adhoc

completed
2026-09-22T22:05:36.719825+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
446.6 s
total steps
253
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles lie flat on the table in a row. Moving the left arm above the leftmost bottle (nearest the left arm) to inspect it with the wrist camera before grasping.
move_to
left_x0.3400left_y-0.1800left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.609, -0.3771, -0.0231, -0.0288, 0.9986, -0.0154, 0.7895, 0.6041, -0.3847, -0.0296, -0.0345, 0.9991] state[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1831 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2938 right_y=0.0043 right_z=0.1803 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9991 state[joint_eff]: [-0.6496, -1.3607, 9.7436, 1.7558, -0.0366, 0.1392, -0.1538, -0.7453, -1.2103, 10.3863, 1.8437, 0.0269, 0.2027, -0.1148] 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": 0.34, "left_y": -0.18, "left_z": 0.15, "left_gripper": 1}, "note": "Three bottles lie flat on the table in a row. Moving the left arm above the leftmost bottle (nearest the left arm) to inspect it with the wrist camera before grasping."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteWrist view shows the nearest bottle lying diagonally with its cap up-and-right (further out, toward the arm's right). Yawing the tool ~40° so the jaws close across the bottle axis and shifting toward the neck/cap end, which I will grasp so the body can swing down and the bottle ends upright.
move_to
left_x0.3700left_y-0.2100left_z0.1500left_yaw-0.7000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7643, 1.3746, 0.7795, -0.1814, -0.606, -0.482, 0.9988, -0.0189, 0.794, 0.6037, -0.4034, -0.0296, -0.0353, 0.999] state[eef_state]: left_x=0.3311 left_y=-0.173 left_z=0.1326 left_yaw=-0.0229 left_pitch=-0.0529 left_roll=0.0345 left_gripper=0.9988 right_x=0.2916 right_y=0.0033 right_z=0.175 right_yaw=-0.0027 right_pitch=-0.0244 right_roll=-0.0 right_gripper=0.999 state[joint_eff]: [-0.2667, -5.4085, 9.306, 1.5702, -0.3736, -0.1441, -0.1392, -0.0479, -1.6205, 7.1726, 1.8535, -0.022, -0.0269, -0.0171] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.21, "left_z": 0.15, "left_yaw": -0.7, "left_gripper": 1}, "note": "Wrist view shows the nearest bottle lying diagonally with its cap up-and-right (further out, toward the arm's right). Yawing the tool ~40\u00b0 so the jaws close across the bottle axis and shifting toward the neck/cap end, which I will grasp so the body can swing down and the bottle ends upright."})
tool
executing move_to over 5 steps (0.5s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe wrist view is ambiguous after the yaw rotation, so I am retracting the left arm up and aside to get a clean, unoccluded overhead image of all three bottles before committing to a grasp.
move_to
left_x0.2500left_y0.0000left_z0.3000left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4576, 1.4216, 0.7712, 0.0013, 0.0059, -0.0292, 0.9988, -0.0193, 0.7834, 0.5823, -0.3977, -0.0292, -0.0353, 0.999] state[eef_state]: left_x=0.3678 left_y=-0.1783 left_z=0.1235 left_yaw=-0.4616 left_pitch=-0.0875 left_roll=-0.0159 left_gripper=0.9988 right_x=0.289 right_y=0.0032 right_z=0.1693 right_yaw=-0.0034 right_pitch=-0.0294 right_roll=-0.0002 right_gripper=0.999 state[joint_eff]: [0.1299, -6.2291, 9.5111, 1.8926, 0.2027, 0.2076, -0.1294, -0.2256, -1.7436, 6.7624, 1.9219, -0.0611, -0.0366, -0.0073] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": 0.0, "left_z": 0.3, "left_yaw": 0.0, "left_gripper": 1}, "note": "The wrist view is ambiguous after the yaw rotation, so I am retracting the left arm up and aside to get a clean, unoccluded overhead image of all three bottles before committing to a grasp."})
tool
executing move_to over 16 steps (1.6s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteClean overhead view: three bottles lie parallel pointing away from the arms, caps at the far end. Moving the left arm over the leftmost bottle's upper (cap) half at 15 cm height to judge depth from the wrist camera.
move_to
left_x0.4500left_y-0.2000left_z0.1500left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1097, 0.9619, 0.9272, -0.3378, -0.0486, -0.0532, 0.9988, -0.0189, 0.7696, 0.5533, -0.382, -0.0296, -0.036, 0.999] state[eef_state]: left_x=0.345 left_y=-0.0257 left_z=0.2905 left_yaw=-0.0537 left_pitch=0.1895 left_roll=-0.0174 left_gripper=0.9988 right_x=0.2866 right_y=0.0034 right_z=0.163 right_yaw=-0.0023 right_pitch=-0.029 right_roll=-0.0006 right_gripper=0.999 state[joint_eff]: [-3.1385, -7.8701, 10.2632, 1.9219, 0.4908, 0.0904, -0.1343, -0.1162, -1.5795, 7.0222, 1.8486, -0.0611, -0.0659, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.2, "left_z": 0.15, "left_yaw": 0.0, "left_gripper": 1}, "note": "Clean overhead view: three bottles lie parallel pointing away from the arms, caps at the far end. Moving the left arm over the leftmost bottle's upper (cap) half at 15 cm height to judge depth from the wrist camera."})
tool
executing move_to over 16 steps (1.6s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe left gripper appears to be hovering directly over the leftmost bottle (it is hidden from the top camera by the gripper). Descending with jaws wide open to straddle the lying bottle's body before checking alignment.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5907, 1.7329, 1.1294, -0.1192, -0.4789, -0.3584, 0.9988, -0.02, 0.7563, 0.5243, -0.3737, -0.0296, -0.0353, 0.999] state[eef_state]: left_x=0.4365 left_y=-0.1904 left_z=0.133 left_yaw=-0.0144 left_pitch=-0.0664 left_roll=0.0337 left_gripper=0.9988 right_x=0.2832 right_y=0.0031 right_z=0.155 right_yaw=-0.0038 right_pitch=-0.0362 right_roll=0.0001 right_gripper=0.999 state[joint_eff]: [-0.6085, -8.8137, 9.1145, 1.7558, -0.2222, 0.1392, -0.1343, -0.2256, -1.6342, 7.2957, 1.9512, -0.0513, -0.0317, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.035}, "note": "The left gripper appears to be hovering directly over the leftmost bottle (it is hidden from the top camera by the gripper). Descending with jaws wide open to straddle the lying bottle's body before checking alignment."})
tool
executing move_to over 7 steps (0.7s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe descent stopped early at z=0.059, so a fingertip is resting on the bottle rather than straddling it; the wrist view shows the nearest bottle slightly to the arm's left. Lifting and shifting 3 cm toward it to re-centre.
move_to
left_z0.1200left_y-0.1650
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.601, 1.9076, 0.9077, 0.3916, -0.5072, -0.3588, 0.9985, -0.02, 0.7372, 0.4885, -0.3584, -0.0292, -0.0353, 0.999] state[eef_state]: left_x=0.4419 left_y=-0.1946 left_z=0.0593 left_yaw=-0.003 left_pitch=0.0386 left_roll=-0.0154 left_gripper=0.9985 right_x=0.2796 right_y=0.0031 right_z=0.1468 right_yaw=-0.0042 right_pitch=-0.0377 right_roll=-0.0 right_gripper=0.999 state[joint_eff]: [0.3761, -6.8581, 3.5214, 0.9304, 0.149, -0.0659, -0.0513, -0.3624, -1.5932, 7.0085, 1.9658, -0.0415, -0.0317, -0.0122] 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_z": 0.12, "left_y": -0.165}, "note": "The descent stopped early at z=0.059, so a fingertip is resting on the bottle rather than straddling it; the wrist view shows the nearest bottle slightly to the arm's left. Lifting and shifting 3 cm toward it to re-centre."})
tool
executing move_to over 4 steps (0.4s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteWrist view shows the leftmost bottle about 4 cm to the arm's left with its cap pointing away; moving over its neck region and descending to neck height, so the jaws can close on the neck and let the body swing down when lifted.
move_to
left_x0.4650left_y-0.1250left_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5289, 1.7523, 0.9463, 0.1871, -0.4698, -0.3405, 0.9983, -0.02, 0.717, 0.4534, -0.3424, -0.0296, -0.0357, 0.999] state[eef_state]: left_x=0.4446 left_y=-0.163 left_z=0.1045 left_yaw=0.0292 left_pitch=0.0179 left_roll=-0.0119 left_gripper=0.9983 right_x=0.2762 right_y=0.0033 right_z=0.1392 right_yaw=-0.0036 right_pitch=-0.0366 right_roll=-0.0002 right_gripper=0.999 state[joint_eff]: [-0.5402, -10.0991, 9.0325, 1.6044, 0.0562, 0.1978, -0.0269, -0.1026, -1.4564, 6.8855, 2.044, -0.0855, -0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.465, "left_y": -0.125, "left_z": 0.015}, "note": "Wrist view shows the leftmost bottle about 4 cm to the arm's left with its cap pointing away; moving over its neck region and descending to neck height, so the jaws can close on the neck and let the body swing down when lifted."})
tool
executing move_to over 6 steps (0.6s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteJaws touched the bottle at z=0.038 and the wrist view shows the bottle's neck still ~1.5 cm to the arm's left of the jaw column; nudging left and descending again to neck height.
move_to
left_y-0.1120left_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.411, 1.9652, 0.8688, 0.5171, -0.3958, -0.3077, 0.9983, -0.02, 0.6971, 0.4198, -0.3241, -0.0296, -0.0357, 0.999] state[eef_state]: left_x=0.4704 left_y=-0.1268 left_z=0.0378 left_yaw=0.0698 left_pitch=0.0318 left_roll=-0.0396 left_gripper=0.9983 right_x=0.2733 right_y=0.0033 right_z=0.1327 right_yaw=-0.0036 right_pitch=-0.032 right_roll=-0.0002 right_gripper=0.999 state[joint_eff]: [0.253, -6.8855, 3.412, 0.9109, 0.0415, 0.4567, -0.0171, -0.3897, -1.3607, 7.0496, 1.956, -0.0562, -0.0415, -0.0122] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.112, "left_z": 0.015}, "note": "Jaws touched the bottle at z=0.038 and the wrist view shows the bottle's neck still ~1.5 cm to the arm's left of the jaw column; nudging left and descending again to neck height."})
tool
executing move_to over 2 steps (0.2s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe bottle body/neck now sits between the jaws at table level; closing the gripper partway to squeeze the plastic body for a lift.
move_to
left_gripper0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3939, 1.9823, 0.8589, 0.5949, -0.3809, -0.2886, 0.9983, -0.02, 0.6846, 0.4011, -0.3134, -0.0296, -0.0353, 0.999] state[eef_state]: left_x=0.4772 left_y=-0.1233 left_z=0.0412 left_yaw=0.0657 left_pitch=0.0739 left_roll=-0.0529 left_gripper=0.9983 right_x=0.2718 right_y=0.0034 right_z=0.1296 right_yaw=-0.0038 right_pitch=-0.0274 right_roll=0.0 right_gripper=0.999 state[joint_eff]: [1.0462, -6.2974, 4.9162, 1.2967, -0.1441, 0.149, -0.0122, -0.1709, -1.1145, 6.9128, 1.9902, -0.0952, -0.0464, -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": 0.4}, "note": "The bottle body/neck now sits between the jaws at table level; closing the gripper partway to squeeze the plastic body for a lift."})
tool
executing move_to over 6 steps (0.6s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteGripper closed to 0.42, consistent with holding the squeezed bottle near its shoulder. Lifting high to see whether the bottle hangs body-down (cap up) in the jaws.
move_to
left_z0.2800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3847, 1.9858, 0.8593, 0.6407, -0.3889, -0.2874, 0.4201, -0.02, 0.672, 0.3782, -0.3058, -0.0296, -0.0357, 0.999] state[eef_state]: left_x=0.4831 left_y=-0.1195 left_z=0.0493 left_yaw=0.0827 left_pitch=0.1139 left_roll=-0.0676 left_gripper=0.4201 right_x=0.2692 right_y=0.0034 right_z=0.1238 right_yaw=-0.0036 right_pitch=-0.0301 right_roll=-0.0003 right_gripper=0.999 state[joint_eff]: [0.4991, -6.8308, 5.1214, 0.5836, 0.1832, 0.1734, 0.0659, -0.3761, -1.0872, 6.735, 1.9805, -0.0415, -0.0562, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.28}, "note": "Gripper closed to 0.42, consistent with holding the squeezed bottle near its shoulder. Lifting high to see whether the bottle hangs body-down (cap up) in the jaws."})
tool
executing move_to over 15 steps (1.5s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe close at 0.4 met no resistance (near-zero gripper effort) so nothing was grasped; all three bottles are still lying down. The wrist view shows the left bottle's cap right under the jaw column, so I am descending again to neck height with jaws open to straddle the neck.
move_to
left_z0.0180left_x0.4750left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3866, 1.6978, 1.5658, -0.4721, -0.4038, -0.2916, 0.4206, -0.02, 0.654, 0.3531, -0.2943, -0.0296, -0.0353, 0.999] state[eef_state]: left_x=0.4866 left_y=-0.1193 left_z=0.2692 left_yaw=0.092 left_pitch=0.012 left_roll=-0.0104 left_gripper=0.4206 right_x=0.2667 right_y=0.0035 right_z=0.1191 right_yaw=-0.0038 right_pitch=-0.0259 right_roll=-0.0 right_gripper=0.999 state[joint_eff]: [-0.3624, -8.4308, 9.1282, 1.5653, -0.1245, 0.0269, 0.0317, -0.2393, -0.9504, 7.0632, 1.9853, -0.0415, -0.0073, -0.0122] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.018, "left_x": 0.475, "left_gripper": 0.6}, "note": "The close at 0.4 met no resistance (near-zero gripper effort) so nothing was grasped; all three bottles are still lying down. The wrist view shows the left bottle's cap right under the jaw column, so I am descending again to neck height with jaws open to straddle the neck."})
tool
executing move_to over 17 steps (1.7s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteWrist view now shows the bottle perfectly centred with its cap pointing away; the jaws at 0.6 are too narrow to straddle the 6.5 cm body, so I open fully and descend to straddle the body just below the shoulder.
move_to
left_gripper1.0000left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3996, 1.9831, 0.9253, 0.4793, -0.4286, -0.2916, 0.599, -0.02, 0.6384, 0.3279, -0.2901, -0.0296, -0.0357, 0.999] state[eef_state]: left_x=0.4829 left_y=-0.1203 left_z=0.0439 left_yaw=0.0996 left_pitch=0.0411 left_roll=-0.0102 left_gripper=0.599 right_x=0.2634 right_y=0.0035 right_z=0.1124 right_yaw=-0.0036 right_pitch=-0.0313 right_roll=-0.0002 right_gripper=0.999 state[joint_eff]: [-0.2667, -6.9812, 3.5487, 0.9597, 0.0024, -0.0952, -0.0806, -0.253, -0.7863, 7.0769, 1.9658, -0.0611, -0.0562, -0.0122] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.02}, "note": "Wrist view now shows the bottle perfectly centred with its cap pointing away; the jaws at 0.6 are too narrow to straddle the 6.5 cm body, so I open fully and descend to straddle the body just below the shoulder."})
tool
executing move_to over 5 steps (0.5s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteDescent keeps stalling at z≈0.042 even with jaws wide, which looks like the arm's reach limit at x≈0.49 rather than contact; pulling back to x=0.45 (over the bottle's upper body) and descending again.
move_to
left_x0.4500left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3988, 2.0071, 0.9363, 0.5083, -0.432, -0.297, 0.9966, -0.02, 0.6197, 0.3012, -0.2836, -0.0296, -0.0353, 0.999] state[eef_state]: left_x=0.4879 left_y=-0.1215 left_z=0.0423 left_yaw=0.1064 left_pitch=0.056 left_roll=-0.021 left_gripper=0.9966 right_x=0.2601 right_y=0.0036 right_z=0.106 right_yaw=-0.0038 right_pitch=-0.0328 right_roll=0.0001 right_gripper=0.999 state[joint_eff]: [-0.1983, -7.1453, 5.4632, 1.3162, -0.1099, -0.0659, -0.0611, -0.4034, -0.8, 6.8581, 1.9414, -0.0464, -0.0513, -0.0073] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_z": 0.02}, "note": "Descent keeps stalling at z\u22480.042 even with jaws wide, which looks like the arm's reach limit at x\u22480.49 rather than contact; pulling back to x=0.45 (over the bottle's upper body) and descending again."})
tool
executing move_to over 3 steps (0.3s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe arm did not track the last command at all, so it appears jammed against the table/bottle; lifting straight up to free it before repositioning.
move_to
left_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3985, 2.0132, 0.9363, 0.5266, -0.4305, -0.2996, 0.9971, -0.02, 0.5991, 0.2752, -0.2714, -0.0296, -0.0353, 0.999] state[eef_state]: left_x=0.4897 left_y=-0.1223 left_z=0.0429 left_yaw=0.1073 left_pitch=0.0663 left_roll=-0.03 left_gripper=0.9971 right_x=0.2578 right_y=0.0036 right_z=0.1016 right_yaw=-0.0038 right_pitch=-0.0259 right_roll=-0.0 right_gripper=0.999 state[joint_eff]: [0.1983, -7.5009, 5.559, 1.2381, -0.105, -0.0708, 0.0366, -0.294, -0.5265, 6.694, 1.9512, -0.0562, -0.0562, -0.0122] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.14}, "note": "The arm did not track the last command at all, so it appears jammed against the table/bottle; lifting straight up to free it before repositioning."})
tool
executing move_to over 7 steps (0.7s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe left arm is frozen at its extended pose (joint readings unchanged across two commands); commanding a large retract back toward the base and up to break out of the stalled configuration.
move_to
left_x0.3500left_z0.2500left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3988, 2.0132, 0.9363, 0.5266, -0.4301, -0.2993, 0.9971, -0.02, 0.5819, 0.255, -0.2672, -0.0292, -0.0353, 0.999] state[eef_state]: left_x=0.4896 left_y=-0.1225 left_z=0.0429 left_yaw=0.1064 left_pitch=0.0662 left_roll=-0.0298 left_gripper=0.9971 right_x=0.2554 right_y=0.0036 right_z=0.0973 right_yaw=-0.0042 right_pitch=-0.0248 right_roll=-0.0002 right_gripper=0.999 state[joint_eff]: [-0.0615, -7.2957, 5.4496, 1.2479, -0.0611, -0.0562, -0.0122, -0.2803, -0.2667, 6.7487, 1.9267, -0.0464, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.35, "left_z": 0.25, "left_yaw": 0.0}, "note": "The left arm is frozen at its extended pose (joint readings unchanged across two commands); commanding a large retract back toward the base and up to break out of the stalled configuration."})
tool
executing move_to over 14 steps (1.4s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteI now believe my earlier grasps were at the arm's far reach limit near the caps (x≈0.49), which is why descents stalled and closes were empty. Straddling the leftmost bottle's upper body further back at x=0.42, z=0.03.
move_to
left_x0.4200left_y-0.1200left_z0.0300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5587, 1.2472, 1.0378, -0.4252, -0.4603, -0.3443, 0.9971, -0.02, 0.5667, 0.2348, -0.2646, -0.0296, -0.0353, 0.999] state[eef_state]: left_x=0.3591 left_y=-0.1277 left_z=0.2348 left_yaw=-0.0063 left_pitch=0.0016 left_roll=-0.0116 left_gripper=0.9971 right_x=0.2528 right_y=0.0037 right_z=0.0922 right_yaw=-0.0038 right_pitch=-0.0271 right_roll=0.0 right_gripper=0.999 state[joint_eff]: [-0.6222, -5.7368, 9.3333, 1.6923, -0.3053, 0.022, -0.0122, -0.2256, -0.335, 6.8444, 1.9365, -0.0415, -0.0806, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). 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_x": 0.42, "left_y": -0.12, "left_z": 0.03, "left_gripper": 1.0}, "note": "I now believe my earlier grasps were at the arm's far reach limit near the caps (x\u22480.49), which is why descents stalled and closes were empty. Straddling the leftmost bottle's upper body further back at x=0.42, z=0.03."})
tool
executing move_to over 14 steps (1.4s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe jaws are now straddling the bottle's body (descent reached z=0.03 with no stall). Closing to a moderate grip that holds the bottle but may still let it pivot in the jaws.
move_to
left_gripper0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.44, 1.7992, 0.6655, 0.4824, -0.371, -0.284, 0.9978, -0.02, 0.5476, 0.2111, -0.2619, -0.0292, -0.0353, 0.999] state[eef_state]: left_x=0.413 left_y=-0.1197 left_z=0.0304 left_yaw=0.008 left_pitch=-0.0389 left_roll=-0.0001 left_gripper=0.9978 right_x=0.2497 right_y=0.0037 right_z=0.0864 right_yaw=-0.0042 right_pitch=-0.029 right_roll=-0.0002 right_gripper=0.999 state[joint_eff]: [0.8, -7.3368, 4.4239, 1.7656, -0.0757, 0.2271, -0.2369, -0.4034, -0.3077, 6.9265, 1.8974, -0.0513, -0.0611, -0.0122] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.5}, "note": "The jaws are now straddling the bottle's body (descent reached z=0.03 with no stall). Closing to a moderate grip that holds the bottle but may still let it pivot in the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteGripper stopped at 0.54 with high effort — the bottle is firmly grasped near its shoulder. Lifting it well clear of the table before letting it pivot cap-up in the jaws.
move_to
left_z0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4446, 1.8336, 0.6415, 0.5533, -0.3771, -0.2691, 0.5376, -0.02, 0.5251, 0.1848, -0.2615, -0.0296, -0.0353, 0.999] state[eef_state]: left_x=0.4115 left_y=-0.12 left_z=0.0219 left_yaw=0.0003 left_pitch=-0.0261 left_roll=0.0101 left_gripper=0.5376 right_x=0.2461 right_y=0.0039 right_z=0.0797 right_yaw=-0.0038 right_pitch=-0.0324 right_roll=0.0001 right_gripper=0.999 state[joint_eff]: [-0.1709, -9.3333, 4.4786, 1.7851, -0.3297, -0.0611, 1.2821, -0.2393, -0.253, 7.0222, 1.9609, -0.0562, -0.0122, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.3}, "note": "Gripper stopped at 0.54 with high effort \u2014 the bottle is firmly grasped near its shoulder. Lifting it well clear of the table before letting it pivot cap-up in the jaws."})
tool
executing move_to over 18 steps (1.8s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe bottle is lifted and held horizontally (only two bottles remain on the table). Easing the jaws open slightly so gravity can pivot the bottle cap-up in the jaws.
move_to
left_gripper0.6300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4446, 1.4796, 1.3502, -0.6556, -0.3481, -0.2695, 0.5406, -0.02, 0.4961, 0.1577, -0.2562, -0.0296, -0.0353, 0.999] state[eef_state]: left_x=0.401 left_y=-0.1203 left_z=0.2361 left_yaw=-0.0172 left_pitch=-0.1665 left_roll=0.0545 left_gripper=0.5406 right_x=0.2434 right_y=0.0039 right_z=0.0749 right_yaw=-0.0038 right_pitch=-0.0252 right_roll=-0.0 right_gripper=0.999 state[joint_eff]: [-0.4444, -9.2513, 12.1504, 2.5324, -0.4469, 0.0122, 1.0281, -0.253, 0.1709, 6.8308, 1.9463, -0.0611, -0.0806, -0.0122] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.63}, "note": "The bottle is lifted and held horizontally (only two bottles remain on the table). Easing the jaws open slightly so gravity can pivot the bottle cap-up in the jaws."})
tool
executing move_to over 1 steps (0.1s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe jaw command was clamped and did not actually open; re-issuing a slightly larger opening so the held bottle can rotate cap-up under gravity.
move_to
left_gripper0.6600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4446, 1.4788, 1.3911, -0.7238, -0.3477, -0.2691, 0.5406, -0.02, 0.4961, 0.1577, -0.2527, -0.0296, -0.0353, 0.999] state[eef_state]: left_x=0.3955 left_y=-0.1178 left_z=0.242 left_yaw=-0.0157 left_pitch=-0.191 left_roll=0.0658 left_gripper=0.5406 right_x=0.2439 right_y=0.0039 right_z=0.0756 right_yaw=-0.0038 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.999 state[joint_eff]: [-0.4308, -9.4564, 10.8513, 2.547, -0.5348, -0.0415, 1.033, -0.1573, 0.3487, 6.8308, 1.9756, -0.1001, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.66}, "note": "The jaw command was clamped and did not actually open; re-issuing a slightly larger opening so the held bottle can rotate cap-up under gravity."})
tool
executing move_to over 2 steps (0.2s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteOpening the jaws that far released the bottle and it fell and rolled toward the front-left of the table. Moving the left arm over its new position to inspect it with the wrist camera.
