf3cdPxWxsNZL9wcZBYF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8299, 0.6765, -0.445, -0.2478, -0.1833, 0.9969, 0.5365, 1.3411, 1.4006, -0.6716, 0.3099, 0.1745, 0.5097]\nstate[eef_state]: left_x=0.2964 left_y=0.0021 left_z=0.1929 left_yaw=0.1398 left_pitch=-0.015 left_roll=-0.0033 left_gripper=0.9969 right_x=0.3661 right_y=0.1592 right_z=0.3068 right_yaw=0.1665 right_pitch=-0.0082 right_roll=-0.0101 right_gripper=0.5097\nstate[joint_eff]: [-0.6222, -2.0308, 6.2427, 1.8144, -0.2076, -0.0122, -0.0122, -0.7726, -4.4786, 9.0325, 1.6679, 0.1832, 0.1197, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ed54929f65177597ecec1d0aab29f86c9917245483cd8a747f7ae18c7886f7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38e205421416ce3084d35d3758d28f1a361eee6c75abe9508e9fa4232cd223c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:389b131659a861af2484f1a318a4fde704b2c08cea10c05412078028e7905beb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 8.867 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 90 changed as sent

message 93 changed as sent

message 96 changed as sent

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8391, 0.6998, -0.4667, -0.2478, -0.1833, 0.9969, 0.3801, 1.9388, 0.8734, 0.4919, 0.2234, 0.115, 0.5085]\nstate[eef_state]: left_x=0.2968 left_y=0.002 left_z=0.1965 left_yaw=0.1399 left_pitch=-0.0223 left_roll=-0.0011 left_gripper=0.9969 right_x=0.468 right_y=0.1487 right_z=0.0417 right_yaw=0.1139 right_pitch=0.0132 right_roll=-0.0023 right_gripper=0.5085\nstate[joint_eff]: [-0.6359, -2.2085, 6.4752, 1.9414, -0.2173, -0.0269, -0.0122, 0.0068, -9.935, 5.3538, 1.5263, 0.105, 0.0904, 0.3346]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8303, 0.6819, -0.4496, -0.2478, -0.1837, 0.9969, 0.5316, 1.3392, 0.7658, -0.0124, 0.3199, 0.1879, 0.5095]\nstate[eef_state]: left_x=0.2964 left_y=0.002 left_z=0.1943 left_yaw=0.14 left_pitch=-0.0146 left_roll=-0.0037 left_gripper=0.9969 right_x=0.3677 right_y=0.156 right_z=0.1552 right_yaw=0.1461 right_pitch=0.0183 right_roll=0.0057 right_gripper=0.5095\nstate[joint_eff]: [-0.7316, -1.5111, 6.5983, 1.8437, -0.1978, -0.0366, -0.0122, 0.0889, -5.4496, 7.9111, 1.8095, 0.2906, 0.1636, 0.0952]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8299, 0.6765, -0.445, -0.2478, -0.1833, 0.9969, 0.5365, 1.3411, 1.4006, -0.6716, 0.3099, 0.1745, 0.5097]\nstate[eef_state]: left_x=0.2964 left_y=0.0021 left_z=0.1929 left_yaw=0.1398 left_pitch=-0.015 left_roll=-0.0033 left_gripper=0.9969 right_x=0.3661 right_y=0.1592 right_z=0.3068 right_yaw=0.1665 right_pitch=-0.0082 right_roll=-0.0101 right_gripper=0.5097\nstate[joint_eff]: [-0.6222, -2.0308, 6.2427, 1.8144, -0.2076, -0.0122, -0.0122, -0.7726, -4.4786, 9.0325, 1.6679, 0.1832, 0.1197, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ed54929f65177597ecec1d0aab29f86c9917245483cd8a747f7ae18c7886f7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38e205421416ce3084d35d3758d28f1a361eee6c75abe9508e9fa4232cd223c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:389b131659a861af2484f1a318a4fde704b2c08cea10c05412078028e7905beb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISliIKjgEIEhgCKkA989K6Ox4gqps61navJFOxUecVHhgx24ovEHFsL1v9AmSErOLCBS8+XyD+nnDkHDT5SkhgKcl2bP0JHeDLDMFiMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcPUzNUGEgzkkAhLZmgj1ZsHEDMaDG+gZXEhTgt0BVszQCIwudNnEPsk9hxaNbY+0AbmeKqRpeQAOJTk8VHdnEJNu/39wncNXSeMoyQ4XtW+UIGKKrQgYbCQ47Iw1vU+WScXY8VspvmRyoZYjWWfk6h4UN4KlUhBohtfLfMAgNIdhRhgsqwxMfJsJDoOo31TiWkLpVG3i