adhoc

completed
2026-09-23T00:15:09.269718+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
442.9 s
total steps
349
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles lie on their sides across the middle of the table. I'm flying the right arm above my estimate of the rightmost bottle to get a wrist-camera look before grasping.
move_to
right_x0.4000right_y0.2100right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.6083, -0.3763, -0.0231, -0.0288, 0.9986, -0.0158, 0.7891, 0.6033, -0.3859, -0.0292, -0.0345, 0.9985] state[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1829 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9986 right_x=0.2936 right_y=0.0041 right_z=0.1798 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9985 state[joint_eff]: [-0.2803, -1.4427, 9.7026, 1.7411, 0.0171, 0.1197, -0.1587, -1.0188, -1.1419, 10.3726, 1.8681, 0.0317, 0.1978, -0.1734] 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": {"right_x": 0.4, "right_y": 0.21, "right_z": 0.15, "right_gripper": 1}, "note": "Three bottles lie on their sides across the middle of the table. I'm flying the right arm above my estimate of the rightmost bottle to get a wrist-camera look before grasping."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteWrist view shows the rightmost bottle just beyond and slightly right of the jaw column; I'm advancing 4 cm outward, shifting 2 cm right and yawing 20° so the jaws close across the bottle's neck.
move_to
right_x0.4400right_y0.1850right_z0.1200right_yaw0.3500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.614, -0.3794, -0.0235, -0.0292, 0.9984, 0.6739, 1.607, 0.9905, -0.1303, 0.5022, 0.3447, 0.9985] state[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0027 left_roll=-0.0004 left_gripper=0.9984 right_x=0.3863 right_y=0.2042 right_z=0.1305 right_yaw=0.0444 right_pitch=-0.0662 right_roll=-0.0485 right_gripper=0.9985 state[joint_eff]: [-0.212, -1.6889, 6.5436, 1.7314, -0.0464, -0.0122, -0.0317, -0.0752, -7.4325, 9.0735, 1.7998, 0.569, 0.188, -0.1734] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.185, "right_z": 0.12, "right_yaw": 0.35}, "note": "Wrist view shows the rightmost bottle just beyond and slightly right of the jaw column; I'm advancing 4 cm outward, shifting 2 cm right and yawing 20\u00b0 so the jaws close across the bottle's neck."})
tool
executing move_to over 5 steps (0.5s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe rightmost bottle is centered under the wrist with its blue cap pointing away from the base; I'm moving out and down to neck height so the jaws straddle the neck just behind the cap.
move_to
right_x0.4600right_y0.1700right_z0.0250right_yaw0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7994, 0.614, -0.3794, -0.0257, -0.0292, 0.9984, 0.4225, 1.6569, 0.9009, 0.0982, 0.1394, 0.0711, 0.9984] state[eef_state]: left_x=0.2964 left_y=0.0022 left_z=0.1832 left_yaw=0.0027 left_pitch=-0.0038 left_roll=0.0009 left_gripper=0.9984 right_x=0.4246 right_y=0.1679 right_z=0.1009 right_yaw=0.2389 right_pitch=-0.0788 right_roll=-0.0175 right_gripper=0.9984 state[joint_eff]: [-0.0479, -1.3607, 6.8308, 1.7216, -0.0171, -0.0708, -0.0171, -0.7179, -6.5299, 9.6615, 1.9707, -0.0024, 0.0366, -0.0171] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.17, "right_z": 0.025, "right_yaw": 0.3}, "note": "The rightmost bottle is centered under the wrist with its blue cap pointing away from the base; I'm moving out and down to neck height so the jaws straddle the neck just behind the cap."})
tool
executing move_to over 5 steps (0.5s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteJaws straddle the bottle near its neck; closing to check what thickness I've captured (neck ~3 cm, body ~6.5 cm).
move_to
right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8001, 0.614, -0.3794, -0.0254, -0.0292, 0.9984, 0.3702, 1.9308, 0.8291, 0.4709, 0.0349, 0.0162, 0.9984] state[eef_state]: left_x=0.2965 left_y=0.0021 left_z=0.183 left_yaw=0.0023 left_pitch=-0.0045 left_roll=0.0007 left_gripper=0.9984 right_x=0.4452 right_y=0.17 right_z=0.0224 right_yaw=0.3046 right_pitch=-0.0591 right_roll=0.0041 right_gripper=0.9984 state[joint_eff]: [-0.294, -1.5521, 6.735, 1.7656, -0.0073, -0.0366, -0.0122, -0.9778, -5.8735, 6.4615, 1.3944, -0.022, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.15}, "note": "Jaws straddle the bottle near its neck; closing to check what thickness I've captured (neck ~3 cm, body ~6.5 cm)."})
tool
executing move_to over 9 steps (0.9s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteGripper settled at 0.41 (≈3.9 cm), so I have the bottle's shoulder/neck. Easing the grip slightly and lifting the cap end up and back so the bottle pivots on its base toward upright.
move_to
right_gripper0.4500right_x0.4200right_z0.1000right_y0.1650
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0257, -0.0292, 0.9984, 0.3653, 1.9511, 0.841, 0.6151, 0.0139, -0.0055, 0.4101] state[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1825 left_yaw=0.0027 left_pitch=-0.0064 left_roll=0.0009 left_gripper=0.9984 right_x=0.4647 right_y=0.1789 right_z=0.0474 right_yaw=0.329 right_pitch=0.0764 right_roll=0.0038 right_gripper=0.4101 state[joint_eff]: [-0.2803, -1.6068, 6.694, 1.8291, -0.0269, -0.0659, -0.0122, -0.8821, -7.3094, 5.6684, 1.2479, 0.1294, 0.0415, 0.4078] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.45, "right_x": 0.42, "right_z": 0.1, "right_y": 0.165}, "note": "Gripper settled at 0.41 (\u22483.9 cm), so I have the bottle's shoulder/neck. Easing the grip slightly and lifting the cap end up and back so the bottle pivots on its base toward upright."})
tool
executing move_to over 4 steps (0.4s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteContinuing the arc: pulling the neck further back and up so the bottle rotates toward vertical while its base stays on the table.
move_to
right_x0.3700right_z0.1500right_y0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8017, 0.614, -0.3771, -0.0257, -0.0296, 0.9984, 0.3691, 1.7218, 0.7906, 0.387, 0.0216, -0.0093, 0.4488] state[eef_state]: left_x=0.2969 left_y=0.0022 left_z=0.1831 left_yaw=0.0029 left_pitch=-0.0038 left_roll=0.0005 left_gripper=0.9984 right_x=0.434 right_y=0.1677 right_z=0.0847 right_yaw=0.3286 right_pitch=0.0274 right_roll=-0.0052 right_gripper=0.4488 state[joint_eff]: [-0.0752, -1.3197, 6.694, 1.8779, -0.022, -0.0611, -0.0122, 0.4034, -8.4855, 6.9812, 2.2637, -0.0073, 0.0708, -0.1294] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_z": 0.15, "right_y": 0.15}, "note": "Continuing the arc: pulling the neck further back and up so the bottle rotates toward vertical while its base stays on the table."})
tool
executing move_to over 5 steps (0.5s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe bottle slipped free when I eased the grip — it is still lying down. Returning to the same neck/shoulder position with the jaws open to re-grasp, this time clamping hard.
move_to
right_x0.4450right_y0.1700right_z0.0300right_yaw0.3200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8028, 0.6136, -0.3786, -0.0257, -0.0292, 0.9984, 0.3866, 1.3609, 0.7403, 0.0692, 0.025, -0.0055, 0.4487] state[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1823 left_yaw=0.0027 left_pitch=-0.0068 left_roll=0.0009 left_gripper=0.9984 right_x=0.3796 right_y=0.1536 right_z=0.1475 right_yaw=0.3412 right_pitch=0.0202 right_roll=-0.004 right_gripper=0.4487 state[joint_eff]: [-0.0342, -1.0188, 6.8855, 1.8974, -0.0562, -0.0708, -0.0122, 0.5265, -5.2718, 6.4752, 1.873, 0.0952, 0.0806, -0.0269] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.445, "right_y": 0.17, "right_z": 0.03, "right_yaw": 0.32, "right_gripper": 1}, "note": "The bottle slipped free when I eased the grip \u2014 it is still lying down. Returning to the same neck/shoulder position with the jaws open to re-grasp, this time clamping hard."})
tool
executing move_to over 8 steps (0.8s)
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 arm didn't track my last big reposition, so I'm stepping halfway down and out toward the bottle's neck first.
move_to
right_x0.4100right_z0.0800right_y0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0254, -0.0292, 0.9984, 0.3927, 1.3182, 0.7395, -0.0113, 0.025, -0.0051, 0.9966] state[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1825 left_yaw=0.0023 left_pitch=-0.0065 left_roll=0.0007 left_gripper=0.9984 right_x=0.3671 right_y=0.1512 right_z=0.1468 right_yaw=0.3471 right_pitch=-0.0183 right_roll=-0.0054 right_gripper=0.9966 state[joint_eff]: [-0.0068, -1.6479, 6.4479, 1.8388, -0.0317, -0.0708, -0.0122, -0.1026, -5.012, 6.612, 1.9121, 0.0855, 0.1441, -0.1587] 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": {"right_x": 0.41, "right_z": 0.08, "right_y": 0.16}, "note": "The arm didn't track my last big reposition, so I'm stepping halfway down and out toward the bottle's neck first."})
tool
executing move_to over 5 steps (0.5s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteBottle is centered on the jaw column in the wrist view; advancing 4 cm out and dropping to neck height for the grasp.
move_to
right_x0.4350right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3782, -0.0254, -0.0292, 0.9984, 0.3683, 1.5982, 0.7254, 0.2237, 0.0032, -0.0162, 0.9978] state[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1828 left_yaw=0.0023 left_pitch=-0.0049 left_roll=0.0007 left_gripper=0.9984 right_x=0.3976 right_y=0.1567 right_z=0.0778 right_yaw=0.3469 right_pitch=-0.0777 right_roll=-0.0038 right_gripper=0.9978 state[joint_eff]: [-0.0342, -1.5385, 6.6256, 1.79, -0.0122, 0.0024, -0.0122, -0.3214, -9.894, 5.094, 1.9512, -0.0855, -0.022, 0.1148] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.435, "right_z": 0.03}, "note": "Bottle is centered on the jaw column in the wrist view; advancing 4 cm out and dropping to neck height for the grasp."})
tool
executing move_to over 4 steps (0.4s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe bottle sits between the jaws in the wrist view; clamping down hard on the plastic so it cannot slip this time.
move_to
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0254, -0.0292, 0.9984, 0.3626, 1.6672, 0.6678, 0.3893, -0.0071, -0.0334, 0.998] state[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1824 left_yaw=0.0023 left_pitch=-0.0065 left_roll=0.0007 left_gripper=0.9984 right_x=0.401 right_y=0.1573 right_z=0.0599 right_yaw=0.3592 right_pitch=-0.0386 right_roll=-0.0111 right_gripper=0.998 state[joint_eff]: [-0.1983, -1.4838, 6.6256, 1.8095, -0.0366, -0.0611, -0.0122, -0.6496, -6.653, 5.3402, 2.1563, -0.0513, 0.0659, 0.0073] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "The bottle sits between the jaws in the wrist view; clamping down hard on the plastic so it cannot slip this time."})
tool
executing move_to over 10 steps (1.0s)
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 noteThat close came back empty (0.055), so the jaws were riding above/short of the bottle. Reopening and dropping lower so the fingers straddle the bottle body rather than touching its top.
move_to
right_gripper1.0000right_z0.0150right_x0.3900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0254, -0.0292, 0.9984, 0.3622, 1.6676, 0.6361, 0.4427, -0.0097, -0.0322, 0.0551] state[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1823 left_yaw=0.0023 left_pitch=-0.0068 left_roll=0.0007 left_gripper=0.9984 right_x=0.3985 right_y=0.1567 right_z=0.0585 right_yaw=0.3604 right_pitch=-0.0173 right_roll=-0.0086 right_gripper=0.0551 state[joint_eff]: [-0.0615, -1.6752, 6.7487, 1.8437, 0.0024, -0.0464, -0.0122, -0.3214, -6.4068, 5.3675, 1.8339, -0.0659, 0.0073, 0.149] approver: 1 step(s) modified (delta_clamped). 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": {"right_gripper": 1, "right_z": 0.015, "right_x": 0.39}, "note": "That close came back empty (0.055), so the jaws were riding above/short of the bottle. Reopening and dropping lower so the fingers straddle the bottle body rather than touching its top."})
tool
executing move_to over 10 steps (1.0s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteWrist view now shows the bottle body squarely between the black jaws at table level; closing to grip it.
move_to
right_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0254, -0.0292, 0.9984, 0.366, 1.8133, 0.543, 0.6659, -0.0082, -0.0315, 0.9949] state[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1824 left_yaw=0.0023 left_pitch=-0.0065 left_roll=0.0007 left_gripper=0.9984 right_x=0.387 right_y=0.1537 right_z=0.012 right_yaw=0.3626 right_pitch=-0.0329 right_roll=-0.0089 right_gripper=0.9949 state[joint_eff]: [-0.0752, -1.4154, 6.6256, 1.8242, -0.0269, -0.0464, -0.0122, 0.0889, -6.3658, 4.1778, 2.0733, -0.0513, 0.1587, -0.0904] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.2}, "note": "Wrist view now shows the bottle body squarely between the black jaws at table level; closing to grip it."})
tool
executing move_to over 8 steps (0.8s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteGripper settled at 0.54 (~5 cm) — the bottle body is held. Lifting it clear of the table; I plan to spin it 180° so its cap end points back toward the base, which lets me lever it upright.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0257, -0.0292, 0.9984, 0.3653, 1.8206, 0.5232, 0.7151, -0.0093, -0.0326, 0.5372] state[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1824 left_yaw=0.0027 left_pitch=-0.0064 left_roll=0.0009 left_gripper=0.9984 right_x=0.3861 right_y=0.1533 right_z=0.0126 right_yaw=0.3634 right_pitch=-0.0108 right_roll=-0.0091 right_gripper=0.5372 state[joint_eff]: [-0.3487, -1.4564, 6.5026, 1.8242, -0.0317, -0.0317, -0.0122, -0.3897, -6.3385, 4.2188, 1.9658, -0.105, -0.0024, 1.033] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16}, "note": "Gripper settled at 0.54 (~5 cm) \u2014 the bottle body is held. Lifting it clear of the table; I plan to spin it 180\u00b0 so its cap end points back toward the base, which lets me lever it upright."})
tool
executing move_to over 10 steps (1.0s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe lift only reached z=0.09; commanding a higher lift and slight pull-back to confirm in the overhead view whether the bottle is really coming up with the jaws.
move_to
right_z0.2200right_x0.3400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0257, -0.0292, 0.9984, 0.3653, 1.4345, 0.7361, -0.0841, -0.0097, -0.036, 0.5413] state[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1824 left_yaw=0.0027 left_pitch=-0.0064 left_roll=0.0009 left_gripper=0.9984 right_x=0.3581 right_y=0.1426 right_z=0.0881 right_yaw=0.3656 right_pitch=-0.211 right_roll=-0.0117 right_gripper=0.5413 state[joint_eff]: [-0.0342, -1.4974, 6.5162, 1.8437, -0.0073, -0.0464, -0.0122, -0.3897, -9.7299, 12.1504, 2.8498, -0.105, 0.0464, 1.0232] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_x": 0.34}, "note": "The lift only reached z=0.09; commanding a higher lift and slight pull-back to confirm in the overhead view whether the bottle is really coming up with the jaws."})
tool
executing move_to over 9 steps (0.9s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe bottle appears to be held (wrist view stays locked to it while the camera moved). Spinning the tool halfway around at height so the bottle's cap end swings toward the base.
move_to
right_yaw-1.3000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0261, -0.0292, 0.9984, 0.3862, 1.1873, 0.8173, -0.4046, -0.0017, -0.0322, 0.5413] state[eef_state]: left_x=0.2967 left_y=0.0023 left_z=0.1823 left_yaw=0.003 left_pitch=-0.0068 left_roll=0.0011 left_gripper=0.9984 right_x=0.3207 right_y=0.1346 right_z=0.1517 right_yaw=0.3776 right_pitch=-0.203 right_roll=-0.0147 right_gripper=0.5413 state[joint_eff]: [0.0068, -1.6752, 6.6803, 1.8535, -0.0317, -0.0757, -0.0122, 0.3897, -7.8701, 12.506, 2.6935, 0.0073, 0.1587, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": -1.3, "right_z": 0.2}, "note": "The bottle appears to be held (wrist view stays locked to it while the camera moved). Spinning the tool halfway around at height so the bottle's cap end swings toward the base."})
tool
executing move_to over 11 steps (1.1s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteOverhead confirms only two bottles remain on the table — the third is in the right gripper. Completing the 180° spin so its cap end faces back toward the arm base.
move_to
right_yaw-2.8000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0257, -0.0292, 0.9984, 0.6849, 2.0239, 1.5906, -1.4227, 0.8188, 1.763, 0.5413] state[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1823 left_yaw=0.0027 left_pitch=-0.0068 left_roll=0.0009 left_gripper=0.9984 right_x=0.3343 right_y=0.1111 right_z=0.1182 right_yaw=-1.0674 right_pitch=-0.1471 right_roll=-0.1353 right_gripper=0.5413 state[joint_eff]: [-0.3077, -1.4838, 6.5846, 1.8095, -0.0415, -0.0562, -0.0122, -0.6085, -10.9333, 6.6256, -0.3932, 1.4969, 0.2369, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": -2.8, "right_z": 0.2}, "note": "Overhead confirms only two bottles remain on the table \u2014 the third is in the right gripper. Completing the 180\u00b0 spin so its cap end faces back toward the arm base."})
tool
executing move_to over 12 steps (1.2s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe yaw spin dragged the end-effector into a folded pose near the base (x=0.06); bringing it back out to a safe forward position while keeping the bottle and the new orientation.
move_to
right_x0.2500right_y0.1000right_z0.2500right_yaw-2.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8032, 0.6132, -0.3752, -0.0257, -0.0296, 0.9984, -0.7376, 1.5772, 1.0878, -1.4689, 0.7662, 2.0754, 0.5413] state[eef_state]: left_x=0.2972 left_y=0.0022 left_z=0.1827 left_yaw=0.0029 left_pitch=-0.0042 left_roll=0.0005 left_gripper=0.9984 right_x=0.0616 right_y=-0.2166 right_z=0.1313 right_yaw=-2.6953 right_pitch=-0.1588 right_roll=-0.0118 right_gripper=0.5413 state[joint_eff]: [0.0342, -1.4838, 6.5026, 1.8486, -0.0269, -0.0415, -0.0122, 1.4154, -6.5299, 6.7761, -1.3114, 0.9109, 0.1148, 1.0183] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.1, "right_z": 0.25, "right_yaw": -2.8}, "note": "The yaw spin dragged the end-effector into a folded pose near the base (x=0.06); bringing it back out to a safe forward position while keeping the bottle and the new orientation."})
tool
executing move_to over 27 steps (2.7s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe arm is stuck folded back at x≈0 — the near-180° yaw forced a bad IK solution. Backing the yaw off to -1.6 while pulling the tool forward to recover a normal working pose.
move_to
right_yaw-1.6000right_x0.3000right_y0.1200right_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8043, 0.6132, -0.3786, -0.0254, -0.0292, 0.9984, -0.8139, 1.3388, 0.8806, -1.4986, 0.7979, 2.0823, 0.5426] state[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1817 left_yaw=0.0023 left_pitch=-0.0087 left_roll=0.0008 left_gripper=0.9984 right_x=0.0016 right_y=-0.1807 right_z=0.1355 right_yaw=-2.7616 right_pitch=-0.1323 right_roll=0.0059 right_gripper=0.5426 state[joint_eff]: [-0.0342, -1.5658, 6.6803, 1.8632, -0.0317, -0.0562, -0.0122, -1.1829, -5.3265, 4.9573, -1.1209, 1.0281, 0.0562, 0.9011] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": -1.6, "right_x": 0.3, "right_y": 0.12, "right_z": 0.25}, "note": "The arm is stuck folded back at x\u22480 \u2014 the near-180\u00b0 yaw forced a bad IK solution. Backing the yaw off to -1.6 while pulling the tool forward to recover a normal working pose."})
tool
executing move_to over 26 steps (2.6s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteRecovered a normal pose with the bottle held sideways (cap pointing to the arm's right). Setting it down in clear space with its cap end toward the right-arm side so I can re-grasp near the cap and lever it upright.
move_to
right_x0.3600right_y0.2200right_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3759, -0.0254, -0.0292, 0.9984, 0.3428, 1.9175, 1.4532, -1.5211, 0.7925, 2.0827, 0.5467] state[eef_state]: left_x=0.297 left_y=0.0021 left_z=0.1828 left_yaw=0.0023 left_pitch=-0.0038 left_roll=0.0007 left_gripper=0.9984 right_x=0.3021 right_y=-0.022 right_z=0.1269 right_yaw=-1.6109 right_pitch=-0.1262 right_roll=-0.0224 right_gripper=0.5467 state[joint_eff]: [-0.1846, -1.6205, 6.4068, 1.8144, -0.0317, -0.0415, -0.0122, 0.0205, -8.6906, 8.2803, -1.0037, 1.4481, 0.1099, 0.7302] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.22, "right_z": 0.04}, "note": "Recovered a normal pose with the bottle held sideways (cap pointing to the arm's right). Setting it down in clear space with its cap end toward the right-arm side so I can re-grasp near the cap and lever it upright."})
tool
executing move_to over 21 steps (2.1s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteStill holding the bottle; repositioning it over open table to the left-forward area and turning it so its cap end points out to (≈x0.42,y0.18), a spot I can re-grasp comfortably.
move_to
right_z0.1500right_x0.3000right_y0.3000right_yaw-0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6098, -0.3763, -0.0257, -0.0292, 0.9984, 0.3977, 2.5568, 2.0842, -1.5616, 0.7925, 2.0827, 0.5464] state[eef_state]: left_x=0.2965 left_y=0.0022 left_z=0.1811 left_yaw=0.0027 left_pitch=-0.008 left_roll=0.001 left_gripper=0.9984 right_x=0.4147 right_y=0.0417 right_z=0.0263 right_yaw=-1.5613 right_pitch=-0.1079 right_roll=-0.068 right_gripper=0.5464 state[joint_eff]: [-0.1709, -1.347, 6.9949, 1.7558, -0.0024, -0.0708, -0.0122, 0.3897, -12.0957, 7.8701, -0.525, 0.9353, 0.0952, 0.9499] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15, "right_x": 0.3, "right_y": 0.3, "right_yaw": -0.8}, "note": "Still holding the bottle; repositioning it over open table to the left-forward area and turning it so its cap end points out to (\u2248x0.42,y0.18), a spot I can re-grasp comfortably."})
tool
executing move_to over 22 steps (2.2s)
step 229
top_cam
camera top_cam step 229
left_cam
camera left_cam step 229
right_cam
camera right_cam step 229
assistant
agent noteBottle is down on the table in open space; opening the jaws to release it before re-grasping it near the cap.
move_to
right_gripper1.0000right_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.6041, -0.3752, -0.0254, -0.0292, 0.9984, 1.0393, 2.3627, 1.8927, -1.5036, 0.8375, 2.0136, 0.5487] state[eef_state]: left_x=0.296 left_y=0.0021 left_z=0.1788 left_yaw=0.0023 left_pitch=-0.0122 left_roll=0.0008 left_gripper=0.9984 right_x=0.3023 right_y=0.2623 right_z=0.0671 right_yaw=-0.8561 right_pitch=-0.0918 right_roll=-0.0509 right_gripper=0.5487 state[joint_eff]: [0.0205, -1.5658, 7.0632, 1.8339, -0.0171, -0.0513, -0.0122, 0.3624, -18.2359, 8.0068, -1.0818, 1.4774, -0.022, 0.7497] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": 0.06}, "note": "Bottle is down on the table in open space; opening the jaws to release it before re-grasping it near the cap."})
tool
executing move_to over 5 steps (0.5s)
step 234
top_cam
camera top_cam step 234
left_cam
camera left_cam step 234
right_cam
camera right_cam step 234
assistant
agent noteBottle released, lying with its cap end out at about (0.36, 0.20). Moving the open jaws down over its neck, just behind the cap.
move_to
right_x0.3500right_y0.2050right_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.5972, -0.3737, -0.0257, -0.0292, 0.9984, 1.0527, 2.3505, 1.906, -1.5558, 0.8982, 2.0762, 0.9951] state[eef_state]: left_x=0.2953 left_y=0.0022 left_z=0.176 left_yaw=0.0027 left_pitch=-0.0175 left_roll=0.0012 left_gripper=0.9984 right_x=0.3038 right_y=0.2611 right_z=0.0851 right_yaw=-0.8526 right_pitch=-0.0307 right_roll=-0.0076 right_gripper=0.9951 state[joint_eff]: [-0.1709, -1.9897, 6.6803, 1.9658, -0.0562, -0.0464, -0.0171, -0.3624, -11.5077, 5.6547, -0.5983, 0.652, 0.1197, -0.1978] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.205, "right_z": 0.015}, "note": "Bottle released, lying with its cap end out at about (0.36, 0.20). Moving the open jaws down over its neck, just behind the cap."})
tool
executing move_to over 5 steps (0.5s)
step 239
top_cam
camera top_cam step 239
left_cam
camera left_cam step 239
right_cam
camera right_cam step 239
assistant
agent noteThe arm ignored the last descent, so I'm first lifting to a clean pose above the bottle's cap end before descending onto the neck.
move_to
right_x0.3500right_y0.2000right_z0.2500right_yaw-0.8500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.5819, -0.3721, -0.0257, -0.0292, 0.9984, 1.0527, 2.3505, 1.906, -1.5555, 0.8978, 2.0834, 0.997] state[eef_state]: left_x=0.2933 left_y=0.0023 left_z=0.1703 left_yaw=0.0027 left_pitch=-0.0274 left_roll=0.0014 left_gripper=0.9984 right_x=0.3038 right_y=0.2612 right_z=0.085 right_yaw=-0.8567 right_pitch=-0.0313 right_roll=-0.0014 right_gripper=0.997 state[joint_eff]: [-0.0479, -1.9761, 7.0222, 1.8926, -0.0269, -0.022, -0.0122, -0.4171, -11.5214, 5.5453, -0.6129, 0.6422, 0.1001, 0.1832] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.2, "right_z": 0.25, "right_yaw": -0.85}, "note": "The arm ignored the last descent, so I'm first lifting to a clean pose above the bottle's cap end before descending onto the neck."})
tool
executing move_to over 11 steps (1.1s)
step 250
top_cam
camera top_cam step 250
left_cam
camera left_cam step 250
assistant
agent noteThe bottle's cap end is right under the jaw column in the wrist view; descending to table level to straddle its neck.
move_to
right_z0.0150right_x0.3450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7853, 0.5632, -0.3561, -0.0261, -0.0292, 0.9984, 0.8291, 2.0865, 1.9068, -1.5764, 0.9501, 1.7142, 0.9973] state[eef_state]: left_x=0.2923 left_y=0.0023 left_z=0.1686 left_yaw=0.003 left_pitch=-0.0171 left_roll=0.0014 left_gripper=0.9984 right_x=0.3532 right_y=0.1781 right_z=0.1873 right_yaw=-0.8551 right_pitch=-0.0371 right_roll=-0.056 right_gripper=0.9973 state[joint_eff]: [-0.1983, -1.7573, 6.3658, 1.9023, -0.0513, -0.0366, -0.0171, -0.6496, -14.3385, 8.0479, 0.022, 0.9206, 0.0513, 0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.015, "right_x": 0.345}, "note": "The bottle's cap end is right under the jaw column in the wrist view; descending to table level to straddle its neck."})
tool
executing move_to over 12 steps (1.2s)
step 262
assistant
agent noteCap and neck sit between the jaws; closing hard to clamp the neck for the lever-up move.
move_to
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7822, 0.5503, -0.3485, -0.0257, -0.0292, 0.9984, 0.8509, 2.1941, 1.4254, -0.9627, 0.9955, 1.7763, 0.9978] state[eef_state]: left_x=0.2915 left_y=0.0023 left_z=0.1651 left_yaw=0.0027 left_pitch=-0.0194 left_roll=0.0012 left_gripper=0.9984 right_x=0.3495 right_y=0.1792 right_z=0.0353 right_yaw=-0.8586 right_pitch=0.0036 right_roll=0.0259 right_gripper=0.9978 state[joint_eff]: [-0.0342, -1.853, 6.7214, 1.8681, -0.0122, -0.0659, -0.0122, 0.2667, -8.212, 3.2889, -0.2076, 0.398, -0.1636, 0.0464] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "Cap and neck sit between the jaws; closing hard to clamp the neck for the lever-up move."})
tool
executing move_to over 10 steps (1.0s)
step 272
assistant
agent noteClose came back empty — the cap sits just beyond the fingertips. Opening and advancing 3 cm outward and lower to put the neck between the jaws.
move_to
right_gripper1.0000right_x0.3850right_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7776, 0.5354, -0.3439, -0.0254, -0.0292, 0.9984, 0.8509, 2.1902, 1.4559, -1.0058, 1.071, 1.7683, 0.0553] state[eef_state]: left_x=0.2899 left_y=0.0023 left_z=0.1604 left_yaw=0.0024 left_pitch=-0.0251 left_roll=0.0011 left_gripper=0.9984 right_x=0.3572 right_y=0.1776 right_z=0.055 right_yaw=-0.8419 right_pitch=0.0789 right_roll=0.02 right_gripper=0.0553 state[joint_eff]: [0.0068, -1.5248, 6.6803, 1.8974, -0.0171, -0.0806, -0.0122, -0.4718, -9.5111, 4.2188, 0.1685, -0.3394, 0.0757, 0.1636] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.385, "right_z": 0.02}, "note": "Close came back empty \u2014 the cap sits just beyond the fingertips. Opening and advancing 3 cm outward and lower to put the neck between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 282
assistant
agent noteThe blue cap now sits squarely between the open jaws in the wrist view; closing on the cap/neck.
move_to
right_gripper0.0800right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7662, 0.5148, -0.3298, -0.0257, -0.0292, 0.9984, 0.7967, 2.225, 1.4876, -0.8909, 1.0096, 1.6138, 0.9956] state[eef_state]: left_x=0.2884 left_y=0.0024 left_z=0.157 left_yaw=0.0027 left_pitch=-0.0202 left_roll=0.0012 left_gripper=0.9984 right_x=0.3789 right_y=0.1788 right_z=0.0376 right_yaw=-0.8241 right_pitch=0.0113 right_roll=-0.0075 right_gripper=0.9956 state[joint_eff]: [-0.0615, -1.6205, 6.8718, 1.873, -0.0269, -0.0415, -0.0122, -1.5111, -7.747, 6.0376, 0.6667, 0.3541, 0.0855, -0.2564] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.08, "right_z": 0.025}, "note": "The blue cap now sits squarely between the open jaws in the wrist view; closing on the cap/neck."})
tool
executing move_to over 10 steps (1.0s)
step 292
assistant
agent noteClosing on the cap only pinched air (0.085). The bottle's cap end is nearest me and its body extends away, so I'm advancing 4 cm past the cap to straddle the thicker body at table level.
