adhoc

completed
2026-09-22T22:25:01.960821+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 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
456.3 s
total steps
239
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 in the middle of the table. I'll approach the leftmost bottle with the left arm, hovering above it to inspect it with the wrist camera before grasping its neck.
move_to
left_x0.3400left_y-0.1000left_z0.1800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0204, 0.7929, 0.6064, -0.379, -0.0196, -0.0284, 0.9985, -0.0158, 0.7879, 0.6033, -0.3855, -0.0212, -0.025, 0.9998] state[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1816 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2935 right_y=0.0027 right_z=0.1802 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4855, -1.5248, 9.894, 1.8535, -0.0611, 0.1392, -0.1587, -0.841, -0.9094, 10.2496, 1.8584, -0.0317, 0.0611, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.1, "left_z": 0.18, "left_gripper": 1.0}, "note": "Three bottles lie on their sides in the middle of the table. I'll approach the leftmost bottle with the left arm, hovering above it to inspect it with the wrist camera before grasping its neck."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteWrist view shows the leftmost bottle lying with its white cap toward the upper-left (forward-left of the jaws). Nudging forward and left to bring the bottle's neck under the jaws.
move_to
left_x0.3500left_y-0.0700left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.487, 1.124, 0.7124, -0.2771, -0.3721, -0.2817, 0.9988, -0.0193, 0.794, 0.6041, -0.4038, -0.0238, -0.0288, 0.9998] state[eef_state]: left_x=0.3284 left_y=-0.0972 left_z=0.1581 left_yaw=-0.0352 left_pitch=-0.0684 left_roll=0.0201 left_gripper=0.9988 right_x=0.2916 right_y=0.0022 right_z=0.1751 right_yaw=0.0009 right_pitch=-0.0236 right_roll=-0.0013 right_gripper=0.9998 state[joint_eff]: [-0.2803, -3.6991, 10.0718, 1.6972, -0.2906, 0.1294, -0.1343, 0.0342, -1.6752, 6.9949, 1.873, -0.022, 0.0269, -0.0122] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.07, "left_z": 0.12}, "note": "Wrist view shows the leftmost bottle lying with its white cap toward the upper-left (forward-left of the jaws). Nudging forward and left to bring the bottle's neck under the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe bottle's cap/neck still sits forward-left of the jaw column in the wrist view; moving 3 cm forward, 1.5 cm left and lower to line the jaws up with the neck.
move_to
left_x0.3800left_y-0.0450left_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3431, 1.1805, 0.5438, -0.049, -0.3161, -0.231, 0.9985, -0.0193, 0.7879, 0.585, -0.3977, -0.025, -0.0292, 0.9998] state[eef_state]: left_x=0.3366 left_y=-0.0581 left_z=0.1082 left_yaw=0.0355 left_pitch=-0.0807 left_roll=0.027 left_gripper=0.9985 right_x=0.2896 right_y=0.0024 right_z=0.1693 right_yaw=0.0021 right_pitch=-0.0304 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-1.388, -4.465, 7.6513, 2.2247, 0.2466, 0.2369, -0.0513, -0.0752, -2.0308, 6.8991, 1.9316, -0.0317, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.045, "left_z": 0.07}, "note": "The bottle's cap/neck still sits forward-left of the jaw column in the wrist view; moving 3 cm forward, 1.5 cm left and lower to line the jaws up with the neck."})
tool
executing move_to over 4 steps (0.4s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe arm under-tracked the last target; the bottle neck is now nearly on the jaw column but still forward in the wrist view, so I'm pushing further forward and lower toward neck height.
move_to
left_x0.4000left_y-0.0500left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3183, 1.235, 0.4614, 0.1398, -0.2817, -0.21, 0.9984, -0.0193, 0.7769, 0.5541, -0.3851, -0.0242, -0.0326, 0.9998] state[eef_state]: left_x=0.3428 left_y=-0.0575 left_z=0.0912 left_yaw=0.0196 left_pitch=-0.0398 left_roll=0.0061 left_gripper=0.9984 right_x=0.2867 right_y=0.0023 right_z=0.1607 right_yaw=0.0033 right_pitch=-0.0377 right_roll=-0.0039 right_gripper=0.9998 state[joint_eff]: [0.4034, -4.2188, 5.9145, 1.9365, -0.2857, -0.0659, -0.022, -0.4308, -1.7983, 7.1043, 2.0, -0.0513, -0.0122, -0.0122] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.05, "left_z": 0.05}, "note": "The arm under-tracked the last target; the bottle neck is now nearly on the jaw column but still forward in the wrist view, so I'm pushing further forward and lower toward neck height."})
tool
executing move_to over 5 steps (0.5s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe arm stalled in x twice at 0.345; raising to z=0.15 while pushing forward to see if it unsticks and to look down on the bottle from above.
move_to
left_x0.4000left_y-0.0500left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3183, 1.235, 0.4614, 0.1535, -0.2955, -0.2096, 0.9983, -0.0204, 0.7589, 0.519, -0.366, -0.0303, -0.033, 0.9998] state[eef_state]: left_x=0.3448 left_y=-0.0557 left_z=0.0942 left_yaw=0.0306 left_pitch=-0.0241 left_roll=0.0093 left_gripper=0.9983 right_x=0.2837 right_y=0.0032 right_z=0.1534 right_yaw=0.0075 right_pitch=-0.0357 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.335, -4.0684, 6.065, 1.9609, -0.1441, -0.022, -0.0171, -0.5265, -1.8256, 6.8308, 1.9805, -0.0562, -0.0073, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.05, "left_z": 0.15}, "note": "The arm stalled in x twice at 0.345; raising to z=0.15 while pushing forward to see if it unsticks and to look down on the bottle from above."})
tool
executing move_to over 5 steps (0.5s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteWrist view shows the bottle's neck roughly under the jaw column now; descending to neck height (~3 cm above table) ready to close loosely on the neck.
move_to
left_x0.4000left_y-0.0450left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2314, 1.354, 0.6899, 0.033, -0.2516, -0.1917, 0.9983, -0.02, 0.7383, 0.4847, -0.3489, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.3885 left_y=-0.0427 left_z=0.1239 left_yaw=0.0717 left_pitch=-0.0429 left_roll=0.0034 left_gripper=0.9983 right_x=0.2804 right_y=0.0033 right_z=0.1467 right_yaw=0.0095 right_pitch=-0.0322 right_roll=-0.0034 right_gripper=0.9998 state[joint_eff]: [-0.7863, -6.3658, 7.4051, 1.5458, 0.0806, 0.0708, -0.0122, -0.0752, -1.3607, 7.1316, 1.9853, -0.0415, 0.0073, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.045, "left_z": 0.035}, "note": "Wrist view shows the bottle's neck roughly under the jaw column now; descending to neck height (~3 cm above table) ready to close loosely on the neck."})
tool
executing move_to over 6 steps (0.6s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteWrist view shows the white cap and neck sitting down-left of the jaw column; shifting ~2.5 cm left and 2 cm forward to centre the neck between the jaws.
move_to
left_x0.4150left_y-0.0200left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2348, 1.663, 0.5194, 0.5064, -0.2535, -0.1913, 0.9983, -0.0204, 0.7204, 0.4553, -0.3355, -0.0307, -0.0357, 0.9998] state[eef_state]: left_x=0.3946 left_y=-0.0452 left_z=0.0335 left_yaw=0.0697 left_pitch=-0.0484 left_roll=0.0066 left_gripper=0.9983 right_x=0.2775 right_y=0.0033 right_z=0.1406 right_yaw=0.0092 right_pitch=-0.0303 right_roll=-0.0029 right_gripper=0.9998 state[joint_eff]: [-0.1299, -6.2974, 4.3282, 1.4725, -0.1832, 0.0904, -0.0122, -0.5812, -1.1829, 6.8581, 1.9463, -0.0806, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.415, "left_y": -0.02, "left_z": 0.035}, "note": "Wrist view shows the white cap and neck sitting down-left of the jaw column; shifting ~2.5 cm left and 2 cm forward to centre the neck between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe neck/cap is still up-left of the jaws in the wrist view; shifting another 2.5 cm left to place the jaws over the narrow neck rather than the fat body.
move_to
left_x0.4200left_y0.0000left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1482, 1.7073, 0.524, 0.6212, -0.1905, -0.1741, 0.9983, -0.0204, 0.7055, 0.429, -0.3241, -0.0311, -0.036, 0.9998] state[eef_state]: left_x=0.4112 left_y=-0.0239 left_z=0.0398 left_yaw=0.0942 left_pitch=0.0144 left_roll=-0.0336 left_gripper=0.9983 right_x=0.2748 right_y=0.0035 right_z=0.1348 right_yaw=0.0098 right_pitch=-0.0303 right_roll=-0.003 right_gripper=0.9998 state[joint_eff]: [0.212, -4.9299, 6.3248, 1.58, -0.0024, 0.4518, -0.0122, -0.5128, -1.3744, 7.0222, 1.9756, -0.1197, -0.0317, -0.0122] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": 0.0, "left_z": 0.035}, "note": "The neck/cap is still up-left of the jaws in the wrist view; shifting another 2.5 cm left to place the jaws over the narrow neck rather than the fat body."})
tool
executing move_to over 3 steps (0.3s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteTop view shows my gripper is actually well to the LEFT of and nearer than the leftmost bottle (the wrist camera appears mirrored), so I'm moving 8 cm right and 3.5 cm forward to get over the bottle.
move_to
left_x0.4500left_y-0.0900left_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0864, 1.7195, 0.5343, 0.6247, -0.152, -0.1505, 0.9983, -0.0204, 0.6907, 0.4026, -0.3138, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4153 left_y=-0.0055 left_z=0.0387 left_yaw=0.111 left_pitch=0.0118 left_roll=-0.0338 left_gripper=0.9983 right_x=0.272 right_y=0.0035 right_z=0.1287 right_yaw=0.0094 right_pitch=-0.0315 right_roll=-0.0032 right_gripper=0.9998 state[joint_eff]: [0.5128, -4.8205, 6.9949, 1.6923, -0.1001, 0.3834, -0.0122, -0.4171, -1.2239, 6.9538, 1.9853, -0.0904, -0.022, -0.0122] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.09, "left_z": 0.06}, "note": "Top view shows my gripper is actually well to the LEFT of and nearer than the leftmost bottle (the wrist camera appears mirrored), so I'm moving 8 cm right and 3.5 cm forward to get over the bottle."})
tool
executing move_to over 8 steps (0.8s)
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 arm did not move at all last command — it seems jammed near the left fence. Retracting up and back toward the middle to free it before re-approaching the bottle.
move_to
left_x0.3500left_y-0.0500left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0677, 1.7298, 0.5449, 0.6292, -0.1455, -0.1307, 0.9983, -0.0204, 0.6727, 0.374, -0.2977, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4188 left_y=0.0009 left_z=0.0393 left_yaw=0.1136 left_pitch=0.0163 left_roll=-0.0212 left_gripper=0.9983 right_x=0.2697 right_y=0.0035 right_z=0.1234 right_yaw=0.0094 right_pitch=-0.0261 right_roll=-0.0034 right_gripper=0.9998 state[joint_eff]: [-0.0752, -5.9419, 5.8735, 1.6679, -0.022, 0.1832, -0.0122, -0.3761, -1.1282, 6.8991, 1.9512, -0.1099, -0.0269, -0.0122] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.05, "left_z": 0.2}, "note": "The arm did not move at all last command \u2014 it seems jammed near the left fence. Retracting up and back toward the middle to free it before re-approaching the bottle."})
tool
executing move_to over 11 steps (1.1s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteArm is free again. Moving over my estimate of the middle bottle's position so I can see gripper and bottle together in the top view and correct the offset.
move_to
left_x0.4000left_y-0.2300left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3271, 1.1423, 0.7677, -0.2314, -0.3454, -0.2581, 0.9983, -0.0204, 0.6582, 0.3485, -0.2905, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.3562 left_y=-0.0539 left_z=0.1839 left_yaw=0.0889 left_pitch=-0.0002 left_roll=-0.0098 left_gripper=0.9983 right_x=0.2666 right_y=0.0036 right_z=0.1168 right_yaw=0.0094 right_pitch=-0.0299 right_roll=-0.0033 right_gripper=0.9998 state[joint_eff]: [-0.2256, -4.7111, 9.6342, 1.6044, -0.2125, 0.0708, -0.0171, -0.6359, -0.7453, 7.1726, 1.956, -0.1099, -0.022, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.23, "left_z": 0.15}, "note": "Arm is free again. Moving over my estimate of the middle bottle's position so I can see gripper and bottle together in the top view and correct the offset."})
tool
executing move_to over 16 steps (1.6s)
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 noteWrist view shows the middle bottle centred on the jaw column with its blue cap pointing away from the base; advancing 5 cm forward and lowering to line the jaws up with its neck.
move_to
left_x0.4500left_y-0.2250left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.77, 1.7081, 1.1229, -0.2207, -0.6765, -0.5774, 0.9983, -0.0204, 0.6392, 0.3222, -0.2832, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.3936 left_y=-0.2226 left_z=0.1384 left_yaw=0.0774 left_pitch=-0.0321 left_roll=0.0136 left_gripper=0.9983 right_x=0.2634 right_y=0.0036 right_z=0.111 right_yaw=0.0094 right_pitch=-0.0299 right_roll=-0.0033 right_gripper=0.9998 state[joint_eff]: [-0.4034, -8.212, 9.0598, 1.3846, -0.5299, 0.1587, -0.0122, -0.5949, -0.759, 7.0632, 1.9902, -0.0904, -0.0464, -0.0073] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.225, "left_z": 0.1}, "note": "Wrist view shows the middle bottle centred on the jaw column with its blue cap pointing away from the base; advancing 5 cm forward and lowering to line the jaws up with its neck."})
tool
executing move_to over 5 steps (0.5s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe bottle is centred between the jaws but its cap is still far up in the wrist view, so the jaws are over the body; pushing further forward to reach the neck just below the cap.
move_to
left_x0.4900left_y-0.2150left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6792, 1.8977, 1.1366, -0.0433, -0.6388, -0.5228, 0.9983, -0.0204, 0.6205, 0.2955, -0.271, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.4346 left_y=-0.2109 left_z=0.084 left_yaw=0.1119 left_pitch=-0.0519 left_roll=0.0387 left_gripper=0.9983 right_x=0.2609 right_y=0.0037 right_z=0.1058 right_yaw=0.0094 right_pitch=-0.0257 right_roll=-0.0034 right_gripper=0.9998 state[joint_eff]: [0.0205, -9.7846, 9.306, 1.6044, -0.1783, 0.3297, -0.0171, -0.6359, -0.7726, 6.9128, 1.9121, -0.105, -0.0562, -0.0122] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.49, "left_y": -0.215, "left_z": 0.05}, "note": "The bottle is centred between the jaws but its cap is still far up in the wrist view, so the jaws are over the body; pushing further forward to reach the neck just below the cap."})
tool
executing move_to over 5 steps (0.5s)
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 noteDescent stalled at z=0.084, so a jaw is resting on the bottle; the bottle also looks slightly right of the jaw column, so I shift 2 cm right and try to descend so the jaws straddle its body.
move_to
left_x0.4400left_y-0.2350left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6743, 1.9186, 1.1484, -0.0036, -0.6254, -0.5163, 0.9983, -0.0204, 0.606, 0.2756, -0.2668, -0.0307, -0.036, 0.9998] state[eef_state]: left_x=0.442 left_y=-0.2162 left_z=0.0837 left_yaw=0.1028 left_pitch=-0.0371 left_roll=0.0158 left_gripper=0.9983 right_x=0.2584 right_y=0.0037 right_z=0.1011 right_yaw=0.0094 right_pitch=-0.0269 right_roll=-0.0034 right_gripper=0.9998 state[joint_eff]: [-0.3487, -10.3726, 8.3761, 1.6728, -0.149, 0.2662, -0.0171, -0.6496, -0.335, 6.7487, 1.9121, -0.1294, -0.0562, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.235, "left_z": 0.03}, "note": "Descent stalled at z=0.084, so a jaw is resting on the bottle; the bottle also looks slightly right of the jaw column, so I shift 2 cm right and try to descend so the jaws straddle its body."})
tool
executing move_to over 4 steps (0.4s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe left arm is stalled at its reach/torque limit out at x=0.44, so I'm parking it home and bringing the right arm over the centre bottle instead.
move_to
left_x0.2950left_y0.0000left_z0.2000right_x0.3800right_y0.2700right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6743, 1.9186, 1.1484, -0.0032, -0.6254, -0.5163, 0.9983, -0.0204, 0.5884, 0.2531, -0.2634, -0.0311, -0.0357, 0.9998] state[eef_state]: left_x=0.442 left_y=-0.2163 left_z=0.0838 left_yaw=0.1027 left_pitch=-0.0368 left_roll=0.0155 left_gripper=0.9983 right_x=0.2555 right_y=0.0039 right_z=0.0957 right_yaw=0.0095 right_pitch=-0.0284 right_roll=-0.0028 right_gripper=0.9998 state[joint_eff]: [-0.1299, -10.2085, 8.3761, 1.7021, -0.2173, 0.2711, -0.0122, -0.3897, -0.3897, 6.8718, 1.9805, -0.1099, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.295, "left_y": 0.0, "left_z": 0.2, "right_x": 0.38, "right_y": 0.27, "right_z": 0.15, "right_gripper": 1.0}, "note": "The left arm is stalled at its reach/torque limit out at x=0.44, so I'm parking it home and bringing the right arm over the centre bottle instead."})
tool
executing move_to over 23 steps (2.3s)
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 noteRight wrist view shows a bottle just right of the jaw column with its cap pointing away from the base; advancing 5 cm forward, 2 cm right and lowering toward neck height.
