adhoc - adhoc_4d360671.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: 16000
max_speed_frac: 0.25
model: claude-opus-5
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: messages
wire_capture: true
seed: 0
max steps: 900
duration: 585 s
total steps: 348

success_at_end

scenes

trials

errored

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.

user

Goal: Stand all three bottles upright.

Raw transcript

system

user

Goal: Stand all three bottles upright.

step 0

assistant

agent noteThree bottles lie on their sides in the middle of the table. Plan: grip each bottle by the neck, lift so it hangs vertically (gravity rotates it, since pitch/roll are pinned), then set it down upright. First hovering the left arm over the leftmost bottle to inspect it in the wrist camera.

move_to

left_x0.3200left_y-0.1500left_z0.2500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0204, 0.794, 0.609, -0.3763, -0.0257, -0.0284, 0.9986, -0.0166, 0.7891, 0.6037, -0.387, -0.0246, -0.0349, 0.9982] state[eef_state]: left_x=0.2959 left_y=0.0021 left_z=0.183 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2935 right_y=0.0031 right_z=0.1797 right_yaw=0.0001 right_pitch=-0.0 right_roll=0.0005 right_gripper=0.9982 state[joint_eff]: [-0.5402, -1.4291, 9.7846, 1.7167, -0.0122, 0.1538, -0.1587, -0.8547, -1.1692, 10.4137, 1.8242, 0.0269, 0.2076, -0.2027] 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": 0.32, "left_y": -0.15, "left_z": 0.25, "left_gripper": 1}, "note": "Three bottles lie on their sides in the middle of the table. Plan: grip each bottle by the neck, lift so it hangs vertically (gravity rotates it, since pitch/roll are pinned), then set it down upright. First hovering the left arm over the leftmost bottle to inspect it in the wrist camera."})

tool

executing move_to over 14 steps (1.4s)

step 14

assistant

agent noteWrist view shows the nearest bottle just beyond the fingertips with its cap toward the far-left. Moving over the neck of that bottle and yawing 45° so the jaws close across the neck.

move_to

left_x0.3700left_y-0.1050left_z0.1300left_yaw0.7850left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7307, 1.1919, 1.0401, -0.5774, -0.5728, -0.4519, 0.9988, -0.0193, 0.7937, 0.6041, -0.4038, -0.0238, -0.036, 0.9981] state[eef_state]: left_x=0.317 left_y=-0.1507 left_z=0.2341 left_yaw=-0.0334 left_pitch=-0.0329 left_roll=0.0093 left_gripper=0.9988 right_x=0.2915 right_y=0.0022 right_z=0.1752 right_yaw=-0.0026 right_pitch=-0.021 right_roll=-0.0005 right_gripper=0.9981 state[joint_eff]: [-0.3077, -4.1778, 9.306, 1.4286, -0.4664, -0.1392, -0.1343, -0.1299, -1.5795, 7.0085, 1.9072, -0.0317, -0.0415, -0.0171] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.37, "left_y": -0.105, "left_z": 0.13, "left_yaw": 0.785, "left_gripper": 1}, "note": "Wrist view shows the nearest bottle just beyond the fingertips with its cap toward the far-left. Moving over the neck of that bottle and yawing 45\u00b0 so the jaws close across the neck."})

tool

executing move_to over 7 steps (0.7s)

step 21

assistant

agent noteWrist view shows the bottle's cap high in frame on the jaw column, meaning it is still several cm beyond the fingertips; advancing ~3 cm radially before descending.

move_to

left_x0.4050left_y-0.1130left_z0.1200left_yaw0.7850

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6945, 1.7893, 1.2503, -0.7689, -0.9401, -1.2213, 0.9989, -0.0193, 0.783, 0.5846, -0.4034, -0.0242, -0.036, 0.9981] state[eef_state]: left_x=0.3729 left_y=-0.1202 left_z=0.1274 left_yaw=0.6578 left_pitch=-0.0449 left_roll=0.0327 left_gripper=0.9989 right_x=0.2885 right_y=0.0023 right_z=0.1693 right_yaw=-0.0022 right_pitch=-0.0294 right_roll=-0.0001 right_gripper=0.9981 state[joint_eff]: [0.1846, -9.2103, 6.5299, 0.0317, -0.7546, -0.0317, -0.1294, -0.3897, -1.4427, 6.8991, 1.9658, -0.0464, -0.0513, -0.0073] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.405, "left_y": -0.113, "left_z": 0.12, "left_yaw": 0.785}, "note": "Wrist view shows the bottle's cap high in frame on the jaw column, meaning it is still several cm beyond the fingertips; advancing ~3 cm radially before descending."})

tool

executing move_to over 3 steps (0.3s)

step 24

assistant

agent noteThe bottle is now vertical in the wrist frame with the cap on the jaw column but still above the jaw row; advancing another ~4 cm toward the neck.

move_to

left_x0.4400left_y-0.1150left_z0.1000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6571, 1.9156, 1.3567, -0.82, -0.9791, -1.3537, 0.9985, -0.0193, 0.7704, 0.5568, -0.3973, -0.0242, -0.036, 0.9981] state[eef_state]: left_x=0.3933 left_y=-0.1137 left_z=0.1161 left_yaw=0.7768 left_pitch=-0.0179 left_roll=-0.0005 left_gripper=0.9985 right_x=0.285 right_y=0.0024 right_z=0.1612 right_yaw=-0.0022 right_pitch=-0.0385 right_roll=0.0 right_gripper=0.9981 state[joint_eff]: [0.7453, -8.9778, 6.9949, 0.359, -0.6276, 0.1441, -0.0562, -0.2803, -1.7436, 7.1863, 2.0342, -0.0562, -0.022, -0.0073] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.115, "left_z": 0.1}, "note": "The bottle is now vertical in the wrist frame with the cap on the jaw column but still above the jaw row; advancing another ~4 cm toward the neck."})

tool

executing move_to over 4 steps (0.4s)

step 28

assistant

agent noteThe last 4 cm command only produced ~1 cm of motion (too few steps), so re-sending the same forward target to actually reach the bottle neck.

move_to

left_x0.4400left_y-0.1150left_z0.0900

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6399, 1.9457, 1.3808, -0.8085, -0.9779, -1.3533, 0.9984, -0.0193, 0.7506, 0.5209, -0.3794, -0.0277, -0.036, 0.9981] state[eef_state]: left_x=0.4014 left_y=-0.1117 left_z=0.1118 left_yaw=0.7935 left_pitch=-0.0183 left_roll=-0.0057 left_gripper=0.9984 right_x=0.2817 right_y=0.003 right_z=0.1538 right_yaw=0.0006 right_pitch=-0.0366 right_roll=0.0019 right_gripper=0.9981 state[joint_eff]: [-0.2256, -9.7573, 7.747, 0.4811, -0.7057, 0.1538, -0.022, -0.1573, -1.7299, 6.9538, 2.0293, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.115, "left_z": 0.09}, "note": "The last 4 cm command only produced ~1 cm of motion (too few steps), so re-sending the same forward target to actually reach the bottle neck."})

tool

executing move_to over 3 steps (0.3s)

step 31

assistant

agent noteThe arm has hit its forward reach limit at x≈0.40, so instead of the neck I will grab the bottle's body (which lies right under the jaws) and drag the whole bottle nearer the base. Descending onto the body now.

move_to

left_y-0.0850left_z0.0350

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6399, 1.9457, 1.3808, -0.8085, -0.9775, -1.3529, 0.9983, -0.0193, 0.7326, 0.4866, -0.3622, -0.0277, -0.036, 0.9981] state[eef_state]: left_x=0.4014 left_y=-0.1117 left_z=0.1118 left_yaw=0.7932 left_pitch=-0.0187 left_roll=-0.0054 left_gripper=0.9983 right_x=0.2786 right_y=0.0031 right_z=0.1463 right_yaw=0.0006 right_pitch=-0.0358 right_roll=0.0019 right_gripper=0.9981 state[joint_eff]: [-0.294, -9.5795, 7.5556, 0.525, -0.7106, 0.1636, -0.0171, -0.1299, -1.6615, 7.1043, 1.9463, -0.0171, -0.0317, -0.0073] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.085, "left_z": 0.035}, "note": "The arm has hit its forward reach limit at x\u22480.40, so instead of the neck I will grab the bottle's body (which lies right under the jaws) and drag the whole bottle nearer the base. Descending onto the body now."})

tool

executing move_to over 5 steps (0.5s)

step 36

assistant

agent noteDescent only got partway (z=0.089); continuing down onto the bottle body before closing.

move_to

left_y-0.0850left_z0.0200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6182, 1.9526, 1.2881, -0.701, -0.9825, -1.3106, 0.9983, -0.0193, 0.7128, 0.4534, -0.3435, -0.0277, -0.0364, 0.9981] state[eef_state]: left_x=0.3988 left_y=-0.0989 left_z=0.0887 left_yaw=0.7933 left_pitch=-0.0132 left_roll=0.0229 left_gripper=0.9983 right_x=0.2759 right_y=0.0032 right_z=0.1401 right_yaw=0.0008 right_pitch=-0.0305 right_roll=0.0015 right_gripper=0.9981 state[joint_eff]: [1.3607, -5.6684, 4.3829, 0.5983, -0.4811, -0.0024, -0.0122, -0.2667, -1.4017, 6.9128, 1.9219, 0.0024, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.085, "left_z": 0.02}, "note": "Descent only got partway (z=0.089); continuing down onto the bottle body before closing."})

tool

executing move_to over 5 steps (0.5s)

step 41

assistant

agent noteThe gripper is down at table level straddling the bottle's body, which reads slightly left of the jaw column; nudging 1 cm toward it and closing on the body.

move_to

left_x0.3890left_y-0.0770left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5945, 2.0251, 1.1233, -0.4103, -0.9871, -1.2743, 0.9983, -0.0193, 0.6979, 0.4255, -0.3351, -0.028, -0.036, 0.9981] state[eef_state]: left_x=0.3974 left_y=-0.0864 left_z=0.0325 left_yaw=0.7983 left_pitch=-0.0004 left_roll=0.0015 left_gripper=0.9983 right_x=0.2726 right_y=0.0033 right_z=0.1329 right_yaw=0.001 right_pitch=-0.035 right_roll=0.0021 right_gripper=0.9981 state[joint_eff]: [0.4718, -7.5419, 3.9043, 0.6911, -0.2955, 0.149, -0.0122, -0.294, -1.388, 7.0906, 1.9853, -0.022, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.389, "left_y": -0.077, "left_gripper": 0.0}, "note": "The gripper is down at table level straddling the bottle's body, which reads slightly left of the jaw column; nudging 1 cm toward it and closing on the body."})

tool

executing move_to over 10 steps (1.0s)

step 51

assistant

agent noteThe close came up empty (gripper 0.01) but the wrist view now shows the bottle's cap just beyond the jaws, so I am reopening and advancing ~3 cm to straddle the neck.

move_to

left_gripper1.0000left_x0.4320left_y-0.0880left_z0.0450

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5911, 2.0212, 1.1164, -0.3103, -1.1118, -1.2572, 0.0144, -0.0193, 0.6781, 0.3931, -0.3206, -0.028, -0.036, 0.9981] state[eef_state]: left_x=0.41 left_y=-0.0801 left_z=0.0552 left_yaw=0.8355 left_pitch=0.1327 left_roll=-0.0599 left_gripper=0.0144 right_x=0.2694 right_y=0.0034 right_z=0.1261 right_yaw=0.001 right_pitch=-0.0331 right_roll=0.0021 right_gripper=0.9981 state[joint_eff]: [0.1026, -7.3778, 4.0, 0.442, 0.7546, -0.0269, 0.989, 0.0205, -1.2376, 6.9265, 1.9316, -0.0122, -0.0513, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1, "left_x": 0.432, "left_y": -0.088, "left_z": 0.045}, "note": "The close came up empty (gripper 0.01) but the wrist view now shows the bottle's cap just beyond the jaws, so I am reopening and advancing ~3 cm to straddle the neck."})

tool

executing move_to over 10 steps (1.0s)

step 61

assistant

agent noteThe bottle's cap/neck now sits between the open jaws, slightly right of centre; nudging 1 cm right and descending to neck height before closing.

move_to

left_x0.4370left_y-0.0930left_z0.0280

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5549, 2.0892, 1.2869, -0.5018, -0.9859, -1.2827, 0.9943, -0.0193, 0.659, 0.3618, -0.3084, -0.028, -0.036, 0.9981] state[eef_state]: left_x=0.4265 left_y=-0.0869 left_z=0.0454 left_yaw=0.8422 left_pitch=-0.0 left_roll=-0.0137 left_gripper=0.9943 right_x=0.2662 right_y=0.0034 right_z=0.119 right_yaw=0.001 right_pitch=-0.0331 right_roll=0.0021 right_gripper=0.9981 state[joint_eff]: [0.294, -9.0735, 7.4325, 0.5983, -0.486, 0.2369, 0.0757, -0.0068, -0.6496, 7.0085, 1.9951, -0.0415, -0.0171, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.437, "left_y": -0.093, "left_z": 0.028}, "note": "The bottle's cap/neck now sits between the open jaws, slightly right of centre; nudging 1 cm right and descending to neck height before closing."})

tool

executing move_to over 2 steps (0.2s)

step 63

assistant

agent noteJaws straddle the bottle neck at table level; closing to grip the neck.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5556, 2.1246, 1.3167, -0.4973, -0.9871, -1.2865, 0.9956, -0.0193, 0.6434, 0.3424, -0.2947, -0.0277, -0.036, 0.9981] state[eef_state]: left_x=0.4325 left_y=-0.0908 left_z=0.0395 left_yaw=0.8437 left_pitch=0.0008 left_roll=-0.0156 left_gripper=0.9956 right_x=0.265 right_y=0.0034 right_z=0.1168 right_yaw=0.0006 right_pitch=-0.0232 right_roll=0.0017 right_gripper=0.9981 state[joint_eff]: [-0.253, -8.7316, 6.3658, 0.5641, -0.5055, 0.0171, 0.1197, -0.0889, -0.5675, 7.0085, 2.0098, -0.022, -0.0464, -0.0073] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws straddle the bottle neck at table level; closing to grip the neck."})

tool

executing move_to over 10 steps (1.0s)

step 73

assistant

agent noteSecond empty close on the thin neck, so switching to the fatter upper body: opening and backing up ~4.5 cm along the bottle axis to straddle the shoulder of the bottle.

move_to

left_gripper1.0000left_x0.3920left_y-0.0820left_z0.0320

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5556, 2.1239, 1.3346, -0.4953, -1.063, -1.2865, 0.0144, -0.0193, 0.6327, 0.3241, -0.2905, -0.028, -0.036, 0.9981] state[eef_state]: left_x=0.4382 left_y=-0.0862 left_z=0.0555 left_yaw=0.8648 left_pitch=0.0762 left_roll=-0.0242 left_gripper=0.0144 right_x=0.2627 right_y=0.0035 right_z=0.1119 right_yaw=0.001 right_pitch=-0.0267 right_roll=0.002 right_gripper=0.9981 state[joint_eff]: [-0.4034, -10.3316, 5.053, 0.4371, 0.1685, -0.0366, 0.7009, 0.0479, -0.6906, 6.7761, 1.9609, -0.0024, -0.0562, -0.0122] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1, "left_x": 0.392, "left_y": -0.082, "left_z": 0.032}, "note": "Second empty close on the thin neck, so switching to the fatter upper body: opening and backing up ~4.5 cm along the bottle axis to straddle the shoulder of the bottle."})

tool

executing move_to over 10 steps (1.0s)

step 83

assistant

agent noteWrist view shows the bottle's upper body directly between the open jaws with the cap just beyond; closing on the body.

move_to

left_gripper0.1000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5892, 2.056, 1.1988, -0.5053, -1.0351, -1.3918, 0.9948, -0.0193, 0.6151, 0.3016, -0.2897, -0.028, -0.0364, 0.9981] state[eef_state]: left_x=0.4039 left_y=-0.0829 left_z=0.043 left_yaw=0.8763 left_pitch=0.0385 left_roll=-0.0427 left_gripper=0.9948 right_x=0.2593 right_y=0.0035 right_z=0.1061 right_yaw=0.0012 right_pitch=-0.0308 right_roll=0.0017 right_gripper=0.9981 state[joint_eff]: [-0.6359, -10.1402, 3.6991, 0.3687, -0.1343, 0.0513, -0.2173, -0.253, -0.3761, 7.1863, 1.9951, -0.0317, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.1}, "note": "Wrist view shows the bottle's upper body directly between the open jaws with the cap just beyond; closing on the body."})

tool

executing move_to over 9 steps (0.9s)

step 92

assistant

agent noteJaws closed on the bottle's upper body; lifting high so the bottle swings down to hang vertically (cap up) under the gripper.

move_to

left_z0.3000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5819, 2.0529, 1.2396, -0.5659, -1.0554, -1.3911, 0.1057, -0.0193, 0.5938, 0.2756, -0.2832, -0.028, -0.0364, 0.9981] state[eef_state]: left_x=0.4073 left_y=-0.0797 left_z=0.055 left_yaw=0.8863 left_pitch=0.0565 left_roll=-0.0232 left_gripper=0.1057 right_x=0.2563 right_y=0.0036 right_z=0.1007 right_yaw=0.0012 right_pitch=-0.0289 right_roll=0.0017 right_gripper=0.9981 state[joint_eff]: [0.1299, -9.1829, 6.2017, 0.3785, 0.0611, -0.0269, 0.0366, 0.0205, -0.4718, 6.8034, 1.9853, -0.0464, -0.0757, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.3}, "note": "Jaws closed on the bottle's upper body; lifting high so the bottle swings down to hang vertically (cap up) under the gripper."})

tool

executing move_to over 16 steps (1.6s)

step 108

assistant

agent noteThe lift came up empty — all three bottles are still lying down, so my pixel-to-metre mapping was off. Moving the open gripper down to table level at my best estimate of the leftmost bottle's position so I can see the true offset between jaws and bottle in the overhead view.

move_to

left_x0.3500left_y-0.2000left_z0.0200left_yaw0.7850left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5644, 1.9675, 2.1315, -1.491, -0.9798, -1.3888, 0.1054, -0.0193, 0.5747, 0.2493, -0.2714, -0.028, -0.036, 0.9981] state[eef_state]: left_x=0.4137 left_y=-0.084 left_z=0.2913 left_yaw=0.8877 left_pitch=-0.011 left_roll=-0.0813 left_gripper=0.1054 right_x=0.254 right_y=0.0036 right_z=0.0956 right_yaw=0.001 right_pitch=-0.0244 right_roll=0.0019 right_gripper=0.9981 state[joint_eff]: [0.5538, -8.1846, 6.9265, 0.3394, -0.735, 0.1929, -0.0415, -0.2803, -0.4991, 6.9949, 1.8779, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.35, "left_y": -0.2, "left_z": 0.02, "left_yaw": 0.785, "left_gripper": 1}, "note": "The lift came up empty \u2014 all three bottles are still lying down, so my pixel-to-metre mapping was off. Moving the open gripper down to table level at my best estimate of the leftmost bottle's position so I can see the true offset between jaws and bottle in the overhead view."})

tool

executing move_to over 18 steps (1.8s)

step 126

assistant

agent noteWrist view now shows the bottle filling the frame right at the jaws — the gripper is at its mid-body, with the cap end up and to the left. Shifting ~5 cm along the bottle axis toward the cap and dropping to table level so the jaws surround the shoulder of the bottle.

move_to

left_x0.3900left_y-0.1600left_z0.0050

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.894, 2.2272, 1.5005, -1.0168, -1.0237, -1.8122, 0.9972, -0.0193, 0.5579, 0.2291, -0.268, -0.0277, -0.036, 0.9981] state[eef_state]: left_x=0.3559 left_y=-0.1964 left_z=0.0439 left_yaw=0.7862 left_pitch=0.0235 left_roll=-0.0233 left_gripper=0.9972 right_x=0.2516 right_y=0.0036 right_z=0.091 right_yaw=0.0006 right_pitch=-0.0244 right_roll=0.0017 right_gripper=0.9981 state[joint_eff]: [-0.6496, -7.0222, 4.506, 0.1538, 0.0757, 0.0904, -0.1001, 0.0068, -0.4034, 6.8444, 1.9463, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.39, "left_y": -0.16, "left_z": 0.005}, "note": "Wrist view now shows the bottle filling the frame right at the jaws \u2014 the gripper is at its mid-body, with the cap end up and to the left. Shifting ~5 cm along the bottle axis toward the cap and dropping to table level so the jaws surround the shoulder of the bottle."})

tool

executing move_to over 4 steps (0.4s)

step 130

right_cam

assistant

agent noteThe bottle body runs straight through the open jaws at table level; closing fully to grip it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.778, 2.2272, 1.3991, -0.7788, -1.0168, -1.6463, 0.9975, -0.0193, 0.5407, 0.2104, -0.2665, -0.028, -0.036, 0.9981] state[eef_state]: left_x=0.3821 left_y=-0.1606 left_z=0.0185 left_yaw=0.8165 left_pitch=0.008 left_roll=-0.0173 left_gripper=0.9975 right_x=0.2492 right_y=0.0037 right_z=0.0867 right_yaw=0.001 right_pitch=-0.0244 right_roll=0.0019 right_gripper=0.9981 state[joint_eff]: [0.3214, -9.5111, 4.2188, 0.2857, -0.6374, 0.0611, 0.022, -0.0752, -0.3897, 6.9675, 1.8926, -0.0366, -0.0317, -0.0073] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The bottle body runs straight through the open jaws at table level; closing fully to grip it."})

tool

executing move_to over 10 steps (1.0s)

step 140

assistant

agent noteGripper settled at 0.54 (≈5.2 cm) so the bottle body is held. Loosening the jaws slightly and lifting high so the bottle can pivot within the jaws and hang vertically.

move_to

left_gripper0.6200left_z0.2800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7727, 2.2391, 1.3968, -0.7864, -1.0016, -1.6341, 0.5436, -0.0193, 0.5217, 0.1898, -0.2649, -0.0277, -0.036, 0.9981] state[eef_state]: left_x=0.3797 left_y=-0.1573 left_z=0.0115 left_yaw=0.816 left_pitch=-0.0069 left_roll=0.015 left_gripper=0.5436 right_x=0.2466 right_y=0.0037 right_z=0.082 right_yaw=0.0006 right_pitch=-0.0244 right_roll=0.0017 right_gripper=0.9981 state[joint_eff]: [-0.3214, -11.5214, 6.1744, 0.0415, -0.6325, -0.0952, 1.033, -0.0752, -0.0752, 6.9128, 1.873, -0.0269, -0.0415, -0.0073] 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_gripper": 0.62, "left_z": 0.28}, "note": "Gripper settled at 0.54 (\u22485.2 cm) so the bottle body is held. Loosening the jaws slightly and lifting high so the bottle can pivot within the jaws and hang vertically."})

tool

executing move_to over 18 steps (1.8s)

step 158

assistant

agent noteThe bottle is lifted and appears to hang below the jaws; lowering it toward the table so its base can touch down before I release.

move_to

left_z0.1200left_x0.3600

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7345, 2.0903, 1.9938, -1.5314, -0.897, -1.5929, 0.6204, -0.0193, 0.5018, 0.1699, -0.2646, -0.0277, -0.036, 0.9981] state[eef_state]: left_x=0.3845 left_y=-0.1564 left_z=0.1975 left_yaw=0.8382 left_pitch=-0.1122 left_roll=0.0489 left_gripper=0.6204 right_x=0.2441 right_y=0.0038 right_z=0.0775 right_yaw=0.0006 right_pitch=-0.024 right_roll=0.0017 right_gripper=0.9981 state[joint_eff]: [0.253, -17.9487, 10.2222, -0.0904, -1.6044, 0.4127, 0.0317, -0.0889, -0.0615, 6.8444, 1.9414, -0.022, -0.0513, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.12, "left_x": 0.36}, "note": "The bottle is lifted and appears to hang below the jaws; lowering it toward the table so its base can touch down before I release."})

tool

executing move_to over 5 steps (0.5s)

step 163

assistant

agent noteLowering the held bottle the last few centimetres so its base rests on the table before I open the jaws.

move_to

left_z0.0800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8204, 2.0567, 1.5974, -1.322, -0.9699, -1.7138, 0.6225, -0.0193, 0.4812, 0.1505, -0.2646, -0.0277, -0.036, 0.9981] state[eef_state]: left_x=0.3504 left_y=-0.1569 left_z=0.1246 left_yaw=0.8178 left_pitch=-0.0286 left_roll=0.1021 left_gripper=0.6225 right_x=0.2417 right_y=0.0038 right_z=0.0732 right_yaw=0.0006 right_pitch=-0.0228 right_roll=0.0017 right_gripper=0.9981 state[joint_eff]: [0.8, -11.7949, 5.2171, 0.2027, -0.3639, -0.1392, 0.2027, 0.0068, -0.0479, 6.9949, 1.9072, -0.0024, -0.0366, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.08}, "note": "Lowering the held bottle the last few centimetres so its base rests on the table before I open the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 166

assistant

agent noteThe descent stopped at z=0.12, suggesting the hanging bottle's base is on the table; opening the jaws to release it.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8112, 2.0567, 1.5646, -1.2625, -1.0111, -1.7298, 0.6238, -0.0193, 0.4625, 0.1345, -0.2649, -0.028, -0.036, 0.9981] state[eef_state]: left_x=0.3572 left_y=-0.1536 left_z=0.1217 left_yaw=0.8271 left_pitch=0.0107 left_roll=0.0593 left_gripper=0.6238 right_x=0.2398 right_y=0.0039 right_z=0.07 right_yaw=0.001 right_pitch=-0.0205 right_roll=0.0018 right_gripper=0.9981 state[joint_eff]: [-0.0889, -11.6171, 5.135, 0.3004, -0.4567, -0.2125, 0.1245, 0.0615, -0.0205, 6.8718, 1.8779, -0.0171, -0.0659, -0.0122] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0}, "note": "The descent stopped at z=0.12, suggesting the hanging bottle's base is on the table; opening the jaws to release it."})

tool

executing move_to over 4 steps (0.4s)

step 170

assistant

agent noteReleased the bottle; pulling the left arm back and up out of the way to get a clear overhead view of all three bottles and see whether that one is now standing.

move_to

left_x0.2500left_y-0.0500left_z0.3000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8112, 2.0567, 1.5639, -1.2255, -0.9997, -1.737, 0.9956, -0.0193, 0.4438, 0.1184, -0.2661, -0.0277, -0.036, 0.9981] state[eef_state]: left_x=0.3603 left_y=-0.1584 left_z=0.1188 left_yaw=0.833 left_pitch=-0.0029 left_roll=0.0178 left_gripper=0.9956 right_x=0.2379 right_y=0.0039 right_z=0.0665 right_yaw=0.0006 right_pitch=-0.019 right_roll=0.0016 right_gripper=0.9981 state[joint_eff]: [-0.1983, -11.6444, 5.1077, -0.0073, -0.5104, -0.1148, -0.1587, -0.0889, 0.3214, 6.9538, 1.8779, -0.022, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.25, "left_y": -0.05, "left_z": 0.3, "left_yaw": 0.0}, "note": "Released the bottle; pulling the left arm back and up out of the way to get a clear overhead view of all three bottles and see whether that one is now standing."})

tool

executing move_to over 12 steps (1.2s)

step 182

assistant

agent noteAll three bottles are still lying down. Returning to the grasp spot on the nearest bottle that worked before (jaws at table level across its upper body), this time I will set it down harder before releasing.

move_to

left_x0.3750left_y-0.1580left_z0.0300left_yaw0.8000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5362, 0.8291, 1.0874, -0.8898, -0.5571, -0.4938, 0.9962, -0.0193, 0.4232, 0.1036, -0.2684, -0.0303, -0.0364, 0.9981] state[eef_state]: left_x=0.2567 left_y=-0.0397 left_z=0.2975 left_yaw=0.1714 left_pitch=0.0347 left_roll=-0.0969 left_gripper=0.9962 right_x=0.2362 right_y=0.0044 right_z=0.0637 right_yaw=0.0031 right_pitch=-0.0156 right_roll=0.0027 right_gripper=0.9981 state[joint_eff]: [-0.1299, -0.3487, 8.3214, 1.5311, -0.2369, 0.2222, 0.0562, 0.0889, 0.4171, 6.9265, 1.9023, -0.0464, -0.0708, -0.0073] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.375, "left_y": -0.158, "left_z": 0.03, "left_yaw": 0.8, "left_gripper": 1}, "note": "All three bottles are still lying down. Returning to the grasp spot on the nearest bottle that worked before (jaws at table level across its upper body), this time I will set it down harder before releasing."})

tool

executing move_to over 18 steps (1.8s)

step 200

assistant

agent noteWrist view confirms the bottle lies straight through the jaws with its cap pointing away; closing to a slightly loose grip (≈4.8 cm) so the bottle can pivot to vertical when lifted.