move_to
right_gripper1.0000right_x0.4250right_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7605, 0.5018, -0.3191, -0.0254, -0.0292, 0.9984, 0.7971, 2.2181, 1.486, -0.8764, 1.0901, 1.5955, 0.0855] state[eef_state]: left_x=0.2878 left_y=0.0023 left_z=0.1548 left_yaw=0.0023 left_pitch=-0.0168 left_roll=0.0009 left_gripper=0.9984 right_x=0.3859 right_y=0.176 right_z=0.052 right_yaw=-0.8112 right_pitch=0.091 right_roll=-0.0001 right_gripper=0.0855 state[joint_eff]: [-0.0205, -1.5932, 6.4889, 1.8486, -0.0073, -0.0806, -0.0171, -0.4308, -9.2786, 3.3162, 0.3932, -0.4176, 0.0855, 0.1978] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.425, "right_z": 0.015}, "note": "Closing on the cap only pinched air (0.085). The bottle's cap end is nearest me and its body extends away, so I'm advancing 4 cm past the cap to straddle the thicker body at table level."})
tool
executing move_to over 10 steps (1.0s)
step 302
assistant
agent noteWrist view shows the blue cap just right of the jaw column at fingertip level; shifting 2.5 cm toward the arm's right to centre the neck between the jaws.
move_to
right_y0.1500right_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7567, 0.4976, -0.3141, -0.0254, -0.0292, 0.9984, 0.7307, 2.2707, 1.5581, -0.7849, 1.0206, 1.4189, 0.9949] state[eef_state]: left_x=0.2877 left_y=0.0023 left_z=0.1549 left_yaw=0.0023 left_pitch=-0.0122 left_roll=0.0008 left_gripper=0.9984 right_x=0.4156 right_y=0.1751 right_z=0.0373 right_yaw=-0.7869 right_pitch=0.0231 right_roll=-0.0424 right_gripper=0.9949 state[joint_eff]: [-0.0342, -1.6889, 6.1744, 1.917, -0.0366, -0.0708, -0.0122, -1.6205, -7.5419, 5.9692, 1.16, 0.2271, 0.3101, -0.1538] camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.15, "right_z": 0.02}, "note": "Wrist view shows the blue cap just right of the jaw column at fingertip level; shifting 2.5 cm toward the arm's right to centre the neck between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 305
assistant
agent noteCap is between the open jaws near the fingertips; closing to clamp the neck so I can lever the bottle upright.
move_to
right_gripper0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3134, -0.0257, -0.0292, 0.9984, 0.704, 2.1948, 1.4158, -0.6483, 1.018, 1.3453, 0.9952] state[eef_state]: left_x=0.2878 left_y=0.0024 left_z=0.1552 left_yaw=0.0027 left_pitch=-0.0106 left_roll=0.001 left_gripper=0.9984 right_x=0.4105 right_y=0.156 right_z=0.0358 right_yaw=-0.7751 right_pitch=0.0251 right_roll=-0.0351 right_gripper=0.9952 state[joint_eff]: [-0.0342, -1.2376, 6.0923, 1.9267, -0.0171, -0.0317, -0.0122, -1.6479, -9.7162, 3.6581, 0.8718, 0.149, 0.0708, 0.0122] camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.12}, "note": "Cap is between the open jaws near the fingertips; closing to clamp the neck so I can lever the bottle upright."})
tool
executing move_to over 9 steps (0.9s)
step 314
assistant
agent noteJaws have pinched the cap (0.125). Levering: raising the cap end while moving back toward where the bottle's base rests, so the bottle pivots up on its base.
move_to
right_x0.3600right_y0.2200right_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7559, 0.4973, -0.3141, -0.0261, -0.0292, 0.9984, 0.6933, 2.1632, 1.396, -0.6163, 1.0515, 1.3281, 0.1249] state[eef_state]: left_x=0.2876 left_y=0.0024 left_z=0.1549 left_yaw=0.003 left_pitch=-0.0118 left_roll=0.0012 left_gripper=0.9984 right_x=0.4146 right_y=0.1498 right_z=0.0493 right_yaw=-0.7838 right_pitch=0.0622 right_roll=-0.0093 right_gripper=0.1249 state[joint_eff]: [-0.0752, -1.6342, 6.2838, 1.873, -0.0024, -0.0611, -0.0122, 0.0752, -10.4137, 4.7385, 0.6422, -0.1587, 0.0708, 0.2466] camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.22, "right_z": 0.14}, "note": "Jaws have pinched the cap (0.125). Levering: raising the cap end while moving back toward where the bottle's base rests, so the bottle pivots up on its base."})
tool
executing move_to over 6 steps (0.6s)
step 320
assistant
agent noteThe bottle is still lying, now just to the arm's right of the jaws with its cap pointing away. Opening and repositioning over its neck for another grasp.
move_to
right_gripper1.0000right_y0.1750right_x0.4000right_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7555, 0.4973, -0.3134, -0.0257, -0.0292, 0.9984, 0.8886, 2.1601, 1.7851, -1.219, 0.9859, 1.6398, 0.1249] state[eef_state]: left_x=0.2877 left_y=0.0024 left_z=0.1552 left_yaw=0.0027 left_pitch=-0.0106 left_roll=0.001 left_gripper=0.9984 right_x=0.3717 right_y=0.2297 right_z=0.1302 right_yaw=-0.7471 right_pitch=-0.015 right_roll=0.0472 right_gripper=0.1249 state[joint_eff]: [-0.0068, -1.6752, 6.1197, 1.9512, -0.0317, -0.0757, -0.0122, 0.0889, -10.2222, 7.0906, -0.0708, 0.5592, 0.0855, -0.0122] camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_y": 0.175, "right_x": 0.4, "right_z": 0.02}, "note": "The bottle is still lying, now just to the arm's right of the jaws with its cap pointing away. Opening and repositioning over its neck for another grasp."})
tool
executing move_to over 9 steps (0.9s)
step 329
assistant
agent noteCap and neck are centred between the open jaws; closing to grip the neck.
move_to
right_gripper0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7551, 0.4973, -0.3141, -0.0254, -0.0292, 0.9984, 0.7605, 2.1826, 1.4109, -0.7048, 0.9932, 1.4109, 0.995] state[eef_state]: left_x=0.2876 left_y=0.0023 left_z=0.1551 left_yaw=0.0023 left_pitch=-0.011 left_roll=0.0008 left_gripper=0.9984 right_x=0.3927 right_y=0.1742 right_z=0.0346 right_yaw=-0.7507 right_pitch=-0.0031 right_roll=-0.0267 right_gripper=0.995 state[joint_eff]: [-0.1299, -1.5248, 6.2427, 1.8974, -0.0073, -0.0708, -0.0122, -0.7726, -8.7726, 4.1504, 0.7985, 0.3785, 0.0171, -0.2076] camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.1}, "note": "Cap and neck are centred between the open jaws; closing to grip the neck."})
tool
executing move_to over 9 steps (0.9s)
step 338
assistant
agent noteJaws are clamped on the bottle's cap; lifting the cap end up and back over the bottle's base to swing it upright.
move_to
right_x0.3000right_y0.2700right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7551, 0.4973, -0.3141, -0.0254, -0.0292, 0.9984, 0.7597, 2.1559, 1.3998, -0.6628, 1.0733, 1.4048, 0.1051] state[eef_state]: left_x=0.2876 left_y=0.0023 left_z=0.1551 left_yaw=0.0023 left_pitch=-0.011 left_roll=0.0008 left_gripper=0.9984 right_x=0.4006 right_y=0.1713 right_z=0.0552 right_yaw=-0.7601 right_pitch=0.0796 right_roll=0.0212 right_gripper=0.1051 state[joint_eff]: [-0.1299, -1.6615, 6.2017, 1.8926, -0.0171, -0.0757, -0.0122, -0.1162, -10.0171, 4.3009, 0.4615, -0.3199, 0.0073, 0.2369] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.27, "right_z": 0.2}, "note": "Jaws are clamped on the bottle's cap; lifting the cap end up and back over the bottle's base to swing it upright."})
tool
executing move_to over 10 steps (1.0s)
step 348
assistant
agent noteI could not stand any bottle upright within the call budget. With pitch and roll pinned at 0 the tool can only translate and yaw, so the only way to erect a lying bottle is to clamp one end and lever it about the other end on the table; every attempt to get a firm grip on the cap/neck ended in a pinch of ~1 cm (cap rim only) that slipped during the lever, and a firm mid-body grip puts the cap on the wrong (far) side for levering.</reason> <parameter name="hindsight">Concrete lessons from this rig/task: (1) pitch and roll are pinned, so a lying bottle can only be righted by clamping one end and swinging it about the other end resting on the table — plan the grasp so the CAP end is the end nearer the arm base before you start, otherwise you waste many calls re-orienting. (2) Large yaw commands (|yaw| > ~1.5 rad) make the IK collapse: commanding yaw -2.8 dragged the end-effector from x=0.33 to x=0.06 (behind the workspace box) and took three recovery moves. Keep |yaw| under ~1 rad and rotate an object by picking it up, translating, and re-grasping instead. (3) Cartesian tracking degrades badly at large yaw: commanded moves of 10-20 cm were only partially executed or ignored entirely; always re-check the readback. (4) Every gripper close pushed the wrist up ~2 cm, so grasps aimed at a 1.5 cm-high neck end up above it; command z = -0.01 and expect the descent to stall around z = 0.035 while resting on the object. (5) A grasped object IS visible in its own wrist camera on this rig (contrary to the facts sheet); an object that stays fixed in the wrist frame while the arm moves is held. (6) A body grasp reads ~0.54 (5 cm) and holds well; readings of 0.08-0.13 are just a cap-rim pinch and will slip.
give_up
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7521, 0.4973, -0.3145, -0.0261, -0.0292, 0.9984, 1.0149, 2.1586, 1.8858, -1.5341, 0.9646, 1.8389, 0.1056] state[eef_state]: left_x=0.2874 left_y=0.0024 left_z=0.1558 left_yaw=0.003 left_pitch=-0.0084 left_roll=0.0012 left_gripper=0.9984 right_x=0.3199 right_y=0.2466 right_z=0.1577 right_yaw=-0.735 right_pitch=-0.0158 right_roll=-0.001 right_gripper=0.1056 state[joint_eff]: [-0.0342, -1.4017, 6.2154, 1.8632, -0.0171, -0.0611, -0.0122, -0.253, -13.7915, 4.9846, -0.232, 0.5348, 0.0952, 0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I could not stand any bottle upright within the call budget. With pitch and roll pinned at 0 the tool can only translate and yaw, so the only way to erect a lying bottle is to clamp one end and lever it about the other end on the table; every attempt to get a firm grip on the cap/neck ended in a pinch of ~1 cm (cap rim only) that slipped during the lever, and a firm mid-body grip puts the cap on the wrong (far) side for levering.</reason>\n<parameter name=\"hindsight\">Concrete lessons from this rig/task: (1) pitch and roll are pinned, so a lying bottle can only be righted by clamping one end and swinging it about the other end resting on the table \u2014 plan the grasp so the CAP end is the end nearer the arm base before you start, otherwise you waste many calls re-orienting. (2) Large yaw commands (|yaw| > ~1.5 rad) make the IK collapse: commanding yaw -2.8 dragged the end-effector from x=0.33 to x=0.06 (behind the workspace box) and took three recovery moves. Keep |yaw| under ~1 rad and rotate an object by picking it up, translating, and re-grasping instead. (3) Cartesian tracking degrades badly at large yaw: commanded moves of 10-20 cm were only partially executed or ignored entirely; always re-check the readback. (4) Every gripper close pushed the wrist up ~2 cm, so grasps aimed at a 1.5 cm-high neck end up above it; command z = -0.01 and expect the descent to stall around z = 0.035 while resting on the object. (5) A grasped object IS visible in its own wrist camera on this rig (contrary to the facts sheet); an object that stays fixed in the wrist frame while the arm moves is held. (6) A body grasp reads ~0.54 (5 cm) and holds well; readings of 0.08-0.13 are just a cap-rim pinch and will slip."})
tool
give_up: I could not stand any bottle upright within the call budget. With pitch and roll pinned at 0 the tool can only translate and yaw, so the only way to erect a lying bottle is to clamp one end and lever it about the other end on the table; every attempt to get a firm grip on the cap/neck ended in a pinch of ~1 cm (cap rim only) that slipped during the lever, and a firm mid-body grip puts the cap on the wrong (far) side for levering.</reason> <parameter name="hindsight">Concrete lessons from this rig/task: (1) pitch and roll are pinned, so a lying bottle can only be righted by clamping one end and swinging it about the other end resting on the table — plan the grasp so the CAP end is the end nearer the arm base before you start, otherwise you waste many calls re-orienting. (2) Large yaw commands (|yaw| > ~1.5 rad) make the IK collapse: commanding yaw -2.8 dragged the end-effector from x=0.33 to x=0.06 (behind the workspace box) and took three recovery moves. Keep |yaw| under ~1 rad and rotate an object by picking it up, translating, and re-grasping instead. (3) Cartesian tracking degrades badly at large yaw: commanded moves of 10-20 cm were only partially executed or ignored entirely; always re-check the readback. (4) Every gripper close pushed the wrist up ~2 cm, so grasps aimed at a 1.5 cm-high neck end up above it; command z = -0.01 and expect the descent to stall around z = 0.035 while resting on the object. (5) A grasped object IS visible in its own wrist camera on this rig (contrary to the facts sheet); an object that stays fixed in the wrist frame while the arm moves is held. (6) A body grasp reads ~0.54 (5 cm) and holds well; readings of 0.08-0.13 are just a cap-rim pinch and will slip.
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 · 25.82 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, 0.6083, -0.3763, -0.0231, -0.0288, 0.9986, -0.0158, 0.7891, 0.6033, -0.3859, -0.0292, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1829 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9986 right_x=0.2936 right_y=0.0041 right_z=0.1798 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.2803, -1.4427, 9.7026, 1.7411, 0.0171, 0.1197, -0.1587, -1.0188, -1.1419, 10.3726, 1.8681, 0.0317, 0.1978, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a490acd30b65a21f92024f6f8922b65c4ea4f0c62df655b7d1415e96e2210e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7f37af04332d6908a64904b22b924273f24493e4bf4a93b210ae56aeda34fde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0585092bd812ad2d166b86402d938dd38b9b1fa43fa60c153913398a47c00912",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 19.52 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, 0.6083, -0.3763, -0.0231, -0.0288, 0.9986, -0.0158, 0.7891, 0.6033, -0.3859, -0.0292, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1829 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9986 right_x=0.2936 right_y=0.0041 right_z=0.1798 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.2803, -1.4427, 9.7026, 1.7411, 0.0171, 0.1197, -0.1587, -1.0188, -1.1419, 10.3726, 1.8681, 0.0317, 0.1978, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a490acd30b65a21f92024f6f8922b65c4ea4f0c62df655b7d1415e96e2210e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7f37af04332d6908a64904b22b924273f24493e4bf4a93b210ae56aeda34fde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0585092bd812ad2d166b86402d938dd38b9b1fa43fa60c153913398a47c00912",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStx8KjgEIEhgCKkBreXOBLTRgX5SRHGMvIXHo9/dsRzoXD4AUXQV+S2P4iPUX+ULy12/mFo1C1qEZ9yQf7ljgehqkNEr/13tZzmkrMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbK0zNUGEgx803eMNMQ/bAMULLwaDKl2tVMNQR0hUyrxwCIwDGa5EnIfW4TluhAusXwJY2JUs4UZHyzP3vDsFVybHHtDtqcWG57i4I17XNLyNky7KtUdxv41KPJ9XupbCi18qI+CCnSMgK7BDnW1feFazQqxdD52I0lrcbXTkDGCI5FVSpT7ll6OB3CFALxTessUh56noxgvjWPR8gqYc5C4pHYRgiNHY7FfyYGcsh1oLHkHkuUk8LjFV25AwAowTRR1moyHfWOPIj52TjEOaZrSj8w8xKJekaHRGDaZkAEjYvrRjUSB24xpXhfFDuSxG2sQgd6M73QSpDn4X1xY77gJ9lFP3+FVosKKWBNeqAS+lNOubVMyEkZVhb3+KMs5ekyKYZdbMGhhvQF036+fThX95XrHSzDcobceZvyAw8yyC1VJWqUfB/a7/zPTk2iFS8b4RjjQ03xJmN2rtGOjL3RLAM7LGWvG/avmUtjyFK8vy29nx9lsG0H6EDslED91g1uUzmacwa3PvRgyqlKgdxjTGchqh2OsjmEAHm2IyhcQLu8XZKtRVZMELUm2F/5mvUSDMXoybTKi0qVvXnp79vYpgTwEDRUAkJdx2c4OSiXR1NFTLfOHPzcEm8kF/zGl6RM9foEqfD6Qsg4kTDZsEQrkhu6a/VVhZOwM88oQIui4V5Ayw8Os6aO1SqUTi2Wc9QFKhAMVJ3YajL5T6tle/8ItUInoFGN1Q/fXM3sbLiYMkcZUBmBpN8+wPqLrXlkdSNf4dvPf98OqC3aV9Uj32rlshcCv/MjmCkbqjQzNkHUoiszZx/Kd6E6TfoNLNEbBb2NaSnm1OGa1wRAxGVXVn26JCt/aGns0Vicnesw6MglzoZUjGNmgUpKM85zukbGR7ITvH9Y/fGW5Ca/B0Um1bren2jxtzxi2ZedJAySuA/907p623vVvFk3CiphCOhg9G8B/DVZ/A9Mm2uNd4EkouIvOShYtyrZOZKORJiZhCGrHTz/4R8DeBYrwMTIgYX8iwZCDAjyPyHdNCviye9MebuyLESEdbPppVlwjIYXXQFuXjpNRP2riCKk4tXXhPY0GauexgRiNI4tbIo6VHavxZ+7CCchRW9wl6kbosZgvIdNFl6kLjjc9hCOnINtvcz8BWl/CxYBqxUFo1JYpquOQKv8vs+lOeUJqpVBSNkaUjPNY2wWIO4XMyDtuqdgZ8XSeSD1pR36WZIwF/3mZ3rLOkDKlWbAw3bS11undn8WRQ50sI1j7NOH2ogxlg5/jpw+c7CL0BSGHoOW2shLRH6tW53vQ76uTUVpA37uD/iCInT3msEuVSY/XD9lNN29bAE6BQbVt4x3cBv4GLRdq4A1Y4MHigIvxoJPkHkJSjt94PBZK6QSefE1JQMaYSh8V9JKh+hYk1Ms/ebW1kwXh+pJ9P90S0F0nwerSsHoVLMdjrpgkwUGk0UKtN/mpSnyGyriWrAzvEqYllp4KwQW/1q73PdelNjIxLKSS00Xeq2XuNeC0GaKulb0rVzCffJPtPom6/rkFdqVQgnLnrGrA9/v/s0gFWId0WceyhbqZH0DlLUoa9TsCEi+okTXiwUSRkJKKcyRuyA/4Dt4yF+7K5IuqSpUY6kdeQV0jR7TnUlKYh3eFC0hbfdrhgAwhJxs9TlxuUwc3Ya6aa1WCCjODGacQ36aFSBy1NYfOOvOASU4wBIZ3UWnwAdqom5DeUd3Db3yiolHLFhfMu9A52oycNhXlOwPbVWubR6bpRkeaCSZrFa0BzzrQXp+EQ1AHyAhDY3+e4Xyr/mCWkHa++fUA/x8nh1Fc3ujgw80yR42106HhW8ueqAWBRaGrgxuyCFmX6hkIWCDQgK7CocB4URnmCt0oIz4ty7aQTbEmdYJh+cWl0PzlFt5UqsfvpPzyyQq/czyahEpDBZv7HkV4I78N98sOruNYN+pNxHP/d4PF8uDcJVCMRzM9qbOZrtFaHt5BI9YHHLGiT8JPjshq96cCJZwAMf7hqP2wi5A7xXh0Gq7QgJoIyQHS7l/Oz9dmqy5qM6E7BIxPrPcV4rjZqD4j8WTcYpyguWoNaDeU/zCPisHGo4kjNfpOz1EVku9+LEgHTgJ349rVdliq0cubDXDzu4p3i72VHrh2U1FtGAx6pzGzdMAtVYSRAtpmNL9xuyca14oJtDblzuu52Z6xeJm89/cxgLMw71YQIdNdONA1erlJoXKLU4WZgElSb1CO7D/JYWbHZIn2lXH8WOJLaRpSB5pHziDr/eCO+Qo3FOQQubQvNZg6E6MXD1LkQcfiz3/9VTsrxBdCX4QdguXMp6VzPhToN/OkrAvcXtQ6l0BJU8sos+S8woGIClIv3IrtZKweFzSDyxxAz9BQVSzkjcm332fTu1SmBp0UFtdz7JzcToZy+5ZzH4Gj11ZB3WB0KHmO92vi8ecznI9YB+5bj+WGV0RguatzU0M8RqnO2lMjkW43zqzSLzEU6ez7PJz3dyFQmuU3xpwfUufQ4wbupV2m9J5TSNqwLowtzn0HZK0eG8Gh7Ccx9vXCpkDkRgYmXsS73AmlWdplvnAE3k7T9VIJXtu+BL3iVc46+yBSvHTST5pGsotXJ5wwrJci1rjeeiQAzJxvf3RT/ERMTpPShWWE80BzY5/o1rX3/TpNEcbFiEqsBRNjymSfrCr0i190LwSD5DAPq5XCe3gBpmyNucBR2cCh+G8wyJaKfuI8HxLrE30dk7b6195MBZbBLJzibjmW7Jr4EDzu6B9Y2jeUgmA8xYhZ11ikSSATqda0QDTEC11zXZLwzVA5/w3o5K2dnJdG3C4hCTZ6XgPs4+vu+qhH6Y7H5o1K5Atr4KMWq9Ik0nXiwT8Yx95ejoxoMwXNZ9LgctRexJYdYd48agPk1W6fDSHZmar9HHXD6+MUkRC9aBzvUxt/l6pNTz90VlscwQONb9VNCgddkd6ELiqz5kBKoLzcK+FmbmGGuq1w3skl1Q0Kv6RTKVKuriIydt6bHmUDHSzkPo9xedSrC4DpgZ+5WTTOt5JQFiQzgEoAEHvS34cB+BKlQjNujJhgkeJlbThmcxmRVy6KYMIroqxvgfTBp7/MvW5z7duOAXWCOVDJebOrOBGDlfJ7vWWVgm3jCY0gUzZwfDV0Ak208F/Kvcz7UHYcR/VWz4IKI0+W4UrZHJ/j+QeGIc3ipXIBGLi+VpTOPqChtp4aDlGEEJnLUpNfHplZt2s3DLOQfEMlOSSV/GW6HDehJmFC2RO/A5loDDuDzVAoGqeKC6ejuGm8skQyUJleZpgAxWquPenUomcemF3iqyx0sk5WCTbwFqQV9n1EiiYI8mOTGyVLrQ7DR51xGWx3o5N18KpVDm4s10Bs8y2WDWt5eWqGCoHXk9gnNXMBW7fMx/G7+zshVVY2qNjyqat6Nlr5bWaZ14B1u0vF1IYCkKnw31XYYnUt8X75URXWGT6xc8XMCmtxWsEE4qycoRpesAGmgu+u4V3tw/3yNMShBiu2W/zjhEaIgR3CcNwv3QF2Ar1dZYKKqaTx8MqcahOlQuiCmh5/mjgn8a3p3gdwtqYxCszTzVO3ovoBhOIoHnFtAfRmkJXEf36TNd5MrmKJ9Gn9CTByhwN4ZbLM6iRclKK+Go048zGcCKW8WXqRBN4eZvedL2tC8/aMn5kwWsTVefDbm4hwg4BGzHn+dyoYUG3ncoh6xcUZFpecTI81dkVf2izIdlzwigfH6iXonlDLLm6aTf9ZMnPQ8URyXQFM6I6vY5i+1/mPbpk/yyg/Y8lGADy+V0eFa9YAr/c5Sfq6X1kHBDhjfU/NFaEohYEii8ZzyJ6XlXCUKbftqmMcGps9/pOjn6SHbH0eRJnD3jtp9x+oYx6PPmAnfxhlXGtgXPSah8InBqAzUzUtS+52gx16Pp37TqHjU9MzFB4Kf0TBH52M81ODXQgfIR6C53j3OvqpHg5QTvZcp0auELa2YmitUkCsi2PL8J/ofja1HVkMFME3cTaXIByPk3juc+je9fncrQ+HIBeENNNZeRBupfIyvUN3P/+S3p7mNi2EmHdbuwjblohkG44Xk+sggDZJH9uOEgJiMtZBA9uEmJ8cz/z09JEOeJn7TpmWm38FtIR5gVKuive6WIsP3v52wJDEx5YRFHL0VH0U1gaXkJ6L6b57jEiTGGy++90tovC2l50aHgnPGrypO50EDQP/nWanGDdBU6czj5qM8Z76C19tRcMiy9mc4QByhHa0LGwR4+CY+Af9aKbANBGNwDcaz9hpmVUBYArpex9ZN5U6MqNIBPjLZNTymEbBESZmtl3+3RmgHguSe6vZjQhXi03eenWhZqhY1oRWM32fzzp1icrS24HpBSFNmFxUXO0VFDjVNUOB+kYwZ8XU2OutP/2YO9p0N29Pc2O/xCSiptvs1qwvGohlvL8VLY8G5VWTg1iDaC4x3yyWL8CGifW4u8T5NuPGG8CdQndxqBCqnaBAzYfgGggAuthxPbDAIG/bVzK1XgGPkEhnU4QjyLUf2BYeYDRIPtkzhMxVfM9nFKU/ZfmVNAnA8gecyrH+RLT4mQx5nFYlX968myc6za2ZociLQt7MgMPNwNA6V+MivI1enCDPgpvwyX/b4Z4y4BPmzCQT3SNYM+Ipm/ITGdWM7Ftmc5b9LDjg2E/BEZPK20GwRaBrQuqlYrg2zHWxLc8zbfGZwXhbD1FYnEkPJxvSA7yDw4WSe90lHv3a9CvW9o2kgtDCmarvrT6qIdoNzI+UHDBfy+TWS5+13q3AsS2jUQUa8izhNXfKkuu5MAVm8TyJMMB7uXACTC4ZC3/r0dRG/rkLYVCERJxgLElQuZwE579Euig9ELWNYWaUa+4ieUoL0TkNgV+x0SzPqQDB9eFExIysDnXEiroJWe9E5xHcc6+brWlyMnYqcyC5uJinR1EcrBfuhDBPYSBKJuHGJ8d1mkE/TxzkrTrWnAULKK2F0NFie/giofZVHJR6Y5ByxplmQzOQGOTtS1YL+AItB6+o9e63Da2kIIyiIuXf4xMN6VpgJ4EEn6krdtWGMVw5i6J4Hsba5IzJPL+QLS3DQsBvLqbP2hLm5aYobh+uZZa2MJMcfK5i+CbKqspFSFzBv50QoVwCkBDwSKGxvynP8N+krf1KaCGxe9ZJb1VKm/nYgz2drcu4BDLEfjv4xEvPSlKGOIwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DY3ZWF6FDk23sbDAaLEV95",
      "input": {
        "note": "Three bottles lie on their sides across the middle of the table. I'm flying the right arm above my estimate of the rightmost bottle to get a wrist-camera look before grasping.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.4,
          "right_y": 0.21,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01DY3ZWF6FDk23sbDAaLEV95",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.614, -0.3794, -0.0235, -0.0292, 0.9984, 0.6739, 1.607, 0.9905, -0.1303, 0.5022, 0.3447, 0.9985]\nstate[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0027 left_roll=-0.0004 left_gripper=0.9984 right_x=0.3863 right_y=0.2042 right_z=0.1305 right_yaw=0.0444 right_pitch=-0.0662 right_roll=-0.0485 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -1.6889, 6.5436, 1.7314, -0.0464, -0.0122, -0.0317, -0.0752, -7.4325, 9.0735, 1.7998, 0.569, 0.188, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b877563472f3c0ad9846b0923a549a395f7c8bdff18446c04766926038a4d3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1db4b9d93cb841d46e671b7134aab79c291f01824786ea7f21405d15bb15ead",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29b6741736c32161975eaa9f3b3086d91155a3057a1f2099670f40875a9152f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 12.63 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, 0.6083, -0.3763, -0.0231, -0.0288, 0.9986, -0.0158, 0.7891, 0.6033, -0.3859, -0.0292, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1829 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9986 right_x=0.2936 right_y=0.0041 right_z=0.1798 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.2803, -1.4427, 9.7026, 1.7411, 0.0171, 0.1197, -0.1587, -1.0188, -1.1419, 10.3726, 1.8681, 0.0317, 0.1978, -0.1734]",
      "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]: [-0.02, 0.7982, 0.614, -0.3794, -0.0235, -0.0292, 0.9984, 0.6739, 1.607, 0.9905, -0.1303, 0.5022, 0.3447, 0.9985]\nstate[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0027 left_roll=-0.0004 left_gripper=0.9984 right_x=0.3863 right_y=0.2042 right_z=0.1305 right_yaw=0.0444 right_pitch=-0.0662 right_roll=-0.0485 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -1.6889, 6.5436, 1.7314, -0.0464, -0.0122, -0.0317, -0.0752, -7.4325, 9.0735, 1.7998, 0.569, 0.188, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b877563472f3c0ad9846b0923a549a395f7c8bdff18446c04766926038a4d3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1db4b9d93cb841d46e671b7134aab79c291f01824786ea7f21405d15bb15ead",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29b6741736c32161975eaa9f3b3086d91155a3057a1f2099670f40875a9152f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EPbj6PaXEroRnJkxcKAuH7",
      "input": {
        "note": "Wrist view shows the rightmost bottle just beyond and slightly right of the jaw column; I'm advancing 4 cm outward, shifting 2 cm right and yawing 20° so the jaws close across the bottle's neck.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.185,