4MbGUlskjs797oAW0UGsL7FDXmpM1+JwX0ZjQwpccRDyUFsO/8uDw4rcD74/mxaOHEv4ltYvc1rbsakcF24Qa1NGiQVWjUZNo/UUTMPRT/6c7vU2gkmvrjuvjkmTMtVDWvEoBozxooj23mcx+3CTC0TOEsMOfSBG/Dj8z8QW/PXRLw4cVJR7YcnVE7S2Ri8G7Vvri8mTyJ4Mb7QFgBBgIFVObrGxmW68jOwcwbEaZJHpuIlts2USpGtzKeejJY+dCvVaAAHXThdCFSzeNcQObSXdcMvIxsdxSglFgifGsTJKT0x09Z2cO3H0yxdLMqN/KDGg2WzhTCNUl3qsnrxbm9/4X4L2cXO3hQjvF7+5AGl71QxunLE8YC+oNtemjkxxpOh5WZH0c3OO0t1THiE/zujknABgqMZngy7ho1EXBas3vx6jw+i58+B0GSovbh2z8vJwK+Jig6F1JQzZ2wXt75O+DzolCd1VPQYsIVzFM8DaKMfvQBtc8CzPCDx2PreqIZlWbfEx3f65CurlWGZGBIcvM/4OfZ51a65OkW7KmD0tZF9P83AdxoZF+JZhou+cTlxpltZk1tl/jteR7zPJyYX6FieeEJXY5LKMOBZJ2T6NaReCHPYcn7g6TkHI43bU510rvUaNneQOuCORxP88RW1iH25cJvKmzPST4ie+0Swn327MToAufzUC2AcAAOqs0yZRiz1s8HpYEBaUgObbL4HxBuCk1lYwYg7JqKAJJX43aWVrR8NziS/c70HVq3+3hEgWGR+UH4dNyRaEKru5/BOzt3JGrTsEJIdNg1rwAS90XAvfzP9gNiAMLlgujDYa8zL7Y6+SLkT8hImceboFr0sUgnazt/X0B3vguhAIkmcLtpAe8Lf/iXeUpFBPmTgqRs+6kvmZ/B2KAFUT5JrJs2VyiO6KTRzi6ZKcilJSxoa88+ADWO7hQF5jfQgODqOsr5L8kq2qn12ZEdg7kvrORhJVUOmgTN5nxSQkN5rYu7US2r7H6slSsg5xzI0l5baYnx0mXZZhzPug+az5VVH1s6JxGTSNe92b5s722YOHUerbLLnlst0+TIxwTxan1wNBiR/OSXNWuRt+CbsmWoehDxRwaj/Cup7mzhPLMrp2G3QSgAFTC1bJzeyhOvgt+D0zRWzPf8xJoDKFKVn9yK7JHobi8c4/nsGhX9lOzG41i48f8Sc2AGLMF0K9Fwq6qGYJu/PoJcR/z9G9eMrLJPkuyiKA5ntozdYUJtYFJZW/r/270R2GykDH//4D0VaemlFB7Q8sTb8I4WyAtLoQDKuog2kzQicCX0b6swRwW0+A2SMaoXJYo+iJmSO1DbYE8XeBp3P1oC7+v/DoWeKuLukuEPW1IQ6cDnMxODclp3YiFxhxgP0t9hFRwBK8rVMsFlV9zQd5f2gA1IMys72nONfEuq53h5s7UVdKSvQOBVD5jmcGbhba6r2Ei1qJosoHPDJcvSj9G9QfCdjBpwZAGRWOP7M4aCC0WVpYwmeQWij9wvwlp8deKJj3wDWUalfsmIsZVjyDFFhazUVcdyXN+3V9Jhp+eClgybzYL/qJ2ZmswNB4aG/mywm1+FrXjTt/aqUAwfIVvAGBTzEJEM5kn4K2wLiSmf4WxjdRultSUeOhPdJllNY2ZYDJIPz6IbxnA3oUKLQXHjfr4Gm93yfirEts8bXIMJixPUkN/Eg5KBkTHGtISaa+KqsrsF1aBM07rEZ3pkhUGFsPT5cqWYczjmXGA7EKeHPlyf3dB/5uBxSi6klXnxTq73kAb/+5lHCQv5LY+KLq11I2JRWYn8OrLSXanXEv4pTNcQLB8YioG6vbt0wsf+Y9X23p1amqBn1DzQPaaeXsAUsuajg1gHAtxHAsZEdl4n06SICiGUHEsFAbBmkMVcipw2KwihiAHjU08sIxdBbraFbcdCIOyv11g+FXx5HkmmDdqBi3QIE/OanMUuBNUAWlvaKe9mMIfSuNeHinoJIeT3v6Gh25hx4qte9zldLAPEVCqIBFwx1Rmeb5QhIk503udkEnEoTQJ3qOPObUqKnbNfHuKKMbgj8sGGJsV58AewDnfXa5V1uswMMTpnO8aeRLLGMxS2CT+FuxmfslyK5HhbKWtzrhU7/QSg0cuaHbTutUevNkQYvfKU2qu9VT2m6No1MOaE+sd1BdUlF4x50V+YvDHOA/koOg133+35UOUBNS0JshamZ4x4CRjsS4N74n8J9JXmcSwkAHt+yd5TrqpN1kf8VS08E/MRI4Zr6OWHNrqq/Siiid7aM+tz3xALPyu9XV0cmKu3Z9oT0xOlTKnnOsck+MMoo5UJUPqeCYOD9wgvbuGqRQ1bkvPI4Q4iDvy5T8V/B4m9D35DqyF2F7sNqCkH+2ViwmASfCenWvKuSUH2U8rsUSrWepdlk1I99IXN9kRicOBy2YMNw5icZbdgL8+7A96FsH9P7p8L4Ao0K23fGkgNwV+I7GesJ/7ju+UokFtxTi9VYwKhYU8gZ2CYSIo0Ftu29Vf9gY13l74erBA9/0FCkWrSokRHBEVnYxsRZBBrd3gw0o7kyGC+GvOo7h/A7DcupciWPMknsBUinXXK7/oX/bv0NmqDvtVXBMeH+etXgzbAiTBfBL9v8G2CmGp782wW6jwFkYvPskewIcw7nC1UaF24vOnvn1pApGGtqzTK/V1cZB2Nc7EYp4g6rKQFcditimCXSLHwrPaCJLE1gcN1ZLDITc+Gp4357fL+TYnlVW0yS1WJzRrSdZL9p8OT0NKglmRgnSOYwJZDfqRSnd8Y3wjlRNhm2wCz2eKGcLo87u6q7s4aSHKhxu5QaMb9dMMeoRE7gBeoaZnbwbRgWYdoi5vfby04/YBKyvgzL2o4ECbg16srXXCYHdPZvQQlgypY/Gd48PAqjXPWwkvmM+QkzocYcd3pmJktu0P5zR15B7WtSEuyP7gmR2NnmUFRA3LDmSKNFcgtfQrtYVdNZqnZJVKz39vcNC/K0vYRjbamPkkPZney1SskcG7sL3LSAcw7gvbUawNxnS9fHOms7TRKoaP/odzmWsIeVfEZmsln0l8H/98sCXqEOxy2m5GeIbhFfhzAQTMAyQkQAKzWNKy5f+uln4N5Jeeb5b1QporXHw6v8c6LJKytOaMaXicTqC5OO/vCVirqGBV0QDWU2lkPR2CyuIZTeslz56cbesJlxvKbQy50eaDiinAERTWxME8mBsakXmd6m7+V+vGlrSy9RpiXDnFXMXAbl0bvqNDG8gg9bbiXufd+HyDRmMAOaYIb7vXoOjVfW0D7N90ot+1/TFllYBCGOOP3qkzumbHK68s0K/ZlWB7HEkCjzAmVM/65OfxAt9YpdKoZrUtcjOVRrhxG7uk6Y21snu9wzDCcFyATJNGX7qDVhZSRIqM1Mdu7joo5OMZPt8vYaGeSAzQLwDZ0J2hpzngV7tbSxNft2+LT6zeMLR08Z+8v06Kjc6w6pWa6gGF7mYWxJSXcpXyb29