move_to
right_x0.4200right_y0.2450right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1497, 0.8299, 0.6777, -0.4107, -0.2493, -0.1879, 0.9982, 0.8455, 1.718, 1.124, -0.2096, 0.6323, 0.4847, 0.9998] state[eef_state]: left_x=0.301 left_y=0.0023 left_z=0.2004 left_yaw=0.1492 left_pitch=0.0219 left_roll=-0.0149 left_gripper=0.9982 right_x=0.3693 right_y=0.2646 right_z=0.1329 right_yaw=0.0529 right_pitch=-0.0498 right_roll=-0.0443 right_gripper=0.9998 state[joint_eff]: [0.1983, -1.6068, 7.788, 1.7363, -0.0952, 0.0269, -0.0171, 0.0752, -8.212, 8.9778, 1.6142, 0.5885, 0.2173, -0.0317] approver: 2 step(s) modified (delta_clamped ×2). 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_x": 0.42, "right_y": 0.245, "right_z": 0.1}, "note": "Right wrist view shows a bottle just right of the jaw column with its cap pointing away from the base; advancing 5 cm forward, 2 cm right and lowering toward neck height."})
tool
executing move_to over 4 steps (0.4s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe bottle's body fills the bottom of the right wrist view slightly right of the jaws; advancing another 5 cm forward and 1 cm right to bring the jaws over its narrow neck.
move_to
right_x0.4600right_y0.2250right_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1558, 0.8539, 0.6781, -0.4503, -0.2474, -0.1829, 0.9982, 0.7158, 1.8156, 1.0485, -0.0151, 0.5514, 0.395, 0.9998] state[eef_state]: left_x=0.2977 left_y=0.0007 left_z=0.1859 left_yaw=0.139 left_pitch=-0.039 left_roll=0.0068 left_gripper=0.9982 right_x=0.4044 right_y=0.2338 right_z=0.086 right_yaw=0.032 right_pitch=-0.0746 right_roll=-0.0597 right_gripper=0.9998 state[joint_eff]: [0.1436, -2.0855, 8.8821, 1.7314, -0.1343, -0.0073, -0.0073, -0.0068, -9.1692, 6.8581, 2.0488, 0.2418, 0.0855, -0.0122] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.225, "right_z": 0.06}, "note": "The bottle's body fills the bottom of the right wrist view slightly right of the jaws; advancing another 5 cm forward and 1 cm right to bring the jaws over its narrow neck."})
tool
executing move_to over 5 steps (0.5s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteForward reach is stalling near x=0.41, so instead I'll grab this bottle by the body and drag it closer; first descending so the jaws straddle it at mid-body height.
move_to
right_x0.4100right_y0.2280right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 0.8349, 0.6426, -0.4175, -0.2474, -0.1837, 0.9982, 0.6937, 1.8336, 0.976, 0.1375, 0.519, 0.3649, 0.9998] state[eef_state]: left_x=0.2964 left_y=0.0003 left_z=0.1817 left_yaw=0.1373 left_pitch=-0.0233 left_roll=0.0013 left_gripper=0.9982 right_x=0.4092 right_y=0.231 right_z=0.0737 right_yaw=0.053 right_pitch=-0.0397 right_roll=-0.0283 right_gripper=0.9998 state[joint_eff]: [-0.212, -2.2085, 6.7761, 1.9316, -0.1538, -0.0366, -0.0122, -0.1846, -8.5812, 6.0513, 1.9756, 0.2955, 0.0904, -0.0122] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.228, "right_z": 0.03}, "note": "Forward reach is stalling near x=0.41, so instead I'll grab this bottle by the body and drag it closer; first descending so the jaws straddle it at mid-body height."})
tool
executing move_to over 3 steps (0.3s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe right arm won't advance or descend further (likely pressing on the bottle); closing the jaws here to see whether they have the bottle's body.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 0.8299, 0.627, -0.4026, -0.2474, -0.1837, 0.9982, 0.6937, 1.8336, 0.9756, 0.144, 0.519, 0.3649, 0.9998] state[eef_state]: left_x=0.2962 left_y=0.0003 left_z=0.179 left_yaw=0.1373 left_pitch=-0.0192 left_roll=0.0001 left_gripper=0.9982 right_x=0.4099 right_y=0.2315 right_z=0.0747 right_yaw=0.0532 right_pitch=-0.0348 right_roll=-0.0247 right_gripper=0.9998 state[joint_eff]: [-0.4444, -1.7983, 6.3385, 1.8632, -0.2125, -0.0513, -0.0073, -0.3761, -8.6906, 6.2838, 1.9707, 0.2711, 0.149, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The right arm won't advance or descend further (likely pressing on the bottle); closing the jaws here to see whether they have the bottle's body."})
tool
executing move_to over 10 steps (1.0s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe close came up empty (0.019) — the bottle sits a few cm beyond the fingertips and the arm won't extend at low height; trying to reach further forward at a higher z where the arm has more freedom.
move_to
right_x0.4700right_z0.1800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 0.828, 0.6136, -0.3935, -0.2474, -0.1837, 0.9983, 0.6933, 1.8336, 0.9356, 0.1898, 0.5152, 0.3607, 0.019] state[eef_state]: left_x=0.2956 left_y=0.0004 left_z=0.1753 left_yaw=0.1373 left_pitch=-0.0214 left_roll=0.0008 left_gripper=0.9983 right_x=0.4058 right_y=0.2287 right_z=0.0673 right_yaw=0.0581 right_pitch=-0.0317 right_roll=-0.0227 right_gripper=0.019 state[joint_eff]: [-0.4034, -2.3726, 6.694, 1.8437, -0.1978, -0.0513, -0.0073, -0.1573, -9.0462, 5.9829, 1.9365, 0.2613, -0.0073, 0.8181] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_z": 0.18, "right_gripper": 1.0}, "note": "The close came up empty (0.019) \u2014 the bottle sits a few cm beyond the fingertips and the arm won't extend at low height; trying to reach further forward at a higher z where the arm has more freedom."})
tool
executing move_to over 10 steps (1.0s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteAt z=0.15 the arm reached x=0.458 and the bottle's cap/neck now sits just below the jaws in the wrist view; descending to neck height to grasp the neck loosely.
move_to
right_x0.4580right_y0.2150right_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 0.8219, 0.5968, -0.374, -0.2474, -0.1837, 0.9983, 0.601, 1.8278, 1.3178, -0.1822, 0.4278, 0.2756, 0.9954] state[eef_state]: left_x=0.2957 left_y=0.0004 left_z=0.1732 left_yaw=0.1373 left_pitch=-0.013 left_roll=-0.0018 left_gripper=0.9983 right_x=0.4584 right_y=0.2298 right_z=0.1529 right_yaw=0.0808 right_pitch=-0.0497 right_roll=-0.0365 right_gripper=0.9954 state[joint_eff]: [-0.5538, -2.0991, 6.7897, 1.7851, -0.1832, -0.0024, -0.0122, -1.0325, -9.9624, 9.9624, 1.9316, 0.2613, 0.1392, 0.0708] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.458, "right_y": 0.215, "right_z": 0.04}, "note": "At z=0.15 the arm reached x=0.458 and the bottle's cap/neck now sits just below the jaws in the wrist view; descending to neck height to grasp the neck loosely."})
tool
executing move_to over 8 steps (0.8s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe jaws are now around the bottle's tapered shoulder just below the blue cap; closing to ~3 cm so the bottle is captured but free to swing upright when lifted.
move_to
right_gripper0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 0.8204, 0.5869, -0.3714, -0.2474, -0.1837, 0.9982, 0.5735, 1.9785, 1.0126, 0.2966, 0.3985, 0.263, 0.9955] state[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1697 left_yaw=0.1373 left_pitch=-0.0185 left_roll=-0.0001 left_gripper=0.9982 right_x=0.452 right_y=0.2146 right_z=0.0426 right_yaw=0.0842 right_pitch=-0.0387 right_roll=-0.0195 right_gripper=0.9955 state[joint_eff]: [-0.4991, -1.9624, 6.7487, 1.8339, -0.1832, -0.0269, -0.0171, -0.8547, -8.8821, 5.2855, 1.9219, 0.1685, -0.0513, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.3}, "note": "The jaws are now around the bottle's tapered shoulder just below the blue cap; closing to ~3 cm so the bottle is captured but free to swing upright when lifted."})
tool
executing move_to over 7 steps (0.7s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe jaws stopped at 0.51 (≈4.8 cm), so they are holding the bottle's upper body; lifting to 25 cm to let the bottle swing down into a vertical, cap-up hang.
move_to
right_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 0.8185, 0.58, -0.363, -0.2474, -0.1833, 0.9982, 0.5747, 1.9949, 0.981, 0.3679, 0.3878, 0.2569, 0.5082] state[eef_state]: left_x=0.2947 left_y=0.0006 left_z=0.1688 left_yaw=0.1371 left_pitch=-0.0152 left_roll=-0.0008 left_gripper=0.9982 right_x=0.4504 right_y=0.2164 right_z=0.0358 right_yaw=0.0976 right_pitch=-0.0211 right_roll=-0.008 right_gripper=0.5082 state[joint_eff]: [-0.5402, -2.0718, 6.065, 1.8681, -0.1587, -0.0171, -0.0073, -0.4034, -10.9607, 5.1624, 1.746, 0.1783, 0.0317, 0.8669] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.25}, "note": "The jaws stopped at 0.51 (\u22484.8 cm), so they are holding the bottle's upper body; lifting to 25 cm to let the bottle swing down into a vertical, cap-up hang."})
tool
executing move_to over 14 steps (1.4s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteUnclear whether the bottle is held or was left standing; retracting and raising the right arm to get an unobstructed top view of all three bottles.
move_to
right_x0.3300right_z0.2800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 0.8177, 0.58, -0.3626, -0.2474, -0.1837, 0.9982, 0.5766, 1.7576, 1.4361, -0.4313, 0.363, 0.2363, 0.5085] state[eef_state]: left_x=0.2947 left_y=0.0006 left_z=0.1691 left_yaw=0.1373 left_pitch=-0.0141 left_roll=-0.0014 left_gripper=0.9982 right_x=0.4448 right_y=0.2188 right_z=0.1902 right_yaw=0.1272 right_pitch=-0.124 right_roll=-0.058 right_gripper=0.5085 state[joint_eff]: [-0.4718, -2.1675, 5.7778, 1.9316, -0.1783, -0.022, -0.0073, -0.335, -13.2034, 10.5641, 1.6044, 0.4078, 0.1441, 0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_z": 0.28, "right_gripper": 1.0}, "note": "Unclear whether the bottle is held or was left standing; retracting and raising the right arm to get an unobstructed top view of all three bottles."})
tool
executing move_to over 9 steps (0.9s)
step 180
assistant
agent noteTwo bottles lie ahead; I likely did have the right-hand one gripped before and released it too high. Re-approaching that bottle at 15 cm height before descending onto its neck again.
move_to
right_x0.4500right_y0.2200right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 0.8169, 0.5709, -0.3542, -0.2474, -0.1833, 0.9982, 0.8005, 1.4071, 1.2858, -0.5869, 0.514, 0.3603, 0.9969] state[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1668 left_yaw=0.1371 left_pitch=-0.0141 left_roll=-0.0011 left_gripper=0.9982 right_x=0.3366 right_y=0.2274 right_z=0.2569 right_yaw=0.1664 right_pitch=-0.0321 right_roll=-0.0224 right_gripper=0.9969 state[joint_eff]: [-0.6496, -1.7436, 6.6256, 1.8828, -0.1343, -0.0073, -0.0073, 0.2393, -7.9658, 10.0034, 1.663, 0.2564, 0.149, -0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.22, "right_z": 0.15}, "note": "Two bottles lie ahead; I likely did have the right-hand one gripped before and released it too high. Re-approaching that bottle at 15 cm height before descending onto its neck again."})
tool
executing move_to over 9 steps (0.9s)
step 189
assistant
agent noteThe bottle is centred just right of the jaw column in the wrist view; descending to 4 cm, the height that worked last time, to straddle its upper body/neck.
move_to
right_x0.4500right_y0.2080right_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 0.8127, 0.5652, -0.3477, -0.2474, -0.1833, 0.9982, 0.5739, 1.7206, 1.1412, -0.1127, 0.3328, 0.207, 0.9984] state[eef_state]: left_x=0.2945 left_y=0.0006 left_z=0.1667 left_yaw=0.1371 left_pitch=-0.0094 left_roll=-0.0025 left_gripper=0.9982 right_x=0.4324 right_y=0.2151 right_z=0.138 right_yaw=0.1675 right_pitch=-0.0776 right_roll=-0.0376 right_gripper=0.9984 state[joint_eff]: [-0.4308, -1.6889, 6.4068, 1.7802, -0.2027, -0.0317, -0.0122, -0.8821, -8.4034, 7.5692, 2.0098, 0.0562, -0.0122, 0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.208, "right_z": 0.04}, "note": "The bottle is centred just right of the jaw column in the wrist view; descending to 4 cm, the height that worked last time, to straddle its upper body/neck."})
tool
executing move_to over 7 steps (0.7s)
step 196
assistant
agent noteJaws straddle the bottle's upper body; closing to ~2.4 cm so the grip is firm enough to lift but lets the bottle pivot.
move_to
right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 0.812, 0.5644, -0.3477, -0.2478, -0.1833, 0.9982, 0.5369, 1.9327, 0.9283, 0.3462, 0.3008, 0.1825, 0.9991] state[eef_state]: left_x=0.2943 left_y=0.0007 left_z=0.1665 left_yaw=0.1374 left_pitch=-0.0093 left_roll=-0.0023 left_gripper=0.9982 right_x=0.4413 right_y=0.206 right_z=0.0384 right_yaw=0.1708 right_pitch=-0.054 right_roll=-0.0259 right_gripper=0.9991 state[joint_eff]: [-0.3761, -1.7436, 6.3795, 1.7802, -0.1929, -0.0122, -0.0073, -0.759, -8.4171, 4.9162, 2.0, 0.0464, 0.0269, 0.0659] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.25}, "note": "Jaws straddle the bottle's upper body; closing to ~2.4 cm so the grip is firm enough to lift but lets the bottle pivot."})
tool
executing move_to over 8 steps (0.8s)
step 204
assistant
agent noteGripper settled at 0.47 (~4.5 cm) — it has the bottle. Lifting to 26 cm so the bottle can swing down to hang vertically, cap up, in the loose grip.
move_to
right_z0.2600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 0.812, 0.5644, -0.3477, -0.2474, -0.1837, 0.9982, 0.5365, 1.9495, 0.8837, 0.4572, 0.2897, 0.181, 0.4734] state[eef_state]: left_x=0.2943 left_y=0.0006 left_z=0.1665 left_yaw=0.1373 left_pitch=-0.0094 left_roll=-0.0029 left_gripper=0.9982 right_x=0.441 right_y=0.2077 right_z=0.0352 right_yaw=0.1809 right_pitch=-0.0099 right_roll=-0.0035 right_gripper=0.4734 state[joint_eff]: [-0.6222, -1.8256, 6.3111, 1.8095, -0.149, -0.0513, -0.0073, -0.1709, -9.8803, 5.094, 1.7607, 0.149, -0.0073, 1.033] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.26}, "note": "Gripper settled at 0.47 (~4.5 cm) \u2014 it has the bottle. Lifting to 26 cm so the bottle can swing down to hang vertically, cap up, in the loose grip."})
tool
executing move_to over 15 steps (1.5s)
step 219
assistant
agent noteTop view confirms the bottle is off the table and held, but the grip is tight so it stays horizontal. Lowering to 13 cm so I can loosen the jaws and let it swing/settle base-down from a small height.
move_to
right_z0.1300right_x0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 0.812, 0.5644, -0.3473, -0.2474, -0.1833, 0.9982, 0.5365, 1.7027, 1.3663, -0.5018, 0.2569, 0.1661, 0.4735] state[eef_state]: left_x=0.2944 left_y=0.0006 left_z=0.1666 left_yaw=0.1371 left_pitch=-0.009 left_roll=-0.0027 left_gripper=0.9982 right_x=0.4225 right_y=0.2032 right_z=0.1705 right_yaw=0.2068 right_pitch=-0.2337 right_roll=-0.072 right_gripper=0.4735 state[joint_eff]: [-0.294, -1.8393, 6.2974, 1.8486, -0.2125, -0.022, -0.0073, -0.335, -14.2154, 13.2171, 2.6838, 0.4029, 0.1294, 1.0183] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.13, "right_x": 0.4}, "note": "Top view confirms the bottle is off the table and held, but the grip is tight so it stays horizontal. Lowering to 13 cm so I can loosen the jaws and let it swing/settle base-down from a small height."})
tool
executing move_to over 3 steps (0.3s)
step 222
assistant
agent noteBottle held horizontally at 13 cm with its cap pointing forward; loosening the jaws to ~6 cm so the heavy base end swings down and the bottle settles onto its base.
move_to
right_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 0.812, 0.5644, -0.3462, -0.2478, -0.1833, 0.9982, 0.5735, 1.5452, 1.0119, -0.2882, 0.2764, 0.178, 0.4738] state[eef_state]: left_x=0.2945 left_y=0.0007 left_z=0.1668 left_yaw=0.1374 left_pitch=-0.0079 left_roll=-0.0028 left_gripper=0.9982 right_x=0.3755 right_y=0.1895 right_z=0.1274 right_yaw=0.2224 right_pitch=-0.2127 right_roll=-0.0716 right_gripper=0.4738 state[joint_eff]: [-0.5402, -1.6615, 6.3795, 1.8437, -0.2076, -0.0464, -0.0073, -0.0342, -8.6359, 9.9077, 3.5775, 0.3687, 0.0366, 0.8474] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.65}, "note": "Bottle held horizontally at 13 cm with its cap pointing forward; loosening the jaws to ~6 cm so the heavy base end swings down and the bottle settles onto its base."})
tool
executing move_to over 2 steps (0.2s)
step 224
assistant
agent noteThe bottle slid back down to the table still lying; opening the jaws and moving forward to the narrow neck just below the cap, which is the part that can retain the bottle while it swings upright.
