adhoc

completed
2026-09-23T00:57:25.594485+00:00 inspect-robots 0.58.0git unknown
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
323.2 s
total steps
150
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

overheat

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles lie on their sides, caps pointing away from the bases. I'll approach the leftmost bottle's neck with the left arm, hovering 15 cm up to check alignment in the wrist camera.
move_to
left_x0.4200left_y-0.2100left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.6079, -0.3763, -0.0227, -0.0284, 0.9987, -0.0158, 0.7883, 0.6033, -0.3862, -0.0216, -0.0216, 0.9999] state[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1827 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2935 right_y=0.0027 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999 state[joint_eff]: [-0.4171, -1.4838, 9.8393, 1.7705, -0.0122, 0.1294, -0.1538, -1.0188, -0.9368, 10.2085, 1.873, -0.0415, 0.0317, -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": 0.42, "left_y": -0.21, "left_z": 0.15, "left_gripper": 1.0}, "note": "Three bottles lie on their sides, caps pointing away from the bases. I'll approach the leftmost bottle's neck with the left arm, hovering 15 cm up to check alignment in the wrist camera."})
tool
executing move_to over 19 steps (1.9s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe left arm is hovering over the leftmost bottle (it now hides it in the top view). I'm dropping to neck height with the jaws opened just wider than the bottle neck, so I can grip the neck loosely and let the bottle swing upright when I lift.
move_to
left_x0.4400left_y-0.2200left_z0.0330left_gripper0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.664, 1.6737, 1.0565, -0.1078, -0.5407, -0.4198, 0.9988, -0.0193, 0.7918, 0.6033, -0.4042, -0.0238, -0.0284, 0.9998] state[eef_state]: left_x=0.4107 left_y=-0.2014 left_z=0.135 left_yaw=-0.0065 left_pitch=-0.0434 left_roll=0.018 left_gripper=0.9988 right_x=0.2913 right_y=0.0022 right_z=0.1753 right_yaw=0.0022 right_pitch=-0.0213 right_roll=-0.0041 right_gripper=0.9998 state[joint_eff]: [-0.6085, -8.2667, 8.7179, 1.7265, -0.398, 0.1538, -0.1294, 0.0205, -1.4564, 7.159, 1.8535, -0.022, 0.0269, -0.0171] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.22, "left_z": 0.033, "left_gripper": 0.3}, "note": "The left arm is hovering over the leftmost bottle (it now hides it in the top view). I'm dropping to neck height with the jaws opened just wider than the bottle neck, so I can grip the neck loosely and let the bottle swing upright when I lift."})
tool
executing move_to over 7 steps (0.7s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe jaws are down at neck height straddling the leftmost bottle's neck (it is hidden under the gripper in the top view). Lifting straight up: if the jaws are around the neck, the cap will catch and the bottle should swing to hang vertically.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6659, 1.9854, 0.9649, 0.2897, -0.5434, -0.4198, 0.3054, -0.0204, 0.7841, 0.5842, -0.4026, -0.028, -0.0292, 0.9998] state[eef_state]: left_x=0.4286 left_y=-0.216 left_z=0.0287 left_yaw=-0.0062 left_pitch=-0.0468 left_roll=0.0229 left_gripper=0.3054 right_x=0.2886 right_y=0.0027 right_z=0.169 right_yaw=0.005 right_pitch=-0.0311 right_roll=-0.0021 right_gripper=0.9998 state[joint_eff]: [0.5538, -9.3744, 6.5436, 1.7509, -0.1832, 0.1636, 0.2076, -0.2667, -1.7846, 6.8171, 1.9853, -0.0659, -0.0171, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22}, "note": "The jaws are down at neck height straddling the leftmost bottle's neck (it is hidden under the gripper in the top view). Lifting straight up: if the jaws are around the neck, the cap will catch and the bottle should swing to hang vertically."})
tool
executing move_to over 13 steps (1.3s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe lift did not catch the bottle, so I'm pulling the left arm back out of the way to get a clean, unoccluded top view of all three bottles before re-measuring the grasp point.
move_to
left_x0.2500left_y0.0000left_z0.2500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6682, 1.7157, 1.3128, -0.308, -0.5472, -0.4236, 0.3053, -0.02, 0.7712, 0.5533, -0.3958, -0.0303, -0.0322, 0.9998] state[eef_state]: left_x=0.4317 left_y=-0.219 left_z=0.1884 left_yaw=-0.004 left_pitch=-0.0296 left_roll=0.0095 left_gripper=0.3053 right_x=0.2848 right_y=0.0032 right_z=0.1598 right_yaw=0.009 right_pitch=-0.0421 right_roll=-0.003 right_gripper=0.9998 state[joint_eff]: [-0.2667, -12.1778, 9.6342, 1.5604, -0.3101, 0.0806, -0.0269, -0.253, -1.7162, 6.9538, 2.0098, -0.0562, 0.0122, -0.0122] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": 0.0, "left_z": 0.25, "left_gripper": 1.0}, "note": "The lift did not catch the bottle, so I'm pulling the left arm back out of the way to get a clean, unoccluded top view of all three bottles before re-measuring the grasp point."})
tool
executing move_to over 20 steps (2.0s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteClean top view shows three bottles lying with caps pointing away from the bases; I nudged the left one earlier. I'm hovering the left arm over the middle bottle's neck region to judge the radial offset from the wrist camera.
move_to
left_x0.4500left_y-0.3260left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0696, 0.6788, 0.8497, -0.7143, -0.1165, -0.1013, 0.9977, -0.02, 0.7456, 0.5114, -0.3733, -0.0307, -0.033, 0.9998] state[eef_state]: left_x=0.2571 left_y=0.0063 left_z=0.2518 left_yaw=0.0686 left_pitch=0.0223 left_roll=-0.0145 left_gripper=0.9977 right_x=0.2811 right_y=0.0034 right_z=0.152 right_yaw=0.0097 right_pitch=-0.036 right_roll=-0.0036 right_gripper=0.9998 state[joint_eff]: [-0.1162, -0.1573, 7.3504, 1.8535, -0.0708, 0.2466, -0.1343, -0.335, -1.4564, 7.1726, 1.9512, -0.1197, -0.0513, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.326, "left_z": 0.12, "left_gripper": 1.0}, "note": "Clean top view shows three bottles lying with caps pointing away from the bases; I nudged the left one earlier. I'm hovering the left arm over the middle bottle's neck region to judge the radial offset from the wrist camera."})
tool
executing move_to over 30 steps (3.0s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteWrist view shows the middle bottle lying right on the jaw column with its cap pointing away from me (too far out to grasp the neck), so I'll first grab it by the body: descending to body-centre height above it.
move_to
left_y-0.3260left_z0.0320left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8433, 2.1139, 1.5646, -0.2768, -0.7315, -0.6331, 0.9985, -0.0212, 0.7242, 0.4728, -0.3511, -0.0307, -0.0357, 0.9998] state[eef_state]: left_x=0.4455 left_y=-0.3175 left_z=0.1132 left_yaw=0.0696 left_pitch=-0.0175 left_roll=0.0067 left_gripper=0.9985 right_x=0.278 right_y=0.0031 right_z=0.1445 right_yaw=0.01 right_pitch=-0.0311 right_roll=-0.006 right_gripper=0.9998 state[joint_eff]: [-0.7726, -11.6581, 8.8, 1.2772, -0.4518, -0.0366, -0.1685, -0.5265, -1.3197, 7.2821, 1.8974, -0.1001, 0.0366, -0.0122] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.326, "left_z": 0.032, "left_gripper": 1.0}, "note": "Wrist view shows the middle bottle lying right on the jaw column with its cap pointing away from me (too far out to grasp the neck), so I'll first grab it by the body: descending to body-centre height above it."})
tool
executing move_to over 6 steps (0.6s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe jaws are straddling the middle bottle's body (descent stopped at z=0.046, wrist view shows the bottle centred). Closing fully to grip the body so I can drag the bottle closer to the base.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8516, 2.2375, 1.4647, -0.0429, -0.7437, -0.6361, 0.9985, -0.0212, 0.7101, 0.445, -0.3397, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4469 left_y=-0.3234 left_z=0.0458 left_yaw=0.0712 left_pitch=-0.0041 left_roll=0.0014 left_gripper=0.9985 right_x=0.2751 right_y=0.0032 right_z=0.1377 right_yaw=0.0102 right_pitch=-0.0333 right_roll=-0.0062 right_gripper=0.9998 state[joint_eff]: [-0.6906, -9.7709, 4.9436, 1.1795, -0.2955, -0.0073, -0.1636, -0.4581, -1.5385, 6.8308, 1.9756, -0.105, -0.0366, -0.0122] 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_gripper": 0.0}, "note": "The jaws are straddling the middle bottle's body (descent stopped at z=0.046, wrist view shows the bottle centred). Closing fully to grip the body so I can drag the bottle closer to the base."})
tool
executing move_to over 10 steps (1.0s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe close came back empty (0.013), so the jaws were short of the bottle — the wrist camera makes objects look nearer than they are. Reopening and advancing 3 cm radially over the bottle body.