move_to
left_x0.2600left_y-0.1200left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4511, 1.3743, 1.1709, -0.4526, -0.3618, -0.2687, 0.658, -0.02, 0.4759, 0.1371, -0.2531, -0.0296, -0.0349, 0.999] state[eef_state]: left_x=0.3952 left_y=-0.118 left_z=0.2369 left_yaw=-0.0186 left_pitch=-0.0456 left_roll=0.0094 left_gripper=0.658 right_x=0.2413 right_y=0.004 right_z=0.0707 right_yaw=-0.004 right_pitch=-0.0225 right_roll=0.0002 right_gripper=0.999 state[joint_eff]: [-0.6769, -6.5573, 7.3778, 2.0635, -0.232, 0.0024, -0.1392, -0.2393, 0.4581, 7.1043, 1.9023, -0.0464, -0.022, -0.0073] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.26, "left_y": -0.12, "left_z": 0.16, "left_gripper": 1.0}, "note": "Opening the jaws that far released the bottle and it fell and rolled toward the front-left of the table. Moving the left arm over its new position to inspect it with the wrist camera."})
tool
executing move_to over 11 steps (1.1s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe dropped bottle appears well to the arm's right in the wrist view, so I am sliding 12 cm across to hover over it before grasping near its cap.
move_to
left_y-0.2500left_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8227, 0.9352, 0.6125, -0.4023, -0.6189, -0.49, 0.9975, -0.02, 0.4561, 0.1184, -0.2459, -0.0296, -0.0353, 0.999] state[eef_state]: left_x=0.2648 left_y=-0.1293 left_z=0.1619 left_yaw=-0.0684 left_pitch=-0.009 left_roll=-0.0006 left_gripper=0.9975 right_x=0.2401 right_y=0.004 right_z=0.068 right_yaw=-0.0038 right_pitch=-0.0141 right_roll=-0.0002 right_gripper=0.999 state[joint_eff]: [-0.1436, -2.2906, 7.0906, 1.5067, -0.442, -0.0415, -0.1538, -0.1162, 0.5402, 7.0496, 1.8486, -0.0562, -0.0366, -0.0073] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.25, "left_z": 0.16}, "note": "The dropped bottle appears well to the arm's right in the wrist view, so I am sliding 12 cm across to hover over it before grasping near its cap."})
tool
executing move_to over 11 steps (1.1s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteThe dropped bottle is just at the bottom-left of the wrist view, ~4 cm to the arm's left and right under the jaws; moving over it and descending to straddle its body.
move_to
left_y-0.2050left_x0.2700left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.1271, 1.4052, 0.8883, -0.4206, -0.807, -0.7689, 0.9976, -0.02, 0.4446, 0.1112, -0.2459, -0.0296, -0.0353, 0.999] state[eef_state]: left_x=0.2614 left_y=-0.2444 left_z=0.1486 left_yaw=-0.0909 left_pitch=-0.0301 left_roll=0.0188 left_gripper=0.9976 right_x=0.2395 right_y=0.004 right_z=0.0672 right_yaw=-0.0038 right_pitch=-0.0099 right_roll=-0.0003 right_gripper=0.999 state[joint_eff]: [-0.4718, -5.4085, 8.6222, 1.16, -0.6471, -0.1783, -0.0073, -0.2256, 0.1436, 6.7077, 1.8242, -0.0464, -0.0415, -0.0122] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.205, "left_x": 0.27, "left_z": 0.03}, "note": "The dropped bottle is just at the bottom-left of the wrist view, ~4 cm to the arm's left and right under the jaws; moving over it and descending to straddle its body."})
tool
executing move_to over 8 steps (0.8s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
assistant
agent noteMy descent nudged the dropped bottle out of reach of the jaws; rather than chase it, I am going for the middle table bottle whose position I know (same grasp recipe that worked before): straddling its upper body at x=0.42.
move_to
left_x0.4200left_y-0.2350left_z0.0300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.034, 1.56, 0.4759, 0.2474, -0.7864, -0.6525, 0.9976, -0.02, 0.4419, 0.1112, -0.2459, -0.0296, -0.0353, 0.999] state[eef_state]: left_x=0.2718 left_y=-0.2052 left_z=0.0429 left_yaw=-0.0738 left_pitch=0.0091 left_roll=0.0233 left_gripper=0.9976 right_x=0.2396 right_y=0.004 right_z=0.0678 right_yaw=-0.0038 right_pitch=-0.0072 right_roll=-0.0003 right_gripper=0.999 state[joint_eff]: [0.3897, -4.0274, 2.7692, 0.9499, -0.0366, -0.1538, -0.0171, -0.1436, -0.1709, 6.3521, 1.8291, -0.0415, -0.0513, -0.0073] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.235, "left_z": 0.03, "left_gripper": 1.0}, "note": "My descent nudged the dropped bottle out of reach of the jaws; rather than chase it, I am going for the middle table bottle whose position I know (same grasp recipe that worked before): straddling its upper body at x=0.42."})
tool
executing move_to over 12 steps (1.2s)
step 222
assistant
agent noteThe jaws came down just to the left of the middle bottle (it sits at the right edge of the wrist view); sliding ~4 cm to the arm's right at table level to straddle its body.
move_to
left_y-0.2620
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7113, 1.9686, 0.8738, 0.3893, -0.5568, -0.4274, 0.9979, -0.02, 0.4419, 0.1108, -0.2459, -0.0296, -0.0353, 0.999] state[eef_state]: left_x=0.4083 left_y=-0.2239 left_z=0.0226 left_yaw=-0.038 left_pitch=-0.0215 left_roll=0.0082 left_gripper=0.9979 right_x=0.2396 right_y=0.004 right_z=0.0676 right_yaw=-0.0038 right_pitch=-0.0076 right_roll=-0.0003 right_gripper=0.999 state[joint_eff]: [0.6496, -8.8821, 7.0222, 1.7167, -0.0952, 0.0757, -0.2369, -0.1026, -0.0615, 6.7077, 1.7656, -0.0513, -0.0415, -0.0122] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.262}, "note": "The jaws came down just to the left of the middle bottle (it sits at the right edge of the wrist view); sliding ~4 cm to the arm's right at table level to straddle its body."})
tool
executing move_to over 4 steps (0.4s)
step 226
assistant
agent noteOverhead view shows the fingertips still a few cm to the left of and nearer than the middle bottle; shifting 5 cm further right and 3 cm further out to straddle it.
move_to
left_y-0.3050left_x0.4300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7876, 2.03, 0.9413, 0.3588, -0.6064, -0.4721, 0.9976, -0.02, 0.4419, 0.1108, -0.2462, -0.0296, -0.0353, 0.999] state[eef_state]: left_x=0.4014 left_y=-0.2554 left_z=0.016 left_yaw=-0.0523 left_pitch=-0.0185 left_roll=0.0116 left_gripper=0.9976 right_x=0.2395 right_y=0.004 right_z=0.0675 right_yaw=-0.0038 right_pitch=-0.008 right_roll=-0.0003 right_gripper=0.999 state[joint_eff]: [0.0615, -9.0598, 7.747, 1.4383, -0.1245, 0.0122, -0.0415, -0.2393, -0.0479, 6.5846, 1.7949, -0.0464, -0.0366, -0.0122] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.305, "left_x": 0.43}, "note": "Overhead view shows the fingertips still a few cm to the left of and nearer than the middle bottle; shifting 5 cm further right and 3 cm further out to straddle it."})
tool
executing move_to over 5 steps (0.5s)
step 231
assistant
agent noteThe left arm is stalling at that far cross-over pose, so I park it clear and bring the right arm (better placed for the right-hand bottles) down to straddle the rightmost bottle's upper body.
move_to
left_x0.3000left_y-0.1000left_z0.2500right_x0.4200right_y0.2200right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7918, 2.0384, 0.9539, 0.3401, -0.6178, -0.4793, 0.9976, -0.02, 0.4419, 0.1108, -0.2462, -0.0296, -0.0353, 0.999] state[eef_state]: left_x=0.4014 left_y=-0.2558 left_z=0.0142 left_yaw=-0.0439 left_pitch=-0.0239 left_roll=0.021 left_gripper=0.9976 right_x=0.2395 right_y=0.004 right_z=0.0675 right_yaw=-0.0038 right_pitch=-0.008 right_roll=-0.0003 right_gripper=0.999 state[joint_eff]: [-0.4034, -9.4701, 7.2957, 1.6044, -0.3541, -0.0562, -0.0122, -0.294, -0.1573, 6.7214, 1.8095, -0.0415, -0.0415, -0.0073] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.1, "left_z": 0.25, "right_x": 0.42, "right_y": 0.22, "right_z": 0.03, "right_gripper": 1.0}, "note": "The left arm is stalling at that far cross-over pose, so I park it clear and bring the right arm (better placed for the right-hand bottles) down to straddle the rightmost bottle's upper body."})
tool
executing move_to over 18 steps (1.8s)
step 249
assistant
agent noteThe right wrist view shows the bottle filling the frame just right of the jaw column; nudging 3 cm to the arm's right so the open jaws straddle its body.
move_to
right_y0.1810
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5877, 1.0088, 0.9176, -0.5373, -0.4736, -0.3649, 0.9976, 0.6624, 1.9488, 0.8478, 0.3744, 0.5121, 0.3408, 0.9991] state[eef_state]: left_x=0.3069 left_y=-0.1034 left_z=0.2394 left_yaw=-0.0136 left_pitch=0.0109 left_roll=-0.0257 left_gripper=0.9976 right_x=0.4054 right_y=0.211 right_z=0.0174 right_yaw=0.0275 right_pitch=-0.0483 right_roll=-0.045 right_gripper=0.9991 state[joint_eff]: [0.294, -3.0427, 9.3197, 1.619, -0.0904, 0.3687, -0.0171, 0.3077, -8.6359, 7.6103, 1.7753, 0.1929, 0.2711, -0.1148] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.181}, "note": "The right wrist view shows the bottle filling the frame just right of the jaw column; nudging 3 cm to the arm's right so the open jaws straddle its body."})
tool
executing move_to over 3 steps (0.3s)
step 252
assistant
agent noteI could not get a reliable neck grasp with pitch/roll pinned; my one successful lift ended with the bottle dropping when I loosened the jaws to let it pivot, and I have run out of LLM budget to retry. No bottle is standing.
give_up
hindsightKey things I wish I'd known: (1) With pitch and roll pinned, the only way to stand a fallen bottle is to grasp it off-centre (toward the cap), lift, and loosen the jaws so it pivots cap-up under gravity — but opening in one jump (0.54 → 0.66 on a 6.5 cm bottle) releases it entirely and it falls and rolls. Loosen in ~0.02 increments while the bottle's lower end is only ~8-10 cm above the table so it can settle onto its base, and note the gripper command rate is clamped so a big opening request executes as one tiny step. (2) Descents that stall at z≈0.04 near x≈0.48 are the arm's reach limit, not contact — the whole arm then freezes and refuses new targets; recover by commanding a large simultaneous retract (lower x, higher z). Keep table-level work inside x ≤ 0.45. (3) Gripper effort near 0 after a partial close means nothing is held; effort >1 means a real grip. A partial close to 0.4-0.5 on a 6.5 cm plastic bottle squeezes it and grips firmly at reading ≈0.54. (4) Wrist-camera lateral offsets are very unreliable at table level; the overhead view plus the readback was a better guide: with bottles in the far half, top-cam scale ≈3.4 px/cm horizontally and image x≈112 is the table centre line (left_y≈-0.32). (5) The left arm stalls when reaching across to y≈-0.30 at table height; use the right arm for anything right of centre.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5945, 1.0279, 0.934, -0.5869, -0.4713, -0.3519, 0.9976, 0.598, 1.9408, 0.7277, 0.4995, 0.4664, 0.318, 0.999] state[eef_state]: left_x=0.3038 left_y=-0.1042 left_z=0.2318 left_yaw=-0.0289 left_pitch=-0.0339 left_roll=0.0122 left_gripper=0.9976 right_x=0.3979 right_y=0.1793 right_z=0.0007 right_yaw=0.0115 right_pitch=-0.0551 right_roll=-0.0314 right_gripper=0.999 state[joint_eff]: [-0.0479, -2.8376, 6.8718, 1.9072, -0.3785, -0.105, -0.0171, 0.0342, -10.4137, 4.8342, 1.6923, 0.1148, -0.105, -0.0171] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I could not get a reliable neck grasp with pitch/roll pinned; my one successful lift ended with the bottle dropping when I loosened the jaws to let it pivot, and I have run out of LLM budget to retry. No bottle is standing.", "hindsight": "Key things I wish I'd known: (1) With pitch and roll pinned, the only way to stand a fallen bottle is to grasp it off-centre (toward the cap), lift, and loosen the jaws so it pivots cap-up under gravity \u2014 but opening in one jump (0.54 \u2192 0.66 on a 6.5 cm bottle) releases it entirely and it falls and rolls. Loosen in ~0.02 increments while the bottle's lower end is only ~8-10 cm above the table so it can settle onto its base, and note the gripper command rate is clamped so a big opening request executes as one tiny step. (2) Descents that stall at z\u22480.04 near x\u22480.48 are the arm's reach limit, not contact \u2014 the whole arm then freezes and refuses new targets; recover by commanding a large simultaneous retract (lower x, higher z). Keep table-level work inside x \u2264 0.45. (3) Gripper effort near 0 after a partial close means nothing is held; effort >1 means a real grip. A partial close to 0.4-0.5 on a 6.5 cm plastic bottle squeezes it and grips firmly at reading \u22480.54. (4) Wrist-camera lateral offsets are very unreliable at table level; the overhead view plus the readback was a better guide: with bottles in the far half, top-cam scale \u22483.4 px/cm horizontally and image x\u2248112 is the table centre line (left_y\u2248-0.32). (5) The left arm stalls when reaching across to y\u2248-0.30 at table height; use the right arm for anything right of centre."})
tool
give_up: I could not get a reliable neck grasp with pitch/roll pinned; my one successful lift ended with the bottle dropping when I loosened the jaws to let it pivot, and I have run out of LLM budget to retry. No bottle is standing.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 27.51 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.609, -0.3771, -0.0231, -0.0288, 0.9986, -0.0154, 0.7895, 0.6041, -0.3847, -0.0296, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1831 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2938 right_y=0.0043 right_z=0.1803 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.6496, -1.3607, 9.7436, 1.7558, -0.0366, 0.1392, -0.1538, -0.7453, -1.2103, 10.3863, 1.8437, 0.0269, 0.2027, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7408167ae6688ac686d63611f72f8464d621136e8f8f022a9430f789b5a2bbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b741f8685d84a96c90872201c0a502c96511da89c6fd24cdd186e230a267853",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:89cacbaa057dcc419c8e04c079f82de60e602f2ae153a3416067dd6786fd390c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 24.42 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.609, -0.3771, -0.0231, -0.0288, 0.9986, -0.0154, 0.7895, 0.6041, -0.3847, -0.0296, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1831 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2938 right_y=0.0043 right_z=0.1803 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.6496, -1.3607, 9.7436, 1.7558, -0.0366, 0.1392, -0.1538, -0.7453, -1.2103, 10.3863, 1.8437, 0.0269, 0.2027, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7408167ae6688ac686d63611f72f8464d621136e8f8f022a9430f789b5a2bbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b741f8685d84a96c90872201c0a502c96511da89c6fd24cdd186e230a267853",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89cacbaa057dcc419c8e04c079f82de60e602f2ae153a3416067dd6786fd390c",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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KKbO7Q4ukz7MsE++DJjbcTIeipzIpuFxiOZ0ISIHCWYlHxiHXh7iEzzuwTMhi1QBFmPzz9mReJN1/lLRSJu5KT+pe4Bqd9DwuK3cV5PbAgkjELjsaDLZcOs99K16kC73SC9Puv0hNRv/Io1KH8U/BnRj9ee6F7CNigDcKk2Fla3cMwQvPadjwegMJPU9PWImGkzFjkEHLFQ6rTZ0tRfUadWj45DuyZ31ASEY/PXMDRoODInw6XjV6Wa0iLyF6lD53IIqdLqH+ZznF7oaT9jq1vKmh6g68V+GorWFQse7SPmTjE6G0BvAhIIqPgTzB/JeBRIhtHACo3RkXgB7klHTutKjEFdAZoSt2z1GOI7Oco1f1X/jwBLdg0ZW+efqnmlTfhWAe5zqHJqtCYg/17kkjC8dFJoYk06/3/yfvXq4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L1yjaHaeemi75mCrm4jsLR",
      "input": {
        "note": "Three bottles lie flat on the table in a row. Moving the left arm above the leftmost bottle (nearest the left arm) to inspect it with the wrist camera before grasping.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.34,
          "left_y": -0.18,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01L1yjaHaeemi75mCrm4jsLR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7643, 1.3746, 0.7795, -0.1814, -0.606, -0.482, 0.9988, -0.0189, 0.794, 0.6037, -0.4034, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.3311 left_y=-0.173 left_z=0.1326 left_yaw=-0.0229 left_pitch=-0.0529 left_roll=0.0345 left_gripper=0.9988 right_x=0.2916 right_y=0.0033 right_z=0.175 right_yaw=-0.0027 right_pitch=-0.0244 right_roll=-0.0 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -5.4085, 9.306, 1.5702, -0.3736, -0.1441, -0.1392, -0.0479, -1.6205, 7.1726, 1.8535, -0.022, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7892493b629063bf56a5b85db7e541c8d8b0201a7c707dd44f8ca46411c7f0ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa078d87461ded4293edc9d8ee7339418e8af24cd1941fa6174ff07fe0ed948e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2e0370999a1f5eae1d1a660ac66e72ca3a7ecc9522561e687592f4f54b78921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 23.67 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.609, -0.3771, -0.0231, -0.0288, 0.9986, -0.0154, 0.7895, 0.6041, -0.3847, -0.0296, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1831 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2938 right_y=0.0043 right_z=0.1803 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.6496, -1.3607, 9.7436, 1.7558, -0.0366, 0.1392, -0.1538, -0.7453, -1.2103, 10.3863, 1.8437, 0.0269, 0.2027, -0.1148]",
      "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]: [-0.7643, 1.3746, 0.7795, -0.1814, -0.606, -0.482, 0.9988, -0.0189, 0.794, 0.6037, -0.4034, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.3311 left_y=-0.173 left_z=0.1326 left_yaw=-0.0229 left_pitch=-0.0529 left_roll=0.0345 left_gripper=0.9988 right_x=0.2916 right_y=0.0033 right_z=0.175 right_yaw=-0.0027 right_pitch=-0.0244 right_roll=-0.0 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -5.4085, 9.306, 1.5702, -0.3736, -0.1441, -0.1392, -0.0479, -1.6205, 7.1726, 1.8535, -0.022, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7892493b629063bf56a5b85db7e541c8d8b0201a7c707dd44f8ca46411c7f0ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa078d87461ded4293edc9d8ee7339418e8af24cd1941fa6174ff07fe0ed948e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2e0370999a1f5eae1d1a660ac66e72ca3a7ecc9522561e687592f4f54b78921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CjTnyJ88meZExRiP2msaDz",
      "input": {
        "note": "Wrist view shows the nearest bottle lying diagonally with its cap up-and-right (further out, toward the arm's right). Yawing the tool ~40° so the jaws close across the bottle axis and shifting toward the neck/cap end, which I will grasp so the body can swing down and the bottle ends upright.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.37,
          "left_y": -0.21,