move_to
right_gripper1.0000right_x0.4350right_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 0.8131, 0.5644, -0.3466, -0.2478, -0.1833, 0.9982, 0.5823, 1.5219, 0.8146, -0.0658, 0.2676, 0.178, 0.6427] state[eef_state]: left_x=0.2945 left_y=0.0007 left_z=0.1665 left_yaw=0.1374 left_pitch=-0.0093 left_roll=-0.0023 left_gripper=0.9982 right_x=0.3615 right_y=0.1864 right_z=0.0943 right_yaw=0.2416 right_pitch=-0.1693 right_roll=-0.0489 right_gripper=0.6427 state[joint_eff]: [-0.4855, -1.2376, 6.5983, 1.8193, -0.1832, -0.0171, -0.0073, -0.3897, -8.0889, 8.0615, 2.254, 0.2173, 0.0366, 0.0952] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.435, "right_z": 0.045}, "note": "The bottle slid back down to the table still lying; opening the jaws and moving forward to the narrow neck just below the cap, which is the part that can retain the bottle while it swings upright."})
tool
executing move_to over 6 steps (0.6s)
step 230
assistant
agent noteThe cap and neck sit forward-left of the jaws; moving onto the neck while closing the jaws to ~2 cm so they capture the narrow neck under the cap.
move_to
right_x0.4400right_y0.2000right_z0.0400right_gripper0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 0.8124, 0.5644, -0.3458, -0.2474, -0.1837, 0.9982, 0.4789, 1.8389, 0.7612, 0.4076, 0.1883, 0.1059, 0.9968] state[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1668 left_yaw=0.1373 left_pitch=-0.0079 left_roll=-0.0033 left_gripper=0.9982 right_x=0.4128 right_y=0.1811 right_z=0.028 right_yaw=0.2474 right_pitch=-0.0861 right_roll=-0.0246 right_gripper=0.9968 state[joint_eff]: [-0.253, -1.6479, 6.653, 1.7558, -0.1978, -0.0513, -0.0073, -0.5675, -7.2957, 8.0068, 1.9121, 0.0122, 0.1392, -0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.2, "right_z": 0.04, "right_gripper": 0.22}, "note": "The cap and neck sit forward-left of the jaws; moving onto the neck while closing the jaws to ~2 cm so they capture the narrow neck under the cap."})
tool
executing move_to over 8 steps (0.8s)
step 238
assistant
agent noteI could not stand any of the three bottles upright within the call budget. With pitch and roll pinned at 0 the tool is always vertical, so the only way to right a lying bottle is to grip it loosely at the narrow neck and let gravity swing it vertical; every close I made landed on the fat body (settled gripper ≈0.47–0.51, i.e. ~4.7 cm), which holds the bottle rigidly horizontal. Reaching the neck required x ≈ 0.46–0.50, where both arms stall.
give_up
hindsightConcrete lessons from this rig/trial: - The bottles sat at x ≈ 0.44–0.50 in each arm's frame, right at the practical reach limit. Both arms stall hard (joint_pos frozen, shoulder effort −8 to −14 N·m) once shoulder joint 1 exceeds ≈1.83–1.95 rad; the quoted 0.49 m table-contact reach is optimistic with the tool pinned vertical. Trick that worked: extend forward at z≈0.15 first (reached x=0.458), THEN descend to z=0.04 — descending first blocks the extension. - The left arm also jams completely near its fence bound (left_y ≈ 0.0); recover by raising z and pulling x back before any lateral move. - Wrist cameras are not mirrored (image-right = arm's −y for the right arm), but the top view is very misleading about which arm/gripper blob is the fingertips; I wasted ~6 calls chasing a phantom left/right inversion. Trust the wrist camera for lateral alignment and the eef readback for metric position. - An object that fills the bottom half of the wrist frame is still ~3–5 cm beyond the fingertips: a close there returned 0.019 (empty). - To stand a bottle: aim the jaws at the neck (the cap/neck appears near the TOP of the wrist frame when the jaws are over the mid-body, so you must advance a further ~8–10 cm), close to ~0.2–0.3 so the jaws ride on the neck under the cap flange, then lift to z≈0.25 and the bottle should hang cap-up; lower until the base touches and open. Gripping the body (settled reading ≈0.47) will never let it pivot. - Alternative worth trying next time: drag the bottle back to x≈0.30 by its body first, so the neck grasp happens well inside the reach envelope.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 0.8124, 0.5644, -0.345, -0.2474, -0.1833, 0.9982, 0.4854, 1.9022, 0.8082, 0.4858, 0.1795, 0.0994, 0.5159] state[eef_state]: left_x=0.2947 left_y=0.0006 left_z=0.167 left_yaw=0.1371 left_pitch=-0.0072 left_roll=-0.0032 left_gripper=0.9982 right_x=0.4304 right_y=0.1955 right_z=0.0323 right_yaw=0.2655 right_pitch=-0.0271 right_roll=-0.0109 right_gripper=0.5159 state[joint_eff]: [-0.4034, -1.6615, 6.4068, 1.7802, -0.188, -0.022, -0.0073, 0.5402, -7.6103, 7.9248, 1.8877, 0.1538, 0.1148, 0.906] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I could not stand any of the three bottles upright within the call budget. With pitch and roll pinned at 0 the tool is always vertical, so the only way to right a lying bottle is to grip it loosely at the narrow neck and let gravity swing it vertical; every close I made landed on the fat body (settled gripper \u22480.47\u20130.51, i.e. ~4.7 cm), which holds the bottle rigidly horizontal. Reaching the neck required x \u2248 0.46\u20130.50, where both arms stall.", "hindsight": "Concrete lessons from this rig/trial:\n- The bottles sat at x \u2248 0.44\u20130.50 in each arm's frame, right at the practical reach limit. Both arms stall hard (joint_pos frozen, shoulder effort \u22128 to \u221214 N\u00b7m) once shoulder joint 1 exceeds \u22481.83\u20131.95 rad; the quoted 0.49 m table-contact reach is optimistic with the tool pinned vertical. Trick that worked: extend forward at z\u22480.15 first (reached x=0.458), THEN descend to z=0.04 \u2014 descending first blocks the extension.\n- The left arm also jams completely near its fence bound (left_y \u2248 0.0); recover by raising z and pulling x back before any lateral move.\n- Wrist cameras are not mirrored (image-right = arm's \u2212y for the right arm), but the top view is very misleading about which arm/gripper blob is the fingertips; I wasted ~6 calls chasing a phantom left/right inversion. Trust the wrist camera for lateral alignment and the eef readback for metric position.\n- An object that fills the bottom half of the wrist frame is still ~3\u20135 cm beyond the fingertips: a close there returned 0.019 (empty).\n- To stand a bottle: aim the jaws at the neck (the cap/neck appears near the TOP of the wrist frame when the jaws are over the mid-body, so you must advance a further ~8\u201310 cm), close to ~0.2\u20130.3 so the jaws ride on the neck under the cap flange, then lift to z\u22480.25 and the bottle should hang cap-up; lower until the base touches and open. Gripping the body (settled reading \u22480.47) will never let it pivot.\n- Alternative worth trying next time: drag the bottle back to x\u22480.30 by its body first, so the neck grasp happens well inside the reach envelope."})
tool
give_up: I could not stand any of the three bottles upright within the call budget. With pitch and roll pinned at 0 the tool is always vertical, so the only way to right a lying bottle is to grip it loosely at the narrow neck and let gravity swing it vertical; every close I made landed on the fat body (settled gripper ≈0.47–0.51, i.e. ~4.7 cm), which holds the bottle rigidly horizontal. Reaching the neck required x ≈ 0.46–0.50, where both arms stall.
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 · 30.48 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6064, -0.379, -0.0196, -0.0284, 0.9985, -0.0158, 0.7879, 0.6033, -0.3855, -0.0212, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1816 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2935 right_y=0.0027 right_z=0.1802 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.5248, 9.894, 1.8535, -0.0611, 0.1392, -0.1587, -0.841, -0.9094, 10.2496, 1.8584, -0.0317, 0.0611, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6538c3c3536232288561312d56801562391b97a735fa2c993d8e3e81dc5a3a46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b0fb74af7c280cd109df07d79f98b36721cd8887a2e96809897864daa38f714",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb7a1c4617025b1cd99fb94676f26b953dba1459e6e4d36ee1df51419d330846",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 20.28 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6064, -0.379, -0.0196, -0.0284, 0.9985, -0.0158, 0.7879, 0.6033, -0.3855, -0.0212, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1816 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2935 right_y=0.0027 right_z=0.1802 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.5248, 9.894, 1.8535, -0.0611, 0.1392, -0.1587, -0.841, -0.9094, 10.2496, 1.8584, -0.0317, 0.0611, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6538c3c3536232288561312d56801562391b97a735fa2c993d8e3e81dc5a3a46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b0fb74af7c280cd109df07d79f98b36721cd8887a2e96809897864daa38f714",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb7a1c4617025b1cd99fb94676f26b953dba1459e6e4d36ee1df51419d330846",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SRkqPn3k7hqoTeM1zhsqxH",
      "input": {
        "note": "Three bottles lie on their sides in the middle of the table. I'll approach the leftmost bottle with the left arm, hovering above it to inspect it with the wrist camera before grasping its neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.34,
          "left_y": -0.1,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01SRkqPn3k7hqoTeM1zhsqxH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.487, 1.124, 0.7124, -0.2771, -0.3721, -0.2817, 0.9988, -0.0193, 0.794, 0.6041, -0.4038, -0.0238, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.3284 left_y=-0.0972 left_z=0.1581 left_yaw=-0.0352 left_pitch=-0.0684 left_roll=0.0201 left_gripper=0.9988 right_x=0.2916 right_y=0.0022 right_z=0.1751 right_yaw=0.0009 right_pitch=-0.0236 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -3.6991, 10.0718, 1.6972, -0.2906, 0.1294, -0.1343, 0.0342, -1.6752, 6.9949, 1.873, -0.022, 0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3db6e2f840c4249b53c21fc85c374b7f17f1c8e53994fab3e25f10a72624760",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4d8b5d4cb5e71236dad9ebcb0e0973afe48d0641cf8d589a9a3ad3b1b716dbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:65810b9f5e3b3b75513512b7db1568cee01702c356c90b7d39287f88b469f478",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 10.14 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6064, -0.379, -0.0196, -0.0284, 0.9985, -0.0158, 0.7879, 0.6033, -0.3855, -0.0212, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1816 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2935 right_y=0.0027 right_z=0.1802 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.5248, 9.894, 1.8535, -0.0611, 0.1392, -0.1587, -0.841, -0.9094, 10.2496, 1.8584, -0.0317, 0.0611, -0.0366]",
      "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]: [-0.487, 1.124, 0.7124, -0.2771, -0.3721, -0.2817, 0.9988, -0.0193, 0.794, 0.6041, -0.4038, -0.0238, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.3284 left_y=-0.0972 left_z=0.1581 left_yaw=-0.0352 left_pitch=-0.0684 left_roll=0.0201 left_gripper=0.9988 right_x=0.2916 right_y=0.0022 right_z=0.1751 right_yaw=0.0009 right_pitch=-0.0236 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -3.6991, 10.0718, 1.6972, -0.2906, 0.1294, -0.1343, 0.0342, -1.6752, 6.9949, 1.873, -0.022, 0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3db6e2f840c4249b53c21fc85c374b7f17f1c8e53994fab3e25f10a72624760",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4d8b5d4cb5e71236dad9ebcb0e0973afe48d0641cf8d589a9a3ad3b1b716dbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65810b9f5e3b3b75513512b7db1568cee01702c356c90b7d39287f88b469f478",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiBcKjgEIEhgCKkDfIRhVDjVmHbUbpwjk49hTsYIQWUozLq2Gcr7WLk7VRcDd8MJhxqre8y47K7cxBY6pES0I0PM+0XQtu3al7tfWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf2AzNUGEgyN7TPoj8cxL0yZYe4aDEacqkL41CDRGw/fLSIw7W7OhTBh89p+ovHS4i/bniwx1FVsWq9TT0GSatFsROp4A9LFk8e+2TLHNXzUZV82KqYVjSgU1zLc8ZXkeKDioLJGyYLU+Th3PSANsCLeE0ux7JfiOq/CJJ2G+kB26pH9UE6lNv7InHdLMgmH2RhKdaybSN5gCsQZzSEi6fiuZtAwfWCQi30tc+iRLy8nwZPK7nXC625NTMfvgCjqFxpQtDstiL4M+e2laasO321efylKOz3TRj6srw+Ylr6WZqlX60dycQNaR+PwpQlO38AlPLLyjwBttLsli3F+5nUYFt6jvL60nid0gyMpnQsjyKhudzN7E1zOr8UVTgj+a8M4Yjxb9PqPwNHBXgQM9XAP8qg843qUhmQ3NGHjV5qgEmRKQwrWUnHT35hremKVZLIyuzcebnVDntk0tc5/Bs6x3aXGFX80z2h6YeC0EDjgoOGuf0TPLJPP+OHeL2IsOOFKQEC3Kt9F6RnzqUIvTbSBZUirIHhP5n/2JGgip6GGg9KNJgvFeNE6QuBa7v5lmuCzSYSfWGPDjpjZhznVcORsQl2JrrsBeWKvjpUogHUizPI4/kpxCs/xf9rPWkK62FfiAr2etHjSkTWDUNOzahD2N3VJ+0BahoX9BkDd/xeKJF7AtDn/Uz8iOgwQHVo7fu7h4Am40UtYO5uHXDHbfiHUSa3hOZ6ZV/WG+ofQsJn9AizHTtKeq+8JR9E9LLIJTJyYAG3GlQxl6nbdtGAlNJIOLo7ABGVEQT/u6W4IjVu+hMlIfVJcuzmBjamYmyAhxGKQygZdJXJLsoCvwaO6IqxUJRwL+d/0relWFhkzWKHhSKkwN23xZrXGjp0aRC/sANk4IOr3XPS5QLt1w8jnQIBbQqjrkNNuQ6CNQBysoL1omOFRtld1eeKhJNJWZE33G35nl4Sr+shfZL9PrfG78Vx0wkZanywbdnfZY5MZrosQ9CbvFT+DXAmaI3EzWsH0cVcFOaZf/mFK5RHS5RPqG870m398rqL6Dbk79JlGJkRftjV9aWKrSOnvoHvgOooH2O+u1r70+szISmafmL1nKgh1LMNunRezbLt5Z0xa53Igs68xWe4JyK6obpPpQYcPBkKcgig8X6B/9U3ootnPVPGEuNJYUWI1wTZdF5gE2AXk5J3GAkqW3JU9Mb5lgkB+36Hzy74xjj6AOF5M009FgT6VZVFzeZjojS11ZrBmtMFt3GqhQV94iKhalz4gURF/pWXMbWFWbUKX/CXJRloZUy5qKnL2lRX7PfpPtmoxapyeRVlhGNc58wIdaM/G2WGPbvgL5+qR0t3K+ehVyurWT/v9dD3aWFiRCi3lyQBKgp3jK+JgVR9BrsBi4mSV+OMEYFZZZ9AFj51AQ4w6jWG8lFYsJRhnP+TSxaKx47sIYMbEU/xuQUpMyHAtaHLNdG6QlFDMp6zMczcxAvmxpr13RdGB+b3MPptMQm33rI8skJfLCCtbz5Lq7Wc3orT0lC3Yr2+TTh1Yr33XN66O/v6LQEAqGYvSzfCWNry3Gn2G+HirtIyweiw2cJV7+X0yow9VYRDL43vszt5apUh4UJ3UwYjHbE+nQ+677KGk36MffBom8Vrs/FD3PlfGqYFXUFXP8iXH0ru2tQL0kcLdZ87HmiMKBzxY8exyLJHcznge8lx41zuK2DnqveemlVmf3+KhohrzVATqh481++xOOX9Q3UDUFzlwsO5MX7QHKWlldNprutYohzaZkirYhH0Ar4Do87x85jGX0pyx9tc8OR78mdXOML3TomeGPzyDaNquQV0Cc9uwBTufF06+hFlolKBOMlNJbAcLLl0d+jccqe9As5ykqxKYNKBwCoR/SQV7bJmlbmhlMZAkOJT3TWtHTfkFwo4hecdwPwGtI3xw0sb7cD8WcSmfdePsjmjgmWulCmMdh7v/HOMTCnPVhtakclprz0HA6EfPsBdfBTBNUnyckPOYJTh2L9bJBpPGZS9ULQetVlEOSyFUpjklZibTbkuYTjA8cZLGokQnWs8w+ERVEqXpnc+YodXthfiohGxBKA8rFz6/iUDbK52+YQYLfQ037Ih+wDr69WI6O0jkiqhhO4Sv+Mm8VqqGzdaUZuvGKuN47nabr4Tw9h+Y5q885Ocwn/uYp2fGWapJJhXeI5cRMHUqrmvOjJDkDfPuMDdn7TjdKe9PqqPqoZbBPTOX4O1+QNQNuVgBvaNFGyz89xojbxIeZeVCPb3SOdeLDpGFp2vkRpVITpY/3RQ/qd2VSqveB6Un3LNrtjk+MWJBGgzdnIVbOespoTkXVPThLB2xuE7iiv9CwUnDja1mmwn+LN8hs7oysGL2G6lGXk5y1iLPxzjt95mb+Q2vOPXZ0OGzpYgrN8/uXsTIr/1RACG7ihy5MoKz4iDJjXy2+04SEWRmOpKQ4b3wkLJfjcjQfUUxhZTMCr4ly4entdHAyKr5nyGV9iLjNUBSllIOrX0rdQo8gE50d2t7ILj0c5+SVxxMDjt2sg/7xgpJAr4M+dZQ0Qv+bSIXlN7/UtOpM0vsJYuxOG9YzcFz2fFDdE4D0WORsZlKA3eG28TsuLa9wq8LOc+kryB/iu0UfvuMarO9DlDhOxqTBylEkRAaAztY9cRH6rbWehRxn/8ZSEvEfsZR6uRFbm+O6Eg+8X1udjoujH5vCJPn+l8cKF8+cw1hvEyFWggPlqIvVKzoGyPnLLuObow4fWnUh3cOL8ztw73VJQ3xPZYXR9J3/b/hQIOhXtbOuuLOfA21bSFhLnMypl5Q+fjA6tve0uMwQChJMB0/jZpwplrd2lOdeiM8cm/IgkfMs40xGzb1t9WNNhQmlOXEG+qVUAlaJuT6ows2VdIX/MW01GCxpTNEYd8f+ZhtPCX3+crbVDuTfYURym9SaFIDh4Gf+JkgZwEjC4CVO3cQoUEVTx01j053FDxQgh1+7y93eMQ64GH3X0+22ExayKH6xJBMV0zVIsASACDAYsUmVOGqulFBXHyyRlIcwwVCSVWDLxMGgfUNHC4NyfJeH7ElgTPYSM66YeC05qyM0f6etPM7afu5sQ63dxXeqz8aFHlMAuLlFILIt43eD9QUvvYOBMw4yuehDc128kU4+8HX+fwymhTdqgN0BRB34x4TKT/xsgixyT6xRpv6rAzZ1mCpbI6MJM1Q6i/XvGgGsXWDdYCiKbv/RXXWHz56h1VfWVEYKaZvJqgFzwcP76Yawd9zq9MfByS2uHSeA8XYCiXB+s8o2Up66FvtxKjwdPZachjeMjrDvisEJCoSq1zEBioHgfVrnjrlFJt6g0kgMYiV80BusQY2La6U+s4jfKLWqJ7euCDsnSzRcWCmsA+gJGIKmDyIaaF6Qkzh5IM6HUmjEsG35Nc+asgzCJnzfOej8NBijtFnBOsalp8E0IYIo/iiaM0/mVDYbd3o5/ltrsyTHToeysEVxPqrWamNwN1fQ0hmVA5Vm5qvfLTKNa3sfzTbcPgAi80u3znO5HbJl/aAwdlMhPkZ49/n/uHMb6a2Dl4qqBLiCgfTnyFs6MLvC1QUK16mJxrDJL9fNxSr8HTtTkyW4cTo0ndt2ChtZgPFKLbF67dI8aRxHH94Rzs1r1atfUA6dKbiLoMb+htPUhiYkeAtfxsKK5iHHFTqh3RGB1F25rG3EErCwqQfWJXu9tFQbNFeahkgZbiIun96D3ejmXiwENlGrB+G3VGCYZwYa10YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H8xQKBydrmUyk7GVnmpsDt",