move_to
left_gripper1.0000left_x0.4830left_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8532, 2.2322, 1.4651, 0.0338, -0.791, -0.6514, 0.0127, -0.0212, 0.6926, 0.4129, -0.3244, -0.0307, -0.0357, 0.9998] state[eef_state]: left_x=0.4555 left_y=-0.3253 left_z=0.0636 left_yaw=0.1132 left_pitch=0.0708 left_roll=-0.0592 left_gripper=0.0127 right_x=0.2721 right_y=0.0033 right_z=0.1307 right_yaw=0.01 right_pitch=-0.0326 right_roll=-0.0059 right_gripper=0.9998 state[joint_eff]: [-0.0615, -12.1094, 5.7368, 0.7937, 0.1636, 0.1441, 1.0916, -0.6222, -1.1009, 6.9949, 1.9365, -0.1245, -0.0171, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.483, "left_z": 0.045}, "note": "The close came back empty (0.013), so the jaws were short of the bottle \u2014 the wrist camera makes objects look nearer than they are. Reopening and advancing 3 cm radially over the bottle body."})
tool
executing move_to over 10 steps (1.0s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteWrist view now shows the bottle's shoulder sitting between the two open jaws; closing to grip it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8112, 2.323, 1.6173, -0.1158, -0.7567, -0.6548, 0.9948, -0.0212, 0.6758, 0.382, -0.313, -0.0307, -0.0357, 0.9998] state[eef_state]: left_x=0.4769 left_y=-0.3209 left_z=0.0463 left_yaw=0.1304 left_pitch=0.0002 left_roll=-0.0042 left_gripper=0.9948 right_x=0.2688 right_y=0.0033 right_z=0.1232 right_yaw=0.01 right_pitch=-0.0353 right_roll=-0.0058 right_gripper=0.9998 state[joint_eff]: [0.3897, -11.2479, 8.7863, 1.4042, -0.2369, 0.232, -0.2027, -0.6085, -1.265, 7.0496, 1.9365, -0.1392, -0.0171, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Wrist view now shows the bottle's shoulder sitting between the two open jaws; closing to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteGripper settled at 0.42 (~4 cm) — it has the bottle's shoulder. Lifting high; since the grip is above the bottle's centre of mass, the bottle should swing to hang cap-up if it can rotate in the jaws.
move_to
left_z0.2800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8101, 2.3318, 1.6207, -0.083, -0.7815, -0.6586, 0.4236, -0.0212, 0.6533, 0.3485, -0.2977, -0.0311, -0.0357, 0.9998] state[eef_state]: left_x=0.4815 left_y=-0.3202 left_z=0.0495 left_yaw=0.1509 left_pitch=0.0307 left_roll=-0.0194 left_gripper=0.4236 right_x=0.2656 right_y=0.0035 right_z=0.1165 right_yaw=0.0103 right_pitch=-0.0311 right_roll=-0.0057 right_gripper=0.9998 state[joint_eff]: [-0.3214, -13.6684, 6.3795, 1.0427, -0.0806, 0.0122, 0.7106, -0.6359, -0.9504, 7.2274, 2.0049, -0.1197, 0.0024, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.28}, "note": "Gripper settled at 0.42 (~4 cm) \u2014 it has the bottle's shoulder. Lifting high; since the grip is above the bottle's centre of mass, the bottle should swing to hang cap-up if it can rotate in the jaws."})
tool
executing move_to over 15 steps (1.5s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteSomething ~4 cm thick is in the jaws and the wrist view hints the bottle is hanging vertically below them. Lowering toward the table: if the bottle is hanging upright, the descent should stall around z≈0.17 as its base touches down.
move_to
left_z0.1500left_x0.4400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8082, 2.4042, 2.6942, -1.0588, -0.7712, -0.6849, 0.4226, -0.0212, 0.6334, 0.3206, -0.2909, -0.0311, -0.0357, 0.9998] state[eef_state]: left_x=0.4885 left_y=-0.3279 left_z=0.2804 left_yaw=0.1604 left_pitch=0.0386 left_roll=-0.067 left_gripper=0.4226 right_x=0.2621 right_y=0.0035 right_z=0.1101 right_yaw=0.0103 right_pitch=-0.0322 right_roll=-0.0057 right_gripper=0.9998 state[joint_eff]: [0.0479, -9.3333, 4.6017, 0.4713, -0.4078, 0.1343, -0.1197, -0.8, -0.6769, 6.9128, 1.9463, -0.1197, 0.0122, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15, "left_x": 0.44}, "note": "Something ~4 cm thick is in the jaws and the wrist view hints the bottle is hanging vertically below them. Lowering toward the table: if the bottle is hanging upright, the descent should stall around z\u22480.17 as its base touches down."})
tool
executing move_to over 9 steps (0.9s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe wrist view shows the held bottle now hanging cap-up with its base at/near the table. Opening the jaws to release it standing.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8768, 2.1967, 1.8019, -0.6083, -0.8032, -0.7494, 0.4225, -0.0212, 0.6132, 0.2939, -0.2829, -0.0311, -0.036, 0.9998] state[eef_state]: left_x=0.4379 left_y=-0.3219 left_z=0.1247 left_yaw=0.1497 left_pitch=-0.0672 left_roll=0.0891 left_gripper=0.4225 right_x=0.2591 right_y=0.0036 right_z=0.1045 right_yaw=0.0105 right_pitch=-0.0307 right_roll=-0.0061 right_gripper=0.9998 state[joint_eff]: [-0.7726, -16.1846, 6.7487, 1.4286, -0.569, -0.0269, -0.0317, -0.6496, -0.5402, 6.735, 2.0147, -0.1392, -0.0171, -0.0122] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The wrist view shows the held bottle now hanging cap-up with its base at/near the table. Opening the jaws to release it standing."})
tool
executing move_to over 6 steps (0.6s)
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 40.22 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, 0.7933, 0.6079, -0.3763, -0.0227, -0.0284, 0.9987, -0.0158, 0.7883, 0.6033, -0.3862, -0.0216, -0.0216, 0.9999]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1827 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2935 right_y=0.0027 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.4171, -1.4838, 9.8393, 1.7705, -0.0122, 0.1294, -0.1538, -1.0188, -0.9368, 10.2085, 1.873, -0.0415, 0.0317, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da7def125ac7e0a7e74bf5509a274f98a1d53df71ca56784336b308ea3f6949c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:247c5502cb4860902d8cdbc3d35010da472ca2543bb8fc95e2bfcb0db0d0b4d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9efa62188d59b918c1de219d9719d1d98d999076989b36712f64c478d298c6c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob da7def125ac7
wire blob 247c5502cb48
wire blob 9efa62188d59
call 1 attempt 0 · /messages · status 200 · 56.85 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, 0.7933, 0.6079, -0.3763, -0.0227, -0.0284, 0.9987, -0.0158, 0.7883, 0.6033, -0.3862, -0.0216, -0.0216, 0.9999]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1827 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2935 right_y=0.0027 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.4171, -1.4838, 9.8393, 1.7705, -0.0122, 0.1294, -0.1538, -1.0188, -0.9368, 10.2085, 1.873, -0.0415, 0.0317, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da7def125ac7e0a7e74bf5509a274f98a1d53df71ca56784336b308ea3f6949c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:247c5502cb4860902d8cdbc3d35010da472ca2543bb8fc95e2bfcb0db0d0b4d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9efa62188d59b918c1de219d9719d1d98d999076989b36712f64c478d298c6c6",