          "left_yaw": -0.7,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01CjTnyJ88meZExRiP2msaDz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4576, 1.4216, 0.7712, 0.0013, 0.0059, -0.0292, 0.9988, -0.0193, 0.7834, 0.5823, -0.3977, -0.0292, -0.0353, 0.999]\nstate[eef_state]: left_x=0.3678 left_y=-0.1783 left_z=0.1235 left_yaw=-0.4616 left_pitch=-0.0875 left_roll=-0.0159 left_gripper=0.9988 right_x=0.289 right_y=0.0032 right_z=0.1693 right_yaw=-0.0034 right_pitch=-0.0294 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.1299, -6.2291, 9.5111, 1.8926, 0.2027, 0.2076, -0.1294, -0.2256, -1.7436, 6.7624, 1.9219, -0.0611, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:394814ec71c72c96dbabafcfa92a2adb8d8e0672ab64116d986482dea9c11315",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98ef96d5275ea44783396540da049efe779e9cafe65fc55b7d607c41cc19941a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09a6bcb50964372e5fdc486f1bde4917bf43945d34c5b4b27a355f62594871e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 25.9 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.609, -0.3771, -0.0231, -0.0288, 0.9986, -0.0154, 0.7895, 0.6041, -0.3847, -0.0296, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1831 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2938 right_y=0.0043 right_z=0.1803 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.6496, -1.3607, 9.7436, 1.7558, -0.0366, 0.1392, -0.1538, -0.7453, -1.2103, 10.3863, 1.8437, 0.0269, 0.2027, -0.1148]",
      "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]: [-0.7643, 1.3746, 0.7795, -0.1814, -0.606, -0.482, 0.9988, -0.0189, 0.794, 0.6037, -0.4034, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.3311 left_y=-0.173 left_z=0.1326 left_yaw=-0.0229 left_pitch=-0.0529 left_roll=0.0345 left_gripper=0.9988 right_x=0.2916 right_y=0.0033 right_z=0.175 right_yaw=-0.0027 right_pitch=-0.0244 right_roll=-0.0 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -5.4085, 9.306, 1.5702, -0.3736, -0.1441, -0.1392, -0.0479, -1.6205, 7.1726, 1.8535, -0.022, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4576, 1.4216, 0.7712, 0.0013, 0.0059, -0.0292, 0.9988, -0.0193, 0.7834, 0.5823, -0.3977, -0.0292, -0.0353, 0.999]\nstate[eef_state]: left_x=0.3678 left_y=-0.1783 left_z=0.1235 left_yaw=-0.4616 left_pitch=-0.0875 left_roll=-0.0159 left_gripper=0.9988 right_x=0.289 right_y=0.0032 right_z=0.1693 right_yaw=-0.0034 right_pitch=-0.0294 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.1299, -6.2291, 9.5111, 1.8926, 0.2027, 0.2076, -0.1294, -0.2256, -1.7436, 6.7624, 1.9219, -0.0611, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:394814ec71c72c96dbabafcfa92a2adb8d8e0672ab64116d986482dea9c11315",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98ef96d5275ea44783396540da049efe779e9cafe65fc55b7d607c41cc19941a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09a6bcb50964372e5fdc486f1bde4917bf43945d34c5b4b27a355f62594871e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dweb8G7zsv91qeowhy9m1V",
      "input": {
        "note": "The wrist view is ambiguous after the yaw rotation, so I am retracting the left arm up and aside to get a clean, unoccluded overhead image of all three bottles before committing to a grasp.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.25,
          "left_y": 0.0,
          "left_yaw": 0.0,
          "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_01Dweb8G7zsv91qeowhy9m1V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1097, 0.9619, 0.9272, -0.3378, -0.0486, -0.0532, 0.9988, -0.0189, 0.7696, 0.5533, -0.382, -0.0296, -0.036, 0.999]\nstate[eef_state]: left_x=0.345 left_y=-0.0257 left_z=0.2905 left_yaw=-0.0537 left_pitch=0.1895 left_roll=-0.0174 left_gripper=0.9988 right_x=0.2866 right_y=0.0034 right_z=0.163 right_yaw=-0.0023 right_pitch=-0.029 right_roll=-0.0006 right_gripper=0.999\nstate[joint_eff]: [-3.1385, -7.8701, 10.2632, 1.9219, 0.4908, 0.0904, -0.1343, -0.1162, -1.5795, 7.0222, 1.8486, -0.0611, -0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60eb2971556a29f1496dd960b09a0a66bf2b07fc0bd4242f5090f5de4aedcef7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d164678b0ced2cc7be1a7f6f9dd731c016e3c8ddf49212a61b695c0d2ceccb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9ffad277e8cfea2418001f6b74115e61e15e6c4ae2dded4175b89cdcf1e91bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 21.32 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]: [-0.7643, 1.3746, 0.7795, -0.1814, -0.606, -0.482, 0.9988, -0.0189, 0.794, 0.6037, -0.4034, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.3311 left_y=-0.173 left_z=0.1326 left_yaw=-0.0229 left_pitch=-0.0529 left_roll=0.0345 left_gripper=0.9988 right_x=0.2916 right_y=0.0033 right_z=0.175 right_yaw=-0.0027 right_pitch=-0.0244 right_roll=-0.0 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -5.4085, 9.306, 1.5702, -0.3736, -0.1441, -0.1392, -0.0479, -1.6205, 7.1726, 1.8535, -0.022, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4576, 1.4216, 0.7712, 0.0013, 0.0059, -0.0292, 0.9988, -0.0193, 0.7834, 0.5823, -0.3977, -0.0292, -0.0353, 0.999]\nstate[eef_state]: left_x=0.3678 left_y=-0.1783 left_z=0.1235 left_yaw=-0.4616 left_pitch=-0.0875 left_roll=-0.0159 left_gripper=0.9988 right_x=0.289 right_y=0.0032 right_z=0.1693 right_yaw=-0.0034 right_pitch=-0.0294 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.1299, -6.2291, 9.5111, 1.8926, 0.2027, 0.2076, -0.1294, -0.2256, -1.7436, 6.7624, 1.9219, -0.0611, -0.0366, -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]: [-0.1097, 0.9619, 0.9272, -0.3378, -0.0486, -0.0532, 0.9988, -0.0189, 0.7696, 0.5533, -0.382, -0.0296, -0.036, 0.999]\nstate[eef_state]: left_x=0.345 left_y=-0.0257 left_z=0.2905 left_yaw=-0.0537 left_pitch=0.1895 left_roll=-0.0174 left_gripper=0.9988 right_x=0.2866 right_y=0.0034 right_z=0.163 right_yaw=-0.0023 right_pitch=-0.029 right_roll=-0.0006 right_gripper=0.999\nstate[joint_eff]: [-3.1385, -7.8701, 10.2632, 1.9219, 0.4908, 0.0904, -0.1343, -0.1162, -1.5795, 7.0222, 1.8486, -0.0611, -0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60eb2971556a29f1496dd960b09a0a66bf2b07fc0bd4242f5090f5de4aedcef7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d164678b0ced2cc7be1a7f6f9dd731c016e3c8ddf49212a61b695c0d2ceccb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9ffad277e8cfea2418001f6b74115e61e15e6c4ae2dded4175b89cdcf1e91bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XnuFQUMAvKgWHby2SdqGxv",
      "input": {
        "note": "Clean overhead view: three bottles lie parallel pointing away from the arms, caps at the far end. Moving the left arm over the leftmost bottle's upper (cap) half at 15 cm height to judge depth from the wrist camera.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.45,
          "left_y": -0.2,
          "left_yaw": 0.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01XnuFQUMAvKgWHby2SdqGxv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5907, 1.7329, 1.1294, -0.1192, -0.4789, -0.3584, 0.9988, -0.02, 0.7563, 0.5243, -0.3737, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4365 left_y=-0.1904 left_z=0.133 left_yaw=-0.0144 left_pitch=-0.0664 left_roll=0.0337 left_gripper=0.9988 right_x=0.2832 right_y=0.0031 right_z=0.155 right_yaw=-0.0038 right_pitch=-0.0362 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.6085, -8.8137, 9.1145, 1.7558, -0.2222, 0.1392, -0.1343, -0.2256, -1.6342, 7.2957, 1.9512, -0.0513, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b9a2b4e2690c554aad6a64fad1c18e2ba039a947cf5f840b5bf52e436e326ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:576d2986abd457dd25a5f8adf470a80eb4fe57446a2ee393ed578b092296045d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd1c6fa2740708b6d0cbd8bab447c484f87a3d13f72b4782bef0cc5e9dfef147",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /messages · status 200 · 18.35 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]: [-0.4576, 1.4216, 0.7712, 0.0013, 0.0059, -0.0292, 0.9988, -0.0193, 0.7834, 0.5823, -0.3977, -0.0292, -0.0353, 0.999]\nstate[eef_state]: left_x=0.3678 left_y=-0.1783 left_z=0.1235 left_yaw=-0.4616 left_pitch=-0.0875 left_roll=-0.0159 left_gripper=0.9988 right_x=0.289 right_y=0.0032 right_z=0.1693 right_yaw=-0.0034 right_pitch=-0.0294 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.1299, -6.2291, 9.5111, 1.8926, 0.2027, 0.2076, -0.1294, -0.2256, -1.7436, 6.7624, 1.9219, -0.0611, -0.0366, -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]: [-0.1097, 0.9619, 0.9272, -0.3378, -0.0486, -0.0532, 0.9988, -0.0189, 0.7696, 0.5533, -0.382, -0.0296, -0.036, 0.999]\nstate[eef_state]: left_x=0.345 left_y=-0.0257 left_z=0.2905 left_yaw=-0.0537 left_pitch=0.1895 left_roll=-0.0174 left_gripper=0.9988 right_x=0.2866 right_y=0.0034 right_z=0.163 right_yaw=-0.0023 right_pitch=-0.029 right_roll=-0.0006 right_gripper=0.999\nstate[joint_eff]: [-3.1385, -7.8701, 10.2632, 1.9219, 0.4908, 0.0904, -0.1343, -0.1162, -1.5795, 7.0222, 1.8486, -0.0611, -0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5907, 1.7329, 1.1294, -0.1192, -0.4789, -0.3584, 0.9988, -0.02, 0.7563, 0.5243, -0.3737, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4365 left_y=-0.1904 left_z=0.133 left_yaw=-0.0144 left_pitch=-0.0664 left_roll=0.0337 left_gripper=0.9988 right_x=0.2832 right_y=0.0031 right_z=0.155 right_yaw=-0.0038 right_pitch=-0.0362 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.6085, -8.8137, 9.1145, 1.7558, -0.2222, 0.1392, -0.1343, -0.2256, -1.6342, 7.2957, 1.9512, -0.0513, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b9a2b4e2690c554aad6a64fad1c18e2ba039a947cf5f840b5bf52e436e326ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:576d2986abd457dd25a5f8adf470a80eb4fe57446a2ee393ed578b092296045d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd1c6fa2740708b6d0cbd8bab447c484f87a3d13f72b4782bef0cc5e9dfef147",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIStxoKjgEIEhgCKkDOwigdZVZb3d/n2ePb3oEgmmR2kA27P+MQKi7hsDKpi6+Lyi6H2ROb2C4O2ogW5axHJXbPQQt14yavnt6Mj066Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbz4y9UGEgww+0FjjFT+mJShvn0aDF3a582jk6F1A98tlSIw0pdmMvtL4dLpIbQemYNgj4fg+3kT7nIMiTjMOcUS7dbgeQ095Q79aXiHMt/LYR8RKtUYWyPjxlda3zh41tPAuWQdaM85wAcH20sQa817m1HvftATs0eK7dKBrtPRiWM3bDlG7yqbHdJudWsFYX4EOTTZyz/wwQXvheQGhFpBom3fPRg0tPsx6SoCMVNb0RPVW/HCrqHT6tPF/XnjrQ/1Cknvvm8uJUZahaU/OPaEUl+QSFbIKDBV0SwUFoqZ7znQXuACi+Gi8b2Z1Xoai0JpSmMU7oRYo6x7JfoNmBcMCpuOb5QkNB0ymLt3qt7gNZ4qmSTNPnVc6x6dp/+wXDoNb/Kf/KH4uVRkIjF8RS7pxSkW3PqzAr7wLB3w7kjGmrRAXOSxGEqrgr/YvcXTYYQPX+rEMfP1NpW9a5zrmgOtVY/bH++7PnyrDh+GF1V6iVwR6LiKguiCGa+8VJBxbieQZBfwMpqmoU1Rgk+8aeF8rSAclqfr0tj0IJ0mXLUDWe3XnnV3eT2wcoavzZGkiBKQi6m7rpzG7DUqiMecZTuhRYivEKX6GYihiRwaygJwLwbwlqzSM5LKFr6nA1L7qkO/dVmlZwTGYY0Hy7GAsQ0SaKdwUN9CtvO9AkWAm3PJw2gsm84ATsr5x+8rtD1brqGl03kky2Lhc8F8EMamUMbEtAjJ6tpfABckMX/ratJBRJCE++P2OmCDh02pTqKuT6YlrFwDhMIKf4wKinzleHAn0q2/13B8iozv4DUWIBYh3UnnARufuRA744qqNDN2oGKRVve8Rdhrq+Xje4gEoa+wQ0mV6qdbRflRgjh1Ibat/cB2i6XCtFTP1VSux/7IYE/eOTQILuLvS63ZVpBEfIPkRu0YcV0icv6wG+mZzGBn+xSCe5RELk/7pgQJZszKSBG94KQVhKNMaTsSmk1Q7/vCMmc4HTtlFB3IS5i792ctkaLn2xUljahTnJfZw2z+B03AO6Cc9ifufyaGexDJveSxUFdTeBP8lRgct+rZQbRWK2HznWsXIVwKmlfU8ExHKkf1rQjXJUglVojILJ4Ao0yubCmxUUA2tMAtKSPVY55Tna2Sb4Wa7VDApyOov9PrbzeWpzBrbnawoIg9z8XhH3NfMv/n4Qimnl9xjT/QjJ6DCX2ICO1TsAR0j6oTxs20sCJorI2XBqZt0sFoAXjTY+XytiobDSW7RKpvpoSboYYZNBZIz4mBpY+IQn/2lTyZ+VkV0GzbD/XK2A1D01vmxjVILWXL34z+nh5iSiw6Iq4w8W8SzVejDOCgJ6sFdlOugdHtzcojfBKoe3BAOe+eeWARErnlclIDoPI2AdoLoUf8PoYus03VXopbkwV+VX1MwTPY4kdR6DtNIcZjHCaFNDAuRvvBlRAYrOgBfDqikiIriY0LZU0p92ZnPgpUxnXJYGqlI25xKWdlvNdOOBF5UB6Gl2vcOBiHK9jCGEov5tQ455XqRJt9dOYbV74LyjNxJKO4kflVdaM+f5puiSLF0srjkbuikH+0QDty2NPa2IORpr249TZds6lZ3XpVE3XW9EbbUkkK7hHjNp1u1W4RiHgsnap3AgBvQb8gwaRRUMZ2uVJAOrJGPbHEs/0uF5ZD4ywhqqKG4v0jtXSwN3mhVw+arqsjdKwABoPQ4ooHA6ZVRaFvohuXWClMqyAwpkRYEhjKsoo6WPORHjTcQs3r6uEMCod0+6n+UiuiFROTcMOvpo3K2z/vvD2tk9wRaFR/GQvVVuNKWrMcWSh8G6Ng17ptXvi1DYK7W6BwRuqAXuA3sWcnO4/UO+1REBQgQZVDRbmp0rLbxBXniz7LzhFBe3Ly9VgXiDaQZpHNGNEEi/pxSntNulbqrZEzWTrY2aWQ9w+lrrvI3qfrbDvvlASQPrl/NBnWSTyebvpjPbv3oPGWL4uPJGrcyPJCtfPwHWri0QngXBLbpB1jz2MTbEJJzmIwOaw3ltWbng38cqk9P7Ej82m2GS9CYfZjFie3ho6+KvLzx1Svs161k/hkBZLPP+w0VBgeJ8zWVet2bdhvk82B8SNF+7ZXxlMV7PvbWKWsWL5GuRSwVf6cpB0gPNdjMepZo2ktRC5gcrgrjCIzcs2YDSJ1FePfAYKYF+poWhcNh7VZkm9BwBkE/xo8q/Bv3Ct/jfKZEgpB+ul1vqGzGRC9m8L7E6MGatnarGbUj8Tt3lx9j6HS5mYBtPPbTOXPnefjeU3ekdP9YC3WKoNEe90cLziQQhlpdv/9J97KlAXcHlab8O69pUaCeogFXjQC/iDdF2YsnMuImQNaoR/sjN3lgfaNZ5yXXW14BxESxNOhA2qUbPTlo18lb1tGcCOisKZjWTlh885ejGXDayzT6hW40RrM+sKLThMMx60QNP8bmZMPENEhYCgM9K+T5i2OKIoIAlbrEkQ2ZvBPEXs4X58L2u4gdCaolG3ohNioUxmHewUrjtvttUFzx41b9yr1ncCyYaoxj3JaBIlTrnEN1qReUcKvu1NdMNNlb/fE+DxAZYiYBA0z/cD/o9rSE6a6iDFlBRUg3Pim/YLgY7x37hFWcsEMYTVZH0FK+4G4iMDTb8tEOcvxoo16m0Nmlkaa2ENkby9XBQCym3hV6TnMPgu209ES2KuqdQvUNY95FpYdvTRmbI794aegMUg0YXPGQWOERBJHe5MFXn/rD+s8pgEb2w7QJnLN7MIfg1B1ZgWJskFh8+lK2GIKAaTBcqseeswJOKUE+H/OGty1TtSxcfLW8Tsvv63WOxbZP8qHQqwpUJKlNvKWUvAdIny/0+fkPafvOAXxE+l+4Luoo/7OX8iIpPZXjNI9Eu/2wRYK/iyDu95hCPEwqGYwsw5JSZoHmKb560tDEetyRcT0vMPWgiQHrdvvFxal+fAHVa6xb4/GtYkkvGDRR9H/kXlprpF9pu5K+HgEMzESonA1vJkH0IjKDwBYNJkj6y05EZdDkGCvN0VLs430b4sgkTLg7xSoLlv4jj+TedKkrfP9sTF0juF12ehx02L1zJvgizxioJ8CLyX36DwzCn04AY3IuBR+xKiHfDP5Z5Kgvhful62nA37x1cgcDoKke/8hgOv/STX4V20uMRfopTZkfI7C4HQ6PNZ/PElr6FQK1htWVEbrMPU+sP8Ly4h3vHBKX5frDdwFyAKN8KdyWnF7RSDr2GrkoGQfLifK7nc5hCovlLcu5XAAicmj4P/xeskwohi8i9GTrWMw1553Pl5WnqLKECiV159EnRD93wrzOYAfLY9Aa3hR65KAbljq/1ZQ7vpN87I+yPzr/rbm/TShxOw9P6X3Ss4zlopULj/DiLcTMPR0g0v1j/SMus1CSOiZlEXGfb+tiS9n7GBZ6KyubOtCihIlv2sW185d45QJ3e4AALEl6dnj+8DKzepSCwFPbCy3pyx9dHru+wnGAjk0mt0lVRGKr0Kji5GI+IKyBDW0p85/zWTTnICE821ZK8MlkG9cQ5uqdy0ojEFP8EZeWiNVqGz5t3tXn3wDZWh5NU9+uu4TJZRBuLmUVw8XvuGsuyPhu2R2Hya1TiZaG7+BkkABuyYuNb6dA7UvwQK8n8m3dsVB+B4XH/Oac4vlJdV0I1gks/pHB9RoM04FvzHH6Y4CpdA0uS5/Lyc1cVvKDYO6Gwid+s/G47trXOED1U7VrQxQypb3mZux0YvWTtqoAHZsWLM9eVlkcvvU0+XafZEoPAz/tcX1elU+ITxs9cC9yWWbIwvXb/mCim9J7qYp4xMgRIfPWFVCx/6nNKqyoFR7Jv4MtIcMgJC+aYO4cbHbl3+GiUgPqG/nGvttavucwtjp3eEXRqY21rEAyGeGeOdOu8WGv3/BnyI4mZUzI2sGb+BMo2WP/w8LlEuon9oHZFls3RuRX0uTIZQA64IV8J1Vur6eCD+kkVtH5uGHd8CtC7MIJPNxEvNTdhsjz7o3lGd/Nf3XA5aH+nYPnghmi0yYZDw3mNCdhQf4kIiWWeaWIF3yptVRSUJfy6iAw/CpFKF7wdZ42dl9wBjTwsrnFcVlAHGnRvRh0oQ4lpxo36K5pKpX98dIUFw34cn0lIZIRQVAqyyHnkBSL3E0dOgQLIHsyeXV0f1XKunkZHuAx+beV47QVF0w700gLN+98jqgdTYMvRaMBOcMQ21aOxujkStA2+xxwyVu+zge//g3c2qS0zQY6lygmqKbWtbXHVZ4M5nYgnMvErVbq0dBc7lCNv0Pxw25dIoc/7DqJSyVNRyEB8RMHqDd5LNgJRvgdQGJ1dNiVWMndJcMwxLih+xk464/pRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013yCgNBsWwcwVPjDkuDirsX",
      "input": {
        "note": "The left gripper appears to be hovering directly over the leftmost bottle (it is hidden from the top camera by the gripper). Descending with jaws wide open to straddle the lying bottle's body before checking alignment.",
        "targets": {
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013yCgNBsWwcwVPjDkuDirsX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.601, 1.9076, 0.9077, 0.3916, -0.5072, -0.3588, 0.9985, -0.02, 0.7372, 0.4885, -0.3584, -0.0292, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4419 left_y=-0.1946 left_z=0.0593 left_yaw=-0.003 left_pitch=0.0386 left_roll=-0.0154 left_gripper=0.9985 right_x=0.2796 right_y=0.0031 right_z=0.1468 right_yaw=-0.0042 right_pitch=-0.0377 right_roll=-0.0 right_gripper=0.999\nstate[joint_eff]: [0.3761, -6.8581, 3.5214, 0.9304, 0.149, -0.0659, -0.0513, -0.3624, -1.5932, 7.0085, 1.9658, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2df9f2de5f1deb8430376cb42f448618f8118278c2c0f3c9c44a3f74d49d0213",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06a32eaf8c7a282968b828a145592198acc9a6869a867e5a7edf7d7f6445ce6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94d8a82216a7000362926a0cb7f92b4354a3b5a20961c023d533080d28916dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 24.18 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]: [-0.1097, 0.9619, 0.9272, -0.3378, -0.0486, -0.0532, 0.9988, -0.0189, 0.7696, 0.5533, -0.382, -0.0296, -0.036, 0.999]\nstate[eef_state]: left_x=0.345 left_y=-0.0257 left_z=0.2905 left_yaw=-0.0537 left_pitch=0.1895 left_roll=-0.0174 left_gripper=0.9988 right_x=0.2866 right_y=0.0034 right_z=0.163 right_yaw=-0.0023 right_pitch=-0.029 right_roll=-0.0006 right_gripper=0.999\nstate[joint_eff]: [-3.1385, -7.8701, 10.2632, 1.9219, 0.4908, 0.0904, -0.1343, -0.1162, -1.5795, 7.0222, 1.8486, -0.0611, -0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.5907, 1.7329, 1.1294, -0.1192, -0.4789, -0.3584, 0.9988, -0.02, 0.7563, 0.5243, -0.3737, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4365 left_y=-0.1904 left_z=0.133 left_yaw=-0.0144 left_pitch=-0.0664 left_roll=0.0337 left_gripper=0.9988 right_x=0.2832 right_y=0.0031 right_z=0.155 right_yaw=-0.0038 right_pitch=-0.0362 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.6085, -8.8137, 9.1145, 1.7558, -0.2222, 0.1392, -0.1343, -0.2256, -1.6342, 7.2957, 1.9512, -0.0513, -0.0317, -0.0122]\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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.601, 1.9076, 0.9077, 0.3916, -0.5072, -0.3588, 0.9985, -0.02, 0.7372, 0.4885, -0.3584, -0.0292, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4419 left_y=-0.1946 left_z=0.0593 left_yaw=-0.003 left_pitch=0.0386 left_roll=-0.0154 left_gripper=0.9985 right_x=0.2796 right_y=0.0031 right_z=0.1468 right_yaw=-0.0042 right_pitch=-0.0377 right_roll=-0.0 right_gripper=0.999\nstate[joint_eff]: [0.3761, -6.8581, 3.5214, 0.9304, 0.149, -0.0659, -0.0513, -0.3624, -1.5932, 7.0085, 1.9658, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2df9f2de5f1deb8430376cb42f448618f8118278c2c0f3c9c44a3f74d49d0213",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06a32eaf8c7a282968b828a145592198acc9a6869a867e5a7edf7d7f6445ce6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94d8a82216a7000362926a0cb7f92b4354a3b5a20961c023d533080d28916dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UBfs2JSFEoh9CyvpjKBwmM",
      "input": {
        "note": "The descent stopped early at z=0.059, so a fingertip is resting on the bottle rather than straddling it; the wrist view shows the nearest bottle slightly to the arm's left. Lifting and shifting 3 cm toward it to re-centre.",
        "targets": {