/I8VjDC2C+zRdwrmrva+jnxiF48oDk2mDRGA6aOzGNR0YMRFM/2V6Tx43ADgokXNDckZ2JUZTWBesK+qdJFQdlcnDe0OFAOc2Qo7xmgAAlfNDVa6dKh0XzmPwscFrVWI9FdqUal9Nju+0JxNMRuocWKZK1rRF/PHEJzlS4PBVCpO+9rrCU6bEJbR9nLnkT2Ty3NquF4fOtZWl20cdsDGEV7kpZUuntdVQDRuh4IG9Mqd4xVbUcaBCmKoVEEfZ3ZQkxiD08Do+joGcM30I8fTGXvizQFe83WxiCWHuKN5BRoHLKHJgeAzmgylq0W6EZUwfixliSPNp5eXr6jcW+BzngJl8QmuQf07AEWv1iPO5GbSRKuDjTxep11qF33F1HtxjBksGUYlXg0h2mT6wEREDFXsCnejaBzefI5m5i2kc64MoMwLjaM3y/572uFxHXbQPF9O0WOkqpZmzLBSwF4rwJTj3RY6d+4qOTDi4cE54LivddruGAyRwsTfWO2+5aM9J0iw0XZRqbZdoK0LT8gMPzWMf/GWkBIW2Vk/EzYZsGc6gX/QrdcmxjHaaHztwWQjZqXxJM3UfUSouEDEO8b/wHQHZzn/njoIGXr3n9c5AuRK9GrjAzJJ+7nN4nvk4KjugJSk3O3DFwq64kDHEp03LImoHPHty4Y6wUpTDVfn9qm5ak0u7eJ8kB5bRKPl9hs0Cl0xm2ZL5zm4iTGkCbvKwhHl+Y9SXVrJMSlFWFgiRoKx4CQ4vsZkrCzGB11ZxUfO2pGlzpeWwJCQGeJUzUfG4FMWAvPvEXhYn8EJA7g9tvdwYHWB1Hqm1zoDzri3xu75SchHmcHmLWlwGlPQNP7AoiNRBqgK4yv6hrLVSHwy7MlNlvJ23KvevNizeSqMIlc2wu+q3f0UI0/d6sAXB1QgzuN8CbTRkYpc6t9M99NIRwr2fHNb8zhAU03K9OzzIQ8cVm7rjZozm+7YJQ/YDN1q8Mbrg4VMs46kTkEVRNZo8/l6tG8PB/bd4HzrRaxmFIEu6MkiLEb1qlUdnYN7WWgGrsEkxUsGk/ihYNXscmh4sEZi3Iu9fzAn6or9B5OYQJhMD+vFIBAIcBcx5NryimxJdab3c2yxYL47hVc+zoU/YaawplwGSELCLcttf6OMXCIoNVgayQRgX/9jwlwnUNmrhAXMvDeZdNmeVv7oWsV/rnvQQdFRR7KnnQ44P3vXExvlwL7upGaUC9pFdYklK085ezUiTJHS/YnjIyuyyC9lwedY7QCfZxMSfI8J+V5+MteiPlMb/S7XcsZUF6TMf2V4z53Tv6ShkEoCHoktz/rMz5q6f+NvlZPrnQjobqHvFBAbEuYHTAK0xFTmu7Lej5IYGfzJF8IwpTvKgG1R+6ZSLyT7CwG1dVX77ukyAhdEn/yht9heVc5J7gSjWTRZmtJSbGcqxCzC2915ZcH7mCVMN+zFw086xWRv3HgTTKVLhsp9RykncehM15fhQ7fh2byGA5HJENDoh5ncjfnWlqb4HUhe4MYF0GbNwipcznhZNmiPTqq+HApOzYls7s8OPyF9IOz8yiPwxv4XCgt5oMyGmL8wfTe2TivXWFbaPJfGZaC21LKKyubLru35ElNTwHvENLY1Eq8g4b/wIvPSHG45EV8ZMLPuUMudJNAUORnR2/CX3dVZb7r6pWqVJzrrOi7I2+FxDVUGdWqPPJXPdhPP+WmhbaCfi1K0DI6ehtkN0dFIOxWZTbK8D8hU98MoMSeY5LpJoC6Ot45S+SRCcrdqhgx5KFz3GlTcKGInsbcrOyiode9aGQTbkP0z+j7A086JcAnfwR+chiqER2ZGhTqV3UzfGno/xAg2IJMoDYB3Un2k1nbuFwdTitzcp+ijug73c8Ve4ZY0WdgBoDGa4n4AYyK5E+RL8woyG5qv8vRYTX3uB6Ixb2Xfnoccjo/UVW96JEpbdD6Bs7TjzMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EV6y7KjL5Jd5ggSww4tiML",
      "input": {
        "note": "From above, all three bottles are still lying down; my closes have been missing. Returning to the pose where the third bottle looked perfectly framed, this time to make a full close whose settled reading will tell me if I actually have it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.45,
          "right_y": 0.14,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01EV6y7KjL5Jd5ggSww4tiML",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8299, 0.6643, -0.4423, -0.2478, -0.1833, 0.9969, 0.3576, 1.8645, 0.7826, 0.4377, 0.1585, 0.0757, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0022 left_z=0.1879 left_yaw=0.1399 left_pitch=-0.0241 left_roll=-0.0005 left_gripper=0.9969 right_x=0.4395 right_y=0.1383 right_z=0.0299 right_yaw=0.1664 right_pitch=-0.064 right_roll=-0.0147 right_gripper=0.9985\nstate[joint_eff]: [-0.4444, -2.1949, 6.7624, 1.8291, -0.1929, -0.0024, -0.0122, -0.8, -8.0615, 5.0393, 1.8828, -0.0415, -0.022, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40046e1bd0d56e30e9a44c6933d47db7c46cd93162d1b2f9a882009dcb91b4cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f87bb9e829107091c2fb80d08e21fa8217000f4ab44c3361728d97e6e4b6b3f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f300e7efe999a1fbf6a893cf9d20bd1aa02a3d4f03befac8437b7b27edeeceab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 11.41 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 93 changed as sent