      "input": {
        "note": "Wrist view shows the leftmost bottle lying with its white cap toward the upper-left (forward-left of the jaws). Nudging forward and left to bring the bottle's neck under the jaws.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.07,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01H8xQKBydrmUyk7GVnmpsDt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3431, 1.1805, 0.5438, -0.049, -0.3161, -0.231, 0.9985, -0.0193, 0.7879, 0.585, -0.3977, -0.025, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.3366 left_y=-0.0581 left_z=0.1082 left_yaw=0.0355 left_pitch=-0.0807 left_roll=0.027 left_gripper=0.9985 right_x=0.2896 right_y=0.0024 right_z=0.1693 right_yaw=0.0021 right_pitch=-0.0304 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-1.388, -4.465, 7.6513, 2.2247, 0.2466, 0.2369, -0.0513, -0.0752, -2.0308, 6.8991, 1.9316, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc15e0c754081d66eea7458df24a9bdb37c3a166a1e6f0512c6153a9e00a567f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bc3f455ce612599003430eb04c6b06f0ea5955a5e561e54da9e682586992d81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:79bf55f6fc5e0205ccc1f99896dacfd4c2ad11a473114aeecc29514ac989829f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 7.222 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6064, -0.379, -0.0196, -0.0284, 0.9985, -0.0158, 0.7879, 0.6033, -0.3855, -0.0212, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.001 left_z=0.1816 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2935 right_y=0.0027 right_z=0.1802 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.5248, 9.894, 1.8535, -0.0611, 0.1392, -0.1587, -0.841, -0.9094, 10.2496, 1.8584, -0.0317, 0.0611, -0.0366]",
      "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]: [-0.487, 1.124, 0.7124, -0.2771, -0.3721, -0.2817, 0.9988, -0.0193, 0.794, 0.6041, -0.4038, -0.0238, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.3284 left_y=-0.0972 left_z=0.1581 left_yaw=-0.0352 left_pitch=-0.0684 left_roll=0.0201 left_gripper=0.9988 right_x=0.2916 right_y=0.0022 right_z=0.1751 right_yaw=0.0009 right_pitch=-0.0236 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -3.6991, 10.0718, 1.6972, -0.2906, 0.1294, -0.1343, 0.0342, -1.6752, 6.9949, 1.873, -0.022, 0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3431, 1.1805, 0.5438, -0.049, -0.3161, -0.231, 0.9985, -0.0193, 0.7879, 0.585, -0.3977, -0.025, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.3366 left_y=-0.0581 left_z=0.1082 left_yaw=0.0355 left_pitch=-0.0807 left_roll=0.027 left_gripper=0.9985 right_x=0.2896 right_y=0.0024 right_z=0.1693 right_yaw=0.0021 right_pitch=-0.0304 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-1.388, -4.465, 7.6513, 2.2247, 0.2466, 0.2369, -0.0513, -0.0752, -2.0308, 6.8991, 1.9316, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc15e0c754081d66eea7458df24a9bdb37c3a166a1e6f0512c6153a9e00a567f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bc3f455ce612599003430eb04c6b06f0ea5955a5e561e54da9e682586992d81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79bf55f6fc5e0205ccc1f99896dacfd4c2ad11a473114aeecc29514ac989829f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiQkKjgEIEhgCKkDNV90f6IBxwO/yg7cyjBBz1IDkZw0u5NiT7EJ37XGUDsbSOAUPwg0wJp9aHXwnMhFif5wlpd8rqgxHZlZVzsutMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYeBzNUGEgzYO9AYo1mgPZijiqoaDDFaz/L5XokbgUUePiIw7UoTNHBzp6cN3p9tweUl7JGB5fGakf5OqU6lftZwESZCmZgjlvox3oBkSwMox9cRKqcHDSCtn5ee+7lXlrFVe88WfGu9iYDfCXIsx5FtOCyYfYThnGIevzbOE37bouiDE8GNNdOWcb0qN85CXfIdHLLpUoDXRFjLNZvIudZ7CG2f1YUwk3Mi4eLx9ri/YwK8ljZ2gC+VsrAV7GyExeOeZD5DyjKg2Y/Kkgoir3ttq0d+icyqYr9a3GcRPnxGhkDObmSbOB0YBfKrAIszdXF++o2R2RwaqMpVpmaBK5KAbnIDznIKQTh+wxyq6VxSXb4L1eUhFINTpox8Ow22FtPMml989+USpDxZqS+svsRC1knKvOdJWfKtiabgdGo2O2r6dQAiZDHcW7B2A30+WeEs2RZSvMolJj6mcrkSF4GS1POmWdwsuj7BO19TvhxNWm30xHfDWRz7ZR00HgaJx+qEc7BSKhARW2A09YTYaWjE8Fk1w1YMieUwtYHuyMK5sa+j6t6eg3it4BWSsVWDc0lfbAMJLUlI3nnemK/RTntKhddA1YRXTH813TjmBarEwKa7nxznDAlHKhCOUTfjohbQT+wMGFCjmotk8xbDcVfWUwqRWqd5S9SGPhn0NYbgx/aK4EeRs3OgDljQ/F8a7Gp4f/M+QEh1viqDFH3U3mmiaG/VPdz3xgK9gAxJmvMSZq0C/+E7laMGpQ8UgBo99ZOIJ2GUh2Pfy15wU0tcVcqlYv6J1HJoap9OICho30Grw7DO/ksU+JF9L9/yQZE0p+vJDeIKiuYHaRuoU0uJDHtEAn50CMwugN3IbCT6ulcebbAUbXU7mWjgUnWceATKqlV3aWcCYM6hqGS+47PTsFgpv/nXn5Q13v85AcNkAAz1c7zMtAZhDdDmDoq/RkcQFKmOHBKmhwq6bP7lGZr/xpXBCeok8qCteDPkKuu9Q+w8G/Ieu+aj/ZeDp5aZGShmRQSg07P7qgssUWUx7AUFHzOx0dcyJ1Z0kGZfDJPfiGnw8LnTMR/0q8s49GCD2OcdEyw1SFzRKsJASwCns6QhlftUAHuCvnV/LQivpMiZ/McYj5aCQvmt3P/J4WNL0+DA0lHZ7xw38+I8v49su9veF2o4h4E5PCt3warvIAAZonlzku5tzA/DTq/lWKDCXufGRZ6/U6liF0Z4sYXI0XEESf2H6D3GGbjpLdMw32M5cbYXGmZeFoSL7uxHlFPr8xwjqdDRwAvohrYTwYwTwsmac859/8qQj/P2nQRH802rV0OjXsiVI4guBzqw2lbfr2zI613NA1SgaLT0TYXApkUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012th8Ay4rsKe6kczztf9ZjQ",
      "input": {
        "note": "The bottle's cap/neck still sits forward-left of the jaw column in the wrist view; moving 3 cm forward, 1.5 cm left and lower to line the jaws up with the neck.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.045,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_012th8Ay4rsKe6kczztf9ZjQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3183, 1.235, 0.4614, 0.1398, -0.2817, -0.21, 0.9984, -0.0193, 0.7769, 0.5541, -0.3851, -0.0242, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.3428 left_y=-0.0575 left_z=0.0912 left_yaw=0.0196 left_pitch=-0.0398 left_roll=0.0061 left_gripper=0.9984 right_x=0.2867 right_y=0.0023 right_z=0.1607 right_yaw=0.0033 right_pitch=-0.0377 right_roll=-0.0039 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -4.2188, 5.9145, 1.9365, -0.2857, -0.0659, -0.022, -0.4308, -1.7983, 7.1043, 2.0, -0.0513, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19b77712035b947f3622e9274083a873c6036894d05dc69d34b7317d8558391e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7518c37882c16ef10526a0a8e2a9761edeb23d11cfbdc72cbcfcd0fe907486f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0eb1505e401c3be1abd1778f29b87ecc4120778ed3be4592c3556991d0359a9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 7.599 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]: [-0.487, 1.124, 0.7124, -0.2771, -0.3721, -0.2817, 0.9988, -0.0193, 0.794, 0.6041, -0.4038, -0.0238, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.3284 left_y=-0.0972 left_z=0.1581 left_yaw=-0.0352 left_pitch=-0.0684 left_roll=0.0201 left_gripper=0.9988 right_x=0.2916 right_y=0.0022 right_z=0.1751 right_yaw=0.0009 right_pitch=-0.0236 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -3.6991, 10.0718, 1.6972, -0.2906, 0.1294, -0.1343, 0.0342, -1.6752, 6.9949, 1.873, -0.022, 0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3431, 1.1805, 0.5438, -0.049, -0.3161, -0.231, 0.9985, -0.0193, 0.7879, 0.585, -0.3977, -0.025, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.3366 left_y=-0.0581 left_z=0.1082 left_yaw=0.0355 left_pitch=-0.0807 left_roll=0.027 left_gripper=0.9985 right_x=0.2896 right_y=0.0024 right_z=0.1693 right_yaw=0.0021 right_pitch=-0.0304 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-1.388, -4.465, 7.6513, 2.2247, 0.2466, 0.2369, -0.0513, -0.0752, -2.0308, 6.8991, 1.9316, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3183, 1.235, 0.4614, 0.1398, -0.2817, -0.21, 0.9984, -0.0193, 0.7769, 0.5541, -0.3851, -0.0242, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.3428 left_y=-0.0575 left_z=0.0912 left_yaw=0.0196 left_pitch=-0.0398 left_roll=0.0061 left_gripper=0.9984 right_x=0.2867 right_y=0.0023 right_z=0.1607 right_yaw=0.0033 right_pitch=-0.0377 right_roll=-0.0039 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -4.2188, 5.9145, 1.9365, -0.2857, -0.0659, -0.022, -0.4308, -1.7983, 7.1043, 2.0, -0.0513, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19b77712035b947f3622e9274083a873c6036894d05dc69d34b7317d8558391e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7518c37882c16ef10526a0a8e2a9761edeb23d11cfbdc72cbcfcd0fe907486f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eb1505e401c3be1abd1778f29b87ecc4120778ed3be4592c3556991d0359a9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjwYKjgEIEhgCKkDDXjghKse/azZvLwGm9sUJmDvJdGLM3OOvAIxhaRcN2X9HtsRaqX8sGQIMBWD321bV2HfFfckGaphw9YnhT88VMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY+BzNUGEgwa+ER5gumVIxDSpHAaDD4UCGfUVNsGFuWOKyIwleg7kMECzwG0ERbj8gCyOeb3cA9flPLK0HDvPHsFFXWKhQlvT3iRXwDT2ANqFq64Kq0EVGTUyucRnMMeVhnHdcIJEhSfbvQZ/bv66tpwFXE/7NujBgVqvS6j/c67EQSCUN29E20ZnbV7XllEDuW2Chq4KlDkFjTmmhr06Ji2DImPgnYE9/ac1U52mpzba6/FcFsbrOEAUvGbsmjqPPrm5H99xiUxQON5Cgm97SjAkk2GoU4hSLuYkQhndAlXC8kY7Iz36TrOx4grcuMDadfN0baEFlz1gWODEFaN+JDJADctehTl4UFDL/4QETvvyooaG0w9Rn5W3xXEv+W9mtuVV2R5z/9uds0Jw6OeCPAWvdkX4UTJTsyG6mNCtdbFWm13sYNwRsqeUvqC05n3ZzI/XxL+n28Ax48Se16TIBFsZ/+Q30pAgppzUyBFMfRW4mfqY/q4RCetSEDyTR1ORMHUPETSb4Ow5YzpD/PosBVDdbwTXvtrPkoSL2pYOSGbkY6IQ1tgkNOFLSskzm2ZDx9No4DmEFiH1cVmEP7SxqDgHKr6+tGXnzuAy3OJ9NLPVmagXAyQ59Aqj/ifk6MfDeTwIlzJ8c3FCvUm+mPA2MGTN7aV3KeqqJJl6sro/yIp26o/ianaMGd+YmOH5tvPAgt3ptup4xVE+Ve7m5g7S0iMMZMaoDhVP1AyEIczIs2FpZoOimXmO15xRYSpBG/M+B/YowsX1CjeoxW5SOAZkga0h3Kf+NsKEsfbriEvRNC9C0/eWOx6XrvFRFNQtzGzpp3/StjtqYa3OHZW2/dneuOxy5YYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019S8xRZYgS21xXGNByCACJA",
      "input": {
        "note": "The arm under-tracked the last target; the bottle neck is now nearly on the jaw column but still forward in the wrist view, so I'm pushing further forward and lower toward neck height.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.05,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_019S8xRZYgS21xXGNByCACJA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3183, 1.235, 0.4614, 0.1535, -0.2955, -0.2096, 0.9983, -0.0204, 0.7589, 0.519, -0.366, -0.0303, -0.033, 0.9998]\nstate[eef_state]: left_x=0.3448 left_y=-0.0557 left_z=0.0942 left_yaw=0.0306 left_pitch=-0.0241 left_roll=0.0093 left_gripper=0.9983 right_x=0.2837 right_y=0.0032 right_z=0.1534 right_yaw=0.0075 right_pitch=-0.0357 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.335, -4.0684, 6.065, 1.9609, -0.1441, -0.022, -0.0171, -0.5265, -1.8256, 6.8308, 1.9805, -0.0562, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5638e14e9f797037c2be97cae7c6d90fbe871fc0d9dffd40c6ed4706420bf5bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bc547641b97e00dd5a0d3be3b371d2d526fc6dc2da4353ccf0f6ecc5402cdc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf8e96ec7b6c41c411b236622ab9cd2191b12db1fffc21bec980e8b0f75cbaa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /messages · status 200 · 8.781 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]: [-0.3431, 1.1805, 0.5438, -0.049, -0.3161, -0.231, 0.9985, -0.0193, 0.7879, 0.585, -0.3977, -0.025, -0.0292, 0.9998]\nstate[eef_state]: left_x=0.3366 left_y=-0.0581 left_z=0.1082 left_yaw=0.0355 left_pitch=-0.0807 left_roll=0.027 left_gripper=0.9985 right_x=0.2896 right_y=0.0024 right_z=0.1693 right_yaw=0.0021 right_pitch=-0.0304 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-1.388, -4.465, 7.6513, 2.2247, 0.2466, 0.2369, -0.0513, -0.0752, -2.0308, 6.8991, 1.9316, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3183, 1.235, 0.4614, 0.1398, -0.2817, -0.21, 0.9984, -0.0193, 0.7769, 0.5541, -0.3851, -0.0242, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.3428 left_y=-0.0575 left_z=0.0912 left_yaw=0.0196 left_pitch=-0.0398 left_roll=0.0061 left_gripper=0.9984 right_x=0.2867 right_y=0.0023 right_z=0.1607 right_yaw=0.0033 right_pitch=-0.0377 right_roll=-0.0039 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -4.2188, 5.9145, 1.9365, -0.2857, -0.0659, -0.022, -0.4308, -1.7983, 7.1043, 2.0, -0.0513, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3183, 1.235, 0.4614, 0.1535, -0.2955, -0.2096, 0.9983, -0.0204, 0.7589, 0.519, -0.366, -0.0303, -0.033, 0.9998]\nstate[eef_state]: left_x=0.3448 left_y=-0.0557 left_z=0.0942 left_yaw=0.0306 left_pitch=-0.0241 left_roll=0.0093 left_gripper=0.9983 right_x=0.2837 right_y=0.0032 right_z=0.1534 right_yaw=0.0075 right_pitch=-0.0357 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.335, -4.0684, 6.065, 1.9609, -0.1441, -0.022, -0.0171, -0.5265, -1.8256, 6.8308, 1.9805, -0.0562, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5638e14e9f797037c2be97cae7c6d90fbe871fc0d9dffd40c6ed4706420bf5bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bc547641b97e00dd5a0d3be3b371d2d526fc6dc2da4353ccf0f6ecc5402cdc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf8e96ec7b6c41c411b236622ab9cd2191b12db1fffc21bec980e8b0f75cbaa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISigYKjgEIEhgCKkBDL7gfpMI7GsOYDDX88vhPL0vaAkpOlRQnYGwv8i7/LEEK4yEorzwLK8d9BXFi3bCWuWzHDQKDjylFBgwo4PpBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZaBzNUGEgyUE2a9hw6IuZG+cvEaDPK38XOibquv/QAPCCIwXj1zrOUiO0kICZjlZVcCRQMhZA2RVorRTFxV0raF7cjTDU8H+bzVdlG9OQZ6PbtDKqgEW0JeRjYfo2LZ9AFmrdc49lfmD0DnqhV3q+0zWDQM1lZkDSfZTzMpb7RWxRAz0esNHp/Rivqd5Q1lHkY4DvwrXCvS0AvTbRm6JCSYueNOqXbTII/XXRfnVANMjR4NfohFJ6JKMgBo79F0Vs7dhQ5j1gnFFfoXUKqu2lP2ElcKTBe0yZN2mV6auczEyZBe9LWc/7Yn6gt5Qln8+9k5QeWJZt47sQYGVCoag79WVuOz5EoTTXgu9PgJWLLZpczavnKhorgfnXWHlsUqTbnwsnSQwCacUmTJtvlFanIzew5Yb0SRo6YpllaIpCbqK/AJUPoYTV2xhuqFE6XcLTpCzmtGnWRiwOlORf+SDa99X7Q0DedAT+ehcnV5vV/ALiTgfHawsAB1Za2ho9c+Mmcl0dV5CEbCmphyMpseHaWLInjVTzLrW903f2YbLQt1Uxs1vLPq1J6PFhB3gxM/e65JpO2ZLHWSNhRidmBcfwLXR+6pVYS6DlbhTFpo6M83P7g5t+0YjWaM0Tc8tw0VDTT5jm6wC3Kuj8fi8gZrxgOn0Uo0YexqU8447IRb5Gb1vV1hNHxASLIYtWIFz9iWW+n2qyT0x10i/UDTxGQbcf6rUtjl4r9LxmBg5onM4h1BaQtoAa8nMnHL1/TKX82E58wKhpORwe5l00phtJjSQ5o2j97WSoTEE5NM2PyxQSPY8aEK87vnW1azEqMrqQ5+35gITdDCswm621g3BL3nGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017rVLt1rQpLJqmwx7Kvy8pT",