move_to

left_gripper0.5000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7803, 2.1361, 1.3369, -0.7513, -1.0046, -1.5539, 0.9979, -0.0193, 0.4099, 0.094, -0.2714, -0.0303, -0.036, 0.9981] state[eef_state]: left_x=0.3763 left_y=-0.1577 left_z=0.0365 left_yaw=0.7652 left_pitch=-0.0046 left_roll=0.0044 left_gripper=0.9979 right_x=0.235 right_y=0.0044 right_z=0.0616 right_yaw=0.0029 right_pitch=-0.0148 right_roll=0.003 right_gripper=0.9981 state[joint_eff]: [-0.6632, -9.4291, 4.9436, -0.0073, -0.2173, -0.0904, -0.232, -0.1573, 0.1436, 6.7214, 1.8486, -0.0269, -0.0317, -0.0122] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.5}, "note": "Wrist view confirms the bottle lies straight through the jaws with its cap pointing away; closing to a slightly loose grip (\u22484.8 cm) so the bottle can pivot to vertical when lifted."})

tool

executing move_to over 5 steps (0.5s)

step 205

assistant

agent noteBottle is held in the slightly loose jaws; lifting it high so gravity swings it to hang vertically, cap up.

move_to

left_z0.3500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7803, 2.141, 1.3499, -0.7521, -1.0328, -1.5711, 0.5071, -0.0193, 0.3977, 0.086, -0.2714, -0.0299, -0.036, 0.9981] state[eef_state]: left_x=0.3805 left_y=-0.1581 left_z=0.0418 left_yaw=0.7751 left_pitch=0.0239 left_roll=-0.0169 left_gripper=0.5071 right_x=0.2344 right_y=0.0044 right_z=0.0606 right_yaw=0.0026 right_pitch=-0.0106 right_roll=0.0027 right_gripper=0.9981 state[joint_eff]: [-0.1983, -11.0017, 3.6171, 0.3541, -0.1783, 0.1197, 0.3443, -0.1299, 0.1162, 6.6803, 1.7656, -0.0024, -0.0708, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.35}, "note": "Bottle is held in the slightly loose jaws; lifting it high so gravity swings it to hang vertically, cap up."})

tool

executing move_to over 20 steps (2.0s)

step 225

assistant

agent noteThe wrist view shows the bottle now hanging vertically, cap up, below the jaws. Lowering until its base presses onto the table.

move_to

left_z0.1000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6785, 1.9999, 2.1384, -1.552, -0.9802, -1.4055, 0.5063, -0.0193, 0.3904, 0.0853, -0.271, -0.0299, -0.036, 0.9981] state[eef_state]: left_x=0.3983 left_y=-0.128 left_z=0.2791 left_yaw=0.784 left_pitch=-0.0208 left_roll=-0.0093 left_gripper=0.5063 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0026 right_pitch=-0.0037 right_roll=0.0025 right_gripper=0.9981 state[joint_eff]: [0.6632, -13.3949, 7.9111, 0.3736, -0.652, 0.3883, -0.0904, 0.0342, 0.2803, 6.3521, 1.7607, -0.0073, -0.0757, -0.0073] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.1}, "note": "The wrist view shows the bottle now hanging vertically, cap up, below the jaws. Lowering until its base presses onto the table."})

tool

executing move_to over 12 steps (1.2s)

step 237

assistant

agent noteBottle still hanging vertically; lowering further until the descent stalls on the table so the base is firmly down before opening.

move_to

left_z0.0500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6857, 1.9827, 1.4158, -0.8841, -0.9855, -1.3979, 0.5063, -0.0193, 0.3908, 0.0853, -0.2707, -0.0299, -0.036, 0.9981] state[eef_state]: left_x=0.3931 left_y=-0.1267 left_z=0.1067 left_yaw=0.7742 left_pitch=-0.0197 left_roll=0.0348 left_gripper=0.5063 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0026 right_pitch=-0.0037 right_roll=0.0025 right_gripper=0.9981 state[joint_eff]: [-0.0068, -9.1829, 5.5726, 0.5104, -0.7106, -0.1392, -0.022, -0.0205, 0.6222, 6.9812, 1.7558, -0.0122, -0.0855, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.05}, "note": "Bottle still hanging vertically; lowering further until the descent stalls on the table so the base is firmly down before opening."})

tool

executing move_to over 4 steps (0.4s)

step 241

assistant

agent noteThe bottle is still horizontal in the jaws — the grip was too tight to let it pivot. Opening the jaws to just wider than the bottle (≈6.3 cm) and lifting high so it can swing down to vertical while still trapped between the fingers.

move_to

left_gripper0.6600left_z0.3200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6868, 2.0403, 1.2831, -0.6811, -0.9928, -1.3983, 0.5063, -0.0193, 0.3904, 0.0853, -0.2703, -0.0299, -0.0364, 0.9981] state[eef_state]: left_x=0.3904 left_y=-0.1241 left_z=0.0578 left_yaw=0.774 left_pitch=-0.0112 left_roll=0.0228 left_gripper=0.5063 right_x=0.2348 right_y=0.0044 right_z=0.062 right_yaw=0.0028 right_pitch=-0.003 right_roll=0.0022 right_gripper=0.9981 state[joint_eff]: [-0.3624, -9.4427, 4.7521, 0.4127, -0.3248, -0.0513, -0.0171, -0.1299, 0.5949, 6.8034, 1.7998, -0.0024, -0.0708, -0.0122] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.66, "left_z": 0.32}, "note": "The bottle is still horizontal in the jaws \u2014 the grip was too tight to let it pivot. Opening the jaws to just wider than the bottle (\u22486.3 cm) and lifting high so it can swing down to vertical while still trapped between the fingers."})

tool

executing move_to over 17 steps (1.7s)

step 258

assistant

agent noteThe bottle slipped out when I opened too wide. New plan: grip the tapered shoulder just below the cap with jaws set a bit narrower than the body — the taper lets it pivot freely but the wider body cannot slip through. Moving over the shoulder of the nearest bottle.

move_to

left_x0.4250left_y-0.1050left_z0.0500left_yaw0.7850left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6659, 1.9514, 2.1529, -1.4384, -0.9848, -1.3865, 0.6591, -0.0193, 0.3912, 0.0853, -0.2707, -0.0303, -0.036, 0.9981] state[eef_state]: left_x=0.4085 left_y=-0.1292 left_z=0.3065 left_yaw=0.7861 left_pitch=0.0045 left_roll=-0.1682 left_gripper=0.6591 right_x=0.2347 right_y=0.0044 right_z=0.0618 right_yaw=0.0029 right_pitch=-0.0041 right_roll=0.0028 right_gripper=0.9981 state[joint_eff]: [0.335, -9.5795, 6.8034, 0.5739, -0.6227, 0.2955, -0.0659, -0.0342, 0.6085, 6.8581, 1.7167, 0.0024, -0.0464, -0.0122] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.425, "left_y": -0.105, "left_z": 0.05, "left_yaw": 0.785, "left_gripper": 1}, "note": "The bottle slipped out when I opened too wide. New plan: grip the tapered shoulder just below the cap with jaws set a bit narrower than the body \u2014 the taper lets it pivot freely but the wider body cannot slip through. Moving over the shoulder of the nearest bottle."})

tool

executing move_to over 17 steps (1.7s)

step 275

assistant

agent noteWrist view shows the blue cap and the bottle's shoulder just right of the jaw centre; shifting ~3.5 cm to the tool's right to centre the shoulder between the jaws.

move_to

left_x0.4400left_y-0.1220left_z0.0450

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6006, 2.0628, 1.3216, -0.6533, -1.0054, -1.28, 0.9979, -0.0193, 0.3912, 0.0853, -0.2699, -0.0303, -0.036, 0.9981] state[eef_state]: left_x=0.4119 left_y=-0.0971 left_z=0.0615 left_yaw=0.7991 left_pitch=0.0031 left_roll=0.0809 left_gripper=0.9979 right_x=0.2348 right_y=0.0044 right_z=0.0619 right_yaw=0.0029 right_pitch=-0.0034 right_roll=0.0027 right_gripper=0.9981 state[joint_eff]: [0.4581, -9.0462, 3.7538, 0.232, -0.5348, 0.2466, -0.1783, -0.1299, 0.4581, 6.9812, 1.8144, -0.022, -0.0366, -0.0073] camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.122, "left_z": 0.045}, "note": "Wrist view shows the blue cap and the bottle's shoulder just right of the jaw centre; shifting ~3.5 cm to the tool's right to centre the shoulder between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 278

assistant

agent noteCap and shoulder are centred between the jaws; closing to ≈4.3 cm — narrower than the 5+ cm body so the bottle cannot slip through, but loose on the tapered neck so it can swing down to vertical.

move_to

left_gripper0.4500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6025, 2.1471, 1.3926, -0.5568, -0.9806, -1.2888, 0.9977, -0.0193, 0.3912, 0.0853, -0.2699, -0.0303, -0.036, 0.9981] state[eef_state]: left_x=0.4366 left_y=-0.1179 left_z=0.0467 left_yaw=0.7964 left_pitch=-0.0064 left_roll=-0.0126 left_gripper=0.9977 right_x=0.2348 right_y=0.0044 right_z=0.0619 right_yaw=0.0029 right_pitch=-0.0034 right_roll=0.0027 right_gripper=0.9981 state[joint_eff]: [-0.841, -10.4547, 6.8171, 0.3492, -0.5788, -0.1099, -0.0366, -0.1162, 0.4718, 6.8581, 1.79, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.45}, "note": "Cap and shoulder are centred between the jaws; closing to \u22484.3 cm \u2014 narrower than the 5+ cm body so the bottle cannot slip through, but loose on the tapered neck so it can swing down to vertical."})

tool

executing move_to over 6 steps (0.6s)

step 284

assistant

agent noteJaws now cradle the bottle's neck/shoulder; lifting high so the body swings down and the bottle hangs cap-up.

move_to

left_z0.3500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6022, 2.1727, 1.4235, -0.5877, -1.0122, -1.3083, 0.4571, -0.0193, 0.3912, 0.0853, -0.2703, -0.0299, -0.036, 0.9981] state[eef_state]: left_x=0.4392 left_y=-0.1158 left_z=0.0476 left_yaw=0.8146 left_pitch=0.0199 left_roll=0.0011 left_gripper=0.4571 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0026 right_pitch=-0.0037 right_roll=0.0025 right_gripper=0.9981 state[joint_eff]: [-0.5949, -10.8239, 6.6667, 0.652, -0.2271, 0.0611, 0.3443, -0.1026, 0.4308, 6.8308, 1.7216, 0.0024, -0.0562, -0.0122] camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.35}, "note": "Jaws now cradle the bottle's neck/shoulder; lifting high so the body swings down and the bottle hangs cap-up."})

tool

executing move_to over 20 steps (2.0s)

step 304

assistant

agent noteThe loose neck grip let the bottle drop. Returning to the same neck position with jaws open, this time I will clamp the neck firmly and let the bottle's weight rotate it as I lift.

move_to

left_x0.4390left_y-0.1160left_z0.0450left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.548, 2.133, 2.397, -1.5524, -0.9649, -1.251, 0.4573, -0.0193, 0.3912, 0.0853, -0.2703, -0.0303, -0.036, 0.9981] state[eef_state]: left_x=0.4437 left_y=-0.0965 left_z=0.2934 left_yaw=0.8263 left_pitch=-0.0171 left_roll=-0.0061 left_gripper=0.4573 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0029 right_pitch=-0.0037 right_roll=0.0027 right_gripper=0.9981 state[joint_eff]: [-0.0615, -14.147, 7.7333, 0.5397, -0.6178, 0.3834, 0.0073, 0.0342, 0.4034, 6.7897, 1.746, -0.0122, -0.0659, -0.0122] camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.439, "left_y": -0.116, "left_z": 0.045, "left_gripper": 1}, "note": "The loose neck grip let the bottle drop. Returning to the same neck position with jaws open, this time I will clamp the neck firmly and let the bottle's weight rotate it as I lift."})

tool

executing move_to over 17 steps (1.7s)

step 321

assistant

agent noteThe bottle's blue cap and neck sit in the jaw gap; clamping firmly on the neck.

move_to

left_gripper0.2000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.601, 2.1784, 1.512, -0.8062, -0.9771, -1.317, 0.9976, -0.0193, 0.3916, 0.0853, -0.2703, -0.0296, -0.036, 0.9981] state[eef_state]: left_x=0.4286 left_y=-0.1119 left_z=0.0565 left_yaw=0.8156 left_pitch=-0.0349 left_roll=0.1226 left_gripper=0.9976 right_x=0.2347 right_y=0.0043 right_z=0.0618 right_yaw=0.0022 right_pitch=-0.0041 right_roll=0.0023 right_gripper=0.9981 state[joint_eff]: [0.1162, -12.3282, 7.8017, 0.9499, -0.6032, -0.149, -0.0757, 0.1436, 0.7043, 6.8171, 1.7705, 0.0073, -0.0562, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.2}, "note": "The bottle's blue cap and neck sit in the jaw gap; clamping firmly on the neck."})

tool

executing move_to over 8 steps (0.8s)

step 329

assistant

agent noteNeck clamped at 2.4 cm; lifting high so the bottle's weight swings it down to hang vertically from the neck.

move_to

left_z0.3300

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6018, 2.1345, 1.4002, -0.6167, -1.0187, -1.335, 0.2053, -0.0193, 0.3912, 0.0853, -0.2703, -0.0299, -0.036, 0.9981] state[eef_state]: left_x=0.4321 left_y=-0.11 left_z=0.0569 left_yaw=0.8304 left_pitch=0.0243 left_roll=-0.0069 left_gripper=0.2053 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0026 right_pitch=-0.0037 right_roll=0.0025 right_gripper=0.9981 state[joint_eff]: [-0.3077, -12.1368, 4.6017, 0.6081, -0.2613, 0.0904, 0.149, -0.1573, 0.3761, 6.7624, 1.7216, -0.0073, -0.0464, -0.0122] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.33}, "note": "Neck clamped at 2.4 cm; lifting high so the bottle's weight swings it down to hang vertically from the neck."})

tool

executing move_to over 18 steps (1.8s)

step 347

assistant

agent noteI could not get any bottle upright within the call budget. With pitch and roll pinned the only way to stand a lying bottle is to lift it so it pivots to vertical in the jaws, and every grip I achieved either held it rigidly horizontal (firm mid-body grip) or let it slip out (loose shoulder/neck grip).

give_up

hindsightConcrete lessons for this rig/task: - Three water bottles (~22 cm long, ~5.2 cm body, ~2.5 cm neck, ~0.5 kg) lay diagonally across the middle of the table, all with caps pointing away from the left arm (+x,+y direction), at roughly left_x 0.37–0.45, left_y −0.16 to −0.04 for the nearest one. - Pitch/roll are pinned at 0, so you CANNOT tilt a bottle. The only mechanism is: grip near the top, lift, let gravity rotate it. A firm grip (gripper command ≤0.55 on a 5.2 cm body) keeps the bottle rigidly horizontal — it does not rotate. A loose grip (0.45–0.66) lets it fall straight out. Clamping the neck at 0.20 also lost it on the lift. A better idea I never got to try: grip the body firmly ~2 cm below the cap so the centre of mass is far below the grip, or drag the bottle against a wall/fence and lift its far end. - Overhead pixel→metre mapping is treacherous: my first estimates were 5–10 cm off in y. The reliable method was to put the open gripper at table level near the guess and read the wrist camera, which shows the bottle only when it is beyond the fingertips; each ~3 cm advance moved features ~15 px. - Reach limit with the tool vertical is about left_x = 0.44 at z<0.06; commands beyond ~0.40 at z=0.10 simply stall. - Short moves (<5 steps) frequently under-track by 1–4 cm; issue the target again or aim further. - Gripper readback equals the command when the command is smaller than the object, so it only proves a grasp when you command 0 (settled value = thickness).

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5648, 2.0983, 2.3337, -1.544, -0.9726, -1.3045, 0.2051, -0.0193, 0.3912, 0.0853, -0.2703, -0.0299, -0.0364, 0.9981] state[eef_state]: left_x=0.4356 left_y=-0.099 left_z=0.292 left_yaw=0.8404 left_pitch=-0.0136 left_roll=-0.0296 left_gripper=0.2051 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0028 right_pitch=-0.0037 right_roll=0.0022 right_gripper=0.9981 state[joint_eff]: [0.3761, -12.3419, 8.2393, 0.5446, -0.5788, 0.4371, -0.0366, -0.1299, 0.4171, 6.9812, 1.7607, 0.0317, -0.0708, -0.0122] camera 'top_cam' (step 347): [image omitted: streamed camera frame] camera 'left_cam' (step 347): [image omitted: streamed camera frame] camera 'right_cam' (step 347): [image omitted: streamed camera frame]

assistant

give_up({"reason": "I could not get any bottle upright within the call budget. With pitch and roll pinned the only way to stand a lying bottle is to lift it so it pivots to vertical in the jaws, and every grip I achieved either held it rigidly horizontal (firm mid-body grip) or let it slip out (loose shoulder/neck grip).", "hindsight": "Concrete lessons for this rig/task:\n- Three water bottles (~22 cm long, ~5.2 cm body, ~2.5 cm neck, ~0.5 kg) lay diagonally across the middle of the table, all with caps pointing away from the left arm (+x,+y direction), at roughly left_x 0.37\u20130.45, left_y \u22120.16 to \u22120.04 for the nearest one.\n- Pitch/roll are pinned at 0, so you CANNOT tilt a bottle. The only mechanism is: grip near the top, lift, let gravity rotate it. A firm grip (gripper command \u22640.55 on a 5.2 cm body) keeps the bottle rigidly horizontal \u2014 it does not rotate. A loose grip (0.45\u20130.66) lets it fall straight out. Clamping the neck at 0.20 also lost it on the lift. A better idea I never got to try: grip the body firmly ~2 cm below the cap so the centre of mass is far below the grip, or drag the bottle against a wall/fence and lift its far end.\n- Overhead pixel\u2192metre mapping is treacherous: my first estimates were 5\u201310 cm off in y. The reliable method was to put the open gripper at table level near the guess and read the wrist camera, which shows the bottle only when it is beyond the fingertips; each ~3 cm advance moved features ~15 px.\n- Reach limit with the tool vertical is about left_x = 0.44 at z<0.06; commands beyond ~0.40 at z=0.10 simply stall.\n- Short moves (<5 steps) frequently under-track by 1\u20134 cm; issue the target again or aim further.\n- Gripper readback equals the command when the command is smaller than the object, so it only proves a grasp when you command 0 (settled value = thickness)."})

tool

give_up: I could not get any bottle upright within the call budget. With pitch and roll pinned the only way to stand a lying bottle is to lift it so it pivots to vertical in the jaws, and every grip I achieved either held it rigidly horizontal (firm mid-body grip) or let it slip out (loose shoulder/neck grip).

Trial 0 Wire

Tools (trial initial)

[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]

System (trial initial)

[
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"text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n (both face forward), each with its own base frame: +x forward, +y left,\n +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n With the tool pointing straight down the wrist reaches ~0.51 m from the\n base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n normalized fraction of that (0 closed, 1 open). After a full close the\n settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n and stays there for many seconds. Effort cannot tell an empty close\n from a grasp. Judge grasps by the settled reading, then by lifting\n 5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n at ~45°. It is not a plan view: you see the sides of objects, and image-y\n is compressed relative to image-x. Arm-forward is image-up, arm-right is\n image-right, the two bases sit just below the bottom edge, and an arm\n extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n px/cm in the far half of the frame where the arms work, rising to ≈ 8\n px/cm at the bottom edge, and x and y scales differ at the same spot.\n Derive the local scale from your first sizeable move and reuse it.\n Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n forward of the finger axis, so they look *past* the fingertips. Anything\n at or nearer than the grasp point is out of frame; the dark wedge at the\n bottom-centre is the jaws; a held object is never visible in its own\n wrist camera; the working arm hides from the top camera whatever it\n hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n at or below the bottom edge of the wrist image. An object that appears\n centred on the jaw column with clear space below it is still a few\n centimetres short of the fingertips, toward the base. The jaws converge\n on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n pitched forward, ≈ 200 with the tool vertical): a brief empty close\n shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n table and changes within a single frame (larger toward the bottom\n edge). To calibrate it, make a pure radial move of known size and read\n the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n 3 cm radial move and a 1.4 cm descent shift features about equally), so\n depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n toward the base. Rolling the wrist rotates the scene but the jaws still\n close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n description). The fence-side y bound is tight because a low fence runs\n along each outer table edge; the cross-over side reaches past the\n table's centre line, so any point on the table is reachable by at least\n one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n reach and with a load. Aim ~2 cm high when carrying and when clearing\n obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n unfold from there; if a move out of a folded pose stalls, first raise z\n and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n the shoulder stops tracking while its effort stays negative (still\n holding the arm up); effort flipping positive means the arm is pressing\n into the surface: back off. A grasped object touching down reads as a\n stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n more than ~1.5 cm means one of three things: the target was clipped to\n the workspace box (the tool description lists the bounds), the arm is\n at its reach or folded limit (the arm simply stops), or you are in\n contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n the tool about the grasp point; it does not move the grasp point\n sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n with the far-region scale from the facts, remembering the view is\n oblique: a target's image-y position over-states its distance from the\n base by the compression factor, and it sits in whichever arm's frame\n you convert to (the workspace box gives the base spacing for switching\n frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n look at the wrist camera. The object should sit on the jaw column\n (x ≈ 110). If it is fully visible with empty frame below it, advance\n 2–3 cm radially before descending, because the fingertips are further\n out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n retry once. If the second close is also empty, do not repeat it:\n re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n lift clear, then verify in the overhead frame after the arm has moved\n away. The working arm's occlusion of the top view is expected; do not\n retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n cross-over bound), so any object on the table is reachable by at least\n one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n moves, scale probes or table touches; the first task motion is the\n sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n off-centre. Align in the wrist view before closing, and close no further\n than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n and give up early; the operator can move it or widen the box for the\n next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"type": "text"
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]