        "media_type": "image/png",
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      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KkZHGJn4qho5UFzzZsq1hf",
      "input": {
        "note": "Three bottles lie on their sides, caps pointing away from the bases. I'll approach the leftmost bottle's neck with the left arm, hovering 15 cm up to check alignment in the wrist camera.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.42,
          "left_y": -0.21,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01KkZHGJn4qho5UFzzZsq1hf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.664, 1.6737, 1.0565, -0.1078, -0.5407, -0.4198, 0.9988, -0.0193, 0.7918, 0.6033, -0.4042, -0.0238, -0.0284, 0.9998]\nstate[eef_state]: left_x=0.4107 left_y=-0.2014 left_z=0.135 left_yaw=-0.0065 left_pitch=-0.0434 left_roll=0.018 left_gripper=0.9988 right_x=0.2913 right_y=0.0022 right_z=0.1753 right_yaw=0.0022 right_pitch=-0.0213 right_roll=-0.0041 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -8.2667, 8.7179, 1.7265, -0.398, 0.1538, -0.1294, 0.0205, -1.4564, 7.159, 1.8535, -0.022, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31347230bfb0685f455a97acdf25a3923318e0e01b57874042926773a58bcb74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4985d71d01582fbe8fa90b28210d58267e4663417674723b4504967d3749c99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:867f01c911b4efa96d6964459e31e88d5031440b0911c3fbbe1bc9bec614c918",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 31347230bfb0
wire blob a4985d71d015
wire blob 867f01c911b4
call 2 attempt 0 · /messages · status 200 · 22.31 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, 0.7933, 0.6079, -0.3763, -0.0227, -0.0284, 0.9987, -0.0158, 0.7883, 0.6033, -0.3862, -0.0216, -0.0216, 0.9999]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1827 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2935 right_y=0.0027 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.4171, -1.4838, 9.8393, 1.7705, -0.0122, 0.1294, -0.1538, -1.0188, -0.9368, 10.2085, 1.873, -0.0415, 0.0317, -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]: [-0.664, 1.6737, 1.0565, -0.1078, -0.5407, -0.4198, 0.9988, -0.0193, 0.7918, 0.6033, -0.4042, -0.0238, -0.0284, 0.9998]\nstate[eef_state]: left_x=0.4107 left_y=-0.2014 left_z=0.135 left_yaw=-0.0065 left_pitch=-0.0434 left_roll=0.018 left_gripper=0.9988 right_x=0.2913 right_y=0.0022 right_z=0.1753 right_yaw=0.0022 right_pitch=-0.0213 right_roll=-0.0041 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -8.2667, 8.7179, 1.7265, -0.398, 0.1538, -0.1294, 0.0205, -1.4564, 7.159, 1.8535, -0.022, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31347230bfb0685f455a97acdf25a3923318e0e01b57874042926773a58bcb74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4985d71d01582fbe8fa90b28210d58267e4663417674723b4504967d3749c99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:867f01c911b4efa96d6964459e31e88d5031440b0911c3fbbe1bc9bec614c918",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 31347230bfb0]
[blob a4985d71d015]
[blob 867f01c911b4]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BkdZi1nBvwzFfV7WkGPu2x",
      "input": {
        "note": "The left arm is hovering over the leftmost bottle (it now hides it in the top view). I'm dropping to neck height with the jaws opened just wider than the bottle neck, so I can grip the neck loosely and let the bottle swing upright when I lift.",
        "targets": {
          "left_gripper": 0.3,
          "left_x": 0.44,
          "left_y": -0.22,
          "left_z": 0.033
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01BkdZi1nBvwzFfV7WkGPu2x",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6659, 1.9854, 0.9649, 0.2897, -0.5434, -0.4198, 0.3054, -0.0204, 0.7841, 0.5842, -0.4026, -0.028, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4286 left_y=-0.216 left_z=0.0287 left_yaw=-0.0062 left_pitch=-0.0468 left_roll=0.0229 left_gripper=0.3054 right_x=0.2886 right_y=0.0027 right_z=0.169 right_yaw=0.005 right_pitch=-0.0311 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.5538, -9.3744, 6.5436, 1.7509, -0.1832, 0.1636, 0.2076, -0.2667, -1.7846, 6.8171, 1.9853, -0.0659, -0.0171, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:058bb6c343d4eb60cc1e2bad320a71315a3ce3b987f1cb8a85afc4ff58aa1528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a9640bad4e86c35013900e9a4cccab8d24b6e58dc2abb77ca0a91ec9d3fb9d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1bff2a28a5ae970a9f12bbaa55091de53ee6acbe5fb1d391e880b6740e348b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 058bb6c343d4
wire blob 9a9640bad4e8
wire blob d1bff2a28a5a
call 3 attempt 0 · /messages · status 200 · 24.89 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, 0.7933, 0.6079, -0.3763, -0.0227, -0.0284, 0.9987, -0.0158, 0.7883, 0.6033, -0.3862, -0.0216, -0.0216, 0.9999]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1827 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2935 right_y=0.0027 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.4171, -1.4838, 9.8393, 1.7705, -0.0122, 0.1294, -0.1538, -1.0188, -0.9368, 10.2085, 1.873, -0.0415, 0.0317, -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]: [-0.664, 1.6737, 1.0565, -0.1078, -0.5407, -0.4198, 0.9988, -0.0193, 0.7918, 0.6033, -0.4042, -0.0238, -0.0284, 0.9998]\nstate[eef_state]: left_x=0.4107 left_y=-0.2014 left_z=0.135 left_yaw=-0.0065 left_pitch=-0.0434 left_roll=0.018 left_gripper=0.9988 right_x=0.2913 right_y=0.0022 right_z=0.1753 right_yaw=0.0022 right_pitch=-0.0213 right_roll=-0.0041 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -8.2667, 8.7179, 1.7265, -0.398, 0.1538, -0.1294, 0.0205, -1.4564, 7.159, 1.8535, -0.022, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6659, 1.9854, 0.9649, 0.2897, -0.5434, -0.4198, 0.3054, -0.0204, 0.7841, 0.5842, -0.4026, -0.028, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4286 left_y=-0.216 left_z=0.0287 left_yaw=-0.0062 left_pitch=-0.0468 left_roll=0.0229 left_gripper=0.3054 right_x=0.2886 right_y=0.0027 right_z=0.169 right_yaw=0.005 right_pitch=-0.0311 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.5538, -9.3744, 6.5436, 1.7509, -0.1832, 0.1636, 0.2076, -0.2667, -1.7846, 6.8171, 1.9853, -0.0659, -0.0171, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:058bb6c343d4eb60cc1e2bad320a71315a3ce3b987f1cb8a85afc4ff58aa1528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a9640bad4e86c35013900e9a4cccab8d24b6e58dc2abb77ca0a91ec9d3fb9d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1bff2a28a5ae970a9f12bbaa55091de53ee6acbe5fb1d391e880b6740e348b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 058bb6c343d4]
[blob 9a9640bad4e8]
[blob d1bff2a28a5a]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P9HUFVKcfqMZjMbC1YKsLZ",
      "input": {