          "right_yaw": 0.35,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01EPbj6PaXEroRnJkxcKAuH7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3794, -0.0257, -0.0292, 0.9984, 0.4225, 1.6569, 0.9009, 0.0982, 0.1394, 0.0711, 0.9984]\nstate[eef_state]: left_x=0.2964 left_y=0.0022 left_z=0.1832 left_yaw=0.0027 left_pitch=-0.0038 left_roll=0.0009 left_gripper=0.9984 right_x=0.4246 right_y=0.1679 right_z=0.1009 right_yaw=0.2389 right_pitch=-0.0788 right_roll=-0.0175 right_gripper=0.9984\nstate[joint_eff]: [-0.0479, -1.3607, 6.8308, 1.7216, -0.0171, -0.0708, -0.0171, -0.7179, -6.5299, 9.6615, 1.9707, -0.0024, 0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48417ae3a7437f54d6ab243128998820c1019110473541743667de6efe67b13f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9614b6da683e12bbbc50916c9b311b0f8cfcf17f72a0efd7aec9be99506e7826",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:694f2eb0d32681b8d6253dd8c220d2720141e6ef688a58a188800b8fd9ee2d1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 7.846 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, 0.6083, -0.3763, -0.0231, -0.0288, 0.9986, -0.0158, 0.7891, 0.6033, -0.3859, -0.0292, -0.0345, 0.9985]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1829 left_yaw=0.0002 left_pitch=-0.0004 left_roll=-0.0003 left_gripper=0.9986 right_x=0.2936 right_y=0.0041 right_z=0.1798 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.2803, -1.4427, 9.7026, 1.7411, 0.0171, 0.1197, -0.1587, -1.0188, -1.1419, 10.3726, 1.8681, 0.0317, 0.1978, -0.1734]",
      "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]: [-0.02, 0.7982, 0.614, -0.3794, -0.0235, -0.0292, 0.9984, 0.6739, 1.607, 0.9905, -0.1303, 0.5022, 0.3447, 0.9985]\nstate[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0027 left_roll=-0.0004 left_gripper=0.9984 right_x=0.3863 right_y=0.2042 right_z=0.1305 right_yaw=0.0444 right_pitch=-0.0662 right_roll=-0.0485 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -1.6889, 6.5436, 1.7314, -0.0464, -0.0122, -0.0317, -0.0752, -7.4325, 9.0735, 1.7998, 0.569, 0.188, -0.1734]",
      "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]: [-0.02, 0.7994, 0.614, -0.3794, -0.0257, -0.0292, 0.9984, 0.4225, 1.6569, 0.9009, 0.0982, 0.1394, 0.0711, 0.9984]\nstate[eef_state]: left_x=0.2964 left_y=0.0022 left_z=0.1832 left_yaw=0.0027 left_pitch=-0.0038 left_roll=0.0009 left_gripper=0.9984 right_x=0.4246 right_y=0.1679 right_z=0.1009 right_yaw=0.2389 right_pitch=-0.0788 right_roll=-0.0175 right_gripper=0.9984\nstate[joint_eff]: [-0.0479, -1.3607, 6.8308, 1.7216, -0.0171, -0.0708, -0.0171, -0.7179, -6.5299, 9.6615, 1.9707, -0.0024, 0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48417ae3a7437f54d6ab243128998820c1019110473541743667de6efe67b13f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9614b6da683e12bbbc50916c9b311b0f8cfcf17f72a0efd7aec9be99506e7826",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:694f2eb0d32681b8d6253dd8c220d2720141e6ef688a58a188800b8fd9ee2d1b",
        "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_01QxiW5SdFU6yskwdjWtkKBj",
      "input": {
        "note": "The rightmost bottle is centered under the wrist with its blue cap pointing away from the base; I'm moving out and down to neck height so the jaws straddle the neck just behind the cap.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.17,
          "right_yaw": 0.3,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QxiW5SdFU6yskwdjWtkKBj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8001, 0.614, -0.3794, -0.0254, -0.0292, 0.9984, 0.3702, 1.9308, 0.8291, 0.4709, 0.0349, 0.0162, 0.9984]\nstate[eef_state]: left_x=0.2965 left_y=0.0021 left_z=0.183 left_yaw=0.0023 left_pitch=-0.0045 left_roll=0.0007 left_gripper=0.9984 right_x=0.4452 right_y=0.17 right_z=0.0224 right_yaw=0.3046 right_pitch=-0.0591 right_roll=0.0041 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -1.5521, 6.735, 1.7656, -0.0073, -0.0366, -0.0122, -0.9778, -5.8735, 6.4615, 1.3944, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:534b11e397e4392ef78d7cabf205b56336a2b7316b6ada9d6f329f6819dca5b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa97dc6fa92a3fab5e311de344fbdcc02733f640c37ba950830f20e2f1b748e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46a4f5932a878fe0d780cb062248173e4b38f0dfcd60e2f0993bf4beb2e58568",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 13.13 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]: [-0.02, 0.7982, 0.614, -0.3794, -0.0235, -0.0292, 0.9984, 0.6739, 1.607, 0.9905, -0.1303, 0.5022, 0.3447, 0.9985]\nstate[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0027 left_roll=-0.0004 left_gripper=0.9984 right_x=0.3863 right_y=0.2042 right_z=0.1305 right_yaw=0.0444 right_pitch=-0.0662 right_roll=-0.0485 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -1.6889, 6.5436, 1.7314, -0.0464, -0.0122, -0.0317, -0.0752, -7.4325, 9.0735, 1.7998, 0.569, 0.188, -0.1734]",
      "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]: [-0.02, 0.7994, 0.614, -0.3794, -0.0257, -0.0292, 0.9984, 0.4225, 1.6569, 0.9009, 0.0982, 0.1394, 0.0711, 0.9984]\nstate[eef_state]: left_x=0.2964 left_y=0.0022 left_z=0.1832 left_yaw=0.0027 left_pitch=-0.0038 left_roll=0.0009 left_gripper=0.9984 right_x=0.4246 right_y=0.1679 right_z=0.1009 right_yaw=0.2389 right_pitch=-0.0788 right_roll=-0.0175 right_gripper=0.9984\nstate[joint_eff]: [-0.0479, -1.3607, 6.8308, 1.7216, -0.0171, -0.0708, -0.0171, -0.7179, -6.5299, 9.6615, 1.9707, -0.0024, 0.0366, -0.0171]",
      "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]: [-0.02, 0.8001, 0.614, -0.3794, -0.0254, -0.0292, 0.9984, 0.3702, 1.9308, 0.8291, 0.4709, 0.0349, 0.0162, 0.9984]\nstate[eef_state]: left_x=0.2965 left_y=0.0021 left_z=0.183 left_yaw=0.0023 left_pitch=-0.0045 left_roll=0.0007 left_gripper=0.9984 right_x=0.4452 right_y=0.17 right_z=0.0224 right_yaw=0.3046 right_pitch=-0.0591 right_roll=0.0041 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -1.5521, 6.735, 1.7656, -0.0073, -0.0366, -0.0122, -0.9778, -5.8735, 6.4615, 1.3944, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:534b11e397e4392ef78d7cabf205b56336a2b7316b6ada9d6f329f6819dca5b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa97dc6fa92a3fab5e311de344fbdcc02733f640c37ba950830f20e2f1b748e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46a4f5932a878fe0d780cb062248173e4b38f0dfcd60e2f0993bf4beb2e58568",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS+AYKjgEIEhgCKkBCNNUuvS580FlV79Mvn6pzxjxpOcMWQct6mAAKSeSqvbs8rFWbYs8TrB3TFY1hBOWzeKpqCiQJEkIkXZe7X1GmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd20zNUGEgzz38K2muEwYekoR6kaDEICwA0OSK5+JzyltCIwgol9C4QvlAXwffohLbhQjmB33+RbswbMSC1TKlCtrQ0+TmskPAQIYIjak+nH4sOIKpYFfHsLefDCn3/mEvxZjCS1gWjsIhB39x3NH5Y7WL2om3GXrmPwszEgL3JuUlPFb8BmqKgwn0zG7HMlwI5rgvCuLy71gqCj2CWCY0VRxFCeBN/ehLBdcI4sMovYZcOUpRRGm/A257XLf6oU/UeTUcAlXydLyr93jFJrIgLEUvavh4lhFQxURr4ucc9h8rjPmr8/qGeOymNFo9YGHI1+XqMom/AgVIYWfkmW4rh4TTr9PlL1jRTJx8YTrxgvY2VIIiv76s8eQueRSC/xtghuKpZ4jvZuMG0I2Kp6aDlohvZ6leJYRKpmJ2SCX94W+V5pNZ7/x+VX8IQSR9cqdJm6lsekAL4NRpdR9prP3p0Hws5NydNabB3rCSnjPS3IZxOJ0rBaxyE63R0Wh5STfdVlb0Z88fshL2c69ITbp1GtVBW1aF2oG709lJV6P0V69LZUYlFO5Bv5atzCF77eeSvMiYZ9PtO0dln+nXKGglajXf9pRWmYAe5ns4qUF/gZxoNDao0K3L6L4/I2kZALrrE+F9kUDrz9IU1U48LADRIeNjmzLYe2yF84RNvkynmzv9/giafCELRRnMXsB+BmowJFY3zhGiNrglxk+o5+JX6D6F/CsBRyGP2WjVNHLE10fbM2uqgANsTsmAuVhomiBJmPd8tya04XBgE1FCVEgqv6a6sDGIAyKKuQ7r+J9cjL3ywWm4xPkDD23dl+LMm9hzWNPbJATmBgZJhWvAxp3zdF0kox25DlylBD9wPPtW8/lFSwF75pvRubODj+ZYNhjXLJLIEwXfmrhTzNVmHUoR/ScWtZii/Et8DDFa88QEEOX7nor7v0Zj6pSsolE/otFTBj9NjZQKVhEnq0x9T6WPp8FN6kNW5Gsl4zOv8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CSoFJ28c7wwXSpQJqUs4Yc",
      "input": {
        "note": "Jaws straddle the bottle near its neck; closing to check what thickness I've captured (neck ~3 cm, body ~6.5 cm).",
        "targets": {
          "right_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01CSoFJ28c7wwXSpQJqUs4Yc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0257, -0.0292, 0.9984, 0.3653, 1.9511, 0.841, 0.6151, 0.0139, -0.0055, 0.4101]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1825 left_yaw=0.0027 left_pitch=-0.0064 left_roll=0.0009 left_gripper=0.9984 right_x=0.4647 right_y=0.1789 right_z=0.0474 right_yaw=0.329 right_pitch=0.0764 right_roll=0.0038 right_gripper=0.4101\nstate[joint_eff]: [-0.2803, -1.6068, 6.694, 1.8291, -0.0269, -0.0659, -0.0122, -0.8821, -7.3094, 5.6684, 1.2479, 0.1294, 0.0415, 0.4078]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f04f5f678579cfb348d0f954ddafdec912171f06adc0495d3dd762ad9eb323b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51d4eca991b78c54e5bbce73cfbe22c119d18f719bcee410f52c88be90b5ce6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0134d19d32df7bc7431a8f9bec9451aa8888cbec9b0c1361a82c1e47c3828ea2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 4.71 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]: [-0.02, 0.7994, 0.614, -0.3794, -0.0257, -0.0292, 0.9984, 0.4225, 1.6569, 0.9009, 0.0982, 0.1394, 0.0711, 0.9984]\nstate[eef_state]: left_x=0.2964 left_y=0.0022 left_z=0.1832 left_yaw=0.0027 left_pitch=-0.0038 left_roll=0.0009 left_gripper=0.9984 right_x=0.4246 right_y=0.1679 right_z=0.1009 right_yaw=0.2389 right_pitch=-0.0788 right_roll=-0.0175 right_gripper=0.9984\nstate[joint_eff]: [-0.0479, -1.3607, 6.8308, 1.7216, -0.0171, -0.0708, -0.0171, -0.7179, -6.5299, 9.6615, 1.9707, -0.0024, 0.0366, -0.0171]",
      "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]: [-0.02, 0.8001, 0.614, -0.3794, -0.0254, -0.0292, 0.9984, 0.3702, 1.9308, 0.8291, 0.4709, 0.0349, 0.0162, 0.9984]\nstate[eef_state]: left_x=0.2965 left_y=0.0021 left_z=0.183 left_yaw=0.0023 left_pitch=-0.0045 left_roll=0.0007 left_gripper=0.9984 right_x=0.4452 right_y=0.17 right_z=0.0224 right_yaw=0.3046 right_pitch=-0.0591 right_roll=0.0041 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -1.5521, 6.735, 1.7656, -0.0073, -0.0366, -0.0122, -0.9778, -5.8735, 6.4615, 1.3944, -0.022, -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 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0257, -0.0292, 0.9984, 0.3653, 1.9511, 0.841, 0.6151, 0.0139, -0.0055, 0.4101]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1825 left_yaw=0.0027 left_pitch=-0.0064 left_roll=0.0009 left_gripper=0.9984 right_x=0.4647 right_y=0.1789 right_z=0.0474 right_yaw=0.329 right_pitch=0.0764 right_roll=0.0038 right_gripper=0.4101\nstate[joint_eff]: [-0.2803, -1.6068, 6.694, 1.8291, -0.0269, -0.0659, -0.0122, -0.8821, -7.3094, 5.6684, 1.2479, 0.1294, 0.0415, 0.4078]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f04f5f678579cfb348d0f954ddafdec912171f06adc0495d3dd762ad9eb323b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51d4eca991b78c54e5bbce73cfbe22c119d18f719bcee410f52c88be90b5ce6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0134d19d32df7bc7431a8f9bec9451aa8888cbec9b0c1361a82c1e47c3828ea2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WjcweFTUKDTiQh6ry8qo4f",
      "input": {
        "note": "Gripper settled at 0.41 (≈3.9 cm), so I have the bottle's shoulder/neck. Easing the grip slightly and lifting the cap end up and back so the bottle pivots on its base toward upright.",
        "targets": {
          "right_gripper": 0.45,
          "right_x": 0.42,
          "right_y": 0.165,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01WjcweFTUKDTiQh6ry8qo4f",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8017, 0.614, -0.3771, -0.0257, -0.0296, 0.9984, 0.3691, 1.7218, 0.7906, 0.387, 0.0216, -0.0093, 0.4488]\nstate[eef_state]: left_x=0.2969 left_y=0.0022 left_z=0.1831 left_yaw=0.0029 left_pitch=-0.0038 left_roll=0.0005 left_gripper=0.9984 right_x=0.434 right_y=0.1677 right_z=0.0847 right_yaw=0.3286 right_pitch=0.0274 right_roll=-0.0052 right_gripper=0.4488\nstate[joint_eff]: [-0.0752, -1.3197, 6.694, 1.8779, -0.022, -0.0611, -0.0122, 0.4034, -8.4855, 6.9812, 2.2637, -0.0073, 0.0708, -0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e44a936d419f0337f9c4b81def6eec7d38a85f51d4572c9859b3c5195bcc679c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b3debc208cae114b524b73724500265101a92e5e87afb057d076f559eb645a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2aad50c7f41e9a0e286766ab3016c62dbc96a940cb662a44c1994f43c05a5fcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 12.58 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]: [-0.02, 0.8001, 0.614, -0.3794, -0.0254, -0.0292, 0.9984, 0.3702, 1.9308, 0.8291, 0.4709, 0.0349, 0.0162, 0.9984]\nstate[eef_state]: left_x=0.2965 left_y=0.0021 left_z=0.183 left_yaw=0.0023 left_pitch=-0.0045 left_roll=0.0007 left_gripper=0.9984 right_x=0.4452 right_y=0.17 right_z=0.0224 right_yaw=0.3046 right_pitch=-0.0591 right_roll=0.0041 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -1.5521, 6.735, 1.7656, -0.0073, -0.0366, -0.0122, -0.9778, -5.8735, 6.4615, 1.3944, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8024, 0.614, -0.379, -0.0257, -0.0292, 0.9984, 0.3653, 1.9511, 0.841, 0.6151, 0.0139, -0.0055, 0.4101]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1825 left_yaw=0.0027 left_pitch=-0.0064 left_roll=0.0009 left_gripper=0.9984 right_x=0.4647 right_y=0.1789 right_z=0.0474 right_yaw=0.329 right_pitch=0.0764 right_roll=0.0038 right_gripper=0.4101\nstate[joint_eff]: [-0.2803, -1.6068, 6.694, 1.8291, -0.0269, -0.0659, -0.0122, -0.8821, -7.3094, 5.6684, 1.2479, 0.1294, 0.0415, 0.4078]",
      "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]: [-0.02, 0.8017, 0.614, -0.3771, -0.0257, -0.0296, 0.9984, 0.3691, 1.7218, 0.7906, 0.387, 0.0216, -0.0093, 0.4488]\nstate[eef_state]: left_x=0.2969 left_y=0.0022 left_z=0.1831 left_yaw=0.0029 left_pitch=-0.0038 left_roll=0.0005 left_gripper=0.9984 right_x=0.434 right_y=0.1677 right_z=0.0847 right_yaw=0.3286 right_pitch=0.0274 right_roll=-0.0052 right_gripper=0.4488\nstate[joint_eff]: [-0.0752, -1.3197, 6.694, 1.8779, -0.022, -0.0611, -0.0122, 0.4034, -8.4855, 6.9812, 2.2637, -0.0073, 0.0708, -0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e44a936d419f0337f9c4b81def6eec7d38a85f51d4572c9859b3c5195bcc679c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b3debc208cae114b524b73724500265101a92e5e87afb057d076f559eb645a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aad50c7f41e9a0e286766ab3016c62dbc96a940cb662a44c1994f43c05a5fcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2AMKjgEIEhgCKkAYL/+xfyYNXsN+1Rpn/37EQhE9JPcl5CzJWva5AlU9XWQPjbkR0Yetj4yGRC5crZHEejUWd/8HO8ODtbHHmMbqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfC0zNUGEgxxejv0wn5Ay/nGFsEaDMrNFwRiyUv3WIucuiIw1Ex27kKN2XzyqxrvdFSxM8MIc1dUgGye3jycbLaqNLiqPQK05IGc+K5VVOBSTyAaKvYB6N8sfcZRzdz8ax6gPv35X2VaNacer1NL6iHXJj6YX4sSPyhcnw6lMZdky32ej+OrMZGRNytN+JeE5FFtuB3uemOybAPL5NysWqA+qGgVxKULlhhBmvPh2IQTwTvUlgcCgqwUDsNy3V0/C9WmCJnDC+6blOI+CNJCFnKHRPVSGHyonIwGx6M6eak7QhAmReRoyBaFlV8srgunPN7/2uf8AUe7RaD3437h4+siNtRqbHf8F0uqUjgbO6AG3250EGUFAevmkvdCUdyXEHq6F08nQz/tRuuiIYvCSfBnEgXXokg+gW3JW4X7wVr5u6wmbmww74XWNkOjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GwwEZRABwumcZUxzkNsU35",
      "input": {
        "note": "Continuing the arc: pulling the neck further back and up so the bottle rotates toward vertical while its base stays on the table.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.15,
          "right_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_01GwwEZRABwumcZUxzkNsU35",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8028, 0.6136, -0.3786, -0.0257, -0.0292, 0.9984, 0.3866, 1.3609, 0.7403, 0.0692, 0.025, -0.0055, 0.4487]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1823 left_yaw=0.0027 left_pitch=-0.0068 left_roll=0.0009 left_gripper=0.9984 right_x=0.3796 right_y=0.1536 right_z=0.1475 right_yaw=0.3412 right_pitch=0.0202 right_roll=-0.004 right_gripper=0.4487\nstate[joint_eff]: [-0.0342, -1.0188, 6.8855, 1.8974, -0.0562, -0.0708, -0.0122, 0.5265, -5.2718, 6.4752, 1.873, 0.0952, 0.0806, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20538d5b9071dd86df8b89e3467987a6f46db19a867b996bab3c51b33822c6b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e0634bbdfebe65377ee97666cdbc980591e7aa55315a84bd924f1415ba14012",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7d7c7c3188d3aa239a17e37c708ba7978476b311dcc9f565439fb7e5da93a35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 6.235 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]: [-0.02, 0.8024, 0.614, -0.379, -0.0257, -0.0292, 0.9984, 0.3653, 1.9511, 0.841, 0.6151, 0.0139, -0.0055, 0.4101]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1825 left_yaw=0.0027 left_pitch=-0.0064 left_roll=0.0009 left_gripper=0.9984 right_x=0.4647 right_y=0.1789 right_z=0.0474 right_yaw=0.329 right_pitch=0.0764 right_roll=0.0038 right_gripper=0.4101\nstate[joint_eff]: [-0.2803, -1.6068, 6.694, 1.8291, -0.0269, -0.0659, -0.0122, -0.8821, -7.3094, 5.6684, 1.2479, 0.1294, 0.0415, 0.4078]",
      "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]: [-0.02, 0.8017, 0.614, -0.3771, -0.0257, -0.0296, 0.9984, 0.3691, 1.7218, 0.7906, 0.387, 0.0216, -0.0093, 0.4488]\nstate[eef_state]: left_x=0.2969 left_y=0.0022 left_z=0.1831 left_yaw=0.0029 left_pitch=-0.0038 left_roll=0.0005 left_gripper=0.9984 right_x=0.434 right_y=0.1677 right_z=0.0847 right_yaw=0.3286 right_pitch=0.0274 right_roll=-0.0052 right_gripper=0.4488\nstate[joint_eff]: [-0.0752, -1.3197, 6.694, 1.8779, -0.022, -0.0611, -0.0122, 0.4034, -8.4855, 6.9812, 2.2637, -0.0073, 0.0708, -0.1294]\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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8028, 0.6136, -0.3786, -0.0257, -0.0292, 0.9984, 0.3866, 1.3609, 0.7403, 0.0692, 0.025, -0.0055, 0.4487]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1823 left_yaw=0.0027 left_pitch=-0.0068 left_roll=0.0009 left_gripper=0.9984 right_x=0.3796 right_y=0.1536 right_z=0.1475 right_yaw=0.3412 right_pitch=0.0202 right_roll=-0.004 right_gripper=0.4487\nstate[joint_eff]: [-0.0342, -1.0188, 6.8855, 1.8974, -0.0562, -0.0708, -0.0122, 0.5265, -5.2718, 6.4752, 1.873, 0.0952, 0.0806, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20538d5b9071dd86df8b89e3467987a6f46db19a867b996bab3c51b33822c6b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e0634bbdfebe65377ee97666cdbc980591e7aa55315a84bd924f1415ba14012",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7d7c7c3188d3aa239a17e37c708ba7978476b311dcc9f565439fb7e5da93a35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpwsKjgEIEhgCKkDm2o0A0g4oqdbI4GQhmeNQX/PTxzb0kmAscI+AZ33cUtcfa2QaUax1gHVBajn6+76rp+P2dxmA/tNc+Imi2kykMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf20zNUGEgwPM/WstJa9s0xkqI8aDGwjh8ghjIyAqHcjmyIwbR8tZxSe/s+pxmjAw4/R8DP3UUT7I3SeHSaY7rGUO360SIgCi9m362m+7+YnIrYYKsUJCdeKbg10w8EvvRyKdePGNf8UK8Iq5lq9YPrQSPdmY1JxRvXf5RizWUWiN7mN+iGx3HjfmCfXKAjID/jIJt1HByoKq9jUnEEE69+861CN9r7hWpOp46lxmcJdSG0PwhNXP1g/4xPoP5CWHBJ4pV6Ronk4Zx9MTdslA54AVAVmSO+gZgZXxXfw2eRKILO3jDFX/q8k9+tgQcBivmRf+Lesuo1bwD6RfJu6znMkQcUeLcS5mOvzpSlJZNNsG85gT0GNwaN8LlAVltEccf8bjbTusoDZgLl4oVZ0If7gEjEbSvsJrPNoxvXPOvEH61z2vcqis2cHe0XtXKo7T84WX90dOUCFDTn/vp8t+eDMKEHF3sGQ1xbA4Vcb74H9QWnkJ4TJB/AZZpjdPpjA4/a3gT1f1H5KAVajoB+SCRthuMQLujRhjpSHqmLNun09IrbiordwdaT8jukH+ck4N1csWZcwSCtapaU+Bkf2uD2yyKVJ8PRj+LDArdLJe0oI/r/o7ca4NJoT8yTrs0kuwIw/+TH/rHWlWVyBpEupEf65xyYd6AtBGewh6eA4FXhUNSraCgQT30+PIIJ4gvcD2cECeMVRJ/66ViontcXV2ntAkcjbDAdUTha+mbpAmY2ERKsokw+Qh73/ynRmpJS7BtR3m96zZmCtheFy3z/4kOpNjIpW6ochFh1+ExV44F9QB8xmc/N/7rD1ZXCAnD24Y6tW32frtHXvrO3BYC/ePVVVm5X97GJIiK765A6gs14LRikc8pqypdUMILUGcls/Lpx/C1GBlFibx8OyX7+1/ei9YklA2oCL+75nQwAKRLrSqAj5b0v7O9CixOHTaP0r+myUe5VmS68QiuAS3CoqPE7e+kL7DCG7q8NZACX9rELKeELvMqxqNhNev8Pcsb69ElDOlMvwkTfFwmd6g/STH37NFyoAEMlOYkGw1Vt9kZId4mjkCwjTu4hkyg04/B3zHqfpl6UoxMDTx6K6JDahRK9pFPC3GcGTCMXI10ArZR1AFj2rcPisMF++/PUvH7GzKZuFpFVzc1dmIxb0bGkIJ+8utn1a058FrvsOMnGulxkrtDSa9tW2yLeV/8BEdOU3m260Wl3whrl7dyONhE38Jx2xHiZRqh6HY7j2knBbx7ENhtIK+c7/7SSZpsgtvCiHFjfkWZ/6MQHN8hw2NQfb3VyN7+bScCBOQN1gbi6WUKxqBseQ1pikfoTarFA9ijGbHwmmMTQ3gLMvd5Icx9XGskvGJuhGdrmd0Ds+1chc5BcHpSXrqfX4Cef/zq5F7gtqxoJKWzgqa0NMiwO8Q84mi3DEckHdvAjmkcG99fjH6vhWQzVIKE8mEFCQ7s2xD/skFwhT3LUwK8L7bQM/tYc44DnM0OaBt52HeMfL3/SeMmbRbKfkDYbH7g34nqz1q+rccclOr98JEl+m4KWJ4qgdABRxAeuC6mmK/hwBGtyD7iIqVxNvVGG2Tf3NOyuf3qCfUu7+8vPhgA3v2CLeO09+wurRiqyST4cCdOuatkpfXQCq1l8Ty2N2prFTYPfZ8ENIaByhf2xCT5Po1cqtF2Pdke/OseY3hHwzuHaE6Mw0WEIMe/KA0kGmooeMKqtk3lmqs54g+kc258Cz1pbcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019CX8ZxmCmmJdJMPE3RWpEQ",
      "input": {
        "note": "The bottle slipped free when I eased the grip — it is still lying down. Returning to the same neck/shoulder position with the jaws open to re-grasp, this time clamping hard.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.445,
          "right_y": 0.17,
          "right_yaw": 0.32,
          "right_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_019CX8ZxmCmmJdJMPE3RWpEQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.614, -0.379, -0.0254, -0.0292, 0.9984, 0.3927, 1.3182, 0.7395, -0.0113, 0.025, -0.0051, 0.9966]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1825 left_yaw=0.0023 left_pitch=-0.0065 left_roll=0.0007 left_gripper=0.9984 right_x=0.3671 right_y=0.1512 right_z=0.1468 right_yaw=0.3471 right_pitch=-0.0183 right_roll=-0.0054 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.6479, 6.4479, 1.8388, -0.0317, -0.0708, -0.0122, -0.1026, -5.012, 6.612, 1.9121, 0.0855, 0.1441, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:970de4e9572d4fc89f0ec7d4bc7c21a0d55a16d4e20da83199862c8a39719e57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3d53ae70144916053abde9f582bdf4cb7c8bffd4c983e3db0a5d194132a77a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6268be576dd0b580d7f38bb47bbae745fae08c6aed50e7910dc29a274457c5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /messages · status 200 · 5.132 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]: [-0.02, 0.8017, 0.614, -0.3771, -0.0257, -0.0296, 0.9984, 0.3691, 1.7218, 0.7906, 0.387, 0.0216, -0.0093, 0.4488]\nstate[eef_state]: left_x=0.2969 left_y=0.0022 left_z=0.1831 left_yaw=0.0029 left_pitch=-0.0038 left_roll=0.0005 left_gripper=0.9984 right_x=0.434 right_y=0.1677 right_z=0.0847 right_yaw=0.3286 right_pitch=0.0274 right_roll=-0.0052 right_gripper=0.4488\nstate[joint_eff]: [-0.0752, -1.3197, 6.694, 1.8779, -0.022, -0.0611, -0.0122, 0.4034, -8.4855, 6.9812, 2.2637, -0.0073, 0.0708, -0.1294]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.02, 0.8028, 0.6136, -0.3786, -0.0257, -0.0292, 0.9984, 0.3866, 1.3609, 0.7403, 0.0692, 0.025, -0.0055, 0.4487]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1823 left_yaw=0.0027 left_pitch=-0.0068 left_roll=0.0009 left_gripper=0.9984 right_x=0.3796 right_y=0.1536 right_z=0.1475 right_yaw=0.3412 right_pitch=0.0202 right_roll=-0.004 right_gripper=0.4487\nstate[joint_eff]: [-0.0342, -1.0188, 6.8855, 1.8974, -0.0562, -0.0708, -0.0122, 0.5265, -5.2718, 6.4752, 1.873, 0.0952, 0.0806, -0.0269]",