call 0 attempt 0 · /messages · status 200 · 33.52 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]: [-0.0204, 0.794, 0.609, -0.3763, -0.0257, -0.0284, 0.9986, -0.0166, 0.7891, 0.6037, -0.387, -0.0246, -0.0349, 0.9982]\nstate[eef_state]: left_x=0.2959 left_y=0.0021 left_z=0.183 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2935 right_y=0.0031 right_z=0.1797 right_yaw=0.0001 right_pitch=-0.0 right_roll=0.0005 right_gripper=0.9982\nstate[joint_eff]: [-0.5402, -1.4291, 9.7846, 1.7167, -0.0122, 0.1538, -0.1587, -0.8547, -1.1692, 10.4137, 1.8242, 0.0269, 0.2076, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d90ef8ab4209c1abf38c779cbae1fa38d3bef1419679126bdf473ed4d48573d",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3fca0317cd4ee26b573e95ab6efad11827dde19e19c16447cbdf6fb89d91c31",
        "media_type": "image/png",
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
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  ],
  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 31.79 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]: [-0.0204, 0.794, 0.609, -0.3763, -0.0257, -0.0284, 0.9986, -0.0166, 0.7891, 0.6037, -0.387, -0.0246, -0.0349, 0.9982]\nstate[eef_state]: left_x=0.2959 left_y=0.0021 left_z=0.183 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2935 right_y=0.0031 right_z=0.1797 right_yaw=0.0001 right_pitch=-0.0 right_roll=0.0005 right_gripper=0.9982\nstate[joint_eff]: [-0.5402, -1.4291, 9.7846, 1.7167, -0.0122, 0.1538, -0.1587, -0.8547, -1.1692, 10.4137, 1.8242, 0.0269, 0.2076, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d90ef8ab4209c1abf38c779cbae1fa38d3bef1419679126bdf473ed4d48573d",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
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        "data": "$blob:f3fca0317cd4ee26b573e95ab6efad11827dde19e19c16447cbdf6fb89d91c31",
        "media_type": "image/png",
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    {
      "text": "camera 'right_cam' (step 0):",
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    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014B4qtftdNrP2tvzVfS5Nax",
      "input": {
        "note": "Three bottles lie on their sides in the middle of the table. Plan: grip each bottle by the neck, lift so it hangs vertically (gravity rotates it, since pitch/roll are pinned), then set it down upright. First hovering the left arm over the leftmost bottle to inspect it in the wrist camera.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.32,
          "left_y": -0.15,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_014B4qtftdNrP2tvzVfS5Nax",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7307, 1.1919, 1.0401, -0.5774, -0.5728, -0.4519, 0.9988, -0.0193, 0.7937, 0.6041, -0.4038, -0.0238, -0.036, 0.9981]\nstate[eef_state]: left_x=0.317 left_y=-0.1507 left_z=0.2341 left_yaw=-0.0334 left_pitch=-0.0329 left_roll=0.0093 left_gripper=0.9988 right_x=0.2915 right_y=0.0022 right_z=0.1752 right_yaw=-0.0026 right_pitch=-0.021 right_roll=-0.0005 right_gripper=0.9981\nstate[joint_eff]: [-0.3077, -4.1778, 9.306, 1.4286, -0.4664, -0.1392, -0.1343, -0.1299, -1.5795, 7.0085, 1.9072, -0.0317, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7822fd406ecda74eff923fa50239f1a6a4f27ed56362d4d026cf569649f198b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02ac3ad9016cdb9f9b5fdb779fb1bea52fb4056fc86232060bce3fe766fe6703",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e7ec7431d8fa5f6c26a0bebbdcbdeca902fc6aa1675f7d2e0daebf98250df1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 15.97 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]: [-0.0204, 0.794, 0.609, -0.3763, -0.0257, -0.0284, 0.9986, -0.0166, 0.7891, 0.6037, -0.387, -0.0246, -0.0349, 0.9982]\nstate[eef_state]: left_x=0.2959 left_y=0.0021 left_z=0.183 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2935 right_y=0.0031 right_z=0.1797 right_yaw=0.0001 right_pitch=-0.0 right_roll=0.0005 right_gripper=0.9982\nstate[joint_eff]: [-0.5402, -1.4291, 9.7846, 1.7167, -0.0122, 0.1538, -0.1587, -0.8547, -1.1692, 10.4137, 1.8242, 0.0269, 0.2076, -0.2027]",
      "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]: [-0.7307, 1.1919, 1.0401, -0.5774, -0.5728, -0.4519, 0.9988, -0.0193, 0.7937, 0.6041, -0.4038, -0.0238, -0.036, 0.9981]\nstate[eef_state]: left_x=0.317 left_y=-0.1507 left_z=0.2341 left_yaw=-0.0334 left_pitch=-0.0329 left_roll=0.0093 left_gripper=0.9988 right_x=0.2915 right_y=0.0022 right_z=0.1752 right_yaw=-0.0026 right_pitch=-0.021 right_roll=-0.0005 right_gripper=0.9981\nstate[joint_eff]: [-0.3077, -4.1778, 9.306, 1.4286, -0.4664, -0.1392, -0.1343, -0.1299, -1.5795, 7.0085, 1.9072, -0.0317, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7822fd406ecda74eff923fa50239f1a6a4f27ed56362d4d026cf569649f198b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02ac3ad9016cdb9f9b5fdb779fb1bea52fb4056fc86232060bce3fe766fe6703",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e7ec7431d8fa5f6c26a0bebbdcbdeca902fc6aa1675f7d2e0daebf98250df1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TwCMUQXg8237eX731M7dTy",
      "input": {
        "note": "Wrist view shows the nearest bottle just beyond the fingertips with its cap toward the far-left. Moving over the neck of that bottle and yawing 45° so the jaws close across the neck.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.37,
          "left_y": -0.105,
          "left_yaw": 0.785,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01TwCMUQXg8237eX731M7dTy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6945, 1.7893, 1.2503, -0.7689, -0.9401, -1.2213, 0.9989, -0.0193, 0.783, 0.5846, -0.4034, -0.0242, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3729 left_y=-0.1202 left_z=0.1274 left_yaw=0.6578 left_pitch=-0.0449 left_roll=0.0327 left_gripper=0.9989 right_x=0.2885 right_y=0.0023 right_z=0.1693 right_yaw=-0.0022 right_pitch=-0.0294 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [0.1846, -9.2103, 6.5299, 0.0317, -0.7546, -0.0317, -0.1294, -0.3897, -1.4427, 6.8991, 1.9658, -0.0464, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eaf4f4fa5fbcb43eef36bced2c25b896d50904c243923f2bd9840327b584949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:200528a44902ee9adb6d83bfbe40986d59e649daffbcb17fc74d62c9eb4bfadf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:86f7374f1a0b3fb0a0af6193bab321c3236dbf9b015052b335f05ffdf134683a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 7.337 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]: [-0.0204, 0.794, 0.609, -0.3763, -0.0257, -0.0284, 0.9986, -0.0166, 0.7891, 0.6037, -0.387, -0.0246, -0.0349, 0.9982]\nstate[eef_state]: left_x=0.2959 left_y=0.0021 left_z=0.183 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2935 right_y=0.0031 right_z=0.1797 right_yaw=0.0001 right_pitch=-0.0 right_roll=0.0005 right_gripper=0.9982\nstate[joint_eff]: [-0.5402, -1.4291, 9.7846, 1.7167, -0.0122, 0.1538, -0.1587, -0.8547, -1.1692, 10.4137, 1.8242, 0.0269, 0.2076, -0.2027]",
      "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]: [-0.7307, 1.1919, 1.0401, -0.5774, -0.5728, -0.4519, 0.9988, -0.0193, 0.7937, 0.6041, -0.4038, -0.0238, -0.036, 0.9981]\nstate[eef_state]: left_x=0.317 left_y=-0.1507 left_z=0.2341 left_yaw=-0.0334 left_pitch=-0.0329 left_roll=0.0093 left_gripper=0.9988 right_x=0.2915 right_y=0.0022 right_z=0.1752 right_yaw=-0.0026 right_pitch=-0.021 right_roll=-0.0005 right_gripper=0.9981\nstate[joint_eff]: [-0.3077, -4.1778, 9.306, 1.4286, -0.4664, -0.1392, -0.1343, -0.1299, -1.5795, 7.0085, 1.9072, -0.0317, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6945, 1.7893, 1.2503, -0.7689, -0.9401, -1.2213, 0.9989, -0.0193, 0.783, 0.5846, -0.4034, -0.0242, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3729 left_y=-0.1202 left_z=0.1274 left_yaw=0.6578 left_pitch=-0.0449 left_roll=0.0327 left_gripper=0.9989 right_x=0.2885 right_y=0.0023 right_z=0.1693 right_yaw=-0.0022 right_pitch=-0.0294 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [0.1846, -9.2103, 6.5299, 0.0317, -0.7546, -0.0317, -0.1294, -0.3897, -1.4427, 6.8991, 1.9658, -0.0464, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eaf4f4fa5fbcb43eef36bced2c25b896d50904c243923f2bd9840327b584949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:200528a44902ee9adb6d83bfbe40986d59e649daffbcb17fc74d62c9eb4bfadf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86f7374f1a0b3fb0a0af6193bab321c3236dbf9b015052b335f05ffdf134683a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VEQcQ7Lpk6X2tTYh96QRSn",
      "input": {
        "note": "Wrist view shows the bottle's cap high in frame on the jaw column, meaning it is still several cm beyond the fingertips; advancing ~3 cm radially before descending.",
        "targets": {
          "left_x": 0.405,
          "left_y": -0.113,
          "left_yaw": 0.785,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VEQcQ7Lpk6X2tTYh96QRSn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6571, 1.9156, 1.3567, -0.82, -0.9791, -1.3537, 0.9985, -0.0193, 0.7704, 0.5568, -0.3973, -0.0242, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3933 left_y=-0.1137 left_z=0.1161 left_yaw=0.7768 left_pitch=-0.0179 left_roll=-0.0005 left_gripper=0.9985 right_x=0.285 right_y=0.0024 right_z=0.1612 right_yaw=-0.0022 right_pitch=-0.0385 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [0.7453, -8.9778, 6.9949, 0.359, -0.6276, 0.1441, -0.0562, -0.2803, -1.7436, 7.1863, 2.0342, -0.0562, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96bc51ff6dea1f2615ef1eb43257fd2c9855f8a15f57c39a7b2d3f15fdbc0a48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1b0420ab4b15ae2165133cc50421b8e6c2ac028e81ac8c83193e647bbc652ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35791652acf6e354ad06a95e7fba327308829ad1542b2c2ab51341a17e5d2ed0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 8.746 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]: [-0.7307, 1.1919, 1.0401, -0.5774, -0.5728, -0.4519, 0.9988, -0.0193, 0.7937, 0.6041, -0.4038, -0.0238, -0.036, 0.9981]\nstate[eef_state]: left_x=0.317 left_y=-0.1507 left_z=0.2341 left_yaw=-0.0334 left_pitch=-0.0329 left_roll=0.0093 left_gripper=0.9988 right_x=0.2915 right_y=0.0022 right_z=0.1752 right_yaw=-0.0026 right_pitch=-0.021 right_roll=-0.0005 right_gripper=0.9981\nstate[joint_eff]: [-0.3077, -4.1778, 9.306, 1.4286, -0.4664, -0.1392, -0.1343, -0.1299, -1.5795, 7.0085, 1.9072, -0.0317, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6945, 1.7893, 1.2503, -0.7689, -0.9401, -1.2213, 0.9989, -0.0193, 0.783, 0.5846, -0.4034, -0.0242, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3729 left_y=-0.1202 left_z=0.1274 left_yaw=0.6578 left_pitch=-0.0449 left_roll=0.0327 left_gripper=0.9989 right_x=0.2885 right_y=0.0023 right_z=0.1693 right_yaw=-0.0022 right_pitch=-0.0294 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [0.1846, -9.2103, 6.5299, 0.0317, -0.7546, -0.0317, -0.1294, -0.3897, -1.4427, 6.8991, 1.9658, -0.0464, -0.0513, -0.0073]",
      "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]: [-0.6571, 1.9156, 1.3567, -0.82, -0.9791, -1.3537, 0.9985, -0.0193, 0.7704, 0.5568, -0.3973, -0.0242, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3933 left_y=-0.1137 left_z=0.1161 left_yaw=0.7768 left_pitch=-0.0179 left_roll=-0.0005 left_gripper=0.9985 right_x=0.285 right_y=0.0024 right_z=0.1612 right_yaw=-0.0022 right_pitch=-0.0385 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [0.7453, -8.9778, 6.9949, 0.359, -0.6276, 0.1441, -0.0562, -0.2803, -1.7436, 7.1863, 2.0342, -0.0562, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96bc51ff6dea1f2615ef1eb43257fd2c9855f8a15f57c39a7b2d3f15fdbc0a48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1b0420ab4b15ae2165133cc50421b8e6c2ac028e81ac8c83193e647bbc652ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35791652acf6e354ad06a95e7fba327308829ad1542b2c2ab51341a17e5d2ed0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS+gYKjgEIEhgCKkC5TK6B9RRkWnJ2kA48lyCRnHHcTooA/I1+TZC5SZpmvuelspmULcKYRKYSkuICBOzJ9SLSd20A4n7/pqlZgzN/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAam+zNUGEgzRlMb8eIJucWN7H8UaDAD3Gz/qe4dOHsFRsyIwqeMb4DzkS0reUbN5fvG0DL5V+d4+nrfemF2BV+BNPYaM6azc9YPoy2Ukw4av3sjeKpgF7nSze2PhXOE63qanyTqyaz/mGAnV4umgxSZH5zVPyw9nM8hw9Ctti48XBHCHXMsdj1J+JpOZtH6B0Ov+SPySCZwUjuWeaMrn+I5yE42FyfU1HZ9bjj0iDxSBOKGpwfVZZ3HLfHDhYJou8cmgvRLsO/kAv2onmfK+2IyKcULC4lzM/4iHwFVw0LHqybXQBKa7phGeAPsbU2+HQUNwHLam2ik9mvq2XSEpXEQ1LY1PwDyyg6J2d9JXFpObmn8bJ7Wkw1aFQ1Ii4u2LJH1zWdf3ltRIqme+XMUqCSeoXzNV25xQPr2xBY7n38Navqt42h5ZkLQ9fviIz6Rfx9cqcMWAFBX3ZxnU1G9PyFetgcoRzE2essoUXdcY74fmV4ZH2x4K1wFYIcA1p1AFX1MuDgpvR72AZRbYCZFKhvokH1LM7mLDVffBxBt7jCjxXYzhRX6rXjUSxGdIJmCTgV72S5pJa5uSAhIA4glmvHpj4GdrK7MX9ppFvQfK81LJl9MwW9ToNWfnwGQXXoz8DzqFwSuvzCOp4GuZfjdmLxtkFtoiuLfibnxHhYZLq2s4N3UhJz2CYn0biGFcyIoeWRkskQBJhROXvA4jtdezHX17JQRcg57nYRxV5P3KpiYwUxl/WXiIYZ2cu5zvLXXs1N7xN0dSWzWUZK/NyuYn1uBbX8Hi2fWc6Jaz0oZYzAuJCJqSOxf1+XuBNAMhc/qV4fuJ5E1tc3NWX649+4VwjM1HYVyY081fomYRSM7QiMJfE+z2zYq+RTab2nDX5Azw4wZwBFKdO1h1gd0+3Md15g/ZCxz71vRoh3mTQOwxKSHHe4dIT9sZiw1RYwMhQ2MlAtrEUChuiZ4b0c4A50esnkvGorwl5JZ07OQehukOuxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M65K38mFZ1ZfqPfSssyyhA",
      "input": {
        "note": "The bottle is now vertical in the wrist frame with the cap on the jaw column but still above the jaw row; advancing another ~4 cm toward the neck.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.115,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01M65K38mFZ1ZfqPfSssyyhA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6399, 1.9457, 1.3808, -0.8085, -0.9779, -1.3533, 0.9984, -0.0193, 0.7506, 0.5209, -0.3794, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4014 left_y=-0.1117 left_z=0.1118 left_yaw=0.7935 left_pitch=-0.0183 left_roll=-0.0057 left_gripper=0.9984 right_x=0.2817 right_y=0.003 right_z=0.1538 right_yaw=0.0006 right_pitch=-0.0366 right_roll=0.0019 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -9.7573, 7.747, 0.4811, -0.7057, 0.1538, -0.022, -0.1573, -1.7299, 6.9538, 2.0293, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94f81d7d954f850c79464cbe73465c0640f0271bc43c33f93e87f5b466e7a796",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4ba983b409a9233ccdaa30244dab859de685d1313ea0f50eedf0578c701cf8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e05fc9cd65c43510a28fe22c08f5360c0a93b5c97350299ff691e3f5c831a733",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 27.06 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]: [-0.6945, 1.7893, 1.2503, -0.7689, -0.9401, -1.2213, 0.9989, -0.0193, 0.783, 0.5846, -0.4034, -0.0242, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3729 left_y=-0.1202 left_z=0.1274 left_yaw=0.6578 left_pitch=-0.0449 left_roll=0.0327 left_gripper=0.9989 right_x=0.2885 right_y=0.0023 right_z=0.1693 right_yaw=-0.0022 right_pitch=-0.0294 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [0.1846, -9.2103, 6.5299, 0.0317, -0.7546, -0.0317, -0.1294, -0.3897, -1.4427, 6.8991, 1.9658, -0.0464, -0.0513, -0.0073]",
      "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]: [-0.6571, 1.9156, 1.3567, -0.82, -0.9791, -1.3537, 0.9985, -0.0193, 0.7704, 0.5568, -0.3973, -0.0242, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3933 left_y=-0.1137 left_z=0.1161 left_yaw=0.7768 left_pitch=-0.0179 left_roll=-0.0005 left_gripper=0.9985 right_x=0.285 right_y=0.0024 right_z=0.1612 right_yaw=-0.0022 right_pitch=-0.0385 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [0.7453, -8.9778, 6.9949, 0.359, -0.6276, 0.1441, -0.0562, -0.2803, -1.7436, 7.1863, 2.0342, -0.0562, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6399, 1.9457, 1.3808, -0.8085, -0.9779, -1.3533, 0.9984, -0.0193, 0.7506, 0.5209, -0.3794, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4014 left_y=-0.1117 left_z=0.1118 left_yaw=0.7935 left_pitch=-0.0183 left_roll=-0.0057 left_gripper=0.9984 right_x=0.2817 right_y=0.003 right_z=0.1538 right_yaw=0.0006 right_pitch=-0.0366 right_roll=0.0019 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -9.7573, 7.747, 0.4811, -0.7057, 0.1538, -0.022, -0.1573, -1.7299, 6.9538, 2.0293, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94f81d7d954f850c79464cbe73465c0640f0271bc43c33f93e87f5b466e7a796",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4ba983b409a9233ccdaa30244dab859de685d1313ea0f50eedf0578c701cf8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e05fc9cd65c43510a28fe22c08f5360c0a93b5c97350299ff691e3f5c831a733",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISpggKjgEIEhgCKkD/NG0TeYkRtFd9b2e1KgYTQrLjuus+WzRmtES8SJ3uOBNfF61IadSyZIy09CtWQ32/FQGy5HR0oOsYMi7lzJFGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbK+zNUGEgwdJXcd3bM33Tnt59IaDD+V5IUpheg3y2IsYCIw2CVOWdentBrIQpeOTSR3eTCqM19sVFMwFF9Gmf8wozGZcWbvRZfd+6pYNCkU6kdfKsQGBb6mBkNqN0U3xmZHwI/ZUOkr4KeiYogPGMo8zmpgXWpOHT7p/ACi8G8jeOAufxL1Y7gqlVVy6oIa6RIkS9QLtkn31g5+agSo2uqtxUSStaGPe9WFk8OjLK2gwY6xIqEXqrqOMAiUiG9PfLTXVOlL43NNvUnAOafCeVejHZU6L/GfL9qqzNL9vQbTbpSa9jRl1rDzMEsp+6UGYfudECUea4oexAnEN6e07YFaivtXF4gZwBxNra0FtetxZSxvaEA86WsesxemXwpjpEThf0ZjaMnf80lFGSnaey/+HTMfGJomxQBMFRZdLRwrWBJWboHxr4j4aj08Pu3Of0ywpBqERTuNLma/uISd0BDzDsk4p6m6EEgFYEav9AzNPvBWK+gCexZnvschcmmbg39gM5alY39ouvBaFt7O9N75EM8T8vhoZG52gXE2ia+YhtD/Kiy/NPJM+yoi7xI3C4RAO+zZ+EE4ECdpTcWNHHc71eRIeAjqYfRUhggEbSqfGJ3gIf1K7+gvl3wzRj+Zv6egvmGEKQwtSlydlnd7KCIzz6awhzBnmihW+iShGL9dYAvJZU947st3O8RLtb2uQyl/T05f2CiPWD2fjZhzuqQxhnLm8tuAj3XHAo2LsQfuFpbCBw2wTrDQdDja9KDrDxoQGA4QaoPajFqKyRcmNgYTDcJwBWEVhhkzxBJDKreirrKQjue2L5Ken8X3CMYd5kXP8E5SVroKFZAjZEbncA88fkgOR9YK1xweWSm8uKX8qVzuTbeEaW2MwmPhqla6QZND7Xe8J29doeco4mU4ys675wVseq7TExXYnaKhz9nzfizGljSdZaioOUZ5ZCqbs3djPUnTdhCyWH49Q/u3gy0HBlYcUCgYUU4kn14Bt01l9nAn6mx6vT53utFXi++B2JC/EJRBCSutKB2674yn7SZFzL4+gacfqXkqQR1zOrNWPOy0vd+AlNBWZwg4HhjZDhOS9enngGdFsQNolGdeGobUGDdu5CRx5SPtdgGZ3DL5hH5MV88tiAKavdjhJPE4Xv+XNGaGGzvOTRt6aXKtmSJd0qbHDP0Mha9mi409JOwGXq2rUS5skJblBfk+ZRBXb8SrbrCyUjoJyjkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NqitYJkatAjokhk6gzxTzM",
      "input": {
        "note": "The last 4 cm command only produced ~1 cm of motion (too few steps), so re-sending the same forward target to actually reach the bottle neck.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.115,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01NqitYJkatAjokhk6gzxTzM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6399, 1.9457, 1.3808, -0.8085, -0.9775, -1.3529, 0.9983, -0.0193, 0.7326, 0.4866, -0.3622, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4014 left_y=-0.1117 left_z=0.1118 left_yaw=0.7932 left_pitch=-0.0187 left_roll=-0.0054 left_gripper=0.9983 right_x=0.2786 right_y=0.0031 right_z=0.1463 right_yaw=0.0006 right_pitch=-0.0358 right_roll=0.0019 right_gripper=0.9981\nstate[joint_eff]: [-0.294, -9.5795, 7.5556, 0.525, -0.7106, 0.1636, -0.0171, -0.1299, -1.6615, 7.1043, 1.9463, -0.0171, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55e733c3519c28fb9f42ad150f5c23ffec2439eb52460d7626c7018e15e06e08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:672a5a04eba7c3caeed41c4bda3026b019e331495e58265d7ce714ae0f5910c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ecfce852a50af7bd5060b88a781a122106f1777119b865d1e6df3310644c2e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 5.151 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]: [-0.6571, 1.9156, 1.3567, -0.82, -0.9791, -1.3537, 0.9985, -0.0193, 0.7704, 0.5568, -0.3973, -0.0242, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3933 left_y=-0.1137 left_z=0.1161 left_yaw=0.7768 left_pitch=-0.0179 left_roll=-0.0005 left_gripper=0.9985 right_x=0.285 right_y=0.0024 right_z=0.1612 right_yaw=-0.0022 right_pitch=-0.0385 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [0.7453, -8.9778, 6.9949, 0.359, -0.6276, 0.1441, -0.0562, -0.2803, -1.7436, 7.1863, 2.0342, -0.0562, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6399, 1.9457, 1.3808, -0.8085, -0.9779, -1.3533, 0.9984, -0.0193, 0.7506, 0.5209, -0.3794, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4014 left_y=-0.1117 left_z=0.1118 left_yaw=0.7935 left_pitch=-0.0183 left_roll=-0.0057 left_gripper=0.9984 right_x=0.2817 right_y=0.003 right_z=0.1538 right_yaw=0.0006 right_pitch=-0.0366 right_roll=0.0019 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -9.7573, 7.747, 0.4811, -0.7057, 0.1538, -0.022, -0.1573, -1.7299, 6.9538, 2.0293, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6399, 1.9457, 1.3808, -0.8085, -0.9775, -1.3529, 0.9983, -0.0193, 0.7326, 0.4866, -0.3622, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4014 left_y=-0.1117 left_z=0.1118 left_yaw=0.7932 left_pitch=-0.0187 left_roll=-0.0054 left_gripper=0.9983 right_x=0.2786 right_y=0.0031 right_z=0.1463 right_yaw=0.0006 right_pitch=-0.0358 right_roll=0.0019 right_gripper=0.9981\nstate[joint_eff]: [-0.294, -9.5795, 7.5556, 0.525, -0.7106, 0.1636, -0.0171, -0.1299, -1.6615, 7.1043, 1.9463, -0.0171, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55e733c3519c28fb9f42ad150f5c23ffec2439eb52460d7626c7018e15e06e08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:672a5a04eba7c3caeed41c4bda3026b019e331495e58265d7ce714ae0f5910c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ecfce852a50af7bd5060b88a781a122106f1777119b865d1e6df3310644c2e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS9R0KjgEIEhgCKkDDPAcPakwWO2ByDT1TP6jH40/voWpbn1KoI3mAZBypjuqRBcTxHQmwtkQmB+nXOZoG3zA4Jypxuo3nGrvfFN3xMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc2+zNUGEgwnFSbd8OCAqfo+MOcaDPtRM9ZvDBGhiuEWPyIwi14kypkX2gPqBfPb4MsG/TPNTOofMwJPbI9/Mf7Lyqp6aJW/aFdpT9PCxWgKCFDiKpMc9s6Yel47AO0NLEQRwbM/wzCVj6cGqyg/GHhqYTWSoiJJ6hSt8K3ZSGA1OlYyPm7c9Nxz5BPTfDDlOJA8ypZRSBUCKDVmnD9WYfWNdoWdKeHZ5DV5nanbDnl/MRqrN42sjwk+1pWKsLEFSxpRwP8rCoqlWqcLWKkRQa9gkHx3h+lOFeW0bfMg3SxhpM1wL0RtHlagJUTz7Z8dVI0l5FIDtMbbjC4KV9lvR9kT/hyz1j1VD+m46lsndMiBl41sGgv28bRMFXAuGQ8heKlC4JpgObYUgdy9qzXRNxtl+jArUFNNxYhPfEbdKvRAunqmJ2SWWtTa6bbz2ofYNoHl9CRR7dMrDEBVOqHhZQwh/I8NKxbI7riljoYXYyvUrOyBApDf94IlFdZ6vJzyW2co75cRHBf29dn53jbEphMQb8jtvvbtZ3hbIYpBae8KJ7fz1tTL47PccmKP+CPRYpK9jLQSWTEEiDepJ2F1oTRXXaoq8x019mYrOYkaI9yoN9HgametV9RpE0l8q3mbiJRQvu6bMhLVtuc3UpJVt6UmfpJVXYbg9t6GxQbXYh8G3vJLHLX3EEeUp7KbrvPMIGrnc+ZSf1ByjEifbbiJAiV4b6ApD0xatjCzoa+VHTH2CTbyQ8S2t9XI92xJvCusMqs4Mc1gaKqtG0gSqmlUz+WEIKoqou2PAs+GorVVjJdclaUOCkatV9nbe7tw1tUuT2tWZaALqyI9x+fjfUdu1r7cyTOSSSgtD+31TTdMPTLBkiBiTYGU2o7wEJso23YFLUCU/7guy4NM+dKe8HKkUlqeuIrPxDimlyEHPGi8mh0B+8BNViWT0huOrciRhTb33SxQoKiUepWdFEwcX6pIyLdUMO3mZDuRtSFjpnjKQ7wFt2AyKg1KLGvaCXhvPCn9C7Nvo5DSPwFdFwSLRcuPr67PlWGbsRFJwbs1wgI/mVyPVjTADaA7dhB9srFHziMc3962kXxMAuBGKp8wN18TwxCAXq15j053f0M3WXdsI8dvVDujAWrmfX+/N3enOS+Nunreamh3uYDERmihLGNDEWM0lwBJuVQMu9sBJTgp6pt5c2RrpdGXRUzqlXkOQrO/b3Mtqv/+JlQwXXTPte2LvrFnwxqGD7t7Omfp/laTYr6FsYIe6b0NGn65e/qlHY9ROpS8YYJ/9rk5s7m0acFRqgU4Mb79/yDoB7GyiXAV22q69qtXzosCVa0+ZOwO7qhBggY3RJbuS8Wyiw+E5eIhYg463xfEYEfnqYieJ38UPt/m2L8uni59SlsTlOTYZ+r6ANUtt9TNJSFVrijRy65s/uAiHL+fRlRoJBqkDGy95Oxvesolk7N5Q/7Jhrzu6urx98POMRyCZT3JCL4zpCtysEPUaSDMoCYAl5fQlLuPsiSydZJ+ezdA/Roh/QOFai43GWvxwbjVG8MytbPflgtGXWXbKSHMryb1PDHyhfR5To69BZjzXT/UYkwTLOXLBv/5BMZujo9I0LV8gqzHkQ/suyqK7Eb5vZ/u6oZK889MHXMENWAjG8g/Js0IiQEcbf55tauWqWBrhtl/cFSpzu7Z6JnlJb1o1MnsQneT/AZfEV5e1nBxjbezFqLJF2+AS+aIFFgk/egtndv6t7MW05fvrAneoRL+bk+gRoJt82+9lzgsAXIDoYN/zHSZVVxaxsV/7ARDREw65yMvzEHO1t4WjVQUrn7ag0EWY0eIcn45c9UW4twlntljFiXyPGzcJa5PxAO0AlPCdrctZ95WthOQG/ekz3j5kGiCAXyZNPzkvJO1b+Cq5zoh7+VYlYEltGB3szIZq/4/f81wb4Dvw0DZRhmIsCN7XPgFaLxXkDv6d/8VvfV1+2x7MT1OG+O1nvSJYBp/JWCm4dBlzBqKUEzMxD83dbXZo2QJ4Em4in3AGJBEFpFHOsjjCLJs7TgWqcW5/xhgLhuL03WoCNsewVZ9jnJv6ZVPMog/fmkAehbVMjOOUHS3ViawqBDHXVjsaphvyo7e4uEP8d2SthypXNmu+rGy4AdYMm81Z2A0/AvY1JTxNGAVjUk5n3Ltm/lgmeub1mElALPxQ6xtTPslFFibH1E1ifG7b+eaGv5QJJGhN6vhUgXGnDWo8tlLb5NDkI3qmiEObzbUVTDnFfFh7goZdxnx6AGRR8EnR5aqdBlNEUmTAroxiY/S0SqOZQ87RRpVp8twfXjFYPqHDjEkxxByLFCuPKhnwhpcgE0o1xI9H1GifgUJVEd71fBtJSgkG/ulxi3NGqbA+VKQX1Y+y57uD4rAxC2580225ZNfFk5q3ehJ+SEt74Dxe5/pK9y3S8saX8Rv109+ZbwNHhe2Y4Hk6ZwQEHjeFEe5hHevWfabFY7UMZS4GJagTr/MG/qhaR97NImC16FTFidN02edauZVLtAV0pAoEpffmhQDahofUByH5lk6Aiozc6sxpGaWsZrGDo95m2Z95Hxoyi3l7qHmAjYpckJrHeN2QwDcZRCyZq/7lcg9o2qcYEuaoePx3X0Row0yfSogeFAF7pncicu3PnhpAJkG4UrimRNhYcPp1fk2gDW4SoH3AFKRu764QD5OGhhnB69DuJKQm1d+T2rTCaqqN+M/f2/EV/AQaKn6aaMsDJCkQdacyfTHXngqSDoMr5xI+5+Jr2ImtIYQnE0dB6yqanogr2DX6+gTUrhgSNw80+eozmZIDNuqYV509uJythPfi6UJ0p7pBiyhI5ExAhzd3Ge1SlPJ0kIpYr9NP5xOjVFYMXKZovWa1CTG3EghiJFbsf9drU06ZerSQAordC1tNPTl/FWgkn5IUob9ZRb/xQ8+EVUsNGdOgXzhVeUDeTZal2jwazGN/7pUzdidIYMdwBVwPY/98GuJrSQABDe+pvBPZx6/RldJC3kJ0x2hjKVo1aWt0gP87WZ3OxjDnepuwNM86DCgvOU0Nrwzcf96fcM3kgGA1CVPsozrc+yH08p6c7abWJ81jO8oM+ye6hpXClWJRwQClqwByOv0DpyMei880HZo0FoQQkRS6uLZdkypYrn5O3KJD4pXvEigeOxzxn+DlA5ZzNYRV4g1kupQZ9bZZibZaU+sX1cDcBLJ5QyVPPNLpPgk4nxVXllYQag1u/d/AZRepBmMuWyQNQrJEywaUJ81R48SFGzSmEDc5BpOWHBukWSgf7UAeyT4J1P49w4yP0dtRRsgSGD6f1Oj2/s7E611j6pcGdVk5khlvb9l0KqSsmnZq5RkZnwKyjwPBNBYOWrbv47PmMaDEWW6KG1dJZIgkAFAeOyf/3pnC2V8i6oJGQTX2Zv+OiGNLFaRGCUUcFqsYhCQtJRMjDqyRJBCUYHL3qYA1deMV0qwbSWtCUcLbPQ7nSabPJbpC5iGOn2m5ywEm6qH5eKuEvk6FVOPp2y6Tqwlzw2hhjfKpU2V/0rn4RVMWtBrC51WEOF8DlW0uuW/EhaeOB6YFIyHa60b7UsysYO48FHxqZib29ozRGYG23HzP3+p727gmhbGLxTuVAhsH6tx+MWxi2SfS8tBOTeySamC0uAkrOi1xSdK7vFczfpXfXLJ5Gz9/53O8B7dfcFqPgrhK8Xaamyq0lFA64IC2I1H4Lht9731mKOx9LkoASPvhb+52bFTavOfg4DgQI5pXEq4dcYIgmd6jKOTx56h+ueGaENOVvucLOOteeJuMox0i/myXsc33I6Q0M+R6IpYOR1tXMewQAjH8NeCGLr3mCl9sqfXzG4Y+VTrsnBzN+/8AOTTGWYZ/vAKjMKJyG+3mNZ5etr/BLEdqeIvorfPPH95QBCuaKwVHGdd7kHxqspLvVEziFvdB8N2iocxDGqFv/f/V6RU7TMxR5UR2Tn5ILfnDTIUgiJtwf9emLNZ2JFEMvNB+UgDjrQ7m/ZrNBn8dzOOj6Cf1PB6XUHJoMsoEyxZIDuo/HmwZrKjtMPtSTEHI6KLIZ7WlOb/LP8UEJ8hrQBpo6wIQAvXux3XKUWxvVsoYfK8wocj2PGMJArSOL2O3TOSyLFzhdF/Zru/ZUmKKb/KZ2GZFCqxG2SeoGuTcndHYqgHe4jXsqK7JmcfeMsmii1WQNDanbtmV/nHANAXTWpwV6NjfES3ZlfhrS/QuXAsoTVsVa539vCn2UAHPE2+g7LFp1KOZdz7KOHgBCVIZmzCUwEE3bErh7s/sa9fiSED2XfD/bOV5CXRApSGoW1uTTfGE0v0dyLC9M5hNQeh2kgcOXuMYAUM9+DlskH5SBBP6Wf+8Gi1ofjsAKlFeu7NDPNrR2Ec8CsWskWZ0cjMQ8c6ydXUMjwYZFVrV6Zj98qc0ImPMhsyrYRYMYq6CnISD6JHfGwVxJMSC0HC6/DubEQaE4scvjgjtS7zeXQd47iMi+2r9qKTULd9XaK04HMorOOk9/Ei6GRi74LZy9ZRW7eMl1DODsUAlNkaw6MBZ4neH/UC8n3Vt+BpTrtpS1vsgtQbmSojB47c1niveytrJhe5dBO7o05PGGSB3LRArikJIn/70sVv1bSO2YoKHtZbuKY+V5FrFdAoBvW4mN8sBEvq/PvJRTfIDwENkG/hAZgMAktis5FxUI64d/NwTu6e2ejnA6M7svrkz4aSdKEDVX8rgQhS5qtdz+qP1pAMbz6Q80CPvspd8cgE48VuIlBNNZpp+zLsv9gpru9AGGH+yMWG1B/nBuTY+gVimdtvH/dj+TZdTsMFjJgefvceMc+t7r1JMcIQU7/B3ZV8pUl73RtJBhQ0/MzDkCPz8W6S+a8G161vDsiJQQlwLW3RjXT6qfZBkdj4XvMglK8fLWDH7GeUxD9rCBpwCEGUUNWOBJcjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012uWXkw4sSaeTRKjwUHdvJk",
      "input": {
        "note": "The arm has hit its forward reach limit at x≈0.40, so instead of the neck I will grab the bottle's body (which lies right under the jaws) and drag the whole bottle nearer the base. Descending onto the body now.",
        "targets": {
          "left_y": -0.085,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_012uWXkw4sSaeTRKjwUHdvJk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6182, 1.9526, 1.2881, -0.701, -0.9825, -1.3106, 0.9983, -0.0193, 0.7128, 0.4534, -0.3435, -0.0277, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3988 left_y=-0.0989 left_z=0.0887 left_yaw=0.7933 left_pitch=-0.0132 left_roll=0.0229 left_gripper=0.9983 right_x=0.2759 right_y=0.0032 right_z=0.1401 right_yaw=0.0008 right_pitch=-0.0305 right_roll=0.0015 right_gripper=0.9981\nstate[joint_eff]: [1.3607, -5.6684, 4.3829, 0.5983, -0.4811, -0.0024, -0.0122, -0.2667, -1.4017, 6.9128, 1.9219, 0.0024, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:499f7d5b3510dfcab7dbf5ac0621bf76acb0b425593a31110710663b625489b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a68ee6106511cd401effb7f87f00e25cd2f31efc30883d6f06e137e63864ad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29609b6ccec6d19732332de1e02b8ef465ac9af20c1eea03545bb887b6f96ec5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 18.21 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]: [-0.6399, 1.9457, 1.3808, -0.8085, -0.9779, -1.3533, 0.9984, -0.0193, 0.7506, 0.5209, -0.3794, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4014 left_y=-0.1117 left_z=0.1118 left_yaw=0.7935 left_pitch=-0.0183 left_roll=-0.0057 left_gripper=0.9984 right_x=0.2817 right_y=0.003 right_z=0.1538 right_yaw=0.0006 right_pitch=-0.0366 right_roll=0.0019 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -9.7573, 7.747, 0.4811, -0.7057, 0.1538, -0.022, -0.1573, -1.7299, 6.9538, 2.0293, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6399, 1.9457, 1.3808, -0.8085, -0.9775, -1.3529, 0.9983, -0.0193, 0.7326, 0.4866, -0.3622, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4014 left_y=-0.1117 left_z=0.1118 left_yaw=0.7932 left_pitch=-0.0187 left_roll=-0.0054 left_gripper=0.9983 right_x=0.2786 right_y=0.0031 right_z=0.1463 right_yaw=0.0006 right_pitch=-0.0358 right_roll=0.0019 right_gripper=0.9981\nstate[joint_eff]: [-0.294, -9.5795, 7.5556, 0.525, -0.7106, 0.1636, -0.0171, -0.1299, -1.6615, 7.1043, 1.9463, -0.0171, -0.0317, -0.0073]",
      "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]: [-0.6182, 1.9526, 1.2881, -0.701, -0.9825, -1.3106, 0.9983, -0.0193, 0.7128, 0.4534, -0.3435, -0.0277, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3988 left_y=-0.0989 left_z=0.0887 left_yaw=0.7933 left_pitch=-0.0132 left_roll=0.0229 left_gripper=0.9983 right_x=0.2759 right_y=0.0032 right_z=0.1401 right_yaw=0.0008 right_pitch=-0.0305 right_roll=0.0015 right_gripper=0.9981\nstate[joint_eff]: [1.3607, -5.6684, 4.3829, 0.5983, -0.4811, -0.0024, -0.0122, -0.2667, -1.4017, 6.9128, 1.9219, 0.0024, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:499f7d5b3510dfcab7dbf5ac0621bf76acb0b425593a31110710663b625489b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a68ee6106511cd401effb7f87f00e25cd2f31efc30883d6f06e137e63864ad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29609b6ccec6d19732332de1e02b8ef465ac9af20c1eea03545bb887b6f96ec5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISpgQKjgEIEhgCKkAGfgezL09RjPuViiRLI1Gnm5L7Je9pC+CIzFht9EmQxAWmcNhCZsVhhaN7lWz6cSn2KoGMqkt6NhNMLfbizLcTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdS+zNUGEgxDKuObHJd6c35ZNQYaDFC2R4CdhvLhFBInUyIwoM6qrD7trl+RZMKdWCXQMpjUMJToeY1lGc8eXpTDdgeQbMINr28vw+4MpkbZ0fLbKsQCpK8k3tbtHgOiWoEDcYJ6hmGQ+Ghy3LjIBzMrCU8MMUDCjnF9ULSVd8tlu2lvqW0ljQjJLJaidqz5MBaPZusUgVTygxTrOMkuvyVWNnD1v9GiTG+p2qhl7VhIr7mGcwwjB0z8ztVCueZ+n6ck2/rezcVNxEedb66b3R5lUhfmaa9tBpILUuYl5k/XaK1v632dXzucQACYWtHrKTy8bLfveyFNjyoXalfC7vUadnvAUl6yVTNOrW/5Ti/ys7xo+X5hAxYqrm5Igzehwr2j4CxZ01+e17yjBoYClTRh5pO6asADVccACUBa+JpUn4N2gtTDBVvtAQC5QYVzOcCj8Igi5V37ajObocUENrBxUyf4sjxqOVMl4OitJC9BKkETuPGNujABqvXlEDT+1286eS8sSJwI1sK2jWKqN9sEY60BvrfbX3qAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0172wd7aRu1TQpxVXDXcvSJx",
      "input": {
        "note": "Descent only got partway (z=0.089); continuing down onto the bottle body before closing.",
        "targets": {
          "left_y": -0.085,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0172wd7aRu1TQpxVXDXcvSJx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5945, 2.0251, 1.1233, -0.4103, -0.9871, -1.2743, 0.9983, -0.0193, 0.6979, 0.4255, -0.3351, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3974 left_y=-0.0864 left_z=0.0325 left_yaw=0.7983 left_pitch=-0.0004 left_roll=0.0015 left_gripper=0.9983 right_x=0.2726 right_y=0.0033 right_z=0.1329 right_yaw=0.001 right_pitch=-0.035 right_roll=0.0021 right_gripper=0.9981\nstate[joint_eff]: [0.4718, -7.5419, 3.9043, 0.6911, -0.2955, 0.149, -0.0122, -0.294, -1.388, 7.0906, 1.9853, -0.022, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:464ec26c5d3700622524e7d251edd0befdd5e7acf4e6086bdf3b29c05c3e905a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71f6c5406789ef1f8d9db6c13d71bec6488a1cba73adcc4ff7e7b408c8fa77f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dabeac56f7cc69d361d21dd4fcb4180a50e53e3b3f706438b82459d212f4e157",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 21.87 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]: [-0.6399, 1.9457, 1.3808, -0.8085, -0.9775, -1.3529, 0.9983, -0.0193, 0.7326, 0.4866, -0.3622, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4014 left_y=-0.1117 left_z=0.1118 left_yaw=0.7932 left_pitch=-0.0187 left_roll=-0.0054 left_gripper=0.9983 right_x=0.2786 right_y=0.0031 right_z=0.1463 right_yaw=0.0006 right_pitch=-0.0358 right_roll=0.0019 right_gripper=0.9981\nstate[joint_eff]: [-0.294, -9.5795, 7.5556, 0.525, -0.7106, 0.1636, -0.0171, -0.1299, -1.6615, 7.1043, 1.9463, -0.0171, -0.0317, -0.0073]",
      "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]: [-0.6182, 1.9526, 1.2881, -0.701, -0.9825, -1.3106, 0.9983, -0.0193, 0.7128, 0.4534, -0.3435, -0.0277, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3988 left_y=-0.0989 left_z=0.0887 left_yaw=0.7933 left_pitch=-0.0132 left_roll=0.0229 left_gripper=0.9983 right_x=0.2759 right_y=0.0032 right_z=0.1401 right_yaw=0.0008 right_pitch=-0.0305 right_roll=0.0015 right_gripper=0.9981\nstate[joint_eff]: [1.3607, -5.6684, 4.3829, 0.5983, -0.4811, -0.0024, -0.0122, -0.2667, -1.4017, 6.9128, 1.9219, 0.0024, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5945, 2.0251, 1.1233, -0.4103, -0.9871, -1.2743, 0.9983, -0.0193, 0.6979, 0.4255, -0.3351, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3974 left_y=-0.0864 left_z=0.0325 left_yaw=0.7983 left_pitch=-0.0004 left_roll=0.0015 left_gripper=0.9983 right_x=0.2726 right_y=0.0033 right_z=0.1329 right_yaw=0.001 right_pitch=-0.035 right_roll=0.0021 right_gripper=0.9981\nstate[joint_eff]: [0.4718, -7.5419, 3.9043, 0.6911, -0.2955, 0.149, -0.0122, -0.294, -1.388, 7.0906, 1.9853, -0.022, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:464ec26c5d3700622524e7d251edd0befdd5e7acf4e6086bdf3b29c05c3e905a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71f6c5406789ef1f8d9db6c13d71bec6488a1cba73adcc4ff7e7b408c8fa77f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dabeac56f7cc69d361d21dd4fcb4180a50e53e3b3f706438b82459d212f4e157",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XvTeHmJ1o2wXyojAzSS4X9",
      "input": {
        "note": "The gripper is down at table level straddling the bottle's body, which reads slightly left of the jaw column; nudging 1 cm toward it and closing on the body.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.389,
          "left_y": -0.077
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XvTeHmJ1o2wXyojAzSS4X9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5911, 2.0212, 1.1164, -0.3103, -1.1118, -1.2572, 0.0144, -0.0193, 0.6781, 0.3931, -0.3206, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.41 left_y=-0.0801 left_z=0.0552 left_yaw=0.8355 left_pitch=0.1327 left_roll=-0.0599 left_gripper=0.0144 right_x=0.2694 right_y=0.0034 right_z=0.1261 right_yaw=0.001 right_pitch=-0.0331 right_roll=0.0021 right_gripper=0.9981\nstate[joint_eff]: [0.1026, -7.3778, 4.0, 0.442, 0.7546, -0.0269, 0.989, 0.0205, -1.2376, 6.9265, 1.9316, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1f4047ed4b8ed6b16daa0596aa18a1f2ad670049cc37d409e6991b19b8e37bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afde78916816a99e1279fdde6fc5f4e0fd31430921e54ac6f91b75a0d1632739",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2833fec740c01ad5d34e1531d26df12c81da1b8182ab9cb1d6b690fbf58d22bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 9.735 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]: [-0.6182, 1.9526, 1.2881, -0.701, -0.9825, -1.3106, 0.9983, -0.0193, 0.7128, 0.4534, -0.3435, -0.0277, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3988 left_y=-0.0989 left_z=0.0887 left_yaw=0.7933 left_pitch=-0.0132 left_roll=0.0229 left_gripper=0.9983 right_x=0.2759 right_y=0.0032 right_z=0.1401 right_yaw=0.0008 right_pitch=-0.0305 right_roll=0.0015 right_gripper=0.9981\nstate[joint_eff]: [1.3607, -5.6684, 4.3829, 0.5983, -0.4811, -0.0024, -0.0122, -0.2667, -1.4017, 6.9128, 1.9219, 0.0024, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5945, 2.0251, 1.1233, -0.4103, -0.9871, -1.2743, 0.9983, -0.0193, 0.6979, 0.4255, -0.3351, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3974 left_y=-0.0864 left_z=0.0325 left_yaw=0.7983 left_pitch=-0.0004 left_roll=0.0015 left_gripper=0.9983 right_x=0.2726 right_y=0.0033 right_z=0.1329 right_yaw=0.001 right_pitch=-0.035 right_roll=0.0021 right_gripper=0.9981\nstate[joint_eff]: [0.4718, -7.5419, 3.9043, 0.6911, -0.2955, 0.149, -0.0122, -0.294, -1.388, 7.0906, 1.9853, -0.022, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5911, 2.0212, 1.1164, -0.3103, -1.1118, -1.2572, 0.0144, -0.0193, 0.6781, 0.3931, -0.3206, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.41 left_y=-0.0801 left_z=0.0552 left_yaw=0.8355 left_pitch=0.1327 left_roll=-0.0599 left_gripper=0.0144 right_x=0.2694 right_y=0.0034 right_z=0.1261 right_yaw=0.001 right_pitch=-0.0331 right_roll=0.0021 right_gripper=0.9981\nstate[joint_eff]: [0.1026, -7.3778, 4.0, 0.442, 0.7546, -0.0269, 0.989, 0.0205, -1.2376, 6.9265, 1.9316, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1f4047ed4b8ed6b16daa0596aa18a1f2ad670049cc37d409e6991b19b8e37bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afde78916816a99e1279fdde6fc5f4e0fd31430921e54ac6f91b75a0d1632739",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2833fec740c01ad5d34e1531d26df12c81da1b8182ab9cb1d6b690fbf58d22bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bms9npDHnrnxsuhKkQrjLT",
      "input": {
        "note": "The close came up empty (gripper 0.01) but the wrist view now shows the bottle's cap just beyond the jaws, so I am reopening and advancing ~3 cm to straddle the neck.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.432,
          "left_y": -0.088,
          "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_01Bms9npDHnrnxsuhKkQrjLT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5549, 2.0892, 1.2869, -0.5018, -0.9859, -1.2827, 0.9943, -0.0193, 0.659, 0.3618, -0.3084, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4265 left_y=-0.0869 left_z=0.0454 left_yaw=0.8422 left_pitch=-0.0 left_roll=-0.0137 left_gripper=0.9943 right_x=0.2662 right_y=0.0034 right_z=0.119 right_yaw=0.001 right_pitch=-0.0331 right_roll=0.0021 right_gripper=0.9981\nstate[joint_eff]: [0.294, -9.0735, 7.4325, 0.5983, -0.486, 0.2369, 0.0757, -0.0068, -0.6496, 7.0085, 1.9951, -0.0415, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be35a34c0873afc6a5345e9760a30b893af2cd4179058ad41ae6b5c6060acbcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8c7c2b47c5707855b6f1174f144c96d871b141465a2f1abcc7241820022aa11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d8c8b38ea4af12a061c529dcd1de4adb79ff9d15fa8fd57d1180b43c71a41639",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 3.407 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]: [-0.5945, 2.0251, 1.1233, -0.4103, -0.9871, -1.2743, 0.9983, -0.0193, 0.6979, 0.4255, -0.3351, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3974 left_y=-0.0864 left_z=0.0325 left_yaw=0.7983 left_pitch=-0.0004 left_roll=0.0015 left_gripper=0.9983 right_x=0.2726 right_y=0.0033 right_z=0.1329 right_yaw=0.001 right_pitch=-0.035 right_roll=0.0021 right_gripper=0.9981\nstate[joint_eff]: [0.4718, -7.5419, 3.9043, 0.6911, -0.2955, 0.149, -0.0122, -0.294, -1.388, 7.0906, 1.9853, -0.022, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5911, 2.0212, 1.1164, -0.3103, -1.1118, -1.2572, 0.0144, -0.0193, 0.6781, 0.3931, -0.3206, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.41 left_y=-0.0801 left_z=0.0552 left_yaw=0.8355 left_pitch=0.1327 left_roll=-0.0599 left_gripper=0.0144 right_x=0.2694 right_y=0.0034 right_z=0.1261 right_yaw=0.001 right_pitch=-0.0331 right_roll=0.0021 right_gripper=0.9981\nstate[joint_eff]: [0.1026, -7.3778, 4.0, 0.442, 0.7546, -0.0269, 0.989, 0.0205, -1.2376, 6.9265, 1.9316, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5549, 2.0892, 1.2869, -0.5018, -0.9859, -1.2827, 0.9943, -0.0193, 0.659, 0.3618, -0.3084, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4265 left_y=-0.0869 left_z=0.0454 left_yaw=0.8422 left_pitch=-0.0 left_roll=-0.0137 left_gripper=0.9943 right_x=0.2662 right_y=0.0034 right_z=0.119 right_yaw=0.001 right_pitch=-0.0331 right_roll=0.0021 right_gripper=0.9981\nstate[joint_eff]: [0.294, -9.0735, 7.4325, 0.5983, -0.486, 0.2369, 0.0757, -0.0068, -0.6496, 7.0085, 1.9951, -0.0415, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be35a34c0873afc6a5345e9760a30b893af2cd4179058ad41ae6b5c6060acbcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8c7c2b47c5707855b6f1174f144c96d871b141465a2f1abcc7241820022aa11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8c8b38ea4af12a061c529dcd1de4adb79ff9d15fa8fd57d1180b43c71a41639",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISyQgKjgEIEhgCKkBPIxImrrlgmGPVmt75j/toCzVBufA4X6V5fyadGl8nOrFHaR72p+MLnGMv0lTab5D2cXFs6FuscjWnF2Nq44seMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYe/zNUGEgzcglrlsNDx1Lruq9QaDHM7g6Zxu7D0/RpZzSIwQoMzevfvxTF5NIdu4CNQ7ee03h4j6+G69nkuD2QGbko+RMFTO2tPFt+Bp0QRnBkwKucG9IR5wdBH4ik4TvUbMBu/3PBIhNq7vmhEDcdsrGdBtkSF3Wb7sVlLv8dfxz3rrJHNbAqtbG8zy3g3hNHVJIzQwpm6NNXrn54AaR9Y9AHcQcps5cReTlxjdH8+aOn3yuzYFZvpfZM//lBw6EK8eTNAPyc6asUyyRWu8J5XXMWTIiKMACcepYo2fZedguMtBSJT0G9DpeKf9OrciLqCqzalO4kC1kBD0WKfKQAz65PXJz8E+1EePYuDxk98FQOqisxjOBsTzfahrMcBcM/95pqe/+nei/hS5S8lvg8ukVDEjZJKrtVjV43g0ntn841A/vGPk43z3W0CmG7PXIzqF/5/fTDYf1OIU6y39zrI8xADnsg5WT6fbvrTQpyeQ4JQpuqgtOA0RnngXcEIbL4esBiHpgKxK51295KnMRb+nGTYMKa08/IStguvqyN+p4YuYiNVYKHuUfrHCB95eBmI5YAckGQVdnGrHaqbmnNE90/q+xFGeQN9i+qPmiqxuzlGu5axcJ04LEPuwU6Lim0goQSIwrafBhUEq6D7N1JTqHTmDYqcqpbOmi0s7pdJEgBoMQTpXALB03YJMxb2oESZcedknRYAnXVZploee/YAW91jZnKgwGQSMn2u1IV4nfu7DW3BxgxNssnKF7blOtS8cXMTkFdW36t1qoeeFKHBx/ZmHLVFc+P+HOJ9Is39O2A9YZfVoMohpYVtIvdVw1uul5D8vIyU8f8ISfoCNHAdubOkLJn+M+Gf2XkYF4E7oi8hKfmDE9TjfG3mVo5EZO6GavmJEabWOlvbKQlyg31kAHxEuCTg1NpEpdqCL6EjW0evzCiwkytLazbEPQlZ+M7D6IQ6NZhB9xaBz+BP0HD7jxUWgRj80dF4+8dfFqsf/ZZGAUWwWhkEAdtqbfn7YmAmfOGi9E9B3mXK2x1fq2v569HtnT0PKN+X7mEHjXf12hOqZQKbNmWcaYikhvKePNknPbWy5Z9v2/d5LZQAekssRZePq1jGTSP73wNhJxzMjKs4TooIEKeqAF2IkoZ1d1GhvmKtZ9xfB/54fPiuthnsopeXFwNT17Wzm671vsGu/b3ivvkHV+pvCE4qgVP0nYVh3alDw0/PO1O/Lp+/nhyV8tinqYCNduYCbqDYuKiEdCGrTbOBbzo45n7nORgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014BCf3nbePcTKb22nq2ySpT",
      "input": {
        "note": "The bottle's cap/neck now sits between the open jaws, slightly right of centre; nudging 1 cm right and descending to neck height before closing.",
        "targets": {
          "left_x": 0.437,
          "left_y": -0.093,
          "left_z": 0.028
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_014BCf3nbePcTKb22nq2ySpT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5556, 2.1246, 1.3167, -0.4973, -0.9871, -1.2865, 0.9956, -0.0193, 0.6434, 0.3424, -0.2947, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4325 left_y=-0.0908 left_z=0.0395 left_yaw=0.8437 left_pitch=0.0008 left_roll=-0.0156 left_gripper=0.9956 right_x=0.265 right_y=0.0034 right_z=0.1168 right_yaw=0.0006 right_pitch=-0.0232 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.253, -8.7316, 6.3658, 0.5641, -0.5055, 0.0171, 0.1197, -0.0889, -0.5675, 7.0085, 2.0098, -0.022, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0689565dded55ca280514731ed252208397422a962de2dd6f8b84db4853f3004",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b647a902282d45f274f55a2be6a5714848f35620f1d8d93895c0691a600af3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b5fcbf7c35d3245cf9d278c245c5b16a23a17861f97943a089a3c1638a30088c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 20.65 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]: [-0.5911, 2.0212, 1.1164, -0.3103, -1.1118, -1.2572, 0.0144, -0.0193, 0.6781, 0.3931, -0.3206, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.41 left_y=-0.0801 left_z=0.0552 left_yaw=0.8355 left_pitch=0.1327 left_roll=-0.0599 left_gripper=0.0144 right_x=0.2694 right_y=0.0034 right_z=0.1261 right_yaw=0.001 right_pitch=-0.0331 right_roll=0.0021 right_gripper=0.9981\nstate[joint_eff]: [0.1026, -7.3778, 4.0, 0.442, 0.7546, -0.0269, 0.989, 0.0205, -1.2376, 6.9265, 1.9316, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5549, 2.0892, 1.2869, -0.5018, -0.9859, -1.2827, 0.9943, -0.0193, 0.659, 0.3618, -0.3084, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4265 left_y=-0.0869 left_z=0.0454 left_yaw=0.8422 left_pitch=-0.0 left_roll=-0.0137 left_gripper=0.9943 right_x=0.2662 right_y=0.0034 right_z=0.119 right_yaw=0.001 right_pitch=-0.0331 right_roll=0.0021 right_gripper=0.9981\nstate[joint_eff]: [0.294, -9.0735, 7.4325, 0.5983, -0.486, 0.2369, 0.0757, -0.0068, -0.6496, 7.0085, 1.9951, -0.0415, -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 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5556, 2.1246, 1.3167, -0.4973, -0.9871, -1.2865, 0.9956, -0.0193, 0.6434, 0.3424, -0.2947, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4325 left_y=-0.0908 left_z=0.0395 left_yaw=0.8437 left_pitch=0.0008 left_roll=-0.0156 left_gripper=0.9956 right_x=0.265 right_y=0.0034 right_z=0.1168 right_yaw=0.0006 right_pitch=-0.0232 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.253, -8.7316, 6.3658, 0.5641, -0.5055, 0.0171, 0.1197, -0.0889, -0.5675, 7.0085, 2.0098, -0.022, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0689565dded55ca280514731ed252208397422a962de2dd6f8b84db4853f3004",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b647a902282d45f274f55a2be6a5714848f35620f1d8d93895c0691a600af3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5fcbf7c35d3245cf9d278c245c5b16a23a17861f97943a089a3c1638a30088c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISzQIKjgEIEhgCKkDION3QdSmgWVeCu2Erb7MgaOl3dru+BRQuWrGVZmY40Na3TV/oz4aYH+lfKKa9ee03aA4IGMIxLgA7g4RMknw9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYy/zNUGEgx/17I5gAUOMwe2HI4aDPgCHgY3Vqbysud+2yIwiADtRRTV/b274kEKVs82oSJn53YxbR2YIM1NpBmj0MmFjqARL8Ne0nh3plCE67+YKmzdDQYYCyDCetHeMYhGvdmST8I4e3oVP9PWZjCkAkbUJuH/fwhFoW7gYOBXiprdi3QsVMtGhq/GClReVvEAtpnqrY68gzmlDKIM9liopXaV0Wg4eInLBElrOXWyyvQBdE4HZKEswodsOR8KAM0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CR9nh1frDeebcczoaQYbff",
      "input": {
        "note": "Jaws straddle the bottle neck at table level; closing to grip the neck.",
        "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_01CR9nh1frDeebcczoaQYbff",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5556, 2.1239, 1.3346, -0.4953, -1.063, -1.2865, 0.0144, -0.0193, 0.6327, 0.3241, -0.2905, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4382 left_y=-0.0862 left_z=0.0555 left_yaw=0.8648 left_pitch=0.0762 left_roll=-0.0242 left_gripper=0.0144 right_x=0.2627 right_y=0.0035 right_z=0.1119 right_yaw=0.001 right_pitch=-0.0267 right_roll=0.002 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -10.3316, 5.053, 0.4371, 0.1685, -0.0366, 0.7009, 0.0479, -0.6906, 6.7761, 1.9609, -0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:063ff6513a73998884fe61ffda9a3e32ac9f6cdc8a670b3d20bf83f2dd543931",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f91369e8dcc4a50a9f1cc408d8a663357c3d20e19906ca5923a00032a488a3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c95865dc3333566f3c93bc87266084425a42b0dc35483c8666edeb549accf811",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 7.781 s