        "note": "The jaws are down at neck height straddling the leftmost bottle's neck (it is hidden under the gripper in the top view). Lifting straight up: if the jaws are around the neck, the cap will catch and the bottle should swing to hang vertically.",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01P9HUFVKcfqMZjMbC1YKsLZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6682, 1.7157, 1.3128, -0.308, -0.5472, -0.4236, 0.3053, -0.02, 0.7712, 0.5533, -0.3958, -0.0303, -0.0322, 0.9998]\nstate[eef_state]: left_x=0.4317 left_y=-0.219 left_z=0.1884 left_yaw=-0.004 left_pitch=-0.0296 left_roll=0.0095 left_gripper=0.3053 right_x=0.2848 right_y=0.0032 right_z=0.1598 right_yaw=0.009 right_pitch=-0.0421 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -12.1778, 9.6342, 1.5604, -0.3101, 0.0806, -0.0269, -0.253, -1.7162, 6.9538, 2.0098, -0.0562, 0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a2eb588b7204f490a68bace1aa539507817ec29fa1d9c2459794952a0350b46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bf589d5dc8721d2123c476c93cedd56976fec92bae4f7e2163dbeda71a699ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db1c8190e02e046abd3012ee6e3a1f14615cb7895cbd8ab7242aaa8de88c3192",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7a2eb588b720
wire blob 9bf589d5dc87
wire blob db1c8190e02e
call 4 attempt 0 · /messages · status 200 · 36.77 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]: [-0.664, 1.6737, 1.0565, -0.1078, -0.5407, -0.4198, 0.9988, -0.0193, 0.7918, 0.6033, -0.4042, -0.0238, -0.0284, 0.9998]\nstate[eef_state]: left_x=0.4107 left_y=-0.2014 left_z=0.135 left_yaw=-0.0065 left_pitch=-0.0434 left_roll=0.018 left_gripper=0.9988 right_x=0.2913 right_y=0.0022 right_z=0.1753 right_yaw=0.0022 right_pitch=-0.0213 right_roll=-0.0041 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -8.2667, 8.7179, 1.7265, -0.398, 0.1538, -0.1294, 0.0205, -1.4564, 7.159, 1.8535, -0.022, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6659, 1.9854, 0.9649, 0.2897, -0.5434, -0.4198, 0.3054, -0.0204, 0.7841, 0.5842, -0.4026, -0.028, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4286 left_y=-0.216 left_z=0.0287 left_yaw=-0.0062 left_pitch=-0.0468 left_roll=0.0229 left_gripper=0.3054 right_x=0.2886 right_y=0.0027 right_z=0.169 right_yaw=0.005 right_pitch=-0.0311 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.5538, -9.3744, 6.5436, 1.7509, -0.1832, 0.1636, 0.2076, -0.2667, -1.7846, 6.8171, 1.9853, -0.0659, -0.0171, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6682, 1.7157, 1.3128, -0.308, -0.5472, -0.4236, 0.3053, -0.02, 0.7712, 0.5533, -0.3958, -0.0303, -0.0322, 0.9998]\nstate[eef_state]: left_x=0.4317 left_y=-0.219 left_z=0.1884 left_yaw=-0.004 left_pitch=-0.0296 left_roll=0.0095 left_gripper=0.3053 right_x=0.2848 right_y=0.0032 right_z=0.1598 right_yaw=0.009 right_pitch=-0.0421 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -12.1778, 9.6342, 1.5604, -0.3101, 0.0806, -0.0269, -0.253, -1.7162, 6.9538, 2.0098, -0.0562, 0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a2eb588b7204f490a68bace1aa539507817ec29fa1d9c2459794952a0350b46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bf589d5dc8721d2123c476c93cedd56976fec92bae4f7e2163dbeda71a699ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db1c8190e02e046abd3012ee6e3a1f14615cb7895cbd8ab7242aaa8de88c3192",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7a2eb588b720]
[blob 9bf589d5dc87]
[blob db1c8190e02e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0117ZEsYBhrQgwAYwRbDA9jX",
      "input": {
        "note": "The lift did not catch the bottle, so I'm pulling the left arm back out of the way to get a clean, unoccluded top view of all three bottles before re-measuring the grasp point.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.25,
          "left_y": 0.0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_0117ZEsYBhrQgwAYwRbDA9jX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0696, 0.6788, 0.8497, -0.7143, -0.1165, -0.1013, 0.9977, -0.02, 0.7456, 0.5114, -0.3733, -0.0307, -0.033, 0.9998]\nstate[eef_state]: left_x=0.2571 left_y=0.0063 left_z=0.2518 left_yaw=0.0686 left_pitch=0.0223 left_roll=-0.0145 left_gripper=0.9977 right_x=0.2811 right_y=0.0034 right_z=0.152 right_yaw=0.0097 right_pitch=-0.036 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -0.1573, 7.3504, 1.8535, -0.0708, 0.2466, -0.1343, -0.335, -1.4564, 7.1726, 1.9512, -0.1197, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b532f38b4e90f6542d5564e28b3f4b26000259faa5f96b8d4e3013f9171eb78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4958af2f7aa93d3d18f29277e6e8160daa5d692449ef93b9f1595ff65c1b3691",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db2f6826124963507cefa83d3c221f850ece49bb755b53ed8cd51861d79ec7cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5b532f38b4e9
wire blob 4958af2f7aa9
wire blob db2f68261249
call 5 attempt 0 · /messages · status 200 · 46.54 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]: [-0.6659, 1.9854, 0.9649, 0.2897, -0.5434, -0.4198, 0.3054, -0.0204, 0.7841, 0.5842, -0.4026, -0.028, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.4286 left_y=-0.216 left_z=0.0287 left_yaw=-0.0062 left_pitch=-0.0468 left_roll=0.0229 left_gripper=0.3054 right_x=0.2886 right_y=0.0027 right_z=0.169 right_yaw=0.005 right_pitch=-0.0311 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.5538, -9.3744, 6.5436, 1.7509, -0.1832, 0.1636, 0.2076, -0.2667, -1.7846, 6.8171, 1.9853, -0.0659, -0.0171, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.6682, 1.7157, 1.3128, -0.308, -0.5472, -0.4236, 0.3053, -0.02, 0.7712, 0.5533, -0.3958, -0.0303, -0.0322, 0.9998]\nstate[eef_state]: left_x=0.4317 left_y=-0.219 left_z=0.1884 left_yaw=-0.004 left_pitch=-0.0296 left_roll=0.0095 left_gripper=0.3053 right_x=0.2848 right_y=0.0032 right_z=0.1598 right_yaw=0.009 right_pitch=-0.0421 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -12.1778, 9.6342, 1.5604, -0.3101, 0.0806, -0.0269, -0.253, -1.7162, 6.9538, 2.0098, -0.0562, 0.0122, -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]: [-0.0696, 0.6788, 0.8497, -0.7143, -0.1165, -0.1013, 0.9977, -0.02, 0.7456, 0.5114, -0.3733, -0.0307, -0.033, 0.9998]\nstate[eef_state]: left_x=0.2571 left_y=0.0063 left_z=0.2518 left_yaw=0.0686 left_pitch=0.0223 left_roll=-0.0145 left_gripper=0.9977 right_x=0.2811 right_y=0.0034 right_z=0.152 right_yaw=0.0097 right_pitch=-0.036 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -0.1573, 7.3504, 1.8535, -0.0708, 0.2466, -0.1343, -0.335, -1.4564, 7.1726, 1.9512, -0.1197, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b532f38b4e90f6542d5564e28b3f4b26000259faa5f96b8d4e3013f9171eb78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4958af2f7aa93d3d18f29277e6e8160daa5d692449ef93b9f1595ff65c1b3691",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db2f6826124963507cefa83d3c221f850ece49bb755b53ed8cd51861d79ec7cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5b532f38b4e9]
[blob 4958af2f7aa9]
[blob db2f68261249]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NJyyapLRJtPUUCkiVGTL3n",