      "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]: [-0.02, 0.8024, 0.614, -0.379, -0.0254, -0.0292, 0.9984, 0.3927, 1.3182, 0.7395, -0.0113, 0.025, -0.0051, 0.9966]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1825 left_yaw=0.0023 left_pitch=-0.0065 left_roll=0.0007 left_gripper=0.9984 right_x=0.3671 right_y=0.1512 right_z=0.1468 right_yaw=0.3471 right_pitch=-0.0183 right_roll=-0.0054 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.6479, 6.4479, 1.8388, -0.0317, -0.0708, -0.0122, -0.1026, -5.012, 6.612, 1.9121, 0.0855, 0.1441, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:970de4e9572d4fc89f0ec7d4bc7c21a0d55a16d4e20da83199862c8a39719e57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3d53ae70144916053abde9f582bdf4cb7c8bffd4c983e3db0a5d194132a77a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6268be576dd0b580d7f38bb47bbae745fae08c6aed50e7910dc29a274457c5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISowUKjgEIEhgCKkAH3PksLRwcvXw1gPuHd1tOzlZBUE7nm0ckdZUua/m3vN8QnsibhBPDM3XFS+Q5xE10GSvT2w7AInCiInphk/IrMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYS1zNUGEgy4iETzG5fSVTzoZ5MaDNGeVFCVn9Cgv7mWAyIwFfiOwB6lU+SiCVkLcjSDRoPhiH0icNYoD5iFR3aTQ1w3cqn+Kp1VSADKtei+YsQGKsEDmx3wAkUEnW4PlQDiyHp8E5U9ocsJuyUupOgp/Or9/hpQMUqTbJeqEJLp2c4xgwHlH6A6nBV/8NKucaiy/cW1IgPjlxODGMxuKbtaEkK7WMmFv6QGhopxEBZOy1dfVG2oJVs7+x4zafFW9Wok/gjUdHMl9kvzIznfU6xBqoOLthRfXGrTKNpQZaokHoSjhTAv20N/ELM0AQ9Eep2A8RAjFzoGNQprkrvOzU99XE/cMaehKfBfE8BRpD5m7vQVeu+qj169MIIwRpDKwtaqiIrqsRQ2nKUls+LhUVEvXMLCw3GvpvRMkEQ1bo2NJbqOGO3h08rh9NCHvYvvoNImsyJJpcL3hdjdIV9aoIeMN+yfMVjfe5cOnq2SNj/Jl8fYGWHO5HXvgXa6WEpQXlyRovgjC/XtSCBYoc3ffGUMHthoE0x1mA9cIkblAE6dk4BGdFNcI6K4ceM/BpAT3zwIfttNQWDEBzWvP8rd035rqBEX3cnhaM+CZn1vllqLs10bZn8HeRbo5JCKJ0rXOVIIQdWD6if5ohIY94M6w6i0TqeGIPcqfIHgdTn8DEFaHFVgsUKvKgqAnfjlHJcAnS8DzjvmIPEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W17LdzZCNRi33RQtytHY2G",
      "input": {
        "note": "The arm didn't track my last big reposition, so I'm stepping halfway down and out toward the bottle's neck first.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.16,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01W17LdzZCNRi33RQtytHY2G",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6136, -0.3782, -0.0254, -0.0292, 0.9984, 0.3683, 1.5982, 0.7254, 0.2237, 0.0032, -0.0162, 0.9978]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1828 left_yaw=0.0023 left_pitch=-0.0049 left_roll=0.0007 left_gripper=0.9984 right_x=0.3976 right_y=0.1567 right_z=0.0778 right_yaw=0.3469 right_pitch=-0.0777 right_roll=-0.0038 right_gripper=0.9978\nstate[joint_eff]: [-0.0342, -1.5385, 6.6256, 1.79, -0.0122, 0.0024, -0.0122, -0.3214, -9.894, 5.094, 1.9512, -0.0855, -0.022, 0.1148]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:737470aba9e9c6eedff4a2da2e17c996efa610df347803a921545c5b46c018f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d9778c8e3a686cbb7576047aaa96576977583dad2e6cf38015d613ea23522e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9d777f206a9964c5b8108dbe6ed13e6df9abb898e2323887f1e748567b3c130",
        "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 · 6.41 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]: [-0.02, 0.8028, 0.6136, -0.3786, -0.0257, -0.0292, 0.9984, 0.3866, 1.3609, 0.7403, 0.0692, 0.025, -0.0055, 0.4487]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1823 left_yaw=0.0027 left_pitch=-0.0068 left_roll=0.0009 left_gripper=0.9984 right_x=0.3796 right_y=0.1536 right_z=0.1475 right_yaw=0.3412 right_pitch=0.0202 right_roll=-0.004 right_gripper=0.4487\nstate[joint_eff]: [-0.0342, -1.0188, 6.8855, 1.8974, -0.0562, -0.0708, -0.0122, 0.5265, -5.2718, 6.4752, 1.873, 0.0952, 0.0806, -0.0269]",
      "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]: [-0.02, 0.8024, 0.614, -0.379, -0.0254, -0.0292, 0.9984, 0.3927, 1.3182, 0.7395, -0.0113, 0.025, -0.0051, 0.9966]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1825 left_yaw=0.0023 left_pitch=-0.0065 left_roll=0.0007 left_gripper=0.9984 right_x=0.3671 right_y=0.1512 right_z=0.1468 right_yaw=0.3471 right_pitch=-0.0183 right_roll=-0.0054 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.6479, 6.4479, 1.8388, -0.0317, -0.0708, -0.0122, -0.1026, -5.012, 6.612, 1.9121, 0.0855, 0.1441, -0.1587]",
      "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]: [-0.02, 0.8013, 0.6136, -0.3782, -0.0254, -0.0292, 0.9984, 0.3683, 1.5982, 0.7254, 0.2237, 0.0032, -0.0162, 0.9978]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1828 left_yaw=0.0023 left_pitch=-0.0049 left_roll=0.0007 left_gripper=0.9984 right_x=0.3976 right_y=0.1567 right_z=0.0778 right_yaw=0.3469 right_pitch=-0.0777 right_roll=-0.0038 right_gripper=0.9978\nstate[joint_eff]: [-0.0342, -1.5385, 6.6256, 1.79, -0.0122, 0.0024, -0.0122, -0.3214, -9.894, 5.094, 1.9512, -0.0855, -0.022, 0.1148]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:737470aba9e9c6eedff4a2da2e17c996efa610df347803a921545c5b46c018f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d9778c8e3a686cbb7576047aaa96576977583dad2e6cf38015d613ea23522e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9d777f206a9964c5b8108dbe6ed13e6df9abb898e2323887f1e748567b3c130",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkgQKjgEIEhgCKkD7r2S0COsJOecUzEusTC0PX5zVvH6WkEtha5+HXNPdAjeTyimu2YXnURcL0YxHEMVb+5I7JoE1p1oW5RfIv3aoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYq1zNUGEgx6RAk2lfQmTIbUV9QaDAVkGF98DUpDUD4n7SIwJvpu/t5z8Y1YzcWEswIf/uOndYNiRrEmzqO3EbIngZA+E8L8sRvGXBzDPrG0p1WqKrACpJGUrYiuV6mwszfJj93zcpI5+m5utYihSTJ0dZI+2Hgcf9dfxhmo6GeHbpZ0ki9U9C/P7tFKL40/mujdyzZXDtMc8GdjySUFkPGOjcm+6oOq40CXRkdx9E93hWlS1I3ZHbhKUExogVs3pZz7yXB4r8NOTue4F4Bilj0xZLtr6nTlq3XBAg0tsbrCduQzMqCnzGwNrvXHDSfcqQ5h3hTNQpJByMxPvZN6Revbv8lBRAEdrQolZ8zpIihz7jHQb6FeH5awc4VtElyHLV0BG9baJURPbtpoqvfVGWYNwqJ4Uk7Nl3mNO3wYL14J0McheDqiWlhU8NNQZ2rRYkd2g2vLlmsaRdmQRamOmvl+WVxIQ87ZWMAdyGlP0Pqj0sb0ttKyxygKYX6/jkvgCHB7iUFieBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XhSuoRbPAeW9zaSWX4RMuu",
      "input": {
        "note": "Bottle is centered on the jaw column in the wrist view; advancing 4 cm out and dropping to neck height for the grasp.",
        "targets": {
          "right_x": 0.435,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XhSuoRbPAeW9zaSWX4RMuu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0254, -0.0292, 0.9984, 0.3626, 1.6672, 0.6678, 0.3893, -0.0071, -0.0334, 0.998]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1824 left_yaw=0.0023 left_pitch=-0.0065 left_roll=0.0007 left_gripper=0.9984 right_x=0.401 right_y=0.1573 right_z=0.0599 right_yaw=0.3592 right_pitch=-0.0386 right_roll=-0.0111 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -1.4838, 6.6256, 1.8095, -0.0366, -0.0611, -0.0122, -0.6496, -6.653, 5.3402, 2.1563, -0.0513, 0.0659, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1fae307d48e83eb22639d91f2653ab197670adca18549caa4a0b5d35f098ef7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d08e8601111fefa15df028451d9c456b6c042ce77a5a3898513d2dbc320aaad4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e0ad0dff2293bb2349c1acf13f5641efb6c10e6966d78ba6491a026cb94f2ea",
        "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 · 28.62 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]: [-0.02, 0.8024, 0.614, -0.379, -0.0254, -0.0292, 0.9984, 0.3927, 1.3182, 0.7395, -0.0113, 0.025, -0.0051, 0.9966]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1825 left_yaw=0.0023 left_pitch=-0.0065 left_roll=0.0007 left_gripper=0.9984 right_x=0.3671 right_y=0.1512 right_z=0.1468 right_yaw=0.3471 right_pitch=-0.0183 right_roll=-0.0054 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.6479, 6.4479, 1.8388, -0.0317, -0.0708, -0.0122, -0.1026, -5.012, 6.612, 1.9121, 0.0855, 0.1441, -0.1587]",
      "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]: [-0.02, 0.8013, 0.6136, -0.3782, -0.0254, -0.0292, 0.9984, 0.3683, 1.5982, 0.7254, 0.2237, 0.0032, -0.0162, 0.9978]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1828 left_yaw=0.0023 left_pitch=-0.0049 left_roll=0.0007 left_gripper=0.9984 right_x=0.3976 right_y=0.1567 right_z=0.0778 right_yaw=0.3469 right_pitch=-0.0777 right_roll=-0.0038 right_gripper=0.9978\nstate[joint_eff]: [-0.0342, -1.5385, 6.6256, 1.79, -0.0122, 0.0024, -0.0122, -0.3214, -9.894, 5.094, 1.9512, -0.0855, -0.022, 0.1148]\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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0254, -0.0292, 0.9984, 0.3626, 1.6672, 0.6678, 0.3893, -0.0071, -0.0334, 0.998]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1824 left_yaw=0.0023 left_pitch=-0.0065 left_roll=0.0007 left_gripper=0.9984 right_x=0.401 right_y=0.1573 right_z=0.0599 right_yaw=0.3592 right_pitch=-0.0386 right_roll=-0.0111 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -1.4838, 6.6256, 1.8095, -0.0366, -0.0611, -0.0122, -0.6496, -6.653, 5.3402, 2.1563, -0.0513, 0.0659, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1fae307d48e83eb22639d91f2653ab197670adca18549caa4a0b5d35f098ef7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d08e8601111fefa15df028451d9c456b6c042ce77a5a3898513d2dbc320aaad4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e0ad0dff2293bb2349c1acf13f5641efb6c10e6966d78ba6491a026cb94f2ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiwYKjgEIEhgCKkBVayQOse8eicu2OZkMkwPKMGO6EEuCfOPRNuCFTnaANiFhBfs+YWtjuyDrLW+m5DjNdbpB+Ah7zbG4NG12DS7vMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZC1zNUGEgynnJCD7Fyv5fIHQqkaDJOy4FFPUySclLeWaCIwE1Miqh/uR+NIjoqUptZnD2NBGZ44XI9UaGTkcqYURAYTmuFewAi490JFuBfrp3e0KqkEGdOi4iBiO4fcMWWLxwV6oBzKswJlUffOFe5DUEe2AuJUkk74hpdLvwWql7WOvKaRL5cHLx0p0xvCzwgzhLybuuS80URwtSwG56eOAJ5JQLEC22s6A6HioRi4FsVUJKAIobR17JydY5E3SzPJ6tDEYdBhbr2k0qrHH3RH+hvbLQtoCmM+aff9/rImIabDTwkJsJxBuFTf9m4q3DZwzffmPcqPYT83d1b4lNLYyUVLn1DWgTNcvco6kQhpfvi3+ylVfqaKnpUhCVXVRHCKwgXTmb2rbaVcxNBMv/VQlLSMu+tdEl/rHXbSMN77HJoSA3Qr3BJL3+000wPxZUP2EXQ6igWFafBmOJzdUfinpnQKeP7QjFSY0i/G1+QJLXyXNKr+XZmwSZ+gGPoSnC7lecB4aNND73qO+OlA3LVQZW1sKemq7DemA2oAaceuafEOcUjuaageZdZQxozdQwqk1sgQ3mp6SRvG8dpwo3JhbRJgP+bkIGKPak1Ewhr+dfmLwLkZKmackkJyUvymINMaQvf6V2f62gzUBM7RFx3b1ZoOM0xNt8+DfzP1oeo0slo9ry5ZR+SS557fG1l+vBfhlD2HcjRxAuqMmrUUy2ixybHORHClu+FkanSlfVyZmSLwv8YOShfTx1KDPu3Kg4sGPa59XnNNj23M5izLctnPu/y3Q9+HVgDXyypKbzY+22mHze2gRINC1KG5j4kVyzM0Jv+qgI/c5KPc6TrB/xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W3n7pdyPupMiKXFUrmcvVA",
      "input": {
        "note": "The bottle sits between the jaws in the wrist view; clamping down hard on the plastic so it cannot slip this time.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01W3n7pdyPupMiKXFUrmcvVA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0254, -0.0292, 0.9984, 0.3622, 1.6676, 0.6361, 0.4427, -0.0097, -0.0322, 0.0551]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1823 left_yaw=0.0023 left_pitch=-0.0068 left_roll=0.0007 left_gripper=0.9984 right_x=0.3985 right_y=0.1567 right_z=0.0585 right_yaw=0.3604 right_pitch=-0.0173 right_roll=-0.0086 right_gripper=0.0551\nstate[joint_eff]: [-0.0615, -1.6752, 6.7487, 1.8437, 0.0024, -0.0464, -0.0122, -0.3214, -6.4068, 5.3675, 1.8339, -0.0659, 0.0073, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:042e4fabb5cd51e640c287e1fac3ed613af7753c2296003f0a29b635674297f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5603d35512af45efc75a736196378fc9007d702fb1f8468d5c03aabe8538e07e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ae9b922babbaa44bfce935f1e75d1cf44132121c16cc66e6b315d3c32aed3c3",
        "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 · 5.007 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]: [-0.02, 0.8013, 0.6136, -0.3782, -0.0254, -0.0292, 0.9984, 0.3683, 1.5982, 0.7254, 0.2237, 0.0032, -0.0162, 0.9978]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1828 left_yaw=0.0023 left_pitch=-0.0049 left_roll=0.0007 left_gripper=0.9984 right_x=0.3976 right_y=0.1567 right_z=0.0778 right_yaw=0.3469 right_pitch=-0.0777 right_roll=-0.0038 right_gripper=0.9978\nstate[joint_eff]: [-0.0342, -1.5385, 6.6256, 1.79, -0.0122, 0.0024, -0.0122, -0.3214, -9.894, 5.094, 1.9512, -0.0855, -0.022, 0.1148]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0254, -0.0292, 0.9984, 0.3626, 1.6672, 0.6678, 0.3893, -0.0071, -0.0334, 0.998]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1824 left_yaw=0.0023 left_pitch=-0.0065 left_roll=0.0007 left_gripper=0.9984 right_x=0.401 right_y=0.1573 right_z=0.0599 right_yaw=0.3592 right_pitch=-0.0386 right_roll=-0.0111 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -1.4838, 6.6256, 1.8095, -0.0366, -0.0611, -0.0122, -0.6496, -6.653, 5.3402, 2.1563, -0.0513, 0.0659, 0.0073]",
      "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]: [-0.02, 0.8024, 0.6136, -0.379, -0.0254, -0.0292, 0.9984, 0.3622, 1.6676, 0.6361, 0.4427, -0.0097, -0.0322, 0.0551]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1823 left_yaw=0.0023 left_pitch=-0.0068 left_roll=0.0007 left_gripper=0.9984 right_x=0.3985 right_y=0.1567 right_z=0.0585 right_yaw=0.3604 right_pitch=-0.0173 right_roll=-0.0086 right_gripper=0.0551\nstate[joint_eff]: [-0.0615, -1.6752, 6.7487, 1.8437, 0.0024, -0.0464, -0.0122, -0.3214, -6.4068, 5.3675, 1.8339, -0.0659, 0.0073, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:042e4fabb5cd51e640c287e1fac3ed613af7753c2296003f0a29b635674297f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5603d35512af45efc75a736196378fc9007d702fb1f8468d5c03aabe8538e07e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ae9b922babbaa44bfce935f1e75d1cf44132121c16cc66e6b315d3c32aed3c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U4yiTkins231LvcWwK8BmV",
      "input": {
        "note": "That close came back empty (0.055), so the jaws were riding above/short of the bottle. Reopening and dropping lower so the fingers straddle the bottle body rather than touching its top.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.39,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01U4yiTkins231LvcWwK8BmV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0254, -0.0292, 0.9984, 0.366, 1.8133, 0.543, 0.6659, -0.0082, -0.0315, 0.9949]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1824 left_yaw=0.0023 left_pitch=-0.0065 left_roll=0.0007 left_gripper=0.9984 right_x=0.387 right_y=0.1537 right_z=0.012 right_yaw=0.3626 right_pitch=-0.0329 right_roll=-0.0089 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -1.4154, 6.6256, 1.8242, -0.0269, -0.0464, -0.0122, 0.0889, -6.3658, 4.1778, 2.0733, -0.0513, 0.1587, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46c82d6b27087995f48c1aa09792b409aa32bf46c05816c5ba3121bc2eae14fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c554ba046e4f89612dcf36c6673c7aabc9f9cf6fc37c5e1a71229ba72ff0e3e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3cbe871385e7e637f8da93ee78636c24fa19f49b36e4a11a9f8901110ea6c49",
        "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 · 18.89 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]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0254, -0.0292, 0.9984, 0.3626, 1.6672, 0.6678, 0.3893, -0.0071, -0.0334, 0.998]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1824 left_yaw=0.0023 left_pitch=-0.0065 left_roll=0.0007 left_gripper=0.9984 right_x=0.401 right_y=0.1573 right_z=0.0599 right_yaw=0.3592 right_pitch=-0.0386 right_roll=-0.0111 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -1.4838, 6.6256, 1.8095, -0.0366, -0.0611, -0.0122, -0.6496, -6.653, 5.3402, 2.1563, -0.0513, 0.0659, 0.0073]",
      "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]: [-0.02, 0.8024, 0.6136, -0.379, -0.0254, -0.0292, 0.9984, 0.3622, 1.6676, 0.6361, 0.4427, -0.0097, -0.0322, 0.0551]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1823 left_yaw=0.0023 left_pitch=-0.0068 left_roll=0.0007 left_gripper=0.9984 right_x=0.3985 right_y=0.1567 right_z=0.0585 right_yaw=0.3604 right_pitch=-0.0173 right_roll=-0.0086 right_gripper=0.0551\nstate[joint_eff]: [-0.0615, -1.6752, 6.7487, 1.8437, 0.0024, -0.0464, -0.0122, -0.3214, -6.4068, 5.3675, 1.8339, -0.0659, 0.0073, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0254, -0.0292, 0.9984, 0.366, 1.8133, 0.543, 0.6659, -0.0082, -0.0315, 0.9949]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1824 left_yaw=0.0023 left_pitch=-0.0065 left_roll=0.0007 left_gripper=0.9984 right_x=0.387 right_y=0.1537 right_z=0.012 right_yaw=0.3626 right_pitch=-0.0329 right_roll=-0.0089 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -1.4154, 6.6256, 1.8242, -0.0269, -0.0464, -0.0122, 0.0889, -6.3658, 4.1778, 2.0733, -0.0513, 0.1587, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46c82d6b27087995f48c1aa09792b409aa32bf46c05816c5ba3121bc2eae14fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c554ba046e4f89612dcf36c6673c7aabc9f9cf6fc37c5e1a71229ba72ff0e3e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3cbe871385e7e637f8da93ee78636c24fa19f49b36e4a11a9f8901110ea6c49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyAQKjgEIEhgCKkAENqw13FTyn9MAOHmMYqQP7D/Cu/NN2WbVIE0oD5Y9NqvqrwZmYa04hIsmvnTl9HF0JmqpX2rR0Tu7+CQz6N3GMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbS1zNUGEgxF6GYi5OH8XcULLqcaDJDuvpiWMKlEn46vKCIwSLnDf0yt/3d09uoDhcQSJbCRLrysKwYmdZWGwXFV8EM8XeBUfngERxq7vniv5c8+KuYC0lH9O0senOFT7GuWN3aPj3gLcXTFnV+8Hjy3FGN74m0+4xhznF09nZY87BPzEES01Mkk8VHKHU+hKgk+MruWoOlRhnygprly+fELLg8AuvmFolMDc0mKRt55d99I/G8F/dcGsaQSPnWVPJskfQSygzgJ4V3FaLjeU4MCgo+qM8/VCLqcylUvMVdh3INcLfy8vdd6XK3h+X6f1iQZzmVGyU7Bj7zBu72/LahyiXT+UKBVQ8sSnGo2t5Oe4Kflct8gnNJ5RBRh1HuSMm3KIrEgpZajqsC8fwo2bc6VhF6jrx1wfzsj8JCuk3Rov08J7izJn50JaRAgrDo/LbySF/OQyF3+DJE7WX8ixlD7FLH1HR4BnKLKQAa3QD1/6aba4PMgKfbhy9NZah0XxUWSWtd9ywZJrrqYQLJBGxdBrzaX7d6CtaQTF39/2AuZUzkOjaJ/LA2B1BTnjhbsgp/AHbDW6wRctihKOhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SMU5Kf7btQj7ih6jd2toPb",
      "input": {
        "note": "Wrist view now shows the bottle body squarely between the black jaws at table level; closing to grip it.",
        "targets": {
          "right_gripper": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01SMU5Kf7btQj7ih6jd2toPb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0257, -0.0292, 0.9984, 0.3653, 1.8206, 0.5232, 0.7151, -0.0093, -0.0326, 0.5372]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1824 left_yaw=0.0027 left_pitch=-0.0064 left_roll=0.0009 left_gripper=0.9984 right_x=0.3861 right_y=0.1533 right_z=0.0126 right_yaw=0.3634 right_pitch=-0.0108 right_roll=-0.0091 right_gripper=0.5372\nstate[joint_eff]: [-0.3487, -1.4564, 6.5026, 1.8242, -0.0317, -0.0317, -0.0122, -0.3897, -6.3385, 4.2188, 1.9658, -0.105, -0.0024, 1.033]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c00dd15e62925c6cacac2f8c08ad09458e95badddeb41bfc0df9ebcdcd478057",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3cc2f0296ca05fe8c32a8e4fd6968aa0eafe3e544ba071f9c7831d4e4f34af2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe1e6685d48a898fa2dd86e5c1b9ef1cfb0fae92c51b8667621e38f452f8c93c",
        "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 · 13.35 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0254, -0.0292, 0.9984, 0.3622, 1.6676, 0.6361, 0.4427, -0.0097, -0.0322, 0.0551]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1823 left_yaw=0.0023 left_pitch=-0.0068 left_roll=0.0007 left_gripper=0.9984 right_x=0.3985 right_y=0.1567 right_z=0.0585 right_yaw=0.3604 right_pitch=-0.0173 right_roll=-0.0086 right_gripper=0.0551\nstate[joint_eff]: [-0.0615, -1.6752, 6.7487, 1.8437, 0.0024, -0.0464, -0.0122, -0.3214, -6.4068, 5.3675, 1.8339, -0.0659, 0.0073, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0254, -0.0292, 0.9984, 0.366, 1.8133, 0.543, 0.6659, -0.0082, -0.0315, 0.9949]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1824 left_yaw=0.0023 left_pitch=-0.0065 left_roll=0.0007 left_gripper=0.9984 right_x=0.387 right_y=0.1537 right_z=0.012 right_yaw=0.3626 right_pitch=-0.0329 right_roll=-0.0089 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -1.4154, 6.6256, 1.8242, -0.0269, -0.0464, -0.0122, 0.0889, -6.3658, 4.1778, 2.0733, -0.0513, 0.1587, -0.0904]",
      "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]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0257, -0.0292, 0.9984, 0.3653, 1.8206, 0.5232, 0.7151, -0.0093, -0.0326, 0.5372]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1824 left_yaw=0.0027 left_pitch=-0.0064 left_roll=0.0009 left_gripper=0.9984 right_x=0.3861 right_y=0.1533 right_z=0.0126 right_yaw=0.3634 right_pitch=-0.0108 right_roll=-0.0091 right_gripper=0.5372\nstate[joint_eff]: [-0.3487, -1.4564, 6.5026, 1.8242, -0.0317, -0.0317, -0.0122, -0.3897, -6.3385, 4.2188, 1.9658, -0.105, -0.0024, 1.033]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c00dd15e62925c6cacac2f8c08ad09458e95badddeb41bfc0df9ebcdcd478057",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3cc2f0296ca05fe8c32a8e4fd6968aa0eafe3e544ba071f9c7831d4e4f34af2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe1e6685d48a898fa2dd86e5c1b9ef1cfb0fae92c51b8667621e38f452f8c93c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VgkCThdfy9VnrwLMZsBA79",
      "input": {
        "note": "Gripper settled at 0.54 (~5 cm) — the bottle body is held. Lifting it clear of the table; I plan to spin it 180° so its cap end points back toward the base, which lets me lever it upright.",
        "targets": {
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VgkCThdfy9VnrwLMZsBA79",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0257, -0.0292, 0.9984, 0.3653, 1.4345, 0.7361, -0.0841, -0.0097, -0.036, 0.5413]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1824 left_yaw=0.0027 left_pitch=-0.0064 left_roll=0.0009 left_gripper=0.9984 right_x=0.3581 right_y=0.1426 right_z=0.0881 right_yaw=0.3656 right_pitch=-0.211 right_roll=-0.0117 right_gripper=0.5413\nstate[joint_eff]: [-0.0342, -1.4974, 6.5162, 1.8437, -0.0073, -0.0464, -0.0122, -0.3897, -9.7299, 12.1504, 2.8498, -0.105, 0.0464, 1.0232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c47c0a478d8c5e684e7858676a0670b6fe3bc3228d04fa6c608ca0055a26218c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d43f16ef6577219ae7321133326096279c5b372312feda9496eefe34bede5b53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c63774e74b21120d97f3475be5a43ef2a6ade78e7b7395f515320a2ef6c6880d",
        "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 · 15.24 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]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0254, -0.0292, 0.9984, 0.366, 1.8133, 0.543, 0.6659, -0.0082, -0.0315, 0.9949]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1824 left_yaw=0.0023 left_pitch=-0.0065 left_roll=0.0007 left_gripper=0.9984 right_x=0.387 right_y=0.1537 right_z=0.012 right_yaw=0.3626 right_pitch=-0.0329 right_roll=-0.0089 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -1.4154, 6.6256, 1.8242, -0.0269, -0.0464, -0.0122, 0.0889, -6.3658, 4.1778, 2.0733, -0.0513, 0.1587, -0.0904]",