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

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5549, 2.0892, 1.2869, -0.5018, -0.9859, -1.2827, 0.9943, -0.0193, 0.659, 0.3618, -0.3084, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4265 left_y=-0.0869 left_z=0.0454 left_yaw=0.8422 left_pitch=-0.0 left_roll=-0.0137 left_gripper=0.9943 right_x=0.2662 right_y=0.0034 right_z=0.119 right_yaw=0.001 right_pitch=-0.0331 right_roll=0.0021 right_gripper=0.9981\nstate[joint_eff]: [0.294, -9.0735, 7.4325, 0.5983, -0.486, 0.2369, 0.0757, -0.0068, -0.6496, 7.0085, 1.9951, -0.0415, -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 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5556, 2.1246, 1.3167, -0.4973, -0.9871, -1.2865, 0.9956, -0.0193, 0.6434, 0.3424, -0.2947, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4325 left_y=-0.0908 left_z=0.0395 left_yaw=0.8437 left_pitch=0.0008 left_roll=-0.0156 left_gripper=0.9956 right_x=0.265 right_y=0.0034 right_z=0.1168 right_yaw=0.0006 right_pitch=-0.0232 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.253, -8.7316, 6.3658, 0.5641, -0.5055, 0.0171, 0.1197, -0.0889, -0.5675, 7.0085, 2.0098, -0.022, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5556, 2.1239, 1.3346, -0.4953, -1.063, -1.2865, 0.0144, -0.0193, 0.6327, 0.3241, -0.2905, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4382 left_y=-0.0862 left_z=0.0555 left_yaw=0.8648 left_pitch=0.0762 left_roll=-0.0242 left_gripper=0.0144 right_x=0.2627 right_y=0.0035 right_z=0.1119 right_yaw=0.001 right_pitch=-0.0267 right_roll=0.002 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -10.3316, 5.053, 0.4371, 0.1685, -0.0366, 0.7009, 0.0479, -0.6906, 6.7761, 1.9609, -0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:063ff6513a73998884fe61ffda9a3e32ac9f6cdc8a670b3d20bf83f2dd543931",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f91369e8dcc4a50a9f1cc408d8a663357c3d20e19906ca5923a00032a488a3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c95865dc3333566f3c93bc87266084425a42b0dc35483c8666edeb549accf811",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0166zAVnsVPB7ykLYSJmkfeV",
      "input": {
        "note": "Second empty close on the thin neck, so switching to the fatter upper body: opening and backing up ~4.5 cm along the bottle axis to straddle the shoulder of the bottle.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.392,
          "left_y": -0.082,
          "left_z": 0.032
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0166zAVnsVPB7ykLYSJmkfeV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5892, 2.056, 1.1988, -0.5053, -1.0351, -1.3918, 0.9948, -0.0193, 0.6151, 0.3016, -0.2897, -0.028, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4039 left_y=-0.0829 left_z=0.043 left_yaw=0.8763 left_pitch=0.0385 left_roll=-0.0427 left_gripper=0.9948 right_x=0.2593 right_y=0.0035 right_z=0.1061 right_yaw=0.0012 right_pitch=-0.0308 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.6359, -10.1402, 3.6991, 0.3687, -0.1343, 0.0513, -0.2173, -0.253, -0.3761, 7.1863, 1.9951, -0.0317, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61983a3fe4229634f9e9d4479656eec998477670ce6d44636dd1271401a83fdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2df8fb2c0ac4c2177040da1c5a05df712b9121c1f78a2a5e98887f4273125f84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b79b4df43e2ea5e4e7fe97600f2e46c32ed268e9b52cb0633fcbd7b32428c83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 5.481 s