          "left_y": -0.165,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01UBfs2JSFEoh9CyvpjKBwmM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5289, 1.7523, 0.9463, 0.1871, -0.4698, -0.3405, 0.9983, -0.02, 0.717, 0.4534, -0.3424, -0.0296, -0.0357, 0.999]\nstate[eef_state]: left_x=0.4446 left_y=-0.163 left_z=0.1045 left_yaw=0.0292 left_pitch=0.0179 left_roll=-0.0119 left_gripper=0.9983 right_x=0.2762 right_y=0.0033 right_z=0.1392 right_yaw=-0.0036 right_pitch=-0.0366 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.5402, -10.0991, 9.0325, 1.6044, 0.0562, 0.1978, -0.0269, -0.1026, -1.4564, 6.8855, 2.044, -0.0855, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c05629cc1a10662c9208920d9dd6b6e41b26495b40d1ee5d7e6e24135978477d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f82ee914165e890fc3cab1a02f787d6e6a14807c421e1a3e4be8111aecb17d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2362cf29df94fd716cf2c3a10ae13cb4dc5f30cb73a77a0c76735e9c810987b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 11.66 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]: [-0.5907, 1.7329, 1.1294, -0.1192, -0.4789, -0.3584, 0.9988, -0.02, 0.7563, 0.5243, -0.3737, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4365 left_y=-0.1904 left_z=0.133 left_yaw=-0.0144 left_pitch=-0.0664 left_roll=0.0337 left_gripper=0.9988 right_x=0.2832 right_y=0.0031 right_z=0.155 right_yaw=-0.0038 right_pitch=-0.0362 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.6085, -8.8137, 9.1145, 1.7558, -0.2222, 0.1392, -0.1343, -0.2256, -1.6342, 7.2957, 1.9512, -0.0513, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.601, 1.9076, 0.9077, 0.3916, -0.5072, -0.3588, 0.9985, -0.02, 0.7372, 0.4885, -0.3584, -0.0292, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4419 left_y=-0.1946 left_z=0.0593 left_yaw=-0.003 left_pitch=0.0386 left_roll=-0.0154 left_gripper=0.9985 right_x=0.2796 right_y=0.0031 right_z=0.1468 right_yaw=-0.0042 right_pitch=-0.0377 right_roll=-0.0 right_gripper=0.999\nstate[joint_eff]: [0.3761, -6.8581, 3.5214, 0.9304, 0.149, -0.0659, -0.0513, -0.3624, -1.5932, 7.0085, 1.9658, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5289, 1.7523, 0.9463, 0.1871, -0.4698, -0.3405, 0.9983, -0.02, 0.717, 0.4534, -0.3424, -0.0296, -0.0357, 0.999]\nstate[eef_state]: left_x=0.4446 left_y=-0.163 left_z=0.1045 left_yaw=0.0292 left_pitch=0.0179 left_roll=-0.0119 left_gripper=0.9983 right_x=0.2762 right_y=0.0033 right_z=0.1392 right_yaw=-0.0036 right_pitch=-0.0366 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.5402, -10.0991, 9.0325, 1.6044, 0.0562, 0.1978, -0.0269, -0.1026, -1.4564, 6.8855, 2.044, -0.0855, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c05629cc1a10662c9208920d9dd6b6e41b26495b40d1ee5d7e6e24135978477d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f82ee914165e890fc3cab1a02f787d6e6a14807c421e1a3e4be8111aecb17d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2362cf29df94fd716cf2c3a10ae13cb4dc5f30cb73a77a0c76735e9c810987b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P1skBK7Pf4DsjDFXZBJ7df",
      "input": {
        "note": "Wrist view shows the leftmost bottle about 4 cm to the arm's left with its cap pointing away; moving over its neck region and descending to neck height, so the jaws can close on the neck and let the body swing down when lifted.",
        "targets": {
          "left_x": 0.465,
          "left_y": -0.125,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01P1skBK7Pf4DsjDFXZBJ7df",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.411, 1.9652, 0.8688, 0.5171, -0.3958, -0.3077, 0.9983, -0.02, 0.6971, 0.4198, -0.3241, -0.0296, -0.0357, 0.999]\nstate[eef_state]: left_x=0.4704 left_y=-0.1268 left_z=0.0378 left_yaw=0.0698 left_pitch=0.0318 left_roll=-0.0396 left_gripper=0.9983 right_x=0.2733 right_y=0.0033 right_z=0.1327 right_yaw=-0.0036 right_pitch=-0.032 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.253, -6.8855, 3.412, 0.9109, 0.0415, 0.4567, -0.0171, -0.3897, -1.3607, 7.0496, 1.956, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7e1b6008b16cadd9ff1aa8489e7882632a24a2fb83815cef21b85a8fed75913",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83a0a2cca6f966a4b39881726bc265f29d4b3c5dcc6acde518575ede778dea92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a14890f73deb1ec9e3760d586dea7be44c4cea8489f7617db52bbc15246b33d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 8.685 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]: [-0.601, 1.9076, 0.9077, 0.3916, -0.5072, -0.3588, 0.9985, -0.02, 0.7372, 0.4885, -0.3584, -0.0292, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4419 left_y=-0.1946 left_z=0.0593 left_yaw=-0.003 left_pitch=0.0386 left_roll=-0.0154 left_gripper=0.9985 right_x=0.2796 right_y=0.0031 right_z=0.1468 right_yaw=-0.0042 right_pitch=-0.0377 right_roll=-0.0 right_gripper=0.999\nstate[joint_eff]: [0.3761, -6.8581, 3.5214, 0.9304, 0.149, -0.0659, -0.0513, -0.3624, -1.5932, 7.0085, 1.9658, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5289, 1.7523, 0.9463, 0.1871, -0.4698, -0.3405, 0.9983, -0.02, 0.717, 0.4534, -0.3424, -0.0296, -0.0357, 0.999]\nstate[eef_state]: left_x=0.4446 left_y=-0.163 left_z=0.1045 left_yaw=0.0292 left_pitch=0.0179 left_roll=-0.0119 left_gripper=0.9983 right_x=0.2762 right_y=0.0033 right_z=0.1392 right_yaw=-0.0036 right_pitch=-0.0366 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.5402, -10.0991, 9.0325, 1.6044, 0.0562, 0.1978, -0.0269, -0.1026, -1.4564, 6.8855, 2.044, -0.0855, -0.0757, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.411, 1.9652, 0.8688, 0.5171, -0.3958, -0.3077, 0.9983, -0.02, 0.6971, 0.4198, -0.3241, -0.0296, -0.0357, 0.999]\nstate[eef_state]: left_x=0.4704 left_y=-0.1268 left_z=0.0378 left_yaw=0.0698 left_pitch=0.0318 left_roll=-0.0396 left_gripper=0.9983 right_x=0.2733 right_y=0.0033 right_z=0.1327 right_yaw=-0.0036 right_pitch=-0.032 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.253, -6.8855, 3.412, 0.9109, 0.0415, 0.4567, -0.0171, -0.3897, -1.3607, 7.0496, 1.956, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7e1b6008b16cadd9ff1aa8489e7882632a24a2fb83815cef21b85a8fed75913",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83a0a2cca6f966a4b39881726bc265f29d4b3c5dcc6acde518575ede778dea92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a14890f73deb1ec9e3760d586dea7be44c4cea8489f7617db52bbc15246b33d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISvw4KjgEIEhgCKkCVQqzJKOFNI4Pw8uCjUY8LxIIOVhjeeY1D6RfQCk6ZtlONs2bp0ObpBtLFzxqaql7968wig2Wfhp7NIiqJURmoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfT4y9UGEgzWMdRLuUkFxgSe4GAaDGn5zg33YJ4K/JS7jCIw2/oYJQDDirfI3GkDXvY7/uvCA5HT4zFfveKMWCU78RNF8om6KX9OLmNRtgQFb5ylKt0MeBWDBAhVxJjfsy/xZdIGy6AuPzt1t4PYBuea1Ff1Gx74O3um4H3OMVSJsvhdQrnZDP2IilkuYmb52K14CkSu53EfoI4sg0EKZwVmd2LlHOUqpZJtRWnVWBLRZCib9e6bBuEs4ItFGlQjgRn1PdxraRpHVXfNCQkqX4RxUlPn5yjf0V+tQ/W6+fMDyrc0t9VDqr7a3nqzUD6TTSz1rYTf9PlQXheukr47FoWyk2MMNivqEcUOXQMQIwxkuub2Vvge666KFB/1PoTqZFagYEt4d3V3QnePZPD318kDJDQWIC1RSFy53TneF/dPwNoJBfMEtIiU8XKRsj6uJ4p0o06OLYm64f8PnA4Gu4dMHtq+/QWszFxpBuW5TW+vyeNSKGBBASqMBWBd/ycHbBKL8s+ihh0/XM+n6VvPeNhPmHhjG8T2Uvq3kHkhUDsh+quIW4WXweZ2TdvCW5j3ZJJ9DP+jlKAT5j173l2oviWW5G/2hNwHW//dIbxhXqPBlyPj0wsSPOZ356O5mDkP7BDcimaEF+CeTaPEgxBgSVQnyPFd5zv2Dg59aViv084cqCSxo72fVusshSn6r0eCKEajaIpOlDGlbFYwGIl0r42xMwZKRj715uzJq5xsrIR/yily3XTpCU13MG1ntns+QNEBwizntlFlrE48Wm+bdtXyfIKIYZIjF+w0cdJXAi4LIaO3iEdN4oUENP4VV3Acng65vw206T7W8ADgs1SoGQ0dud9j48xsY2nv/Yxkv59+DOKu/NDRwW0R5RCro0rZtDT4PZfU5XUdQQkteZDlGOUvt2pAWEaBD0+005PqTPrWTlqfC4jJ1C8pyzNJvXx2Ixr+VzRhZj6T+iyS9TLIBWspk12r1jolDC9Rb49VYqBi/fylgvybdT3cWFEdleBOzMSE4tWEKCCpEGj9gy7dljz/SMLwIw5hQNZRQOXHa1ibkgCX7EpmDrl2St9Ru4GVRv0z2JCwV/bDqCZUgP6Kaq+RfajJI6WkbuTsP3C75aKema0hNvYxBy/xUZp9UwSTqDrMAVtVizxonwTtRI9ruxYT9lOCDH7bOW6+4fASTHBsmSR58qaXPwJnNrBOuxHvXV9vvHDBo27KOpCEtOkKomGiaDZapPa8l5q/74tzuuFyTGXSWhOba2j0EsUx4Xa3RrFgKbnuvi7tdKXEsK3rtRW+25iSmYMUTidR37PcMf0Xsu4eQe9kgWoV0leZCJ3imer8KnPjCjIVXI812GK2bzMrAHuVoICx3QRgnogn9lstThuOpEZIckVpoiTtHVl9of7PVOrjd5d+qX1Y+LlHwgrVQfT8f8bwSB921FkExAhkr/mCcLANorxeHrqb44kzdfoWUZPkmJPqXaW/9p0eSMkOU9G+tXapNPm121rMpXronhcG+L4wmXLCtluf3EePcDUpynozZAA/fVHFqA99NTbYD2KWRhBdkYdkoRfbpsyX1eGTIyRi92wfGo8RYpX45HdLO19S1nDj108Uv9y5qI77NTxLoCRAuxkemEPfQIng4zbSKDcB/feRRtOzeEnE8UdM94syT/rdpgUUyMaPUHX1KnVDiqZXlKhjcWFVBDpMxcA+l04hC24e7xePhwknfQT79oerMeaprivyThuXzjFCH5JimGdLLwXfdNJPme6lGqprXzNIwSSDpMFHhqY1yfqvfzhZHLZmt0qUwxCGuTFeqviNVjXRjMMFcR00FYc1Tzwagtu2HzxTHTfKeVBd6e6HIbTXz5hnhESNp1pXM0858f8+YnAIUsbBDb5/4VkKjIxkMU8t5mZMTTOOyKfa+qwnWJTaquYpJ7X4dJqw3VgnS4ffxyFTOwFENiAcBo4Y4nY6cJC3R96yA9A8y3KsmCGjMg/rd6Q7p8St0S3fh2Sp//x6YdX7NKOs7i9nMJgGZZtQOfjsRRYu8MhE6GaFJW2zwo8u2N9A+Rq9NqS/hDSZEiuGmofsBpTwt10TikWsvdiwsTxh0wWx1PfwMRYJ+adxxY99fZNX3UHwryjvg7eRyHunr+G+rFtLwFn14DDvlq87Y2D1M9ZFymzpDPRjgvZlendOtJpBX35C4w5w561tawRSPnUvPJMZItjKBKl1hICLdKRQNkhi2BUOqAwKWeJ9PlQNdHe571Gs9JTJs9goWCrapXEpm9SdEvudv7jh1Yo4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AfK4sj1ywS8FR5coZqMYuD",
      "input": {
        "note": "Jaws touched the bottle at z=0.038 and the wrist view shows the bottle's neck still ~1.5 cm to the arm's left of the jaw column; nudging left and descending again to neck height.",
        "targets": {
          "left_y": -0.112,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01AfK4sj1ywS8FR5coZqMYuD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3939, 1.9823, 0.8589, 0.5949, -0.3809, -0.2886, 0.9983, -0.02, 0.6846, 0.4011, -0.3134, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4772 left_y=-0.1233 left_z=0.0412 left_yaw=0.0657 left_pitch=0.0739 left_roll=-0.0529 left_gripper=0.9983 right_x=0.2718 right_y=0.0034 right_z=0.1296 right_yaw=-0.0038 right_pitch=-0.0274 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [1.0462, -6.2974, 4.9162, 1.2967, -0.1441, 0.149, -0.0122, -0.1709, -1.1145, 6.9128, 1.9902, -0.0952, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3844c02a57d281d30bb8cde2d0497ee87f2061c687bc2cca59afa853ba4577a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20e8a3673604cbc03c2eb08d98062b31c82f39848e05c46db6bdd8930d8fc655",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3aa173654f6350b43a37c2bc63785254610614859d511328525ded2c45cb7d61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 4.922 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]: [-0.5289, 1.7523, 0.9463, 0.1871, -0.4698, -0.3405, 0.9983, -0.02, 0.717, 0.4534, -0.3424, -0.0296, -0.0357, 0.999]\nstate[eef_state]: left_x=0.4446 left_y=-0.163 left_z=0.1045 left_yaw=0.0292 left_pitch=0.0179 left_roll=-0.0119 left_gripper=0.9983 right_x=0.2762 right_y=0.0033 right_z=0.1392 right_yaw=-0.0036 right_pitch=-0.0366 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.5402, -10.0991, 9.0325, 1.6044, 0.0562, 0.1978, -0.0269, -0.1026, -1.4564, 6.8855, 2.044, -0.0855, -0.0757, -0.0073]\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]: [-0.411, 1.9652, 0.8688, 0.5171, -0.3958, -0.3077, 0.9983, -0.02, 0.6971, 0.4198, -0.3241, -0.0296, -0.0357, 0.999]\nstate[eef_state]: left_x=0.4704 left_y=-0.1268 left_z=0.0378 left_yaw=0.0698 left_pitch=0.0318 left_roll=-0.0396 left_gripper=0.9983 right_x=0.2733 right_y=0.0033 right_z=0.1327 right_yaw=-0.0036 right_pitch=-0.032 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.253, -6.8855, 3.412, 0.9109, 0.0415, 0.4567, -0.0171, -0.3897, -1.3607, 7.0496, 1.956, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3939, 1.9823, 0.8589, 0.5949, -0.3809, -0.2886, 0.9983, -0.02, 0.6846, 0.4011, -0.3134, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4772 left_y=-0.1233 left_z=0.0412 left_yaw=0.0657 left_pitch=0.0739 left_roll=-0.0529 left_gripper=0.9983 right_x=0.2718 right_y=0.0034 right_z=0.1296 right_yaw=-0.0038 right_pitch=-0.0274 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [1.0462, -6.2974, 4.9162, 1.2967, -0.1441, 0.149, -0.0122, -0.1709, -1.1145, 6.9128, 1.9902, -0.0952, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3844c02a57d281d30bb8cde2d0497ee87f2061c687bc2cca59afa853ba4577a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20e8a3673604cbc03c2eb08d98062b31c82f39848e05c46db6bdd8930d8fc655",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3aa173654f6350b43a37c2bc63785254610614859d511328525ded2c45cb7d61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MBgDJm1M8926G77EJKhDiN",
      "input": {
        "note": "The bottle body/neck now sits between the jaws at table level; closing the gripper partway to squeeze the plastic body for a lift.",
        "targets": {
          "left_gripper": 0.4
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01MBgDJm1M8926G77EJKhDiN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3847, 1.9858, 0.8593, 0.6407, -0.3889, -0.2874, 0.4201, -0.02, 0.672, 0.3782, -0.3058, -0.0296, -0.0357, 0.999]\nstate[eef_state]: left_x=0.4831 left_y=-0.1195 left_z=0.0493 left_yaw=0.0827 left_pitch=0.1139 left_roll=-0.0676 left_gripper=0.4201 right_x=0.2692 right_y=0.0034 right_z=0.1238 right_yaw=-0.0036 right_pitch=-0.0301 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [0.4991, -6.8308, 5.1214, 0.5836, 0.1832, 0.1734, 0.0659, -0.3761, -1.0872, 6.735, 1.9805, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26200ccd80fcee5bf9bf873eed3b611100ee777bbadd8b1ceb5b5bde883e9089",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97fbe886298e60b611d160e9f96e14f1a47b83e56e0b010304c8a5b20373664e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83778c869da7dd26c7bb28fcf93d4a9ce27c952c9799c9c2e203afa724569c88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 27.05 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]: [-0.411, 1.9652, 0.8688, 0.5171, -0.3958, -0.3077, 0.9983, -0.02, 0.6971, 0.4198, -0.3241, -0.0296, -0.0357, 0.999]\nstate[eef_state]: left_x=0.4704 left_y=-0.1268 left_z=0.0378 left_yaw=0.0698 left_pitch=0.0318 left_roll=-0.0396 left_gripper=0.9983 right_x=0.2733 right_y=0.0033 right_z=0.1327 right_yaw=-0.0036 right_pitch=-0.032 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.253, -6.8855, 3.412, 0.9109, 0.0415, 0.4567, -0.0171, -0.3897, -1.3607, 7.0496, 1.956, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3939, 1.9823, 0.8589, 0.5949, -0.3809, -0.2886, 0.9983, -0.02, 0.6846, 0.4011, -0.3134, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4772 left_y=-0.1233 left_z=0.0412 left_yaw=0.0657 left_pitch=0.0739 left_roll=-0.0529 left_gripper=0.9983 right_x=0.2718 right_y=0.0034 right_z=0.1296 right_yaw=-0.0038 right_pitch=-0.0274 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [1.0462, -6.2974, 4.9162, 1.2967, -0.1441, 0.149, -0.0122, -0.1709, -1.1145, 6.9128, 1.9902, -0.0952, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3847, 1.9858, 0.8593, 0.6407, -0.3889, -0.2874, 0.4201, -0.02, 0.672, 0.3782, -0.3058, -0.0296, -0.0357, 0.999]\nstate[eef_state]: left_x=0.4831 left_y=-0.1195 left_z=0.0493 left_yaw=0.0827 left_pitch=0.1139 left_roll=-0.0676 left_gripper=0.4201 right_x=0.2692 right_y=0.0034 right_z=0.1238 right_yaw=-0.0036 right_pitch=-0.0301 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [0.4991, -6.8308, 5.1214, 0.5836, 0.1832, 0.1734, 0.0659, -0.3761, -1.0872, 6.735, 1.9805, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26200ccd80fcee5bf9bf873eed3b611100ee777bbadd8b1ceb5b5bde883e9089",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97fbe886298e60b611d160e9f96e14f1a47b83e56e0b010304c8a5b20373664e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83778c869da7dd26c7bb28fcf93d4a9ce27c952c9799c9c2e203afa724569c88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkgUKjgEIEhgCKkDVv8iWacpDgFQa/Cg/C1ewb55+g6cf1yn1ndQP8f2JBkkz+Fp8CIqjNQ652a9YPPZpoTeHMBWnczMr2U0K+uW/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYL5y9UGEgzT2XoSQoYrfbQ8tI0aDO4XEk7uWbCFwooF1iIwgV0Zi+4fK34sUBNnjN+yVIzoUN7qQZsH6QCr3v5Fws563hvNeVZdwdw4xe3fknAOKrADypKf4ibkdXlj/WxHIsYkhn0Vf3rmYMy2ilGASBGLEz94uhB7Sh5suIB3CgYMmB6Lgsq5q4ghm9RmAhmKBERAc3t+Nm3ZfV7G0WG1m8L1Tz/lHsaz8/RdSWfBzUraIqHMReswQur5vR0vKOOQa9tN3S20GJdayUp6Y9cU2lMfqHvrHiar0P5mNhvnPL3rc52jvFIAGPir/ak0nxTEI3aop/VhLu7b54PvgGiW6Xt7ma5Fz7bbhc5UlxOZo2LPY1risQ3pbti+8S8Gg5zKSQe3RzSdT8HV2sm7jCYdcZSi3g5QyKbOH/I8ILYtkveqtKZ+u83z2mHoa5M2v0OFFOdOKxWuZi48xWhWITVEyKzyxw+j4pFG9XY2EkRS/ICCnj3SbC6qn1hVKwe3F+0Ne7UxSV6+8YnRVs97BnFRoBWAbioUxJpaDvR7NmkMAl1eOBCxe2owTPyAf1k4CX0RfD1AYWqJ2NLWZmoO7OtQicLKSLdwMv5Lur1uJWwVd44PViQVle5cStzuO6aJRQzqOTzcH07oNQufer1c8s2GoZzhZFArBwKOC7i2JcOLd5GQ+qkuGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JFBZxF5Epn4mRtv4sC1xLN",
      "input": {
        "note": "Gripper closed to 0.42, consistent with holding the squeezed bottle near its shoulder. Lifting high to see whether the bottle hangs body-down (cap up) in the jaws.",
        "targets": {
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01JFBZxF5Epn4mRtv4sC1xLN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3866, 1.6978, 1.5658, -0.4721, -0.4038, -0.2916, 0.4206, -0.02, 0.654, 0.3531, -0.2943, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4866 left_y=-0.1193 left_z=0.2692 left_yaw=0.092 left_pitch=0.012 left_roll=-0.0104 left_gripper=0.4206 right_x=0.2667 right_y=0.0035 right_z=0.1191 right_yaw=-0.0038 right_pitch=-0.0259 right_roll=-0.0 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -8.4308, 9.1282, 1.5653, -0.1245, 0.0269, 0.0317, -0.2393, -0.9504, 7.0632, 1.9853, -0.0415, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e60b7464a686b3e5f22cadfefe2b89095d3a2e3c4ed2c979d5c15e2a20628c8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0405b50ee0df1783bc8b89a4404aca9334c055fd972dcbf0bb2dec2e96ec18f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:919685be95116427ef8ded0f10d85e3acf06ccbba653528577db19cd1bc25b1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 7.075 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]: [-0.3939, 1.9823, 0.8589, 0.5949, -0.3809, -0.2886, 0.9983, -0.02, 0.6846, 0.4011, -0.3134, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4772 left_y=-0.1233 left_z=0.0412 left_yaw=0.0657 left_pitch=0.0739 left_roll=-0.0529 left_gripper=0.9983 right_x=0.2718 right_y=0.0034 right_z=0.1296 right_yaw=-0.0038 right_pitch=-0.0274 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [1.0462, -6.2974, 4.9162, 1.2967, -0.1441, 0.149, -0.0122, -0.1709, -1.1145, 6.9128, 1.9902, -0.0952, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3847, 1.9858, 0.8593, 0.6407, -0.3889, -0.2874, 0.4201, -0.02, 0.672, 0.3782, -0.3058, -0.0296, -0.0357, 0.999]\nstate[eef_state]: left_x=0.4831 left_y=-0.1195 left_z=0.0493 left_yaw=0.0827 left_pitch=0.1139 left_roll=-0.0676 left_gripper=0.4201 right_x=0.2692 right_y=0.0034 right_z=0.1238 right_yaw=-0.0036 right_pitch=-0.0301 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [0.4991, -6.8308, 5.1214, 0.5836, 0.1832, 0.1734, 0.0659, -0.3761, -1.0872, 6.735, 1.9805, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3866, 1.6978, 1.5658, -0.4721, -0.4038, -0.2916, 0.4206, -0.02, 0.654, 0.3531, -0.2943, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4866 left_y=-0.1193 left_z=0.2692 left_yaw=0.092 left_pitch=0.012 left_roll=-0.0104 left_gripper=0.4206 right_x=0.2667 right_y=0.0035 right_z=0.1191 right_yaw=-0.0038 right_pitch=-0.0259 right_roll=-0.0 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -8.4308, 9.1282, 1.5653, -0.1245, 0.0269, 0.0317, -0.2393, -0.9504, 7.0632, 1.9853, -0.0415, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e60b7464a686b3e5f22cadfefe2b89095d3a2e3c4ed2c979d5c15e2a20628c8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0405b50ee0df1783bc8b89a4404aca9334c055fd972dcbf0bb2dec2e96ec18f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:919685be95116427ef8ded0f10d85e3acf06ccbba653528577db19cd1bc25b1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DqPYHQdmeZzqdrg7vWDDyt",
      "input": {
        "note": "The close at 0.4 met no resistance (near-zero gripper effort) so nothing was grasped; all three bottles are still lying down. The wrist view shows the left bottle's cap right under the jaw column, so I am descending again to neck height with jaws open to straddle the neck.",
        "targets": {
          "left_gripper": 0.6,
          "left_x": 0.475,
          "left_z": 0.018