      "input": {
        "note": "The arm stalled in x twice at 0.345; raising to z=0.15 while pushing forward to see if it unsticks and to look down on the bottle from above.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.05,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017rVLt1rQpLJqmwx7Kvy8pT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2314, 1.354, 0.6899, 0.033, -0.2516, -0.1917, 0.9983, -0.02, 0.7383, 0.4847, -0.3489, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3885 left_y=-0.0427 left_z=0.1239 left_yaw=0.0717 left_pitch=-0.0429 left_roll=0.0034 left_gripper=0.9983 right_x=0.2804 right_y=0.0033 right_z=0.1467 right_yaw=0.0095 right_pitch=-0.0322 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.7863, -6.3658, 7.4051, 1.5458, 0.0806, 0.0708, -0.0122, -0.0752, -1.3607, 7.1316, 1.9853, -0.0415, 0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dc90e7b8f719844ad2e4e6263d0e929cdb2e05f082d973fcb486c1e040e755b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d115f55507af694cd35851b7e59dcfe9aaac4b6e01788d220de726e8cde88141",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e140aa61947eab2e02948901f0756e11b1f456f89d29d5b66f76fb949469681",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 8.297 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]: [-0.3183, 1.235, 0.4614, 0.1398, -0.2817, -0.21, 0.9984, -0.0193, 0.7769, 0.5541, -0.3851, -0.0242, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.3428 left_y=-0.0575 left_z=0.0912 left_yaw=0.0196 left_pitch=-0.0398 left_roll=0.0061 left_gripper=0.9984 right_x=0.2867 right_y=0.0023 right_z=0.1607 right_yaw=0.0033 right_pitch=-0.0377 right_roll=-0.0039 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -4.2188, 5.9145, 1.9365, -0.2857, -0.0659, -0.022, -0.4308, -1.7983, 7.1043, 2.0, -0.0513, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3183, 1.235, 0.4614, 0.1535, -0.2955, -0.2096, 0.9983, -0.0204, 0.7589, 0.519, -0.366, -0.0303, -0.033, 0.9998]\nstate[eef_state]: left_x=0.3448 left_y=-0.0557 left_z=0.0942 left_yaw=0.0306 left_pitch=-0.0241 left_roll=0.0093 left_gripper=0.9983 right_x=0.2837 right_y=0.0032 right_z=0.1534 right_yaw=0.0075 right_pitch=-0.0357 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.335, -4.0684, 6.065, 1.9609, -0.1441, -0.022, -0.0171, -0.5265, -1.8256, 6.8308, 1.9805, -0.0562, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2314, 1.354, 0.6899, 0.033, -0.2516, -0.1917, 0.9983, -0.02, 0.7383, 0.4847, -0.3489, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3885 left_y=-0.0427 left_z=0.1239 left_yaw=0.0717 left_pitch=-0.0429 left_roll=0.0034 left_gripper=0.9983 right_x=0.2804 right_y=0.0033 right_z=0.1467 right_yaw=0.0095 right_pitch=-0.0322 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.7863, -6.3658, 7.4051, 1.5458, 0.0806, 0.0708, -0.0122, -0.0752, -1.3607, 7.1316, 1.9853, -0.0415, 0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dc90e7b8f719844ad2e4e6263d0e929cdb2e05f082d973fcb486c1e040e755b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d115f55507af694cd35851b7e59dcfe9aaac4b6e01788d220de726e8cde88141",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e140aa61947eab2e02948901f0756e11b1f456f89d29d5b66f76fb949469681",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkAgKjgEIEhgCKkBYYKGPbEd8vOCMoFaXHfLXV8UbxtKs8MjFZTRkTPoiVLC+sQHAaFSQKcF5rHrCCOVY9GnBquFXgn2bjdcBGGmWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaCBzNUGEgx4+p9cP/OF/TMQ0+waDMFho+9342ah+N/KwiIwx/zk4fimvMgamZiHZeFU1CYMPzQk7IliXImTaHWj8liEjz9+ttbjtzV21bpQM1jjKq4GlfhXbpMxibz+eJaC7CL5NP+bmBZWn43K5x3Ir+LnkmyyQrjDzlTM4J3cW38O73QUkL4UdvtVStEK1xHhm4eYhMI92XKMpd8U8qU+E5g78l2PMxmTEvSQjn+xfIpdUmdwSPYj2Rn+IkHhoZGs+efFmKSVDdGkaW1uB5E3AW7ZFxK+KzzA8ePdH/g7/nNgLGLYVtTbRmATxsWGFNxrpO+GlI8wL1SFYcWPlAbBW6bSoFb9AyHPe4JvsUaspc1X5rXmss1hzifMErhVXNck50Tr6x/3YY8Pss6H0G2bn54sSPTySLNlnlWw1vqWXUTDuLxef0O6eO5IejH1FhCbU/b4bBvne/PdOtlzwG8wUnlK/7h4Bj/NLDoPUKYXNyJPUfRzXO7YqOeo+7DM0J5jwsDDGnNg8LR9c50nC4G6VITYLU05smF73NNmJGOX5a0Qdo8BDYDHQDD1mTmkc5V6aDoLX5ZbVqtrjo6iB5ZZBGGUGO2uah3Wtx64yDkzTJUsbubFmNL79R83lP8GSnWt2br5PAvtff5xLuRb1GPmDTArlUWTmYdPT/jb3mzbsDw4CECXrSOqgAAD4pqz/e3bNWYXvdvDmDZlbcX/YZ+LK4TqYZygcnfdqHxPmTMAflgcI5gT3Vr8IZsD48L9C9yFY3z0Wbj+/0IyaRgvAdCewwKYjJXuIzYl2pWVxmENl3BmR9H+fdJl7q9QVIqnLd8X77/eckIQ4xkaYfvHaXKW3x2vlB+Cfs6AlT5dfdhI2oRoDrNRjg9hx+z2d0ovlUO4dbJovQ1B0GXFTwu5m/xm/goZB7vEOSkutKgjX9HuY4MuxbgsggvEo0XVq1uDSMki6qBN2Pxx/yrjbeEA8Qm6Y0A5BJPlNGaZMDgi1UBRqrzZTzx6El3bbuXfe969wPMFH85ulerTfTrFYtZwlTVVSj6u8uJcS5oKet/wFbTOeTS6qhFy/8938T04bSYduIa3Rzl7cGpTT7UGi9utpK+ZdmUevcfnNruGCnTim57acke6cXyhgPbZSGHAaX4rt3ljUj4JlnTSV51ET9E7NHJXi6zjkrLfSzcDEhcIQzKBLsiwNhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GY9ctWaHJG1yAS3h2jZhUP",
      "input": {
        "note": "Wrist view shows the bottle's neck roughly under the jaw column now; descending to neck height (~3 cm above table) ready to close loosely on the neck.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.045,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01GY9ctWaHJG1yAS3h2jZhUP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2348, 1.663, 0.5194, 0.5064, -0.2535, -0.1913, 0.9983, -0.0204, 0.7204, 0.4553, -0.3355, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3946 left_y=-0.0452 left_z=0.0335 left_yaw=0.0697 left_pitch=-0.0484 left_roll=0.0066 left_gripper=0.9983 right_x=0.2775 right_y=0.0033 right_z=0.1406 right_yaw=0.0092 right_pitch=-0.0303 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -6.2974, 4.3282, 1.4725, -0.1832, 0.0904, -0.0122, -0.5812, -1.1829, 6.8581, 1.9463, -0.0806, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dfd2766665ef64fd0d2d44c7a052135a7ba9525fb87291016ee2eb44e39ca5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdfd6673bf799b664e574323860afab700e8dcc5dc0e50dc209e752a81f65fdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f33410dbaa883421a07c10aaf6a1aad9f2638f03f5ac839e3203f2dd6bd33339",
        "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 · 11.23 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]: [-0.3183, 1.235, 0.4614, 0.1535, -0.2955, -0.2096, 0.9983, -0.0204, 0.7589, 0.519, -0.366, -0.0303, -0.033, 0.9998]\nstate[eef_state]: left_x=0.3448 left_y=-0.0557 left_z=0.0942 left_yaw=0.0306 left_pitch=-0.0241 left_roll=0.0093 left_gripper=0.9983 right_x=0.2837 right_y=0.0032 right_z=0.1534 right_yaw=0.0075 right_pitch=-0.0357 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.335, -4.0684, 6.065, 1.9609, -0.1441, -0.022, -0.0171, -0.5265, -1.8256, 6.8308, 1.9805, -0.0562, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2314, 1.354, 0.6899, 0.033, -0.2516, -0.1917, 0.9983, -0.02, 0.7383, 0.4847, -0.3489, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3885 left_y=-0.0427 left_z=0.1239 left_yaw=0.0717 left_pitch=-0.0429 left_roll=0.0034 left_gripper=0.9983 right_x=0.2804 right_y=0.0033 right_z=0.1467 right_yaw=0.0095 right_pitch=-0.0322 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.7863, -6.3658, 7.4051, 1.5458, 0.0806, 0.0708, -0.0122, -0.0752, -1.3607, 7.1316, 1.9853, -0.0415, 0.0073, -0.0122]\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]: [-0.2348, 1.663, 0.5194, 0.5064, -0.2535, -0.1913, 0.9983, -0.0204, 0.7204, 0.4553, -0.3355, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3946 left_y=-0.0452 left_z=0.0335 left_yaw=0.0697 left_pitch=-0.0484 left_roll=0.0066 left_gripper=0.9983 right_x=0.2775 right_y=0.0033 right_z=0.1406 right_yaw=0.0092 right_pitch=-0.0303 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -6.2974, 4.3282, 1.4725, -0.1832, 0.0904, -0.0122, -0.5812, -1.1829, 6.8581, 1.9463, -0.0806, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dfd2766665ef64fd0d2d44c7a052135a7ba9525fb87291016ee2eb44e39ca5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdfd6673bf799b664e574323860afab700e8dcc5dc0e50dc209e752a81f65fdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f33410dbaa883421a07c10aaf6a1aad9f2638f03f5ac839e3203f2dd6bd33339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoggKjgEIEhgCKkD8mUdzqZCBAcd9DNzzeVNKdIruPIz/AegHWdrheI4MHZj5QH1ItxysRFhoKl7FcCQXFN26NcFDinz99PJUuFmuMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAamBzNUGEgyeCVHO9baXf1tSoGMaDOhCEE8x29QS2zbg5CIw6S8WEuXz+AoOch6NdoFoVMFPyCV4BAapFGCxj0YTKWLJI5E56qO3I3/PKYhtZDZuKsAGdvHlmjZayoZTmc8yelRhOcuw+g+WUh9MyrWhhWhMjFbjduyfQeRjPj047vxDhDAn7S+FxqKxhZxkxSixTBpdk2IvLRU2654XwXbm7CLBDlSgQHXLp0hsanMO2hPLM5vhxKaYJwqbK936lqE9ry+IiWFTPDgBAhgJ8WLJnaD7YudCbJoAEFZh6wuDV3SntlgLZYvTiZDmAWHfGPVzrZbEg2Lwu08WBz3itMNObPcfyLHXIV+nBe7nihVFIH30tukK/OCc0rgih9fLWaeih7wf8Cend/W8QobfBKIG6JiHzYGit4c3Yz58yHB7IlIFFjii5WAt4BE+xNLsVIjydF+zrzfWypDTzeY9g9ONepbY1ux/9vZMUEgl3gO1WJuZ06/6Ce0fgv37jH2z0nZq6L7BWadJzpzGJzS5pGxRfm91CkCbTeyVVrVz8ZVSEes4pHJ8SfY0+oF1hmhzhosySsr6CC9MN2VyzLathbx/15JPqhxBOcYDu9IhqiypnxNSDthyWt+/fWU/FLNRDQwiaOIpUN73ebqbQQsqIxCMlmRT15lHI/uCe04pTauR575CooH7PlQFgm8mZDb5C5miQ3JpP8e0l/1IhiHM34TePXRDJEOE3MReG33qUFOKavcryCFbkh/PI3v99N57oh5ucgnOSLgM+PUOJIYPwkLmynBDs8KDMVi4SGySm6EpotAjNar6K7MuYmIbVKi94Q73A9rXEEU9gg3HUiMrhA7PvD5CKJoU/8CJQC1GlBLlE5IHinwxHWYudaUSxzSyem09wUeTDSoRKFXk65cwe44x0+D0O1C5gkCd6cCMNGxzR800i5ZtXkAaoPNpuzGczKHHuJQzdJU4QMP6Dz8v+T6K50gveXjD1o/qhTt1DQaET6eYsuqG9kf1pM8FQiVwqm4SLNKOg9TmyO7rX8ytj2BV4qYGRYQlZmdqEnvYdlWUFIgOBQDuFQqskgkOEh3SIWei3AknpWOAmebFb+UXhKSU/EUa1gkyO+bVjzXawCGjpmXCLcAuv2u978SfScd/4VThuHMHp3VLXt4yq95z8T+cwc2uAdPn7h3Ym9rREkQ2bndlRzQeWhf2d08D7UDcrPWt5n6gLRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0178fJDxhnHRtC8gofJ1jnyh",
      "input": {
        "note": "Wrist view shows the white cap and neck sitting down-left of the jaw column; shifting ~2.5 cm left and 2 cm forward to centre the neck between the jaws.",
        "targets": {
          "left_x": 0.415,
          "left_y": -0.02,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0178fJDxhnHRtC8gofJ1jnyh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1482, 1.7073, 0.524, 0.6212, -0.1905, -0.1741, 0.9983, -0.0204, 0.7055, 0.429, -0.3241, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4112 left_y=-0.0239 left_z=0.0398 left_yaw=0.0942 left_pitch=0.0144 left_roll=-0.0336 left_gripper=0.9983 right_x=0.2748 right_y=0.0035 right_z=0.1348 right_yaw=0.0098 right_pitch=-0.0303 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [0.212, -4.9299, 6.3248, 1.58, -0.0024, 0.4518, -0.0122, -0.5128, -1.3744, 7.0222, 1.9756, -0.1197, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f71bee5968baa0f8f379eab38ba62f4842fb6275a82c650b0fe74d434e78725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b809ad3ece34ccb4c166e0bfdc261d375eb4dd04fc138ead925113bd32a42f63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0aaa912737204b71a2bd276bc1d1afb3d9ab42b84890e2db14aa7de3bf44074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 25.77 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]: [-0.2314, 1.354, 0.6899, 0.033, -0.2516, -0.1917, 0.9983, -0.02, 0.7383, 0.4847, -0.3489, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3885 left_y=-0.0427 left_z=0.1239 left_yaw=0.0717 left_pitch=-0.0429 left_roll=0.0034 left_gripper=0.9983 right_x=0.2804 right_y=0.0033 right_z=0.1467 right_yaw=0.0095 right_pitch=-0.0322 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.7863, -6.3658, 7.4051, 1.5458, 0.0806, 0.0708, -0.0122, -0.0752, -1.3607, 7.1316, 1.9853, -0.0415, 0.0073, -0.0122]\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]: [-0.2348, 1.663, 0.5194, 0.5064, -0.2535, -0.1913, 0.9983, -0.0204, 0.7204, 0.4553, -0.3355, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3946 left_y=-0.0452 left_z=0.0335 left_yaw=0.0697 left_pitch=-0.0484 left_roll=0.0066 left_gripper=0.9983 right_x=0.2775 right_y=0.0033 right_z=0.1406 right_yaw=0.0092 right_pitch=-0.0303 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -6.2974, 4.3282, 1.4725, -0.1832, 0.0904, -0.0122, -0.5812, -1.1829, 6.8581, 1.9463, -0.0806, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1482, 1.7073, 0.524, 0.6212, -0.1905, -0.1741, 0.9983, -0.0204, 0.7055, 0.429, -0.3241, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4112 left_y=-0.0239 left_z=0.0398 left_yaw=0.0942 left_pitch=0.0144 left_roll=-0.0336 left_gripper=0.9983 right_x=0.2748 right_y=0.0035 right_z=0.1348 right_yaw=0.0098 right_pitch=-0.0303 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [0.212, -4.9299, 6.3248, 1.58, -0.0024, 0.4518, -0.0122, -0.5128, -1.3744, 7.0222, 1.9756, -0.1197, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f71bee5968baa0f8f379eab38ba62f4842fb6275a82c650b0fe74d434e78725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b809ad3ece34ccb4c166e0bfdc261d375eb4dd04fc138ead925113bd32a42f63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0aaa912737204b71a2bd276bc1d1afb3d9ab42b84890e2db14aa7de3bf44074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QHUmVoXSZ4xBpHvMwCciZQ",
      "input": {
        "note": "The neck/cap is still up-left of the jaws in the wrist view; shifting another 2.5 cm left to place the jaws over the narrow neck rather than the fat body.",
        "targets": {
          "left_x": 0.42,