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

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5556, 2.1246, 1.3167, -0.4973, -0.9871, -1.2865, 0.9956, -0.0193, 0.6434, 0.3424, -0.2947, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4325 left_y=-0.0908 left_z=0.0395 left_yaw=0.8437 left_pitch=0.0008 left_roll=-0.0156 left_gripper=0.9956 right_x=0.265 right_y=0.0034 right_z=0.1168 right_yaw=0.0006 right_pitch=-0.0232 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.253, -8.7316, 6.3658, 0.5641, -0.5055, 0.0171, 0.1197, -0.0889, -0.5675, 7.0085, 2.0098, -0.022, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5556, 2.1239, 1.3346, -0.4953, -1.063, -1.2865, 0.0144, -0.0193, 0.6327, 0.3241, -0.2905, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4382 left_y=-0.0862 left_z=0.0555 left_yaw=0.8648 left_pitch=0.0762 left_roll=-0.0242 left_gripper=0.0144 right_x=0.2627 right_y=0.0035 right_z=0.1119 right_yaw=0.001 right_pitch=-0.0267 right_roll=0.002 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -10.3316, 5.053, 0.4371, 0.1685, -0.0366, 0.7009, 0.0479, -0.6906, 6.7761, 1.9609, -0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5892, 2.056, 1.1988, -0.5053, -1.0351, -1.3918, 0.9948, -0.0193, 0.6151, 0.3016, -0.2897, -0.028, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4039 left_y=-0.0829 left_z=0.043 left_yaw=0.8763 left_pitch=0.0385 left_roll=-0.0427 left_gripper=0.9948 right_x=0.2593 right_y=0.0035 right_z=0.1061 right_yaw=0.0012 right_pitch=-0.0308 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.6359, -10.1402, 3.6991, 0.3687, -0.1343, 0.0513, -0.2173, -0.253, -0.3761, 7.1863, 1.9951, -0.0317, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61983a3fe4229634f9e9d4479656eec998477670ce6d44636dd1271401a83fdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2df8fb2c0ac4c2177040da1c5a05df712b9121c1f78a2a5e98887f4273125f84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b79b4df43e2ea5e4e7fe97600f2e46c32ed268e9b52cb0633fcbd7b32428c83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISogcKjgEIEhgCKkAhUYyInwIvnWZnP8es6KZrEAxXHtDICjtVrDSHksyPuBYHDsYjzzQKA+BG1q1NwHnQiI3Y1XfGSfqCcmOFHtojMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaq/zNUGEgwoBN+jKWqqAs++xJgaDPXXRe/5sR9qzdjQDSIwFT7B5/t5gWH1heeJGwZqFCRB1/XCXLQJSN32JPEv7VnNbCtbmdprnIwUaObuPYfPKsAFKdyurd3e5vtMW3hbn0Clc/LAC+iGnBPfwe2Suc2jQe5zsN4EDK4UdJdP0Bmu7yjysc/Q4DnP03nn0XJmVrdB2wab0/0gM28x+1xtJ0L5EAdZ6GJbXGkhPYrwU46BSXbvIz0YYi+CI2W21tgVDEsb8K2zVjpI5MDsHzLerMDJHvfC5bBYKzAqtjgzelFrDXOPBtsIEic3QT208/1nr0cCSGOqU3qrPuuUclt8EUHgoELSTmEH4PZKdXMJPjA5KoA3p1OMTh89UQNI+yeIw6ltczb1a/t0ZP7LF2grAe4iETuEMZQhY4gJP+KyHa+XxKdE4rKp7F3ibc6Wx4DoNhmnmjeokgLFPFHv9FYb6v1KDMZBguEVcxLqCc6DSW03k3ONwlv4kNJwbDlS9HbbnxQPbTdn+87zVdcGPYL/ifFQDQszTJUOa5IGLarvCIIo5kQeqo9wfdL09SHv5jfQ8vGJeVYTvnSKlnLWeyup4zXL68V1mmTRhZGq5zEq2MmKpIEPoKU7yS5T5skRH9IZoGnjKMvCIf1Qm9Y+o2nAC8GlbYUZvHfkDGacQIGoP6V5Ur7zmGEVOSacsey6IWgX4EqaY8rIrw6Pmyhqahs+cscfjmGM6IqPiLUDaw5S+JcsYmMcLgQUB9xB5IZH37wixDMBrU6AdgmRwPdKsrsXdoBdiaUWSayPLHH0lcbb1LWjmHcZBrCGPkG3vbBEdKS6ZPxJj6sVEteufn74tED2bdtz3JWCy5ILJOPRkrKWqNYUti3++OcMznIIAIv+oi6FopX5OCdxGls8lkAjQ9TAR/RTq1sviA0iM7rwTR7bzN5/TYREqYrGZ9iQ7rcjv6PB2Dn6u3mtOVVR5LCbKwnaEjIxmJMTkzAcw/hOjsNEH5ml0VEpNAukLO2e1RLUPLeYn7qKBEsNp/7frJrVvveQrbw+x3wYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SmsiX9NwhajheGNcRmBZ5t",
      "input": {
        "note": "Wrist view shows the bottle's upper body directly between the open jaws with the cap just beyond; closing on the body.",
        "targets": {
          "left_gripper": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01SmsiX9NwhajheGNcRmBZ5t",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5819, 2.0529, 1.2396, -0.5659, -1.0554, -1.3911, 0.1057, -0.0193, 0.5938, 0.2756, -0.2832, -0.028, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4073 left_y=-0.0797 left_z=0.055 left_yaw=0.8863 left_pitch=0.0565 left_roll=-0.0232 left_gripper=0.1057 right_x=0.2563 right_y=0.0036 right_z=0.1007 right_yaw=0.0012 right_pitch=-0.0289 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.1299, -9.1829, 6.2017, 0.3785, 0.0611, -0.0269, 0.0366, 0.0205, -0.4718, 6.8034, 1.9853, -0.0464, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14fc55ab3616a29f7523bb9873f18cbf08a0a93a01dbaa9b45a3901f2234cc90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c47928ae9f45f2d1efb792e4f542b59c179fbfb0407b81ae8467ec21be99de3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c262ec0abe7c457bac8b0ea816b6db76c4d3e43e10d577a1613ce51197b8ee7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 56.92 s

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

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5556, 2.1239, 1.3346, -0.4953, -1.063, -1.2865, 0.0144, -0.0193, 0.6327, 0.3241, -0.2905, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4382 left_y=-0.0862 left_z=0.0555 left_yaw=0.8648 left_pitch=0.0762 left_roll=-0.0242 left_gripper=0.0144 right_x=0.2627 right_y=0.0035 right_z=0.1119 right_yaw=0.001 right_pitch=-0.0267 right_roll=0.002 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -10.3316, 5.053, 0.4371, 0.1685, -0.0366, 0.7009, 0.0479, -0.6906, 6.7761, 1.9609, -0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5892, 2.056, 1.1988, -0.5053, -1.0351, -1.3918, 0.9948, -0.0193, 0.6151, 0.3016, -0.2897, -0.028, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4039 left_y=-0.0829 left_z=0.043 left_yaw=0.8763 left_pitch=0.0385 left_roll=-0.0427 left_gripper=0.9948 right_x=0.2593 right_y=0.0035 right_z=0.1061 right_yaw=0.0012 right_pitch=-0.0308 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.6359, -10.1402, 3.6991, 0.3687, -0.1343, 0.0513, -0.2173, -0.253, -0.3761, 7.1863, 1.9951, -0.0317, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5819, 2.0529, 1.2396, -0.5659, -1.0554, -1.3911, 0.1057, -0.0193, 0.5938, 0.2756, -0.2832, -0.028, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4073 left_y=-0.0797 left_z=0.055 left_yaw=0.8863 left_pitch=0.0565 left_roll=-0.0232 left_gripper=0.1057 right_x=0.2563 right_y=0.0036 right_z=0.1007 right_yaw=0.0012 right_pitch=-0.0289 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.1299, -9.1829, 6.2017, 0.3785, 0.0611, -0.0269, 0.0366, 0.0205, -0.4718, 6.8034, 1.9853, -0.0464, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14fc55ab3616a29f7523bb9873f18cbf08a0a93a01dbaa9b45a3901f2234cc90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c47928ae9f45f2d1efb792e4f542b59c179fbfb0407b81ae8467ec21be99de3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c262ec0abe7c457bac8b0ea816b6db76c4d3e43e10d577a1613ce51197b8ee7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS9wQKjgEIEhgCKkBLFoi+gN66qjWjYdz8WiFAAmYvwUS9vvaVZyQwTklURA1/NWnaEQ3rTHMh3kHLfD5LJ9QwBqqmhQD1ItTILENiMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbC/zNUGEgzOXTJrQYiRHbYc4B4aDHc8biWzVkiz1npuFCIwJ55RUuqafnf4RmjgudL03gd/8rnwz9xV/dLJlV/csoUR3r/3ZGy6JzgcPkhSNRkjKpUDQqzPLYrJXJCrgDHooWUsDQGAT9gOdUA66v8kZv5d1BogSBj9Aa5i11liTlQnq7AbZ+97VIPnvP8z9hdDHOkT4DgFMxPdlxEpriowFjm4uVrodxhc3o4nI46HY41aonq7JrHiBl8de4WJowu74Etgaj9ks4GtB/RGM7TO+Nzpy/hKo3EbIZp0NpBdb796arV5d9yVN/930zsGPuQdd0qA1becQxJpqUPbqnznHcUr8Byy/a3w4t/59XH7qmnlnGuXHn1jk8PmN9Gw9kWATPYkPI8BqAQG7AQ1Sp6BOfnYqHiX13AysMy3rpGgXvWOsBAzJGD9XtKadGEM5cDMCADcGoCNUWPTSg0Ybd5SENonwSPX9KWVHgAZoQUyn5IS3GBMq6csvqQ+VzQREdJ/WiZSPwexxXSbpnTMrE/wYCmhAtR7kU/pz0EtGUrIdIMzsMGHBnZqGBM6WhB5AROR+3MHsSndDCvrWlf4yN1zeVxkiPNLQLmtOoByAIeAoqkcuB8K3lHCLfKInS6NqrLs8HcE0ipzrW+fGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RnkQXxSKZ7uaEZAiHBzGhB",
      "input": {
        "note": "Jaws closed on the bottle's upper body; lifting high so the bottle swings down to hang vertically (cap up) under the gripper.",
        "targets": {
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01RnkQXxSKZ7uaEZAiHBzGhB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5644, 1.9675, 2.1315, -1.491, -0.9798, -1.3888, 0.1054, -0.0193, 0.5747, 0.2493, -0.2714, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4137 left_y=-0.084 left_z=0.2913 left_yaw=0.8877 left_pitch=-0.011 left_roll=-0.0813 left_gripper=0.1054 right_x=0.254 right_y=0.0036 right_z=0.0956 right_yaw=0.001 right_pitch=-0.0244 right_roll=0.0019 right_gripper=0.9981\nstate[joint_eff]: [0.5538, -8.1846, 6.9265, 0.3394, -0.735, 0.1929, -0.0415, -0.2803, -0.4991, 6.9949, 1.8779, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b89b2555d2a72400366301d01bf40ea894bfaa797ee13303e6c1645348867105",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7218b22a9ee77dce199918f0f8ccc0a384522562ecc32bf1e4553d5164040d31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9df9ed4ae154b669f3a963c0c981fee6f4a452154a9fe40d32f878ee7e921436",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 14.59 s

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

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5892, 2.056, 1.1988, -0.5053, -1.0351, -1.3918, 0.9948, -0.0193, 0.6151, 0.3016, -0.2897, -0.028, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4039 left_y=-0.0829 left_z=0.043 left_yaw=0.8763 left_pitch=0.0385 left_roll=-0.0427 left_gripper=0.9948 right_x=0.2593 right_y=0.0035 right_z=0.1061 right_yaw=0.0012 right_pitch=-0.0308 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.6359, -10.1402, 3.6991, 0.3687, -0.1343, 0.0513, -0.2173, -0.253, -0.3761, 7.1863, 1.9951, -0.0317, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5819, 2.0529, 1.2396, -0.5659, -1.0554, -1.3911, 0.1057, -0.0193, 0.5938, 0.2756, -0.2832, -0.028, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4073 left_y=-0.0797 left_z=0.055 left_yaw=0.8863 left_pitch=0.0565 left_roll=-0.0232 left_gripper=0.1057 right_x=0.2563 right_y=0.0036 right_z=0.1007 right_yaw=0.0012 right_pitch=-0.0289 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.1299, -9.1829, 6.2017, 0.3785, 0.0611, -0.0269, 0.0366, 0.0205, -0.4718, 6.8034, 1.9853, -0.0464, -0.0757, -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 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5644, 1.9675, 2.1315, -1.491, -0.9798, -1.3888, 0.1054, -0.0193, 0.5747, 0.2493, -0.2714, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4137 left_y=-0.084 left_z=0.2913 left_yaw=0.8877 left_pitch=-0.011 left_roll=-0.0813 left_gripper=0.1054 right_x=0.254 right_y=0.0036 right_z=0.0956 right_yaw=0.001 right_pitch=-0.0244 right_roll=0.0019 right_gripper=0.9981\nstate[joint_eff]: [0.5538, -8.1846, 6.9265, 0.3394, -0.735, 0.1929, -0.0415, -0.2803, -0.4991, 6.9949, 1.8779, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b89b2555d2a72400366301d01bf40ea894bfaa797ee13303e6c1645348867105",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7218b22a9ee77dce199918f0f8ccc0a384522562ecc32bf1e4553d5164040d31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9df9ed4ae154b669f3a963c0c981fee6f4a452154a9fe40d32f878ee7e921436",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JFdnktwuEciWdJsij5vygP",
      "input": {
        "note": "The lift came up empty — all three bottles are still lying down, so my pixel-to-metre mapping was off. Moving the open gripper down to table level at my best estimate of the leftmost bottle's position so I can see the true offset between jaws and bottle in the overhead view.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.35,
          "left_y": -0.2,
          "left_yaw": 0.785,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01JFdnktwuEciWdJsij5vygP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.894, 2.2272, 1.5005, -1.0168, -1.0237, -1.8122, 0.9972, -0.0193, 0.5579, 0.2291, -0.268, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3559 left_y=-0.1964 left_z=0.0439 left_yaw=0.7862 left_pitch=0.0235 left_roll=-0.0233 left_gripper=0.9972 right_x=0.2516 right_y=0.0036 right_z=0.091 right_yaw=0.0006 right_pitch=-0.0244 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.6496, -7.0222, 4.506, 0.1538, 0.0757, 0.0904, -0.1001, 0.0068, -0.4034, 6.8444, 1.9463, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52716efe7479250046f85ae8a7f796a8be63fdb45656035ace78e7bc6e0194a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5a2ac9030b712016cea0dc9991350aec5f028d21016700ae2b8c9145a787ec2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c82eb689118912bf8f4cb91772cfb683a72d1f8d94b5a27114eddd7e6b968cc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 3.996 s

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

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5819, 2.0529, 1.2396, -0.5659, -1.0554, -1.3911, 0.1057, -0.0193, 0.5938, 0.2756, -0.2832, -0.028, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4073 left_y=-0.0797 left_z=0.055 left_yaw=0.8863 left_pitch=0.0565 left_roll=-0.0232 left_gripper=0.1057 right_x=0.2563 right_y=0.0036 right_z=0.1007 right_yaw=0.0012 right_pitch=-0.0289 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.1299, -9.1829, 6.2017, 0.3785, 0.0611, -0.0269, 0.0366, 0.0205, -0.4718, 6.8034, 1.9853, -0.0464, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5644, 1.9675, 2.1315, -1.491, -0.9798, -1.3888, 0.1054, -0.0193, 0.5747, 0.2493, -0.2714, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4137 left_y=-0.084 left_z=0.2913 left_yaw=0.8877 left_pitch=-0.011 left_roll=-0.0813 left_gripper=0.1054 right_x=0.254 right_y=0.0036 right_z=0.0956 right_yaw=0.001 right_pitch=-0.0244 right_roll=0.0019 right_gripper=0.9981\nstate[joint_eff]: [0.5538, -8.1846, 6.9265, 0.3394, -0.735, 0.1929, -0.0415, -0.2803, -0.4991, 6.9949, 1.8779, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.894, 2.2272, 1.5005, -1.0168, -1.0237, -1.8122, 0.9972, -0.0193, 0.5579, 0.2291, -0.268, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3559 left_y=-0.1964 left_z=0.0439 left_yaw=0.7862 left_pitch=0.0235 left_roll=-0.0233 left_gripper=0.9972 right_x=0.2516 right_y=0.0036 right_z=0.091 right_yaw=0.0006 right_pitch=-0.0244 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.6496, -7.0222, 4.506, 0.1538, 0.0757, 0.0904, -0.1001, 0.0068, -0.4034, 6.8444, 1.9463, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52716efe7479250046f85ae8a7f796a8be63fdb45656035ace78e7bc6e0194a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5a2ac9030b712016cea0dc9991350aec5f028d21016700ae2b8c9145a787ec2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c82eb689118912bf8f4cb91772cfb683a72d1f8d94b5a27114eddd7e6b968cc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LTu2XzbHCRXCWh6H8oCm8E",
      "input": {
        "note": "Wrist view now shows the bottle filling the frame right at the jaws — the gripper is at its mid-body, with the cap end up and to the left. Shifting ~5 cm along the bottle axis toward the cap and dropping to table level so the jaws surround the shoulder of the bottle.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.16,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01LTu2XzbHCRXCWh6H8oCm8E",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.778, 2.2272, 1.3991, -0.7788, -1.0168, -1.6463, 0.9975, -0.0193, 0.5407, 0.2104, -0.2665, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3821 left_y=-0.1606 left_z=0.0185 left_yaw=0.8165 left_pitch=0.008 left_roll=-0.0173 left_gripper=0.9975 right_x=0.2492 right_y=0.0037 right_z=0.0867 right_yaw=0.001 right_pitch=-0.0244 right_roll=0.0019 right_gripper=0.9981\nstate[joint_eff]: [0.3214, -9.5111, 4.2188, 0.2857, -0.6374, 0.0611, 0.022, -0.0752, -0.3897, 6.9675, 1.8926, -0.0366, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a59b224fae9b58a14bb89ea56b775aff10daaaf7dac592470c087b5c4a7b34a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f2be481d68546e673820f90a8a6928c66f0ffad88bf00b3398b14d8b2261ed0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70c3278e83ae7dcfd0f7488ee51ca714622489b7765219f2ff13f988dd27b041",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 23.89 s

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

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5644, 1.9675, 2.1315, -1.491, -0.9798, -1.3888, 0.1054, -0.0193, 0.5747, 0.2493, -0.2714, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4137 left_y=-0.084 left_z=0.2913 left_yaw=0.8877 left_pitch=-0.011 left_roll=-0.0813 left_gripper=0.1054 right_x=0.254 right_y=0.0036 right_z=0.0956 right_yaw=0.001 right_pitch=-0.0244 right_roll=0.0019 right_gripper=0.9981\nstate[joint_eff]: [0.5538, -8.1846, 6.9265, 0.3394, -0.735, 0.1929, -0.0415, -0.2803, -0.4991, 6.9949, 1.8779, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.894, 2.2272, 1.5005, -1.0168, -1.0237, -1.8122, 0.9972, -0.0193, 0.5579, 0.2291, -0.268, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3559 left_y=-0.1964 left_z=0.0439 left_yaw=0.7862 left_pitch=0.0235 left_roll=-0.0233 left_gripper=0.9972 right_x=0.2516 right_y=0.0036 right_z=0.091 right_yaw=0.0006 right_pitch=-0.0244 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.6496, -7.0222, 4.506, 0.1538, 0.0757, 0.0904, -0.1001, 0.0068, -0.4034, 6.8444, 1.9463, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.778, 2.2272, 1.3991, -0.7788, -1.0168, -1.6463, 0.9975, -0.0193, 0.5407, 0.2104, -0.2665, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3821 left_y=-0.1606 left_z=0.0185 left_yaw=0.8165 left_pitch=0.008 left_roll=-0.0173 left_gripper=0.9975 right_x=0.2492 right_y=0.0037 right_z=0.0867 right_yaw=0.001 right_pitch=-0.0244 right_roll=0.0019 right_gripper=0.9981\nstate[joint_eff]: [0.3214, -9.5111, 4.2188, 0.2857, -0.6374, 0.0611, 0.022, -0.0752, -0.3897, 6.9675, 1.8926, -0.0366, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a59b224fae9b58a14bb89ea56b775aff10daaaf7dac592470c087b5c4a7b34a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f2be481d68546e673820f90a8a6928c66f0ffad88bf00b3398b14d8b2261ed0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70c3278e83ae7dcfd0f7488ee51ca714622489b7765219f2ff13f988dd27b041",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISlwQKjgEIEhgCKkB+UdnIhCsC5ubNsQ7eFFxktdAte0oQv5FoDQkQA63miULFMwtMNQK5s9uNIxwY+4wqvFfCFGlNTFArd6z4e6fYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf+/zNUGEgwvf3PLN2JillaG6dMaDIZG7oVGMJjWV9f4fyIwiiW/umA2j+Rg2yF+zoXiOqIel1a7mkq4L/h6BaAffaidqwuu6hpCMavf+alDNpxmKrUC45AnCqR29LSO9lbIjJXuuDC/2YwEDfFU0U/HAYie8AKX6Ma/XZTlRuzIfWlcwWKwpJaoGs1IVKrOhY7Kh/PQlEeKiK7dZcWOn2BrCSbwtzNEeFXHbHLdgk5iHnjFVwrxrYhvr4VCUwiAIF/1uattPjiC0rC/rJ8OhO6IFcja5yTsBKn8HJVADNQqC6L2Um3LFVgEN7gPCh4BSQRUpF+B+P3TJGZoepJnVZDHOg9o/UFoa+/5a1FqnuCVqdMw5SyCtvyMu1wiqXO5yaa1a3ymUH5mF+wghWnL/K56W3Gg6n/fVw3rAkllAASVFGmqq1xI0xhdx4+6wo9biEjR7Pzv3LLzgBw+2mNCx5LYNRH3GTcxAz985xBH42osn/rdNaUriNqVRYqmu6BjTvmaz/E8vrNmAz4rGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RtAz6ibD1upqSLZCxP6iMc",
      "input": {
        "note": "The bottle body runs straight through the open jaws at table level; closing fully 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_01RtAz6ibD1upqSLZCxP6iMc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7727, 2.2391, 1.3968, -0.7864, -1.0016, -1.6341, 0.5436, -0.0193, 0.5217, 0.1898, -0.2649, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3797 left_y=-0.1573 left_z=0.0115 left_yaw=0.816 left_pitch=-0.0069 left_roll=0.015 left_gripper=0.5436 right_x=0.2466 right_y=0.0037 right_z=0.082 right_yaw=0.0006 right_pitch=-0.0244 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.3214, -11.5214, 6.1744, 0.0415, -0.6325, -0.0952, 1.033, -0.0752, -0.0752, 6.9128, 1.873, -0.0269, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf4f65126a42bb0e9f5a95f3302d37dd9424da9435b5d070247abeae0833f4f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:687731b021d4335a396c3334c4a6bfc18352d52b4e6505ef01456eacdf468bf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f18360cdd0f43044bf488faeb90b39ee3e6571042304d57f89f412453e51aaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 9.714 s

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

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.894, 2.2272, 1.5005, -1.0168, -1.0237, -1.8122, 0.9972, -0.0193, 0.5579, 0.2291, -0.268, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3559 left_y=-0.1964 left_z=0.0439 left_yaw=0.7862 left_pitch=0.0235 left_roll=-0.0233 left_gripper=0.9972 right_x=0.2516 right_y=0.0036 right_z=0.091 right_yaw=0.0006 right_pitch=-0.0244 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.6496, -7.0222, 4.506, 0.1538, 0.0757, 0.0904, -0.1001, 0.0068, -0.4034, 6.8444, 1.9463, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.778, 2.2272, 1.3991, -0.7788, -1.0168, -1.6463, 0.9975, -0.0193, 0.5407, 0.2104, -0.2665, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3821 left_y=-0.1606 left_z=0.0185 left_yaw=0.8165 left_pitch=0.008 left_roll=-0.0173 left_gripper=0.9975 right_x=0.2492 right_y=0.0037 right_z=0.0867 right_yaw=0.001 right_pitch=-0.0244 right_roll=0.0019 right_gripper=0.9981\nstate[joint_eff]: [0.3214, -9.5111, 4.2188, 0.2857, -0.6374, 0.0611, 0.022, -0.0752, -0.3897, 6.9675, 1.8926, -0.0366, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7727, 2.2391, 1.3968, -0.7864, -1.0016, -1.6341, 0.5436, -0.0193, 0.5217, 0.1898, -0.2649, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3797 left_y=-0.1573 left_z=0.0115 left_yaw=0.816 left_pitch=-0.0069 left_roll=0.015 left_gripper=0.5436 right_x=0.2466 right_y=0.0037 right_z=0.082 right_yaw=0.0006 right_pitch=-0.0244 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.3214, -11.5214, 6.1744, 0.0415, -0.6325, -0.0952, 1.033, -0.0752, -0.0752, 6.9128, 1.873, -0.0269, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf4f65126a42bb0e9f5a95f3302d37dd9424da9435b5d070247abeae0833f4f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:687731b021d4335a396c3334c4a6bfc18352d52b4e6505ef01456eacdf468bf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f18360cdd0f43044bf488faeb90b39ee3e6571042304d57f89f412453e51aaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FysoK3Drj93HzTBtW8ut14",
      "input": {
        "note": "Gripper settled at 0.54 (≈5.2 cm) so the bottle body is held. Loosening the jaws slightly and lifting high so the bottle can pivot within the jaws and hang vertically.",
        "targets": {
          "left_gripper": 0.62,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01FysoK3Drj93HzTBtW8ut14",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7345, 2.0903, 1.9938, -1.5314, -0.897, -1.5929, 0.6204, -0.0193, 0.5018, 0.1699, -0.2646, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3845 left_y=-0.1564 left_z=0.1975 left_yaw=0.8382 left_pitch=-0.1122 left_roll=0.0489 left_gripper=0.6204 right_x=0.2441 right_y=0.0038 right_z=0.0775 right_yaw=0.0006 right_pitch=-0.024 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.253, -17.9487, 10.2222, -0.0904, -1.6044, 0.4127, 0.0317, -0.0889, -0.0615, 6.8444, 1.9414, -0.022, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea902c383d7eb77dce861fe95a4e1b1e142537ee5ded861870f872ac6a300a1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e7bcd03eba07b80f6d50dc752aceb725c808fb238e745c18c9fadfbe84b8f07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6af708e7c9a525cb9c6a711f6882366a4664f2a7e8d17acff05ebbf520e5122",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 9.903 s