      "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]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0257, -0.0292, 0.9984, 0.3653, 1.8206, 0.5232, 0.7151, -0.0093, -0.0326, 0.5372]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1824 left_yaw=0.0027 left_pitch=-0.0064 left_roll=0.0009 left_gripper=0.9984 right_x=0.3861 right_y=0.1533 right_z=0.0126 right_yaw=0.3634 right_pitch=-0.0108 right_roll=-0.0091 right_gripper=0.5372\nstate[joint_eff]: [-0.3487, -1.4564, 6.5026, 1.8242, -0.0317, -0.0317, -0.0122, -0.3897, -6.3385, 4.2188, 1.9658, -0.105, -0.0024, 1.033]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0257, -0.0292, 0.9984, 0.3653, 1.4345, 0.7361, -0.0841, -0.0097, -0.036, 0.5413]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1824 left_yaw=0.0027 left_pitch=-0.0064 left_roll=0.0009 left_gripper=0.9984 right_x=0.3581 right_y=0.1426 right_z=0.0881 right_yaw=0.3656 right_pitch=-0.211 right_roll=-0.0117 right_gripper=0.5413\nstate[joint_eff]: [-0.0342, -1.4974, 6.5162, 1.8437, -0.0073, -0.0464, -0.0122, -0.3897, -9.7299, 12.1504, 2.8498, -0.105, 0.0464, 1.0232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c47c0a478d8c5e684e7858676a0670b6fe3bc3228d04fa6c608ca0055a26218c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d43f16ef6577219ae7321133326096279c5b372312feda9496eefe34bede5b53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c63774e74b21120d97f3475be5a43ef2a6ade78e7b7395f515320a2ef6c6880d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KeJhiuXJJKXJekhJXeu6yA",
      "input": {
        "note": "The lift only reached z=0.09; commanding a higher lift and slight pull-back to confirm in the overhead view whether the bottle is really coming up with the jaws.",
        "targets": {
          "right_x": 0.34,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01KeJhiuXJJKXJekhJXeu6yA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0261, -0.0292, 0.9984, 0.3862, 1.1873, 0.8173, -0.4046, -0.0017, -0.0322, 0.5413]\nstate[eef_state]: left_x=0.2967 left_y=0.0023 left_z=0.1823 left_yaw=0.003 left_pitch=-0.0068 left_roll=0.0011 left_gripper=0.9984 right_x=0.3207 right_y=0.1346 right_z=0.1517 right_yaw=0.3776 right_pitch=-0.203 right_roll=-0.0147 right_gripper=0.5413\nstate[joint_eff]: [0.0068, -1.6752, 6.6803, 1.8535, -0.0317, -0.0757, -0.0122, 0.3897, -7.8701, 12.506, 2.6935, 0.0073, 0.1587, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88711ee8fb98bc1266cc5c838010169f8996dcfe9ca208e1b676aa540db329fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d45bd1acca0b84650f1dc71e48f658f21981add56901e97a40b6d4a1f5c8e68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:07cd13663ca4fb6d6e1aa225f25dfa05dce78e773c121349a8c1ae2b7edf6c16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 3.275 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]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0257, -0.0292, 0.9984, 0.3653, 1.8206, 0.5232, 0.7151, -0.0093, -0.0326, 0.5372]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1824 left_yaw=0.0027 left_pitch=-0.0064 left_roll=0.0009 left_gripper=0.9984 right_x=0.3861 right_y=0.1533 right_z=0.0126 right_yaw=0.3634 right_pitch=-0.0108 right_roll=-0.0091 right_gripper=0.5372\nstate[joint_eff]: [-0.3487, -1.4564, 6.5026, 1.8242, -0.0317, -0.0317, -0.0122, -0.3897, -6.3385, 4.2188, 1.9658, -0.105, -0.0024, 1.033]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0257, -0.0292, 0.9984, 0.3653, 1.4345, 0.7361, -0.0841, -0.0097, -0.036, 0.5413]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1824 left_yaw=0.0027 left_pitch=-0.0064 left_roll=0.0009 left_gripper=0.9984 right_x=0.3581 right_y=0.1426 right_z=0.0881 right_yaw=0.3656 right_pitch=-0.211 right_roll=-0.0117 right_gripper=0.5413\nstate[joint_eff]: [-0.0342, -1.4974, 6.5162, 1.8437, -0.0073, -0.0464, -0.0122, -0.3897, -9.7299, 12.1504, 2.8498, -0.105, 0.0464, 1.0232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0261, -0.0292, 0.9984, 0.3862, 1.1873, 0.8173, -0.4046, -0.0017, -0.0322, 0.5413]\nstate[eef_state]: left_x=0.2967 left_y=0.0023 left_z=0.1823 left_yaw=0.003 left_pitch=-0.0068 left_roll=0.0011 left_gripper=0.9984 right_x=0.3207 right_y=0.1346 right_z=0.1517 right_yaw=0.3776 right_pitch=-0.203 right_roll=-0.0147 right_gripper=0.5413\nstate[joint_eff]: [0.0068, -1.6752, 6.6803, 1.8535, -0.0317, -0.0757, -0.0122, 0.3897, -7.8701, 12.506, 2.6935, 0.0073, 0.1587, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88711ee8fb98bc1266cc5c838010169f8996dcfe9ca208e1b676aa540db329fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d45bd1acca0b84650f1dc71e48f658f21981add56901e97a40b6d4a1f5c8e68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07cd13663ca4fb6d6e1aa225f25dfa05dce78e773c121349a8c1ae2b7edf6c16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gaww7JWLKQUXqURj7LXRci",
      "input": {
        "note": "The bottle appears to be held (wrist view stays locked to it while the camera moved). Spinning the tool halfway around at height so the bottle's cap end swings toward the base.",
        "targets": {
          "right_yaw": -1.3,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Gaww7JWLKQUXqURj7LXRci",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.379, -0.0257, -0.0292, 0.9984, 0.6849, 2.0239, 1.5906, -1.4227, 0.8188, 1.763, 0.5413]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1823 left_yaw=0.0027 left_pitch=-0.0068 left_roll=0.0009 left_gripper=0.9984 right_x=0.3343 right_y=0.1111 right_z=0.1182 right_yaw=-1.0674 right_pitch=-0.1471 right_roll=-0.1353 right_gripper=0.5413\nstate[joint_eff]: [-0.3077, -1.4838, 6.5846, 1.8095, -0.0415, -0.0562, -0.0122, -0.6085, -10.9333, 6.6256, -0.3932, 1.4969, 0.2369, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e08b217ca7aa54a12d5399c72f7af8c60afe51434ec2260a3b97eb3dc268a01d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:673a283c737a2ab742a4a0f8a0b3388e2ea89800ef2c2f8035d570f0f90836a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e4be502b99482e05414b210298b705aed3d185a39873c9be9a8c7385266c9e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 7.527 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]: [-0.02, 0.8024, 0.6136, -0.3786, -0.0257, -0.0292, 0.9984, 0.3653, 1.4345, 0.7361, -0.0841, -0.0097, -0.036, 0.5413]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1824 left_yaw=0.0027 left_pitch=-0.0064 left_roll=0.0009 left_gripper=0.9984 right_x=0.3581 right_y=0.1426 right_z=0.0881 right_yaw=0.3656 right_pitch=-0.211 right_roll=-0.0117 right_gripper=0.5413\nstate[joint_eff]: [-0.0342, -1.4974, 6.5162, 1.8437, -0.0073, -0.0464, -0.0122, -0.3897, -9.7299, 12.1504, 2.8498, -0.105, 0.0464, 1.0232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.02, 0.8024, 0.6136, -0.379, -0.0261, -0.0292, 0.9984, 0.3862, 1.1873, 0.8173, -0.4046, -0.0017, -0.0322, 0.5413]\nstate[eef_state]: left_x=0.2967 left_y=0.0023 left_z=0.1823 left_yaw=0.003 left_pitch=-0.0068 left_roll=0.0011 left_gripper=0.9984 right_x=0.3207 right_y=0.1346 right_z=0.1517 right_yaw=0.3776 right_pitch=-0.203 right_roll=-0.0147 right_gripper=0.5413\nstate[joint_eff]: [0.0068, -1.6752, 6.6803, 1.8535, -0.0317, -0.0757, -0.0122, 0.3897, -7.8701, 12.506, 2.6935, 0.0073, 0.1587, 1.0281]\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]: [-0.02, 0.8024, 0.6136, -0.379, -0.0257, -0.0292, 0.9984, 0.6849, 2.0239, 1.5906, -1.4227, 0.8188, 1.763, 0.5413]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1823 left_yaw=0.0027 left_pitch=-0.0068 left_roll=0.0009 left_gripper=0.9984 right_x=0.3343 right_y=0.1111 right_z=0.1182 right_yaw=-1.0674 right_pitch=-0.1471 right_roll=-0.1353 right_gripper=0.5413\nstate[joint_eff]: [-0.3077, -1.4838, 6.5846, 1.8095, -0.0415, -0.0562, -0.0122, -0.6085, -10.9333, 6.6256, -0.3932, 1.4969, 0.2369, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e08b217ca7aa54a12d5399c72f7af8c60afe51434ec2260a3b97eb3dc268a01d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:673a283c737a2ab742a4a0f8a0b3388e2ea89800ef2c2f8035d570f0f90836a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e4be502b99482e05414b210298b705aed3d185a39873c9be9a8c7385266c9e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7AIKjgEIEhgCKkA+itOsOJkBo+oXO1FkPHJQYC7EjdYl8ODrb7TA5zPQ/Y3bdQ0UmI4ovs+PjyPoxSTlcSv3z4wHvmnJeRh8i950Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeq1zNUGEgyyweT+WFQdeYg9C/saDL1vuVOhO4pFm0VlEiIwJfBZbAGVSsEeX1Kj7pnmhnkqOddgZoAdxpR7DELqjrFNGe6GIi5Wte0SPxyhQyTGKooB3upQJ2wxn+Zm1zS5qzTnBoW0SvWVkuWMTCd/hzN6HupmJ/tUWrTPqKgxeoHgKSgGS6tISzJ/v/EEqlqhCYFeI5FSYNa4E+luip4N3FM4bDe0CFOBi9Yk9TEVqR9V2DyPUL6xKNVBeeP6JoYcOvqWLUUhKtQIYK+6Jxi8h13o2Q2JIKrZAf4C/DCPGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017hooXsC9LLY2kASG3ywN9s",
      "input": {
        "note": "Overhead confirms only two bottles remain on the table — the third is in the right gripper. Completing the 180° spin so its cap end faces back toward the arm base.",
        "targets": {
          "right_yaw": -2.8,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_017hooXsC9LLY2kASG3ywN9s",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8032, 0.6132, -0.3752, -0.0257, -0.0296, 0.9984, -0.7376, 1.5772, 1.0878, -1.4689, 0.7662, 2.0754, 0.5413]\nstate[eef_state]: left_x=0.2972 left_y=0.0022 left_z=0.1827 left_yaw=0.0029 left_pitch=-0.0042 left_roll=0.0005 left_gripper=0.9984 right_x=0.0616 right_y=-0.2166 right_z=0.1313 right_yaw=-2.6953 right_pitch=-0.1588 right_roll=-0.0118 right_gripper=0.5413\nstate[joint_eff]: [0.0342, -1.4838, 6.5026, 1.8486, -0.0269, -0.0415, -0.0122, 1.4154, -6.5299, 6.7761, -1.3114, 0.9109, 0.1148, 1.0183]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af659477d0dd043541affe59def92f5671d3e525aea14d19103b802333988632",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9064bf665154c514ff6598dab8a8a42b5807d1a12f1d11f63ed5c40f4e1079ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8fe66809026183100f4d59fd74d3fd328159d57c2798abe71b8140797b1429e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 8.985 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]: [-0.02, 0.8024, 0.6136, -0.379, -0.0261, -0.0292, 0.9984, 0.3862, 1.1873, 0.8173, -0.4046, -0.0017, -0.0322, 0.5413]\nstate[eef_state]: left_x=0.2967 left_y=0.0023 left_z=0.1823 left_yaw=0.003 left_pitch=-0.0068 left_roll=0.0011 left_gripper=0.9984 right_x=0.3207 right_y=0.1346 right_z=0.1517 right_yaw=0.3776 right_pitch=-0.203 right_roll=-0.0147 right_gripper=0.5413\nstate[joint_eff]: [0.0068, -1.6752, 6.6803, 1.8535, -0.0317, -0.0757, -0.0122, 0.3897, -7.8701, 12.506, 2.6935, 0.0073, 0.1587, 1.0281]\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]: [-0.02, 0.8024, 0.6136, -0.379, -0.0257, -0.0292, 0.9984, 0.6849, 2.0239, 1.5906, -1.4227, 0.8188, 1.763, 0.5413]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1823 left_yaw=0.0027 left_pitch=-0.0068 left_roll=0.0009 left_gripper=0.9984 right_x=0.3343 right_y=0.1111 right_z=0.1182 right_yaw=-1.0674 right_pitch=-0.1471 right_roll=-0.1353 right_gripper=0.5413\nstate[joint_eff]: [-0.3077, -1.4838, 6.5846, 1.8095, -0.0415, -0.0562, -0.0122, -0.6085, -10.9333, 6.6256, -0.3932, 1.4969, 0.2369, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8032, 0.6132, -0.3752, -0.0257, -0.0296, 0.9984, -0.7376, 1.5772, 1.0878, -1.4689, 0.7662, 2.0754, 0.5413]\nstate[eef_state]: left_x=0.2972 left_y=0.0022 left_z=0.1827 left_yaw=0.0029 left_pitch=-0.0042 left_roll=0.0005 left_gripper=0.9984 right_x=0.0616 right_y=-0.2166 right_z=0.1313 right_yaw=-2.6953 right_pitch=-0.1588 right_roll=-0.0118 right_gripper=0.5413\nstate[joint_eff]: [0.0342, -1.4838, 6.5026, 1.8486, -0.0269, -0.0415, -0.0122, 1.4154, -6.5299, 6.7761, -1.3114, 0.9109, 0.1148, 1.0183]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af659477d0dd043541affe59def92f5671d3e525aea14d19103b802333988632",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9064bf665154c514ff6598dab8a8a42b5807d1a12f1d11f63ed5c40f4e1079ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fe66809026183100f4d59fd74d3fd328159d57c2798abe71b8140797b1429e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2wUKjgEIEhgCKkALi4FiGvnmscyUMoy7HPPK+nx6AsRvBKkN3kiyuu7ZF8yMNvrHVPSGjZPvx0gDAlPOrSQHMMsXPFBUfDQactYAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfK1zNUGEgyaPSctIEVeFXkN/yMaDJ3RtTkMQAelZdss3iIwHhjKQ0bf3mFfKe+fbr18Upz5Vmoljs6QAWdiOGp2ZUCLqvaLHdg0VOBcWDgQaH5oKvkD3MekYoO6h3pV0sdeumBUP/poC6yxM1v4LnF4FrJ7jxhRGacEKXPzTacg0N2dfed4KrklNk8l2nfrVEPuf1AXS9rFoujqMNCPzaU/N13SyZaeBEGJhZDXpR2GFUTQl7MaPP6XyQVGvtMEFIK0+m7mr5OP9UQ4Q2wsm7UozhGaBcjQkF0tkoitE7S0NW8QN+KjdlClANSi/SqwmRzRzQzUYHxarPQ+GjhxQ+oxtQT4AyaiYjSCB0XrY9dC6RU8h2oBqM7f/s8Yxr7hCjNoKzSWzy2QDEw2SY2Ihf4K9K0YcOzUqovb7zrzsXQJFuAPQWSon+3wXRlK7wPMvoYugyqPJDUzxAaweo2PuSDT4CJcy16+GfEEoNjOUHd29WXVbo6rTYo571LnO5qdmoDI5lDKU8SR/H7jbMeFqQZX2ahoqdZWNW4LZwRQKVrTsWDJWu9tk3tn/FFQiY0ytCH/c6ZncXDgjBgLRR8eBOB+0mZSPB9SZJpuoYgRGQi4sv+Co8i9YFVngxcCgQlwlKgrZOu9NCOAbHk9sNk8RL16+GXDdJYC1MBZx/rTpkmgt3Bj9+U0+u56Xs/6tx1YoMTpVAziUKFsHwDyI4Zj6iFxMy8NeshmvPWqf0Jesm4QeANWq5vbwlY2D0wvMNsnYE1UohlWz1S3BdSgcFCtARgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SvCh9YNndcE6zGvK96KfyN",
      "input": {
        "note": "The yaw spin dragged the end-effector into a folded pose near the base (x=0.06); bringing it back out to a safe forward position while keeping the bottle and the new orientation.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.1,
          "right_yaw": -2.8,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 27 steps (2.7s)",
      "tool_use_id": "toolu_01SvCh9YNndcE6zGvK96KfyN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8043, 0.6132, -0.3786, -0.0254, -0.0292, 0.9984, -0.8139, 1.3388, 0.8806, -1.4986, 0.7979, 2.0823, 0.5426]\nstate[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1817 left_yaw=0.0023 left_pitch=-0.0087 left_roll=0.0008 left_gripper=0.9984 right_x=0.0016 right_y=-0.1807 right_z=0.1355 right_yaw=-2.7616 right_pitch=-0.1323 right_roll=0.0059 right_gripper=0.5426\nstate[joint_eff]: [-0.0342, -1.5658, 6.6803, 1.8632, -0.0317, -0.0562, -0.0122, -1.1829, -5.3265, 4.9573, -1.1209, 1.0281, 0.0562, 0.9011]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fc5960f4500cf5538bc60e5477e4a1865192a370ca9178be7292af9cd04afda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:687cf35bcad3dfd1e5becc44ee35ca978ce4cc0ded29aecbf16c848f94919e9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0aef167dc18e92607d7418469ed545c440a0be7bf928078cb69df2af63642263",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 22.49 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]: [-0.02, 0.8024, 0.6136, -0.379, -0.0257, -0.0292, 0.9984, 0.6849, 2.0239, 1.5906, -1.4227, 0.8188, 1.763, 0.5413]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1823 left_yaw=0.0027 left_pitch=-0.0068 left_roll=0.0009 left_gripper=0.9984 right_x=0.3343 right_y=0.1111 right_z=0.1182 right_yaw=-1.0674 right_pitch=-0.1471 right_roll=-0.1353 right_gripper=0.5413\nstate[joint_eff]: [-0.3077, -1.4838, 6.5846, 1.8095, -0.0415, -0.0562, -0.0122, -0.6085, -10.9333, 6.6256, -0.3932, 1.4969, 0.2369, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8032, 0.6132, -0.3752, -0.0257, -0.0296, 0.9984, -0.7376, 1.5772, 1.0878, -1.4689, 0.7662, 2.0754, 0.5413]\nstate[eef_state]: left_x=0.2972 left_y=0.0022 left_z=0.1827 left_yaw=0.0029 left_pitch=-0.0042 left_roll=0.0005 left_gripper=0.9984 right_x=0.0616 right_y=-0.2166 right_z=0.1313 right_yaw=-2.6953 right_pitch=-0.1588 right_roll=-0.0118 right_gripper=0.5413\nstate[joint_eff]: [0.0342, -1.4838, 6.5026, 1.8486, -0.0269, -0.0415, -0.0122, 1.4154, -6.5299, 6.7761, -1.3114, 0.9109, 0.1148, 1.0183]\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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8043, 0.6132, -0.3786, -0.0254, -0.0292, 0.9984, -0.8139, 1.3388, 0.8806, -1.4986, 0.7979, 2.0823, 0.5426]\nstate[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1817 left_yaw=0.0023 left_pitch=-0.0087 left_roll=0.0008 left_gripper=0.9984 right_x=0.0016 right_y=-0.1807 right_z=0.1355 right_yaw=-2.7616 right_pitch=-0.1323 right_roll=0.0059 right_gripper=0.5426\nstate[joint_eff]: [-0.0342, -1.5658, 6.6803, 1.8632, -0.0317, -0.0562, -0.0122, -1.1829, -5.3265, 4.9573, -1.1209, 1.0281, 0.0562, 0.9011]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fc5960f4500cf5538bc60e5477e4a1865192a370ca9178be7292af9cd04afda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:687cf35bcad3dfd1e5becc44ee35ca978ce4cc0ded29aecbf16c848f94919e9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0aef167dc18e92607d7418469ed545c440a0be7bf928078cb69df2af63642263",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0AcKjgEIEhgCKkApYFB8gJLJMF8rx0p3dXebl3xfMLWtfj6jik8ub9XLfTrpOSVajajV6dEyMa0/v/Vpy8cuHU7fLN+r3De0QAkVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf21zNUGEgwpKAChEcbDvj2NDUEaDKZmsnpooLcSdzhgzCIw0E+i3xw2vWLSzW3bd/UPeqzt2+xbQJ5GIzO92pVgpyksjuEJ2sREP6ZI8Hfn4A7xKu4FpyP5T2qq3QZxxxjpu+5KocxxBgJM9EzsC6Fas05zuVfd+Jt7YFi8asqBDpprLT44pDjqNoj0a1dtz4XJTGCXopf9dKxr64++fVSkKfnn9TtIzTqyFs8w8FjGhU84VlKp+29FVUWB0uXMlkcUF0hWAZxmyIRCRvhrcvfzKOSSZiukhcVKlTMdjTVxR0wVSUzNIL5Q9u9IZLR69El2hVCb6ZuCUZKF5X+2m+d7fHwWA0+Txe8o4udJKIKTy1HKTA8WDpoADW+DRlF/LLQWdRocgn8rMxhCNMw5pVG9olPMlBkd7RNqopDuCTzpMf0Odp4kpQXcIDtXU8A/WPpOmnkRf40DrZq56PQtbQnc/Rw6WwwbpvoNHzi8uXchoTQvhmofn7COrLGpqoSFA1dgmsKG6jtsgEvsZzI5gwUPkYOzCYbXTEHQ88uC4g0mRb4BKeB1BCn7i+M2uIwqZu+XlAbDQe4z7jX+Ums53NQlH877R7Xakukla6EEIAptrpdvPh4tqDwmDRzWOfBg4el88p/ehHEeUDDV/cMfhBOWe8PKYB4Kbj/t/5V3kAxD/jnfimZZTieMdTbm2GZGnazfNH6oRdQUkjpjbJfLRwe71VX+kqQd03/VyDAliORXqI6e5CBmneLDeZZUKrjVBIYuKSRljRyjAsNYXSjA/fA5oESGEkWrvl5E1rOG10y3nVayR9t2gEcMoq3JZJ+8FyoSXHNkEZunU4y4wySl02dXYgqjuEZApczYrFHZ0cb6+r6S3rC3Pw3DVFBhCUyi4sdaQ0N58k2P4ynNTNrJBPJFxlR9hXtXKQ+Ge7xPmrlSupcHv3LalT0mafF/VNYmwU7HZNqaSLizVvGjkhCBW4ddd9ikGnSzfyst0tw1/6gNL7KoNhA3y+oXbxoncEK8sY76WMWO2gChhM/eLO0ZUFBN/MTlgPL4Ln245LEAf0Jm2vIIUQXntjxzzdNYCu5ckdaBqkjIVB0h9UbeJDzf6KmtGPmTGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V1xyWNKD5TMPRerbXvBQeA",
      "input": {
        "note": "The arm is stuck folded back at x≈0 — the near-180° yaw forced a bad IK solution. Backing the yaw off to -1.6 while pulling the tool forward to recover a normal working pose.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.12,
          "right_yaw": -1.6,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01V1xyWNKD5TMPRerbXvBQeA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6132, -0.3759, -0.0254, -0.0292, 0.9984, 0.3428, 1.9175, 1.4532, -1.5211, 0.7925, 2.0827, 0.5467]\nstate[eef_state]: left_x=0.297 left_y=0.0021 left_z=0.1828 left_yaw=0.0023 left_pitch=-0.0038 left_roll=0.0007 left_gripper=0.9984 right_x=0.3021 right_y=-0.022 right_z=0.1269 right_yaw=-1.6109 right_pitch=-0.1262 right_roll=-0.0224 right_gripper=0.5467\nstate[joint_eff]: [-0.1846, -1.6205, 6.4068, 1.8144, -0.0317, -0.0415, -0.0122, 0.0205, -8.6906, 8.2803, -1.0037, 1.4481, 0.1099, 0.7302]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ec718f9e89ff1cd4dcc1008f90ceb57b8facdd50f82c5604bd52a72cb9dd9d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a670a63449583d3eea60a5d94c5b04614c6c2df2b54ae0d8c7ca98ba3f2e254",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1edc5500b7aa12b15e6c22ee005279005e1fcd402f2a82e6e9e2bba3a8371739",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 21.19 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]: [-0.02, 0.8032, 0.6132, -0.3752, -0.0257, -0.0296, 0.9984, -0.7376, 1.5772, 1.0878, -1.4689, 0.7662, 2.0754, 0.5413]\nstate[eef_state]: left_x=0.2972 left_y=0.0022 left_z=0.1827 left_yaw=0.0029 left_pitch=-0.0042 left_roll=0.0005 left_gripper=0.9984 right_x=0.0616 right_y=-0.2166 right_z=0.1313 right_yaw=-2.6953 right_pitch=-0.1588 right_roll=-0.0118 right_gripper=0.5413\nstate[joint_eff]: [0.0342, -1.4838, 6.5026, 1.8486, -0.0269, -0.0415, -0.0122, 1.4154, -6.5299, 6.7761, -1.3114, 0.9109, 0.1148, 1.0183]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.02, 0.8043, 0.6132, -0.3786, -0.0254, -0.0292, 0.9984, -0.8139, 1.3388, 0.8806, -1.4986, 0.7979, 2.0823, 0.5426]\nstate[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1817 left_yaw=0.0023 left_pitch=-0.0087 left_roll=0.0008 left_gripper=0.9984 right_x=0.0016 right_y=-0.1807 right_z=0.1355 right_yaw=-2.7616 right_pitch=-0.1323 right_roll=0.0059 right_gripper=0.5426\nstate[joint_eff]: [-0.0342, -1.5658, 6.6803, 1.8632, -0.0317, -0.0562, -0.0122, -1.1829, -5.3265, 4.9573, -1.1209, 1.0281, 0.0562, 0.9011]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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]: [-0.02, 0.8021, 0.6132, -0.3759, -0.0254, -0.0292, 0.9984, 0.3428, 1.9175, 1.4532, -1.5211, 0.7925, 2.0827, 0.5467]\nstate[eef_state]: left_x=0.297 left_y=0.0021 left_z=0.1828 left_yaw=0.0023 left_pitch=-0.0038 left_roll=0.0007 left_gripper=0.9984 right_x=0.3021 right_y=-0.022 right_z=0.1269 right_yaw=-1.6109 right_pitch=-0.1262 right_roll=-0.0224 right_gripper=0.5467\nstate[joint_eff]: [-0.1846, -1.6205, 6.4068, 1.8144, -0.0317, -0.0415, -0.0122, 0.0205, -8.6906, 8.2803, -1.0037, 1.4481, 0.1099, 0.7302]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ec718f9e89ff1cd4dcc1008f90ceb57b8facdd50f82c5604bd52a72cb9dd9d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a670a63449583d3eea60a5d94c5b04614c6c2df2b54ae0d8c7ca98ba3f2e254",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1edc5500b7aa12b15e6c22ee005279005e1fcd402f2a82e6e9e2bba3a8371739",
        "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_01CZB6m7r2AotCdmhtgGmcEZ",
      "input": {
        "note": "Recovered a normal pose with the bottle held sideways (cap pointing to the arm's right). Setting it down in clear space with its cap end toward the right-arm side so I can re-grasp near the cap and lever it upright.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.22,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01CZB6m7r2AotCdmhtgGmcEZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6098, -0.3763, -0.0257, -0.0292, 0.9984, 0.3977, 2.5568, 2.0842, -1.5616, 0.7925, 2.0827, 0.5464]\nstate[eef_state]: left_x=0.2965 left_y=0.0022 left_z=0.1811 left_yaw=0.0027 left_pitch=-0.008 left_roll=0.001 left_gripper=0.9984 right_x=0.4147 right_y=0.0417 right_z=0.0263 right_yaw=-1.5613 right_pitch=-0.1079 right_roll=-0.068 right_gripper=0.5464\nstate[joint_eff]: [-0.1709, -1.347, 6.9949, 1.7558, -0.0024, -0.0708, -0.0122, 0.3897, -12.0957, 7.8701, -0.525, 0.9353, 0.0952, 0.9499]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7abad14c85d5b575ddb543a8b64657bcbd9dd13365bf6a4b8da3f0217c505ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85e5a0c6a05e629eb99d2afd41d2ad668e996377802e048072f40c952008c273",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0734aae3de9640f8ef8199fdd7970594b53f1d6457aea4f418862907a2dd1822",