          "left_y": 0.0,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01QHUmVoXSZ4xBpHvMwCciZQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0864, 1.7195, 0.5343, 0.6247, -0.152, -0.1505, 0.9983, -0.0204, 0.6907, 0.4026, -0.3138, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4153 left_y=-0.0055 left_z=0.0387 left_yaw=0.111 left_pitch=0.0118 left_roll=-0.0338 left_gripper=0.9983 right_x=0.272 right_y=0.0035 right_z=0.1287 right_yaw=0.0094 right_pitch=-0.0315 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -4.8205, 6.9949, 1.6923, -0.1001, 0.3834, -0.0122, -0.4171, -1.2239, 6.9538, 1.9853, -0.0904, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cfbc209eabc8efccafee84f3be4e68d14f98f8737da70b84a237b043869470d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8d560d912f51b68d9c3a7132b6c93015b2f7c60885d65790bfa7b36931d795b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9ac182bb8f07da5cac8b997f05bcb6b96d270e3f45d1388d0443d32ea9145d04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 13.43 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]: [-0.2348, 1.663, 0.5194, 0.5064, -0.2535, -0.1913, 0.9983, -0.0204, 0.7204, 0.4553, -0.3355, -0.0307, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3946 left_y=-0.0452 left_z=0.0335 left_yaw=0.0697 left_pitch=-0.0484 left_roll=0.0066 left_gripper=0.9983 right_x=0.2775 right_y=0.0033 right_z=0.1406 right_yaw=0.0092 right_pitch=-0.0303 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -6.2974, 4.3282, 1.4725, -0.1832, 0.0904, -0.0122, -0.5812, -1.1829, 6.8581, 1.9463, -0.0806, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1482, 1.7073, 0.524, 0.6212, -0.1905, -0.1741, 0.9983, -0.0204, 0.7055, 0.429, -0.3241, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4112 left_y=-0.0239 left_z=0.0398 left_yaw=0.0942 left_pitch=0.0144 left_roll=-0.0336 left_gripper=0.9983 right_x=0.2748 right_y=0.0035 right_z=0.1348 right_yaw=0.0098 right_pitch=-0.0303 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [0.212, -4.9299, 6.3248, 1.58, -0.0024, 0.4518, -0.0122, -0.5128, -1.3744, 7.0222, 1.9756, -0.1197, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0864, 1.7195, 0.5343, 0.6247, -0.152, -0.1505, 0.9983, -0.0204, 0.6907, 0.4026, -0.3138, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4153 left_y=-0.0055 left_z=0.0387 left_yaw=0.111 left_pitch=0.0118 left_roll=-0.0338 left_gripper=0.9983 right_x=0.272 right_y=0.0035 right_z=0.1287 right_yaw=0.0094 right_pitch=-0.0315 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -4.8205, 6.9949, 1.6923, -0.1001, 0.3834, -0.0122, -0.4171, -1.2239, 6.9538, 1.9853, -0.0904, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cfbc209eabc8efccafee84f3be4e68d14f98f8737da70b84a237b043869470d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8d560d912f51b68d9c3a7132b6c93015b2f7c60885d65790bfa7b36931d795b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ac182bb8f07da5cac8b997f05bcb6b96d270e3f45d1388d0443d32ea9145d04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015jJonUYc7arYXeJvdSvKK5",
      "input": {
        "note": "Top view shows my gripper is actually well to the LEFT of and nearer than the leftmost bottle (the wrist camera appears mirrored), so I'm moving 8 cm right and 3.5 cm forward to get over the bottle.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.09,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_015jJonUYc7arYXeJvdSvKK5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0677, 1.7298, 0.5449, 0.6292, -0.1455, -0.1307, 0.9983, -0.0204, 0.6727, 0.374, -0.2977, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4188 left_y=0.0009 left_z=0.0393 left_yaw=0.1136 left_pitch=0.0163 left_roll=-0.0212 left_gripper=0.9983 right_x=0.2697 right_y=0.0035 right_z=0.1234 right_yaw=0.0094 right_pitch=-0.0261 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -5.9419, 5.8735, 1.6679, -0.022, 0.1832, -0.0122, -0.3761, -1.1282, 6.8991, 1.9512, -0.1099, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7698738973ca26bd5b05bc943a5880a3b85f5d9630f6864e2372ce323ed7396",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b3fe809a422163d02b35c0760d6055739e8058391442c21a864e839722ef3d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9365d38208711735c8d07bd61c4afb77981a0334227eb7a002b3539249bdbf09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 20.71 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1482, 1.7073, 0.524, 0.6212, -0.1905, -0.1741, 0.9983, -0.0204, 0.7055, 0.429, -0.3241, -0.0311, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4112 left_y=-0.0239 left_z=0.0398 left_yaw=0.0942 left_pitch=0.0144 left_roll=-0.0336 left_gripper=0.9983 right_x=0.2748 right_y=0.0035 right_z=0.1348 right_yaw=0.0098 right_pitch=-0.0303 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [0.212, -4.9299, 6.3248, 1.58, -0.0024, 0.4518, -0.0122, -0.5128, -1.3744, 7.0222, 1.9756, -0.1197, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0864, 1.7195, 0.5343, 0.6247, -0.152, -0.1505, 0.9983, -0.0204, 0.6907, 0.4026, -0.3138, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4153 left_y=-0.0055 left_z=0.0387 left_yaw=0.111 left_pitch=0.0118 left_roll=-0.0338 left_gripper=0.9983 right_x=0.272 right_y=0.0035 right_z=0.1287 right_yaw=0.0094 right_pitch=-0.0315 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -4.8205, 6.9949, 1.6923, -0.1001, 0.3834, -0.0122, -0.4171, -1.2239, 6.9538, 1.9853, -0.0904, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0677, 1.7298, 0.5449, 0.6292, -0.1455, -0.1307, 0.9983, -0.0204, 0.6727, 0.374, -0.2977, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4188 left_y=0.0009 left_z=0.0393 left_yaw=0.1136 left_pitch=0.0163 left_roll=-0.0212 left_gripper=0.9983 right_x=0.2697 right_y=0.0035 right_z=0.1234 right_yaw=0.0094 right_pitch=-0.0261 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -5.9419, 5.8735, 1.6679, -0.022, 0.1832, -0.0122, -0.3761, -1.1282, 6.8991, 1.9512, -0.1099, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7698738973ca26bd5b05bc943a5880a3b85f5d9630f6864e2372ce323ed7396",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b3fe809a422163d02b35c0760d6055739e8058391442c21a864e839722ef3d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9365d38208711735c8d07bd61c4afb77981a0334227eb7a002b3539249bdbf09",
        "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_018LWt9PEvSEmgNYQoNvv5PN",
      "input": {
        "note": "The arm did not move at all last command — it seems jammed near the left fence. Retracting up and back toward the middle to free it before re-approaching the bottle.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.05,
          "left_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_018LWt9PEvSEmgNYQoNvv5PN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3271, 1.1423, 0.7677, -0.2314, -0.3454, -0.2581, 0.9983, -0.0204, 0.6582, 0.3485, -0.2905, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3562 left_y=-0.0539 left_z=0.1839 left_yaw=0.0889 left_pitch=-0.0002 left_roll=-0.0098 left_gripper=0.9983 right_x=0.2666 right_y=0.0036 right_z=0.1168 right_yaw=0.0094 right_pitch=-0.0299 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -4.7111, 9.6342, 1.6044, -0.2125, 0.0708, -0.0171, -0.6359, -0.7453, 7.1726, 1.956, -0.1099, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebfdd1e1bcae5104d993858966360b6050231ebb7d794c89c23f2762389e861b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e2722a70d30b2c63c4125d480556f609bd7d64d9a7aa2659cf9a28fba84c5b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e27e38906d64474b42cc00b7ae6d7214feda096ccf8d48aaaa0a60c1b8b02029",
        "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 · 22.53 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]: [-0.0864, 1.7195, 0.5343, 0.6247, -0.152, -0.1505, 0.9983, -0.0204, 0.6907, 0.4026, -0.3138, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4153 left_y=-0.0055 left_z=0.0387 left_yaw=0.111 left_pitch=0.0118 left_roll=-0.0338 left_gripper=0.9983 right_x=0.272 right_y=0.0035 right_z=0.1287 right_yaw=0.0094 right_pitch=-0.0315 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -4.8205, 6.9949, 1.6923, -0.1001, 0.3834, -0.0122, -0.4171, -1.2239, 6.9538, 1.9853, -0.0904, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0677, 1.7298, 0.5449, 0.6292, -0.1455, -0.1307, 0.9983, -0.0204, 0.6727, 0.374, -0.2977, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4188 left_y=0.0009 left_z=0.0393 left_yaw=0.1136 left_pitch=0.0163 left_roll=-0.0212 left_gripper=0.9983 right_x=0.2697 right_y=0.0035 right_z=0.1234 right_yaw=0.0094 right_pitch=-0.0261 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -5.9419, 5.8735, 1.6679, -0.022, 0.1832, -0.0122, -0.3761, -1.1282, 6.8991, 1.9512, -0.1099, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3271, 1.1423, 0.7677, -0.2314, -0.3454, -0.2581, 0.9983, -0.0204, 0.6582, 0.3485, -0.2905, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3562 left_y=-0.0539 left_z=0.1839 left_yaw=0.0889 left_pitch=-0.0002 left_roll=-0.0098 left_gripper=0.9983 right_x=0.2666 right_y=0.0036 right_z=0.1168 right_yaw=0.0094 right_pitch=-0.0299 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -4.7111, 9.6342, 1.6044, -0.2125, 0.0708, -0.0171, -0.6359, -0.7453, 7.1726, 1.956, -0.1099, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebfdd1e1bcae5104d993858966360b6050231ebb7d794c89c23f2762389e861b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e2722a70d30b2c63c4125d480556f609bd7d64d9a7aa2659cf9a28fba84c5b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e27e38906d64474b42cc00b7ae6d7214feda096ccf8d48aaaa0a60c1b8b02029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014jUU3FQTTvCHFi9y8DouYL",
      "input": {
        "note": "Arm is free again. Moving over my estimate of the middle bottle's position so I can see gripper and bottle together in the top view and correct the offset.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.23,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_014jUU3FQTTvCHFi9y8DouYL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.77, 1.7081, 1.1229, -0.2207, -0.6765, -0.5774, 0.9983, -0.0204, 0.6392, 0.3222, -0.2832, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3936 left_y=-0.2226 left_z=0.1384 left_yaw=0.0774 left_pitch=-0.0321 left_roll=0.0136 left_gripper=0.9983 right_x=0.2634 right_y=0.0036 right_z=0.111 right_yaw=0.0094 right_pitch=-0.0299 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -8.212, 9.0598, 1.3846, -0.5299, 0.1587, -0.0122, -0.5949, -0.759, 7.0632, 1.9902, -0.0904, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:913bb93157d7b707acb6b15b4deddb1f8800c63d62d60efa290b389c2c6ae834",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9f64401be0d8e8a427e562279fc080c7463d836648009c244a4dc665f42e2b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c5aed5545c533342fe364919d4a09108a23f92f59a1f751353f0c2e7ef28e0bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 11.6 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]: [-0.0677, 1.7298, 0.5449, 0.6292, -0.1455, -0.1307, 0.9983, -0.0204, 0.6727, 0.374, -0.2977, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4188 left_y=0.0009 left_z=0.0393 left_yaw=0.1136 left_pitch=0.0163 left_roll=-0.0212 left_gripper=0.9983 right_x=0.2697 right_y=0.0035 right_z=0.1234 right_yaw=0.0094 right_pitch=-0.0261 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -5.9419, 5.8735, 1.6679, -0.022, 0.1832, -0.0122, -0.3761, -1.1282, 6.8991, 1.9512, -0.1099, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3271, 1.1423, 0.7677, -0.2314, -0.3454, -0.2581, 0.9983, -0.0204, 0.6582, 0.3485, -0.2905, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3562 left_y=-0.0539 left_z=0.1839 left_yaw=0.0889 left_pitch=-0.0002 left_roll=-0.0098 left_gripper=0.9983 right_x=0.2666 right_y=0.0036 right_z=0.1168 right_yaw=0.0094 right_pitch=-0.0299 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -4.7111, 9.6342, 1.6044, -0.2125, 0.0708, -0.0171, -0.6359, -0.7453, 7.1726, 1.956, -0.1099, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.77, 1.7081, 1.1229, -0.2207, -0.6765, -0.5774, 0.9983, -0.0204, 0.6392, 0.3222, -0.2832, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3936 left_y=-0.2226 left_z=0.1384 left_yaw=0.0774 left_pitch=-0.0321 left_roll=0.0136 left_gripper=0.9983 right_x=0.2634 right_y=0.0036 right_z=0.111 right_yaw=0.0094 right_pitch=-0.0299 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -8.212, 9.0598, 1.3846, -0.5299, 0.1587, -0.0122, -0.5949, -0.759, 7.0632, 1.9902, -0.0904, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:913bb93157d7b707acb6b15b4deddb1f8800c63d62d60efa290b389c2c6ae834",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9f64401be0d8e8a427e562279fc080c7463d836648009c244a4dc665f42e2b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5aed5545c533342fe364919d4a09108a23f92f59a1f751353f0c2e7ef28e0bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NFS1jA3T1NhGhrHPmCJ3YM",
      "input": {
        "note": "Wrist view shows the middle bottle centred on the jaw column with its blue cap pointing away from the base; advancing 5 cm forward and lowering to line the jaws up with its neck.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.225,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01NFS1jA3T1NhGhrHPmCJ3YM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6792, 1.8977, 1.1366, -0.0433, -0.6388, -0.5228, 0.9983, -0.0204, 0.6205, 0.2955, -0.271, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4346 left_y=-0.2109 left_z=0.084 left_yaw=0.1119 left_pitch=-0.0519 left_roll=0.0387 left_gripper=0.9983 right_x=0.2609 right_y=0.0037 right_z=0.1058 right_yaw=0.0094 right_pitch=-0.0257 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -9.7846, 9.306, 1.6044, -0.1783, 0.3297, -0.0171, -0.6359, -0.7726, 6.9128, 1.9121, -0.105, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b5f26dc4bafb20980ac92054b51b97dfedf60d0cc47d56679051e5164bf2471",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4d563e70dccfe199539bfffdac3b3e8056af990f2b3a2f0314742b13c8464e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b963bbbe4f33908552a6e3b3e54ab977be9eb5f6db78c329f6976c1140393a16",