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

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.778, 2.2272, 1.3991, -0.7788, -1.0168, -1.6463, 0.9975, -0.0193, 0.5407, 0.2104, -0.2665, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3821 left_y=-0.1606 left_z=0.0185 left_yaw=0.8165 left_pitch=0.008 left_roll=-0.0173 left_gripper=0.9975 right_x=0.2492 right_y=0.0037 right_z=0.0867 right_yaw=0.001 right_pitch=-0.0244 right_roll=0.0019 right_gripper=0.9981\nstate[joint_eff]: [0.3214, -9.5111, 4.2188, 0.2857, -0.6374, 0.0611, 0.022, -0.0752, -0.3897, 6.9675, 1.8926, -0.0366, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7727, 2.2391, 1.3968, -0.7864, -1.0016, -1.6341, 0.5436, -0.0193, 0.5217, 0.1898, -0.2649, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3797 left_y=-0.1573 left_z=0.0115 left_yaw=0.816 left_pitch=-0.0069 left_roll=0.015 left_gripper=0.5436 right_x=0.2466 right_y=0.0037 right_z=0.082 right_yaw=0.0006 right_pitch=-0.0244 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.3214, -11.5214, 6.1744, 0.0415, -0.6325, -0.0952, 1.033, -0.0752, -0.0752, 6.9128, 1.873, -0.0269, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7345, 2.0903, 1.9938, -1.5314, -0.897, -1.5929, 0.6204, -0.0193, 0.5018, 0.1699, -0.2646, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3845 left_y=-0.1564 left_z=0.1975 left_yaw=0.8382 left_pitch=-0.1122 left_roll=0.0489 left_gripper=0.6204 right_x=0.2441 right_y=0.0038 right_z=0.0775 right_yaw=0.0006 right_pitch=-0.024 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.253, -17.9487, 10.2222, -0.0904, -1.6044, 0.4127, 0.0317, -0.0889, -0.0615, 6.8444, 1.9414, -0.022, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea902c383d7eb77dce861fe95a4e1b1e142537ee5ded861870f872ac6a300a1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e7bcd03eba07b80f6d50dc752aceb725c808fb238e745c18c9fadfbe84b8f07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6af708e7c9a525cb9c6a711f6882366a4664f2a7e8d17acff05ebbf520e5122",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISjQsKjgEIEhgCKkCCUwRdhdxaZD7NrAEuetvJAnLK6Jd6yzJH5XPB0ZDFqDReOBwbfs1V1E81o8r4dTfhORoboVg4rPDNZChHBpj+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaPAzNUGEgwgc/UvSjfuFJXGOnwaDLrX5p1VLC4kTjrsvSIwnGNFyXuSTLx3hV7Lf4EpkhN0SyKRImAb9rxL+dRLZKLDkuYgQ8c+oBlBA/t1horAKqsJy3NRFCmOwTgU9Qo4B4NNpx2EnW+N7QgZ/f6Uhj9ideYQTUuQpyhKt67kihWD5PBzh2BLERd3uZkp2r49Y5XXLTgtJgqIs4yd4EE7d+89pNFboZ4FMqGz+HaozogasNYK1D8FhSrRJZpHylVGRmn3qJo0l78qovtAaVGSngA9vsr0/WFPpeGUNnik/NdC7e1N2QRfOdqTjN/+iVyE0dEryj6ssx771T39sMbd93cgJz9otDolatfQibQmSNtrk5gCwz8Mh5E9/DPBbUjvZJiqVZKvidJL3bK4/H00/PAJlClrMVy9Gm8WwYvIajqWn2p3RXnD5pCiX0GUlHYzox9tUC5WeQbXnyJ1mdVGnM3jsggMvd05sZbtbpHbZwYxpUlr8FGzCmxs8W78ir8YHH8yo8MzqQPjDfvnfbTwhgGb9o8qJI0ViFNGSUenlswd1MCMCVBpaR5RGcRC9hOjHqhRO7fsPmSvt+OMmnvrrysIl2T3q3MItpoSy/VxkpbKKCm1/oORwyScKbe0D6wj2m9bkOI9JtuQKt6k5dT6+i96BATrtSN8LLrrXKVayMasFqvytDBXRZ76sVB8pdgcrmc/wt/fFLKCrW4XpLEGQmEkLJ7bNnwjz0ivmJuRUqe4ahlNQ96mA4TJsQcyIULM6E7TigjVevetpBjsN+tevpJT5AP5G4MlHL5OYEd+ZsIX+dXUBHYVleyDOjWZVI/Gv79JKooQwg/Ma6ABq5sf80UxCU/AMSpIVwhhAO8uYcun9qp4UE9VG3GpGFJBp9WKlwznP8Cs1euUZGGLzVJAqgcvHBBen7AFTkn3h/kWJqoruRmqZ89lLclZ4McQO/DqyZy801NOI5bQ2cYqA9IUKErNpE+Pfy9ckVWIo+n26nV06qUaCYDYZnbjEQ0pa0l5maWNdpKt8i0Hoe+Tk1UsGWyEZhQZ17YRQBfsM9AA49Ryw+J7QS6UvN0MpgpBz/spI0bx1RWsRF/yMW4iKiSqJD8lCsKlCN4npy6O02N3enmAecl/EW6w/xbDUhls0XBwxMVN5J++9FqjYj2XobT+vj1mAXsYVyRBdBKKDViHSZ8klakl8IwVtA4j/uuO/K55G9PLFYMw/NZ2t/vzMJGCAZ0ghkam1jHGDmU/k8+zlsSNJzOjyMbBl1c4qg/GeKAbT5GbzhO2Yf89wgY1KmNj0tB5QGg77IEQEuO8adPfablj4deE6FdDnGX67hHGFFV9XZ3D4dG2DgIrWKPHWPXEe+urGpUt9kOdu9uL9HLjDBB10LPBuuwuE9Utlg3QZZ0W/dHRmh600rGSJW/l55vv8LllmLsRx2poFQqove2mbBLz4KkSCrZXJiUI/+S0dJSeGJ41kJwoGRv0UZg/NZUdUcfK3M6AKlZyUk14nZ2f4Lou/G50FyRZXgguy/IYfD+NDQWrh87j192o2LABgkqh0szhJVp1VHr33JNQEThUgxNSygh0q/jsPPmKJtOwOO1Ol53Ptf6TZbEW6ldSEx7BlW1Eww5i2OIActBZ588uQnlNQJl1rmWY5A5uaOkk1PyAzkEJn4kDW+Z97VztPv20AAWSS+JKJ0FcwWYEoulbxRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KzT8NwwfcKPxcDyqUXbeFS",
      "input": {
        "note": "The bottle is lifted and appears to hang below the jaws; lowering it toward the table so its base can touch down before I release.",
        "targets": {
          "left_x": 0.36,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01KzT8NwwfcKPxcDyqUXbeFS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8204, 2.0567, 1.5974, -1.322, -0.9699, -1.7138, 0.6225, -0.0193, 0.4812, 0.1505, -0.2646, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3504 left_y=-0.1569 left_z=0.1246 left_yaw=0.8178 left_pitch=-0.0286 left_roll=0.1021 left_gripper=0.6225 right_x=0.2417 right_y=0.0038 right_z=0.0732 right_yaw=0.0006 right_pitch=-0.0228 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.8, -11.7949, 5.2171, 0.2027, -0.3639, -0.1392, 0.2027, 0.0068, -0.0479, 6.9949, 1.9072, -0.0024, -0.0366, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f940cb2a7f5c48921671f2cb8cb4568ccde6d2a370d63cce9e2b875fb26a88e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14a8b64866976e0136ff1291f13c43886905a6684f59326f3b363a46c226fe5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:378c647c389d67b5513d6acea9c079a49f502c3f69cd2dc5115dd864024089d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 5.942 s

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

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7727, 2.2391, 1.3968, -0.7864, -1.0016, -1.6341, 0.5436, -0.0193, 0.5217, 0.1898, -0.2649, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3797 left_y=-0.1573 left_z=0.0115 left_yaw=0.816 left_pitch=-0.0069 left_roll=0.015 left_gripper=0.5436 right_x=0.2466 right_y=0.0037 right_z=0.082 right_yaw=0.0006 right_pitch=-0.0244 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.3214, -11.5214, 6.1744, 0.0415, -0.6325, -0.0952, 1.033, -0.0752, -0.0752, 6.9128, 1.873, -0.0269, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7345, 2.0903, 1.9938, -1.5314, -0.897, -1.5929, 0.6204, -0.0193, 0.5018, 0.1699, -0.2646, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3845 left_y=-0.1564 left_z=0.1975 left_yaw=0.8382 left_pitch=-0.1122 left_roll=0.0489 left_gripper=0.6204 right_x=0.2441 right_y=0.0038 right_z=0.0775 right_yaw=0.0006 right_pitch=-0.024 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.253, -17.9487, 10.2222, -0.0904, -1.6044, 0.4127, 0.0317, -0.0889, -0.0615, 6.8444, 1.9414, -0.022, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8204, 2.0567, 1.5974, -1.322, -0.9699, -1.7138, 0.6225, -0.0193, 0.4812, 0.1505, -0.2646, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3504 left_y=-0.1569 left_z=0.1246 left_yaw=0.8178 left_pitch=-0.0286 left_roll=0.1021 left_gripper=0.6225 right_x=0.2417 right_y=0.0038 right_z=0.0732 right_yaw=0.0006 right_pitch=-0.0228 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.8, -11.7949, 5.2171, 0.2027, -0.3639, -0.1392, 0.2027, 0.0068, -0.0479, 6.9949, 1.9072, -0.0024, -0.0366, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f940cb2a7f5c48921671f2cb8cb4568ccde6d2a370d63cce9e2b875fb26a88e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14a8b64866976e0136ff1291f13c43886905a6684f59326f3b363a46c226fe5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:378c647c389d67b5513d6acea9c079a49f502c3f69cd2dc5115dd864024089d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01933uEbJCtzqtMjbGrYBzUx",
      "input": {
        "note": "Lowering the held bottle the last few centimetres so its base rests on the table before I open the jaws.",
        "targets": {
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01933uEbJCtzqtMjbGrYBzUx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8112, 2.0567, 1.5646, -1.2625, -1.0111, -1.7298, 0.6238, -0.0193, 0.4625, 0.1345, -0.2649, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3572 left_y=-0.1536 left_z=0.1217 left_yaw=0.8271 left_pitch=0.0107 left_roll=0.0593 left_gripper=0.6238 right_x=0.2398 right_y=0.0039 right_z=0.07 right_yaw=0.001 right_pitch=-0.0205 right_roll=0.0018 right_gripper=0.9981\nstate[joint_eff]: [-0.0889, -11.6171, 5.135, 0.3004, -0.4567, -0.2125, 0.1245, 0.0615, -0.0205, 6.8718, 1.8779, -0.0171, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ccac3f5690409c4dbb91bce11da083682708aed5982dedd7c151be6c3f6c203",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddc1f3d3ab17eb91aa00a7db40da70242440da97cd1c35b1093ddf5409033a85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:529b813ca6dd7583846a00b041d31b97ccda28c137995cbeaf57d0e86f558f31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 7.143 s

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

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7345, 2.0903, 1.9938, -1.5314, -0.897, -1.5929, 0.6204, -0.0193, 0.5018, 0.1699, -0.2646, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3845 left_y=-0.1564 left_z=0.1975 left_yaw=0.8382 left_pitch=-0.1122 left_roll=0.0489 left_gripper=0.6204 right_x=0.2441 right_y=0.0038 right_z=0.0775 right_yaw=0.0006 right_pitch=-0.024 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.253, -17.9487, 10.2222, -0.0904, -1.6044, 0.4127, 0.0317, -0.0889, -0.0615, 6.8444, 1.9414, -0.022, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8204, 2.0567, 1.5974, -1.322, -0.9699, -1.7138, 0.6225, -0.0193, 0.4812, 0.1505, -0.2646, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3504 left_y=-0.1569 left_z=0.1246 left_yaw=0.8178 left_pitch=-0.0286 left_roll=0.1021 left_gripper=0.6225 right_x=0.2417 right_y=0.0038 right_z=0.0732 right_yaw=0.0006 right_pitch=-0.0228 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.8, -11.7949, 5.2171, 0.2027, -0.3639, -0.1392, 0.2027, 0.0068, -0.0479, 6.9949, 1.9072, -0.0024, -0.0366, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8112, 2.0567, 1.5646, -1.2625, -1.0111, -1.7298, 0.6238, -0.0193, 0.4625, 0.1345, -0.2649, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3572 left_y=-0.1536 left_z=0.1217 left_yaw=0.8271 left_pitch=0.0107 left_roll=0.0593 left_gripper=0.6238 right_x=0.2398 right_y=0.0039 right_z=0.07 right_yaw=0.001 right_pitch=-0.0205 right_roll=0.0018 right_gripper=0.9981\nstate[joint_eff]: [-0.0889, -11.6171, 5.135, 0.3004, -0.4567, -0.2125, 0.1245, 0.0615, -0.0205, 6.8718, 1.8779, -0.0171, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ccac3f5690409c4dbb91bce11da083682708aed5982dedd7c151be6c3f6c203",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddc1f3d3ab17eb91aa00a7db40da70242440da97cd1c35b1093ddf5409033a85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:529b813ca6dd7583846a00b041d31b97ccda28c137995cbeaf57d0e86f558f31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS/AYKjgEIEhgCKkDbxKlKS+oXQzPTjYfYMOLSSJlsiBQ/+DJ4f7d8jOtrNa0KoW0WPoOcrRKlNwV5MZeyr+R0E6deEWsVINnaq4vmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbTAzNUGEgwxsvx9P5F94ZmiH0UaDPf7r2mj0l7+x5/ZbiIwAMSJQYsP8zeRT4uzAAi7A4T/Nl43xpw2XDWWI+BgtW0nVT0xgrSqy/NCsgNy4VSJKpoFB7sSHSa7o14q90oFbpIcpyumi9spHNMvHwTnDnjCmKZe+mI0wnGnRu95oBRbF0g2yXrd088XczXoXR4eVSmj4vwtdi1YpQRsjk0/oVe43yxy6rqf3+0xjKtTzm+qqw/ZWPd3Dr37teRf5v0BcmzHIqWLzkinRMN9vjn990IVJ+QD3VV3DLu1nTYlKtf3+tZXbdC3gkJCFSn7xQ1wG5Ml3YxkKKbF2eNwHoamXm7d+kohHKenx6AtfUtjma0uRV3Jkpg5NCDm+D/wAO6inqgCa+nCUt4y474526d3PxDYSPOkvu7MnBTWJK2wQWdvCy2ZucMqynUCPNqUGxCvU6i2yWZCafLRy6uliZB5CUUTCMkwIYjkKw63QyY7QE8wj+bimv4FLJ6UWM9KV/I34uFB/bdga4MsC4uDcB+zpYfrPqeBHqq9wcqHnk7kxTHsGQNJJPtwTPvD3bE9GD3ITYSjJ0n7vrybM5//AywvGYBBxfn/HiYCqBGuo4mSS+cHu9yr6f0uSXxIgJaE30YA2/HYke82gJy6fbqTkU/gtGqgsn0eEYVFv815Brei1fKlG+y+3GWz/V8yUf0EVzrNkwjw3gbmjQPsi9aGSflVH+vlFan1BH7EzEL1U49C2bDaLkayzodUDPY5DAUYtryq3R76QzefBQGF2/kmy86XIByIKyKG7WwMtf+2sIVSugEbD+ZAwKrMXf4S+x0N2xG0B/wR07LUvFMVlfKXbFn19IpGoLBKgK3Cpby2Ph+EWlGwSKBXPjVO5IKImDFOHs90cTdDvArlqLiKBKQ6thjk33gtlq9tZBQ9IceC0VqIZQVwaif437KkRUJj1w8jsjgccDN73YCDGxDqJNC/I1r3XmgEId95gqrgHRGvfCBlGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ao3TTJrB3TLpqUDcQfvANZ",
      "input": {
        "note": "The descent stopped at z=0.12, suggesting the hanging bottle's base is on the table; opening the jaws to release it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Ao3TTJrB3TLpqUDcQfvANZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8112, 2.0567, 1.5639, -1.2255, -0.9997, -1.737, 0.9956, -0.0193, 0.4438, 0.1184, -0.2661, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3603 left_y=-0.1584 left_z=0.1188 left_yaw=0.833 left_pitch=-0.0029 left_roll=0.0178 left_gripper=0.9956 right_x=0.2379 right_y=0.0039 right_z=0.0665 right_yaw=0.0006 right_pitch=-0.019 right_roll=0.0016 right_gripper=0.9981\nstate[joint_eff]: [-0.1983, -11.6444, 5.1077, -0.0073, -0.5104, -0.1148, -0.1587, -0.0889, 0.3214, 6.9538, 1.8779, -0.022, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c04e1f71d951fc02635ad4adc771c9841ebffbccbe3b72c6ad4c367289f411e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e310a6ff6edb0803041f2c62c8fae1a7d7fbdcfa12193fd1057eb606f138f26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ce809cd49680b96d75f7bb6da3ccb1d20094acca6d79a1ca84798e1de652772",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 46.64 s

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

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8204, 2.0567, 1.5974, -1.322, -0.9699, -1.7138, 0.6225, -0.0193, 0.4812, 0.1505, -0.2646, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3504 left_y=-0.1569 left_z=0.1246 left_yaw=0.8178 left_pitch=-0.0286 left_roll=0.1021 left_gripper=0.6225 right_x=0.2417 right_y=0.0038 right_z=0.0732 right_yaw=0.0006 right_pitch=-0.0228 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [0.8, -11.7949, 5.2171, 0.2027, -0.3639, -0.1392, 0.2027, 0.0068, -0.0479, 6.9949, 1.9072, -0.0024, -0.0366, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8112, 2.0567, 1.5646, -1.2625, -1.0111, -1.7298, 0.6238, -0.0193, 0.4625, 0.1345, -0.2649, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3572 left_y=-0.1536 left_z=0.1217 left_yaw=0.8271 left_pitch=0.0107 left_roll=0.0593 left_gripper=0.6238 right_x=0.2398 right_y=0.0039 right_z=0.07 right_yaw=0.001 right_pitch=-0.0205 right_roll=0.0018 right_gripper=0.9981\nstate[joint_eff]: [-0.0889, -11.6171, 5.135, 0.3004, -0.4567, -0.2125, 0.1245, 0.0615, -0.0205, 6.8718, 1.8779, -0.0171, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8112, 2.0567, 1.5639, -1.2255, -0.9997, -1.737, 0.9956, -0.0193, 0.4438, 0.1184, -0.2661, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3603 left_y=-0.1584 left_z=0.1188 left_yaw=0.833 left_pitch=-0.0029 left_roll=0.0178 left_gripper=0.9956 right_x=0.2379 right_y=0.0039 right_z=0.0665 right_yaw=0.0006 right_pitch=-0.019 right_roll=0.0016 right_gripper=0.9981\nstate[joint_eff]: [-0.1983, -11.6444, 5.1077, -0.0073, -0.5104, -0.1148, -0.1587, -0.0889, 0.3214, 6.9538, 1.8779, -0.022, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c04e1f71d951fc02635ad4adc771c9841ebffbccbe3b72c6ad4c367289f411e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e310a6ff6edb0803041f2c62c8fae1a7d7fbdcfa12193fd1057eb606f138f26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ce809cd49680b96d75f7bb6da3ccb1d20094acca6d79a1ca84798e1de652772",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISuQUKjgEIEhgCKkAFAX6GDM8mqweuNjDnKjP04yGKKGWR1c1mAqBc4tW2x0/H0fu83AQlXAWytP3oW9NMduHL5xb06ZZnh2z5TIzjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbvAzNUGEgxM7YeRlk0UzWI7psUaDGOBxcnbUkfsSNrKnSIw5Ygb5haak1VKt7snpKKjnsZWlI0KPL2S31RkGEcc1l62evsxlqVJ8NXnrQoykuERKtcD02xlJIJkVF6yAUOqJ2wnA+x3WVPEKKDQi69rlx/cd+ZT8SPDRKjst6Whbv4iOtVcgi/PGjOlM1LNQ10gdOyT9VW9uIWiR8REu7pwGo1ewTJcexxd2vvgbw/yYCKJlQnsQSLVmSuOKhk+ESyMv25vHTg5OIBe/f/hm6QrgpYMupip1pXQluLVEB25G3xRtzWIbNeIXnHGikr22QZS3t8+SllMMp/YaPPuA5hLar4VcQWRayaYWNEPxIGhuxLoQSHo2wZQCYF7zYCSqZNAl4jsBgWqiiSMADrvx6VL9gkoe/VuAm5a4SN5co8SM3aH/nb5M7SrMaJVrp0lgoTjP4TVKfOLpUhg+E8JmaF0AzznJAE0m7wOTJavp2yOYR5PzRHY4cbGYyTDtDhZxWPHn3B70YNIiAhzW9h3LIols6BoFTY13EWmjNmdOp9VhcmOsFW0OKS0hx0Qy3jTsvtofLQobfVy/MVNE8pILoaLAlC8CQqPnn2rkB9D0hk0Il/hyEgMiTXZmA1JQSJP8ytBZkhOfBKovDO3OpaAnk8D3FZjxYXBTwfEWQqmdupDSYMyabJHnhGTefewpt6gZf0Wwz2oniRnoXZ9S1U8miAN6D4uLyPM/vFS6LrnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012qn8A8Dhsm4cjsT8Fgg6V4",
      "input": {
        "note": "Released the bottle; pulling the left arm back and up out of the way to get a clear overhead view of all three bottles and see whether that one is now standing.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.05,
          "left_yaw": 0.0,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_012qn8A8Dhsm4cjsT8Fgg6V4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5362, 0.8291, 1.0874, -0.8898, -0.5571, -0.4938, 0.9962, -0.0193, 0.4232, 0.1036, -0.2684, -0.0303, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.2567 left_y=-0.0397 left_z=0.2975 left_yaw=0.1714 left_pitch=0.0347 left_roll=-0.0969 left_gripper=0.9962 right_x=0.2362 right_y=0.0044 right_z=0.0637 right_yaw=0.0031 right_pitch=-0.0156 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -0.3487, 8.3214, 1.5311, -0.2369, 0.2222, 0.0562, 0.0889, 0.4171, 6.9265, 1.9023, -0.0464, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d20aa395f98266da1d48bed5d89a5ac39cd779fd660f7609307fdc5a773e3d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:094da3eed192792c0da809b83807d64443268fc7ac31699b72fdd79adbbf1bb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f469c103fae53c007897ed876f442a72e40a6859e1a4476e3064b4c99e5ae73f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 11.03 s

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

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8112, 2.0567, 1.5646, -1.2625, -1.0111, -1.7298, 0.6238, -0.0193, 0.4625, 0.1345, -0.2649, -0.028, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3572 left_y=-0.1536 left_z=0.1217 left_yaw=0.8271 left_pitch=0.0107 left_roll=0.0593 left_gripper=0.6238 right_x=0.2398 right_y=0.0039 right_z=0.07 right_yaw=0.001 right_pitch=-0.0205 right_roll=0.0018 right_gripper=0.9981\nstate[joint_eff]: [-0.0889, -11.6171, 5.135, 0.3004, -0.4567, -0.2125, 0.1245, 0.0615, -0.0205, 6.8718, 1.8779, -0.0171, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8112, 2.0567, 1.5639, -1.2255, -0.9997, -1.737, 0.9956, -0.0193, 0.4438, 0.1184, -0.2661, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3603 left_y=-0.1584 left_z=0.1188 left_yaw=0.833 left_pitch=-0.0029 left_roll=0.0178 left_gripper=0.9956 right_x=0.2379 right_y=0.0039 right_z=0.0665 right_yaw=0.0006 right_pitch=-0.019 right_roll=0.0016 right_gripper=0.9981\nstate[joint_eff]: [-0.1983, -11.6444, 5.1077, -0.0073, -0.5104, -0.1148, -0.1587, -0.0889, 0.3214, 6.9538, 1.8779, -0.022, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5362, 0.8291, 1.0874, -0.8898, -0.5571, -0.4938, 0.9962, -0.0193, 0.4232, 0.1036, -0.2684, -0.0303, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.2567 left_y=-0.0397 left_z=0.2975 left_yaw=0.1714 left_pitch=0.0347 left_roll=-0.0969 left_gripper=0.9962 right_x=0.2362 right_y=0.0044 right_z=0.0637 right_yaw=0.0031 right_pitch=-0.0156 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -0.3487, 8.3214, 1.5311, -0.2369, 0.2222, 0.0562, 0.0889, 0.4171, 6.9265, 1.9023, -0.0464, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d20aa395f98266da1d48bed5d89a5ac39cd779fd660f7609307fdc5a773e3d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:094da3eed192792c0da809b83807d64443268fc7ac31699b72fdd79adbbf1bb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f469c103fae53c007897ed876f442a72e40a6859e1a4476e3064b4c99e5ae73f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VAwRnGkAEwft3Uia3QQkG8",
      "input": {
        "note": "All three bottles are still lying down. Returning to the grasp spot on the nearest bottle that worked before (jaws at table level across its upper body), this time I will set it down harder before releasing.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.375,
          "left_y": -0.158,
          "left_yaw": 0.8,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01VAwRnGkAEwft3Uia3QQkG8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7803, 2.1361, 1.3369, -0.7513, -1.0046, -1.5539, 0.9979, -0.0193, 0.4099, 0.094, -0.2714, -0.0303, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3763 left_y=-0.1577 left_z=0.0365 left_yaw=0.7652 left_pitch=-0.0046 left_roll=0.0044 left_gripper=0.9979 right_x=0.235 right_y=0.0044 right_z=0.0616 right_yaw=0.0029 right_pitch=-0.0148 right_roll=0.003 right_gripper=0.9981\nstate[joint_eff]: [-0.6632, -9.4291, 4.9436, -0.0073, -0.2173, -0.0904, -0.232, -0.1573, 0.1436, 6.7214, 1.8486, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77c4dd4be26c930f20dcc5b94c9288a505730ab80d3af1d0aae003eb5d693cce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3549793ac5bfc4061e9a509804bb2b5647217cd3100e4c422353b01401c42057",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a191e73bbae6576554eb274e69ef34d2f837f703a258700d9f7afb2127fd8f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 4.465 s

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

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8112, 2.0567, 1.5639, -1.2255, -0.9997, -1.737, 0.9956, -0.0193, 0.4438, 0.1184, -0.2661, -0.0277, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3603 left_y=-0.1584 left_z=0.1188 left_yaw=0.833 left_pitch=-0.0029 left_roll=0.0178 left_gripper=0.9956 right_x=0.2379 right_y=0.0039 right_z=0.0665 right_yaw=0.0006 right_pitch=-0.019 right_roll=0.0016 right_gripper=0.9981\nstate[joint_eff]: [-0.1983, -11.6444, 5.1077, -0.0073, -0.5104, -0.1148, -0.1587, -0.0889, 0.3214, 6.9538, 1.8779, -0.022, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5362, 0.8291, 1.0874, -0.8898, -0.5571, -0.4938, 0.9962, -0.0193, 0.4232, 0.1036, -0.2684, -0.0303, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.2567 left_y=-0.0397 left_z=0.2975 left_yaw=0.1714 left_pitch=0.0347 left_roll=-0.0969 left_gripper=0.9962 right_x=0.2362 right_y=0.0044 right_z=0.0637 right_yaw=0.0031 right_pitch=-0.0156 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -0.3487, 8.3214, 1.5311, -0.2369, 0.2222, 0.0562, 0.0889, 0.4171, 6.9265, 1.9023, -0.0464, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7803, 2.1361, 1.3369, -0.7513, -1.0046, -1.5539, 0.9979, -0.0193, 0.4099, 0.094, -0.2714, -0.0303, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3763 left_y=-0.1577 left_z=0.0365 left_yaw=0.7652 left_pitch=-0.0046 left_roll=0.0044 left_gripper=0.9979 right_x=0.235 right_y=0.0044 right_z=0.0616 right_yaw=0.0029 right_pitch=-0.0148 right_roll=0.003 right_gripper=0.9981\nstate[joint_eff]: [-0.6632, -9.4291, 4.9436, -0.0073, -0.2173, -0.0904, -0.232, -0.1573, 0.1436, 6.7214, 1.8486, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77c4dd4be26c930f20dcc5b94c9288a505730ab80d3af1d0aae003eb5d693cce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3549793ac5bfc4061e9a509804bb2b5647217cd3100e4c422353b01401c42057",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a191e73bbae6576554eb274e69ef34d2f837f703a258700d9f7afb2127fd8f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISiAsKjgEIEhgCKkCPWivf8GjTUL1DGP9s3NfgVE1eYUkMTefqAqutmiaV1N7UR38542oMMXivZU9PXlyoHLuxRBxfvN0NTVPRYp+MMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAffAzNUGEgzgwlOzDTA9BHC2gWAaDMifOgvZS0RuRkHxwSIwJ8lRWkHDvIJIoyqTqM0ucfeFoQm2ALtoC0QBlE1Om8LJTyGR53mGpScr+LyRrnhDKqYJwKNEojF1OzIj3UVt/wphgf951GSwaGqAJo7AWvqZN+ADveVOs2PraZclgqTQ4+EL4IMHeY/sE1CRxe8SbDa9Ua5edJyAgMxWKOObQvyZOlgs5aRPfZPWHGfkz6enVap2VhU08ahvej5hBu6FGctEFfHnS6mSwAP7X9uU9+ZTgEBeVyOFn4eRikIMmDjREy8mO1Ckn8bMwbVKs/wtSe/dqNuPRO5oXqIT5y9xojeMIWOgREc+Dxi6rB0JqGta1OViydqtGOWfmmA8sI624+9jYwJ3wM+UGm+WDPEWZBwSn8higo2QJhDFIGzMBfqpe84obQsRCSd7rUTHStKYzDFhcrsjLk6Wu4SVCstyP+HDyXwfuLNbGdIPg3RjUQgPHalB/twHH77SjSSiJ13fyosQJwf+Ns3TgxerXYXDO5GE4ajLoAgsmmdBePsd7BqjeAF9v5lIa/DL+Qhi3QfuDQReiV8G8vEXcGkuBbgSTzZCKb3BEAhUZ1KwhzwNqRlNKsRR4fmMA5DL6DCEKCIvrcGdXNku+WbnwV34OXzDAtcxUiJfia8km9mNxS1oRuiuqU7lRMo8zzGipRqa+3fKAqn+LccVAQo6zvNjsKtaAmGtJ14IfSXAsjZzqMzlhEFPkgbY59wZNnNaubO391jyZOAYNz7z3zT8/Hga2S2h7cfhwhahewqCgGEu28ydb8AhhF90lC6yX0lDEIAegoodR54a48IEkxuN7OvFjlBk4tFjY4PbCDQ0BX+W3dfSP2OIgILqluGSJ4JqaddkcFfyUZFxg3MZzoIgVmAFZgZGtOkSkOf+cNkIGbHgw7iVbQZrq+aUjpEDXNiBz3uj3vkRStgSpMzCNRU5NXDAG0xkyQswqgL9dADdpCMKFpEUhcI2P9zDVcJmmQSSPplf4kjiNAuh33axCXvcNTyiojj59qOou7qTeLS2qxwwGO6rhFN93v/t8DEBSTv/dBK7KzqkWg7ztjS8Lzx7iXeLxxa8QFZ3YJclr+xaIeMQtSMVGQnqHNDlvPei5LNwIOhMm41gLxzE5BPAX8AhGowfr2kUJqLaQF3iGHHK41DXaCCCHcecZpHfOIBLfAmoKYhe7FJ9HkhRGA3w/RMGp6W8duCn+HPTyHR4l4G3aOFVTnEAiK+y6GpDPNpuFKK4f2IqHHMOPqI3tkQhfqFBU1+BLM+XPLt8Ep6PmJolKWOqgGJ8hFiQNsVvs17G5o6iS/wJsh5XY8fjhXG+4+beQrFeqogmdRLuLLEArQxKxEoaI2Pb1bz8r7CFnpc4k3NxfbEUOHRoooNJ+im5pi7WBTcmrAMpQ/T61XS3uNP28vIEM7dvsPSTRZvY3c8x0vyeg3mE7kg/70cG9AOleeaar3Jy/eyPL3/pqgiWd0YWpGVBwCYnfSATVy6CHhIICdLsSqCGeYUF09ZQwRK3g9e2JxmQqfb4Xx+GdJPMZkSWvJq1eoNf+p03wOhQA3cRB3mayKAUpv45iarDevELIZHTVTTD2gdLSKbUUV88u6Ay4FGbER4HLvUeYc2vY2iqQDUXH8RUoEaJ+7lHfw36k+UeCbn/bj2ulwHYB9E1Tbacp78YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0159z3ntWZgRDn8r278XMURJ",
      "input": {
        "note": "Wrist view confirms the bottle lies straight through the jaws with its cap pointing away; closing to a slightly loose grip (≈4.8 cm) so the bottle can pivot to vertical when lifted.",
        "targets": {
          "left_gripper": 0.5
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0159z3ntWZgRDn8r278XMURJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7803, 2.141, 1.3499, -0.7521, -1.0328, -1.5711, 0.5071, -0.0193, 0.3977, 0.086, -0.2714, -0.0299, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3805 left_y=-0.1581 left_z=0.0418 left_yaw=0.7751 left_pitch=0.0239 left_roll=-0.0169 left_gripper=0.5071 right_x=0.2344 right_y=0.0044 right_z=0.0606 right_yaw=0.0026 right_pitch=-0.0106 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [-0.1983, -11.0017, 3.6171, 0.3541, -0.1783, 0.1197, 0.3443, -0.1299, 0.1162, 6.6803, 1.7656, -0.0024, -0.0708, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4329362e9e764605b900b409cffc7a1ab58dcf264dd2fd3b5dc396772b8556c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12e94c252c9c31effece5dfdf65068d3860628eee61767f57bbf30ccdac6ae7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e102263bab16263301d9ebebda6b7f27f3f696e4a3716097846716ecd4e30b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 7.439 s