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01DqPYHQdmeZzqdrg7vWDDyt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3996, 1.9831, 0.9253, 0.4793, -0.4286, -0.2916, 0.599, -0.02, 0.6384, 0.3279, -0.2901, -0.0296, -0.0357, 0.999]\nstate[eef_state]: left_x=0.4829 left_y=-0.1203 left_z=0.0439 left_yaw=0.0996 left_pitch=0.0411 left_roll=-0.0102 left_gripper=0.599 right_x=0.2634 right_y=0.0035 right_z=0.1124 right_yaw=-0.0036 right_pitch=-0.0313 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -6.9812, 3.5487, 0.9597, 0.0024, -0.0952, -0.0806, -0.253, -0.7863, 7.0769, 1.9658, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:442f291e14c7beab12c34f1aa7e54b307a7282d030949a624af2a75eb6fd0116",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aada60d11c8b1308549273058fcfbbd94a3f821d9f4c9963912f9c45d982020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d916eae2df3161cec94af758d23617235460e4e16bdf58badf55f2d562c60fdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 11.29 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]: [-0.3847, 1.9858, 0.8593, 0.6407, -0.3889, -0.2874, 0.4201, -0.02, 0.672, 0.3782, -0.3058, -0.0296, -0.0357, 0.999]\nstate[eef_state]: left_x=0.4831 left_y=-0.1195 left_z=0.0493 left_yaw=0.0827 left_pitch=0.1139 left_roll=-0.0676 left_gripper=0.4201 right_x=0.2692 right_y=0.0034 right_z=0.1238 right_yaw=-0.0036 right_pitch=-0.0301 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [0.4991, -6.8308, 5.1214, 0.5836, 0.1832, 0.1734, 0.0659, -0.3761, -1.0872, 6.735, 1.9805, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3866, 1.6978, 1.5658, -0.4721, -0.4038, -0.2916, 0.4206, -0.02, 0.654, 0.3531, -0.2943, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4866 left_y=-0.1193 left_z=0.2692 left_yaw=0.092 left_pitch=0.012 left_roll=-0.0104 left_gripper=0.4206 right_x=0.2667 right_y=0.0035 right_z=0.1191 right_yaw=-0.0038 right_pitch=-0.0259 right_roll=-0.0 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -8.4308, 9.1282, 1.5653, -0.1245, 0.0269, 0.0317, -0.2393, -0.9504, 7.0632, 1.9853, -0.0415, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3996, 1.9831, 0.9253, 0.4793, -0.4286, -0.2916, 0.599, -0.02, 0.6384, 0.3279, -0.2901, -0.0296, -0.0357, 0.999]\nstate[eef_state]: left_x=0.4829 left_y=-0.1203 left_z=0.0439 left_yaw=0.0996 left_pitch=0.0411 left_roll=-0.0102 left_gripper=0.599 right_x=0.2634 right_y=0.0035 right_z=0.1124 right_yaw=-0.0036 right_pitch=-0.0313 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -6.9812, 3.5487, 0.9597, 0.0024, -0.0952, -0.0806, -0.253, -0.7863, 7.0769, 1.9658, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:442f291e14c7beab12c34f1aa7e54b307a7282d030949a624af2a75eb6fd0116",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aada60d11c8b1308549273058fcfbbd94a3f821d9f4c9963912f9c45d982020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d916eae2df3161cec94af758d23617235460e4e16bdf58badf55f2d562c60fdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7gcKjgEIEhgCKkDvT2wwzP/bDS2UDUDwIpSkRgTNWr837ax1lu4i/8wXoaUvE9EsMperOJiLRfF76CAmVkmaTQlWbZufUp6iLKM/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaf5y9UGEgw8fgf310hiqMHpOX0aDOzp5HdUdfez9LHrmiIwonqbaRYqKAq0LUn/VLGRvO2SEENIqlAkCfdBfCJ7C++g3JUi/LIqQRpiLIjIQpAdKowGMJpPI7+gmNEANIdv4XWmGDwdhWWLiwhhez5aoS4qyoRkAjmueTIfqrVwRrahsVScsM1JLnBGSGxe/kiDOx/oAGHUtEFKOBw668m93tlLlkWhxBk1aihB00187WPkLOs0YtuOdZUBbwSaCEG3Rt8jvlJEqoZoVhpbCXOpWaLXROvU6Mc6Ujmc0mMrTnkoHKmOOnngyKcUPWwnX2oRHHmxyl8HNuzOP085y/o6+nSmytlctZ0RqSB5PAk6QWNlKt+nQ0qWSSdgoLWV9K7wu2H1KqhRN7RxwW46lTbiafEjwez5Mp1YqyuCMprt9ansfquxhtXlJ5SV2bvlMOcRAUmblXHTerKde4bxgy4H1d7K9Buj+XRaD+NECs6zymA3zYYM24VLKfSZygRaf5s11+PWD1zWVdOiSMYF+W7vpn572Y3uXYdJrTvN7leW2It/PzBzbndhZ9nN6vR8sP8OBHz4SZGj6Ly2ha9E3wo5HqPwTkKuqK0zwakrDAB3t/dl7GFxhoqQuOqL8AH0CHbdJgICjvIzshoL6UC21vZcR8zOiIpd0rfEF8BBakAl5VwKSB6j5wBIppdLkbSugcF+y93f+LGAgD74zChxtwspB1a5Ux0FT2KQtx5SZEqYsy1A6hx8Hgrqutlh77QlzOypBDgk1UIg//uQlLB9lW3BsMDRnOjhf4575v4+B56yRZJKs16nkm2w5D8h7PvATG+2jKAYHewEg2TIoE5jxXiRnifwMTHNfMw8o/OD+mcqkYfwOjUMi/vwZGRFddFGNrwp4/PSnsFHsojYlC5dUNjVcxWVU0HMOMxnXnT8oAmCF+3bLUqHSx5U9wiBJpn63LtPUvy3uQHvlHMTcEyOZtrgxDBp2w06cZVW5YguCQoYeW7RNzXKgQhno38vTxpIjf06dVrNa5Ls8+LiBNliHn1I16DTKBFYB2PIM8xvGSFpyq5j++0EAkbOOvIXuIXaBshY22ZtVrcx1Zm5ohxA34EmXbAMkk/h5mvOImcmuJr2NXIfHw+Ucj7jMJDTkSKBdwc3GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VEi1f2yCx5QVoTHAdDDvs6",
      "input": {
        "note": "Wrist view now shows the bottle perfectly centred with its cap pointing away; the jaws at 0.6 are too narrow to straddle the 6.5 cm body, so I open fully and descend to straddle the body just below the shoulder.",
        "targets": {
          "left_gripper": 1.0,
          "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_01VEi1f2yCx5QVoTHAdDDvs6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3988, 2.0071, 0.9363, 0.5083, -0.432, -0.297, 0.9966, -0.02, 0.6197, 0.3012, -0.2836, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4879 left_y=-0.1215 left_z=0.0423 left_yaw=0.1064 left_pitch=0.056 left_roll=-0.021 left_gripper=0.9966 right_x=0.2601 right_y=0.0036 right_z=0.106 right_yaw=-0.0038 right_pitch=-0.0328 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -7.1453, 5.4632, 1.3162, -0.1099, -0.0659, -0.0611, -0.4034, -0.8, 6.8581, 1.9414, -0.0464, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b160f9f4b1d076992597de380b06b95eb15c363f906c955b9742abe3891bbbe3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac2c45cf02ea56a8435414c1b63f49d3841805be8c3a74b0ddd09ca23cd6588c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23d1440b9670271c3ce403f2b7aeb68b272ab0ea1f6e234eaf75530ef693b5bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 4.95 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]: [-0.3866, 1.6978, 1.5658, -0.4721, -0.4038, -0.2916, 0.4206, -0.02, 0.654, 0.3531, -0.2943, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4866 left_y=-0.1193 left_z=0.2692 left_yaw=0.092 left_pitch=0.012 left_roll=-0.0104 left_gripper=0.4206 right_x=0.2667 right_y=0.0035 right_z=0.1191 right_yaw=-0.0038 right_pitch=-0.0259 right_roll=-0.0 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -8.4308, 9.1282, 1.5653, -0.1245, 0.0269, 0.0317, -0.2393, -0.9504, 7.0632, 1.9853, -0.0415, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3996, 1.9831, 0.9253, 0.4793, -0.4286, -0.2916, 0.599, -0.02, 0.6384, 0.3279, -0.2901, -0.0296, -0.0357, 0.999]\nstate[eef_state]: left_x=0.4829 left_y=-0.1203 left_z=0.0439 left_yaw=0.0996 left_pitch=0.0411 left_roll=-0.0102 left_gripper=0.599 right_x=0.2634 right_y=0.0035 right_z=0.1124 right_yaw=-0.0036 right_pitch=-0.0313 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -6.9812, 3.5487, 0.9597, 0.0024, -0.0952, -0.0806, -0.253, -0.7863, 7.0769, 1.9658, -0.0611, -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]: [-0.3988, 2.0071, 0.9363, 0.5083, -0.432, -0.297, 0.9966, -0.02, 0.6197, 0.3012, -0.2836, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4879 left_y=-0.1215 left_z=0.0423 left_yaw=0.1064 left_pitch=0.056 left_roll=-0.021 left_gripper=0.9966 right_x=0.2601 right_y=0.0036 right_z=0.106 right_yaw=-0.0038 right_pitch=-0.0328 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -7.1453, 5.4632, 1.3162, -0.1099, -0.0659, -0.0611, -0.4034, -0.8, 6.8581, 1.9414, -0.0464, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b160f9f4b1d076992597de380b06b95eb15c363f906c955b9742abe3891bbbe3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac2c45cf02ea56a8435414c1b63f49d3841805be8c3a74b0ddd09ca23cd6588c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23d1440b9670271c3ce403f2b7aeb68b272ab0ea1f6e234eaf75530ef693b5bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pc8Fjdy9x9p8rdxEMC9dbE",
      "input": {
        "note": "Descent keeps stalling at z≈0.042 even with jaws wide, which looks like the arm's reach limit at x≈0.49 rather than contact; pulling back to x=0.45 (over the bottle's upper body) and descending again.",
        "targets": {
          "left_x": 0.45,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Pc8Fjdy9x9p8rdxEMC9dbE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3985, 2.0132, 0.9363, 0.5266, -0.4305, -0.2996, 0.9971, -0.02, 0.5991, 0.2752, -0.2714, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4897 left_y=-0.1223 left_z=0.0429 left_yaw=0.1073 left_pitch=0.0663 left_roll=-0.03 left_gripper=0.9971 right_x=0.2578 right_y=0.0036 right_z=0.1016 right_yaw=-0.0038 right_pitch=-0.0259 right_roll=-0.0 right_gripper=0.999\nstate[joint_eff]: [0.1983, -7.5009, 5.559, 1.2381, -0.105, -0.0708, 0.0366, -0.294, -0.5265, 6.694, 1.9512, -0.0562, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e4f3c8edd0537f846d0d9456391c87ae5bfbd16b7bb711d409d24baf180a36d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63e8d5090d93396d5bcdc10a02e26c2e9bfcc91f2e43767adc88dea0cafdfabb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08555e57b839cf3fcf4d052ec12bdfc7360ef78646927d869a4199c51b2abe24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 5.668 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]: [-0.3996, 1.9831, 0.9253, 0.4793, -0.4286, -0.2916, 0.599, -0.02, 0.6384, 0.3279, -0.2901, -0.0296, -0.0357, 0.999]\nstate[eef_state]: left_x=0.4829 left_y=-0.1203 left_z=0.0439 left_yaw=0.0996 left_pitch=0.0411 left_roll=-0.0102 left_gripper=0.599 right_x=0.2634 right_y=0.0035 right_z=0.1124 right_yaw=-0.0036 right_pitch=-0.0313 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -6.9812, 3.5487, 0.9597, 0.0024, -0.0952, -0.0806, -0.253, -0.7863, 7.0769, 1.9658, -0.0611, -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]: [-0.3988, 2.0071, 0.9363, 0.5083, -0.432, -0.297, 0.9966, -0.02, 0.6197, 0.3012, -0.2836, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4879 left_y=-0.1215 left_z=0.0423 left_yaw=0.1064 left_pitch=0.056 left_roll=-0.021 left_gripper=0.9966 right_x=0.2601 right_y=0.0036 right_z=0.106 right_yaw=-0.0038 right_pitch=-0.0328 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -7.1453, 5.4632, 1.3162, -0.1099, -0.0659, -0.0611, -0.4034, -0.8, 6.8581, 1.9414, -0.0464, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3985, 2.0132, 0.9363, 0.5266, -0.4305, -0.2996, 0.9971, -0.02, 0.5991, 0.2752, -0.2714, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4897 left_y=-0.1223 left_z=0.0429 left_yaw=0.1073 left_pitch=0.0663 left_roll=-0.03 left_gripper=0.9971 right_x=0.2578 right_y=0.0036 right_z=0.1016 right_yaw=-0.0038 right_pitch=-0.0259 right_roll=-0.0 right_gripper=0.999\nstate[joint_eff]: [0.1983, -7.5009, 5.559, 1.2381, -0.105, -0.0708, 0.0366, -0.294, -0.5265, 6.694, 1.9512, -0.0562, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e4f3c8edd0537f846d0d9456391c87ae5bfbd16b7bb711d409d24baf180a36d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63e8d5090d93396d5bcdc10a02e26c2e9bfcc91f2e43767adc88dea0cafdfabb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08555e57b839cf3fcf4d052ec12bdfc7360ef78646927d869a4199c51b2abe24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS+QUKjgEIEhgCKkCMrtIyqdX/Yo1Hp8q1jw21kTB/R0kwntsuUegZwJmaPNPn5VKFxAkpyOWQE2K1nzHmL+KJlO79LV4pGc2hH69kMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbj5y9UGEgz81dAE716fALB87gAaDDbSiGjkrlKhxevC9yIw8/nJBpSkbx8Hju6o9IzcwNW95EmygV+ZGd3b2Zo12IKZMA0SjikyH79p2SI2mwRMKpcEZXDGam2Ae3dcI2aYuWMjC04a7bF7DMaIgCEPxInYqcpq5tPsMQen1t7tiJPEioLFQyeHlC6t0MnKBmcx5Ta0AIBQ33P8Gf72pIa9DM9AGQj4BgmUZabs+TRVpOqMmHcMtHjDUbawptypk7wYQgwepfHYEZBwXdjDUaU5hupgay7eoAJDLJQCyU9Cve8RDzmXK/8QuQ7T5Gu0eg+F1UE1vGjfAnuH931Ga6naikJeu06LWA944SgDmdlnS6v+EFJxJkfxYRPETQ3AvGUPIbfMTveWFv3+KOEPcATZqc4ntNstwRE1M1gOJ3n7dBfkUC0oe/YqCk7EG77aVcetGRhAXv5ShWLeMErP1jVrmbn67/8WBrwU9ig+z3luJFSXYmPwgFYxEEwlIIUchEcgd0f2sU2N/E4Mgruy037TZ4aDo80Qq1jFf5OMqmSTnmAtD5Jh+OOpiFCzRWh2f216IpE6cf2W3hbga7mDTiMIQDG4/JJDvLkqxWtNDOKjELutLIWUNDqNAEz0A75XFAcq3rRIjVvcv/5bWUPqauj9ylJEoJfoXUY1BbYSdHWSbrzh2rwHQQomU5qs/WxjgUZpJRQuIUEumx8tcIyAibAc7vX1PTKcu+S0+XOUQgb0dnCWMcLI+pDkGISflWiTgVMDJl1tMRHt9WTj/aderrBc12DNSDmJBHb9NPs1QmQt0kNmCYry3vQn0Te+khgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LzubVPuBnNgjACSABQFmby",
      "input": {
        "note": "The arm did not track the last command at all, so it appears jammed against the table/bottle; lifting straight up to free it before repositioning.",
        "targets": {
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01LzubVPuBnNgjACSABQFmby",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3988, 2.0132, 0.9363, 0.5266, -0.4301, -0.2993, 0.9971, -0.02, 0.5819, 0.255, -0.2672, -0.0292, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4896 left_y=-0.1225 left_z=0.0429 left_yaw=0.1064 left_pitch=0.0662 left_roll=-0.0298 left_gripper=0.9971 right_x=0.2554 right_y=0.0036 right_z=0.0973 right_yaw=-0.0042 right_pitch=-0.0248 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -7.2957, 5.4496, 1.2479, -0.0611, -0.0562, -0.0122, -0.2803, -0.2667, 6.7487, 1.9267, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d5b3cec6ff7e8307f4c2223eed8e840fa3f45e7389841945e8e9c005b192471",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4efb2735de25b091f89c0f3ca8d5959ec852926be83594a0e4737c71631fd172",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19661d4360f01052eb3339b891b924119aea2d5420a30214184eb16a4e4bfaf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 27.05 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]: [-0.3988, 2.0071, 0.9363, 0.5083, -0.432, -0.297, 0.9966, -0.02, 0.6197, 0.3012, -0.2836, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4879 left_y=-0.1215 left_z=0.0423 left_yaw=0.1064 left_pitch=0.056 left_roll=-0.021 left_gripper=0.9966 right_x=0.2601 right_y=0.0036 right_z=0.106 right_yaw=-0.0038 right_pitch=-0.0328 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -7.1453, 5.4632, 1.3162, -0.1099, -0.0659, -0.0611, -0.4034, -0.8, 6.8581, 1.9414, -0.0464, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3985, 2.0132, 0.9363, 0.5266, -0.4305, -0.2996, 0.9971, -0.02, 0.5991, 0.2752, -0.2714, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4897 left_y=-0.1223 left_z=0.0429 left_yaw=0.1073 left_pitch=0.0663 left_roll=-0.03 left_gripper=0.9971 right_x=0.2578 right_y=0.0036 right_z=0.1016 right_yaw=-0.0038 right_pitch=-0.0259 right_roll=-0.0 right_gripper=0.999\nstate[joint_eff]: [0.1983, -7.5009, 5.559, 1.2381, -0.105, -0.0708, 0.0366, -0.294, -0.5265, 6.694, 1.9512, -0.0562, -0.0562, -0.0122]",
      "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]: [-0.3988, 2.0132, 0.9363, 0.5266, -0.4301, -0.2993, 0.9971, -0.02, 0.5819, 0.255, -0.2672, -0.0292, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4896 left_y=-0.1225 left_z=0.0429 left_yaw=0.1064 left_pitch=0.0662 left_roll=-0.0298 left_gripper=0.9971 right_x=0.2554 right_y=0.0036 right_z=0.0973 right_yaw=-0.0042 right_pitch=-0.0248 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -7.2957, 5.4496, 1.2479, -0.0611, -0.0562, -0.0122, -0.2803, -0.2667, 6.7487, 1.9267, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d5b3cec6ff7e8307f4c2223eed8e840fa3f45e7389841945e8e9c005b192471",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4efb2735de25b091f89c0f3ca8d5959ec852926be83594a0e4737c71631fd172",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19661d4360f01052eb3339b891b924119aea2d5420a30214184eb16a4e4bfaf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8QUKjgEIEhgCKkAENsbFX4NSiYVJN2adxWlwQDuRsv0WMGNXPWo1JKIionO1kV7AVl5FVn3RvAKHgyhCXm0gkHSwGVPvpf4GuVwqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb75y9UGEgyXI7N2qRPbdmsJGZ4aDEoQMHeouwOSqISOeSIwKBhOogcIkZFenP4I7Nosihos0EILl15dhd0CIYMolf5PMvAZK9NvPAWIKltKVGrOKo8EhhvbtZ7Z4FjrkUDWZe5UxfdW+BQBTZ0N7N+/BDLMOwxaQ565I4uKTmx86GVhiLUe8xUu+r5dsUSzlux7n9vsoEwZb4YnashAmtF0vEqwxTRKiNI/EQ8izdVaBZXJT0T/05mpmJf9aM4Tpcg8s1o+Hk2QbrguO9vFIqIBdwTscdp1RJDHwY2pPOMhrFhORz+SSpPPsFYtj91ZtRDC8l5FWpvNqDMnqn2rL6F93LkFluoXMQeN22x89SZtobodf+Qg6gJ9gA4xgsqkh6+o8FAMVtojMcmYgS+138zSLiRoVL2n7qHdc0qUe0XjbbMli7KLRAW91feugAftckgMnwcPWyszazlVpmtpUX3GH2wkbqL4K8omy9DaKq01SBCI9R1qc/7Cdt1yuUf38/XNu5U07ZnKPJ3hZa+traZC1FycamzVnPl6SIhkzQPRrlAvy7JpUcEVxDT41cnjXIuRwEcwL3bwcIKX7in8ZClBhltDi5ATSWrfEdI0NQvWr4MGebAxGvHfutUdVYKwSYIgC+6d8YCwUKJiBxa5Y/V2lT7hqtuILD/nokiQU2MPvT03/eOJaTFD/3XGpnAPkFq9qajPWBLc545amOL0KSBtsJ2GcyQS+m+0A/PLpqJZfixzbI/9rEN8dHltxW6Pt5myxth6nWJajTsBOYeZC0EQdTt4VSDmDlrdYphf5N6eDrRMwoMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RjfyscMx84sEFUcBYXK6cp",
      "input": {
        "note": "The left arm is frozen at its extended pose (joint readings unchanged across two commands); commanding a large retract back toward the base and up to break out of the stalled configuration.",
        "targets": {
          "left_x": 0.35,
          "left_yaw": 0.0,
          "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_01RjfyscMx84sEFUcBYXK6cp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5587, 1.2472, 1.0378, -0.4252, -0.4603, -0.3443, 0.9971, -0.02, 0.5667, 0.2348, -0.2646, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.3591 left_y=-0.1277 left_z=0.2348 left_yaw=-0.0063 left_pitch=0.0016 left_roll=-0.0116 left_gripper=0.9971 right_x=0.2528 right_y=0.0037 right_z=0.0922 right_yaw=-0.0038 right_pitch=-0.0271 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.6222, -5.7368, 9.3333, 1.6923, -0.3053, 0.022, -0.0122, -0.2256, -0.335, 6.8444, 1.9365, -0.0415, -0.0806, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67d45bca96a6e4ae30985036fc969230ad8b7745ba25cf2e3001dcee8974f81e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dec726897cea8fb33c094de488da585ccf30afbd9d5446f6fe388dfdd957223",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8fd1f7766d6c6bb5920d0451d9943883b400fcdca9b8d3ead4952af7f9585bb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 10.35 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]: [-0.3985, 2.0132, 0.9363, 0.5266, -0.4305, -0.2996, 0.9971, -0.02, 0.5991, 0.2752, -0.2714, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4897 left_y=-0.1223 left_z=0.0429 left_yaw=0.1073 left_pitch=0.0663 left_roll=-0.03 left_gripper=0.9971 right_x=0.2578 right_y=0.0036 right_z=0.1016 right_yaw=-0.0038 right_pitch=-0.0259 right_roll=-0.0 right_gripper=0.999\nstate[joint_eff]: [0.1983, -7.5009, 5.559, 1.2381, -0.105, -0.0708, 0.0366, -0.294, -0.5265, 6.694, 1.9512, -0.0562, -0.0562, -0.0122]",