message 96 changed as sent

message 99 changed as sent

message 93 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8303, 0.6819, -0.4496, -0.2478, -0.1837, 0.9969, 0.5316, 1.3392, 0.7658, -0.0124, 0.3199, 0.1879, 0.5095]\nstate[eef_state]: left_x=0.2964 left_y=0.002 left_z=0.1943 left_yaw=0.14 left_pitch=-0.0146 left_roll=-0.0037 left_gripper=0.9969 right_x=0.3677 right_y=0.156 right_z=0.1552 right_yaw=0.1461 right_pitch=0.0183 right_roll=0.0057 right_gripper=0.5095\nstate[joint_eff]: [-0.7316, -1.5111, 6.5983, 1.8437, -0.1978, -0.0366, -0.0122, 0.0889, -5.4496, 7.9111, 1.8095, 0.2906, 0.1636, 0.0952]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8299, 0.6765, -0.445, -0.2478, -0.1833, 0.9969, 0.5365, 1.3411, 1.4006, -0.6716, 0.3099, 0.1745, 0.5097]\nstate[eef_state]: left_x=0.2964 left_y=0.0021 left_z=0.1929 left_yaw=0.1398 left_pitch=-0.015 left_roll=-0.0033 left_gripper=0.9969 right_x=0.3661 right_y=0.1592 right_z=0.3068 right_yaw=0.1665 right_pitch=-0.0082 right_roll=-0.0101 right_gripper=0.5097\nstate[joint_eff]: [-0.6222, -2.0308, 6.2427, 1.8144, -0.2076, -0.0122, -0.0122, -0.7726, -4.4786, 9.0325, 1.6679, 0.1832, 0.1197, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8299, 0.6643, -0.4423, -0.2478, -0.1833, 0.9969, 0.3576, 1.8645, 0.7826, 0.4377, 0.1585, 0.0757, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0022 left_z=0.1879 left_yaw=0.1399 left_pitch=-0.0241 left_roll=-0.0005 left_gripper=0.9969 right_x=0.4395 right_y=0.1383 right_z=0.0299 right_yaw=0.1664 right_pitch=-0.064 right_roll=-0.0147 right_gripper=0.9985\nstate[joint_eff]: [-0.4444, -2.1949, 6.7624, 1.8291, -0.1929, -0.0024, -0.0122, -0.8, -8.0615, 5.0393, 1.8828, -0.0415, -0.022, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40046e1bd0d56e30e9a44c6933d47db7c46cd93162d1b2f9a882009dcb91b4cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f87bb9e829107091c2fb80d08e21fa8217000f4ab44c3361728d97e6e4b6b3f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f300e7efe999a1fbf6a893cf9d20bd1aa02a3d4f03befac8437b7b27edeeceab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISngoKjgEIEhgCKkBx2hR1EBtTLVvMiEY3TMv2ukuJLVKGzzYCa5w631aNCZMksCYhADDPL77R0+FFjRc9u3RXNwrtE1vPoxnwkHFEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc7UzNUGEgxFN1Yqq35e1ge+h+gaDM5/iQS69U8TMF9YtiIw9viiG7zQffLDktfFMPcr6l+C3yEvZ0oDkoVgAtfwKczREzX+PRPHNwSQ4/1Q7vrnKrwIOs4jH1PWbUQ+RgtgZWmEm2/HkYvAJCcCxy6lSly6HTeppyrritwPYG/SnvmZ9RGy8mBgw4rqZ6XACU5dOuohzUvvXpr8ZG5t0GKrrxK2kzS+Ax6fXzQ8uPBKfV2fIYvf170zH9dmUoa4/rDF2m+lwjpFTTIi9TvFjYwAyOFpb6Ma3DBTTq1x9KUh5aJKUKyqlCOWoep7or/X7EKcZXmXz+DHgy1jgWdfC7Y5pIHF55OyMbpE4u1Aq16XAxTAJJZFvvg97vQ9oxR347yoTFFdYc4r0Lte2aExHWWaw8i4JZHIM7xt6BS38r9PhpKCpcooWYCW2LsH449spuHzHGrKw1vUyzyBqd5T9xa3d2TwKsg5RpKwgxY+0LwdYAb8QLLviP5BjiAERaTU5kQF20vR0f3hHLhwvbrdX0akdG2eaR4/vuCT0vufNhbxBQSQEa8uj5iPxyFhdUJO71sltFlkuE68/Ic//E0reK1Fy85VlbiLAZRPWu0C9gZ1ra5rT+RiLZaIneZHLvPgnPRpXDznA31XDY7jQc32DbI8naw30XUSoe0cFFJTNYwjxMep1D+xzGbxywXKl6KjYOX7rbmVVcfgHta/9qg4++q9KOXBQDZ0XmPXGk1ihS7zEgg3mMpmN0rCaIyhwpzNh5P61/wIdLhRn232L13fWntI+Y+K3S+HWa5b9OUEF3KJ2F1QW1a85X2jwmsb6I55q66bs7UensuYABrXnJbv56XQpfmxDhST982s6yo2y8zEYZIxpl4D3UYYwD4IieQeoX5s/ysa1NAxhfFe5WiO4lfzSVGjxglgML1VgJKVUHa43DR0k21bZOpzOFan+OF0jY60vfkUxqIRSp/DylTVWekzMovkJMhhnGlD8r+imuc1KS+ZL6Q4cy0do3VV3ZLnb6SwBGc2TeZBh/u4VbA/cDdLK1NYC7VHg5XsVClRTR8JXtBS6HfQQSv17eTuELreEl6IxSkLpPxMXe45+2RFpd8OZ8opVmdBwyrElwUT0YOdryVIbE02J8bZMCDIRCqfSwC9WkaVMtXllL96wWnCPnI3ovBPaYcdGEA4sbPMbncmVyQy08FaO2gsvEKzpPl7nbapoznmlqDX/76bsu899abFQSg/TAuj0XCFFHUmJiMPSBq+ma71vMDbvZnZvCwSYphn3OJB48fEzHt6T/QhNX/jNE7Q8V9JMn/cEGzngw7XZxe0/jSMmTWk4qn2zRpDosdaMHFXuNYgRwRQmVrF9AUcRwyR6aYw5gx9MI8cNB0HnZx0K9U/yZH/nL3BROcIxT+JOZENieOi+nWZ+QT4p6ka0G5wesGKtQf2pvecRt950HcBn8T+O5vAHsyMdO9AuURsiUBiTIXKtw3qaOwaS7vShViE2mgerHJ4FGg8/yZTTezfXXEcu7aX9YnNllHfQ2OODlcnN5ovsOiEXfqvySJdxhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AUCB961xs4NQfSnYKnYXcT",
      "input": {
        "note": "The bottle fills the wrist view centred between the jaws. Commanding a full close: the settled reading will tell me the thickness of whatever is actually in the jaws.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AUCB961xs4NQfSnYKnYXcT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8242, 0.646, -0.4225, -0.2481, -0.1833, 0.9969, 0.3588, 1.8729, 0.746, 0.6529, 0.1524, 0.07, 0.0158]\nstate[eef_state]: left_x=0.2954 left_y=0.0023 left_z=0.1852 left_yaw=0.1402 left_pitch=-0.0171 left_roll=-0.0024 left_gripper=0.9969 right_x=0.4537 right_y=0.1453 right_z=0.0571 right_yaw=0.1752 right_pitch=0.1026 right_roll=0.0153 right_gripper=0.0158\nstate[joint_eff]: [-0.4034, -2.2769, 6.4889, 1.8242, -0.2271, 0.0171, -0.0122, -0.3624, -7.788, 4.0274, 1.0818, 0.0757, 0.0611, 1.0232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e7f059840a18cd3332f0e920b9e79b907f159e8a64feaefe799682133fc3863",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bc6f81840fd628f5733a938602b324c2af44b55b62f2d9a5df8b31516877d44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:847df6f9bbf9545761638eef3512e94d806ad7a4ad5cb5c0196a15b0528d22b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 7.973 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 96 changed as sent