      "input": {
        "note": "Clean top view shows three bottles lying with caps pointing away from the bases; I nudged the left one earlier. I'm hovering the left arm over the middle bottle's neck region to judge the radial offset from the wrist camera.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.45,
          "left_y": -0.326,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 30 steps (3.0s)",
      "tool_use_id": "toolu_01NJyyapLRJtPUUCkiVGTL3n",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8433, 2.1139, 1.5646, -0.2768, -0.7315, -0.6331, 0.9985, -0.0212, 0.7242, 0.4728, -0.3511, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4455 left_y=-0.3175 left_z=0.1132 left_yaw=0.0696 left_pitch=-0.0175 left_roll=0.0067 left_gripper=0.9985 right_x=0.278 right_y=0.0031 right_z=0.1445 right_yaw=0.01 right_pitch=-0.0311 right_roll=-0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -11.6581, 8.8, 1.2772, -0.4518, -0.0366, -0.1685, -0.5265, -1.3197, 7.2821, 1.8974, -0.1001, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e3b42a220588fc5c691c0f980e407625409abc98e6ac1d030e748bc13366382",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77a1c913345f40722fbb01727ab78410eed503ddc4cc0504bf067b5af776a4de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:036a54c84254c1aa35030fa2b11202f33f617bd52dcd5a089c6e224dd137e75f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0e3b42a22058
wire blob 77a1c913345f
wire blob 036a54c84254
call 6 attempt 0 · /messages · status 200 · 8.382 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]: [-0.6682, 1.7157, 1.3128, -0.308, -0.5472, -0.4236, 0.3053, -0.02, 0.7712, 0.5533, -0.3958, -0.0303, -0.0322, 0.9998]\nstate[eef_state]: left_x=0.4317 left_y=-0.219 left_z=0.1884 left_yaw=-0.004 left_pitch=-0.0296 left_roll=0.0095 left_gripper=0.3053 right_x=0.2848 right_y=0.0032 right_z=0.1598 right_yaw=0.009 right_pitch=-0.0421 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -12.1778, 9.6342, 1.5604, -0.3101, 0.0806, -0.0269, -0.253, -1.7162, 6.9538, 2.0098, -0.0562, 0.0122, -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]: [-0.0696, 0.6788, 0.8497, -0.7143, -0.1165, -0.1013, 0.9977, -0.02, 0.7456, 0.5114, -0.3733, -0.0307, -0.033, 0.9998]\nstate[eef_state]: left_x=0.2571 left_y=0.0063 left_z=0.2518 left_yaw=0.0686 left_pitch=0.0223 left_roll=-0.0145 left_gripper=0.9977 right_x=0.2811 right_y=0.0034 right_z=0.152 right_yaw=0.0097 right_pitch=-0.036 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -0.1573, 7.3504, 1.8535, -0.0708, 0.2466, -0.1343, -0.335, -1.4564, 7.1726, 1.9512, -0.1197, -0.0513, -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]: [-0.8433, 2.1139, 1.5646, -0.2768, -0.7315, -0.6331, 0.9985, -0.0212, 0.7242, 0.4728, -0.3511, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4455 left_y=-0.3175 left_z=0.1132 left_yaw=0.0696 left_pitch=-0.0175 left_roll=0.0067 left_gripper=0.9985 right_x=0.278 right_y=0.0031 right_z=0.1445 right_yaw=0.01 right_pitch=-0.0311 right_roll=-0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -11.6581, 8.8, 1.2772, -0.4518, -0.0366, -0.1685, -0.5265, -1.3197, 7.2821, 1.8974, -0.1001, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e3b42a220588fc5c691c0f980e407625409abc98e6ac1d030e748bc13366382",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77a1c913345f40722fbb01727ab78410eed503ddc4cc0504bf067b5af776a4de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:036a54c84254c1aa35030fa2b11202f33f617bd52dcd5a089c6e224dd137e75f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0e3b42a22058]
[blob 77a1c913345f]
[blob 036a54c84254]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GVt75WMsmPjgv1EGJJwhLh",
      "input": {
        "note": "Wrist view shows the middle bottle lying right on the jaw column with its cap pointing away from me (too far out to grasp the neck), so I'll first grab it by the body: descending to body-centre height above it.",
        "targets": {
          "left_gripper": 1.0,
          "left_y": -0.326,
          "left_z": 0.032
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01GVt75WMsmPjgv1EGJJwhLh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8516, 2.2375, 1.4647, -0.0429, -0.7437, -0.6361, 0.9985, -0.0212, 0.7101, 0.445, -0.3397, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4469 left_y=-0.3234 left_z=0.0458 left_yaw=0.0712 left_pitch=-0.0041 left_roll=0.0014 left_gripper=0.9985 right_x=0.2751 right_y=0.0032 right_z=0.1377 right_yaw=0.0102 right_pitch=-0.0333 right_roll=-0.0062 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -9.7709, 4.9436, 1.1795, -0.2955, -0.0073, -0.1636, -0.4581, -1.5385, 6.8308, 1.9756, -0.105, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8510305cae6c79a7489c1d4a6600d95a90780cecdf024c04c2897a5773f86909",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dec853b931f626bd77a104ec7dfdc827c97b758681e1d271ebf63bc1a4af2475",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35b3a66b7300aae579b76f83caabe05e88c301fbe2e4c5e901d80edde25ac29c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 8510305cae6c
wire blob dec853b931f6
wire blob 35b3a66b7300
call 7 attempt 0 · /messages · status 200 · 8.681 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]: [-0.0696, 0.6788, 0.8497, -0.7143, -0.1165, -0.1013, 0.9977, -0.02, 0.7456, 0.5114, -0.3733, -0.0307, -0.033, 0.9998]\nstate[eef_state]: left_x=0.2571 left_y=0.0063 left_z=0.2518 left_yaw=0.0686 left_pitch=0.0223 left_roll=-0.0145 left_gripper=0.9977 right_x=0.2811 right_y=0.0034 right_z=0.152 right_yaw=0.0097 right_pitch=-0.036 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -0.1573, 7.3504, 1.8535, -0.0708, 0.2466, -0.1343, -0.335, -1.4564, 7.1726, 1.9512, -0.1197, -0.0513, -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]: [-0.8433, 2.1139, 1.5646, -0.2768, -0.7315, -0.6331, 0.9985, -0.0212, 0.7242, 0.4728, -0.3511, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4455 left_y=-0.3175 left_z=0.1132 left_yaw=0.0696 left_pitch=-0.0175 left_roll=0.0067 left_gripper=0.9985 right_x=0.278 right_y=0.0031 right_z=0.1445 right_yaw=0.01 right_pitch=-0.0311 right_roll=-0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -11.6581, 8.8, 1.2772, -0.4518, -0.0366, -0.1685, -0.5265, -1.3197, 7.2821, 1.8974, -0.1001, 0.0366, -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]: [-0.8516, 2.2375, 1.4647, -0.0429, -0.7437, -0.6361, 0.9985, -0.0212, 0.7101, 0.445, -0.3397, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4469 left_y=-0.3234 left_z=0.0458 left_yaw=0.0712 left_pitch=-0.0041 left_roll=0.0014 left_gripper=0.9985 right_x=0.2751 right_y=0.0032 right_z=0.1377 right_yaw=0.0102 right_pitch=-0.0333 right_roll=-0.0062 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -9.7709, 4.9436, 1.1795, -0.2955, -0.0073, -0.1636, -0.4581, -1.5385, 6.8308, 1.9756, -0.105, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8510305cae6c79a7489c1d4a6600d95a90780cecdf024c04c2897a5773f86909",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dec853b931f626bd77a104ec7dfdc827c97b758681e1d271ebf63bc1a4af2475",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35b3a66b7300aae579b76f83caabe05e88c301fbe2e4c5e901d80edde25ac29c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 8510305cae6c]