        "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 · 23.38 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]: [-0.3271, 1.1423, 0.7677, -0.2314, -0.3454, -0.2581, 0.9983, -0.0204, 0.6582, 0.3485, -0.2905, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3562 left_y=-0.0539 left_z=0.1839 left_yaw=0.0889 left_pitch=-0.0002 left_roll=-0.0098 left_gripper=0.9983 right_x=0.2666 right_y=0.0036 right_z=0.1168 right_yaw=0.0094 right_pitch=-0.0299 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -4.7111, 9.6342, 1.6044, -0.2125, 0.0708, -0.0171, -0.6359, -0.7453, 7.1726, 1.956, -0.1099, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.77, 1.7081, 1.1229, -0.2207, -0.6765, -0.5774, 0.9983, -0.0204, 0.6392, 0.3222, -0.2832, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3936 left_y=-0.2226 left_z=0.1384 left_yaw=0.0774 left_pitch=-0.0321 left_roll=0.0136 left_gripper=0.9983 right_x=0.2634 right_y=0.0036 right_z=0.111 right_yaw=0.0094 right_pitch=-0.0299 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -8.212, 9.0598, 1.3846, -0.5299, 0.1587, -0.0122, -0.5949, -0.759, 7.0632, 1.9902, -0.0904, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6792, 1.8977, 1.1366, -0.0433, -0.6388, -0.5228, 0.9983, -0.0204, 0.6205, 0.2955, -0.271, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4346 left_y=-0.2109 left_z=0.084 left_yaw=0.1119 left_pitch=-0.0519 left_roll=0.0387 left_gripper=0.9983 right_x=0.2609 right_y=0.0037 right_z=0.1058 right_yaw=0.0094 right_pitch=-0.0257 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -9.7846, 9.306, 1.6044, -0.1783, 0.3297, -0.0171, -0.6359, -0.7726, 6.9128, 1.9121, -0.105, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b5f26dc4bafb20980ac92054b51b97dfedf60d0cc47d56679051e5164bf2471",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4d563e70dccfe199539bfffdac3b3e8056af990f2b3a2f0314742b13c8464e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b963bbbe4f33908552a6e3b3e54ab977be9eb5f6db78c329f6976c1140393a16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISzQsKjgEIEhgCKkAaloQ9f2YAekX5LQEPp+1EGPSaZXqBfTRxv1+Mus8UPjiKwI2vE1lMOsp/4b+fqs8+REUQLbDPaqWhhlGlFxwfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZaCzNUGEgw2EDwvMDLNoZ+dhy4aDOoNA7v//HVz28TVsyIwGtKbGHZv4lxc8mkUS7xPZl/RPjSj8j9UxzzzwfC2wGMxBWDiJIkKvOxvjYJpYSYzKusJ3vQCaYEnLxeNE31nE/HSX7D48SDC3oRLonkgooxbFikfmsdj4oFaBglklj8xRjbEQDzy8LkMDz5o1q8uEJWWwNER6jN5f2x749m0QfjdcTECv+rSQ9iwEubPfCSu1bYq3tjAbO4NOeJZB5FW6dL9HkWkNfIso+lsEepCsKazbh7SV1OGwi00Er7UerhNXDrno8ZCDzY2PQfO6Xjb2ESOn98o8L7Cl1lUlOfyUhe9SiGjDLRqEbq8N1vvLUULn/e837d2DDQFdSa4qsEiVU62YwldOa1ITd20WQVQChHdYAYWfrs7veWFA7al8pzL5Y5rHSOkLhLMpvxbUijlUOHu9J6Gij5GSvl3rmbC8XE1kNoAB6GvaWOW7iX6NrwyAl2w0DlCctC+pcxQX4SU52OU0PGhBzxgApagDJn3ynSLWy5NO8hO9J1xjPnRBJtCW4JIQD8MeJwKb4QjUQms8eL572I5IBzArmj6PgUFd/bL9tRP4DTOdHHObhxpCH8NO1Wc2c80W/JZrZxocSPih6xSo7CrVk67QAHQeLrEZZOurnWBiqKIK9JNt21pHunDwC9pBCNt1fC/LIItjS1w+X8wrF/Q+SvJfoRiUh4Na6Qjs62FhQU5EFgKrk+41peHWiIRCRebrBXvh9sfKMHTL40Uf9LWvGVWfjUo448k90Murl+Upo+Q24aMHrmLHzD5SoCAPaVvwsOI/KrG744kh879QQ9GdaH/sm/FQZ03EHINEeLBZd8XOK6sNiM/mvkI1wWP41bqIdmflyrPYlcMcjrecelyhnfcjrfUA4NuPmzDAXuVgV3QDA9CHuZpeZMD+QCuTx4UllDuaRTkAvVzO5bsFWtvPcbeGQZQBIIL+pRbgGGcDtFzn5T91v7C2DT9VuReuz07lnZHVD+iWUDxk7s6eeZOy/Kztmm3fuEf/yw1W8X2CcainAoogCkLZOFqEkHKS9tzZvS4W5Zbl7sVBvp9JRzG6Fk0PlGTDRHXjA2vZU+QQzFyyb3WuFJOR70Sohrwvgz3LT2TApXkaRQzkaqvoCLCDWTmus8I0E8BrmZSwPcjt5ZEG3+0bh/eXHnICK2VMpElG1MP5EdOnzmZHLehjM2EsDXg58UZjUh4pDOBb/Kgif3Ompmc3+yRfS0vpVIVIqF9HltyctqwOVNHyTSe4B1QWDFRG50cfOV5jmvFEiK4MXo6aHdOJq7YfKbI+PYz1Wmm9nka5WbJLOAPC5fiTqYHtctt7R0VPSO3iLbtkhoiTukzZrw6pPxNI6bgmZkMNXkG9s9VRIlVklPFHodBQiBy4WAo5atPb7ygEcfRuFa59f373X7Ai6sShqAbzJbNN1O9EnaUh2QEHfW34NIZOCYlP6oYty7FF7T0GgxRbXfLWpz1MLoBuhEyxjMsRQGwC1Mf2KBudlGh3SZAEoYBk1EQjloqxCfuFtct9qsLiIV8dk4eVq5u2xAnrOhxVaf+OmGx21JBrmwkGtbJeRiG/fLAI+x8rLfBpWsQPAO2FzaKzrCzdaU05oizM0jAw6lgK4FXrN90/C/xnyGbEA65m1vLDQPo88HlRw87SQ9pocoBHNx6c1ccG8fDyhQ6cF3QKXixn3VIzCEA8ZTd0mF0LaxJDevHnyhXiM7AxtcMjIGLMSqzxAWDjImJBBP7qD1wEF0rXmBySM5dKcMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PHwddHaFUbH8DqqGPqGg6h",
      "input": {
        "note": "The bottle is centred between the jaws but its cap is still far up in the wrist view, so the jaws are over the body; pushing further forward to reach the neck just below the cap.",
        "targets": {
          "left_x": 0.49,
          "left_y": -0.215,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01PHwddHaFUbH8DqqGPqGg6h",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6743, 1.9186, 1.1484, -0.0036, -0.6254, -0.5163, 0.9983, -0.0204, 0.606, 0.2756, -0.2668, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.442 left_y=-0.2162 left_z=0.0837 left_yaw=0.1028 left_pitch=-0.0371 left_roll=0.0158 left_gripper=0.9983 right_x=0.2584 right_y=0.0037 right_z=0.1011 right_yaw=0.0094 right_pitch=-0.0269 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -10.3726, 8.3761, 1.6728, -0.149, 0.2662, -0.0171, -0.6496, -0.335, 6.7487, 1.9121, -0.1294, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eefad1088fbe7d4c3106c4988c317b3750348e2cf40f5b1d55cd20d80c2c17e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45b748ad7032dc4015976324057943e0cc5ac9e4b20b5d82f6981ca69202dd22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ce2ca0fca476c7a697cc40329bfb3741929a6c24d46a4c15ec59c13949a5a0c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 13.88 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]: [-0.77, 1.7081, 1.1229, -0.2207, -0.6765, -0.5774, 0.9983, -0.0204, 0.6392, 0.3222, -0.2832, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.3936 left_y=-0.2226 left_z=0.1384 left_yaw=0.0774 left_pitch=-0.0321 left_roll=0.0136 left_gripper=0.9983 right_x=0.2634 right_y=0.0036 right_z=0.111 right_yaw=0.0094 right_pitch=-0.0299 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -8.212, 9.0598, 1.3846, -0.5299, 0.1587, -0.0122, -0.5949, -0.759, 7.0632, 1.9902, -0.0904, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6792, 1.8977, 1.1366, -0.0433, -0.6388, -0.5228, 0.9983, -0.0204, 0.6205, 0.2955, -0.271, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4346 left_y=-0.2109 left_z=0.084 left_yaw=0.1119 left_pitch=-0.0519 left_roll=0.0387 left_gripper=0.9983 right_x=0.2609 right_y=0.0037 right_z=0.1058 right_yaw=0.0094 right_pitch=-0.0257 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -9.7846, 9.306, 1.6044, -0.1783, 0.3297, -0.0171, -0.6359, -0.7726, 6.9128, 1.9121, -0.105, -0.0562, -0.0122]",
      "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]: [-0.6743, 1.9186, 1.1484, -0.0036, -0.6254, -0.5163, 0.9983, -0.0204, 0.606, 0.2756, -0.2668, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.442 left_y=-0.2162 left_z=0.0837 left_yaw=0.1028 left_pitch=-0.0371 left_roll=0.0158 left_gripper=0.9983 right_x=0.2584 right_y=0.0037 right_z=0.1011 right_yaw=0.0094 right_pitch=-0.0269 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -10.3726, 8.3761, 1.6728, -0.149, 0.2662, -0.0171, -0.6496, -0.335, 6.7487, 1.9121, -0.1294, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eefad1088fbe7d4c3106c4988c317b3750348e2cf40f5b1d55cd20d80c2c17e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45b748ad7032dc4015976324057943e0cc5ac9e4b20b5d82f6981ca69202dd22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce2ca0fca476c7a697cc40329bfb3741929a6c24d46a4c15ec59c13949a5a0c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BsYvmgBLgfp3oZ61nZ4DwJ",
      "input": {
        "note": "Descent stalled at z=0.084, so a jaw is resting on the bottle; the bottle also looks slightly right of the jaw column, so I shift 2 cm right and try to descend so the jaws straddle its body.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.235,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01BsYvmgBLgfp3oZ61nZ4DwJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6743, 1.9186, 1.1484, -0.0032, -0.6254, -0.5163, 0.9983, -0.0204, 0.5884, 0.2531, -0.2634, -0.0311, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.442 left_y=-0.2163 left_z=0.0838 left_yaw=0.1027 left_pitch=-0.0368 left_roll=0.0155 left_gripper=0.9983 right_x=0.2555 right_y=0.0039 right_z=0.0957 right_yaw=0.0095 right_pitch=-0.0284 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -10.2085, 8.3761, 1.7021, -0.2173, 0.2711, -0.0122, -0.3897, -0.3897, 6.8718, 1.9805, -0.1099, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28794b3952f330f62e57178e195268cfaf1028cd001bb5c782dee6e2a3aa4e02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44d83382d27a3fa906e076889585c181b3f1b14b2d9e0ad49961eccbfdf032a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2cd292a4d53208cfb0f81b371e0d247d7cafb46cbc452451f3526d5c91dd255e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 12.72 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]: [-0.6792, 1.8977, 1.1366, -0.0433, -0.6388, -0.5228, 0.9983, -0.0204, 0.6205, 0.2955, -0.271, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4346 left_y=-0.2109 left_z=0.084 left_yaw=0.1119 left_pitch=-0.0519 left_roll=0.0387 left_gripper=0.9983 right_x=0.2609 right_y=0.0037 right_z=0.1058 right_yaw=0.0094 right_pitch=-0.0257 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -9.7846, 9.306, 1.6044, -0.1783, 0.3297, -0.0171, -0.6359, -0.7726, 6.9128, 1.9121, -0.105, -0.0562, -0.0122]",
      "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]: [-0.6743, 1.9186, 1.1484, -0.0036, -0.6254, -0.5163, 0.9983, -0.0204, 0.606, 0.2756, -0.2668, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.442 left_y=-0.2162 left_z=0.0837 left_yaw=0.1028 left_pitch=-0.0371 left_roll=0.0158 left_gripper=0.9983 right_x=0.2584 right_y=0.0037 right_z=0.1011 right_yaw=0.0094 right_pitch=-0.0269 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -10.3726, 8.3761, 1.6728, -0.149, 0.2662, -0.0171, -0.6496, -0.335, 6.7487, 1.9121, -0.1294, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6743, 1.9186, 1.1484, -0.0032, -0.6254, -0.5163, 0.9983, -0.0204, 0.5884, 0.2531, -0.2634, -0.0311, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.442 left_y=-0.2163 left_z=0.0838 left_yaw=0.1027 left_pitch=-0.0368 left_roll=0.0155 left_gripper=0.9983 right_x=0.2555 right_y=0.0039 right_z=0.0957 right_yaw=0.0095 right_pitch=-0.0284 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -10.2085, 8.3761, 1.7021, -0.2173, 0.2711, -0.0122, -0.3897, -0.3897, 6.8718, 1.9805, -0.1099, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28794b3952f330f62e57178e195268cfaf1028cd001bb5c782dee6e2a3aa4e02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44d83382d27a3fa906e076889585c181b3f1b14b2d9e0ad49961eccbfdf032a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cd292a4d53208cfb0f81b371e0d247d7cafb46cbc452451f3526d5c91dd255e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UF5b7dQ58HKUoXUrDin2Rf",
      "input": {
        "note": "The left arm is stalled at its reach/torque limit out at x=0.44, so I'm parking it home and bringing the right arm over the centre bottle instead.",
        "targets": {
          "left_x": 0.295,
          "left_y": 0.0,
          "left_z": 0.2,
          "right_gripper": 1.0,
          "right_x": 0.38,
          "right_y": 0.27,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01UF5b7dQ58HKUoXUrDin2Rf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1497, 0.8299, 0.6777, -0.4107, -0.2493, -0.1879, 0.9982, 0.8455, 1.718, 1.124, -0.2096, 0.6323, 0.4847, 0.9998]\nstate[eef_state]: left_x=0.301 left_y=0.0023 left_z=0.2004 left_yaw=0.1492 left_pitch=0.0219 left_roll=-0.0149 left_gripper=0.9982 right_x=0.3693 right_y=0.2646 right_z=0.1329 right_yaw=0.0529 right_pitch=-0.0498 right_roll=-0.0443 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -1.6068, 7.788, 1.7363, -0.0952, 0.0269, -0.0171, 0.0752, -8.212, 8.9778, 1.6142, 0.5885, 0.2173, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f257292bef414cb550bf1d749ad9e64012d975d1093096ee482948f0566bf3ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e56720cd6f3c157d46cafdf7b1a92b8423be3f0d993fe5df944e6f6fa03c9bb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ac65735e60dae942aa57f12c6800b1c566b2c0867d333d2d841f1b45f7dade0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 7.633 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]: [-0.6743, 1.9186, 1.1484, -0.0036, -0.6254, -0.5163, 0.9983, -0.0204, 0.606, 0.2756, -0.2668, -0.0307, -0.036, 0.9998]\nstate[eef_state]: left_x=0.442 left_y=-0.2162 left_z=0.0837 left_yaw=0.1028 left_pitch=-0.0371 left_roll=0.0158 left_gripper=0.9983 right_x=0.2584 right_y=0.0037 right_z=0.1011 right_yaw=0.0094 right_pitch=-0.0269 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -10.3726, 8.3761, 1.6728, -0.149, 0.2662, -0.0171, -0.6496, -0.335, 6.7487, 1.9121, -0.1294, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6743, 1.9186, 1.1484, -0.0032, -0.6254, -0.5163, 0.9983, -0.0204, 0.5884, 0.2531, -0.2634, -0.0311, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.442 left_y=-0.2163 left_z=0.0838 left_yaw=0.1027 left_pitch=-0.0368 left_roll=0.0155 left_gripper=0.9983 right_x=0.2555 right_y=0.0039 right_z=0.0957 right_yaw=0.0095 right_pitch=-0.0284 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -10.2085, 8.3761, 1.7021, -0.2173, 0.2711, -0.0122, -0.3897, -0.3897, 6.8718, 1.9805, -0.1099, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1497, 0.8299, 0.6777, -0.4107, -0.2493, -0.1879, 0.9982, 0.8455, 1.718, 1.124, -0.2096, 0.6323, 0.4847, 0.9998]\nstate[eef_state]: left_x=0.301 left_y=0.0023 left_z=0.2004 left_yaw=0.1492 left_pitch=0.0219 left_roll=-0.0149 left_gripper=0.9982 right_x=0.3693 right_y=0.2646 right_z=0.1329 right_yaw=0.0529 right_pitch=-0.0498 right_roll=-0.0443 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -1.6068, 7.788, 1.7363, -0.0952, 0.0269, -0.0171, 0.0752, -8.212, 8.9778, 1.6142, 0.5885, 0.2173, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f257292bef414cb550bf1d749ad9e64012d975d1093096ee482948f0566bf3ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e56720cd6f3c157d46cafdf7b1a92b8423be3f0d993fe5df944e6f6fa03c9bb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ac65735e60dae942aa57f12c6800b1c566b2c0867d333d2d841f1b45f7dade0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HVEWZWQH7g3nGYpbpqoLn3",
      "input": {