message 99 changed as sent

message 102 changed as sent

message 96 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8299, 0.6765, -0.445, -0.2478, -0.1833, 0.9969, 0.5365, 1.3411, 1.4006, -0.6716, 0.3099, 0.1745, 0.5097]\nstate[eef_state]: left_x=0.2964 left_y=0.0021 left_z=0.1929 left_yaw=0.1398 left_pitch=-0.015 left_roll=-0.0033 left_gripper=0.9969 right_x=0.3661 right_y=0.1592 right_z=0.3068 right_yaw=0.1665 right_pitch=-0.0082 right_roll=-0.0101 right_gripper=0.5097\nstate[joint_eff]: [-0.6222, -2.0308, 6.2427, 1.8144, -0.2076, -0.0122, -0.0122, -0.7726, -4.4786, 9.0325, 1.6679, 0.1832, 0.1197, -0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8299, 0.6643, -0.4423, -0.2478, -0.1833, 0.9969, 0.3576, 1.8645, 0.7826, 0.4377, 0.1585, 0.0757, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0022 left_z=0.1879 left_yaw=0.1399 left_pitch=-0.0241 left_roll=-0.0005 left_gripper=0.9969 right_x=0.4395 right_y=0.1383 right_z=0.0299 right_yaw=0.1664 right_pitch=-0.064 right_roll=-0.0147 right_gripper=0.9985\nstate[joint_eff]: [-0.4444, -2.1949, 6.7624, 1.8291, -0.1929, -0.0024, -0.0122, -0.8, -8.0615, 5.0393, 1.8828, -0.0415, -0.022, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8242, 0.646, -0.4225, -0.2481, -0.1833, 0.9969, 0.3588, 1.8729, 0.746, 0.6529, 0.1524, 0.07, 0.0158]\nstate[eef_state]: left_x=0.2954 left_y=0.0023 left_z=0.1852 left_yaw=0.1402 left_pitch=-0.0171 left_roll=-0.0024 left_gripper=0.9969 right_x=0.4537 right_y=0.1453 right_z=0.0571 right_yaw=0.1752 right_pitch=0.1026 right_roll=0.0153 right_gripper=0.0158\nstate[joint_eff]: [-0.4034, -2.2769, 6.4889, 1.8242, -0.2271, 0.0171, -0.0122, -0.3624, -7.788, 4.0274, 1.0818, 0.0757, 0.0611, 1.0232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e7f059840a18cd3332f0e920b9e79b907f159e8a64feaefe799682133fc3863",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bc6f81840fd628f5733a938602b324c2af44b55b62f2d9a5df8b31516877d44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:847df6f9bbf9545761638eef3512e94d806ad7a4ad5cb5c0196a15b0528d22b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TGkEtSXMs8q2JxDLxCLPPW",
      "input": {
        "note": "Full close read 0.016 — empty, so the bottle sits nearer the base than the fingertips (the wrist view exaggerates distance). Opening and pulling back 5 cm to put the jaws over the bottle's body.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.4,
          "right_z": 0.033
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TGkEtSXMs8q2JxDLxCLPPW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8242, 0.6334, -0.4156, -0.2481, -0.1833, 0.9969, 0.4202, 1.7893, 0.617, 0.6086, 0.1883, 0.0994, 0.9957]\nstate[eef_state]: left_x=0.2948 left_y=0.0024 left_z=0.1809 left_yaw=0.1402 left_pitch=-0.0226 left_roll=-0.0008 left_gripper=0.9969 right_x=0.408 right_y=0.15 right_z=0.0372 right_yaw=0.1917 right_pitch=0.0183 right_roll=0.0052 right_gripper=0.9957\nstate[joint_eff]: [-0.4034, -2.1265, 6.6256, 1.8486, -0.2369, -0.0269, -0.0122, 0.4718, -8.8137, 3.6855, 1.5214, 0.1148, 0.0611, -0.105]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef3e44aaa2d8ff9b5e91fc5dd1fd075743c6dec49f67f91b46940ccc34762a2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccc7497aeaccc2b17970b5441fb12e371b8312592a5e7badb73daa4be1a8bc13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71fdd7a996e727a3e11e99422f999ee2f1daf1bbf876897eb922d55d7cc98ff6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /messages · status 200 · 16.83 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 99 changed as sent