[blob dec853b931f6]
[blob 35b3a66b7300]
{
  "content": [
    {
      "signature": "CAIS3wgKjgEIEhgCKkDulyWc9vf0jOc4+uRP4qiQDp83i+A+Xv782tlC1i85siD7asIzeku+yExHOsYUvVQNvFK5wCilxjp/lXcs2R9mMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfbJzNUGEgwJDwXYHubBPTyHNEcaDM0ZoTGM4UrH0T4ocyIwca+kOIo5w9JE7qyosYPBHKewyZ2d+RqQ5+9yjKyuBPoiqsUz+9BPoDzuQDwVJaxKKv0GEeaJu/pmmObB642rXgy7eYWppOZyeRKR2r7phxjhx9MM/BfyxxVlyuvYkPLwPmqzZrIUvQkRA2TcgQ0EfriW8ifcuwn0naB8EejTWdwLbaVafow7udzb0hVc1GBpxuu3n8iK79uQuKtX1ZxNkL1wH0UUhnCcWy0xJXavt2jm1nw80FVXIODncFzavlV2dY5AE7vUIapaJ/gsUirY51YtjHU+Lea6pS/jNqdhT6BV148oqtVBJ4DSD4/Q5dkocRjNNdwiM0rDWvzTD36E5lVQ7ul4L9GY7XENxQuA7lE2txjkX0NKqNsJar5LifcBAVOd7ku90BWwuiI+MfcCTm/1MCxx1MYitprlqVIDKTDkJAem1R9uTfojwJ3j37F6CTpXT01B7Loh/iAevhovGWbh4UoOUgxvwHNIAiDYMySyXUq5fusGzPEnVwLu5J0BuPo5H0l5qJWL2B3VwIO34AZ4GNdmORMurzxO2VQxHEnYtvqzZ9G2X7KoFyn+PAklueTLQfGaiT1XCKzqByeDM0sB+Wuy+H7s7nPQ18xUdyH0shoRntu30S0h+klSgWHqb+mRca98whguRzndHmvijZqqcHXFf6MjTI4W6PCihgDubsIYDyKcFVVumKQ+T59Ht6xXW3FWlXvCwwiNm36//KmzRSXdLpBNGROeZoHIqXCPHV6PXFoloBG8pvnLMfYdmCHb9ZB6Y78Ag25UOYrHaj7VbKBbXV28CH5078BJmoqPX08lrZYCwkB3aotPesuSPDzQHFrQe05zY0OvmTO8fEmhJUEeqLHvlxlGBpPUWBpdU/cwur/0ROzMkUEmO97SURJYlMsjANgTpGOzxZ3Zd386r8n97TkXekfbBaa9V+T7jBRIiWb4CXH8OICi4vf/80dOttzY2vL0trNCOhcsRrmUOwrzOUwKV2fa1RXra3tSGww1BgTs6iJQ/ySAJsp9lbE/4pchYITzGMct87EuTATqBVMk3cwmXatUWm3/aMR/wFr1+nAKcyXvyVcV3VBYkgk0a8eVEuagyUez5Kbuv4P0704j9+AV7EmaCmPNotWjOvHqiiyqYxZROLB4b+JmJe7I0xHkucT+Ujwa6JvUQmF9TtPD6UdH/cQACuHQAFTV679KkQMo0QbfT2GuieRZkszh1Upg9AWM3qQiUvQjaFE8xVAhVgyY3ulwZiOgHp0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QcSZAkVKGwP1bH3oNrzHUF",
      "input": {
        "note": "The jaws are straddling the middle bottle's body (descent stopped at z=0.046, wrist view shows the bottle centred). Closing fully to grip the body so I can drag the bottle closer to the base.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QcSZAkVKGwP1bH3oNrzHUF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8532, 2.2322, 1.4651, 0.0338, -0.791, -0.6514, 0.0127, -0.0212, 0.6926, 0.4129, -0.3244, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4555 left_y=-0.3253 left_z=0.0636 left_yaw=0.1132 left_pitch=0.0708 left_roll=-0.0592 left_gripper=0.0127 right_x=0.2721 right_y=0.0033 right_z=0.1307 right_yaw=0.01 right_pitch=-0.0326 right_roll=-0.0059 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -12.1094, 5.7368, 0.7937, 0.1636, 0.1441, 1.0916, -0.6222, -1.1009, 6.9949, 1.9365, -0.1245, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad2307175481d3617028c9c14aed6ebaad134602701402f9fa3a3ab1f5c02099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66c7fdb9df489eed47cbe59dd750cab6ed49ad94a2eb2ac774222eb19c9f21cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5fa86cfb8e22d49fdb87d70cca1a391ca4e3606aa919152d35ad7051c35d374a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ad2307175481
wire blob 66c7fdb9df48
wire blob 5fa86cfb8e22
call 8 attempt 0 · /messages · status 200 · 10.47 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]: [-0.8433, 2.1139, 1.5646, -0.2768, -0.7315, -0.6331, 0.9985, -0.0212, 0.7242, 0.4728, -0.3511, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4455 left_y=-0.3175 left_z=0.1132 left_yaw=0.0696 left_pitch=-0.0175 left_roll=0.0067 left_gripper=0.9985 right_x=0.278 right_y=0.0031 right_z=0.1445 right_yaw=0.01 right_pitch=-0.0311 right_roll=-0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -11.6581, 8.8, 1.2772, -0.4518, -0.0366, -0.1685, -0.5265, -1.3197, 7.2821, 1.8974, -0.1001, 0.0366, -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]: [-0.8516, 2.2375, 1.4647, -0.0429, -0.7437, -0.6361, 0.9985, -0.0212, 0.7101, 0.445, -0.3397, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4469 left_y=-0.3234 left_z=0.0458 left_yaw=0.0712 left_pitch=-0.0041 left_roll=0.0014 left_gripper=0.9985 right_x=0.2751 right_y=0.0032 right_z=0.1377 right_yaw=0.0102 right_pitch=-0.0333 right_roll=-0.0062 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -9.7709, 4.9436, 1.1795, -0.2955, -0.0073, -0.1636, -0.4581, -1.5385, 6.8308, 1.9756, -0.105, -0.0366, -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]: [-0.8532, 2.2322, 1.4651, 0.0338, -0.791, -0.6514, 0.0127, -0.0212, 0.6926, 0.4129, -0.3244, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4555 left_y=-0.3253 left_z=0.0636 left_yaw=0.1132 left_pitch=0.0708 left_roll=-0.0592 left_gripper=0.0127 right_x=0.2721 right_y=0.0033 right_z=0.1307 right_yaw=0.01 right_pitch=-0.0326 right_roll=-0.0059 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -12.1094, 5.7368, 0.7937, 0.1636, 0.1441, 1.0916, -0.6222, -1.1009, 6.9949, 1.9365, -0.1245, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad2307175481d3617028c9c14aed6ebaad134602701402f9fa3a3ab1f5c02099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66c7fdb9df489eed47cbe59dd750cab6ed49ad94a2eb2ac774222eb19c9f21cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fa86cfb8e22d49fdb87d70cca1a391ca4e3606aa919152d35ad7051c35d374a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ad2307175481]
[blob 66c7fdb9df48]
[blob 5fa86cfb8e22]
{
  "content": [
    {
      "signature": "CAISlQkKjgEIEhgCKkAtyXjTOt//B8UaDdtZqZkHxV1K/K8zxWswDiK9EOcTU8fpLb8ShZqfNjEdZL9F6WQ3nsP3p42qzPkuoGTeeL1DMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf/JzNUGEgxRYL5a8nXCNizTTEgaDJJF2tR0ZjyJf9B4EyIwAvZE7NdiIq1QhZhN33glZLJ6rwXF2KzyWnV0k5g9Jb0yGgOQvO8KBblVH/sYZe/AKrMH7B5PfHOr6XZ/2yXUdLo3olZHjthfcG/fIjHZrCSte+dKSOAG3SFJblDe/U2r2cKHovWWVdJnbMcZoNibLna68QgVx6v0F1ZOaUWKZe3D+eCvFXX4R05CxMXnY20iye5agD7z6iD/pxcwm8fEwk0MGAlyckjZpXwDvBT9H5AODddFiwCX+eBDgnVmBxUpXAKOzhx32Kx2HZifAaO9OA3QkVVsIK8QIpV0Dxd/xGLfZJD35ib9/ED9L7+eyYH5lEm+MOwI2trhJt+Nh6WPd6bnlIiqxxdOhhzKdwDc8edb2w7bYiP9mLWoo4ihHJTf/ou4t/6d/8U5F7QyGQ52Az8DOvX1lubH30VFfJslg1mbR8/YVuaYJiJ23vXHKrP5MvTIMw9ndPtrMQoUjp/8d8qGYo3/BZlEYZwHe3IqMmUEtMj88c/mk8o63s5eI1WLX+1JdflF/SPU329IXZc3ivi+ImkXqbbbXdWvldH93VfQQCw8P4bjxYVG6dyEaB9hezjWhV6r1NCs7m34YwKCuann2jrrzqqk8gzjFGJ1XIQVQ2m4wZcfakUz4eiVfK6en64ogcirVdXtBXlIfgmJ7fhrgsaaLpOyunVkiSiFPJ+uBWWBbBqaJWbLSwrlemAa4RftcOFqY0oLkl3Tif6tskK3cVJ2Rv2nNjNj80AII1sJcdYMZ3/c/mtW04puxtAglhrWhq7ZbPA+bNGwC3Ms64/XjoKZqPsQjf3VYeDozWY1IUn3GSXc8mKE+sTtXf3CpNIJJhK0l/ns/FlwXj22F0COiWab3I6ZTTrqj32fnyCeyFWthMgrjpgnIqup7Cjmp9lVs6dV+BYNnLKXsZ5LCjVz5paBkivchIT3nF/jW6702yr1puW04GCyRd3WMd4qSSNgVq8cbdjxgQuNbrWpV3XD4hVODtES5NwKWqWzmhstl0za1yxCm4y5YH1Perj6Rtwr1hzfIqhZ4tJazEB7pGhCAnScidRnqknxgYC6YjRpwJXg/7QJGbggWoZ4v5j/whzFUxG6YK9UmlkYK94iXc/1+yMwjO/DWq2yWX0gP55muRt3PKa9s4UCvnHCxaNPo94tPBzdZNujfTXLgRysLcwNGlfbiaLCEW5szkXnd3YgXRDOL8dGj0TQy/LnxgjpliN4UQuRtEdNNJNnvEdNIK0GQ0E+VEF9RkmvzKDmY4fStJcZskQYdylHpUwi4G/edaMHFiZlEd9szwik1QcxK82kJFu0Kd95eQAsfg4GJI/nQ9rmts8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F1gnnneLKCCQQGfQUaGW2S",