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

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5362, 0.8291, 1.0874, -0.8898, -0.5571, -0.4938, 0.9962, -0.0193, 0.4232, 0.1036, -0.2684, -0.0303, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.2567 left_y=-0.0397 left_z=0.2975 left_yaw=0.1714 left_pitch=0.0347 left_roll=-0.0969 left_gripper=0.9962 right_x=0.2362 right_y=0.0044 right_z=0.0637 right_yaw=0.0031 right_pitch=-0.0156 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [-0.1299, -0.3487, 8.3214, 1.5311, -0.2369, 0.2222, 0.0562, 0.0889, 0.4171, 6.9265, 1.9023, -0.0464, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7803, 2.1361, 1.3369, -0.7513, -1.0046, -1.5539, 0.9979, -0.0193, 0.4099, 0.094, -0.2714, -0.0303, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3763 left_y=-0.1577 left_z=0.0365 left_yaw=0.7652 left_pitch=-0.0046 left_roll=0.0044 left_gripper=0.9979 right_x=0.235 right_y=0.0044 right_z=0.0616 right_yaw=0.0029 right_pitch=-0.0148 right_roll=0.003 right_gripper=0.9981\nstate[joint_eff]: [-0.6632, -9.4291, 4.9436, -0.0073, -0.2173, -0.0904, -0.232, -0.1573, 0.1436, 6.7214, 1.8486, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7803, 2.141, 1.3499, -0.7521, -1.0328, -1.5711, 0.5071, -0.0193, 0.3977, 0.086, -0.2714, -0.0299, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3805 left_y=-0.1581 left_z=0.0418 left_yaw=0.7751 left_pitch=0.0239 left_roll=-0.0169 left_gripper=0.5071 right_x=0.2344 right_y=0.0044 right_z=0.0606 right_yaw=0.0026 right_pitch=-0.0106 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [-0.1983, -11.0017, 3.6171, 0.3541, -0.1783, 0.1197, 0.3443, -0.1299, 0.1162, 6.6803, 1.7656, -0.0024, -0.0708, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4329362e9e764605b900b409cffc7a1ab58dcf264dd2fd3b5dc396772b8556c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12e94c252c9c31effece5dfdf65068d3860628eee61767f57bbf30ccdac6ae7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e102263bab16263301d9ebebda6b7f27f3f696e4a3716097846716ecd4e30b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISqAMKjgEIEhgCKkA9NRbhQwyEaZvcx8I4meGIvgfsa+l9GX225tg/GQNGU9wDeXJCH/EPOFEIsHnwniSjY4Sj+jo89A9UXQwT1UA1Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfzAzNUGEgyOIXff+F7BH4JcaAwaDG1hZ/sVPPtXZQB6uSIw6KfEVlWDceTNXHEcHQcz816X3f0FyvBiiXQ5t8qiku0HQ2c4lf1Gbiuf9zjjjPO6KsYBrnlPt/pqqlaonwk9Wbgl2e9/9Y0ipwrlWkx9c+hUKr/yNxVSk/fpWvHzldOhkBHVwpKKxPWxvdEZrZQdfXInr3/mMJfvigpY4SVYD3GhdGtpzAH36WtIMG5KSmNbkkbn9ccsj6UB40z+r2/6vkddweI0sEcag9WCxZpc3bTRd2oGkByTwEs6poJ8itxpKWgZLPDdSkSSAWETgQhO4462D5qZAmcwKqWj0/PXdcr0PBtdGLZcbppwUNdvBaEVdPTH1Z182nD5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014mtW6Hu6NUk77iKKdTKbvx",
      "input": {
        "note": "Bottle is held in the slightly loose jaws; lifting it high so gravity swings it to hang vertically, cap up.",
        "targets": {
          "left_z": 0.35
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_014mtW6Hu6NUk77iKKdTKbvx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6785, 1.9999, 2.1384, -1.552, -0.9802, -1.4055, 0.5063, -0.0193, 0.3904, 0.0853, -0.271, -0.0299, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3983 left_y=-0.128 left_z=0.2791 left_yaw=0.784 left_pitch=-0.0208 left_roll=-0.0093 left_gripper=0.5063 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0026 right_pitch=-0.0037 right_roll=0.0025 right_gripper=0.9981\nstate[joint_eff]: [0.6632, -13.3949, 7.9111, 0.3736, -0.652, 0.3883, -0.0904, 0.0342, 0.2803, 6.3521, 1.7607, -0.0073, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4449416e69eb19477c68242b114004913e785dd0780c6164dfeaa29b1caedc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c361815552356f97e3e968ee037d402bcbc448b7d6f99ffffdfe986148eeec1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24efebbab0946d7bdc2bc053601234f70729ad2bf5821cdae5f43fcf2d927157",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 21.46 s

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

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7803, 2.1361, 1.3369, -0.7513, -1.0046, -1.5539, 0.9979, -0.0193, 0.4099, 0.094, -0.2714, -0.0303, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3763 left_y=-0.1577 left_z=0.0365 left_yaw=0.7652 left_pitch=-0.0046 left_roll=0.0044 left_gripper=0.9979 right_x=0.235 right_y=0.0044 right_z=0.0616 right_yaw=0.0029 right_pitch=-0.0148 right_roll=0.003 right_gripper=0.9981\nstate[joint_eff]: [-0.6632, -9.4291, 4.9436, -0.0073, -0.2173, -0.0904, -0.232, -0.1573, 0.1436, 6.7214, 1.8486, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7803, 2.141, 1.3499, -0.7521, -1.0328, -1.5711, 0.5071, -0.0193, 0.3977, 0.086, -0.2714, -0.0299, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3805 left_y=-0.1581 left_z=0.0418 left_yaw=0.7751 left_pitch=0.0239 left_roll=-0.0169 left_gripper=0.5071 right_x=0.2344 right_y=0.0044 right_z=0.0606 right_yaw=0.0026 right_pitch=-0.0106 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [-0.1983, -11.0017, 3.6171, 0.3541, -0.1783, 0.1197, 0.3443, -0.1299, 0.1162, 6.6803, 1.7656, -0.0024, -0.0708, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6785, 1.9999, 2.1384, -1.552, -0.9802, -1.4055, 0.5063, -0.0193, 0.3904, 0.0853, -0.271, -0.0299, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3983 left_y=-0.128 left_z=0.2791 left_yaw=0.784 left_pitch=-0.0208 left_roll=-0.0093 left_gripper=0.5063 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0026 right_pitch=-0.0037 right_roll=0.0025 right_gripper=0.9981\nstate[joint_eff]: [0.6632, -13.3949, 7.9111, 0.3736, -0.652, 0.3883, -0.0904, 0.0342, 0.2803, 6.3521, 1.7607, -0.0073, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4449416e69eb19477c68242b114004913e785dd0780c6164dfeaa29b1caedc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c361815552356f97e3e968ee037d402bcbc448b7d6f99ffffdfe986148eeec1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24efebbab0946d7bdc2bc053601234f70729ad2bf5821cdae5f43fcf2d927157",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISygYKjgEIEhgCKkAWSkc7AUSdgnlYjd1spdKfExDNlUESW1AjcPWH/IPreOW+xANbr2bfGElYdn6Oqm3DwS3ChCiUP15QLJSSebTVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYbBzNUGEgyae0aB3AEMVpDsgicaDC8iemWpjFR4e1IdjyIw0rcU3qI/nVM1zHb3sqxTRMAk+rmV8V5zDeyEpFRYmtKZ9e/JSxmjs1sGTeYP1ngcKugErG1h7SPxsKSXsJFW4UKFUP/ThxmAl9anl6cyjCGi5Ls49XHJVJA/xmXpyzecM+9bPQFyEeM2j5dWai/nK41aSE0Ao1CZXNvZ8J4FBW5fd8Ah5J4XvmPKLadizd+Ab6BJOWrsUGCHPZ39cmvYC5emOjfiHZQ9x/cyKVHiPWnGn2jDMtGmbVfJKecmYaIf5XJ8xL9LePa/M4l9oc9ON6f2PcJZxSV1M2fzsfJIPxozq5eZX/FTsxLyaMp+AgApyxiK2IOzPzYx5MBEmqsDVuECX1MAgrofAfkezCDNQzFSgpn3+Ft5Yyyenk3XMry59DuR6bfpUp/WHESw3H0RYdc7p1gbskTt4YNmMB30oNxaDWm/qjB/BylzFFZ44qojwDzTC4OoUoYBAIXBumzdHtGcwexnIq4Obh3qWK1GEbcaJePI1HCo79zofyv345iL2XgzoAhX1DF+hOkbQv5GI/Qia4Tf8zD0FmrFUhDJSNVtwfWAOeByfNIPH23becbVqRCqnLaRscdhpkoKXUbQ9jQoZxKdzmwM/9fabf9YQzeYrG9LcUvSEMckQBwDS4VaEFa3+CzPJs1hg0t3Ebnu0BskJwCItOmX7mMcimVU/1wUvwGI2hAm3+FLH1rwXRL1pSRXMRrsmbtXZqOxG4BT+Y0xjTHDJYjf6wiN3d60oMWQEQSf8b/mIRDsSw/LeyHa7LGAzQbF3ER6dhttsWWnYzgBdBw73Y9wDzioLNSNlbf3q0MMMkK8DyW77haMumrzSmTpDF+KmsbvmlGT2IRxMCovVYhInaN8X0U6m71RHOP+I4Frz8QEM/qvQBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K7zvaMyWkXVuqiBoU9XHfY",
      "input": {
        "note": "The wrist view shows the bottle now hanging vertically, cap up, below the jaws. Lowering until its base presses onto the table.",
        "targets": {
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01K7zvaMyWkXVuqiBoU9XHfY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6857, 1.9827, 1.4158, -0.8841, -0.9855, -1.3979, 0.5063, -0.0193, 0.3908, 0.0853, -0.2707, -0.0299, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3931 left_y=-0.1267 left_z=0.1067 left_yaw=0.7742 left_pitch=-0.0197 left_roll=0.0348 left_gripper=0.5063 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0026 right_pitch=-0.0037 right_roll=0.0025 right_gripper=0.9981\nstate[joint_eff]: [-0.0068, -9.1829, 5.5726, 0.5104, -0.7106, -0.1392, -0.022, -0.0205, 0.6222, 6.9812, 1.7558, -0.0122, -0.0855, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8afd477542eb69123fc9843b0ecaa4728e747ec63c093fde3a68a48d78b5efa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4dfc122d6d9e38f37ea91e53ded052b4c4be9b41682dbc23190209f15965084",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1fe354b5af47fd97dc5bc548ac588de5bd46d66a5c727a335e237e12f7bde9ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 18.15 s

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

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7803, 2.141, 1.3499, -0.7521, -1.0328, -1.5711, 0.5071, -0.0193, 0.3977, 0.086, -0.2714, -0.0299, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3805 left_y=-0.1581 left_z=0.0418 left_yaw=0.7751 left_pitch=0.0239 left_roll=-0.0169 left_gripper=0.5071 right_x=0.2344 right_y=0.0044 right_z=0.0606 right_yaw=0.0026 right_pitch=-0.0106 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [-0.1983, -11.0017, 3.6171, 0.3541, -0.1783, 0.1197, 0.3443, -0.1299, 0.1162, 6.6803, 1.7656, -0.0024, -0.0708, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6785, 1.9999, 2.1384, -1.552, -0.9802, -1.4055, 0.5063, -0.0193, 0.3904, 0.0853, -0.271, -0.0299, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3983 left_y=-0.128 left_z=0.2791 left_yaw=0.784 left_pitch=-0.0208 left_roll=-0.0093 left_gripper=0.5063 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0026 right_pitch=-0.0037 right_roll=0.0025 right_gripper=0.9981\nstate[joint_eff]: [0.6632, -13.3949, 7.9111, 0.3736, -0.652, 0.3883, -0.0904, 0.0342, 0.2803, 6.3521, 1.7607, -0.0073, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6857, 1.9827, 1.4158, -0.8841, -0.9855, -1.3979, 0.5063, -0.0193, 0.3908, 0.0853, -0.2707, -0.0299, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3931 left_y=-0.1267 left_z=0.1067 left_yaw=0.7742 left_pitch=-0.0197 left_roll=0.0348 left_gripper=0.5063 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0026 right_pitch=-0.0037 right_roll=0.0025 right_gripper=0.9981\nstate[joint_eff]: [-0.0068, -9.1829, 5.5726, 0.5104, -0.7106, -0.1392, -0.022, -0.0205, 0.6222, 6.9812, 1.7558, -0.0122, -0.0855, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8afd477542eb69123fc9843b0ecaa4728e747ec63c093fde3a68a48d78b5efa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4dfc122d6d9e38f37ea91e53ded052b4c4be9b41682dbc23190209f15965084",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fe354b5af47fd97dc5bc548ac588de5bd46d66a5c727a335e237e12f7bde9ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS9wYKjgEIEhgCKkAjrkPJ98OoMnC+cIRHcMzxNInIbLZBl817fEWkH+DKwZRyrvOO30+nWXEKXb6E1iwioPA8vCXGt4GPOyRBnUEhMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY7BzNUGEgzMCv+OPBU3L6zx1+YaDHDLN0nklAORDQuBaCIw5QQ2/MPHkfpH8liqxdD607eds27Ri6XuykfFSskr0MxuD+6EVxdyiBpK4jo/u/4bKpUFUzjzGADTvfjMVKdefBGjauFQxVLDyhOdWVkTPkmbZRiX1nMlScBLAiIHejrHx3V/69eMIN4gHgU6nPuJHdsmAQjXiv1DONRmtar8pHxfyZZ9EJzlGkapGd8UEJJvSJrnualCjJ3lKGFGoxGYeHG1i+yjpa5C5FVt7kS2Bmx/PKN2mTXEvBs6fV8Ee3nUwE8dkoa6pQB6oBV/4+7pMcCjsRD8P2RdaggrDsIixqGkxg/tz/99ecXO36X+gZ/sRxfGVR6r1LbGubCetfTjFIrIIeE9j3U+G5V0UiCPJM5hqZb7B3TmLUwr1QIHjwspfZVYE4CDOZBjDj6ZerWyWYYA9K+wsL6C9zsHBBU25eBQKxYcF6JED+wCAMb4Fl7IA0NwA7kxycWvCxRj1lwshKGl0H1rE8jkLDju/r/ZSagxjHaMcqjozVvzCrM7x6yVq3LgIiXokrk9tRwrKpbz4iR+Blwl9x2i0OuJdTVOjd4DWS1kIIiG90yHcfKeIWjXiNezznqkDcoftaPFXrQAKJLUW0RrmuhkQM9+eWSI57zwnnfAv+h8AUbiZHsalhE4e0Icr5U7YU1YeU4q+q3jyX42xl1eN2XfN2qXy0Q9XErmE6Y6KRI/BCr/n1QEqScZmLDDuDc9R0Ez7PRLm993Q/VJnZqeC4gSZyCLml5M4LA/Y8tVdfFLPUJGyYcxuF1eBrcpeaJfUPDpaAXPgS7waa6vp+lRPArTz5GRHN+3txyMD6mHnUQhc3DTKuuvWpEC2HtOeiEyirKNNLHc/1d3+V9NWPSVgz2MsuQaCjVNL3nqNdUEeCqMi6FjcZf4kEkk0CkvocAH7oWP157E5eq0QT3XzOQVp9vCBcCj3ZQGkwLXX02FJyiH3BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DnVkNeLA3FN7Xtne1aR15s",
      "input": {
        "note": "Bottle still hanging vertically; lowering further until the descent stalls on the table so the base is firmly down before opening.",
        "targets": {
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01DnVkNeLA3FN7Xtne1aR15s",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6868, 2.0403, 1.2831, -0.6811, -0.9928, -1.3983, 0.5063, -0.0193, 0.3904, 0.0853, -0.2703, -0.0299, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3904 left_y=-0.1241 left_z=0.0578 left_yaw=0.774 left_pitch=-0.0112 left_roll=0.0228 left_gripper=0.5063 right_x=0.2348 right_y=0.0044 right_z=0.062 right_yaw=0.0028 right_pitch=-0.003 right_roll=0.0022 right_gripper=0.9981\nstate[joint_eff]: [-0.3624, -9.4427, 4.7521, 0.4127, -0.3248, -0.0513, -0.0171, -0.1299, 0.5949, 6.8034, 1.7998, -0.0024, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22a060eda47db0f36f93e0b48457642690d48702ba664e3f14d3bc5b4b3d5e50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eae5b6860a4b0138c4b75825489e6ad50ee36b26b4350836a442a006177d9def",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:affde6984c81b5b37aaf41e7368021250ea7df427b61c4385ad75c70c9c9c4fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 24.21 s

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

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6785, 1.9999, 2.1384, -1.552, -0.9802, -1.4055, 0.5063, -0.0193, 0.3904, 0.0853, -0.271, -0.0299, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3983 left_y=-0.128 left_z=0.2791 left_yaw=0.784 left_pitch=-0.0208 left_roll=-0.0093 left_gripper=0.5063 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0026 right_pitch=-0.0037 right_roll=0.0025 right_gripper=0.9981\nstate[joint_eff]: [0.6632, -13.3949, 7.9111, 0.3736, -0.652, 0.3883, -0.0904, 0.0342, 0.2803, 6.3521, 1.7607, -0.0073, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6857, 1.9827, 1.4158, -0.8841, -0.9855, -1.3979, 0.5063, -0.0193, 0.3908, 0.0853, -0.2707, -0.0299, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3931 left_y=-0.1267 left_z=0.1067 left_yaw=0.7742 left_pitch=-0.0197 left_roll=0.0348 left_gripper=0.5063 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0026 right_pitch=-0.0037 right_roll=0.0025 right_gripper=0.9981\nstate[joint_eff]: [-0.0068, -9.1829, 5.5726, 0.5104, -0.7106, -0.1392, -0.022, -0.0205, 0.6222, 6.9812, 1.7558, -0.0122, -0.0855, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6868, 2.0403, 1.2831, -0.6811, -0.9928, -1.3983, 0.5063, -0.0193, 0.3904, 0.0853, -0.2703, -0.0299, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3904 left_y=-0.1241 left_z=0.0578 left_yaw=0.774 left_pitch=-0.0112 left_roll=0.0228 left_gripper=0.5063 right_x=0.2348 right_y=0.0044 right_z=0.062 right_yaw=0.0028 right_pitch=-0.003 right_roll=0.0022 right_gripper=0.9981\nstate[joint_eff]: [-0.3624, -9.4427, 4.7521, 0.4127, -0.3248, -0.0513, -0.0171, -0.1299, 0.5949, 6.8034, 1.7998, -0.0024, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22a060eda47db0f36f93e0b48457642690d48702ba664e3f14d3bc5b4b3d5e50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eae5b6860a4b0138c4b75825489e6ad50ee36b26b4350836a442a006177d9def",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:affde6984c81b5b37aaf41e7368021250ea7df427b61c4385ad75c70c9c9c4fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011rJ4AnZA3DoYeihEVCcNuN",
      "input": {
        "note": "The bottle is still horizontal in the jaws — the grip was too tight to let it pivot. Opening the jaws to just wider than the bottle (≈6.3 cm) and lifting high so it can swing down to vertical while still trapped between the fingers.",
        "targets": {
          "left_gripper": 0.66,
          "left_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_011rJ4AnZA3DoYeihEVCcNuN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6659, 1.9514, 2.1529, -1.4384, -0.9848, -1.3865, 0.6591, -0.0193, 0.3912, 0.0853, -0.2707, -0.0303, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4085 left_y=-0.1292 left_z=0.3065 left_yaw=0.7861 left_pitch=0.0045 left_roll=-0.1682 left_gripper=0.6591 right_x=0.2347 right_y=0.0044 right_z=0.0618 right_yaw=0.0029 right_pitch=-0.0041 right_roll=0.0028 right_gripper=0.9981\nstate[joint_eff]: [0.335, -9.5795, 6.8034, 0.5739, -0.6227, 0.2955, -0.0659, -0.0342, 0.6085, 6.8581, 1.7167, 0.0024, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df07de05a70c064c61a1fbf124049676379ca220ba5b96f0e16a51b711ebc191",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c65cfc7b12e70e5384fab8659770ef64ea9a2cfb24ef9d772c4d8ceefa1b611d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:01856012811a23fbb7a5e023aa7b5dbbdfa92fc0bcc393da47936221115f655d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 9.643 s

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

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6857, 1.9827, 1.4158, -0.8841, -0.9855, -1.3979, 0.5063, -0.0193, 0.3908, 0.0853, -0.2707, -0.0299, -0.036, 0.9981]\nstate[eef_state]: left_x=0.3931 left_y=-0.1267 left_z=0.1067 left_yaw=0.7742 left_pitch=-0.0197 left_roll=0.0348 left_gripper=0.5063 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0026 right_pitch=-0.0037 right_roll=0.0025 right_gripper=0.9981\nstate[joint_eff]: [-0.0068, -9.1829, 5.5726, 0.5104, -0.7106, -0.1392, -0.022, -0.0205, 0.6222, 6.9812, 1.7558, -0.0122, -0.0855, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6868, 2.0403, 1.2831, -0.6811, -0.9928, -1.3983, 0.5063, -0.0193, 0.3904, 0.0853, -0.2703, -0.0299, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3904 left_y=-0.1241 left_z=0.0578 left_yaw=0.774 left_pitch=-0.0112 left_roll=0.0228 left_gripper=0.5063 right_x=0.2348 right_y=0.0044 right_z=0.062 right_yaw=0.0028 right_pitch=-0.003 right_roll=0.0022 right_gripper=0.9981\nstate[joint_eff]: [-0.3624, -9.4427, 4.7521, 0.4127, -0.3248, -0.0513, -0.0171, -0.1299, 0.5949, 6.8034, 1.7998, -0.0024, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6659, 1.9514, 2.1529, -1.4384, -0.9848, -1.3865, 0.6591, -0.0193, 0.3912, 0.0853, -0.2707, -0.0303, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4085 left_y=-0.1292 left_z=0.3065 left_yaw=0.7861 left_pitch=0.0045 left_roll=-0.1682 left_gripper=0.6591 right_x=0.2347 right_y=0.0044 right_z=0.0618 right_yaw=0.0029 right_pitch=-0.0041 right_roll=0.0028 right_gripper=0.9981\nstate[joint_eff]: [0.335, -9.5795, 6.8034, 0.5739, -0.6227, 0.2955, -0.0659, -0.0342, 0.6085, 6.8581, 1.7167, 0.0024, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df07de05a70c064c61a1fbf124049676379ca220ba5b96f0e16a51b711ebc191",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c65cfc7b12e70e5384fab8659770ef64ea9a2cfb24ef9d772c4d8ceefa1b611d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01856012811a23fbb7a5e023aa7b5dbbdfa92fc0bcc393da47936221115f655d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G4fF8CTP6UNfLxRzP8xxdr",
      "input": {
        "note": "The bottle slipped out when I opened too wide. New plan: grip the tapered shoulder just below the cap with jaws set a bit narrower than the body — the taper lets it pivot freely but the wider body cannot slip through. Moving over the shoulder of the nearest bottle.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.425,
          "left_y": -0.105,
          "left_yaw": 0.785,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01G4fF8CTP6UNfLxRzP8xxdr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6006, 2.0628, 1.3216, -0.6533, -1.0054, -1.28, 0.9979, -0.0193, 0.3912, 0.0853, -0.2699, -0.0303, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4119 left_y=-0.0971 left_z=0.0615 left_yaw=0.7991 left_pitch=0.0031 left_roll=0.0809 left_gripper=0.9979 right_x=0.2348 right_y=0.0044 right_z=0.0619 right_yaw=0.0029 right_pitch=-0.0034 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [0.4581, -9.0462, 3.7538, 0.232, -0.5348, 0.2466, -0.1783, -0.1299, 0.4581, 6.9812, 1.8144, -0.022, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6117ed0d666431fd033be76d98b3b19e106392c5e53a07fb50252a7a65eb2eea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63fb99eca1aa4467f09fba7fb51fe8d5e31cd6506fd55dc7d00c70fdbf1d0cba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b83900f484f6129e2fd5b5799d008fa7aaff0a0b008b2b02a9371930be8ff0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 9.893 s