message 102 changed as sent

message 105 changed as sent

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8299, 0.6643, -0.4423, -0.2478, -0.1833, 0.9969, 0.3576, 1.8645, 0.7826, 0.4377, 0.1585, 0.0757, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0022 left_z=0.1879 left_yaw=0.1399 left_pitch=-0.0241 left_roll=-0.0005 left_gripper=0.9969 right_x=0.4395 right_y=0.1383 right_z=0.0299 right_yaw=0.1664 right_pitch=-0.064 right_roll=-0.0147 right_gripper=0.9985\nstate[joint_eff]: [-0.4444, -2.1949, 6.7624, 1.8291, -0.1929, -0.0024, -0.0122, -0.8, -8.0615, 5.0393, 1.8828, -0.0415, -0.022, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8242, 0.646, -0.4225, -0.2481, -0.1833, 0.9969, 0.3588, 1.8729, 0.746, 0.6529, 0.1524, 0.07, 0.0158]\nstate[eef_state]: left_x=0.2954 left_y=0.0023 left_z=0.1852 left_yaw=0.1402 left_pitch=-0.0171 left_roll=-0.0024 left_gripper=0.9969 right_x=0.4537 right_y=0.1453 right_z=0.0571 right_yaw=0.1752 right_pitch=0.1026 right_roll=0.0153 right_gripper=0.0158\nstate[joint_eff]: [-0.4034, -2.2769, 6.4889, 1.8242, -0.2271, 0.0171, -0.0122, -0.3624, -7.788, 4.0274, 1.0818, 0.0757, 0.0611, 1.0232]\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 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8242, 0.6334, -0.4156, -0.2481, -0.1833, 0.9969, 0.4202, 1.7893, 0.617, 0.6086, 0.1883, 0.0994, 0.9957]\nstate[eef_state]: left_x=0.2948 left_y=0.0024 left_z=0.1809 left_yaw=0.1402 left_pitch=-0.0226 left_roll=-0.0008 left_gripper=0.9969 right_x=0.408 right_y=0.15 right_z=0.0372 right_yaw=0.1917 right_pitch=0.0183 right_roll=0.0052 right_gripper=0.9957\nstate[joint_eff]: [-0.4034, -2.1265, 6.6256, 1.8486, -0.2369, -0.0269, -0.0122, 0.4718, -8.8137, 3.6855, 1.5214, 0.1148, 0.0611, -0.105]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef3e44aaa2d8ff9b5e91fc5dd1fd075743c6dec49f67f91b46940ccc34762a2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccc7497aeaccc2b17970b5441fb12e371b8312592a5e7badb73daa4be1a8bc13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71fdd7a996e727a3e11e99422f999ee2f1daf1bbf876897eb922d55d7cc98ff6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS6wcKjgEIEhgCKkDmfHdPe+AoPlv32EhW0/dITQ5UvwGmTLjTvFMYOJDFqrIKdVLYNOY2ri+00bxHCctyWpMz08vNUWRY3gmQLXrXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAePUzNUGEgyaaQkL6Fa8DOKjPRsaDCXY/HgzDkhzhWR+yCIw4TRJneIiTckfo3g8nZDvMeOSsGsl4Qd5IJ8nAMMziFpvk33mOcrQqOx6PbgHl/j/KokGKMAlHC9kFC8+ItwXgOZzpo/wZhCMoY3/1uEtfeW5tq7GbGZksY3zDvw0nZK/odLFaa1SrydiH7uWBs6ARtdx2VlFGhQKuZodxfJxpnuLLZnFjbJLfN15ScVi5utM3m125SscYTE9xhlEO/yGkKVksHoIzZSbht3Drp9+4AoaivAThrHYwxxShl7u0lqWx3AP4amfszsiEZXa/WMv7AaGpvzEXKZYzskzvjTBPUodTv39J0EPCEg3jVWLI4GOnyfPhMNKkWimAPIQEnG0CtzDz8q2INZ7XfmZ5ZR/JMwBhSwUMm/Myfj7my5Byh4SLCOXd5XfOYpNRuer7usbdvWWzYMocyR6XVuUfhAnzDHe3yC/IXxUTUif5N7wBzdmYpW0NwIanqplBN4lpg5Q7q5fS9Q814j9yfViczvw7mwj6SILYnpH7KWrFdcrZNVVqaWeg/bZzoAFOv9Fmbii0bw7XpyjFtNQX1RxahL+3QgB+YIZFipi/bv+wQSMdoRELyE3EqvuWXIwdBYuzVk++V61Ot6XpISNMxwj269Kf22AOshzJdyxE2mZiqeO2OyycvFB3qmIgxS27lb1gDIQXFIq14ZtrHXSYSTA1YllPfZsTi/K9w0Y8HwcRWnfGWlRBLzd4CkjJSMRSrp0v4GKWZyquBfppb/d12UvEAnmptTBFAcZEUrQcnCkuXZvELzql+K+PgwY5K0XmBG2jevhJSt85DyXRGTITFZ1nTa90r8CdRtWrlKB39TZhxMw0CUvG/pxaynI1iSIfJpNX0BZ6G+vs5gtlXzow/ewc48rob7iSoM2NzIt+ZXIttw4VSTisNaw36GcqwYGxQZaiYMiNnF9FEkUtKz6mvFFT9IEKwOXgWPADYAJr4RF492iUvaWo0MdAOUQ+/iXCLJrL5y9l95p6yzzZtwWwMguPrB9RbSHXHbBJ41NltcNto+cneogUTBxKIdk+O9L9WC3rJaklFFdtZ/FR0RsGtfL/BrRKxQzRK6omOR39YcGrmJunFt2ogOMB0u9jtZHrA0GGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KKhPjYdry3pqvLpYWSc8Vb",
      "input": {
        "note": "Now the bottle's near end is clearly between the two visible jaw tips at the bottom of the wrist image. Closing fully: a settled reading near 0.5–0.7 means I have the body.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KKhPjYdry3pqvLpYWSc8Vb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8185, 0.6159, -0.3988, -0.2481, -0.1833, 0.9969, 0.4206, 1.7752, 0.6331, 0.6334, 0.1856, 0.0921, 0.0156]\nstate[eef_state]: left_x=0.2945 left_y=0.0024 left_z=0.1779 left_yaw=0.1402 left_pitch=-0.0178 left_roll=-0.0022 left_gripper=0.9969 right_x=0.4162 right_y=0.1544 right_z=0.0541 right_yaw=0.1977 right_pitch=0.0715 right_roll=0.0126 right_gripper=0.0156\nstate[joint_eff]: [-0.5538, -2.1675, 6.6256, 1.8486, -0.2418, -0.0024, -0.0122, -0.2256, -7.0769, 5.1624, 1.1746, 0.1294, 0.0366, 0.8327]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dd8b68ab6e5cdac21c0ca408494b0bf02106ea75d9b23d6e4cd7f70d4debec1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c3e9574bd94d8ec6b3028bb51fdfddc3ec8fa77a5685919cad9905039fbb153",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eaa60fd6d1b05729e16e8b8652dc877cc2e9bced39d7c6a7ae461f24c112db22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /messages · status 200 · 3.647 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 102 changed as sent