      "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]: [-0.3988, 2.0132, 0.9363, 0.5266, -0.4301, -0.2993, 0.9971, -0.02, 0.5819, 0.255, -0.2672, -0.0292, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4896 left_y=-0.1225 left_z=0.0429 left_yaw=0.1064 left_pitch=0.0662 left_roll=-0.0298 left_gripper=0.9971 right_x=0.2554 right_y=0.0036 right_z=0.0973 right_yaw=-0.0042 right_pitch=-0.0248 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -7.2957, 5.4496, 1.2479, -0.0611, -0.0562, -0.0122, -0.2803, -0.2667, 6.7487, 1.9267, -0.0464, -0.0415, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5587, 1.2472, 1.0378, -0.4252, -0.4603, -0.3443, 0.9971, -0.02, 0.5667, 0.2348, -0.2646, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.3591 left_y=-0.1277 left_z=0.2348 left_yaw=-0.0063 left_pitch=0.0016 left_roll=-0.0116 left_gripper=0.9971 right_x=0.2528 right_y=0.0037 right_z=0.0922 right_yaw=-0.0038 right_pitch=-0.0271 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.6222, -5.7368, 9.3333, 1.6923, -0.3053, 0.022, -0.0122, -0.2256, -0.335, 6.8444, 1.9365, -0.0415, -0.0806, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67d45bca96a6e4ae30985036fc969230ad8b7745ba25cf2e3001dcee8974f81e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dec726897cea8fb33c094de488da585ccf30afbd9d5446f6fe388dfdd957223",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fd1f7766d6c6bb5920d0451d9943883b400fcdca9b8d3ead4952af7f9585bb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kwpjo9KQ8Dsbipn2ScvfbN",
      "input": {
        "note": "I now believe my earlier grasps were at the arm's far reach limit near the caps (x≈0.49), which is why descents stalled and closes were empty. Straddling the leftmost bottle's upper body further back at x=0.42, z=0.03.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.42,
          "left_y": -0.12,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01Kwpjo9KQ8Dsbipn2ScvfbN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.44, 1.7992, 0.6655, 0.4824, -0.371, -0.284, 0.9978, -0.02, 0.5476, 0.2111, -0.2619, -0.0292, -0.0353, 0.999]\nstate[eef_state]: left_x=0.413 left_y=-0.1197 left_z=0.0304 left_yaw=0.008 left_pitch=-0.0389 left_roll=-0.0001 left_gripper=0.9978 right_x=0.2497 right_y=0.0037 right_z=0.0864 right_yaw=-0.0042 right_pitch=-0.029 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.8, -7.3368, 4.4239, 1.7656, -0.0757, 0.2271, -0.2369, -0.4034, -0.3077, 6.9265, 1.8974, -0.0513, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9375e2543b125b86f06996e9b10f7ca15ca22c6f17b47e47c777779d9aaa1aa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26ecb1f8e397c3778cfd277a6084bb6423e02873ead5b39ae33197d1402b30b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0358963ac2b2c609f47596a448a175faaae1c7ae1f9aa463a9a0d7119a5cca6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 8.005 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]: [-0.3988, 2.0132, 0.9363, 0.5266, -0.4301, -0.2993, 0.9971, -0.02, 0.5819, 0.255, -0.2672, -0.0292, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4896 left_y=-0.1225 left_z=0.0429 left_yaw=0.1064 left_pitch=0.0662 left_roll=-0.0298 left_gripper=0.9971 right_x=0.2554 right_y=0.0036 right_z=0.0973 right_yaw=-0.0042 right_pitch=-0.0248 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -7.2957, 5.4496, 1.2479, -0.0611, -0.0562, -0.0122, -0.2803, -0.2667, 6.7487, 1.9267, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5587, 1.2472, 1.0378, -0.4252, -0.4603, -0.3443, 0.9971, -0.02, 0.5667, 0.2348, -0.2646, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.3591 left_y=-0.1277 left_z=0.2348 left_yaw=-0.0063 left_pitch=0.0016 left_roll=-0.0116 left_gripper=0.9971 right_x=0.2528 right_y=0.0037 right_z=0.0922 right_yaw=-0.0038 right_pitch=-0.0271 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.6222, -5.7368, 9.3333, 1.6923, -0.3053, 0.022, -0.0122, -0.2256, -0.335, 6.8444, 1.9365, -0.0415, -0.0806, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.44, 1.7992, 0.6655, 0.4824, -0.371, -0.284, 0.9978, -0.02, 0.5476, 0.2111, -0.2619, -0.0292, -0.0353, 0.999]\nstate[eef_state]: left_x=0.413 left_y=-0.1197 left_z=0.0304 left_yaw=0.008 left_pitch=-0.0389 left_roll=-0.0001 left_gripper=0.9978 right_x=0.2497 right_y=0.0037 right_z=0.0864 right_yaw=-0.0042 right_pitch=-0.029 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.8, -7.3368, 4.4239, 1.7656, -0.0757, 0.2271, -0.2369, -0.4034, -0.3077, 6.9265, 1.8974, -0.0513, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9375e2543b125b86f06996e9b10f7ca15ca22c6f17b47e47c777779d9aaa1aa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26ecb1f8e397c3778cfd277a6084bb6423e02873ead5b39ae33197d1402b30b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0358963ac2b2c609f47596a448a175faaae1c7ae1f9aa463a9a0d7119a5cca6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3QUKjgEIEhgCKkD3aKqZ2dGs6ulpKXs/MHw4fSw8wBD71FlgL/ncSCETM0V3oxm69XlSFGykHHrWkGNWz3XDi9jgqn2fitkhmSuLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeb5y9UGEgzqrHwnyQWqYstmMxkaDNIoBuv+WkuWznV4ACIw/MnjN9nRNE3VumySQEnTcfehSguPUo6063UDvKMQQW4wYlsLiCSAd/rto2UdqnQ4KvsDZnNbSsTdRMu72DBDHkXCvZerGuPAEgp+nzXBHUXDyU4l+7dWg1flSa4CCX0K+fZarCCWN7di+4J46wnUPlpgHyzsqBHB8dkq1RZxY7CupxuSVib6euOgiOFst1GnUXtEbnL4/mWdOWqYH3Wp2ya8mybniO+8zzD92/oSgeb9csXjU9BnSU+bEqYSkC521JXugq1+QIC3SeZB70M+eoBQ1tDN+zPQjKu+TBzGbJy2AiZekIUPIZ9hEKjGH3Z0HO5tzaQOsDW0RmLX2nyCxw5igw0Od/T7rUUod8CeBYpef23DHCXiLyNEhhiS3y4ZCkS7Aw9nuKSdFKOTBdprnVnavJYHgFRfheVvmugEvFCqb07gPofjOtvAZRpABnben26aS2Np6zOvzAgdi1NwezV6W+jLi6pVio+bcbx/AvbfYB4YhqAFyZuzU10jtH4levhHsxu61CofQCStfeLOdSs3Y04A3gkWOIqL52IwYzZmkExdiS12EKGQCkwcmobXKHLwIndD89PTPQEd3zWpHZXibsGYiQ5N/Su+Q8pbSJYbHIvzbv+GyUQt9JZXaWKz8zqkWlOvv7f40teBgwVSgLpyjGp/ZDv6wL/e5rRucbjBNhtemon8f63KhdSeHQyuW4/XTaici+1/8W9cvVGq1yWhmFNdCzXWPW6m3piCGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PfDnBPZNMX9W5XFXnCLaVW",
      "input": {
        "note": "The jaws are now straddling the bottle's body (descent reached z=0.03 with no stall). Closing to a moderate grip that holds the bottle but may still let it pivot in the jaws.",
        "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_01PfDnBPZNMX9W5XFXnCLaVW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4446, 1.8336, 0.6415, 0.5533, -0.3771, -0.2691, 0.5376, -0.02, 0.5251, 0.1848, -0.2615, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4115 left_y=-0.12 left_z=0.0219 left_yaw=0.0003 left_pitch=-0.0261 left_roll=0.0101 left_gripper=0.5376 right_x=0.2461 right_y=0.0039 right_z=0.0797 right_yaw=-0.0038 right_pitch=-0.0324 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -9.3333, 4.4786, 1.7851, -0.3297, -0.0611, 1.2821, -0.2393, -0.253, 7.0222, 1.9609, -0.0562, -0.0122, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:938dbe5cd8597d8c14de95fb1e49736f813450e3570a9c65453ca28c8ce1b3e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77686e949078a0347a10e08775548c8f1ee3ec621455a5260deecb138ea4de7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be93be163fb8920503f6bdc9ee1aa852c91a7f464b35b701ed77d9fcec788363",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 10.39 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]: [-0.5587, 1.2472, 1.0378, -0.4252, -0.4603, -0.3443, 0.9971, -0.02, 0.5667, 0.2348, -0.2646, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.3591 left_y=-0.1277 left_z=0.2348 left_yaw=-0.0063 left_pitch=0.0016 left_roll=-0.0116 left_gripper=0.9971 right_x=0.2528 right_y=0.0037 right_z=0.0922 right_yaw=-0.0038 right_pitch=-0.0271 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.6222, -5.7368, 9.3333, 1.6923, -0.3053, 0.022, -0.0122, -0.2256, -0.335, 6.8444, 1.9365, -0.0415, -0.0806, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.44, 1.7992, 0.6655, 0.4824, -0.371, -0.284, 0.9978, -0.02, 0.5476, 0.2111, -0.2619, -0.0292, -0.0353, 0.999]\nstate[eef_state]: left_x=0.413 left_y=-0.1197 left_z=0.0304 left_yaw=0.008 left_pitch=-0.0389 left_roll=-0.0001 left_gripper=0.9978 right_x=0.2497 right_y=0.0037 right_z=0.0864 right_yaw=-0.0042 right_pitch=-0.029 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.8, -7.3368, 4.4239, 1.7656, -0.0757, 0.2271, -0.2369, -0.4034, -0.3077, 6.9265, 1.8974, -0.0513, -0.0611, -0.0122]",
      "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]: [-0.4446, 1.8336, 0.6415, 0.5533, -0.3771, -0.2691, 0.5376, -0.02, 0.5251, 0.1848, -0.2615, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4115 left_y=-0.12 left_z=0.0219 left_yaw=0.0003 left_pitch=-0.0261 left_roll=0.0101 left_gripper=0.5376 right_x=0.2461 right_y=0.0039 right_z=0.0797 right_yaw=-0.0038 right_pitch=-0.0324 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -9.3333, 4.4786, 1.7851, -0.3297, -0.0611, 1.2821, -0.2393, -0.253, 7.0222, 1.9609, -0.0562, -0.0122, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:938dbe5cd8597d8c14de95fb1e49736f813450e3570a9c65453ca28c8ce1b3e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77686e949078a0347a10e08775548c8f1ee3ec621455a5260deecb138ea4de7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be93be163fb8920503f6bdc9ee1aa852c91a7f464b35b701ed77d9fcec788363",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS8gkKjgEIEhgCKkDZ4vufzmfM6KNLvL3/9JVSV9OpOLJllYEAOzurXYb64caGiar2beDO5HdDec8EbC4KZrcjSl3ztnxbgbZWix9dMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe/5y9UGEgz217glSbx3WFy/P0gaDGC7LdcXb9YAKYDHuSIwJ49GvwkZZ7jE+Uo8Gzdh1BiZZs+wJfHDhnUsMsny3TTnnKv/v3Y8dG4Ea7Dhf8RCKpAIyJ+h1NHri+WcbQLE+0EOGm/XGJ0q+b976LWwLxedkZzH6ys/Aa1LkSaF3aMzb48EFIyGAMfKHWwgd+uAmPjkViuml6mV/o0LDxwWGqecK90Dp1uOgxd2QffVtE14rCClwWXxGium5pMzdvCEoFVTeFsngCTd9Q2+Xt07ATL6nEJ3jnuvW64cEUsOUzgNZKmHkStANgzNthUInmmP45B9X7fCrr0Qh9SdgYwiJPcQXbO84SoV3C5qq5pXYY2iN/JOVKp5xppGrmhzQILwpoZ1rRxLpr/M1PR6o7Isbn1BwJTqvTnsQq12R1cwg4VLfQQ7JVGd5jEvhz3e3g+2AUJHU61BHQByVio0+P/HhaYkRQeqAkfvs4p4WLqTh0a2NJQ2BWKHif3zdVSWrnKJCZhtEDkD49OiavpM+dQzr0bnfZSNiO8LR7vXXl9by5JtntDFjbb2ba/h9Dio7WBf4oZO9bR8khr6DGx/AwTSdU+fLgl5Yq73Sf+xMNyM9zKo68/7lBsalUCPHT20PDAWhxS+jD6cXxpl0RdTW1EsBFuuLswI2g9dPUO4Ggl4kYkwcl1mtBJ9jKeORsCZqmyZxZJJSjHi3fIiutRkPgZ4cubuBYmYgniQ0hsFFJyXgL0or2byQUawNU/8xullTJdH/NxuiZCCG2Vp1WmlWmRr64b0KbFR63OCV3izqV8a1RqM+aotQqulaX7ZBWzmphZNoFXIf5jFyYElr+tOrquy+hFt3DI+Fohd04GeUfWKuUa3hqZE6R/Z0aAlG+V+yR3Q9Psi+rjslhmlL7fDuMpZMUaL5EdC+tW8ed3fm2yv5/oya41R/tj5ddhAkXyzQ7PwGDcxujhjXsbG2dPVty9SEGhJ5scF9AUrdwZFwfliyMr3xq8vKd0bxfA9D5qeXarcpvWafVpgoYmXe6PsGkTgv2WGsGA26XCbpLxncCARCc8aDn53olRfIiap6j71vlaQhifx3/Ga+WpnOkv8TaEZmGu8Dyj2MJy40CpiRBIq9GozqHwb2vXpPYi/IczIWI1sZQvE25vESMdw/PFhuiXTU7BO4gnfJSz/D3dprAfTdWeiwhtN5WL3hksHJTKN84OIza0G7ZIS1KxyAutubod/EuptlqYsP9Unys5E3L/ufNyzckI9eOt+azLLJ4oHHI7ryc3WdNz44uuEdVnyCjN+rnG5ouebNWic2exkVoOm7ZyHPGRUgFVihlOyODrIkSmcP8x7qzGzQ01CWuRXdq1htxp9RJQw+XAEgXzjrCk4D287PE+ACV2fp9qLb44EeERnt+Xs7duNXqS81FeIoJYTllacFa/dvDxjhAVzklKDiOOzBRGAivlehoQGvVxxoNSqtN6hOz74o93256mDAzCQhbYPsCIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Lkk82ncBL2YBfTrSR1kYBJ",
      "input": {
        "note": "Gripper stopped at 0.54 with high effort — the bottle is firmly grasped near its shoulder. Lifting it well clear of the table before letting it pivot cap-up in the jaws.",
        "targets": {
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01Lkk82ncBL2YBfTrSR1kYBJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4446, 1.4796, 1.3502, -0.6556, -0.3481, -0.2695, 0.5406, -0.02, 0.4961, 0.1577, -0.2562, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.401 left_y=-0.1203 left_z=0.2361 left_yaw=-0.0172 left_pitch=-0.1665 left_roll=0.0545 left_gripper=0.5406 right_x=0.2434 right_y=0.0039 right_z=0.0749 right_yaw=-0.0038 right_pitch=-0.0252 right_roll=-0.0 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -9.2513, 12.1504, 2.5324, -0.4469, 0.0122, 1.0281, -0.253, 0.1709, 6.8308, 1.9463, -0.0611, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e044a08000bd0e1c854c79bbbdf27f85480b32c43fa4b336715af3d528e4c820",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb6d31b212c69b1bade67cef08ef51188c2f08bc385ec03df4ddf066a99092cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72c066a7bc2d5edde5e34b21aaace1faa3458ceec3a03ca8f606b7ac4748930d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 4.656 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]: [-0.44, 1.7992, 0.6655, 0.4824, -0.371, -0.284, 0.9978, -0.02, 0.5476, 0.2111, -0.2619, -0.0292, -0.0353, 0.999]\nstate[eef_state]: left_x=0.413 left_y=-0.1197 left_z=0.0304 left_yaw=0.008 left_pitch=-0.0389 left_roll=-0.0001 left_gripper=0.9978 right_x=0.2497 right_y=0.0037 right_z=0.0864 right_yaw=-0.0042 right_pitch=-0.029 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [0.8, -7.3368, 4.4239, 1.7656, -0.0757, 0.2271, -0.2369, -0.4034, -0.3077, 6.9265, 1.8974, -0.0513, -0.0611, -0.0122]",
      "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]: [-0.4446, 1.8336, 0.6415, 0.5533, -0.3771, -0.2691, 0.5376, -0.02, 0.5251, 0.1848, -0.2615, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4115 left_y=-0.12 left_z=0.0219 left_yaw=0.0003 left_pitch=-0.0261 left_roll=0.0101 left_gripper=0.5376 right_x=0.2461 right_y=0.0039 right_z=0.0797 right_yaw=-0.0038 right_pitch=-0.0324 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -9.3333, 4.4786, 1.7851, -0.3297, -0.0611, 1.2821, -0.2393, -0.253, 7.0222, 1.9609, -0.0562, -0.0122, -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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4446, 1.4796, 1.3502, -0.6556, -0.3481, -0.2695, 0.5406, -0.02, 0.4961, 0.1577, -0.2562, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.401 left_y=-0.1203 left_z=0.2361 left_yaw=-0.0172 left_pitch=-0.1665 left_roll=0.0545 left_gripper=0.5406 right_x=0.2434 right_y=0.0039 right_z=0.0749 right_yaw=-0.0038 right_pitch=-0.0252 right_roll=-0.0 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -9.2513, 12.1504, 2.5324, -0.4469, 0.0122, 1.0281, -0.253, 0.1709, 6.8308, 1.9463, -0.0611, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e044a08000bd0e1c854c79bbbdf27f85480b32c43fa4b336715af3d528e4c820",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb6d31b212c69b1bade67cef08ef51188c2f08bc385ec03df4ddf066a99092cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72c066a7bc2d5edde5e34b21aaace1faa3458ceec3a03ca8f606b7ac4748930d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISyQ0KjgEIEhgCKkD906UvjByFs0Kc/UKV7z3SnqfHvfc0F+SCBGV6qLYjQ0SNysqRzNQ3PlMtEpRRUAq/F9N66IOTvPnCFPZtJXkPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfv5y9UGEgyD1joXKwPAaA0gTSMaDC1s7pTLyqRdnmUVGyIwYyC+wUfETqRLStp6w5WO99HCLFl6cTaxLTr4YexFiLfO9j8UojJRmM0M1xvlcux0KucLarj8tpuWUZH5WpdnJAbNUnWyUsURdG9HVJVm15Shp7HQeGYSsRUjiNplLigMgMf5Rdhy75tuG6oisYNa1Vu7ugnfP8TYNAxRrN2H8al8mVqL2l4LTIoQaGTYHxD/5N8OyRDjo3MjpPyAmV0+xeOPQAs5/firDGnstGx81wqZnIOJQqDu2ewwIy+BPwK4UwosWHvYq3zbzV6fd7Z4VOD6hRaQf8FK+XA4sR+J0MSANMTuxaYSHHeqaR0rebmLtPT2CxmByZ2YN3eq/MSUMaqN3xbDCHlUylaE3s5twcivEmf+2w/63SPPtywEcyXRVMsLsLw82mKm8v6Uv0jLhhPELpZhUxDmrvSUQXJQHMA8T679k501LHsIMpPMZTxcCi5eReOqtpQTLAfn19gcSBNFUfK4Jm/Ag4KrI1pZEc3kiBG9XkyafK9xpI7m1ZmjLlGeD1owsB8zytegB6IuFNqS6rhfdC7sMaAQ1vkCV/SZnHRlkwD3T9uPBTO/moGtJav/mrTtTBDfzszUFGkjkQgTeh9eZKjm9Yit2U2DP7OZC7FeMi2LWxQi6u7vKdro5FP5LUBFVpSZUnT4JBEzEUW8dyhFDTWFud5PbPNG/gl7YAXeLZNQLFnnNpcDzbleM8Jw0hXXr7xhrPuO1idwkWQ6Bo5iFzT8rLshWGvZYCZIebVldLiVvQw/xVWALrV95X1QxOqhqi8M+VIdBwH5uXdpiPh6c6fiPbH+7wCqxXgBoxPBP/J4Wd2C8ldeXhebDfAbUjMiJWirQTswWQ6CIFZJSjde2ZjZeuXvXA/uLLpQBNk6FJGAXvkdeYgwopAiJt6TBMZM1i6f9KjsYt1+mcoYJirDCPR4upQNDtWLYwpS31ayR+zEx15oLY8oG05fl9R+tsTR01vBtlFz7jfs3DFofT4Q1n0zd7l6OV8qcTLICRGpDa64z/n2P38RZynq+LTcwCasxluCWHJ/Td8aruLauU7m3yQ7ny4Off9V5hpPZMuLv9XwRt3M/aQMKA6ysfo2RIHhnz9rjiu/x+7jlsb6x0U1zf586h3qlZvfFaK99RRmEPmsJlqdqJgPNQc9f2HdM7EAuZf0derfhJydbV4vN+ENT241e08ruzJxxhI27+EXrn9T1jsbMZl0CxaAzNNGqPTT6hQ5YD9pKMlHiVGyhv6B5GDm0fPQE6FPJ3dlLTd8Oas1FV1NIQ8OwUu5cH0jfVmVdRVwtyacWJ9uqkMQ4sGQeL9Ofzrxw1tR6F7p14ZcEb0OZamkNy0Q8D+T95D75vdmHQ85AyzlC5u3Wbhf3uALjWBUJznNpf1pd3CpDAxlQ5Yc3zA/lj4xb8yayXb7yHP4xxVs05Hg1vl+PFvro+vXXnQc/pVhp9XZeyCJ7391WfXXMjfsA6PMnntqyOjmAr1RRIF43gu3NBldKaB0uN/mgZqDxn6UdJLlDqAoVTvhID4mjyTkADFxTBW5DsZtr7rwZNZLNQL4uDw25Pb6dhjH97sS9oazpt/0wY7s+MpYLJamiw2csla3inCE8MRZcWDwODFVgoHw/pMOwoe41EaSom1Uy730mnYCl8OBFPdDnR5oOdAOQKXozhzRcX8ZQ1b7zhWCELpHjws0s8Q7jNq/NQ26+wCzXXrTLOyicUnmUGOyOESY39a7I4u6Etp+bZnv2ts9pIjn3Y7cBLq62VIZob6fTs210IDVTizaZW2BkErwn9931/PXvAQRhuJcqYhoCBDIkZpJWae+QJKXJabo/eD0yuhv+6f2lRefayQWdHEL9Axd3tgiopySAVziJsEQGADgn4m1WvKm85WRjEyzKI48YMi3gNvTYrMXl0roURq//Dwz5pjUu0cjDq7F0gcMVxerGya+ltFHErNMHKl9OfvRsxxU3LeCyces0fwJUl+dQahffzprdtpwvxCvJNjO/HYqStScCjy9/FdyB1WJUUuD25Vqdc9K+G1j5SMGloCl/MJyhxTr/lHzTmqLQaoiDgFdUTRI02jNFlH6rO0kZgt0WzMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CbVNduxbx2Z7arfQjxTCK1",
      "input": {
        "note": "The bottle is lifted and held horizontally (only two bottles remain on the table). Easing the jaws open slightly so gravity can pivot the bottle cap-up in the jaws.",
        "targets": {
          "left_gripper": 0.63
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_01CbVNduxbx2Z7arfQjxTCK1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4446, 1.4788, 1.3911, -0.7238, -0.3477, -0.2691, 0.5406, -0.02, 0.4961, 0.1577, -0.2527, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.3955 left_y=-0.1178 left_z=0.242 left_yaw=-0.0157 left_pitch=-0.191 left_roll=0.0658 left_gripper=0.5406 right_x=0.2439 right_y=0.0039 right_z=0.0756 right_yaw=-0.0038 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -9.4564, 10.8513, 2.547, -0.5348, -0.0415, 1.033, -0.1573, 0.3487, 6.8308, 1.9756, -0.1001, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30fe8e9c5a421c860abb5cd1303115425607ef2d5d526243001063a901990356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:650b5593316ff6386ceffde173cacc1949c3186b455974c33e72d3f28bd1a837",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92688c7563ec98cf766d47657de28d7570dd31c1ea91c7480cb1fc8c10b8dab6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 22.63 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]: [-0.4446, 1.8336, 0.6415, 0.5533, -0.3771, -0.2691, 0.5376, -0.02, 0.5251, 0.1848, -0.2615, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4115 left_y=-0.12 left_z=0.0219 left_yaw=0.0003 left_pitch=-0.0261 left_roll=0.0101 left_gripper=0.5376 right_x=0.2461 right_y=0.0039 right_z=0.0797 right_yaw=-0.0038 right_pitch=-0.0324 right_roll=0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -9.3333, 4.4786, 1.7851, -0.3297, -0.0611, 1.2821, -0.2393, -0.253, 7.0222, 1.9609, -0.0562, -0.0122, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.4446, 1.4796, 1.3502, -0.6556, -0.3481, -0.2695, 0.5406, -0.02, 0.4961, 0.1577, -0.2562, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.401 left_y=-0.1203 left_z=0.2361 left_yaw=-0.0172 left_pitch=-0.1665 left_roll=0.0545 left_gripper=0.5406 right_x=0.2434 right_y=0.0039 right_z=0.0749 right_yaw=-0.0038 right_pitch=-0.0252 right_roll=-0.0 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -9.2513, 12.1504, 2.5324, -0.4469, 0.0122, 1.0281, -0.253, 0.1709, 6.8308, 1.9463, -0.0611, -0.0806, -0.0122]",