        "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 · 5.97 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]: [-0.02, 0.8043, 0.6132, -0.3786, -0.0254, -0.0292, 0.9984, -0.8139, 1.3388, 0.8806, -1.4986, 0.7979, 2.0823, 0.5426]\nstate[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1817 left_yaw=0.0023 left_pitch=-0.0087 left_roll=0.0008 left_gripper=0.9984 right_x=0.0016 right_y=-0.1807 right_z=0.1355 right_yaw=-2.7616 right_pitch=-0.1323 right_roll=0.0059 right_gripper=0.5426\nstate[joint_eff]: [-0.0342, -1.5658, 6.6803, 1.8632, -0.0317, -0.0562, -0.0122, -1.1829, -5.3265, 4.9573, -1.1209, 1.0281, 0.0562, 0.9011]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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]: [-0.02, 0.8021, 0.6132, -0.3759, -0.0254, -0.0292, 0.9984, 0.3428, 1.9175, 1.4532, -1.5211, 0.7925, 2.0827, 0.5467]\nstate[eef_state]: left_x=0.297 left_y=0.0021 left_z=0.1828 left_yaw=0.0023 left_pitch=-0.0038 left_roll=0.0007 left_gripper=0.9984 right_x=0.3021 right_y=-0.022 right_z=0.1269 right_yaw=-1.6109 right_pitch=-0.1262 right_roll=-0.0224 right_gripper=0.5467\nstate[joint_eff]: [-0.1846, -1.6205, 6.4068, 1.8144, -0.0317, -0.0415, -0.0122, 0.0205, -8.6906, 8.2803, -1.0037, 1.4481, 0.1099, 0.7302]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6098, -0.3763, -0.0257, -0.0292, 0.9984, 0.3977, 2.5568, 2.0842, -1.5616, 0.7925, 2.0827, 0.5464]\nstate[eef_state]: left_x=0.2965 left_y=0.0022 left_z=0.1811 left_yaw=0.0027 left_pitch=-0.008 left_roll=0.001 left_gripper=0.9984 right_x=0.4147 right_y=0.0417 right_z=0.0263 right_yaw=-1.5613 right_pitch=-0.1079 right_roll=-0.068 right_gripper=0.5464\nstate[joint_eff]: [-0.1709, -1.347, 6.9949, 1.7558, -0.0024, -0.0708, -0.0122, 0.3897, -12.0957, 7.8701, -0.525, 0.9353, 0.0952, 0.9499]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7abad14c85d5b575ddb543a8b64657bcbd9dd13365bf6a4b8da3f0217c505ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85e5a0c6a05e629eb99d2afd41d2ad668e996377802e048072f40c952008c273",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0734aae3de9640f8ef8199fdd7970594b53f1d6457aea4f418862907a2dd1822",
        "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_01FDzbkH8K4qmJnKavZ6q8fw",
      "input": {
        "note": "Still holding the bottle; repositioning it over open table to the left-forward area and turning it so its cap end points out to (≈x0.42,y0.18), a spot I can re-grasp comfortably.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.3,
          "right_yaw": -0.8,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01FDzbkH8K4qmJnKavZ6q8fw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6041, -0.3752, -0.0254, -0.0292, 0.9984, 1.0393, 2.3627, 1.8927, -1.5036, 0.8375, 2.0136, 0.5487]\nstate[eef_state]: left_x=0.296 left_y=0.0021 left_z=0.1788 left_yaw=0.0023 left_pitch=-0.0122 left_roll=0.0008 left_gripper=0.9984 right_x=0.3023 right_y=0.2623 right_z=0.0671 right_yaw=-0.8561 right_pitch=-0.0918 right_roll=-0.0509 right_gripper=0.5487\nstate[joint_eff]: [0.0205, -1.5658, 7.0632, 1.8339, -0.0171, -0.0513, -0.0122, 0.3624, -18.2359, 8.0068, -1.0818, 1.4774, -0.022, 0.7497]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f8684d75a14049d1283fe8fa2604acaef2d487e0a812a79e74c29f74ad9edd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3ba6d154c6304fa102ecb8865bbe09c68fe492352d2697f048d8410986c6686",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:62031ca1342eab2038cdc5a1f41832bbe3a967fc0d24ebc137a1dcf75dd451cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 10.72 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]: [-0.02, 0.8021, 0.6132, -0.3759, -0.0254, -0.0292, 0.9984, 0.3428, 1.9175, 1.4532, -1.5211, 0.7925, 2.0827, 0.5467]\nstate[eef_state]: left_x=0.297 left_y=0.0021 left_z=0.1828 left_yaw=0.0023 left_pitch=-0.0038 left_roll=0.0007 left_gripper=0.9984 right_x=0.3021 right_y=-0.022 right_z=0.1269 right_yaw=-1.6109 right_pitch=-0.1262 right_roll=-0.0224 right_gripper=0.5467\nstate[joint_eff]: [-0.1846, -1.6205, 6.4068, 1.8144, -0.0317, -0.0415, -0.0122, 0.0205, -8.6906, 8.2803, -1.0037, 1.4481, 0.1099, 0.7302]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.02, 0.8024, 0.6098, -0.3763, -0.0257, -0.0292, 0.9984, 0.3977, 2.5568, 2.0842, -1.5616, 0.7925, 2.0827, 0.5464]\nstate[eef_state]: left_x=0.2965 left_y=0.0022 left_z=0.1811 left_yaw=0.0027 left_pitch=-0.008 left_roll=0.001 left_gripper=0.9984 right_x=0.4147 right_y=0.0417 right_z=0.0263 right_yaw=-1.5613 right_pitch=-0.1079 right_roll=-0.068 right_gripper=0.5464\nstate[joint_eff]: [-0.1709, -1.347, 6.9949, 1.7558, -0.0024, -0.0708, -0.0122, 0.3897, -12.0957, 7.8701, -0.525, 0.9353, 0.0952, 0.9499]\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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6041, -0.3752, -0.0254, -0.0292, 0.9984, 1.0393, 2.3627, 1.8927, -1.5036, 0.8375, 2.0136, 0.5487]\nstate[eef_state]: left_x=0.296 left_y=0.0021 left_z=0.1788 left_yaw=0.0023 left_pitch=-0.0122 left_roll=0.0008 left_gripper=0.9984 right_x=0.3023 right_y=0.2623 right_z=0.0671 right_yaw=-0.8561 right_pitch=-0.0918 right_roll=-0.0509 right_gripper=0.5487\nstate[joint_eff]: [0.0205, -1.5658, 7.0632, 1.8339, -0.0171, -0.0513, -0.0122, 0.3624, -18.2359, 8.0068, -1.0818, 1.4774, -0.022, 0.7497]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f8684d75a14049d1283fe8fa2604acaef2d487e0a812a79e74c29f74ad9edd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3ba6d154c6304fa102ecb8865bbe09c68fe492352d2697f048d8410986c6686",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62031ca1342eab2038cdc5a1f41832bbe3a967fc0d24ebc137a1dcf75dd451cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiwYKjgEIEhgCKkAOn0oSMQacJccbUH9BMAXnF7BcTd4zFS3FtFRqfOgd6Bl0gkLey30G4LeGJz1SzkTRsgb5aNh8/9mhEBtReeVbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbe2zNUGEgz6nkDbZrARJRZ/hT0aDM9JA+YjGNh06+HvnyIwS8yEcTB6AOk0Al4QYjdu+RBAeIiDXNaUHJaGK4m5kUqjd1u/2kJmol4Q039ki6fbKqkE3Nb60vjdPXek/GcgHuT9N0jkD3cz69lYQspIdKD1Zj2uIz9sxd+ye5NyuG7zkjW1v8ILFqu4dPQu5j1bEN5AZcC1GX2cEUU5VJJdxaDEinmhAEOweYhy5xK/B0qWt4UtpaGKzocDvbV7zqGj/HTPUeAwHHDGNoBl4pc5QGf9JEKLrnnF75uD43wld4dGnGovt+FdUtFyFiNeYivRAI7ooukeZbvkoTSRYagiztBJkoceMp+Vvb1xXYKU+T3EihX195Hh0RMgNto59OBbh61zcJQt6Ao0ejKRILdwyOWuL4E8pTPPeti5ZQsgOFlNaOIfM44qu+xGfUtFS1dlMhjkYoi5OLVOUfFqy7hQ7MdQlZv5SfClKCi48/B6MbG9okQIbW+9AjFvM0OfkcElfroUXHQD/XeEdqAJ2wxsLi8qqWCOZ//JjVkh+qFw/2dAuWM/KRf4SaoN7vDms/fxm4BUmYBEIUznj5Cdcu12tohne4PhkEYyApjaXguXfZxDe+9c91TJKNShKch2nJf0ik1UHPBSaLRISQ5zbWNfPpF8OU0q4YDjFmkNOjmeJMxr5Ga2MFikm8dl4Kk8qfGp4LEhf1qsryeSB3OovJ509bV2DrHQ97eJylvdqciPs/p0/l9gNn0cpLxfLMIP9jDVFVIXPHdLFxvs8ZonZJk8jkNkpBBaktulD3DyqdqTydXCkPLbp5uqctlkBjjVhAei1l1rfapVFrWDTxzLihgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018aQZ5saJcoxNmefpTRFvoT",
      "input": {
        "note": "Bottle is down on the table in open space; opening the jaws to release it before re-grasping it near the cap.",
        "targets": {
          "right_gripper": 1,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_018aQZ5saJcoxNmefpTRFvoT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.5972, -0.3737, -0.0257, -0.0292, 0.9984, 1.0527, 2.3505, 1.906, -1.5558, 0.8982, 2.0762, 0.9951]\nstate[eef_state]: left_x=0.2953 left_y=0.0022 left_z=0.176 left_yaw=0.0027 left_pitch=-0.0175 left_roll=0.0012 left_gripper=0.9984 right_x=0.3038 right_y=0.2611 right_z=0.0851 right_yaw=-0.8526 right_pitch=-0.0307 right_roll=-0.0076 right_gripper=0.9951\nstate[joint_eff]: [-0.1709, -1.9897, 6.6803, 1.9658, -0.0562, -0.0464, -0.0171, -0.3624, -11.5077, 5.6547, -0.5983, 0.652, 0.1197, -0.1978]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da8a93442fc5fbf07e372c235afdd1f87da658208da7b50dd1d9ce5640be6569",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c5db7a7d41dfe1cfda6af7464b22b52f70b7e0f0fcce1d18c26bc9bed0d1456",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:22091d8cf4721e52c1519064647cf59fe8b302cde66e806ab36afc85befc4f8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 11.84 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]: [-0.02, 0.8024, 0.6098, -0.3763, -0.0257, -0.0292, 0.9984, 0.3977, 2.5568, 2.0842, -1.5616, 0.7925, 2.0827, 0.5464]\nstate[eef_state]: left_x=0.2965 left_y=0.0022 left_z=0.1811 left_yaw=0.0027 left_pitch=-0.008 left_roll=0.001 left_gripper=0.9984 right_x=0.4147 right_y=0.0417 right_z=0.0263 right_yaw=-1.5613 right_pitch=-0.1079 right_roll=-0.068 right_gripper=0.5464\nstate[joint_eff]: [-0.1709, -1.347, 6.9949, 1.7558, -0.0024, -0.0708, -0.0122, 0.3897, -12.0957, 7.8701, -0.525, 0.9353, 0.0952, 0.9499]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.02, 0.8021, 0.6041, -0.3752, -0.0254, -0.0292, 0.9984, 1.0393, 2.3627, 1.8927, -1.5036, 0.8375, 2.0136, 0.5487]\nstate[eef_state]: left_x=0.296 left_y=0.0021 left_z=0.1788 left_yaw=0.0023 left_pitch=-0.0122 left_roll=0.0008 left_gripper=0.9984 right_x=0.3023 right_y=0.2623 right_z=0.0671 right_yaw=-0.8561 right_pitch=-0.0918 right_roll=-0.0509 right_gripper=0.5487\nstate[joint_eff]: [0.0205, -1.5658, 7.0632, 1.8339, -0.0171, -0.0513, -0.0122, 0.3624, -18.2359, 8.0068, -1.0818, 1.4774, -0.022, 0.7497]\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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.5972, -0.3737, -0.0257, -0.0292, 0.9984, 1.0527, 2.3505, 1.906, -1.5558, 0.8982, 2.0762, 0.9951]\nstate[eef_state]: left_x=0.2953 left_y=0.0022 left_z=0.176 left_yaw=0.0027 left_pitch=-0.0175 left_roll=0.0012 left_gripper=0.9984 right_x=0.3038 right_y=0.2611 right_z=0.0851 right_yaw=-0.8526 right_pitch=-0.0307 right_roll=-0.0076 right_gripper=0.9951\nstate[joint_eff]: [-0.1709, -1.9897, 6.6803, 1.9658, -0.0562, -0.0464, -0.0171, -0.3624, -11.5077, 5.6547, -0.5983, 0.652, 0.1197, -0.1978]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da8a93442fc5fbf07e372c235afdd1f87da658208da7b50dd1d9ce5640be6569",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c5db7a7d41dfe1cfda6af7464b22b52f70b7e0f0fcce1d18c26bc9bed0d1456",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22091d8cf4721e52c1519064647cf59fe8b302cde66e806ab36afc85befc4f8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzgsKjgEIEhgCKkCDp0gVYZOZFktYVcL6jl+YT0BM1PCbgkXum6C+QjVAz0VVrej58Gbe9uI0JrnTq/WhQseJUxA18DJeKrHSrUY7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcK2zNUGEgzvYx4JaLVWc7wTdDkaDBqljIgsIOTbgPiYfSIwF7g1vubYTKxzCOw/wP2LJAekpLb740NLkJxgyZlf2MuKLJ9sCTtnqA2HqU2ijq5oKuwJPuD+KEJX6owz8yieRFdSwz9z4NgbvVXnszUl/5e1crQ3mWZdC8cD/RyAnWWUSajiWaSBbo57FEcKa0qKDZmb4PNzyIdlWDwPY2F8R5Pb05eIpxPZeA4OVLQGoLmaxhyi4nwQ/Z5B/z4vK1pY80whA2UyBG+/6gQbgEU3cYkvxSPaa8VMNtRkVA7z0PaAjsugikM7Ua5ngL5yZFfyMAdEtXRn/cCOsONWrb0dE/MbU+GI9A6FgaFrz2j0ikkBz1/f/hnNobkSbnlsbodeW6xZFFSzAXvCAnvCpCb6c7wrTKXnY6ogNER6Kr1Wy3fTDe9MLSGbe+/++VQZQXWJfc/ScRilIRj4GLa8crdZj1M817J9BOD+KPRAo1vnTfUcoLHnBBJ54cBc+0X/hbbmXNIafHCpFUoY43QS7jXEdQIDzydEDAgvS21ID4ZaQN09UCICWc0AF/x8N428bEb9LzjUD7UPTP7cDQ14jX0/8nCHBY1MPHRQSSKeaqfpn5tYCP0lwX4VxfKlYLzAkiHR3UxR2aclnnCaJeVsW7FoIx18u/hfpCqz+COcHGhEJov8zY9L5EvyevqF2GkatyklWLLADzkXc95eDg/llgwbDHHkFtZdu8J6MPVIPxkoQYqNU+stUtYoihtSL5LTFdCD6VU1Qh0OA7GFiZ8rv3YSf7/U3gP9NK4QFIuFQ552ZzK2fSZ/dSvaCg2SsjTsCvitqgNMD+ikBg2zwz8rlCqy80Sdm+bTvmlX3zJTc094r2UvVqU/zOIfEPkmA5HRFA7hwfYL0d9iPob2Kx3wEUzIIDQAW27EWWQNMDwfgaQxWGUfXo3gGYWtLbJrLyCzPMAYcdd5QdKH6pJKh0DhjlD3XkjXU6rvO5IIOyehxaL5fv990PKpacNhMuKJvzB9h6LDslpXp7uNy6imMPZVrVilX9WkQBjQK/+QOT/nCB9kAT59Qzewh8CqKcLnJRw5LoOwbWZK95MXvXroi6Dhnez31XcXkZbNKXjRAPes38NP1EX4hN6TUKhlMfY1OO4pwuCqKbtPXoJSxvbd1us3LhtpNUlOi96ffSpx3Un956ihvmV7EXn9j+mMeq1XplKiE4y7TZyFrBLvMazVZOT+Ky+I3yfh8llRgcMIRVXepMAf362trGdNfOviqVyostvU8LpQhzgpsP78BhlVeXtvSAN06l7gQogZ/tbpQWptzB+0XIgjhL3Td5OekNeBPe5esJsEagYEB0iABCiQfq5XGfN/riIliFgc6VL3dSay50OYfpijyusWquFFPNXyyhoC9G9fjT+9yqBHP25d+B7q7sz4Zoy5m+ACq46wzE9OtUI64vdIT1dEJUvRJrSZB7xq9BJzVeBk1/pff01rYjbnMdeNKQlcY7QR5DW5pGpAcf3YuiiGHsSK6Hjt50iBivLM2fFIMbdQMIv6emYFI//K4B72M7C8Iuwcn8OyDZs4Vsl1yOvMj1u6/y5HzMibfcf5bD0Ie2rci4W5JXfdWbQF+9RrhoBN7qmABGYiJYV5weGqGlm62AV3+stBtY95rztCW3DhRMW54+pGx+6F9q9XDAR/bzr277EAltgdYJ4VisQZuAGrwVRoajHyqqLmsmCSsuu3GuMCGhG8XmKygYtx56HjRGiwp0uVAoK4Hkmpr6kz77mA12tKLGh+BVcaQ4NjAoeOGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DGcQ7Eg2nBNfmCEjhScbic",
      "input": {
        "note": "Bottle released, lying with its cap end out at about (0.36, 0.20). Moving the open jaws down over its neck, just behind the cap.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.205,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01DGcQ7Eg2nBNfmCEjhScbic",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.5819, -0.3721, -0.0257, -0.0292, 0.9984, 1.0527, 2.3505, 1.906, -1.5555, 0.8978, 2.0834, 0.997]\nstate[eef_state]: left_x=0.2933 left_y=0.0023 left_z=0.1703 left_yaw=0.0027 left_pitch=-0.0274 left_roll=0.0014 left_gripper=0.9984 right_x=0.3038 right_y=0.2612 right_z=0.085 right_yaw=-0.8567 right_pitch=-0.0313 right_roll=-0.0014 right_gripper=0.997\nstate[joint_eff]: [-0.0479, -1.9761, 7.0222, 1.8926, -0.0269, -0.022, -0.0122, -0.4171, -11.5214, 5.5453, -0.6129, 0.6422, 0.1001, 0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68f0fa0b8dc2c18ad0922cb77433ba7f9b9e1b555d1b84a2e253a3d273052063",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ff503b6fcaa12b8ed5391290a113a506092a1a8ebf7aaf08a977e584b942305",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4466170c7116cfbe253a28f281ecec0e058e4383ae7b088005e6a092f1cb727e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 5.905 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]: [-0.02, 0.8021, 0.6041, -0.3752, -0.0254, -0.0292, 0.9984, 1.0393, 2.3627, 1.8927, -1.5036, 0.8375, 2.0136, 0.5487]\nstate[eef_state]: left_x=0.296 left_y=0.0021 left_z=0.1788 left_yaw=0.0023 left_pitch=-0.0122 left_roll=0.0008 left_gripper=0.9984 right_x=0.3023 right_y=0.2623 right_z=0.0671 right_yaw=-0.8561 right_pitch=-0.0918 right_roll=-0.0509 right_gripper=0.5487\nstate[joint_eff]: [0.0205, -1.5658, 7.0632, 1.8339, -0.0171, -0.0513, -0.0122, 0.3624, -18.2359, 8.0068, -1.0818, 1.4774, -0.022, 0.7497]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.02, 0.8021, 0.5972, -0.3737, -0.0257, -0.0292, 0.9984, 1.0527, 2.3505, 1.906, -1.5558, 0.8982, 2.0762, 0.9951]\nstate[eef_state]: left_x=0.2953 left_y=0.0022 left_z=0.176 left_yaw=0.0027 left_pitch=-0.0175 left_roll=0.0012 left_gripper=0.9984 right_x=0.3038 right_y=0.2611 right_z=0.0851 right_yaw=-0.8526 right_pitch=-0.0307 right_roll=-0.0076 right_gripper=0.9951\nstate[joint_eff]: [-0.1709, -1.9897, 6.6803, 1.9658, -0.0562, -0.0464, -0.0171, -0.3624, -11.5077, 5.6547, -0.5983, 0.652, 0.1197, -0.1978]\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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.5819, -0.3721, -0.0257, -0.0292, 0.9984, 1.0527, 2.3505, 1.906, -1.5555, 0.8978, 2.0834, 0.997]\nstate[eef_state]: left_x=0.2933 left_y=0.0023 left_z=0.1703 left_yaw=0.0027 left_pitch=-0.0274 left_roll=0.0014 left_gripper=0.9984 right_x=0.3038 right_y=0.2612 right_z=0.085 right_yaw=-0.8567 right_pitch=-0.0313 right_roll=-0.0014 right_gripper=0.997\nstate[joint_eff]: [-0.0479, -1.9761, 7.0222, 1.8926, -0.0269, -0.022, -0.0122, -0.4171, -11.5214, 5.5453, -0.6129, 0.6422, 0.1001, 0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68f0fa0b8dc2c18ad0922cb77433ba7f9b9e1b555d1b84a2e253a3d273052063",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ff503b6fcaa12b8ed5391290a113a506092a1a8ebf7aaf08a977e584b942305",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4466170c7116cfbe253a28f281ecec0e058e4383ae7b088005e6a092f1cb727e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnAoKjgEIEhgCKkCldyLSvl0zm4WKMulVxMA1F9BZ9TQ621+4L3oSJQisP7NSTvI+AeE8xhHWEdQiG9oqhSKXl7V9C4CfxMKEDV2SMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc62zNUGEgx4BkiH2r8L7veHXiAaDFfqRkPnV7qqs8D3MiIwNiisueQ8c46PtPdeG6cghuE2y2vvG9WV25jwYrxJT9hBxSuAqRaKCUI4voQQdClIKroIB/z9jhroFgMYxPrfYjOIsfV0nWtGXCxDNf5zu2ckTiILQT/VTg2HnCyvQcQX7EViwKJtC+5qjSDmDb6DJ6Csyj52iv5aEVPRh4aEkRUt56FRCezhHnWCkPuDsb/eylnzaJ8w48eu06L9zovmcLckfSWNZ0ywyWp/cNE+BgoiEkFam3+fprZymzxPSzEfL61HI8ikL7YTZ84j1DMS1TlZzGqAqFOiDvWmXJzgmk1siSGNON8Ft26rusAHMjkLNZKPzm3acmXH2QNCZ0sxZLq5wSlIHys36A1O+c8D6OZ7YvyBGyuItupJwtiB9NMatT9sZg8JthEAT6hLrI9N1QvAr16jbwDQN/CXY+nCBCU1tZOuPAr5kIzb1v30g06XwLdvYZPCWXxLqIwtE8LJIbtHj963jCy6nNiDNQontkVbH9tNVVGuRbLrVLPAQP8qZdhduUmjLSe4BHFz/Ue+mBayGKvEoMNBdHANHGerToh/T/qWUithPwgmEoOdmyeE0pxEheRWGPDm+AQwKgbPfAJpe+H+t3esb65UW4WygI/7WEVKmvQyNuOIrnONfEugLEOMOXhzkI+mA5TTwfX+FUcclArmte4AZh07jRiKeRTBx9fIbxoUfg+FyaZMXdfk2xht2k6xdVOy5eFTPtHzzDqrFbnMPDSzp6VbRiiWKiz16+tXBZydkPN1o+HpVgC/R+BfduzPoSxwCOz7854ojTXwPaSdJB8GHNOMh8ggkaM9TE+mAASVAR3KmIbO2rk1W0NZ2Mx0ooBQPhU42IJd2Ltu/yKAB5kbOesXorkYYSwWqWHNnv1ueiCmxsPseyNJ2g7oxkg9nAu/CfmfcGGhbM96LxHax2N7TAOa/bI1jZMV1k4R//QV/2VXFk62mc31NmygJrdDWjLMks1lUX9ObFU8f9dDK2N94wBVzwFL0AU7WW24twSA1p1SDfmbcjmXFtgJw7dgrs9VSaZ7OAkJP0/rXqGOd52SIrq7c4wR0L3HD9IwedsnlOX//aof0HZ4ek/DFZ5nJExzZyIsyfIpxaMWk/J2VpCSCWQ75kD4HiubpFfi9B6Fw55WnCZPAS5ZByx4CLuu9P6JSsICaI02iHiwaVx1I0b4+Ka4QQy2UYQQQHbqNVPmTYy5MuXsgsP9R0SddrHquxJ7+mwaDlQuD6a7F/+OouU0nRNKDjDBl4nEegiriz81mQLluymu8rOcVd2Jr/M7lAgVU21c9PNKZuxDU8nxACaDErPcNk6lRIcJtthZia4QDSfE7maK5rHqNhO8Ssdb7hMfAg5vSRRtT4NXMD2iT3PJXvaxwAnmDhkwCE2y5BAn295ajdxqWe2brHG8Jw9CJIzBilTDyUL6fAN8mq88jjAji/tzSGH5cdMoMEUzq3jUTEYsXCp6c/OArlVcrj2lhrtbkyiH52Kp1uh2u3Qj2J2u8KH6F6IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VVZDzAHhN2pJuEkaLRhrAP",
      "input": {
        "note": "The arm ignored the last descent, so I'm first lifting to a clean pose above the bottle's cap end before descending onto the neck.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.2,
          "right_yaw": -0.85,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01VVZDzAHhN2pJuEkaLRhrAP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7853, 0.5632, -0.3561, -0.0261, -0.0292, 0.9984, 0.8291, 2.0865, 1.9068, -1.5764, 0.9501, 1.7142, 0.9973]\nstate[eef_state]: left_x=0.2923 left_y=0.0023 left_z=0.1686 left_yaw=0.003 left_pitch=-0.0171 left_roll=0.0014 left_gripper=0.9984 right_x=0.3532 right_y=0.1781 right_z=0.1873 right_yaw=-0.8551 right_pitch=-0.0371 right_roll=-0.056 right_gripper=0.9973\nstate[joint_eff]: [-0.1983, -1.7573, 6.3658, 1.9023, -0.0513, -0.0366, -0.0171, -0.6496, -14.3385, 8.0479, 0.022, 0.9206, 0.0513, 0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8d28e236bd7f753fb927ee2b4177c51ddf1aa2c4cf279ea0a456fb5ccd4f2b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e73f7541647f7b4c6dd60c798410ff29322c1cc21bd5af8fc82dfe85e2fe059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d71874a5b9f33417dd07e825b36add6a1760ca17595edc4de68aac0ec91af5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 7.715 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]: [-0.02, 0.8021, 0.5972, -0.3737, -0.0257, -0.0292, 0.9984, 1.0527, 2.3505, 1.906, -1.5558, 0.8982, 2.0762, 0.9951]\nstate[eef_state]: left_x=0.2953 left_y=0.0022 left_z=0.176 left_yaw=0.0027 left_pitch=-0.0175 left_roll=0.0012 left_gripper=0.9984 right_x=0.3038 right_y=0.2611 right_z=0.0851 right_yaw=-0.8526 right_pitch=-0.0307 right_roll=-0.0076 right_gripper=0.9951\nstate[joint_eff]: [-0.1709, -1.9897, 6.6803, 1.9658, -0.0562, -0.0464, -0.0171, -0.3624, -11.5077, 5.6547, -0.5983, 0.652, 0.1197, -0.1978]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.5819, -0.3721, -0.0257, -0.0292, 0.9984, 1.0527, 2.3505, 1.906, -1.5555, 0.8978, 2.0834, 0.997]\nstate[eef_state]: left_x=0.2933 left_y=0.0023 left_z=0.1703 left_yaw=0.0027 left_pitch=-0.0274 left_roll=0.0014 left_gripper=0.9984 right_x=0.3038 right_y=0.2612 right_z=0.085 right_yaw=-0.8567 right_pitch=-0.0313 right_roll=-0.0014 right_gripper=0.997\nstate[joint_eff]: [-0.0479, -1.9761, 7.0222, 1.8926, -0.0269, -0.022, -0.0122, -0.4171, -11.5214, 5.5453, -0.6129, 0.6422, 0.1001, 0.1832]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7853, 0.5632, -0.3561, -0.0261, -0.0292, 0.9984, 0.8291, 2.0865, 1.9068, -1.5764, 0.9501, 1.7142, 0.9973]\nstate[eef_state]: left_x=0.2923 left_y=0.0023 left_z=0.1686 left_yaw=0.003 left_pitch=-0.0171 left_roll=0.0014 left_gripper=0.9984 right_x=0.3532 right_y=0.1781 right_z=0.1873 right_yaw=-0.8551 right_pitch=-0.0371 right_roll=-0.056 right_gripper=0.9973\nstate[joint_eff]: [-0.1983, -1.7573, 6.3658, 1.9023, -0.0513, -0.0366, -0.0171, -0.6496, -14.3385, 8.0479, 0.022, 0.9206, 0.0513, 0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8d28e236bd7f753fb927ee2b4177c51ddf1aa2c4cf279ea0a456fb5ccd4f2b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e73f7541647f7b4c6dd60c798410ff29322c1cc21bd5af8fc82dfe85e2fe059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d71874a5b9f33417dd07e825b36add6a1760ca17595edc4de68aac0ec91af5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2gYKjgEIEhgCKkDks13xdP8XMOGR4VQ0f2CqbXouPnaGrw34vetiDbu4/RAlMj/Q/UpA4YL6i7/g6xrW22JdD0CCp718bdYzJTrSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdW2zNUGEgwMwR1kFNMrS8ajQwQaDC0Z7KAn4ihgrojerSIw75WFKvKd5NfgAvl2fRMo4hQuX16NgK1MfoEDV8bAFH+rT6FlVcmCoSxAk28u7CnTKvgEYP0tgij9iXJanenhwgquYR6R8KTNS17r39sdQa/K5DGrTzHSn6uomeFjTkyWn73ZvZNHwRYDImoMkGMhgD+3X1WbK1H+CIOrsFP34w79LMnC9hxf2nB+6yeMMGzZU0ID1RqakNS0r8d+A7ewQBTfTPzPSoXQCrlRly2VxB0PPopXZfwZKEDSIRr7HF4U5QjeOBVP8GK3qYbGl/Re4MkrgzHdk5WsY9uhdgBK+b0cfqm1IEdWDMtiqTrdHeaQSZu5KvVhlXhC8ntpphhT7FiAh2Ba/kXIHX+HRseeYjdR10yvp+Vtaw/A+g/pYpdkCQQeb5Cvj32AzVLHocFjwa+xDucaQIlJzWtvZUTvr+gqpIurcRsyVVcooYNVeaptUwBgoXn8VaudwEz40JECp00ZbuUYYcptI+UdDxFl88RuX/GqZjEwE7Ou03W0WBhZJhPI30A8TLzWF4X2ieaRGfqX0UJ20NtN+EtJgTKufZ5pGNh0sEP3YJr1+uUj4bz+hm/y0ch+2pbjbwIzSDYnZix6bKsmYX8cuiq8fGOuFfQoyHF+qbn3xK1WoiBVPxko1m59pMfY/YUDQEOdRQCOU2vKG+T3kbBpzUSQG0DvWhv0nXg5GPc3RmwkBc7raAfvg75WcOp+V1PJlH3FQ/DtdIfkM5qE9lKUaptBrj5FJJDUsDXy9WQ+O/4g6hLzMKKwUT/eGiwDMwVCEG6wHFeO0s6+ne4XhQ0R9FMZ6e5XA6lrR58LQ83kbpkewC07iZCSV8qFRGdSb+tJ3n3leWNk+nhXD4ZTDOPz2VaoQ5GcbQknuNx5oRQhtQQcnFsUceRcBod8xVEPhj13r0EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JmnDZ46KMsXNBtsfCoLgm7",
      "input": {
        "note": "The bottle's cap end is right under the jaw column in the wrist view; descending to table level to straddle its neck.",
        "targets": {
          "right_x": 0.345,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01JmnDZ46KMsXNBtsfCoLgm7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7822, 0.5503, -0.3485, -0.0257, -0.0292, 0.9984, 0.8509, 2.1941, 1.4254, -0.9627, 0.9955, 1.7763, 0.9978]\nstate[eef_state]: left_x=0.2915 left_y=0.0023 left_z=0.1651 left_yaw=0.0027 left_pitch=-0.0194 left_roll=0.0012 left_gripper=0.9984 right_x=0.3495 right_y=0.1792 right_z=0.0353 right_yaw=-0.8586 right_pitch=0.0036 right_roll=0.0259 right_gripper=0.9978\nstate[joint_eff]: [-0.0342, -1.853, 6.7214, 1.8681, -0.0122, -0.0659, -0.0122, 0.2667, -8.212, 3.2889, -0.2076, 0.398, -0.1636, 0.0464]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62632ab3f4e24bd036139523eb4430dc020fb951b42763c14ac169ce05f04702",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79edeeaed5c3f92fbfd002736a28be806970bb209a2a03631b645eac2f818446",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b107773bba237e5ce6f1ddf9f92684c5192f26deddef834979019948b176a845",