message 105 changed as sent

message 108 changed as sent

message 102 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8242, 0.646, -0.4225, -0.2481, -0.1833, 0.9969, 0.3588, 1.8729, 0.746, 0.6529, 0.1524, 0.07, 0.0158]\nstate[eef_state]: left_x=0.2954 left_y=0.0023 left_z=0.1852 left_yaw=0.1402 left_pitch=-0.0171 left_roll=-0.0024 left_gripper=0.9969 right_x=0.4537 right_y=0.1453 right_z=0.0571 right_yaw=0.1752 right_pitch=0.1026 right_roll=0.0153 right_gripper=0.0158\nstate[joint_eff]: [-0.4034, -2.2769, 6.4889, 1.8242, -0.2271, 0.0171, -0.0122, -0.3624, -7.788, 4.0274, 1.0818, 0.0757, 0.0611, 1.0232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8242, 0.6334, -0.4156, -0.2481, -0.1833, 0.9969, 0.4202, 1.7893, 0.617, 0.6086, 0.1883, 0.0994, 0.9957]\nstate[eef_state]: left_x=0.2948 left_y=0.0024 left_z=0.1809 left_yaw=0.1402 left_pitch=-0.0226 left_roll=-0.0008 left_gripper=0.9969 right_x=0.408 right_y=0.15 right_z=0.0372 right_yaw=0.1917 right_pitch=0.0183 right_roll=0.0052 right_gripper=0.9957\nstate[joint_eff]: [-0.4034, -2.1265, 6.6256, 1.8486, -0.2369, -0.0269, -0.0122, 0.4718, -8.8137, 3.6855, 1.5214, 0.1148, 0.0611, -0.105]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8185, 0.6159, -0.3988, -0.2481, -0.1833, 0.9969, 0.4206, 1.7752, 0.6331, 0.6334, 0.1856, 0.0921, 0.0156]\nstate[eef_state]: left_x=0.2945 left_y=0.0024 left_z=0.1779 left_yaw=0.1402 left_pitch=-0.0178 left_roll=-0.0022 left_gripper=0.9969 right_x=0.4162 right_y=0.1544 right_z=0.0541 right_yaw=0.1977 right_pitch=0.0715 right_roll=0.0126 right_gripper=0.0156\nstate[joint_eff]: [-0.5538, -2.1675, 6.6256, 1.8486, -0.2418, -0.0024, -0.0122, -0.2256, -7.0769, 5.1624, 1.1746, 0.1294, 0.0366, 0.8327]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dd8b68ab6e5cdac21c0ca408494b0bf02106ea75d9b23d6e4cd7f70d4debec1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c3e9574bd94d8ec6b3028bb51fdfddc3ec8fa77a5685919cad9905039fbb153",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eaa60fd6d1b05729e16e8b8652dc877cc2e9bced39d7c6a7ae461f24c112db22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AjLyeZp33sTUSsjLHCVXaB",
      "input": {
        "note": "Empty again, and the arm rose 1.7 cm during the close — the wedge-shaped jaw tips are riding up over the round bottle. Reopening and dropping to table level (z=0.005) so the fingers go down beside the bottle instead of over it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.39,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AjLyeZp33sTUSsjLHCVXaB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8169, 0.6006, -0.392, -0.2481, -0.1833, 0.9969, 0.4568, 1.8641, 0.551, 0.7197, 0.2077, 0.1066, 0.9958]\nstate[eef_state]: left_x=0.2934 left_y=0.0026 left_z=0.1728 left_yaw=0.1402 left_pitch=-0.0244 left_roll=-0.0002 left_gripper=0.9969 right_x=0.3899 right_y=0.1551 right_z=0.0074 right_yaw=0.2082 right_pitch=-0.0082 right_roll=-0.0061 right_gripper=0.9958\nstate[joint_eff]: [-0.4171, -2.1949, 6.9538, 1.8291, -0.2222, 0.0171, -0.0122, -0.0342, -6.8581, 4.4923, 2.0244, 0.0757, 0.0513, -0.1783]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8f63c7233d899500c816f0e467d1ae5c3b15775d392ccda7f8cd91a5edfc63d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c621d6a23a8d89d6dad2e28f58183e612df1b3477a39240d5972df153b3fdb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e80096005ba66e774839bf00884a9dadf1381b986170366079182f95b668ba53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /messages · status 200 · 20.46 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 105 changed as sent