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

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6868, 2.0403, 1.2831, -0.6811, -0.9928, -1.3983, 0.5063, -0.0193, 0.3904, 0.0853, -0.2703, -0.0299, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.3904 left_y=-0.1241 left_z=0.0578 left_yaw=0.774 left_pitch=-0.0112 left_roll=0.0228 left_gripper=0.5063 right_x=0.2348 right_y=0.0044 right_z=0.062 right_yaw=0.0028 right_pitch=-0.003 right_roll=0.0022 right_gripper=0.9981\nstate[joint_eff]: [-0.3624, -9.4427, 4.7521, 0.4127, -0.3248, -0.0513, -0.0171, -0.1299, 0.5949, 6.8034, 1.7998, -0.0024, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6659, 1.9514, 2.1529, -1.4384, -0.9848, -1.3865, 0.6591, -0.0193, 0.3912, 0.0853, -0.2707, -0.0303, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4085 left_y=-0.1292 left_z=0.3065 left_yaw=0.7861 left_pitch=0.0045 left_roll=-0.1682 left_gripper=0.6591 right_x=0.2347 right_y=0.0044 right_z=0.0618 right_yaw=0.0029 right_pitch=-0.0041 right_roll=0.0028 right_gripper=0.9981\nstate[joint_eff]: [0.335, -9.5795, 6.8034, 0.5739, -0.6227, 0.2955, -0.0659, -0.0342, 0.6085, 6.8581, 1.7167, 0.0024, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6006, 2.0628, 1.3216, -0.6533, -1.0054, -1.28, 0.9979, -0.0193, 0.3912, 0.0853, -0.2699, -0.0303, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4119 left_y=-0.0971 left_z=0.0615 left_yaw=0.7991 left_pitch=0.0031 left_roll=0.0809 left_gripper=0.9979 right_x=0.2348 right_y=0.0044 right_z=0.0619 right_yaw=0.0029 right_pitch=-0.0034 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [0.4581, -9.0462, 3.7538, 0.232, -0.5348, 0.2466, -0.1783, -0.1299, 0.4581, 6.9812, 1.8144, -0.022, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6117ed0d666431fd033be76d98b3b19e106392c5e53a07fb50252a7a65eb2eea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63fb99eca1aa4467f09fba7fb51fe8d5e31cd6506fd55dc7d00c70fdbf1d0cba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b83900f484f6129e2fd5b5799d008fa7aaff0a0b008b2b02a9371930be8ff0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISyAgKjgEIEhgCKkBXOg6xtSi9bxomF0HtU4FbE4M+dOIKsmcTlhRqELP/RBlKPDhlfsJfaruIXDPl2G4WaodGZe2/dkXj9rdzPfqrMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdPBzNUGEgxNYYQd7LILwT7pKZYaDObeVlS4mzMXKUSh8SIwO3GzAidJmjDB/WEMJBvxcU3JDALNNSGIJbOhzVff6UlCUEdvWr6/dHymfukCKvjiKuYGgcCZl4H9i5lxms4yoSrAfEj6m4hjHudxq53i8ZUIucQLLxmUUmT4pbWx0rfQcM8byE8ZwVWWkjlNVczvvPyte3wTciLOCkN18T7cHLjA7ZaQ2qi+RmRW5msUT6G+Rec8j1Fvz/J9APhNYlOt2B/dFh4lSm7rCK+CLCuyu9I9fr86iw+ugTNYoI5p1+NYxWAnSzukjkcoZrCRVQve3tFdTCANeXwrWMa2bBjSdcgid127EpwJeWHu95uYBOI46ZDRds0H8pUfB3Ue0FoJtCdfeeECYO5wXsyQHD8Dbu5N+QIxAOqH4ktYc/p4qbui2YPCP4p4ZMuTTqCUQkp/5uxeDIp03281LpHmOtY4XfNA4gKVxMQO7Hs/QyMRtQsz63yRi1163bC7D13rBa31AXvzWkApdWj3miuC1SWZPkEVQptV8wxU7tRBMEnYpOm1VajGkPimkHHqxlyA8E0wR+X/z24/nlx8pqeWIpZRLkoebZWZlYlUB0BS1/G5GZpTeFKrEHzkrlEbxeFd4ukpcHv1HBAlsMbWyDn/kgjRf16qTM/aQBjPe9uKxRcUsfW1CAqdFlVMNxJupShb9/aIaw4L1OKzsgWIBNqY7WDNtc5K0t26r6Xn6DaBQlW/+C7BaALWibFHUAe+c1VhhVW1IOvurNc9mPX9Iyd0m1GF5YbUzQEO7B2m6DP+jqxlTjp3Zk4E6FCNXaW+ilTpZG6YhpUzbYWW+uG8iL7XX4zRaBQLO5cuswjFVu3dQpZnR9LH/siKBBNDs1XbDpzCZmlLXF0yfoD8LAd/cUXKQxvrNuBwy8ZXiCxdA9gsg6rvhKw2jcwOrhiXjaXL+Ar3f8oNoBES1AVKScPyxrDr5n7B7uxlESS22lsKTpHMrO6MUVb+rkUtMUiI+JLpnnE1//+xDOXeSKov6wLbnqMsVKm1PV+T9pHY4dsHN6F7CAfKBBX30elYgZn+ZOyxtVKZVN0w07Mv6SmyvWWtfqVo06XhlUuhMH7rFq01clzGcaHeflKZU9FNUqGhWEHDF2Cz/CFPWYyficGDhEgOQcVC9mUNgY82ewYDPL12ADK+LjyOt1tACePq/a5NTyCIlxe/wEbTX42bWYqho570XAlF9I0Qua+QplIcrDJEka0KfES+EIYIi0yTriuow1ELGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MSczRMg4vHWajQzhzUKX6L",
      "input": {
        "note": "Wrist view shows the blue cap and the bottle's shoulder just right of the jaw centre; shifting ~3.5 cm to the tool's right to centre the shoulder between the jaws.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.122,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01MSczRMg4vHWajQzhzUKX6L",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6025, 2.1471, 1.3926, -0.5568, -0.9806, -1.2888, 0.9977, -0.0193, 0.3912, 0.0853, -0.2699, -0.0303, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4366 left_y=-0.1179 left_z=0.0467 left_yaw=0.7964 left_pitch=-0.0064 left_roll=-0.0126 left_gripper=0.9977 right_x=0.2348 right_y=0.0044 right_z=0.0619 right_yaw=0.0029 right_pitch=-0.0034 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [-0.841, -10.4547, 6.8171, 0.3492, -0.5788, -0.1099, -0.0366, -0.1162, 0.4718, 6.8581, 1.79, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:641ee4b668b497cc730e74568aab8baad7a836694ee694bd122fa01cf043287e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d69b79ae123fa100b0ae8bb6463a2f96371f12c4e16fa075d18f2e7f9555cbb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:591a3bf02c8816887f37ca66c243f20c7aaf5abd7614b762caa56eacd5097632",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 3.188 s

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

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6659, 1.9514, 2.1529, -1.4384, -0.9848, -1.3865, 0.6591, -0.0193, 0.3912, 0.0853, -0.2707, -0.0303, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4085 left_y=-0.1292 left_z=0.3065 left_yaw=0.7861 left_pitch=0.0045 left_roll=-0.1682 left_gripper=0.6591 right_x=0.2347 right_y=0.0044 right_z=0.0618 right_yaw=0.0029 right_pitch=-0.0041 right_roll=0.0028 right_gripper=0.9981\nstate[joint_eff]: [0.335, -9.5795, 6.8034, 0.5739, -0.6227, 0.2955, -0.0659, -0.0342, 0.6085, 6.8581, 1.7167, 0.0024, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6006, 2.0628, 1.3216, -0.6533, -1.0054, -1.28, 0.9979, -0.0193, 0.3912, 0.0853, -0.2699, -0.0303, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4119 left_y=-0.0971 left_z=0.0615 left_yaw=0.7991 left_pitch=0.0031 left_roll=0.0809 left_gripper=0.9979 right_x=0.2348 right_y=0.0044 right_z=0.0619 right_yaw=0.0029 right_pitch=-0.0034 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [0.4581, -9.0462, 3.7538, 0.232, -0.5348, 0.2466, -0.1783, -0.1299, 0.4581, 6.9812, 1.8144, -0.022, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6025, 2.1471, 1.3926, -0.5568, -0.9806, -1.2888, 0.9977, -0.0193, 0.3912, 0.0853, -0.2699, -0.0303, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4366 left_y=-0.1179 left_z=0.0467 left_yaw=0.7964 left_pitch=-0.0064 left_roll=-0.0126 left_gripper=0.9977 right_x=0.2348 right_y=0.0044 right_z=0.0619 right_yaw=0.0029 right_pitch=-0.0034 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [-0.841, -10.4547, 6.8171, 0.3492, -0.5788, -0.1099, -0.0366, -0.1162, 0.4718, 6.8581, 1.79, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:641ee4b668b497cc730e74568aab8baad7a836694ee694bd122fa01cf043287e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d69b79ae123fa100b0ae8bb6463a2f96371f12c4e16fa075d18f2e7f9555cbb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:591a3bf02c8816887f37ca66c243f20c7aaf5abd7614b762caa56eacd5097632",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISrAkKjgEIEhgCKkA4ilAtGU1/NLTBJyH/xi7LU7HsdYYVm/prEwpK3w7jEJDWkIUGKvPJ8mPCgyXleqSNyNBShAdsa6DoSerwVAZGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd7BzNUGEgyHqYymH506Kb74Wj0aDHg52G+RWBa2Pdb7JSIwCKR0iSpw2Va4WkVzgln8NsyER9pnVfWBRet5uTnzCJcH+BzkdRp0KwkTqiZ559loKsoH8Th2pajIAT4K7Sc6t74H+NrCds1ixb5XI0uhRtXkLRql+SG5ddCFxgFmP3Igxqi/fszE+pk9yI5SguFBkF3EXnjPizS77ORTxa+LxRPBgbmdlaTPelqC+gp4ytxDcdojzoyO3jyKVSmQvB467ORdi042W8IBIHIhFo5FC3ZRqPUEOuXgDF1UR3DZya599I8z3GWEf5LIR3y6SXvQRXpK3lNWTu7c/r698B9zZ93CdBbkZ8wb6ldsRSjzbd6Pop1a7lNG3I9bTbXRme2vCR3DlfUF9qeAzNcJfZTJTOvBkSuTtSbpaCq91DYeljbj6UkVufr3+ogo6aWaoUpQLjzGbHt2ZG3Hp1pHo4EiXjP9ttunzZXiyAKlLUEoSPIPv+aMmUvOQ9eFFIbQx3tykAAqZo1JxD6k1Kvq1dqzbHE7UCq3h45mcWbgE415U/ftbgyWkHV+QmBkT84S7BpEFKV3eYhfYjKuiSCLO/FDJvP0XFQPuzJqWxtLa7J8jXiOCu9gNd3eK/Zxu2nloIHr+bmI+KZlVq5HaXwUz6caCNzrpzBWi1o9sZL7WaWEjPDRQK7pM9b6GGZ8PXugBQ4FXcfYdlGhY1N+diLHlHqR9N1bB5PdQCl/W8yPfP+2fx4B+5GvSS7m9lxK5qrp8ffoTURfmX1CIWrLhSYzMGFNRPtieYOPp2aCaz78hYp/x2XBb04BUP6IaKrbX4AbJ3oq4hivSU9WULeQX9rC8bCMjPQ3sYOu1cS8rBqR989X4EdRQuRYTn9NBKyqpbJgbUgJ06khT7pca0euZM3ySD0LrkH3Hi9UsU53m8dz3zv+CgW6gF9mR4s38bGW/23pdtSmb+K/nf3zyfUVZdrno622ZGTOK1UFvcHaT29IZBkSAw3l0ojKQWGNFSThfRyQBcZgJ9f/04SYaD2vcBwlG5O692B3hSbldW5bK63EDYjwwKpJBl0/0oHftdfBdj8QEeFlUgDMEaDhubsbehfoaTGNOL52yww9rwlvMXuNyLGRyvFqujb3rdPz8zCu7tzJ5Ltjkv4fKxog0n/B85saRFYD8uaLfH6T2KtN+EQTyJ7I4J6WdFcLCObakUh0NZdseVewDOjaZP697pKVBDW8gdYJca7CGhBdLsHlShZo96T39DJssewsRjLyY0h/HbESKMvJkStQI1872qA/IDbH2VpJzHTu8Xs4rKHmXGqu0nuSkSZkuv8oZMNRW1Tpr9R/QArIA9vY+6aUA8lWdxghQA153QR5CYbWYzSz8aoFHcjXZ4Ld404frxcGavVKBkNcsBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018pY5gzBN6Dyu76MgiUAhS3",
      "input": {
        "note": "Cap and shoulder are centred between the jaws; closing to ≈4.3 cm — narrower than the 5+ cm body so the bottle cannot slip through, but loose on the tapered neck so it can swing down to vertical.",
        "targets": {
          "left_gripper": 0.45
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_018pY5gzBN6Dyu76MgiUAhS3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6022, 2.1727, 1.4235, -0.5877, -1.0122, -1.3083, 0.4571, -0.0193, 0.3912, 0.0853, -0.2703, -0.0299, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4392 left_y=-0.1158 left_z=0.0476 left_yaw=0.8146 left_pitch=0.0199 left_roll=0.0011 left_gripper=0.4571 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0026 right_pitch=-0.0037 right_roll=0.0025 right_gripper=0.9981\nstate[joint_eff]: [-0.5949, -10.8239, 6.6667, 0.652, -0.2271, 0.0611, 0.3443, -0.1026, 0.4308, 6.8308, 1.7216, 0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7691c08b14cf0534c6ac860c2634dc19e0dea275ab650742d613033b7080982b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c27c038cf662a3eb0e28b5d697450931f7c2857f7120ea311d23e3e252774b09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a1a70f4d785ea3e66aba76e0562eb67c379893558f670d48f302fe2fdc2052c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 15.17 s

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

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6006, 2.0628, 1.3216, -0.6533, -1.0054, -1.28, 0.9979, -0.0193, 0.3912, 0.0853, -0.2699, -0.0303, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4119 left_y=-0.0971 left_z=0.0615 left_yaw=0.7991 left_pitch=0.0031 left_roll=0.0809 left_gripper=0.9979 right_x=0.2348 right_y=0.0044 right_z=0.0619 right_yaw=0.0029 right_pitch=-0.0034 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [0.4581, -9.0462, 3.7538, 0.232, -0.5348, 0.2466, -0.1783, -0.1299, 0.4581, 6.9812, 1.8144, -0.022, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6025, 2.1471, 1.3926, -0.5568, -0.9806, -1.2888, 0.9977, -0.0193, 0.3912, 0.0853, -0.2699, -0.0303, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4366 left_y=-0.1179 left_z=0.0467 left_yaw=0.7964 left_pitch=-0.0064 left_roll=-0.0126 left_gripper=0.9977 right_x=0.2348 right_y=0.0044 right_z=0.0619 right_yaw=0.0029 right_pitch=-0.0034 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [-0.841, -10.4547, 6.8171, 0.3492, -0.5788, -0.1099, -0.0366, -0.1162, 0.4718, 6.8581, 1.79, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6022, 2.1727, 1.4235, -0.5877, -1.0122, -1.3083, 0.4571, -0.0193, 0.3912, 0.0853, -0.2703, -0.0299, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4392 left_y=-0.1158 left_z=0.0476 left_yaw=0.8146 left_pitch=0.0199 left_roll=0.0011 left_gripper=0.4571 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0026 right_pitch=-0.0037 right_roll=0.0025 right_gripper=0.9981\nstate[joint_eff]: [-0.5949, -10.8239, 6.6667, 0.652, -0.2271, 0.0611, 0.3443, -0.1026, 0.4308, 6.8308, 1.7216, 0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7691c08b14cf0534c6ac860c2634dc19e0dea275ab650742d613033b7080982b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c27c038cf662a3eb0e28b5d697450931f7c2857f7120ea311d23e3e252774b09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a1a70f4d785ea3e66aba76e0562eb67c379893558f670d48f302fe2fdc2052c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISyQIKjgEIEhgCKkAApZnnWXaJBmxwaMDTtmwd9qCKxex8r9zHZe1+F6Vrg5ldiEOoLRIxRuNIUPBQUDKZDKSklN2jq49ta153x7a+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeLBzNUGEgwmW22u8MP1PK7+E4UaDGcGWcqE0dZ1nV0/ACIwSVbs19CJixoVcI9K/CMJ75FM9Rm4AoDp3HAKX/ne2D8IaLmJ4foIrUf+ftC366NyKmhPp+zSSa2U5V3r+S8dsnf/1OGbO1Nyo2yNUcfrcBcpMt2GeBtU1cMPZTQMwZQpFGynpCcgJwAlhsGglBWydzaJCYXIU8Pv0sy0hlxMKZVubfx5CR7ooyH7Oc9eV6KqJ8S4hSYJLXClSxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018Zjnwhz6c3QWe92GocRKbZ",
      "input": {
        "note": "Jaws now cradle the bottle's neck/shoulder; lifting high so the body swings down and the bottle hangs cap-up.",
        "targets": {
          "left_z": 0.35
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_018Zjnwhz6c3QWe92GocRKbZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.548, 2.133, 2.397, -1.5524, -0.9649, -1.251, 0.4573, -0.0193, 0.3912, 0.0853, -0.2703, -0.0303, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4437 left_y=-0.0965 left_z=0.2934 left_yaw=0.8263 left_pitch=-0.0171 left_roll=-0.0061 left_gripper=0.4573 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0029 right_pitch=-0.0037 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [-0.0615, -14.147, 7.7333, 0.5397, -0.6178, 0.3834, 0.0073, 0.0342, 0.4034, 6.7897, 1.746, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6f68484bcdbb8b721a1977debb49b86ddee3820acf4457e05e108b74d8710e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ce011c4bf5e7a704bdb6e27a0b1a77838297d7c4335a3733f9401e065508f71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d49a2393d497f8c98bd908dc4ddbdd437ad6ce962cc85914eb46440be79570f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 4.278 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6025, 2.1471, 1.3926, -0.5568, -0.9806, -1.2888, 0.9977, -0.0193, 0.3912, 0.0853, -0.2699, -0.0303, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4366 left_y=-0.1179 left_z=0.0467 left_yaw=0.7964 left_pitch=-0.0064 left_roll=-0.0126 left_gripper=0.9977 right_x=0.2348 right_y=0.0044 right_z=0.0619 right_yaw=0.0029 right_pitch=-0.0034 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [-0.841, -10.4547, 6.8171, 0.3492, -0.5788, -0.1099, -0.0366, -0.1162, 0.4718, 6.8581, 1.79, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6022, 2.1727, 1.4235, -0.5877, -1.0122, -1.3083, 0.4571, -0.0193, 0.3912, 0.0853, -0.2703, -0.0299, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4392 left_y=-0.1158 left_z=0.0476 left_yaw=0.8146 left_pitch=0.0199 left_roll=0.0011 left_gripper=0.4571 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0026 right_pitch=-0.0037 right_roll=0.0025 right_gripper=0.9981\nstate[joint_eff]: [-0.5949, -10.8239, 6.6667, 0.652, -0.2271, 0.0611, 0.3443, -0.1026, 0.4308, 6.8308, 1.7216, 0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.548, 2.133, 2.397, -1.5524, -0.9649, -1.251, 0.4573, -0.0193, 0.3912, 0.0853, -0.2703, -0.0303, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4437 left_y=-0.0965 left_z=0.2934 left_yaw=0.8263 left_pitch=-0.0171 left_roll=-0.0061 left_gripper=0.4573 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0029 right_pitch=-0.0037 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [-0.0615, -14.147, 7.7333, 0.5397, -0.6178, 0.3834, 0.0073, 0.0342, 0.4034, 6.7897, 1.746, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6f68484bcdbb8b721a1977debb49b86ddee3820acf4457e05e108b74d8710e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ce011c4bf5e7a704bdb6e27a0b1a77838297d7c4335a3733f9401e065508f71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d49a2393d497f8c98bd908dc4ddbdd437ad6ce962cc85914eb46440be79570f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VB9AVbsjGyQah2Tv2zHhZ6",
      "input": {
        "note": "The loose neck grip let the bottle drop. Returning to the same neck position with jaws open, this time I will clamp the neck firmly and let the bottle's weight rotate it as I lift.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.439,
          "left_y": -0.116,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01VB9AVbsjGyQah2Tv2zHhZ6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.601, 2.1784, 1.512, -0.8062, -0.9771, -1.317, 0.9976, -0.0193, 0.3916, 0.0853, -0.2703, -0.0296, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4286 left_y=-0.1119 left_z=0.0565 left_yaw=0.8156 left_pitch=-0.0349 left_roll=0.1226 left_gripper=0.9976 right_x=0.2347 right_y=0.0043 right_z=0.0618 right_yaw=0.0022 right_pitch=-0.0041 right_roll=0.0023 right_gripper=0.9981\nstate[joint_eff]: [0.1162, -12.3282, 7.8017, 0.9499, -0.6032, -0.149, -0.0757, 0.1436, 0.7043, 6.8171, 1.7705, 0.0073, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c44615f1da6362072396b2200b6e6632b964f46b183ffc6cccc40988f05e14ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0191ae56c63956d2917e4f9a106b1dfe67a97eb3ab7391c15b405af6277bd070",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6704f060ebc1b0877d55403d1cd4c7fed5ab3edc8b8ca00eb2266a0a90cdd06a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 5.21 s

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

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6022, 2.1727, 1.4235, -0.5877, -1.0122, -1.3083, 0.4571, -0.0193, 0.3912, 0.0853, -0.2703, -0.0299, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4392 left_y=-0.1158 left_z=0.0476 left_yaw=0.8146 left_pitch=0.0199 left_roll=0.0011 left_gripper=0.4571 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0026 right_pitch=-0.0037 right_roll=0.0025 right_gripper=0.9981\nstate[joint_eff]: [-0.5949, -10.8239, 6.6667, 0.652, -0.2271, 0.0611, 0.3443, -0.1026, 0.4308, 6.8308, 1.7216, 0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.548, 2.133, 2.397, -1.5524, -0.9649, -1.251, 0.4573, -0.0193, 0.3912, 0.0853, -0.2703, -0.0303, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4437 left_y=-0.0965 left_z=0.2934 left_yaw=0.8263 left_pitch=-0.0171 left_roll=-0.0061 left_gripper=0.4573 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0029 right_pitch=-0.0037 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [-0.0615, -14.147, 7.7333, 0.5397, -0.6178, 0.3834, 0.0073, 0.0342, 0.4034, 6.7897, 1.746, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.601, 2.1784, 1.512, -0.8062, -0.9771, -1.317, 0.9976, -0.0193, 0.3916, 0.0853, -0.2703, -0.0296, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4286 left_y=-0.1119 left_z=0.0565 left_yaw=0.8156 left_pitch=-0.0349 left_roll=0.1226 left_gripper=0.9976 right_x=0.2347 right_y=0.0043 right_z=0.0618 right_yaw=0.0022 right_pitch=-0.0041 right_roll=0.0023 right_gripper=0.9981\nstate[joint_eff]: [0.1162, -12.3282, 7.8017, 0.9499, -0.6032, -0.149, -0.0757, 0.1436, 0.7043, 6.8171, 1.7705, 0.0073, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c44615f1da6362072396b2200b6e6632b964f46b183ffc6cccc40988f05e14ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0191ae56c63956d2917e4f9a106b1dfe67a97eb3ab7391c15b405af6277bd070",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6704f060ebc1b0877d55403d1cd4c7fed5ab3edc8b8ca00eb2266a0a90cdd06a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISzQMKjgEIEhgCKkBzxJmPc4LQXzp2s6YZtfrlqc7qIUHykXIAK1yHUrlKguGLVxveFMU3F/zT+/u9h21+i0imMi4esEAZ9zm+JvT0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfnBzNUGEgwFNWwJD/KovTGcXaMaDKvpZQjNdN1sjSPXOSIw8VncT2M3/0bnEAwv/FAVSrjf9j1/ViIPWxZd5MC+0r3RKY81hTi1ApaAsT3QEFgMKusBOENbJrAQlxvjQ+jk2Yk1YULyyTQsOwsDlmAcxlEsB01qKg/NYf/U+6GWm4rqXTT6rs4orWoUVcQkmz83Y38r2f0Jylo+KIwnkeq3J+JbLv4lAYQZhiCLUKw3C7OjIr4HyK024HzWBRoHnggj79+BdC/h8eX/diDMcBu0oBXZbBKWZQwiundMUqsVgQwywHOWHjCXYUgCqcb/CSMSKBVxupD2Zcz5on8iobpxO7T/upOMj1TTDv4RgSFKxuLqWVdjpBOYpIA91rruwiGslhiZYqrSQG9rdUHMRscU42NHGvE5Ocg27ect6snkbxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NNockyWdQgAg5foJphyDAs",
      "input": {
        "note": "The bottle's blue cap and neck sit in the jaw gap; clamping firmly on the neck.",
        "targets": {
          "left_gripper": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01NNockyWdQgAg5foJphyDAs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6018, 2.1345, 1.4002, -0.6167, -1.0187, -1.335, 0.2053, -0.0193, 0.3912, 0.0853, -0.2703, -0.0299, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4321 left_y=-0.11 left_z=0.0569 left_yaw=0.8304 left_pitch=0.0243 left_roll=-0.0069 left_gripper=0.2053 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0026 right_pitch=-0.0037 right_roll=0.0025 right_gripper=0.9981\nstate[joint_eff]: [-0.3077, -12.1368, 4.6017, 0.6081, -0.2613, 0.0904, 0.149, -0.1573, 0.3761, 6.7624, 1.7216, -0.0073, -0.0464, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:957a119d4b3f6e9dd053842d4a9123873ca2869cd5549593680d638a8d34bef1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3da811807d9ee82f539d0c4d834b363bf7149658ff73aa21a8d1c5a08da23ed6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a8e186758ea52074aa7980c74e30ffaeb23f2f5ee23f3fa924e1f70fa1504028",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 15.36 s

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

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.548, 2.133, 2.397, -1.5524, -0.9649, -1.251, 0.4573, -0.0193, 0.3912, 0.0853, -0.2703, -0.0303, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4437 left_y=-0.0965 left_z=0.2934 left_yaw=0.8263 left_pitch=-0.0171 left_roll=-0.0061 left_gripper=0.4573 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0029 right_pitch=-0.0037 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [-0.0615, -14.147, 7.7333, 0.5397, -0.6178, 0.3834, 0.0073, 0.0342, 0.4034, 6.7897, 1.746, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.601, 2.1784, 1.512, -0.8062, -0.9771, -1.317, 0.9976, -0.0193, 0.3916, 0.0853, -0.2703, -0.0296, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4286 left_y=-0.1119 left_z=0.0565 left_yaw=0.8156 left_pitch=-0.0349 left_roll=0.1226 left_gripper=0.9976 right_x=0.2347 right_y=0.0043 right_z=0.0618 right_yaw=0.0022 right_pitch=-0.0041 right_roll=0.0023 right_gripper=0.9981\nstate[joint_eff]: [0.1162, -12.3282, 7.8017, 0.9499, -0.6032, -0.149, -0.0757, 0.1436, 0.7043, 6.8171, 1.7705, 0.0073, -0.0562, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6018, 2.1345, 1.4002, -0.6167, -1.0187, -1.335, 0.2053, -0.0193, 0.3912, 0.0853, -0.2703, -0.0299, -0.036, 0.9981]\nstate[eef_state]: left_x=0.4321 left_y=-0.11 left_z=0.0569 left_yaw=0.8304 left_pitch=0.0243 left_roll=-0.0069 left_gripper=0.2053 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0026 right_pitch=-0.0037 right_roll=0.0025 right_gripper=0.9981\nstate[joint_eff]: [-0.3077, -12.1368, 4.6017, 0.6081, -0.2613, 0.0904, 0.149, -0.1573, 0.3761, 6.7624, 1.7216, -0.0073, -0.0464, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:957a119d4b3f6e9dd053842d4a9123873ca2869cd5549593680d638a8d34bef1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3da811807d9ee82f539d0c4d834b363bf7149658ff73aa21a8d1c5a08da23ed6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8e186758ea52074aa7980c74e30ffaeb23f2f5ee23f3fa924e1f70fa1504028",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISlgUKjgEIEhgCKkDBlN/csXeYGCzI+KtqaLMgIehBiayR84EVDvOfjJiQj3TXR9/znWM0jaSj1qh+1OW+bnTEdZIYPUlWS+djzTM5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf/BzNUGEgzT+UBsaH3VEwGTnjkaDH9IzwgZD0HlAvw5lyIwWNix3ZjrO8MG9uqTv+UjSEDJqZKpGl2OeUUKKNQ0ix6NRDRM/RucAeFXQCxZ0ME+KrQDpspOQbmPKI341oFRPTmxZgdSSXbcVBw0+4/uUV3iO55liue3BuUA55/GC/jbgjNgGQ8RE4nUdEVUNSA/+MjKisS8v4bFTir+EiKVEFMtVhhcE911X5CbqKsK1kr7t1N/qDsctOmhcl9bulnKGSgnKAolGxcVdM7zxvas+/YaOZ6JtHIK3SPDTrDYZX50OHqFG13MmLgYADo83GilAUqCqO/eG+q44uhwhkbjr5uiDiEp2mKT5u1WZrQtwfbrzD1Iv+Hj1hSs3h2nyCSgdGmFzfM4BfJltPXqmOtO+DBUPtLM6CGGe5Wz5fHjnQBmNQzB9H8stQzT7MPP269DliTxZjeS3nPN18J1tVMO4BSIjV02gnoPHUfmNaJOQRB6PEl4nk1Sm9Lu9qfeDRbNX7MQIanioo74qJ9+F9RYumK4XlTHh+KNt731acFOZ2iO0Ii5aAgeYybCNXrlBDqtVBjlpiuI2LTBH8/TkWILtTkuepJD4Iw46SN6NcpxLV4Y571SMH/xwmBSNFPbYph12ByH1+EuzouXOiVl14ifh7PpQlj1DWY9DN70dGLntVBiVtTRJ0ReRhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X4dAkDpFuuKYe2CKEXcSg7",
      "input": {
        "note": "Neck clamped at 2.4 cm; lifting high so the bottle's weight swings it down to hang vertically from the neck.",
        "targets": {
          "left_z": 0.33
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01X4dAkDpFuuKYe2CKEXcSg7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5648, 2.0983, 2.3337, -1.544, -0.9726, -1.3045, 0.2051, -0.0193, 0.3912, 0.0853, -0.2703, -0.0299, -0.0364, 0.9981]\nstate[eef_state]: left_x=0.4356 left_y=-0.099 left_z=0.292 left_yaw=0.8404 left_pitch=-0.0136 left_roll=-0.0296 left_gripper=0.2051 right_x=0.2347 right_y=0.0044 right_z=0.0619 right_yaw=0.0028 right_pitch=-0.0037 right_roll=0.0022 right_gripper=0.9981\nstate[joint_eff]: [0.3761, -12.3419, 8.2393, 0.5446, -0.5788, 0.4371, -0.0366, -0.1299, 0.4171, 6.9812, 1.7607, 0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2abfda38a0a7ccea13681aca4986891f19a2338ffb26312887a36d2b5beb949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5dd17dc3ca26320831c8eb15f7962ec68328e026504cba42f24c9964b823439",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f22f43be676c11b0806223aa5128a3e17c03fd654d98e0289a3d36a67924ee49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]