      "input": {
        "note": "The close came back empty (0.013), so the jaws were short of the bottle — the wrist camera makes objects look nearer than they are. Reopening and advancing 3 cm radially over the bottle body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.483,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01F1gnnneLKCCQQGfQUaGW2S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8112, 2.323, 1.6173, -0.1158, -0.7567, -0.6548, 0.9948, -0.0212, 0.6758, 0.382, -0.313, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4769 left_y=-0.3209 left_z=0.0463 left_yaw=0.1304 left_pitch=0.0002 left_roll=-0.0042 left_gripper=0.9948 right_x=0.2688 right_y=0.0033 right_z=0.1232 right_yaw=0.01 right_pitch=-0.0353 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -11.2479, 8.7863, 1.4042, -0.2369, 0.232, -0.2027, -0.6085, -1.265, 7.0496, 1.9365, -0.1392, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4ff03e3df85c8519c434ce7e2f69bdc509cb5741ac92047a4c93687e853dcc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f402da701b676cdf69b7e51fe6c6cd1de2a90719b9a7b975393aebd0aad882b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5d37a2b138269f64e3324c15a476a43f77cbb88ea30324ac61726faa9faa5af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d4ff03e3df85
wire blob f402da701b67
wire blob e5d37a2b1382
call 9 attempt 0 · /messages · status 200 · 7.384 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]: [-0.8516, 2.2375, 1.4647, -0.0429, -0.7437, -0.6361, 0.9985, -0.0212, 0.7101, 0.445, -0.3397, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4469 left_y=-0.3234 left_z=0.0458 left_yaw=0.0712 left_pitch=-0.0041 left_roll=0.0014 left_gripper=0.9985 right_x=0.2751 right_y=0.0032 right_z=0.1377 right_yaw=0.0102 right_pitch=-0.0333 right_roll=-0.0062 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -9.7709, 4.9436, 1.1795, -0.2955, -0.0073, -0.1636, -0.4581, -1.5385, 6.8308, 1.9756, -0.105, -0.0366, -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]: [-0.8532, 2.2322, 1.4651, 0.0338, -0.791, -0.6514, 0.0127, -0.0212, 0.6926, 0.4129, -0.3244, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4555 left_y=-0.3253 left_z=0.0636 left_yaw=0.1132 left_pitch=0.0708 left_roll=-0.0592 left_gripper=0.0127 right_x=0.2721 right_y=0.0033 right_z=0.1307 right_yaw=0.01 right_pitch=-0.0326 right_roll=-0.0059 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -12.1094, 5.7368, 0.7937, 0.1636, 0.1441, 1.0916, -0.6222, -1.1009, 6.9949, 1.9365, -0.1245, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8112, 2.323, 1.6173, -0.1158, -0.7567, -0.6548, 0.9948, -0.0212, 0.6758, 0.382, -0.313, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4769 left_y=-0.3209 left_z=0.0463 left_yaw=0.1304 left_pitch=0.0002 left_roll=-0.0042 left_gripper=0.9948 right_x=0.2688 right_y=0.0033 right_z=0.1232 right_yaw=0.01 right_pitch=-0.0353 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -11.2479, 8.7863, 1.4042, -0.2369, 0.232, -0.2027, -0.6085, -1.265, 7.0496, 1.9365, -0.1392, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4ff03e3df85c8519c434ce7e2f69bdc509cb5741ac92047a4c93687e853dcc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f402da701b676cdf69b7e51fe6c6cd1de2a90719b9a7b975393aebd0aad882b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5d37a2b138269f64e3324c15a476a43f77cbb88ea30324ac61726faa9faa5af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d4ff03e3df85]
[blob f402da701b67]
[blob e5d37a2b1382]
{
  "content": [
    {
      "signature": "CAISxgQKjgEIEhgCKkC7DUV0hzAaCE5Bkj6HA4c0p+d2SViGJz2ACnKd7knygRhrpAoxes7YJsavhbBUf41O3ZUH/5PD4nAp+CKW3GEKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYvKzNUGEgyoXYB65+8XUVCT4jcaDAx0KAKoJbIfrvONnyIw7DinsNCpJHN8WjYQS0gZrvlbV0pTZLpcFxVcw29ftiamHlO5tO4pOpSVtMqK6vC3KuQCS7mS+c9IxAPlQRxZk+4PG+B8W33lM9f1ypqtzIY7Z5+2T0fAI9TYrj7TK7sdklpKqPKiJwZB4ziWhVMaYFO9OMwz/gt7iia4FRudi7AM8NMWycDckx5Eds/Gx9/FLhrc3OKpIdArjwHvVhgRwuN7VL+1B0jivg+n5giAGwljcmU7/NxsPvJBP7pwS6BF3iFAgh5ruF/H6sd9oxGPhyqbQ+2KMhagB5M53Sxdz5AvtAkmXOUsThXallW1qmFMr0GxbrlPldM8OppQHbhjpGdHeOxHjvQTBL3x/NzobTUXJZl4t26rL5kboc+z3DEnmjUBd+EiUJkplhq82YGdPX8oGVbt4S/VB8b8un4VwaTTqr4e0kEfiW6ilxlys03U8h4bZhnLLN6WlJfJBjU6gg/LopJjXzf+f24DdObk7r8loGfRRUUziguZ7pKhErKvMDPRDIT021WtgC6Nwt6kkFDe79OXZZoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Niqvb8zofgMuVAfZWsdm6n",
      "input": {
        "note": "Wrist view now shows the bottle's shoulder sitting between the two open jaws; closing to grip it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Niqvb8zofgMuVAfZWsdm6n",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8101, 2.3318, 1.6207, -0.083, -0.7815, -0.6586, 0.4236, -0.0212, 0.6533, 0.3485, -0.2977, -0.0311, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4815 left_y=-0.3202 left_z=0.0495 left_yaw=0.1509 left_pitch=0.0307 left_roll=-0.0194 left_gripper=0.4236 right_x=0.2656 right_y=0.0035 right_z=0.1165 right_yaw=0.0103 right_pitch=-0.0311 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -13.6684, 6.3795, 1.0427, -0.0806, 0.0122, 0.7106, -0.6359, -0.9504, 7.2274, 2.0049, -0.1197, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3db75fd430961c1cbc3b2c5958b40ced106c479fbea5f8bbce34220b2eecca39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2c4707932a5b8d710591922fdb6eb8fda9bc578751dda1ce228d2eb85effb56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e36ea13a8e44451693c89ae2e2a5b1bcfe522a14aa6173d40bd3753ce8acd2d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3db75fd43096
wire blob e2c4707932a5
wire blob e36ea13a8e44
call 10 attempt 0 · /messages · status 200 · 17.71 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]: [-0.8532, 2.2322, 1.4651, 0.0338, -0.791, -0.6514, 0.0127, -0.0212, 0.6926, 0.4129, -0.3244, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4555 left_y=-0.3253 left_z=0.0636 left_yaw=0.1132 left_pitch=0.0708 left_roll=-0.0592 left_gripper=0.0127 right_x=0.2721 right_y=0.0033 right_z=0.1307 right_yaw=0.01 right_pitch=-0.0326 right_roll=-0.0059 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -12.1094, 5.7368, 0.7937, 0.1636, 0.1441, 1.0916, -0.6222, -1.1009, 6.9949, 1.9365, -0.1245, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.8112, 2.323, 1.6173, -0.1158, -0.7567, -0.6548, 0.9948, -0.0212, 0.6758, 0.382, -0.313, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4769 left_y=-0.3209 left_z=0.0463 left_yaw=0.1304 left_pitch=0.0002 left_roll=-0.0042 left_gripper=0.9948 right_x=0.2688 right_y=0.0033 right_z=0.1232 right_yaw=0.01 right_pitch=-0.0353 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -11.2479, 8.7863, 1.4042, -0.2369, 0.232, -0.2027, -0.6085, -1.265, 7.0496, 1.9365, -0.1392, -0.0171, -0.0122]\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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8101, 2.3318, 1.6207, -0.083, -0.7815, -0.6586, 0.4236, -0.0212, 0.6533, 0.3485, -0.2977, -0.0311, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4815 left_y=-0.3202 left_z=0.0495 left_yaw=0.1509 left_pitch=0.0307 left_roll=-0.0194 left_gripper=0.4236 right_x=0.2656 right_y=0.0035 right_z=0.1165 right_yaw=0.0103 right_pitch=-0.0311 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -13.6684, 6.3795, 1.0427, -0.0806, 0.0122, 0.7106, -0.6359, -0.9504, 7.2274, 2.0049, -0.1197, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3db75fd430961c1cbc3b2c5958b40ced106c479fbea5f8bbce34220b2eecca39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2c4707932a5b8d710591922fdb6eb8fda9bc578751dda1ce228d2eb85effb56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e36ea13a8e44451693c89ae2e2a5b1bcfe522a14aa6173d40bd3753ce8acd2d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3db75fd43096]