      "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]: [-0.4446, 1.4788, 1.3911, -0.7238, -0.3477, -0.2691, 0.5406, -0.02, 0.4961, 0.1577, -0.2527, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.3955 left_y=-0.1178 left_z=0.242 left_yaw=-0.0157 left_pitch=-0.191 left_roll=0.0658 left_gripper=0.5406 right_x=0.2439 right_y=0.0039 right_z=0.0756 right_yaw=-0.0038 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -9.4564, 10.8513, 2.547, -0.5348, -0.0415, 1.033, -0.1573, 0.3487, 6.8308, 1.9756, -0.1001, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30fe8e9c5a421c860abb5cd1303115425607ef2d5d526243001063a901990356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:650b5593316ff6386ceffde173cacc1949c3186b455974c33e72d3f28bd1a837",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92688c7563ec98cf766d47657de28d7570dd31c1ea91c7480cb1fc8c10b8dab6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1AQKjgEIEhgCKkAH50Do7MVKdhDeZPprgsb2fxx6PzCt+/toNmMHWfPABplGnXlxErsJTmgT/LTNmpETWh3sJIAuEAMM1eZQmE5xMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYD6y9UGEgybpkHxsakeevx37HIaDDlYFFGGbjUmux6agyIwFcbn+ap1FYtuqtDLyG/nfIKKYObnBjeSzwNvhXgbS3eS9ZIrDOduiUNPqDynKGs2KvIC9PTbyjqmaHB4JdDgwR9NlZZNSOXoX7LjxZ9WGfnmvEFiXlGMMPfJ1VdJadRnNsXbou+mSJ0p2NmvA8Px1ipB0QIJK/qqL5AHLJIx0kcTJ/dptZM4GlsNGsf9qPIGACyvfIimyWBSLAU42q0b7Tx2haY8jgoCCx2szEK2uB1scPPuuaRz1qepz17lIOin7YcJmM3E4cWYGlOIOJgmioC/IMNzOwTSIr/vwUQqSA5n9r0nmMgfHPmivwI/7JsxUI1c7l/uSsqWleCd2h+O9TN93Fqg2BijtGgFK+pRRJE3bDt6pdIsj94+AyKy/lQy716aVRMGAArpDV8Os23wI87KQngeoFgb5BnaMZ8xNaUiINyGgFFP0fx+msBBg/qirEdv623vsTZ11e3IZrOPMeKS8KRT5BS8aTHwV6+Un+YE2Qrm7Ecp17Fhq7m/HwKOAoFQqnwveJcdGEMKRa2iufiBK3Ij4cUejsgUwevBdRh3/AoI2BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QZAuCPUVqfiRPK1Z9GL2aR",
      "input": {
        "note": "The jaw command was clamped and did not actually open; re-issuing a slightly larger opening so the held bottle can rotate cap-up under gravity.",
        "targets": {
          "left_gripper": 0.66
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01QZAuCPUVqfiRPK1Z9GL2aR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4511, 1.3743, 1.1709, -0.4526, -0.3618, -0.2687, 0.658, -0.02, 0.4759, 0.1371, -0.2531, -0.0296, -0.0349, 0.999]\nstate[eef_state]: left_x=0.3952 left_y=-0.118 left_z=0.2369 left_yaw=-0.0186 left_pitch=-0.0456 left_roll=0.0094 left_gripper=0.658 right_x=0.2413 right_y=0.004 right_z=0.0707 right_yaw=-0.004 right_pitch=-0.0225 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.6769, -6.5573, 7.3778, 2.0635, -0.232, 0.0024, -0.1392, -0.2393, 0.4581, 7.1043, 1.9023, -0.0464, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daa19b15da274388a04555c524e2caff68b3c4866fcf44c4f830476d91fcb2a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f43fb82430dde2b548b53762be6afc7d02b7a5c0ca1c1eeb295a191b23300b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cfc8b4cfb11c460c2dd4219c2fa9511e366cb951b23d34e5cc11bc20696627ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 8.757 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]: [-0.4446, 1.4796, 1.3502, -0.6556, -0.3481, -0.2695, 0.5406, -0.02, 0.4961, 0.1577, -0.2562, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.401 left_y=-0.1203 left_z=0.2361 left_yaw=-0.0172 left_pitch=-0.1665 left_roll=0.0545 left_gripper=0.5406 right_x=0.2434 right_y=0.0039 right_z=0.0749 right_yaw=-0.0038 right_pitch=-0.0252 right_roll=-0.0 right_gripper=0.999\nstate[joint_eff]: [-0.4444, -9.2513, 12.1504, 2.5324, -0.4469, 0.0122, 1.0281, -0.253, 0.1709, 6.8308, 1.9463, -0.0611, -0.0806, -0.0122]",
      "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]: [-0.4446, 1.4788, 1.3911, -0.7238, -0.3477, -0.2691, 0.5406, -0.02, 0.4961, 0.1577, -0.2527, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.3955 left_y=-0.1178 left_z=0.242 left_yaw=-0.0157 left_pitch=-0.191 left_roll=0.0658 left_gripper=0.5406 right_x=0.2439 right_y=0.0039 right_z=0.0756 right_yaw=-0.0038 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -9.4564, 10.8513, 2.547, -0.5348, -0.0415, 1.033, -0.1573, 0.3487, 6.8308, 1.9756, -0.1001, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4511, 1.3743, 1.1709, -0.4526, -0.3618, -0.2687, 0.658, -0.02, 0.4759, 0.1371, -0.2531, -0.0296, -0.0349, 0.999]\nstate[eef_state]: left_x=0.3952 left_y=-0.118 left_z=0.2369 left_yaw=-0.0186 left_pitch=-0.0456 left_roll=0.0094 left_gripper=0.658 right_x=0.2413 right_y=0.004 right_z=0.0707 right_yaw=-0.004 right_pitch=-0.0225 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.6769, -6.5573, 7.3778, 2.0635, -0.232, 0.0024, -0.1392, -0.2393, 0.4581, 7.1043, 1.9023, -0.0464, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daa19b15da274388a04555c524e2caff68b3c4866fcf44c4f830476d91fcb2a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f43fb82430dde2b548b53762be6afc7d02b7a5c0ca1c1eeb295a191b23300b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfc8b4cfb11c460c2dd4219c2fa9511e366cb951b23d34e5cc11bc20696627ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G9UgcKBnv31NouMXki8jMf",
      "input": {
        "note": "Opening the jaws that far released the bottle and it fell and rolled toward the front-left of the table. Moving the left arm over its new position to inspect it with the wrist camera.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.26,
          "left_y": -0.12,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01G9UgcKBnv31NouMXki8jMf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8227, 0.9352, 0.6125, -0.4023, -0.6189, -0.49, 0.9975, -0.02, 0.4561, 0.1184, -0.2459, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.2648 left_y=-0.1293 left_z=0.1619 left_yaw=-0.0684 left_pitch=-0.009 left_roll=-0.0006 left_gripper=0.9975 right_x=0.2401 right_y=0.004 right_z=0.068 right_yaw=-0.0038 right_pitch=-0.0141 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -2.2906, 7.0906, 1.5067, -0.442, -0.0415, -0.1538, -0.1162, 0.5402, 7.0496, 1.8486, -0.0562, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d258c596771ffb4b4aba959eaf255e15d044140ccfe24502136dbc0a98d72fb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6227e3d374657f0a1f494f955df77722368c11b64fea1136d1d5aa4ae827418",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e9bb7f3a699664ec3c55a1415ec0dee4eaee142540a6b4b4d968dcb666ab2f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 9.803 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]: [-0.4446, 1.4788, 1.3911, -0.7238, -0.3477, -0.2691, 0.5406, -0.02, 0.4961, 0.1577, -0.2527, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.3955 left_y=-0.1178 left_z=0.242 left_yaw=-0.0157 left_pitch=-0.191 left_roll=0.0658 left_gripper=0.5406 right_x=0.2439 right_y=0.0039 right_z=0.0756 right_yaw=-0.0038 right_pitch=-0.0217 right_roll=-0.0001 right_gripper=0.999\nstate[joint_eff]: [-0.4308, -9.4564, 10.8513, 2.547, -0.5348, -0.0415, 1.033, -0.1573, 0.3487, 6.8308, 1.9756, -0.1001, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4511, 1.3743, 1.1709, -0.4526, -0.3618, -0.2687, 0.658, -0.02, 0.4759, 0.1371, -0.2531, -0.0296, -0.0349, 0.999]\nstate[eef_state]: left_x=0.3952 left_y=-0.118 left_z=0.2369 left_yaw=-0.0186 left_pitch=-0.0456 left_roll=0.0094 left_gripper=0.658 right_x=0.2413 right_y=0.004 right_z=0.0707 right_yaw=-0.004 right_pitch=-0.0225 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.6769, -6.5573, 7.3778, 2.0635, -0.232, 0.0024, -0.1392, -0.2393, 0.4581, 7.1043, 1.9023, -0.0464, -0.022, -0.0073]",
      "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]: [-0.8227, 0.9352, 0.6125, -0.4023, -0.6189, -0.49, 0.9975, -0.02, 0.4561, 0.1184, -0.2459, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.2648 left_y=-0.1293 left_z=0.1619 left_yaw=-0.0684 left_pitch=-0.009 left_roll=-0.0006 left_gripper=0.9975 right_x=0.2401 right_y=0.004 right_z=0.068 right_yaw=-0.0038 right_pitch=-0.0141 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -2.2906, 7.0906, 1.5067, -0.442, -0.0415, -0.1538, -0.1162, 0.5402, 7.0496, 1.8486, -0.0562, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d258c596771ffb4b4aba959eaf255e15d044140ccfe24502136dbc0a98d72fb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6227e3d374657f0a1f494f955df77722368c11b64fea1136d1d5aa4ae827418",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e9bb7f3a699664ec3c55a1415ec0dee4eaee142540a6b4b4d968dcb666ab2f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnQoKjgEIEhgCKkDwUOxn8rsT46+JeYtUx6rogo3ef6s5VHMNsOMcQpZJV1LJk0iHF7ETQ8Q/HjULn9J5aba/DcB4aiKHH7blNVrrMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaD6y9UGEgwoGcRk1tfp51WvHk4aDJSAUM62O8amNNw6ySIwklsGhvJekmqe+dkNPI8cw855DKweZ/GFfgrXtagSGthJq/T+Hu1Zjrzf9WB9B7m+KrsIe9bm2D04XPfkND+pFS8mIgyDDFVGkj9MMnI1ZgLBElKglKcdaYC+C0kJPTNMj+s/OwRIv2UzdghTwnxX0+92BGyE9BkdKKeZQHVz3rWONrWSdg+/6JUJ0/BCrjxzcBG60jnKL7qlGg/vk+pd9jQfX7Ih7v5xAe3rO2IeRbr2JcbHyUZ0Qgwecg1mcMmsYfSxDD1xw0Rj8Iy50J0IhzMeT2UvG0xva5h1XLtSskY6EfMVXpo15YdACx+b1edV5qLocJaP0i5D5JX5fH/yjFHEnk822Ir6mFyRJoIIkH675eLuD/2J7d79WKfWHG/clbwhE3b5BCE0pogal602mFmQLVumUe4dRHwWM99hWr2dAUk/kf6pZo5puU2tF0UeBirIsfpKSOwQOT7vB+aNOS4Q8EDJpd89U4UWlp41Ubn9ehXqDNryY3LEv9FOsGFQ1iYfIDi/fYXlu2PbU19/NkZ4WkJo0P219qw3/Dk6wK61cA2QB44Q4aiYO+QbcusVfku7u77BINiWuN2oDcJZi+GZYFmodzmAsirCGr878boROQZe3AW4cdShMDs0FWFaE6YVx/z70EY9saCLmdpfv/UkBQed0JYNmpXmLGvQ9KmAoQtM9+lcGaS31T+i/HviXmH+pKGjxCoGpXECgkOgWshc1BtNTl8yJpHZX+imvBZLu17Zhd6U+5Urtyr9THg03ztzTY7BlT+CZph3WcODBdb59cWS7r5hn5iYfL4ZzPqsPpgSedOD16vghIctNJWxOAvp7Xi5x44v6P1/0cmCIkhycm4PpRTuMpBNqh4hGeNd2+ADaFa58FSOrnEDC/4SrE6EzIazQ5K0mhHqccmL4np4FM/7YCpwkk8oHXZGspsdF5hLkwEmsx3Gr/MreaF1AXjPezi609njdZMquAPlCRIcDgQ0Iq7csdQAaXiG8gvc4qnmh13+egyjk4GkWjNafKR5d72bC3agzbacAN2Vrnkkqk46WENSFADiz92CQIXy8Mg+15njfgHWgRJKGG/KG/uI8fghlpCK1ykvWyPUDEI5ousD0SERh9lnPVxJrHeb5cx0xEGq3OxsUYmd9g7xc1JZBv5+wd9QjUJiVwOQSjtflKoMx0m3CETpvxGW4BJMAF2C8BHnRzJ1InU0dmJPCnaHMcR0fmY9+k2wlPbNpN+8a3B98e2aW+5t8aBZj536fWSwlEVrkP+jPJDL1inRI6nI+u/AQpdEsr8SW7LI4QJequ2SaeyYsN8zjjwmHGceJyO3aQKi/jYx0yZsjiuZwpdIe0ss3ytFEayXQgjPskJ1X30ODYKDkSowRGKXeYUGX8kzKtZQR4NsWRpAWv+2pXj8ioFuSD4gwUres+TGFEW8UwtNl2YbOCiNKSSFv0Rc7/yKbsOAY27bMAWyq0S+2F8zLwn24heHakRejjNhd8AO+bswyiQOey1b5O6dGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ti26Usq2irqN6esB2G1Qzr",
      "input": {
        "note": "The dropped bottle appears well to the arm's right in the wrist view, so I am sliding 12 cm across to hover over it before grasping near its cap.",
        "targets": {
          "left_y": -0.25,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Ti26Usq2irqN6esB2G1Qzr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1271, 1.4052, 0.8883, -0.4206, -0.807, -0.7689, 0.9976, -0.02, 0.4446, 0.1112, -0.2459, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.2614 left_y=-0.2444 left_z=0.1486 left_yaw=-0.0909 left_pitch=-0.0301 left_roll=0.0188 left_gripper=0.9976 right_x=0.2395 right_y=0.004 right_z=0.0672 right_yaw=-0.0038 right_pitch=-0.0099 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -5.4085, 8.6222, 1.16, -0.6471, -0.1783, -0.0073, -0.2256, 0.1436, 6.7077, 1.8242, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fb3556f66ef77384dabd766294f0e7bd14adec1c10674c1cc87703d8cf05c0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ab8eb29cf00e61b62345d52df3ae3fea5c83c1ec434b0cfeead54e4e5055a62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e8ef52bf35ff9a61f23c39acd2960b76c75951180ef2b60af69f33d950a6580",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 14.5 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]: [-0.4511, 1.3743, 1.1709, -0.4526, -0.3618, -0.2687, 0.658, -0.02, 0.4759, 0.1371, -0.2531, -0.0296, -0.0349, 0.999]\nstate[eef_state]: left_x=0.3952 left_y=-0.118 left_z=0.2369 left_yaw=-0.0186 left_pitch=-0.0456 left_roll=0.0094 left_gripper=0.658 right_x=0.2413 right_y=0.004 right_z=0.0707 right_yaw=-0.004 right_pitch=-0.0225 right_roll=0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.6769, -6.5573, 7.3778, 2.0635, -0.232, 0.0024, -0.1392, -0.2393, 0.4581, 7.1043, 1.9023, -0.0464, -0.022, -0.0073]",
      "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]: [-0.8227, 0.9352, 0.6125, -0.4023, -0.6189, -0.49, 0.9975, -0.02, 0.4561, 0.1184, -0.2459, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.2648 left_y=-0.1293 left_z=0.1619 left_yaw=-0.0684 left_pitch=-0.009 left_roll=-0.0006 left_gripper=0.9975 right_x=0.2401 right_y=0.004 right_z=0.068 right_yaw=-0.0038 right_pitch=-0.0141 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -2.2906, 7.0906, 1.5067, -0.442, -0.0415, -0.1538, -0.1162, 0.5402, 7.0496, 1.8486, -0.0562, -0.0366, -0.0073]",
      "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]: [-1.1271, 1.4052, 0.8883, -0.4206, -0.807, -0.7689, 0.9976, -0.02, 0.4446, 0.1112, -0.2459, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.2614 left_y=-0.2444 left_z=0.1486 left_yaw=-0.0909 left_pitch=-0.0301 left_roll=0.0188 left_gripper=0.9976 right_x=0.2395 right_y=0.004 right_z=0.0672 right_yaw=-0.0038 right_pitch=-0.0099 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -5.4085, 8.6222, 1.16, -0.6471, -0.1783, -0.0073, -0.2256, 0.1436, 6.7077, 1.8242, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fb3556f66ef77384dabd766294f0e7bd14adec1c10674c1cc87703d8cf05c0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ab8eb29cf00e61b62345d52df3ae3fea5c83c1ec434b0cfeead54e4e5055a62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e8ef52bf35ff9a61f23c39acd2960b76c75951180ef2b60af69f33d950a6580",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AYt7847zvbpWwVebZG7USe",
      "input": {
        "note": "The dropped bottle is just at the bottom-left of the wrist view, ~4 cm to the arm's left and right under the jaws; moving over it and descending to straddle its body.",
        "targets": {
          "left_x": 0.27,
          "left_y": -0.205,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01AYt7847zvbpWwVebZG7USe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.034, 1.56, 0.4759, 0.2474, -0.7864, -0.6525, 0.9976, -0.02, 0.4419, 0.1112, -0.2459, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.2718 left_y=-0.2052 left_z=0.0429 left_yaw=-0.0738 left_pitch=0.0091 left_roll=0.0233 left_gripper=0.9976 right_x=0.2396 right_y=0.004 right_z=0.0678 right_yaw=-0.0038 right_pitch=-0.0072 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [0.3897, -4.0274, 2.7692, 0.9499, -0.0366, -0.1538, -0.0171, -0.1436, -0.1709, 6.3521, 1.8291, -0.0415, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2c369fdae16fa86534cfa068e52b9475a0bebdbfc0ff3c73ecf563b03ff4d1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8222d4f0af5ba03fb74230518e3a8e2a7b31a30aedddfbb24f5691d1b559369d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40809b13ef101af7a6553775291afc55d19318ef420146cc45ae6b359b4b6623",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 11.56 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]: [-0.8227, 0.9352, 0.6125, -0.4023, -0.6189, -0.49, 0.9975, -0.02, 0.4561, 0.1184, -0.2459, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.2648 left_y=-0.1293 left_z=0.1619 left_yaw=-0.0684 left_pitch=-0.009 left_roll=-0.0006 left_gripper=0.9975 right_x=0.2401 right_y=0.004 right_z=0.068 right_yaw=-0.0038 right_pitch=-0.0141 right_roll=-0.0002 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -2.2906, 7.0906, 1.5067, -0.442, -0.0415, -0.1538, -0.1162, 0.5402, 7.0496, 1.8486, -0.0562, -0.0366, -0.0073]",
      "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]: [-1.1271, 1.4052, 0.8883, -0.4206, -0.807, -0.7689, 0.9976, -0.02, 0.4446, 0.1112, -0.2459, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.2614 left_y=-0.2444 left_z=0.1486 left_yaw=-0.0909 left_pitch=-0.0301 left_roll=0.0188 left_gripper=0.9976 right_x=0.2395 right_y=0.004 right_z=0.0672 right_yaw=-0.0038 right_pitch=-0.0099 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -5.4085, 8.6222, 1.16, -0.6471, -0.1783, -0.0073, -0.2256, 0.1436, 6.7077, 1.8242, -0.0464, -0.0415, -0.0122]",
      "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]: [-1.034, 1.56, 0.4759, 0.2474, -0.7864, -0.6525, 0.9976, -0.02, 0.4419, 0.1112, -0.2459, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.2718 left_y=-0.2052 left_z=0.0429 left_yaw=-0.0738 left_pitch=0.0091 left_roll=0.0233 left_gripper=0.9976 right_x=0.2396 right_y=0.004 right_z=0.0678 right_yaw=-0.0038 right_pitch=-0.0072 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [0.3897, -4.0274, 2.7692, 0.9499, -0.0366, -0.1538, -0.0171, -0.1436, -0.1709, 6.3521, 1.8291, -0.0415, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2c369fdae16fa86534cfa068e52b9475a0bebdbfc0ff3c73ecf563b03ff4d1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8222d4f0af5ba03fb74230518e3a8e2a7b31a30aedddfbb24f5691d1b559369d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40809b13ef101af7a6553775291afc55d19318ef420146cc45ae6b359b4b6623",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0187ZHdVAGBK3xMKCdjNuuzf",
      "input": {
        "note": "My descent nudged the dropped bottle out of reach of the jaws; rather than chase it, I am going for the middle table bottle whose position I know (same grasp recipe that worked before): straddling its upper body at x=0.42.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.42,
          "left_y": -0.235,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_0187ZHdVAGBK3xMKCdjNuuzf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7113, 1.9686, 0.8738, 0.3893, -0.5568, -0.4274, 0.9979, -0.02, 0.4419, 0.1108, -0.2459, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4083 left_y=-0.2239 left_z=0.0226 left_yaw=-0.038 left_pitch=-0.0215 left_roll=0.0082 left_gripper=0.9979 right_x=0.2396 right_y=0.004 right_z=0.0676 right_yaw=-0.0038 right_pitch=-0.0076 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [0.6496, -8.8821, 7.0222, 1.7167, -0.0952, 0.0757, -0.2369, -0.1026, -0.0615, 6.7077, 1.7656, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:772d0f16891c2f13e36d207f4f65948c0da2b90b060803e1965e4521a3239153",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbc432453c2cab4fbc96acc58c30f320aade81ec119843887fc94030c00e6b2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6a00355e555162e82a439a17af9a6608a5304d7e91573696be1ca6c8718bbe0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 8.471 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]: [-1.1271, 1.4052, 0.8883, -0.4206, -0.807, -0.7689, 0.9976, -0.02, 0.4446, 0.1112, -0.2459, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.2614 left_y=-0.2444 left_z=0.1486 left_yaw=-0.0909 left_pitch=-0.0301 left_roll=0.0188 left_gripper=0.9976 right_x=0.2395 right_y=0.004 right_z=0.0672 right_yaw=-0.0038 right_pitch=-0.0099 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.4718, -5.4085, 8.6222, 1.16, -0.6471, -0.1783, -0.0073, -0.2256, 0.1436, 6.7077, 1.8242, -0.0464, -0.0415, -0.0122]",
      "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]: [-1.034, 1.56, 0.4759, 0.2474, -0.7864, -0.6525, 0.9976, -0.02, 0.4419, 0.1112, -0.2459, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.2718 left_y=-0.2052 left_z=0.0429 left_yaw=-0.0738 left_pitch=0.0091 left_roll=0.0233 left_gripper=0.9976 right_x=0.2396 right_y=0.004 right_z=0.0678 right_yaw=-0.0038 right_pitch=-0.0072 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [0.3897, -4.0274, 2.7692, 0.9499, -0.0366, -0.1538, -0.0171, -0.1436, -0.1709, 6.3521, 1.8291, -0.0415, -0.0513, -0.0073]",