        "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 · 6.985 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.5819, -0.3721, -0.0257, -0.0292, 0.9984, 1.0527, 2.3505, 1.906, -1.5555, 0.8978, 2.0834, 0.997]\nstate[eef_state]: left_x=0.2933 left_y=0.0023 left_z=0.1703 left_yaw=0.0027 left_pitch=-0.0274 left_roll=0.0014 left_gripper=0.9984 right_x=0.3038 right_y=0.2612 right_z=0.085 right_yaw=-0.8567 right_pitch=-0.0313 right_roll=-0.0014 right_gripper=0.997\nstate[joint_eff]: [-0.0479, -1.9761, 7.0222, 1.8926, -0.0269, -0.022, -0.0122, -0.4171, -11.5214, 5.5453, -0.6129, 0.6422, 0.1001, 0.1832]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7853, 0.5632, -0.3561, -0.0261, -0.0292, 0.9984, 0.8291, 2.0865, 1.9068, -1.5764, 0.9501, 1.7142, 0.9973]\nstate[eef_state]: left_x=0.2923 left_y=0.0023 left_z=0.1686 left_yaw=0.003 left_pitch=-0.0171 left_roll=0.0014 left_gripper=0.9984 right_x=0.3532 right_y=0.1781 right_z=0.1873 right_yaw=-0.8551 right_pitch=-0.0371 right_roll=-0.056 right_gripper=0.9973\nstate[joint_eff]: [-0.1983, -1.7573, 6.3658, 1.9023, -0.0513, -0.0366, -0.0171, -0.6496, -14.3385, 8.0479, 0.022, 0.9206, 0.0513, 0.0171]\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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7822, 0.5503, -0.3485, -0.0257, -0.0292, 0.9984, 0.8509, 2.1941, 1.4254, -0.9627, 0.9955, 1.7763, 0.9978]\nstate[eef_state]: left_x=0.2915 left_y=0.0023 left_z=0.1651 left_yaw=0.0027 left_pitch=-0.0194 left_roll=0.0012 left_gripper=0.9984 right_x=0.3495 right_y=0.1792 right_z=0.0353 right_yaw=-0.8586 right_pitch=0.0036 right_roll=0.0259 right_gripper=0.9978\nstate[joint_eff]: [-0.0342, -1.853, 6.7214, 1.8681, -0.0122, -0.0659, -0.0122, 0.2667, -8.212, 3.2889, -0.2076, 0.398, -0.1636, 0.0464]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62632ab3f4e24bd036139523eb4430dc020fb951b42763c14ac169ce05f04702",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79edeeaed5c3f92fbfd002736a28be806970bb209a2a03631b645eac2f818446",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b107773bba237e5ce6f1ddf9f92684c5192f26deddef834979019948b176a845",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkAcKjgEIEhgCKkBYrF5yYGsSnD6kzE2K3go3k0JzEA2Kakb5OBZSSki0eF4wywzBwSeLJMdiUf9q8OgGds8/mtH2hIWWczDsgOTdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd62zNUGEgzo04qGUaWQMOlA/4UaDDC0jTo21zcaSOz7ISIwXaHyYRg6p4qM/QQ8kMJqiKp0CjDU62XAaXTkpnLYw41trA7JMqviLZQHbObaXAylKq4FHwksDnpuv/p6aj9VqJOMRrisHQomqOMNnGV6pTV53qrKQjy5ScxaSIoXjUTHTM8DPBU6foMtL8i6uTwGJb4GEr4LbBDB3BYUGrqURAeKbo9SvjB62wE+ez497eZ+FdgcS13kYbNeWxx27ZFRO7hW7qQwqWNNspHixu4k/UaV9OEZ2OO6qVWepIuUJlFWZS7skBKY0y8V2Iwq5HqP59H63pbt6FDab6Hm7eFxOqaLr9V9Qg1u6o8PIEDCxDv1JzRiKp+qr1EZZ4Sid8EqytVe2pFouM+PfF16aCmPLRITwhwlTx3ilEWdTCaV8E5APJycS+8NpEAK2wEBYjwHqKaGvccZzqjrF0XY1D/u63tAynXZ2QRJxMNTK/akVWXYiPzLMXtyyFX3mKl/OqPUME3ULdaN6+5ctWWLov3y8d1wrs/pO/vd3mABBxZy0hF9RHlHtss5AQ0FUPofQXE+81bQjvz+xVt8oAmt4pXE6g3ztCYzHSofCnGyehwhVQv62EyEZRRKcVivzU2Rf7RmooI5NFk1p/DDraWBvfHClkG0iasBuvgE4x67ttsrVrZYc4A2rHOULwV9azvztMn2+BeWjtuOewxFaMndJHn3aobYeA5BrDxOt1xunBkAPLS8dThgdV92jPIbdUBEKIm8EjtpxX1ERWs5kZRJXs0B5WTfC0eyN1HaQuu8fB8qmLgxiGvsbQBi87KnAgWAJdnatxB2fWSU/MDBYddf//6pOkac0NVW1h5f89GIyYzQZXBjLIe1zh/KyUJvr0BIX/dCWpEeQG0LkeAnZv8e831aF+wJ5kVMmVFFrvgQwZlj0r3wOjw4zcHX0FxyqWRDzc41sendGY14SLGW8V6bSFZgCst9VHUdxwb22rHbJa4MPgNcpstGmMvOS27kuJ4jqUM9v4kYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MQPBrewXRAC48KXMUFcTFo",
      "input": {
        "note": "Cap and neck sit between the jaws; closing hard to clamp the neck for the lever-up move.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MQPBrewXRAC48KXMUFcTFo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7776, 0.5354, -0.3439, -0.0254, -0.0292, 0.9984, 0.8509, 2.1902, 1.4559, -1.0058, 1.071, 1.7683, 0.0553]\nstate[eef_state]: left_x=0.2899 left_y=0.0023 left_z=0.1604 left_yaw=0.0024 left_pitch=-0.0251 left_roll=0.0011 left_gripper=0.9984 right_x=0.3572 right_y=0.1776 right_z=0.055 right_yaw=-0.8419 right_pitch=0.0789 right_roll=0.02 right_gripper=0.0553\nstate[joint_eff]: [0.0068, -1.5248, 6.6803, 1.8974, -0.0171, -0.0806, -0.0122, -0.4718, -9.5111, 4.2188, 0.1685, -0.3394, 0.0757, 0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2939260fd2142a72430cfe81e046d8095e079621d0a69c3dfa582a2290239cdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01e132696700ecb0d467c666ad68009de42212df03865c3ad1471ed2035fb22a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a4608aef1755ce72ff1b2080599843a4427c9199ee016a7523961773d8ec946b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /messages · status 200 · 6.926 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7853, 0.5632, -0.3561, -0.0261, -0.0292, 0.9984, 0.8291, 2.0865, 1.9068, -1.5764, 0.9501, 1.7142, 0.9973]\nstate[eef_state]: left_x=0.2923 left_y=0.0023 left_z=0.1686 left_yaw=0.003 left_pitch=-0.0171 left_roll=0.0014 left_gripper=0.9984 right_x=0.3532 right_y=0.1781 right_z=0.1873 right_yaw=-0.8551 right_pitch=-0.0371 right_roll=-0.056 right_gripper=0.9973\nstate[joint_eff]: [-0.1983, -1.7573, 6.3658, 1.9023, -0.0513, -0.0366, -0.0171, -0.6496, -14.3385, 8.0479, 0.022, 0.9206, 0.0513, 0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.02, 0.7822, 0.5503, -0.3485, -0.0257, -0.0292, 0.9984, 0.8509, 2.1941, 1.4254, -0.9627, 0.9955, 1.7763, 0.9978]\nstate[eef_state]: left_x=0.2915 left_y=0.0023 left_z=0.1651 left_yaw=0.0027 left_pitch=-0.0194 left_roll=0.0012 left_gripper=0.9984 right_x=0.3495 right_y=0.1792 right_z=0.0353 right_yaw=-0.8586 right_pitch=0.0036 right_roll=0.0259 right_gripper=0.9978\nstate[joint_eff]: [-0.0342, -1.853, 6.7214, 1.8681, -0.0122, -0.0659, -0.0122, 0.2667, -8.212, 3.2889, -0.2076, 0.398, -0.1636, 0.0464]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7776, 0.5354, -0.3439, -0.0254, -0.0292, 0.9984, 0.8509, 2.1902, 1.4559, -1.0058, 1.071, 1.7683, 0.0553]\nstate[eef_state]: left_x=0.2899 left_y=0.0023 left_z=0.1604 left_yaw=0.0024 left_pitch=-0.0251 left_roll=0.0011 left_gripper=0.9984 right_x=0.3572 right_y=0.1776 right_z=0.055 right_yaw=-0.8419 right_pitch=0.0789 right_roll=0.02 right_gripper=0.0553\nstate[joint_eff]: [0.0068, -1.5248, 6.6803, 1.8974, -0.0171, -0.0806, -0.0122, -0.4718, -9.5111, 4.2188, 0.1685, -0.3394, 0.0757, 0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2939260fd2142a72430cfe81e046d8095e079621d0a69c3dfa582a2290239cdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01e132696700ecb0d467c666ad68009de42212df03865c3ad1471ed2035fb22a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4608aef1755ce72ff1b2080599843a4427c9199ee016a7523961773d8ec946b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISugYKjgEIEhgCKkC5AVv+ml3IP09IFpeitXF/TKcl8HVpPbCKTCTSJd+MVlE318cxbBA8wpTIpVmHEhHYzH4q9ZYRr/1imeb8fQBpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeW2zNUGEgx9mO4Pu+YIX8K5MnoaDNgpA1M9Gwgg5E2qXCIwVxAJFOzWR2tzq9nIHIgNU3KsGBuDa+IYXohK2+xvVlz146DWlpRpUi9Lmp3olSrrKtgEBichTVug7LL1UOgV8mmSMko07gqUMFlazi4ayVAeS9ex6d9Ls962SzWGF96GG2+jpDrY4HWaA7NO+GU1nCmzDqjd1qyPrta1mOjird/jXI1qpJV2RKRolT2/o3qCLjzVcDTVVgHEV7DuQitH4vCOkzgXOqkb8pF5blcEhmxyn4VKVej3Sliv2TcuMiM/P3WvF2qwE6OWEn9MZxZV8KBTYrRuCptMMlMFv26cQE89f9iFr5+XGOCaKkBdm6mf9BsZkRwnlF57nEalBly98F/GLCVMPq8aOLJ417Nj6DtFHdgB4mt+78lAxT4K1+VzPsrtpsPYoL57RHZawmJUlRy/gTOPo28r5T3fuoWuHRPPIi8s8s3fwPhMKcYik/tMNMG9wjF+O07qwPecK44OeOWNvRrIP4ZGOueijPU1CuyjiY/6CCN3e3rH7zi1FyJuE/ZM4JPTk3uAH+EaIqWqKPk/tlAoSkEbhYhA9SFFGMEy+wO1k8mVh7fTWYbYycCkf2OfyjNowbCLmV9OIQgzNEuUhiWIHHTNDXRbHx/dgvLU12TMqwlGNAivq9Jy9omzUrZNgHMbUZtnAWlTWoaJ8uW8hBJFMlft8lAC8NhlL6na/IF9t0wR7O6nd6e3fTWKkdjBvDop6t3SZVVucSC4qglw8y6qqudrarAYw5cR9vGwqNEyasBslf0FjTX3M2GL3zvvmBCrSmOWqYrK5ML1HK1DpxdH/6cqgWl33a5pGWkeO+7Odimdd5gzNF00q71tTOOopFoDsTZnCCmWnYlUaX2GEZZ9PfoJb02+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YBt8GXQQqqPjmcNehkD5t2",
      "input": {
        "note": "Close came back empty — the cap sits just beyond the fingertips. Opening and advancing 3 cm outward and lower to put the neck between the jaws.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.385,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YBt8GXQQqqPjmcNehkD5t2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7662, 0.5148, -0.3298, -0.0257, -0.0292, 0.9984, 0.7967, 2.225, 1.4876, -0.8909, 1.0096, 1.6138, 0.9956]\nstate[eef_state]: left_x=0.2884 left_y=0.0024 left_z=0.157 left_yaw=0.0027 left_pitch=-0.0202 left_roll=0.0012 left_gripper=0.9984 right_x=0.3789 right_y=0.1788 right_z=0.0376 right_yaw=-0.8241 right_pitch=0.0113 right_roll=-0.0075 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.6205, 6.8718, 1.873, -0.0269, -0.0415, -0.0122, -1.5111, -7.747, 6.0376, 0.6667, 0.3541, 0.0855, -0.2564]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9c564df55945cd71dfc0a2855f87f4e2c50723d73acd0fa838317ff11a2ba75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebfe19d8f13097bd64535b6e5f448c503e2da670d4e26db7d95136b480608427",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be5cdda43de8126d3f049b0c92ffd374ed9a8e205d14677dd0818760afc969bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 23.66 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]: [-0.02, 0.7822, 0.5503, -0.3485, -0.0257, -0.0292, 0.9984, 0.8509, 2.1941, 1.4254, -0.9627, 0.9955, 1.7763, 0.9978]\nstate[eef_state]: left_x=0.2915 left_y=0.0023 left_z=0.1651 left_yaw=0.0027 left_pitch=-0.0194 left_roll=0.0012 left_gripper=0.9984 right_x=0.3495 right_y=0.1792 right_z=0.0353 right_yaw=-0.8586 right_pitch=0.0036 right_roll=0.0259 right_gripper=0.9978\nstate[joint_eff]: [-0.0342, -1.853, 6.7214, 1.8681, -0.0122, -0.0659, -0.0122, 0.2667, -8.212, 3.2889, -0.2076, 0.398, -0.1636, 0.0464]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.02, 0.7776, 0.5354, -0.3439, -0.0254, -0.0292, 0.9984, 0.8509, 2.1902, 1.4559, -1.0058, 1.071, 1.7683, 0.0553]\nstate[eef_state]: left_x=0.2899 left_y=0.0023 left_z=0.1604 left_yaw=0.0024 left_pitch=-0.0251 left_roll=0.0011 left_gripper=0.9984 right_x=0.3572 right_y=0.1776 right_z=0.055 right_yaw=-0.8419 right_pitch=0.0789 right_roll=0.02 right_gripper=0.0553\nstate[joint_eff]: [0.0068, -1.5248, 6.6803, 1.8974, -0.0171, -0.0806, -0.0122, -0.4718, -9.5111, 4.2188, 0.1685, -0.3394, 0.0757, 0.1636]",
      "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]: [-0.02, 0.7662, 0.5148, -0.3298, -0.0257, -0.0292, 0.9984, 0.7967, 2.225, 1.4876, -0.8909, 1.0096, 1.6138, 0.9956]\nstate[eef_state]: left_x=0.2884 left_y=0.0024 left_z=0.157 left_yaw=0.0027 left_pitch=-0.0202 left_roll=0.0012 left_gripper=0.9984 right_x=0.3789 right_y=0.1788 right_z=0.0376 right_yaw=-0.8241 right_pitch=0.0113 right_roll=-0.0075 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.6205, 6.8718, 1.873, -0.0269, -0.0415, -0.0122, -1.5111, -7.747, 6.0376, 0.6667, 0.3541, 0.0855, -0.2564]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9c564df55945cd71dfc0a2855f87f4e2c50723d73acd0fa838317ff11a2ba75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebfe19d8f13097bd64535b6e5f448c503e2da670d4e26db7d95136b480608427",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be5cdda43de8126d3f049b0c92ffd374ed9a8e205d14677dd0818760afc969bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISvgYKjgEIEhgCKkDq/4oTDzaJUz5cyz5JgReftlNkW1a/wqHihr4tdUZC+C5DAqwjP8VLNm+Fd9NxRrS9/+/95gpzewzI0CJ4iR7mMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe62zNUGEgyBWcxiAiJbpXRG1w4aDHTaXKCC+3Tg1iofjiIw/ztmnGJOYR7mho8Q7Ac3W1+fFGo0l6r2wyWxvRrtxS1dnQnDk8FKnuHxokxmHOnFKtwEjDh6BZAgtYXXRPU95iG1SanQEnrKRHtYzXqZJxSA1+9OBxaqsKOorX1s/f4N2z3jG7MKEX3lS+dY6xSbgnII7jffRcvKINxMqgXmCXQf8ftt6y1ezekyvGrHkebd4NNLiFqN9LQ9Z9hM0aPJrIYFSzrHvKY8qy1zuYNAPZsaKsPDbEoFVIz9R/Gh35P3XsDJZtjWGOyryWRLhUhOzHyDHTG9wCdkkLjElY+1LILirwMCmyHRcp23I1aXhca7CEAuj9cerzyC1shUaqeD71ot4IVeDqZWxaf0A3vqcP/8Pd9gDrWZ0ZEJAUT6sJ+N/e/vWFyle5/RXiKf3injBttu0fwdZRnAQrg1BeYM6+eWzDbzBroAIF0HUPWRPMkRBA0qDdMRQyc5TqSIwkDkqkn2gT0MgyzvSHsZvgy5cQUYgamtwEeIC7kU/wC3CcmKTgBYjrxf9/hOEWeCIhwjh98MlA7ok6ptT09+LRe8S9fq6xhm9R8Ugw9RZGlmIdePT3m6IZwbpowy570mJjZ0kBCi3WokvWm7JHfxOtXW9d/dMWlU3PG7g6C5q53AXnfC4NbJ6dmED6C7vMAC1oCaHsRRYEr/ibR+WiSFt3VQpBkIocXuCNiJaj7UxX4gqnxAuedRLrdZ0oEup6m/t4Rl/J7McVwlF9dyOpT95743DILUY6iVJKChoSIxBo6xHYSAHmbFUPpJ0E2BA7EkDeyaCTdJ84W3YGfi+kCp7QFaB4zK4MfW5GUxC8SQFzcyD6J37cOPjbZx7nGIAWc5nHOogXFR0P2JYln20l76/RMVQxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UaPmfQRPNeyDE1GyzMKumt",
      "input": {
        "note": "The blue cap now sits squarely between the open jaws in the wrist view; closing on the cap/neck.",
        "targets": {
          "right_gripper": 0.08,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UaPmfQRPNeyDE1GyzMKumt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7605, 0.5018, -0.3191, -0.0254, -0.0292, 0.9984, 0.7971, 2.2181, 1.486, -0.8764, 1.0901, 1.5955, 0.0855]\nstate[eef_state]: left_x=0.2878 left_y=0.0023 left_z=0.1548 left_yaw=0.0023 left_pitch=-0.0168 left_roll=0.0009 left_gripper=0.9984 right_x=0.3859 right_y=0.176 right_z=0.052 right_yaw=-0.8112 right_pitch=0.091 right_roll=-0.0001 right_gripper=0.0855\nstate[joint_eff]: [-0.0205, -1.5932, 6.4889, 1.8486, -0.0073, -0.0806, -0.0171, -0.4308, -9.2786, 3.3162, 0.3932, -0.4176, 0.0855, 0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfbbdc0f20ec876171e96541312915dfb78adcfbb76b3fc74e6dabd37a115758",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ed225e9ca6d918a43091e3fc905990626d186ead07c16486b7fd24ff3045138",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c03932b0b1f948c0e2ad294265145100da2271f95cd9203859bdba1a8eace7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 9.756 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]: [-0.02, 0.7776, 0.5354, -0.3439, -0.0254, -0.0292, 0.9984, 0.8509, 2.1902, 1.4559, -1.0058, 1.071, 1.7683, 0.0553]\nstate[eef_state]: left_x=0.2899 left_y=0.0023 left_z=0.1604 left_yaw=0.0024 left_pitch=-0.0251 left_roll=0.0011 left_gripper=0.9984 right_x=0.3572 right_y=0.1776 right_z=0.055 right_yaw=-0.8419 right_pitch=0.0789 right_roll=0.02 right_gripper=0.0553\nstate[joint_eff]: [0.0068, -1.5248, 6.6803, 1.8974, -0.0171, -0.0806, -0.0122, -0.4718, -9.5111, 4.2188, 0.1685, -0.3394, 0.0757, 0.1636]",
      "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]: [-0.02, 0.7662, 0.5148, -0.3298, -0.0257, -0.0292, 0.9984, 0.7967, 2.225, 1.4876, -0.8909, 1.0096, 1.6138, 0.9956]\nstate[eef_state]: left_x=0.2884 left_y=0.0024 left_z=0.157 left_yaw=0.0027 left_pitch=-0.0202 left_roll=0.0012 left_gripper=0.9984 right_x=0.3789 right_y=0.1788 right_z=0.0376 right_yaw=-0.8241 right_pitch=0.0113 right_roll=-0.0075 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.6205, 6.8718, 1.873, -0.0269, -0.0415, -0.0122, -1.5111, -7.747, 6.0376, 0.6667, 0.3541, 0.0855, -0.2564]",
      "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]: [-0.02, 0.7605, 0.5018, -0.3191, -0.0254, -0.0292, 0.9984, 0.7971, 2.2181, 1.486, -0.8764, 1.0901, 1.5955, 0.0855]\nstate[eef_state]: left_x=0.2878 left_y=0.0023 left_z=0.1548 left_yaw=0.0023 left_pitch=-0.0168 left_roll=0.0009 left_gripper=0.9984 right_x=0.3859 right_y=0.176 right_z=0.052 right_yaw=-0.8112 right_pitch=0.091 right_roll=-0.0001 right_gripper=0.0855\nstate[joint_eff]: [-0.0205, -1.5932, 6.4889, 1.8486, -0.0073, -0.0806, -0.0171, -0.4308, -9.2786, 3.3162, 0.3932, -0.4176, 0.0855, 0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfbbdc0f20ec876171e96541312915dfb78adcfbb76b3fc74e6dabd37a115758",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ed225e9ca6d918a43091e3fc905990626d186ead07c16486b7fd24ff3045138",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c03932b0b1f948c0e2ad294265145100da2271f95cd9203859bdba1a8eace7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SbRZM7QHhj2tAV5ZRAHGEW",
      "input": {
        "note": "Closing on the cap only pinched air (0.085). The bottle's cap end is nearest me and its body extends away, so I'm advancing 4 cm past the cap to straddle the thicker body at table level.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.425,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SbRZM7QHhj2tAV5ZRAHGEW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7567, 0.4976, -0.3141, -0.0254, -0.0292, 0.9984, 0.7307, 2.2707, 1.5581, -0.7849, 1.0206, 1.4189, 0.9949]\nstate[eef_state]: left_x=0.2877 left_y=0.0023 left_z=0.1549 left_yaw=0.0023 left_pitch=-0.0122 left_roll=0.0008 left_gripper=0.9984 right_x=0.4156 right_y=0.1751 right_z=0.0373 right_yaw=-0.7869 right_pitch=0.0231 right_roll=-0.0424 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -1.6889, 6.1744, 1.917, -0.0366, -0.0708, -0.0122, -1.6205, -7.5419, 5.9692, 1.16, 0.2271, 0.3101, -0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a431e7a36d137db57c019ff7178c16fad3e3f8b36d2bc1074dbac2ddc9aa0b63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ac31fbf85377edeb6dce36ea40445561635a77be43b3c1076a5df55149b8811",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9b5bad0ce447ebd90d90b33f5d28e73192972c061ee743e9ce65f7332365f40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 9.12 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7662, 0.5148, -0.3298, -0.0257, -0.0292, 0.9984, 0.7967, 2.225, 1.4876, -0.8909, 1.0096, 1.6138, 0.9956]\nstate[eef_state]: left_x=0.2884 left_y=0.0024 left_z=0.157 left_yaw=0.0027 left_pitch=-0.0202 left_roll=0.0012 left_gripper=0.9984 right_x=0.3789 right_y=0.1788 right_z=0.0376 right_yaw=-0.8241 right_pitch=0.0113 right_roll=-0.0075 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.6205, 6.8718, 1.873, -0.0269, -0.0415, -0.0122, -1.5111, -7.747, 6.0376, 0.6667, 0.3541, 0.0855, -0.2564]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7605, 0.5018, -0.3191, -0.0254, -0.0292, 0.9984, 0.7971, 2.2181, 1.486, -0.8764, 1.0901, 1.5955, 0.0855]\nstate[eef_state]: left_x=0.2878 left_y=0.0023 left_z=0.1548 left_yaw=0.0023 left_pitch=-0.0168 left_roll=0.0009 left_gripper=0.9984 right_x=0.3859 right_y=0.176 right_z=0.052 right_yaw=-0.8112 right_pitch=0.091 right_roll=-0.0001 right_gripper=0.0855\nstate[joint_eff]: [-0.0205, -1.5932, 6.4889, 1.8486, -0.0073, -0.0806, -0.0171, -0.4308, -9.2786, 3.3162, 0.3932, -0.4176, 0.0855, 0.1978]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7567, 0.4976, -0.3141, -0.0254, -0.0292, 0.9984, 0.7307, 2.2707, 1.5581, -0.7849, 1.0206, 1.4189, 0.9949]\nstate[eef_state]: left_x=0.2877 left_y=0.0023 left_z=0.1549 left_yaw=0.0023 left_pitch=-0.0122 left_roll=0.0008 left_gripper=0.9984 right_x=0.4156 right_y=0.1751 right_z=0.0373 right_yaw=-0.7869 right_pitch=0.0231 right_roll=-0.0424 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -1.6889, 6.1744, 1.917, -0.0366, -0.0708, -0.0122, -1.6205, -7.5419, 5.9692, 1.16, 0.2271, 0.3101, -0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a431e7a36d137db57c019ff7178c16fad3e3f8b36d2bc1074dbac2ddc9aa0b63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ac31fbf85377edeb6dce36ea40445561635a77be43b3c1076a5df55149b8811",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9b5bad0ce447ebd90d90b33f5d28e73192972c061ee743e9ce65f7332365f40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsAsKjgEIEhgCKkA+lCcP7Lkr37MDpMgMrnCmL5ZCVmv6IrVblww2kAzCEXPnNNAsfSJUR65xWJGlweC6pVPiPg4Z4W7eXGp/lwfOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZG3zNUGEgyeIB6YUD546OolU2QaDIbp3TTK7Vt0f+2fGSIwOweqUNKIwx/xJY8J334t2SxTgm/dWD+NYWCM20iob8nyIsHmbDan34y1+Upmv/LXKs4J9HzvoFBpOwDGGfkrwHjCNlke6VJ582CvaZrj+hJGtF9HCp4TKq99t+ffO+PDrQ7v2sgv3kxXnT1kdrdu2UyiIEwhR8/UiA/i+7mAuFOk5hfyCA21S7+HgWkP4PIBfdpL3IqMm+HfInSaLyzWBS7eptG3COhfZTkgjjyjxskJyHIOIugN7Hb6/VmFbvyP5OxSDXoglPzuqZQgydYN6nSzhOnuHiE2j/XGp0WYNrTJfa4FDAaofxl+VAn/6Sz3LkfsfubKjG3cyZ6HfEIu2CGW3qeFImupQb3r8EP5RckrnkJtVF1jhTDGcd09zSgzjdUaBb0Ci9amALotkXWDc8VAlT5Hiu/17kqX6quXHWd8Gfhok2Deo/5amoPCxgpvJ8wUexfqDRPZCvvNceUousG8TxSB8QwAeZpFvlTlx/0Lcg3xxg8VDMWgXJtgHeO9LHgbK+JJCUIc4J2Y8zOStp6cNkYdGneW4KtDa/fxjF1Z/L+ZEzelixaVP2ipDKTI4q8mUcveH+ID2qhqET9UZbclq/+mwF4x6Y/y3+lPou2W6FGlAb42uEL2YjamO0VWRg+MeX4/L7MYJ1atmG6CZxouQPfDLoRrkyxbkz/vYHpjV3GqX5+CHRs+KnsifR8IRxUc6ffq6nabESlSiDPUt/TVuJiPYIioOSK75UaGl4vWfSuX7KvSFRdYq/4Pmd3oBMetS24Ad3hcOo9SnRUIa/wjJM99Lpu+00xPPUH8ciG/fEno60lmW0mcXKrULdNQi3EhbseCInyciB5OOhG2JaAm2fQAhJ5tlQ3xw7eSVzsjdsBEGRS5WJCivWI8sA9DEl2nQjXOmHZk8Mpn8Ga7SnmeV+gAaGO1aOSn7clU/xoPkA8uLnukAu7KtaeTRgeYJvSlmqFDyWVTm1VvgTHTk6NxSYUqEWGDD/WDVZm2aY3WBONGq+xMWJp5mqn+RWQHw0lDe/c4xiFksoyMJ0Q9WEmJyCacneofzIIn8VWBT8vIbz8+Nu37w+e98wvnZRXzDyeTYNw7saECTZP53Pgr6xOg5wduTlrUg7+VYsve6jEiYZ5KJ7tjt2Bg2lXNt8rk7IK50FHtu0kXqpiZXAeF/PSdwnTECDfYC3f3Sv6MpwwY6VdLLh92zI5Ti0URHPpGmX3nS4KVFj4nxJr9jTeSv0wEfRS9BKwQE1Gf5OXE1ySRGnR/CauMmuTNEzeNeLfZUF+Qts1OcUyMUyYPGb1Tnc+EIwwlpBW8XoDgL8UJFbMsURFAWNNHCxiksqVmi66VrYky/h3Ee20ZamiHm0TnVfIyvfK/vRqmrSWswL5loaV3yg2l3Eg3/cPYgO1zzkOdeaihIwqgOsMYugWEYxWKRKIsybW/LO53UM+r73KRkJqnmclGVvxjrhlIbEGSfUSyw/G/NoJcSi4bum1bNGWE0YGcGUzztU1KRIljQRXC7y6zLW1V1WcGEaGqZMWA+dlXuhQ0Dnsu0szaiOpSpXxC0kjn0W5itTP0rdm3mVmuR2efxc5KDchO/dqiA/he1bHI71698f/oK/eolkOINOQvDMImCw1NDcvtDRV7PF7CpCLRb1qFg0d5+L9GQBX8lKL480cJ+ltMyJUuFWv/TeRMcEruJ/LSNw3JcN7koDsRZzfdGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ByAZJNdYJKmseWqaxAeyyS",
      "input": {
        "note": "Wrist view shows the blue cap just right of the jaw column at fingertip level; shifting 2.5 cm toward the arm's right to centre the neck between the jaws.",
        "targets": {
          "right_y": 0.15,