[blob e2c4707932a5]
[blob e36ea13a8e44]
{
  "content": [
    {
      "signature": "CAISjQYKjgEIEhgCKkBckbuiS59paua9tl14m5vnVelaWbaLw03GgwuLGVLW6GzFjL+cutnHf1+72tTGcp//I/Ev9BNvuIBlR/3Yx//cMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZPKzNUGEgy+jLU0ei+XsEvOqeMaDBXEbGrBJjDSccOwqCIwCzMA/YkANaUByX/dGtnuaO5tc7rk1of6iZIT5RoMkkJuWvtYAekjvI3GSqa/rNq5KqsEkf1Mlk8/ftDKhhIF6dkipDHy1BYSsW6KViF+0dwMfeGmNgKR6hctnloMeM7KRYC9lfVJc0e5tZN6QJcV9i3hsBUYBrQGdKzW4q2cXCQGsdbIUaKuh9mkm4tp0T3taJyLRE2B2h7VN72wMBVMO5Vsswdog1v7jyeshHNunNXQHzRCzZonE15HAvY3Y6KYQHGXWbeaZQt5ZqNRvD4hvoNufpeD6w4eOEAQrGwLkMfYrc57vSR+pXVDAhIJm8D6j4TofrtjH3V4YX2lQArJlNE9fKR86TRzA4lMlgJx+tdIxDjC8mUp3Uo4XqmmfycfdgsbonmFKPgzvncQfz5aZzCvV63/5rnXUxQ6Pr5mY5ybiI81eYyej7XpV2hYdMbVyHLXE2C5k3IPwusrN+gxodXKVNZgQ33c3+RXs5Bov+WXGfoNkvfcod+uE3Wxzg0PadD+iP6yO0LEaw2FQQUREiayeyPC/1pRefSv6XuhhVQXEzkoXTC1X8pjihjem2+51i5J11iaKsvrSkb+F2pQMYQNn3TpuPSXRvJkjK3gGduwHGR4u4dJlQXJf8rAzq/r6BdHInyLT1rqdZWNHMcWR//NOEOKETagpize7wlw732RaOCGH7gl5yCJhHzMcmooZ+eyGD383mRHzlwLa+cYUAG9M+RmGU1ZLOo8eyoOtn9zT66n2IKTeFJpYZjq5zhjqkL1NT0B5iKvUaoxuIfyC+9FiobOk/PFJeIeOmPjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JJ9CptsyKR2vau3arhzixk",
      "input": {
        "note": "Gripper settled at 0.42 (~4 cm) — it has the bottle's shoulder. Lifting high; since the grip is above the bottle's centre of mass, the bottle should swing to hang cap-up if it can rotate in the jaws.",
        "targets": {
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01JJ9CptsyKR2vau3arhzixk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8082, 2.4042, 2.6942, -1.0588, -0.7712, -0.6849, 0.4226, -0.0212, 0.6334, 0.3206, -0.2909, -0.0311, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4885 left_y=-0.3279 left_z=0.2804 left_yaw=0.1604 left_pitch=0.0386 left_roll=-0.067 left_gripper=0.4226 right_x=0.2621 right_y=0.0035 right_z=0.1101 right_yaw=0.0103 right_pitch=-0.0322 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -9.3333, 4.6017, 0.4713, -0.4078, 0.1343, -0.1197, -0.8, -0.6769, 6.9128, 1.9463, -0.1197, 0.0122, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20fdaf63f2c57a36ddae078232be6f749a4cebd246d34f313ca2ac1697b7f2fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4b8870a390fe7fbf9ced3e5b0ad28e6c0d2501fa93e9f4d819c2ae4f5642fa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0163cd86e0809e795b379390de2b7023d2d3001de76a3d593fd9a9c586451bce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 20fdaf63f2c5
wire blob f4b8870a390f
wire blob 0163cd86e080
call 11 attempt 0 · /messages · status 200 · 17.85 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]: [-0.8112, 2.323, 1.6173, -0.1158, -0.7567, -0.6548, 0.9948, -0.0212, 0.6758, 0.382, -0.313, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4769 left_y=-0.3209 left_z=0.0463 left_yaw=0.1304 left_pitch=0.0002 left_roll=-0.0042 left_gripper=0.9948 right_x=0.2688 right_y=0.0033 right_z=0.1232 right_yaw=0.01 right_pitch=-0.0353 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -11.2479, 8.7863, 1.4042, -0.2369, 0.232, -0.2027, -0.6085, -1.265, 7.0496, 1.9365, -0.1392, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.8101, 2.3318, 1.6207, -0.083, -0.7815, -0.6586, 0.4236, -0.0212, 0.6533, 0.3485, -0.2977, -0.0311, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4815 left_y=-0.3202 left_z=0.0495 left_yaw=0.1509 left_pitch=0.0307 left_roll=-0.0194 left_gripper=0.4236 right_x=0.2656 right_y=0.0035 right_z=0.1165 right_yaw=0.0103 right_pitch=-0.0311 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -13.6684, 6.3795, 1.0427, -0.0806, 0.0122, 0.7106, -0.6359, -0.9504, 7.2274, 2.0049, -0.1197, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8082, 2.4042, 2.6942, -1.0588, -0.7712, -0.6849, 0.4226, -0.0212, 0.6334, 0.3206, -0.2909, -0.0311, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4885 left_y=-0.3279 left_z=0.2804 left_yaw=0.1604 left_pitch=0.0386 left_roll=-0.067 left_gripper=0.4226 right_x=0.2621 right_y=0.0035 right_z=0.1101 right_yaw=0.0103 right_pitch=-0.0322 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -9.3333, 4.6017, 0.4713, -0.4078, 0.1343, -0.1197, -0.8, -0.6769, 6.9128, 1.9463, -0.1197, 0.0122, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20fdaf63f2c57a36ddae078232be6f749a4cebd246d34f313ca2ac1697b7f2fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4b8870a390fe7fbf9ced3e5b0ad28e6c0d2501fa93e9f4d819c2ae4f5642fa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0163cd86e0809e795b379390de2b7023d2d3001de76a3d593fd9a9c586451bce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 20fdaf63f2c5]
[blob f4b8870a390f]
[blob 0163cd86e080]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R17Q1Mw9wesTfDk6T9uVrQ",
      "input": {
        "note": "Something ~4 cm thick is in the jaws and the wrist view hints the bottle is hanging vertically below them. Lowering toward the table: if the bottle is hanging upright, the descent should stall around z≈0.17 as its base touches down.",
        "targets": {
          "left_x": 0.44,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01R17Q1Mw9wesTfDk6T9uVrQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8768, 2.1967, 1.8019, -0.6083, -0.8032, -0.7494, 0.4225, -0.0212, 0.6132, 0.2939, -0.2829, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4379 left_y=-0.3219 left_z=0.1247 left_yaw=0.1497 left_pitch=-0.0672 left_roll=0.0891 left_gripper=0.4225 right_x=0.2591 right_y=0.0036 right_z=0.1045 right_yaw=0.0105 right_pitch=-0.0307 right_roll=-0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -16.1846, 6.7487, 1.4286, -0.569, -0.0269, -0.0317, -0.6496, -0.5402, 6.735, 2.0147, -0.1392, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5481adf5a73e974e078f21bab9541525419ea2831a491b10afec2ce5f33dbfd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:425be5bf83c33b9a829f8fa07561c09e11f48469269da430bec30a8a196f4bac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:342d1cb98aadf3968babf0b9b5a62a0faef194f3343b860f2f588b3c7e0c804c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5481adf5a73e
wire blob 425be5bf83c3
wire blob 342d1cb98aad