      "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]: [-0.7113, 1.9686, 0.8738, 0.3893, -0.5568, -0.4274, 0.9979, -0.02, 0.4419, 0.1108, -0.2459, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4083 left_y=-0.2239 left_z=0.0226 left_yaw=-0.038 left_pitch=-0.0215 left_roll=0.0082 left_gripper=0.9979 right_x=0.2396 right_y=0.004 right_z=0.0676 right_yaw=-0.0038 right_pitch=-0.0076 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [0.6496, -8.8821, 7.0222, 1.7167, -0.0952, 0.0757, -0.2369, -0.1026, -0.0615, 6.7077, 1.7656, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:772d0f16891c2f13e36d207f4f65948c0da2b90b060803e1965e4521a3239153",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbc432453c2cab4fbc96acc58c30f320aade81ec119843887fc94030c00e6b2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6a00355e555162e82a439a17af9a6608a5304d7e91573696be1ca6c8718bbe0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0AsKjgEIEhgCKkBiEfLuJrGvReEh+tz+D2TFvK9Fwwd3zoJA0Hnq49pbOkSqr2sik/Hlu6l2l7lvtkKHzgbQPViHkfXEEGRBaZ3bMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcf6y9UGEgwSpqBO6lQgY96G4NsaDAEY5+sI1v1G3k/QSiIwIfzWovUdOs9J4e3uEGbxvJ+NEEM0LsXR1fVVwiJ+Bt+kQg7R9XoAzh/qDlcIq/0rKu4Ji3u8Hf3WnddGmXfLux899TGJbjEmWWQacKSfKrl4pVCREhD6UljbgMKkMTxMfMU7a1P5Y/+hhDz/WWDpV5zQq7Nhs/fmq0aOVCYF23qXQmu/lZG3JFtNdjSvDliy0EMfvJFWHvNU8GIj8lsTJ9+ePWYri/Q+LisinMwS9xTEvrKwjdc/gaF8FJ4hcg8DysFveYYe3QZh7WSWlq0VOhkG9PHFhWEPI37the82TsSASAnhu/V9AEwWy5iMAIBe5mPBLwaXfVWTRNZA22TywdEFygqNPn81NDSMrtjO6XzBi7EQHvwkcOJM6BmK5vt1Q6jYRYzESGIfeiBBAIg2tK67u1CvlcFJM8fp8zg9oOFUAEsd3oGNJgwHdcVUKAbbzR647SLzBDKVYMZ7u8fcTwXFVfwq9Bq2+Rrl2wgsLSb57hUOLeEl4qGNrRhPWF7O5MPq5ofT0AjYprO5Wk+RYfLyzbHpuju8GY9qyalCd215B0bd3N7XEqO+IFBW+wIz7WRZAVHnexCsIvoeVLyxk+nf77jJDSG++ixh/j+6hB0S0JcRm59fOibXr7V+JiV2uzeLHEOVDlqrwV26pXvS+G+24MUi/bgDRUfaHHDnCquZUXADbH2akK6VMctHff1BdrsK+moQDHscvbtlms/BU3TR0jgpnp4YrrIw+Qj5a8QoNNeEJ1ao8hkazZYuVO37Chgh3d2M0qIqB22VMiJ0bMCffm5CQY+ZgnLXNB86ZaZ/PfZCSOv/6do/hMtpAxfn/GBZ8jfcrAenlVz3ERDcomGdilUm/Ax/qEf7m2UTNknLtwVR4AtI9nvLmrmdgMnsuJ8AwL/V66EExvN7iZ5peOBNqzr/e8BP+RuxYJwcwybyFdSEmVMymbt4jaPRLw1d7i++sySj4lI8q5eYFC/2GHntYePXw4cYW4tfHt2sMS5trNYeuLbzNMnZgRVPx9YD7ujZfF2UvJtxv8GvR+FAO44Gt99cHDyrPpm/PfMcnd6ad2WbCfeiWwp8D695AigHckQbeVO5lyyOEreSMtTEmtx2+tiPxtelLCY09pretCm2esf9Lraam62m06LoPdTWqLmQxw4zYGRBjGoUP4m36m+FYblOle5U/3Yu/8o4Cf4PEsn49zhtQuK7Zcg4UrPgVGs5HXhTk5h3Zk3VGQnssqI9oOc1jJ6GPJN91hB4BXJOG2qE13f7NyAVkH4n4HzHDD8hwso0V1JINUTW7igp53uRlBzBnRej7x4kYwFI5r1obvoJxxuMI1yEk6DB51RqKFtMgh2SqxZIgsdFKNDnbDc1TAqlnXey6GLrrr3mXwRcVPzhKqh+oAKREdN2aEIKsaf3/WVTNO1hwQ6l2R5/AKNnan+RxMelIKm8fdFsyCO1aTqENJh9mcvdsMKtg6mLW+NRYKVIrB/D+7l7s2qTOPbkmt7xtRMIwdlRZrK2KaYqHuzfv0i5XsQtRBuKsHXtMnFaQG9CRY2vf+Tis/Cxi++ylRFUSogz98dUUi6fRsQb1OZixqr+yCa+W4UxwvCZl0Sf5s4J64mVEjX7LWW4zlAdKwOVe0ZHMclTi2OQe+ArSEmROvYrcvqzycU5Dl+LRfTSAI1s/+QBwRVuFnOG8XhDzoh3Q5xIU6vZK0A2CkAG7cJXivfUYryajcizfHD4G/ojAPeeBdgeOHQ/4nJGUjEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LyefWVm95s24u7qR3FNb96",
      "input": {
        "note": "The jaws came down just to the left of the middle bottle (it sits at the right edge of the wrist view); sliding ~4 cm to the arm's right at table level to straddle its body.",
        "targets": {
          "left_y": -0.262
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01LyefWVm95s24u7qR3FNb96",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7876, 2.03, 0.9413, 0.3588, -0.6064, -0.4721, 0.9976, -0.02, 0.4419, 0.1108, -0.2462, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4014 left_y=-0.2554 left_z=0.016 left_yaw=-0.0523 left_pitch=-0.0185 left_roll=0.0116 left_gripper=0.9976 right_x=0.2395 right_y=0.004 right_z=0.0675 right_yaw=-0.0038 right_pitch=-0.008 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [0.0615, -9.0598, 7.747, 1.4383, -0.1245, 0.0122, -0.0415, -0.2393, -0.0479, 6.5846, 1.7949, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4dd3a759a406046979aa44e0e9e5973c0cfaa96acdfbd7bd8386a1ba5eb6a82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82d98f43dccc34d73bdb31cde2eb3e71df69827a87357623ed0669c558b10eef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dfe56a47a4966ea502e7e3d514f80ddbd21f3ea21527c5a1f9a39059b32c1e11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 8.701 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]: [-1.034, 1.56, 0.4759, 0.2474, -0.7864, -0.6525, 0.9976, -0.02, 0.4419, 0.1112, -0.2459, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.2718 left_y=-0.2052 left_z=0.0429 left_yaw=-0.0738 left_pitch=0.0091 left_roll=0.0233 left_gripper=0.9976 right_x=0.2396 right_y=0.004 right_z=0.0678 right_yaw=-0.0038 right_pitch=-0.0072 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [0.3897, -4.0274, 2.7692, 0.9499, -0.0366, -0.1538, -0.0171, -0.1436, -0.1709, 6.3521, 1.8291, -0.0415, -0.0513, -0.0073]",
      "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]: [-0.7113, 1.9686, 0.8738, 0.3893, -0.5568, -0.4274, 0.9979, -0.02, 0.4419, 0.1108, -0.2459, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4083 left_y=-0.2239 left_z=0.0226 left_yaw=-0.038 left_pitch=-0.0215 left_roll=0.0082 left_gripper=0.9979 right_x=0.2396 right_y=0.004 right_z=0.0676 right_yaw=-0.0038 right_pitch=-0.0076 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [0.6496, -8.8821, 7.0222, 1.7167, -0.0952, 0.0757, -0.2369, -0.1026, -0.0615, 6.7077, 1.7656, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7876, 2.03, 0.9413, 0.3588, -0.6064, -0.4721, 0.9976, -0.02, 0.4419, 0.1108, -0.2462, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4014 left_y=-0.2554 left_z=0.016 left_yaw=-0.0523 left_pitch=-0.0185 left_roll=0.0116 left_gripper=0.9976 right_x=0.2395 right_y=0.004 right_z=0.0675 right_yaw=-0.0038 right_pitch=-0.008 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [0.0615, -9.0598, 7.747, 1.4383, -0.1245, 0.0122, -0.0415, -0.2393, -0.0479, 6.5846, 1.7949, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4dd3a759a406046979aa44e0e9e5973c0cfaa96acdfbd7bd8386a1ba5eb6a82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82d98f43dccc34d73bdb31cde2eb3e71df69827a87357623ed0669c558b10eef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfe56a47a4966ea502e7e3d514f80ddbd21f3ea21527c5a1f9a39059b32c1e11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjgoKjgEIEhgCKkBozD8rO+2jK7DQAl2EvqKP/dUvLm5IqZWJSwR6ojeFm1B8ayzwFEk/7Vh1KzFBZCNwO3LoxzPzPvH4Gk2hn1H/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc/6y9UGEgxRq4dpc11PmheHnuAaDPG/N4tPgiHXJzGEnSIwN67IUtA9ySKEOqIa35dlyuca4d0PEfV+x0Br47C6ozH/bI1DNflrRqSOm10W3Ow8KqwII2l9OgxD7XpJzqqXtgrM+TdeXi9RNCnza7o4Bdi8fqzpP6hpm4LNikc/SFbBQdnHcW4B8QmHaI0nDhcTxggOS+7vRMjmo9yRsT93jWfaKv7fCt+tbEJ+IaMWAwzPomJ9/OidqgCZmtcdx7UnRmswHFEDiZnQMkWo9Mww0xA6IbYUmmEkUC7SOUcZwUzV/KOS/eulHUdF1T5j8DS5x5h8VTbeYVHgCHko5ykMp6q/QKdYOK4pS8aovSIi25J8QbY48ehUV3aSqxe4EXJHnlpTEi7ceWRBgOm2YZzKmlS383g1JVj01HEsXbpmhkvtNODo6OWIyhO7whhgVS/tZXykcgJ+KiiKjpZ0JnJOMC+b1b0lRekJOzjOYATrCAfhLNWKxxpokp/HvvgRBVtjf067t8eOYwNDCMDIgdQjUkvmfKAEu0dLYnkZTyQ9Rdb9kBNk8d8nKEBUjkNHLweJgCl83XSjIqcFLkUt+nBx7XqDYMGsbgNmMKdeUM8dMl3G/7YOKr7f88sfQkfDzPXpyzwsU3v//JBO5iqZ3BT7ROUs9GVGEorkwvs9Fyu/WwycL2gLzyJ5HKrGW1oZQ3fX7QWqw3d0FTRbUaFnE8VaZYGZSXa3xnOeL20ebUa06ArmohaJej01yTxUaMdcOGElJRjjEKET8ibrrEcCgnrsQ52yCjzYzrmSyUrHMNMEL0G3GgyHzMsYk01KqP61gS+79xR9eUeQ/cpzm1kQFV2SAazphcfrDZDcOaBwFoa3yqBGUJTIzxCHZBMssW/D1reSHzRCbOaQNyozO11w1LXtP/CzYDi+5KqYVCZnHHSvKDHT8e4xRnAhaPCpsm44sSbcZDgkUW/KlS5GB7Z2L8vXy5uOVLqLFH+ravOCVlWRXkIb0nBjbMVAYc66VOAdws0onvZ1rMdBP+ZtmBZ7+LvehWlLVmYdyq7fBqr6FNbQSWw7P2DKIQkUL6XCBdo2eVlR9NpB/TBqweX3XMA7LRPVzmVrESMn861gf+yhTkkBN8MxldlRagLU9uKcnMdXD6sNESt9Z9H41zOIM9EdHjZVfEBK4g9ezfd4wkuI+XeCoJDUaK6a7fN582s5H3FZbGpggF+Y0QDBLqKymPvKDlU3f50aI2Wdf2rbopY9il6NUi0PIo/Fen+IArBNoleCEV8YECNZqkOF2o+SLR6hr6K3yKI8LsbBll4HpWZpEyX6yE/PjOR2gafK2oECpK0FWg9fDnweBPdkzmLnr995Q4kyA7oWIsh/CeYtMStC6d+SdV5f1oWUfGLVZzVbhWdUapcrhQwrtiCD+5NXOkZ3PTGkcejlGn0oaHRciFxEtb4eP83ZDviUR+Ar2Ym/1SzbpQ6961Yv1EOcPl54LF50vumoH/AoJz/TDutObVbUnIbjm7hq3asNF+3yjz1VkuCdChzdGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G8JVhcsviUtZKpcPnMVMhP",
      "input": {
        "note": "Overhead view shows the fingertips still a few cm to the left of and nearer than the middle bottle; shifting 5 cm further right and 3 cm further out to straddle it.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.305
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01G8JVhcsviUtZKpcPnMVMhP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7918, 2.0384, 0.9539, 0.3401, -0.6178, -0.4793, 0.9976, -0.02, 0.4419, 0.1108, -0.2462, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4014 left_y=-0.2558 left_z=0.0142 left_yaw=-0.0439 left_pitch=-0.0239 left_roll=0.021 left_gripper=0.9976 right_x=0.2395 right_y=0.004 right_z=0.0675 right_yaw=-0.0038 right_pitch=-0.008 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -9.4701, 7.2957, 1.6044, -0.3541, -0.0562, -0.0122, -0.294, -0.1573, 6.7214, 1.8095, -0.0415, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a88499e6b6f06e2be65ffdf01ad672d6eccdc01a3f4258808106fa9e6c82dcc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da0f59126a8f9666522675dcf1557e496d6c9e820538f3d2cb19b104d3477273",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c2177c63ccdde48c9c4d0203c319cc3d8c1161035fce7abaf570cf00cbb4417",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 6.312 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]: [-0.7113, 1.9686, 0.8738, 0.3893, -0.5568, -0.4274, 0.9979, -0.02, 0.4419, 0.1108, -0.2459, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4083 left_y=-0.2239 left_z=0.0226 left_yaw=-0.038 left_pitch=-0.0215 left_roll=0.0082 left_gripper=0.9979 right_x=0.2396 right_y=0.004 right_z=0.0676 right_yaw=-0.0038 right_pitch=-0.0076 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [0.6496, -8.8821, 7.0222, 1.7167, -0.0952, 0.0757, -0.2369, -0.1026, -0.0615, 6.7077, 1.7656, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7876, 2.03, 0.9413, 0.3588, -0.6064, -0.4721, 0.9976, -0.02, 0.4419, 0.1108, -0.2462, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4014 left_y=-0.2554 left_z=0.016 left_yaw=-0.0523 left_pitch=-0.0185 left_roll=0.0116 left_gripper=0.9976 right_x=0.2395 right_y=0.004 right_z=0.0675 right_yaw=-0.0038 right_pitch=-0.008 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [0.0615, -9.0598, 7.747, 1.4383, -0.1245, 0.0122, -0.0415, -0.2393, -0.0479, 6.5846, 1.7949, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7918, 2.0384, 0.9539, 0.3401, -0.6178, -0.4793, 0.9976, -0.02, 0.4419, 0.1108, -0.2462, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4014 left_y=-0.2558 left_z=0.0142 left_yaw=-0.0439 left_pitch=-0.0239 left_roll=0.021 left_gripper=0.9976 right_x=0.2395 right_y=0.004 right_z=0.0675 right_yaw=-0.0038 right_pitch=-0.008 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -9.4701, 7.2957, 1.6044, -0.3541, -0.0562, -0.0122, -0.294, -0.1573, 6.7214, 1.8095, -0.0415, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a88499e6b6f06e2be65ffdf01ad672d6eccdc01a3f4258808106fa9e6c82dcc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da0f59126a8f9666522675dcf1557e496d6c9e820538f3d2cb19b104d3477273",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c2177c63ccdde48c9c4d0203c319cc3d8c1161035fce7abaf570cf00cbb4417",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS9gkKjgEIEhgCKkDM29z3/NqIhAFATKd3y7y2nYH/pZu/nw+szu/kynCRYOI3c7/Wu9G5IqZ5cvNqh84RDrVDV8X30M19vDuI2DPzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdj6y9UGEgyrXLjx3kB4c9r7428aDE4tC5fkDkW/91hGcCIw8q5mT4fJfgVLQjl92WjSR5gIR1Fh3x7uBb2tUqhuPobDNzxT9qkhEacNEOD/9jCRKpQI4e1dkuv7FlxL2vuPlEwr2eiEGX4+fKfHz9YiFRLGbDvFVcTjpa0+WXGEBss9OqLSjaKrnml4xQGvDpFbvOATOks2SqZD+AEKbK9qaLB9RIb0+gCEr9hjTibPfYM9kJlWD7uVQdo61zdZcvJ1+SGtLuTAmubHOYQMhkpg47V5XPPkhbpcIciRKwVRgddJrGbW0HHCM6aAU0NDuw9g+ROIJV0jubuXvBlK7Mbdk63MiOvalp9AyUAiLJgnWBfWtorszG+kHeOOPAEE7VKv0OHFXop/38mhNbG0Vpo5jnRtfN79KJPb8gvgcKSaPSF8cPMI4p3CBepaDGNGDXYCpwI27/3Z7HswBD2xET2FtCBAGLIGYlA7UYWe87eXxQnYecH7RHxPiZ8UIEhRdt3mWt+KEu676FsZDVSYTTN6M/GNiWhmnpDPOlXMo4Ercl35AWZoQ7mZ+Z9yJQ8I7KXcTmLkeZydFa8U/iWoe3oZbC8JAcyLRkRS1UAEUi+8dQ4nDlhU2oIAm8XFsoWMRruhWMad4KBOqkFc7nhlliOgTEn9+g0NNEcDrfo9WCvO8f5y/xEIOKLV7Crr0PLmTeVt98UbVHnaLgAyhfbzhaF67Qw02X9jscJBMQS6WWLWNi5Gi+JCkx76j58Isa7zysHs2/FUwd5zG+Bwc255qOnttDoZnjGkIsFr755KwZQpDN2iMzNHwWniikMSBjAfdfk8+8UUjiRsQRwT8JP+fLeMxQWKAxfOdCq45sylKeY/F/5PzDJWvY74inCTZabRlRBDwhXqZqC1bGz1Y2AS9zjr87avljXXVOtimsgZwgdJitz/M2MCMAUofrC2Df2Zxpw67OGI3R80emvzP7BacfUBPjExL1c8740G04eQcd2VYuLESUhvovYoNOujmTBWOaJj3e2AEdXij5kRjcMYnBy2niIn5K4tGbOY8DnLum8a39uNLy5BCWvJZO1LwrF4+YvZIlfhgdj8zfbJJmezBAb/7qXN3udEUabwzL0dQ4CeTKLLkpsP6B/dbvdakgKyAtrnid1pbU2q/XgO83eQDKwUQvtSLjySXnNBx/rl7rQ9p7QEAP8gRd1retHvATuhPVCkH9DkM0QQ9KLyC/APiEF2WbB/iRTHuiFemOSQobIQIk24wCbGjZyYObYRmy/RiqJwHXN4NgI9WR6I2zRifC3R+Ew04kXkyEu+CuvZqxNgHzG2uwjxQH6lBqVD9LHtQIvSFXLsIKUjpEU1BAbsiLcoZY3l92k5lbnEmPIXf3yvKag8qRPy/MEl0Vd5yusDK5KTEteW8Nh8Did0Jp+cGdgoDdeCQV8nBSEMovgDMZR0cTQZBj1rHCfIT4l+0F5inJFr+XKxv47T60zW4LSvnIvAQgYmiBwc69O1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016rzDwkm4EQ9Js7J9BSY55m",
      "input": {
        "note": "The left arm is stalling at that far cross-over pose, so I park it clear and bring the right arm (better placed for the right-hand bottles) down to straddle the rightmost bottle's upper body.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.1,
          "left_z": 0.25,
          "right_gripper": 1.0,
          "right_x": 0.42,
          "right_y": 0.22,
          "right_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_016rzDwkm4EQ9Js7J9BSY55m",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5877, 1.0088, 0.9176, -0.5373, -0.4736, -0.3649, 0.9976, 0.6624, 1.9488, 0.8478, 0.3744, 0.5121, 0.3408, 0.9991]\nstate[eef_state]: left_x=0.3069 left_y=-0.1034 left_z=0.2394 left_yaw=-0.0136 left_pitch=0.0109 left_roll=-0.0257 left_gripper=0.9976 right_x=0.4054 right_y=0.211 right_z=0.0174 right_yaw=0.0275 right_pitch=-0.0483 right_roll=-0.045 right_gripper=0.9991\nstate[joint_eff]: [0.294, -3.0427, 9.3197, 1.619, -0.0904, 0.3687, -0.0171, 0.3077, -8.6359, 7.6103, 1.7753, 0.1929, 0.2711, -0.1148]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:712c5f7200d900e42609624363c0c447beaaf0d5a9144c4594dbda100daea581",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ec0354f15574d322ffcc63dea3375110bad0a5f79448f4bdfa43888e3d4fe6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bc52756d77f4ea3270ea955a9f0bfa13bbc3b4905042e072978a3bc6404a8d85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 17.64 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]: [-0.7876, 2.03, 0.9413, 0.3588, -0.6064, -0.4721, 0.9976, -0.02, 0.4419, 0.1108, -0.2462, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4014 left_y=-0.2554 left_z=0.016 left_yaw=-0.0523 left_pitch=-0.0185 left_roll=0.0116 left_gripper=0.9976 right_x=0.2395 right_y=0.004 right_z=0.0675 right_yaw=-0.0038 right_pitch=-0.008 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [0.0615, -9.0598, 7.747, 1.4383, -0.1245, 0.0122, -0.0415, -0.2393, -0.0479, 6.5846, 1.7949, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7918, 2.0384, 0.9539, 0.3401, -0.6178, -0.4793, 0.9976, -0.02, 0.4419, 0.1108, -0.2462, -0.0296, -0.0353, 0.999]\nstate[eef_state]: left_x=0.4014 left_y=-0.2558 left_z=0.0142 left_yaw=-0.0439 left_pitch=-0.0239 left_roll=0.021 left_gripper=0.9976 right_x=0.2395 right_y=0.004 right_z=0.0675 right_yaw=-0.0038 right_pitch=-0.008 right_roll=-0.0003 right_gripper=0.999\nstate[joint_eff]: [-0.4034, -9.4701, 7.2957, 1.6044, -0.3541, -0.0562, -0.0122, -0.294, -0.1573, 6.7214, 1.8095, -0.0415, -0.0415, -0.0073]",
      "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]: [-0.5877, 1.0088, 0.9176, -0.5373, -0.4736, -0.3649, 0.9976, 0.6624, 1.9488, 0.8478, 0.3744, 0.5121, 0.3408, 0.9991]\nstate[eef_state]: left_x=0.3069 left_y=-0.1034 left_z=0.2394 left_yaw=-0.0136 left_pitch=0.0109 left_roll=-0.0257 left_gripper=0.9976 right_x=0.4054 right_y=0.211 right_z=0.0174 right_yaw=0.0275 right_pitch=-0.0483 right_roll=-0.045 right_gripper=0.9991\nstate[joint_eff]: [0.294, -3.0427, 9.3197, 1.619, -0.0904, 0.3687, -0.0171, 0.3077, -8.6359, 7.6103, 1.7753, 0.1929, 0.2711, -0.1148]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:712c5f7200d900e42609624363c0c447beaaf0d5a9144c4594dbda100daea581",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ec0354f15574d322ffcc63dea3375110bad0a5f79448f4bdfa43888e3d4fe6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc52756d77f4ea3270ea955a9f0bfa13bbc3b4905042e072978a3bc6404a8d85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS3wYKjgEIEhgCKkDWr/yXh3cJYrKs2KyW+r3X/UursIZoSjT5NMRBx6tjAf1RUT8W51nZL6syopEG7QNW/pQfVdf+clHCf0RBsLIAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeH6y9UGEgzSPHegMva2nGaoFb8aDGO3ufYFDunsOQM4qiIwSqv75IudaU6rxlQQCjw7pQZTss7s31TiFqnaRzT8LBX3wezYNg4YaotWdjmGOTrkKv0EVlj5sHnGtoy4830aRViiV/k/ZCxoaLSm+OJK0MHdwvmD+g8IRoj336qgitN5fVrwNDYUe33xqUo0t14gOTFa2NnHYKUWgv/PVqbXDZCja8koFOZ2tNy0vvb2Yrospxx+Z6UzQLccVeQqBA9mV/JSt9ZJp9s2ANOgjt9vf+bZJ9W+e5sDa+YPrdFMeKrBXrZdiPJ33NdnmbkS85GwF90990DSJtWzXBiVUyhi2PjzFBZ9v57vTx/f3ulsuNUixkBaiHPdI1Fl2aNIO9v7Z3kyrGOt4ujEhWUtx8WDbJXUIJ+LghF12r4ju5jVKTWSR1+2vt+WrAQu09pBtTw+uL//EQ/z2km923i8bPU6xUIVN7L/b//RO6kn0oLeEV5FLQj1Rp7URbRD2dD5OfhZJbdFV5l6bR7OjwPEMDJCak8ZIUaI/8FWsqcmRXNEizd8Cq1a2vf88tbcuu/676XZxlg88c07HxBJxNjUflM1X9ciQNBgU6K4EeC9lVpi7HwpJZaK8ti4vhQbLeXFKHuCnhjNu9v9nJerLEhvQ2wEwaCkQXUMWTjO26sTzYVt3wV5gtHPTZ2ir7QPR4xT+708w2+d/488ev0bKSU19lUDsXRAMpPnBYD3XKg/D8gYqjYujHL18vUvE8n0WP5cuHuyRgsiPTe786LdD9/tETLlqgAs/8ZpEUURzlh52Wlb9NafwqoxMKE5aZbqBAUUrVfAjBYmRvewJl8QYqo/yUYGRAsa179b/rwJ1wOomsQoWORMTgyKzV1d35FN/kDVT3GpRovZmwI3M1XnhnOTU2T/uk5gaDBr+mkTJC3AJov3qhRg7fTgkowyEOO0TMUC2Xi/zhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018MXABgox4sjZ6FidsNsXci",
      "input": {
        "note": "The right wrist view shows the bottle filling the frame just right of the jaw column; nudging 3 cm to the arm's right so the open jaws straddle its body.",
        "targets": {
          "right_y": 0.181
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_018MXABgox4sjZ6FidsNsXci",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5945, 1.0279, 0.934, -0.5869, -0.4713, -0.3519, 0.9976, 0.598, 1.9408, 0.7277, 0.4995, 0.4664, 0.318, 0.999]\nstate[eef_state]: left_x=0.3038 left_y=-0.1042 left_z=0.2318 left_yaw=-0.0289 left_pitch=-0.0339 left_roll=0.0122 left_gripper=0.9976 right_x=0.3979 right_y=0.1793 right_z=0.0007 right_yaw=0.0115 right_pitch=-0.0551 right_roll=-0.0314 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -2.8376, 6.8718, 1.9072, -0.3785, -0.105, -0.0171, 0.0342, -10.4137, 4.8342, 1.6923, 0.1148, -0.105, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57457ddd50366ea712bcfaab6a029cb1160e49b835e4401a54b7895dbac62401",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:457968b6772d678b923d6fe38f6b221110b138fc2fbeef6ec45e965eaf992b11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d10fa92ac45b28b8652734a686ad0badd1271500643c3aa4f47489fab45e658d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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