          "right_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_01ByAZJNdYJKmseWqaxAeyyS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3134, -0.0257, -0.0292, 0.9984, 0.704, 2.1948, 1.4158, -0.6483, 1.018, 1.3453, 0.9952]\nstate[eef_state]: left_x=0.2878 left_y=0.0024 left_z=0.1552 left_yaw=0.0027 left_pitch=-0.0106 left_roll=0.001 left_gripper=0.9984 right_x=0.4105 right_y=0.156 right_z=0.0358 right_yaw=-0.7751 right_pitch=0.0251 right_roll=-0.0351 right_gripper=0.9952\nstate[joint_eff]: [-0.0342, -1.2376, 6.0923, 1.9267, -0.0171, -0.0317, -0.0122, -1.6479, -9.7162, 3.6581, 0.8718, 0.149, 0.0708, 0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:769805c7c31a9645a33c65b996c34cf40bc3c02a62441948511dd69fecbed551",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d28d73717f0f39a95d49efcb313ea303d1db370e07f3475bd580f2cb33cd39e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c702a91be1fa2b6a518f33e90956a4065989f2d3b531110213b5a336ec5cb27a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 9.149 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7605, 0.5018, -0.3191, -0.0254, -0.0292, 0.9984, 0.7971, 2.2181, 1.486, -0.8764, 1.0901, 1.5955, 0.0855]\nstate[eef_state]: left_x=0.2878 left_y=0.0023 left_z=0.1548 left_yaw=0.0023 left_pitch=-0.0168 left_roll=0.0009 left_gripper=0.9984 right_x=0.3859 right_y=0.176 right_z=0.052 right_yaw=-0.8112 right_pitch=0.091 right_roll=-0.0001 right_gripper=0.0855\nstate[joint_eff]: [-0.0205, -1.5932, 6.4889, 1.8486, -0.0073, -0.0806, -0.0171, -0.4308, -9.2786, 3.3162, 0.3932, -0.4176, 0.0855, 0.1978]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7567, 0.4976, -0.3141, -0.0254, -0.0292, 0.9984, 0.7307, 2.2707, 1.5581, -0.7849, 1.0206, 1.4189, 0.9949]\nstate[eef_state]: left_x=0.2877 left_y=0.0023 left_z=0.1549 left_yaw=0.0023 left_pitch=-0.0122 left_roll=0.0008 left_gripper=0.9984 right_x=0.4156 right_y=0.1751 right_z=0.0373 right_yaw=-0.7869 right_pitch=0.0231 right_roll=-0.0424 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -1.6889, 6.1744, 1.917, -0.0366, -0.0708, -0.0122, -1.6205, -7.5419, 5.9692, 1.16, 0.2271, 0.3101, -0.1538]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3134, -0.0257, -0.0292, 0.9984, 0.704, 2.1948, 1.4158, -0.6483, 1.018, 1.3453, 0.9952]\nstate[eef_state]: left_x=0.2878 left_y=0.0024 left_z=0.1552 left_yaw=0.0027 left_pitch=-0.0106 left_roll=0.001 left_gripper=0.9984 right_x=0.4105 right_y=0.156 right_z=0.0358 right_yaw=-0.7751 right_pitch=0.0251 right_roll=-0.0351 right_gripper=0.9952\nstate[joint_eff]: [-0.0342, -1.2376, 6.0923, 1.9267, -0.0171, -0.0317, -0.0122, -1.6479, -9.7162, 3.6581, 0.8718, 0.149, 0.0708, 0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:769805c7c31a9645a33c65b996c34cf40bc3c02a62441948511dd69fecbed551",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d28d73717f0f39a95d49efcb313ea303d1db370e07f3475bd580f2cb33cd39e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c702a91be1fa2b6a518f33e90956a4065989f2d3b531110213b5a336ec5cb27a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9AgKjgEIEhgCKkDSI+p0jC5W9reSkTR6oiB8w4O3+f24pz4bb9WE/ZGqP/Zfi8uw6wT+jb44SLHceVrNmSkPG0Onx/RX5z/QEMJ9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZq3zNUGEgxGKIMz1McjaEqwccwaDEMLQ9JH9I389XOCVSIwXP/BFSy0aOzSNY3I0z70Ysv92mnYaLeUkvQ9w19OUrJLfetwlEpfukXctmedJPVeKpIHE4CYLPECF+4If9xtqQ8lyWvnLkNy1svhelDKr4qIQZfepUrcKR+gcV0/DNYveUBfWtYgAp7WYAl0oodqQpjnLpd/UO+aF9qI4jpjr6OX0fMH0nNpwKOnbLohxlLLn4Uo2SJm84SFlLHG/s7EW7amdfvE26i+k5PJO8Nn82KLEiPADknNHT99tjGOZeBO8LVs1084ebYmHYDY+GjRuWVSmU9+c4UthmUkIPbvGMB9d+UqSo2pQ1GahqljydfC5DD9AMXksMHFehVeqkb3R5/NTBfvuuPQxHSyAKBFjKe2B4FtkbQ4pX1owdhpn2MrAYEF+EYAZ7/Ts7O1b2YrnAzSX9S+ZiVpE4hwfXkhqAJnZOznXeCS49xD/QltNypzOhA+ErIXM3EUnNgKSDp49U9tIxHUy3xN0ZDtuEfaMgRZmbpHuIo7hWQ4HuVRHSgDkdHxkScI4p2EIVK4ORbM3SNLvr4K8kWyshlGnmwNBmkVNjAyG2l5BA5EVJCGJfHOqHZZ356LpcDU3o8dARAgK8VSxjZ6McIpbfi6jjNe8SuD6QaWsIFDYWk9OhpoSsLP0RHb0a4+zi5Y5WZNZWt+9zPqSYJWSnzDgwMLbud4ifoF3jNi+z9ytIBgExynmaGccxZGXrEk+oCnRBy818TaqPIj4A38hmqX9Kbp59FgCMIFvW1rs8JKYSPqBt1gkULyjlm+6THIkQZKGI1yJrS9S1VeKD7dwJ+48y09TB5wObENvWiQf07zlHj3nn/CnUh8sx1X0a97dv3cJYoPtDaft/V4olPZkUXRc7WSHRk526m6jk3f9P9w2bC+UpAqicuwweB7qFCiWbiBtgVOsfYJzXUQzNdcniHDTj0opUstC7PO8aP6RhJmJEkNHLx6T66Xs4D25Fz15satkGv8Du04g5dgKNO8dQGkOSH+FUohvv90L08EGUroLaxvh+GKa9KofF6MUCLPuCZRb6Bkx1sERH/rSqlraf6loVSXYIMi/meo8cDz4yYOk4PSikd9VObDP6uFvZ/IFtQ1xGRr7/sU5NpHgPtVMeKOCApU13AnBpALMbiPrHXwrUYVMfvEOgXmi9/zsdoQ9/pZ7adthQawuNXZMsio3hRs4FLJYYJQJmV13XNjfvyJJU4WTZ8lDrSAMRBhNotSGSb4pJDKMjW3TmObmXAeunLX9QQjxHeX8uHZWFPQ/+u6ikQD/fAH3TUoo/I7tJYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013o1JNketDWCKXxB5Sri2DS",
      "input": {
        "note": "Cap is between the open jaws near the fingertips; closing to clamp the neck so I can lever the bottle upright.",
        "targets": {
          "right_gripper": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_013o1JNketDWCKXxB5Sri2DS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4973, -0.3141, -0.0261, -0.0292, 0.9984, 0.6933, 2.1632, 1.396, -0.6163, 1.0515, 1.3281, 0.1249]\nstate[eef_state]: left_x=0.2876 left_y=0.0024 left_z=0.1549 left_yaw=0.003 left_pitch=-0.0118 left_roll=0.0012 left_gripper=0.9984 right_x=0.4146 right_y=0.1498 right_z=0.0493 right_yaw=-0.7838 right_pitch=0.0622 right_roll=-0.0093 right_gripper=0.1249\nstate[joint_eff]: [-0.0752, -1.6342, 6.2838, 1.873, -0.0024, -0.0611, -0.0122, 0.0752, -10.4137, 4.7385, 0.6422, -0.1587, 0.0708, 0.2466]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1db3bf0e66ad743cd664654a0569dd84796f99b2e1de870c595904b262be117b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6403bbd50c9fb710376de26d3707911263f50da5ba0b1b5ef1f213920a071dbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:361329ef309c67ed416b17cc32ab59ad7930907c9a8187d27a0178ce20a6f0b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 9.385 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7567, 0.4976, -0.3141, -0.0254, -0.0292, 0.9984, 0.7307, 2.2707, 1.5581, -0.7849, 1.0206, 1.4189, 0.9949]\nstate[eef_state]: left_x=0.2877 left_y=0.0023 left_z=0.1549 left_yaw=0.0023 left_pitch=-0.0122 left_roll=0.0008 left_gripper=0.9984 right_x=0.4156 right_y=0.1751 right_z=0.0373 right_yaw=-0.7869 right_pitch=0.0231 right_roll=-0.0424 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -1.6889, 6.1744, 1.917, -0.0366, -0.0708, -0.0122, -1.6205, -7.5419, 5.9692, 1.16, 0.2271, 0.3101, -0.1538]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3134, -0.0257, -0.0292, 0.9984, 0.704, 2.1948, 1.4158, -0.6483, 1.018, 1.3453, 0.9952]\nstate[eef_state]: left_x=0.2878 left_y=0.0024 left_z=0.1552 left_yaw=0.0027 left_pitch=-0.0106 left_roll=0.001 left_gripper=0.9984 right_x=0.4105 right_y=0.156 right_z=0.0358 right_yaw=-0.7751 right_pitch=0.0251 right_roll=-0.0351 right_gripper=0.9952\nstate[joint_eff]: [-0.0342, -1.2376, 6.0923, 1.9267, -0.0171, -0.0317, -0.0122, -1.6479, -9.7162, 3.6581, 0.8718, 0.149, 0.0708, 0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4973, -0.3141, -0.0261, -0.0292, 0.9984, 0.6933, 2.1632, 1.396, -0.6163, 1.0515, 1.3281, 0.1249]\nstate[eef_state]: left_x=0.2876 left_y=0.0024 left_z=0.1549 left_yaw=0.003 left_pitch=-0.0118 left_roll=0.0012 left_gripper=0.9984 right_x=0.4146 right_y=0.1498 right_z=0.0493 right_yaw=-0.7838 right_pitch=0.0622 right_roll=-0.0093 right_gripper=0.1249\nstate[joint_eff]: [-0.0752, -1.6342, 6.2838, 1.873, -0.0024, -0.0611, -0.0122, 0.0752, -10.4137, 4.7385, 0.6422, -0.1587, 0.0708, 0.2466]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1db3bf0e66ad743cd664654a0569dd84796f99b2e1de870c595904b262be117b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6403bbd50c9fb710376de26d3707911263f50da5ba0b1b5ef1f213920a071dbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:361329ef309c67ed416b17cc32ab59ad7930907c9a8187d27a0178ce20a6f0b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3ggKjgEIEhgCKkA451hHajGq0N2yKGvKf29/VhUlos2ex+O3CjDYL/97RK4PqXMEiO5MG1zhZ2yjL4nboTxx8d+B+3dkX+ndSRfFMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaS3zNUGEgxp1RPHvyfT780eG+4aDKh/VCqqPQBWFnXrDCIw57qgH9dlK/22qJk9cpgmvXfdND9XJHF8oPEUMuAVX9AgdSGBFq4HQ0TxcaLNnv6MKvwGCBsMM7KFEs+ovlkMICK4R/OIEsxAYpFXglOSe6DG47t3rt+YBMAA4O00CaDtnvK8pqIv+FJC4fV/gzB4gWAo9bOgxzKey2dKWEoq21KICLN585w2zYk1dj9UW/IEqLB4gF4IcEIO0hrCbW12eHesgVxMqzZl94WX/TpDUHDIYoi93fxu0hPHyJS5PSzpLtfo2thrgNFdjXjLXUeO55Y/V/K5Aj6bsMghUivGn98OQ4MApXU17UvCjb3MRQHXGPZKfndGWeHqPbhQW51si4IaITICEVo7UTzJUnX8iantOfqgeSJatxll7hqiVBUNvUpVwHrwsdfr51RFWUUNSgg7q003T8iLPWcrUodCfIqedBMgB51ZhCPuYS6tQflveuP6x7xNgV2F44d25TwrM6ZDD7bWXX8xxAomsmlU10g6A+/LUaHiPf/OfNZesWQZDvMdqmLz9zR6evYjJ8G5R28igzktLt7l5Y75/d6/li7479XM+4qBp09JcVn1rAHzyAaAcR44PwN6JKdAchLF53koyEg/RHZUG4xREMMS+ZH8ejqvw8fZ6JUBUtvoohe1EYYhSpDEXt5eJa5IGY6cc3gkXcXdp+WsLyrPw2mYJp2oJ7ukIcm0X0wHWeD7N+KkcMX7MeQ3m6s+ALQUBVF2HrgRsXA9pkpxYpqD/p7EiSVUPgiIfaWMNPuvhYYt7X364jsYjAPfPD3Qv4gjLGbr55emCEXpFFaSdnnglXEd6ahRKPkvmR9NQA6Q8oeyZR/aYECEHebPXQOSNmT9Aa1bfxFJM8KwRzoYubGRwI2wTivD67MguUfJxTI5/xaYKO8AI/OitBwWgujO0llODBOUpgGrOFD7O5F0T/OOq+Wi5SoT+07qaF/Tawx1J449udrL8iwhvTnKtSJEIKVnH8x80lAPUC129WwdCz82hSRk2hZzIZu9qaISRojsKHpnBiupDJKXnmPcxdmdyZTwmlgc2NBAzlzW32N6LVyDDwyRYfHyc+C99ECADGTkH4I7Pvz4kv+fuxhsHlrbbdKd51muqb/qxRmmtSJ1JbhrndKjNj/i4mcqBrXp3d2X4kDh85kARLbL5JIubTyYZaI1FEm21iv0tsbI/aplhkTk1s7pohULxK6et3GdaaO9+OoPC2LuKFER89MQoLkqPs8DsArqteZgkSsVt2FcBxk/LuZsOhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GW3VWFNz3jtDzG3E76mjzE",
      "input": {
        "note": "Jaws have pinched the cap (0.125). Levering: raising the cap end while moving back toward where the bottle's base rests, so the bottle pivots up on its base.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.22,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01GW3VWFNz3jtDzG3E76mjzE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7555, 0.4973, -0.3134, -0.0257, -0.0292, 0.9984, 0.8886, 2.1601, 1.7851, -1.219, 0.9859, 1.6398, 0.1249]\nstate[eef_state]: left_x=0.2877 left_y=0.0024 left_z=0.1552 left_yaw=0.0027 left_pitch=-0.0106 left_roll=0.001 left_gripper=0.9984 right_x=0.3717 right_y=0.2297 right_z=0.1302 right_yaw=-0.7471 right_pitch=-0.015 right_roll=0.0472 right_gripper=0.1249\nstate[joint_eff]: [-0.0068, -1.6752, 6.1197, 1.9512, -0.0317, -0.0757, -0.0122, 0.0889, -10.2222, 7.0906, -0.0708, 0.5592, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70194af202494a87a3588e6da0fb315ea896458d32428a8442ef1f3f9eac42c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:916301c5c1b0f2a1832a649c12f7c7072150577d1b9633aad1ce57406a8929ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46d9cb67f925f60e852e8c47051bcdc65e20c93e5837c3df45d1224d7a4c5759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 5.337 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3134, -0.0257, -0.0292, 0.9984, 0.704, 2.1948, 1.4158, -0.6483, 1.018, 1.3453, 0.9952]\nstate[eef_state]: left_x=0.2878 left_y=0.0024 left_z=0.1552 left_yaw=0.0027 left_pitch=-0.0106 left_roll=0.001 left_gripper=0.9984 right_x=0.4105 right_y=0.156 right_z=0.0358 right_yaw=-0.7751 right_pitch=0.0251 right_roll=-0.0351 right_gripper=0.9952\nstate[joint_eff]: [-0.0342, -1.2376, 6.0923, 1.9267, -0.0171, -0.0317, -0.0122, -1.6479, -9.7162, 3.6581, 0.8718, 0.149, 0.0708, 0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4973, -0.3141, -0.0261, -0.0292, 0.9984, 0.6933, 2.1632, 1.396, -0.6163, 1.0515, 1.3281, 0.1249]\nstate[eef_state]: left_x=0.2876 left_y=0.0024 left_z=0.1549 left_yaw=0.003 left_pitch=-0.0118 left_roll=0.0012 left_gripper=0.9984 right_x=0.4146 right_y=0.1498 right_z=0.0493 right_yaw=-0.7838 right_pitch=0.0622 right_roll=-0.0093 right_gripper=0.1249\nstate[joint_eff]: [-0.0752, -1.6342, 6.2838, 1.873, -0.0024, -0.0611, -0.0122, 0.0752, -10.4137, 4.7385, 0.6422, -0.1587, 0.0708, 0.2466]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7555, 0.4973, -0.3134, -0.0257, -0.0292, 0.9984, 0.8886, 2.1601, 1.7851, -1.219, 0.9859, 1.6398, 0.1249]\nstate[eef_state]: left_x=0.2877 left_y=0.0024 left_z=0.1552 left_yaw=0.0027 left_pitch=-0.0106 left_roll=0.001 left_gripper=0.9984 right_x=0.3717 right_y=0.2297 right_z=0.1302 right_yaw=-0.7471 right_pitch=-0.015 right_roll=0.0472 right_gripper=0.1249\nstate[joint_eff]: [-0.0068, -1.6752, 6.1197, 1.9512, -0.0317, -0.0757, -0.0122, 0.0889, -10.2222, 7.0906, -0.0708, 0.5592, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70194af202494a87a3588e6da0fb315ea896458d32428a8442ef1f3f9eac42c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:916301c5c1b0f2a1832a649c12f7c7072150577d1b9633aad1ce57406a8929ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46d9cb67f925f60e852e8c47051bcdc65e20c93e5837c3df45d1224d7a4c5759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwwkKjgEIEhgCKkBT1EowGC4u9FSVvLJnp8rJbR+JyU7SyV678SRQz1HNE/i4i/CAW5yoAL2cHJltlmNP27naWhA+ipaDr/CtEcnzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa63zNUGEgwr+kgPoJ6DqCg3qAIaDHVwOP4DgKmLuADLeCIwtd/3MQxb0u7OJqauByATmsvbnToGkqoVsmJklXeNpkVrSzxziusQkofvIutvqFo6KuEH+IM+bXFM0mAUXGdgFAL/EwfD0G2KAew7hvDfmuxgoxx6lc4qrvXNbjt939supcmf1siS6zyTQsAnFlBBTfb5sweg+ktLAUJzXdUh2KdM6U3LDU92l9Ibjup78wgSufwjS1Z7rhvSWTnMf+u/wG8sfiD5tV+RwsJRzQ1LQhcBslbfAhi7oTK8lyVKOo9wxXA12sb7Lb3FPqo5nWNCO0XJkJ8ncdiYIJZN+AhWdtBAPfoG9lenMULElbSx1xbUqqrMM+DQkqoTAzzRecAxZ5FcjCg5uC/b2H3gxG8cwsTXTY/3YcQk0AjTlgzOjfZGC8xNrp53a+KaRk4cvrlzPL1HX8gfqON4NIbjoNYg6fm3pSwF7EZwf48vu+p/NdKvbIJeuK8e/PG90Hqs/bGIP5T7M5XBdl9y8BRQ3ANIAkqKg6Xj2OID5MO7Vun5DKAxW8GU/k15eKJvXAm48i2SyZ01qAGivSkIjxqa5qcuVCsTdiUvJ8XJvXMOqOoq+sSu2f1KYGtrlUlFN/4HsXPbSUG4pQCy1wtiX3HY/ghckDD53K4UxKZuQ+JWiW2uwfmYqoAw403O4iajK82vqQCUygtDATcCQqIuT4JWEA6JTYdOnm6TjGiZ55yRxsAjvlzN+P5GaCiH/36SIJ56jjiZjRRGr6/vB06kdD8aEjR5SWWxaXObjRBrLwLdf8J6emb5I4k4ziHCi34adj74y7OufzTN/VUc1F7TQyjHiUsSSgDEvqvuRZDOHQL8EEyMAbMZYPdY3Hmou1qffV+6zDrge+u1YaWQzhGKTpacKiAA77zG04M7rybxlkDHT6Nzfwsmf9WZjLpY3zBnVemiY0rJ/3KZ9x4vKc+sKzrIRdCU08uMCFrXpfNuKPrGiytXSYn5Z+PgbeBeTP6kfgy9AnCIsHvHyXZjql4Ew13r+u1cpdM1TB50wh/MrcXSIJmA+E/I63hLthQZMMat1kRu/ZV/n+4Me65KegLModopmGTbpFw0o34yAL0iwlkB/caEvz3Pq9B4G+4zcbIgObEBkWwB0ggtJYmZYWlTsQEefuWCoyjcZuS7GHSY/R/GI4gjJj6Yf+6N663pdRg3RD4Dheh3aBQNx9ndvwddvuNtFo598x0Yv9OmUXfj0fPLPhZZWvfdpci/2ACZWTlIzs6h24mptruIyufD3GUTFq64N3F3p2bCgSKvD4qMaWY4MDIs6fUNxRO0osHHZGQf+o5YeFZXPvhW20B6Ww5vtRnWgUeT4ebagR0xmMGX8o+1VAmO8HxND0ZaCUmmdX1/dxCWXC2C4eYqcWdMy5YTmCuvwes2J/PzUxdvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BoiLaDuTyHpYxEkFm6iidW",
      "input": {
        "note": "The bottle is still lying, now just to the arm's right of the jaws with its cap pointing away. Opening and repositioning over its neck for another grasp.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.4,
          "right_y": 0.175,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01BoiLaDuTyHpYxEkFm6iidW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7551, 0.4973, -0.3141, -0.0254, -0.0292, 0.9984, 0.7605, 2.1826, 1.4109, -0.7048, 0.9932, 1.4109, 0.995]\nstate[eef_state]: left_x=0.2876 left_y=0.0023 left_z=0.1551 left_yaw=0.0023 left_pitch=-0.011 left_roll=0.0008 left_gripper=0.9984 right_x=0.3927 right_y=0.1742 right_z=0.0346 right_yaw=-0.7507 right_pitch=-0.0031 right_roll=-0.0267 right_gripper=0.995\nstate[joint_eff]: [-0.1299, -1.5248, 6.2427, 1.8974, -0.0073, -0.0708, -0.0122, -0.7726, -8.7726, 4.1504, 0.7985, 0.3785, 0.0171, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b9f5f7e8dea97f7f13d091e3aedd5a3f26239801b48f4a3488532ca8e2427d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05dd18db292bb494d2f085a0c8eefa182f44cfb54e8a3f24c183ef4ead0d747d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b5b97d0d4e2c925615d7040b51f802957ebeadb47579a08ad570c94b12fdd5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 6.644 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4973, -0.3141, -0.0261, -0.0292, 0.9984, 0.6933, 2.1632, 1.396, -0.6163, 1.0515, 1.3281, 0.1249]\nstate[eef_state]: left_x=0.2876 left_y=0.0024 left_z=0.1549 left_yaw=0.003 left_pitch=-0.0118 left_roll=0.0012 left_gripper=0.9984 right_x=0.4146 right_y=0.1498 right_z=0.0493 right_yaw=-0.7838 right_pitch=0.0622 right_roll=-0.0093 right_gripper=0.1249\nstate[joint_eff]: [-0.0752, -1.6342, 6.2838, 1.873, -0.0024, -0.0611, -0.0122, 0.0752, -10.4137, 4.7385, 0.6422, -0.1587, 0.0708, 0.2466]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7555, 0.4973, -0.3134, -0.0257, -0.0292, 0.9984, 0.8886, 2.1601, 1.7851, -1.219, 0.9859, 1.6398, 0.1249]\nstate[eef_state]: left_x=0.2877 left_y=0.0024 left_z=0.1552 left_yaw=0.0027 left_pitch=-0.0106 left_roll=0.001 left_gripper=0.9984 right_x=0.3717 right_y=0.2297 right_z=0.1302 right_yaw=-0.7471 right_pitch=-0.015 right_roll=0.0472 right_gripper=0.1249\nstate[joint_eff]: [-0.0068, -1.6752, 6.1197, 1.9512, -0.0317, -0.0757, -0.0122, 0.0889, -10.2222, 7.0906, -0.0708, 0.5592, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7551, 0.4973, -0.3141, -0.0254, -0.0292, 0.9984, 0.7605, 2.1826, 1.4109, -0.7048, 0.9932, 1.4109, 0.995]\nstate[eef_state]: left_x=0.2876 left_y=0.0023 left_z=0.1551 left_yaw=0.0023 left_pitch=-0.011 left_roll=0.0008 left_gripper=0.9984 right_x=0.3927 right_y=0.1742 right_z=0.0346 right_yaw=-0.7507 right_pitch=-0.0031 right_roll=-0.0267 right_gripper=0.995\nstate[joint_eff]: [-0.1299, -1.5248, 6.2427, 1.8974, -0.0073, -0.0708, -0.0122, -0.7726, -8.7726, 4.1504, 0.7985, 0.3785, 0.0171, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b9f5f7e8dea97f7f13d091e3aedd5a3f26239801b48f4a3488532ca8e2427d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05dd18db292bb494d2f085a0c8eefa182f44cfb54e8a3f24c183ef4ead0d747d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b5b97d0d4e2c925615d7040b51f802957ebeadb47579a08ad570c94b12fdd5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjQUKjgEIEhgCKkCMaBgpaMjIyrWHsAtGPr84tPsVzwPtGvH1JoN1yaiTxQsZ5zY4/WqCFw2yrusl0Hx0KAGheKIAiE1A0SO1qhdVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbW3zNUGEgzjCRXfzRndjcG5IFwaDIjIVwcKTtPZZ+DVmSIwL0iZ4guK1X2SYsNrQJF0un/Ab97MK/6bH1FJG6cVJKLmOO2LnZWdk7twIrOugRCrKqsDe5/9KgOeoOeCxkOVuPycJshbGuae47iZo9y/64o7J/Fwtgk13ke2GicACcRiCN+iyM/qW4faQ6fu2HAfA/vOQ5E2E61kV2jNTCywTLEWSByjz8u4hR3fG2kpsv6NAb4p0pUm3T71wCJJBaOxJyU5ntxgpKJHJyZafjd48g/2gck51mu+YFdjM48IQ+NmG1CPzxhCUGlGmDi9tLiikoAFUAkSTMigROStsplvC4wAL5h4DMWEx94Doh/trAWHTTxuRjH87tuLny43wPotDoLDJiwhQTgBuZr89l7fwUqlcOCi7HlK6WG2H7AC7k6J0UeLkf+IMSbua3XVrPl9TrnWl+bS4Tr5mB+wvoTnhyTQmasS9nJugQU2iBKL90oTpA3Ega6tg4iwTqnrs7u/93w2CRvQ+4fb9IcXQUZN8b35cwmRJhUDRf5zjqew/3x6sJrX7H522G6srXOOyXlnEeP8TBh82LCsrHnVz2EtpbMPh2iDICX5weoLHG2BCllI7GwF2fxX6nKF3omL6r0+CzunjNkJZDOKWaoI88nJlvBhQk16fWCxB+GslKjEYBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019Dc7pB8XjkDToCkpHiXCUe",
      "input": {
        "note": "Cap and neck are centred between the open jaws; closing to grip the neck.",
        "targets": {
          "right_gripper": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_019Dc7pB8XjkDToCkpHiXCUe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7551, 0.4973, -0.3141, -0.0254, -0.0292, 0.9984, 0.7597, 2.1559, 1.3998, -0.6628, 1.0733, 1.4048, 0.1051]\nstate[eef_state]: left_x=0.2876 left_y=0.0023 left_z=0.1551 left_yaw=0.0023 left_pitch=-0.011 left_roll=0.0008 left_gripper=0.9984 right_x=0.4006 right_y=0.1713 right_z=0.0552 right_yaw=-0.7601 right_pitch=0.0796 right_roll=0.0212 right_gripper=0.1051\nstate[joint_eff]: [-0.1299, -1.6615, 6.2017, 1.8926, -0.0171, -0.0757, -0.0122, -0.1162, -10.0171, 4.3009, 0.4615, -0.3199, 0.0073, 0.2369]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce21785b8225bbc5f3019b6f8342b74d799360530c5b29e0f4e5b2c0b89698a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccba034fc9e4344880d0d4d1ed75b3e0910566b95b37f6e76cd170f588d72f50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:58e270a5dfd0568563e8a9af2b05b53e26765be259a0b40098c65ee16ee82c73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 14.87 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7555, 0.4973, -0.3134, -0.0257, -0.0292, 0.9984, 0.8886, 2.1601, 1.7851, -1.219, 0.9859, 1.6398, 0.1249]\nstate[eef_state]: left_x=0.2877 left_y=0.0024 left_z=0.1552 left_yaw=0.0027 left_pitch=-0.0106 left_roll=0.001 left_gripper=0.9984 right_x=0.3717 right_y=0.2297 right_z=0.1302 right_yaw=-0.7471 right_pitch=-0.015 right_roll=0.0472 right_gripper=0.1249\nstate[joint_eff]: [-0.0068, -1.6752, 6.1197, 1.9512, -0.0317, -0.0757, -0.0122, 0.0889, -10.2222, 7.0906, -0.0708, 0.5592, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7551, 0.4973, -0.3141, -0.0254, -0.0292, 0.9984, 0.7605, 2.1826, 1.4109, -0.7048, 0.9932, 1.4109, 0.995]\nstate[eef_state]: left_x=0.2876 left_y=0.0023 left_z=0.1551 left_yaw=0.0023 left_pitch=-0.011 left_roll=0.0008 left_gripper=0.9984 right_x=0.3927 right_y=0.1742 right_z=0.0346 right_yaw=-0.7507 right_pitch=-0.0031 right_roll=-0.0267 right_gripper=0.995\nstate[joint_eff]: [-0.1299, -1.5248, 6.2427, 1.8974, -0.0073, -0.0708, -0.0122, -0.7726, -8.7726, 4.1504, 0.7985, 0.3785, 0.0171, -0.2076]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7551, 0.4973, -0.3141, -0.0254, -0.0292, 0.9984, 0.7597, 2.1559, 1.3998, -0.6628, 1.0733, 1.4048, 0.1051]\nstate[eef_state]: left_x=0.2876 left_y=0.0023 left_z=0.1551 left_yaw=0.0023 left_pitch=-0.011 left_roll=0.0008 left_gripper=0.9984 right_x=0.4006 right_y=0.1713 right_z=0.0552 right_yaw=-0.7601 right_pitch=0.0796 right_roll=0.0212 right_gripper=0.1051\nstate[joint_eff]: [-0.1299, -1.6615, 6.2017, 1.8926, -0.0171, -0.0757, -0.0122, -0.1162, -10.0171, 4.3009, 0.4615, -0.3199, 0.0073, 0.2369]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce21785b8225bbc5f3019b6f8342b74d799360530c5b29e0f4e5b2c0b89698a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccba034fc9e4344880d0d4d1ed75b3e0910566b95b37f6e76cd170f588d72f50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58e270a5dfd0568563e8a9af2b05b53e26765be259a0b40098c65ee16ee82c73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISmAUKjgEIEhgCKkC31UJRRNg6f8K3ReD0pfAuOXcgVh4KPQGeUR4VT3I9WyraVO44NP1RIuJQ+FOoSnk2bo5bb+P+1oG049GuVKxrMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAby3zNUGEgytqOcsYttqakpbMRsaDEW6Pmh/H+YFc5WOKyIwBcAw3l+U10C/fEvt+lZz8o9AAdUDXZSXybllGGSGtNcyv5u7Fl+HuRIz3KZ+KcKoKrYDjLUtVTfgbhdRe1z4FfK/brF5TogDokw4+AQ3lUe8bQs3LJBoNuCfRjp5j+3mybuObVzKxwNbz3DCpKV+PSj7nxpIHfl06Xzg1bNW/6EC6die/MgJIN5+aWpuJ0MbPF9mDs3aAEMPtxu6osOVLqOD0HSSPdrqry6FsgnHd8NXmVcPKac8nPiglAe12ZiqHQssRt4T+3WnDSgF1+OwXHuDiTO+XIqg8YJE6b/h79Bf5EwcNcrSCeIj6Lmy6SjbQWElwF4mTAfC0FMoWZ1gvDKa/S2z3C69YtKp6s+Zq8JVpnEIwwciTQ/zp6jj4Sh870lTTnflGbIIOrLkb2cL0KZlPSKsDAEFe3MYfS3qZciXHjrcQlq1gh7uQD0lX1YU4AX9C7xTfyHewyF0ei+F9zIj0yOV8bDnM1GzZ5xn6oFCDAkwXryZ2+Q29YxMwGIrVURg4joEQkkkCH9umD1h9ttt5nVW+TaUwGigg+dE4U0ztaj9+SgkjYn/WgJS6LWFfGfbgyw6O4ZZi7mDzCH5u+B4Bk7sGkzMBkoNTmIJsCwegD0QUu/mLSijYvrY4EBaWYgr2bOsX1/fGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bz7Eqnv2Y7BnMRHXiEDoVh",
      "input": {
        "note": "Jaws are clamped on the bottle's cap; lifting the cap end up and back over the bottle's base to swing it upright.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.27,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Bz7Eqnv2Y7BnMRHXiEDoVh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7521, 0.4973, -0.3145, -0.0261, -0.0292, 0.9984, 1.0149, 2.1586, 1.8858, -1.5341, 0.9646, 1.8389, 0.1056]\nstate[eef_state]: left_x=0.2874 left_y=0.0024 left_z=0.1558 left_yaw=0.003 left_pitch=-0.0084 left_roll=0.0012 left_gripper=0.9984 right_x=0.3199 right_y=0.2466 right_z=0.1577 right_yaw=-0.735 right_pitch=-0.0158 right_roll=-0.001 right_gripper=0.1056\nstate[joint_eff]: [-0.0342, -1.4017, 6.2154, 1.8632, -0.0171, -0.0611, -0.0122, -0.253, -13.7915, 4.9846, -0.232, 0.5348, 0.0952, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e3e1fdfa08d75eb704a06bcee2e91132652c13a99ce27f7987631a47e294c45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efeef92727079725b4076b494c3c9c0483f23ca2d2103d166b21aa9700b127fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3137a89a531c81625e06bf4168343b9fd3ab291efa84f5aadbee7d10c7ff85d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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