message 108 changed as sent

message 111 changed as sent

message 105 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8242, 0.6334, -0.4156, -0.2481, -0.1833, 0.9969, 0.4202, 1.7893, 0.617, 0.6086, 0.1883, 0.0994, 0.9957]\nstate[eef_state]: left_x=0.2948 left_y=0.0024 left_z=0.1809 left_yaw=0.1402 left_pitch=-0.0226 left_roll=-0.0008 left_gripper=0.9969 right_x=0.408 right_y=0.15 right_z=0.0372 right_yaw=0.1917 right_pitch=0.0183 right_roll=0.0052 right_gripper=0.9957\nstate[joint_eff]: [-0.4034, -2.1265, 6.6256, 1.8486, -0.2369, -0.0269, -0.0122, 0.4718, -8.8137, 3.6855, 1.5214, 0.1148, 0.0611, -0.105]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 108 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8185, 0.6159, -0.3988, -0.2481, -0.1833, 0.9969, 0.4206, 1.7752, 0.6331, 0.6334, 0.1856, 0.0921, 0.0156]\nstate[eef_state]: left_x=0.2945 left_y=0.0024 left_z=0.1779 left_yaw=0.1402 left_pitch=-0.0178 left_roll=-0.0022 left_gripper=0.9969 right_x=0.4162 right_y=0.1544 right_z=0.0541 right_yaw=0.1977 right_pitch=0.0715 right_roll=0.0126 right_gripper=0.0156\nstate[joint_eff]: [-0.5538, -2.1675, 6.6256, 1.8486, -0.2418, -0.0024, -0.0122, -0.2256, -7.0769, 5.1624, 1.1746, 0.1294, 0.0366, 0.8327]\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 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8169, 0.6006, -0.392, -0.2481, -0.1833, 0.9969, 0.4568, 1.8641, 0.551, 0.7197, 0.2077, 0.1066, 0.9958]\nstate[eef_state]: left_x=0.2934 left_y=0.0026 left_z=0.1728 left_yaw=0.1402 left_pitch=-0.0244 left_roll=-0.0002 left_gripper=0.9969 right_x=0.3899 right_y=0.1551 right_z=0.0074 right_yaw=0.2082 right_pitch=-0.0082 right_roll=-0.0061 right_gripper=0.9958\nstate[joint_eff]: [-0.4171, -2.1949, 6.9538, 1.8291, -0.2222, 0.0171, -0.0122, -0.0342, -6.8581, 4.4923, 2.0244, 0.0757, 0.0513, -0.1783]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8f63c7233d899500c816f0e467d1ae5c3b15775d392ccda7f8cd91a5edfc63d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c621d6a23a8d89d6dad2e28f58183e612df1b3477a39240d5972df153b3fdb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e80096005ba66e774839bf00884a9dadf1381b986170366079182f95b668ba53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISygMKjgEIEhgCKkCwsfMjvmEdS7cG2H6MlCeqskg0NbxKgj/3Rrt+0TNPFPF5QBNNfgHEiu3ECfFU80qrvPv96HcPtBHdETKuF9YBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfrUzNUGEgxzYotv3g5Blo5wP20aDCDUTnODEbSaQCWX+yIwE4b2jDHrQvXEtbeHoBd9BwHgXAgZD6Wybga8UB7M+qJq7Uv4qePjDQD2NoC7X4mvKugB8Z1mI13uDDUUYFSjNxURtuURcsPDe0UEj0/5x4wao8q9wKAqyJJ2sSj2SYH05AQnq24bSjw5itI7ssYc/9kE9Ta3XY4HIVZn6cHMG5bCK+3pT/RV39vfPJzM5yUR6DFaEgprfDVH+u5v5BYblJI4wU5jqk2NNTDLwmoMNUfQsjcI7K4/WDYTxbEalNWhWthKp2Zf+G1LOXUFmrLCzSwxVfcA5pawHWyx0NKGhKXSxvRZ5Rv35krjvogCKILlaBRpovkF4lpYfo+SpY2vGtX+oG6uVdOUQadPJmvnFSDHuEs89ut6B/dIARgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019cfYRwNNXqAKsESKHKJHH6",
      "input": {
        "note": "At table level the bottle now fills the wrist view right between the open jaws; closing fully to grip its body.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019cfYRwNNXqAKsESKHKJHH6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.152, 0.8112, 0.5812, -0.371, -0.2481, -0.1833, 0.9969, 0.458, 1.8748, 0.543, 0.7296, 0.2012, 0.1001, 0.5294]\nstate[eef_state]: left_x=0.2934 left_y=0.0026 left_z=0.1697 left_yaw=0.1402 left_pitch=-0.0174 left_roll=-0.0023 left_gripper=0.9969 right_x=0.387 right_y=0.1554 right_z=0.0025 right_yaw=0.2182 right_pitch=-0.0176 right_roll=-0.01 right_gripper=0.5294\nstate[joint_eff]: [-0.6222, -2.0171, 6.6803, 1.8632, -0.2271, -0.0122, -0.0122, -0.4171, -8.0615, 4.2325, 1.7656, 0.0904, 0.0464, 1.0232]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f50a19754bd6a0428cccbcfd4fb12758400d991c35a1666b8f10c23b98acac0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f81eeb9f651d2fca4380d95fe8ae5bd53a37fe5fbfff3119fd88b9b95e8b36e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d48f35a21c2d09bcef8e94b08c2efbc636525ae76c89145b7ff951699f62ba7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]