        "note": "Right wrist view shows a bottle just right of the jaw column with its cap pointing away from the base; advancing 5 cm forward, 2 cm right and lowering toward neck height.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.245,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HVEWZWQH7g3nGYpbpqoLn3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1558, 0.8539, 0.6781, -0.4503, -0.2474, -0.1829, 0.9982, 0.7158, 1.8156, 1.0485, -0.0151, 0.5514, 0.395, 0.9998]\nstate[eef_state]: left_x=0.2977 left_y=0.0007 left_z=0.1859 left_yaw=0.139 left_pitch=-0.039 left_roll=0.0068 left_gripper=0.9982 right_x=0.4044 right_y=0.2338 right_z=0.086 right_yaw=0.032 right_pitch=-0.0746 right_roll=-0.0597 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -2.0855, 8.8821, 1.7314, -0.1343, -0.0073, -0.0073, -0.0068, -9.1692, 6.8581, 2.0488, 0.2418, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fed1f980823cde3177a061bff95afaedecb84d9a7adb72fc4212722faa06f3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc540417d678eaebf72a685fe07f6e7c3431cb943b3c0566a15d1eabbda8cb93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a1a40b92738d9f6801532910b64784b9388b5104215aec35fd5985ebfe6caedd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 11.02 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]: [-0.6743, 1.9186, 1.1484, -0.0032, -0.6254, -0.5163, 0.9983, -0.0204, 0.5884, 0.2531, -0.2634, -0.0311, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.442 left_y=-0.2163 left_z=0.0838 left_yaw=0.1027 left_pitch=-0.0368 left_roll=0.0155 left_gripper=0.9983 right_x=0.2555 right_y=0.0039 right_z=0.0957 right_yaw=0.0095 right_pitch=-0.0284 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -10.2085, 8.3761, 1.7021, -0.2173, 0.2711, -0.0122, -0.3897, -0.3897, 6.8718, 1.9805, -0.1099, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1497, 0.8299, 0.6777, -0.4107, -0.2493, -0.1879, 0.9982, 0.8455, 1.718, 1.124, -0.2096, 0.6323, 0.4847, 0.9998]\nstate[eef_state]: left_x=0.301 left_y=0.0023 left_z=0.2004 left_yaw=0.1492 left_pitch=0.0219 left_roll=-0.0149 left_gripper=0.9982 right_x=0.3693 right_y=0.2646 right_z=0.1329 right_yaw=0.0529 right_pitch=-0.0498 right_roll=-0.0443 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -1.6068, 7.788, 1.7363, -0.0952, 0.0269, -0.0171, 0.0752, -8.212, 8.9778, 1.6142, 0.5885, 0.2173, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1558, 0.8539, 0.6781, -0.4503, -0.2474, -0.1829, 0.9982, 0.7158, 1.8156, 1.0485, -0.0151, 0.5514, 0.395, 0.9998]\nstate[eef_state]: left_x=0.2977 left_y=0.0007 left_z=0.1859 left_yaw=0.139 left_pitch=-0.039 left_roll=0.0068 left_gripper=0.9982 right_x=0.4044 right_y=0.2338 right_z=0.086 right_yaw=0.032 right_pitch=-0.0746 right_roll=-0.0597 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -2.0855, 8.8821, 1.7314, -0.1343, -0.0073, -0.0073, -0.0068, -9.1692, 6.8581, 2.0488, 0.2418, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fed1f980823cde3177a061bff95afaedecb84d9a7adb72fc4212722faa06f3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc540417d678eaebf72a685fe07f6e7c3431cb943b3c0566a15d1eabbda8cb93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1a40b92738d9f6801532910b64784b9388b5104215aec35fd5985ebfe6caedd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/wYKjgEIEhgCKkDMLqPwOmXrEvJ5Zd/d3mC+2/NLB8OqUSVkFeN8Fqj2os10A0bHVO64ECgmLXFUPZkRT1+gSf0GZqR93vlflaXTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdOCzNUGEgwvd+RJuhqJMX8xhzsaDLSFpRFDpCTAiuEGByIwlnRnnJ6YvUKTTW7bc1wqirS3yO85QoQ6lICp3pIw1Sq/SzeV7tC19SEyjG9cZlolKp0FNNHdu5z2+byn02CGjqpyfQ5DwBIy4/IbeiI7w24bi9DVLULxhyiEIZ4QXw3OuS4K4tGWnCg0XFkqk/Wdohn2xnZIxwGcQLOsm5SqDYrbw610sgwZc3y2Yj6++NyIdDpjQx2j9od8PlonG5nOgmo8Qxs9CWYhsgvdoaryBxex+EkIwkuM8bBAhEwkQxD84vPXpccqkdGKxukpV/NsA6qU/gKVNtnRCGPUWzWj9bp6bKfxEo5KJ2M/4+ktexnLFnbT1RlbA90vO0rPCvFjfcGlHdjdbJhra+4cJHjhH4STZcOrkzSj23j4eiOTaEAOl8W3Es56qyzKwy0AnBDlv8DNyVP/R/izxiuxw49Bjq3Ta5ffK+nGS8BPN6GNBDsq4EZe8EKoJKUvA94xIPSWhU0PHtUi0X9zJfwXaZm85MVOlG6Gq4RClXZ43xDfPMwG5q4ekLJcdgGZfQ8DumGy2ExvglcbuUYFNY6XvSiujz0k/HuJk+qkX60zFDt61RBvTeTdrEmJknnHYb58rBt0cFhhnT6B0sdf6d/HSgxyQnPi7I0D7tG/xYHC6TxL65Ci5ajXAnlBBPB0DAHSvcIOmX1d0ZhQKqUYiFr8bXGYY3DnFf+8LS8W+wqCWVoO2Oab9TRvpICQkWiTy6OXqYY1WvFYtWhUT8liy1OJsGfQf9jqJs52fcAkJDsMsGhtgZ+5DIZbt/v013Mju4S0nJ9GjDZc2xJfa0ULG+gBaVqnPk3W/cVc9y3VMSQeiBIlhmK9kaAVVo/yBSkLqign3B4yunEqTx98qg3TBVlIQoH/kpA6BujRWIn8CpjOfolSsBtBthjla6lFnwdSwQqdzrb2AK4C7+Zw13AoR9sOfFMZ+ocWX9fH2bjfyNByMzs11LEKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019yy97AA1wBo58svtQZUVPb",
      "input": {
        "note": "The bottle's body fills the bottom of the right wrist view slightly right of the jaws; advancing another 5 cm forward and 1 cm right to bring the jaws over its narrow neck.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.225,
          "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_019yy97AA1wBo58svtQZUVPb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.8349, 0.6426, -0.4175, -0.2474, -0.1837, 0.9982, 0.6937, 1.8336, 0.976, 0.1375, 0.519, 0.3649, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0003 left_z=0.1817 left_yaw=0.1373 left_pitch=-0.0233 left_roll=0.0013 left_gripper=0.9982 right_x=0.4092 right_y=0.231 right_z=0.0737 right_yaw=0.053 right_pitch=-0.0397 right_roll=-0.0283 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -2.2085, 6.7761, 1.9316, -0.1538, -0.0366, -0.0122, -0.1846, -8.5812, 6.0513, 1.9756, 0.2955, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61d492781a66c79abdec49961641faed0f6a09eb82f6a774f849ecfa0138a64e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4e9cd6d0534ffa04bf2030de263e539e466c07ab7b81981ff263b93ec1b489d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b1c0efee47381ed6aea4a4ba4a1d8079de40e31dca6dee8090136af0c4b1ed89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 11.57 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]: [-0.1497, 0.8299, 0.6777, -0.4107, -0.2493, -0.1879, 0.9982, 0.8455, 1.718, 1.124, -0.2096, 0.6323, 0.4847, 0.9998]\nstate[eef_state]: left_x=0.301 left_y=0.0023 left_z=0.2004 left_yaw=0.1492 left_pitch=0.0219 left_roll=-0.0149 left_gripper=0.9982 right_x=0.3693 right_y=0.2646 right_z=0.1329 right_yaw=0.0529 right_pitch=-0.0498 right_roll=-0.0443 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -1.6068, 7.788, 1.7363, -0.0952, 0.0269, -0.0171, 0.0752, -8.212, 8.9778, 1.6142, 0.5885, 0.2173, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1558, 0.8539, 0.6781, -0.4503, -0.2474, -0.1829, 0.9982, 0.7158, 1.8156, 1.0485, -0.0151, 0.5514, 0.395, 0.9998]\nstate[eef_state]: left_x=0.2977 left_y=0.0007 left_z=0.1859 left_yaw=0.139 left_pitch=-0.039 left_roll=0.0068 left_gripper=0.9982 right_x=0.4044 right_y=0.2338 right_z=0.086 right_yaw=0.032 right_pitch=-0.0746 right_roll=-0.0597 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -2.0855, 8.8821, 1.7314, -0.1343, -0.0073, -0.0073, -0.0068, -9.1692, 6.8581, 2.0488, 0.2418, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.8349, 0.6426, -0.4175, -0.2474, -0.1837, 0.9982, 0.6937, 1.8336, 0.976, 0.1375, 0.519, 0.3649, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0003 left_z=0.1817 left_yaw=0.1373 left_pitch=-0.0233 left_roll=0.0013 left_gripper=0.9982 right_x=0.4092 right_y=0.231 right_z=0.0737 right_yaw=0.053 right_pitch=-0.0397 right_roll=-0.0283 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -2.2085, 6.7761, 1.9316, -0.1538, -0.0366, -0.0122, -0.1846, -8.5812, 6.0513, 1.9756, 0.2955, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61d492781a66c79abdec49961641faed0f6a09eb82f6a774f849ecfa0138a64e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4e9cd6d0534ffa04bf2030de263e539e466c07ab7b81981ff263b93ec1b489d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1c0efee47381ed6aea4a4ba4a1d8079de40e31dca6dee8090136af0c4b1ed89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzQoKjgEIEhgCKkD/EExm25+PZ4lXISIJXRqaaOtGEyYk/xbwF1FLTiVewfbyxezRqHhz+dojmsugGAC/wazZCMIX4XEdXIWCyPYwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd6CzNUGEgyKmY4zGDgDqFD3KCsaDCDTQ5LSqqUoS0kfZCIwOZuyraWm0Ozz8g4gn7RP4U39A84dZDJ12kC4QxorQRpB9/GA6ym93eUzCSiSUp3fKusI9sv88Yi+1GycBJtE/fDlu2ILZs71uZ/Y8YKy96fRAuJrMn5HbMsQQQJwIB/YGeH7BP/OQDoTV8SOLClvNeoATDym9K9x6gMDIAsFouMeLOqMH9nInBsqqGHIU8PJDySwhILzOTyXaupYiDU49JvSL8b6b4ZQtytO96cb9agxJMjZuYvuCrDBx61Zdac9/aCl19deLT6SbQtkKvmXhYgd82TBCThV//L8cTwhOs3ivGDzBclAdoypKKzCRV2r+LzNjU6FNMIHqk/G+Xa17w4wsAYyqbu/RWEKFPsbdwzQw+qHYgkzlh6HdVPAmTBbCAS0o8gEKK8GO3aPhHFwDt4fV4ZHNn1/AmvbG0hyDSFCc2/dMbdpA6EQ5169F0tpefbfwtu6vOgpbRSrHVVnHLwqijTIufUVyddrWAQUjnHZoQEwOn1j9h/LT7GC3s2HzvpjMqvTWKbaKB17QNF5WZt7hK2EMr5rd2htOpZMxSPcsXGmPi6RqP5ksl2UlNeyA4nHRMGMjs7Uy/0h8x//i43nF7Ewy4va6C/eBKG1UspqqOUfgX6x8gGi4LlQ+t2aMgI1Mti7RPMPZXHb5rKnuP2tkiwD4WQjuZdvkO/vcijzRdpsP9W7ioni/JJ3WHwBUlhJeeF4xCdQiqdKnA4AyzokzNGPS4H/b0szzuBe9SmRmyPFu1A5wkpe8tuDrvyMCisesmUr/DCmjZjhH/qDfZNGt3p61rqz53PziDZbd8q1CbNYB0TVfcnx9bwbVf/UQegcxkiPB7HSvkRhGcQxWcLSH7F+lODDJDPcyeQpjkbpeMOKGsWwe4WDznIZDqEO6vt2ugF4BYnwmMPKHIqjRd+6Qn7MOkaEPamWMGxQMk1d8yckm+IJqk2+7UoD1K8Ge1OpMkYRVTh3n5flGdUFcNDuyLm6AkH2tiNxYhXvyvJJM9675wQAaWIM4HFfLOCobXP9vX7fkth7Dz3QUbNCo+tOnkARCzriTaGG3JYtVuBzD+/CTzoeUypZAK4+sYPt4v6hcI8MGVTN3H/Nsum694qnurz4QHneX4wLvatvKd/Ud/6Wh5NXGPOLdHXUIB/Wnsnf0RsngZPHBig/D3CX8aXhFMX1Kyayu90quqnIsj0Ei940U5MgRvur8WBIgznEUA7zJq+B+XZdI9h0vrc4OI+v13FnhP9ZrG5lCQiwQeRVDaS/ExvA4R4lPH3HCw6EzUuxMXKkleulHwHI2l/vDm8dm6CNnlViywdCkHtb3XWZAqvzSrYGzu3Sx4QFXWnVwU9qEFI+CbAxstOQ2QzERLuUpLPS4xxXI+f6L878967sXRCWuclEpYqKOEC5wbrzeXtr30cbYqWjkB9cD5M1vuuzO4XxUdLbvda6EfkDnHxX2DDkp+XF+wqmG35uuxszkCSMzHgQUDf6aCQX3OOxNDE0OveXqwXtGiSaVmeSMBoVS4Vb7LgW9WrYZ2WIrVfbeb5US32LcqcpMGL/aXDs9y4imXBQSmSsloo/Qju3GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NRAweBtPqeXhH8rKrr3Br3",
      "input": {
        "note": "Forward reach is stalling near x=0.41, so instead I'll grab this bottle by the body and drag it closer; first descending so the jaws straddle it at mid-body height.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.228,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01NRAweBtPqeXhH8rKrr3Br3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.8299, 0.627, -0.4026, -0.2474, -0.1837, 0.9982, 0.6937, 1.8336, 0.9756, 0.144, 0.519, 0.3649, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0003 left_z=0.179 left_yaw=0.1373 left_pitch=-0.0192 left_roll=0.0001 left_gripper=0.9982 right_x=0.4099 right_y=0.2315 right_z=0.0747 right_yaw=0.0532 right_pitch=-0.0348 right_roll=-0.0247 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.7983, 6.3385, 1.8632, -0.2125, -0.0513, -0.0073, -0.3761, -8.6906, 6.2838, 1.9707, 0.2711, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3be538ec964749558d580bb255c2b4146b0711a5f06f068292a6b7877b2df513",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a65346e434a6ee8e8a04f8b9e3645052c8ea6320c653330837a689fe4d5f7228",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c89689e842c5a36266c719f6944ef7578494c2958f98a20c71b86da9487c554",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 8.092 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]: [-0.1558, 0.8539, 0.6781, -0.4503, -0.2474, -0.1829, 0.9982, 0.7158, 1.8156, 1.0485, -0.0151, 0.5514, 0.395, 0.9998]\nstate[eef_state]: left_x=0.2977 left_y=0.0007 left_z=0.1859 left_yaw=0.139 left_pitch=-0.039 left_roll=0.0068 left_gripper=0.9982 right_x=0.4044 right_y=0.2338 right_z=0.086 right_yaw=0.032 right_pitch=-0.0746 right_roll=-0.0597 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -2.0855, 8.8821, 1.7314, -0.1343, -0.0073, -0.0073, -0.0068, -9.1692, 6.8581, 2.0488, 0.2418, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.8349, 0.6426, -0.4175, -0.2474, -0.1837, 0.9982, 0.6937, 1.8336, 0.976, 0.1375, 0.519, 0.3649, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0003 left_z=0.1817 left_yaw=0.1373 left_pitch=-0.0233 left_roll=0.0013 left_gripper=0.9982 right_x=0.4092 right_y=0.231 right_z=0.0737 right_yaw=0.053 right_pitch=-0.0397 right_roll=-0.0283 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -2.2085, 6.7761, 1.9316, -0.1538, -0.0366, -0.0122, -0.1846, -8.5812, 6.0513, 1.9756, 0.2955, 0.0904, -0.0122]",
      "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]: [-0.1577, 0.8299, 0.627, -0.4026, -0.2474, -0.1837, 0.9982, 0.6937, 1.8336, 0.9756, 0.144, 0.519, 0.3649, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0003 left_z=0.179 left_yaw=0.1373 left_pitch=-0.0192 left_roll=0.0001 left_gripper=0.9982 right_x=0.4099 right_y=0.2315 right_z=0.0747 right_yaw=0.0532 right_pitch=-0.0348 right_roll=-0.0247 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.7983, 6.3385, 1.8632, -0.2125, -0.0513, -0.0073, -0.3761, -8.6906, 6.2838, 1.9707, 0.2711, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3be538ec964749558d580bb255c2b4146b0711a5f06f068292a6b7877b2df513",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a65346e434a6ee8e8a04f8b9e3645052c8ea6320c653330837a689fe4d5f7228",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c89689e842c5a36266c719f6944ef7578494c2958f98a20c71b86da9487c554",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FGtjWo9Bc6wVE8zWvuELf2",
      "input": {
        "note": "The right arm won't advance or descend further (likely pressing on the bottle); closing the jaws here to see whether they have the bottle's body.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FGtjWo9Bc6wVE8zWvuELf2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.828, 0.6136, -0.3935, -0.2474, -0.1837, 0.9983, 0.6933, 1.8336, 0.9356, 0.1898, 0.5152, 0.3607, 0.019]\nstate[eef_state]: left_x=0.2956 left_y=0.0004 left_z=0.1753 left_yaw=0.1373 left_pitch=-0.0214 left_roll=0.0008 left_gripper=0.9983 right_x=0.4058 right_y=0.2287 right_z=0.0673 right_yaw=0.0581 right_pitch=-0.0317 right_roll=-0.0227 right_gripper=0.019\nstate[joint_eff]: [-0.4034, -2.3726, 6.694, 1.8437, -0.1978, -0.0513, -0.0073, -0.1573, -9.0462, 5.9829, 1.9365, 0.2613, -0.0073, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26f08a1c173ebdaac962c5bdea79ddbfbac57d07951840b2a5fb666c92bb6253",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc1b32c17ef70b300e39e1e997f8da73c630ef98aa68d500cfe857a205728460",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:45fecb6302c772dbf3487059fbdb49438b376f0dd196837e9a1dcedd31e55f78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /messages · status 200 · 8.265 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]: [-0.1577, 0.8349, 0.6426, -0.4175, -0.2474, -0.1837, 0.9982, 0.6937, 1.8336, 0.976, 0.1375, 0.519, 0.3649, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0003 left_z=0.1817 left_yaw=0.1373 left_pitch=-0.0233 left_roll=0.0013 left_gripper=0.9982 right_x=0.4092 right_y=0.231 right_z=0.0737 right_yaw=0.053 right_pitch=-0.0397 right_roll=-0.0283 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -2.2085, 6.7761, 1.9316, -0.1538, -0.0366, -0.0122, -0.1846, -8.5812, 6.0513, 1.9756, 0.2955, 0.0904, -0.0122]",
      "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]: [-0.1577, 0.8299, 0.627, -0.4026, -0.2474, -0.1837, 0.9982, 0.6937, 1.8336, 0.9756, 0.144, 0.519, 0.3649, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0003 left_z=0.179 left_yaw=0.1373 left_pitch=-0.0192 left_roll=0.0001 left_gripper=0.9982 right_x=0.4099 right_y=0.2315 right_z=0.0747 right_yaw=0.0532 right_pitch=-0.0348 right_roll=-0.0247 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.7983, 6.3385, 1.8632, -0.2125, -0.0513, -0.0073, -0.3761, -8.6906, 6.2838, 1.9707, 0.2711, 0.149, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.828, 0.6136, -0.3935, -0.2474, -0.1837, 0.9983, 0.6933, 1.8336, 0.9356, 0.1898, 0.5152, 0.3607, 0.019]\nstate[eef_state]: left_x=0.2956 left_y=0.0004 left_z=0.1753 left_yaw=0.1373 left_pitch=-0.0214 left_roll=0.0008 left_gripper=0.9983 right_x=0.4058 right_y=0.2287 right_z=0.0673 right_yaw=0.0581 right_pitch=-0.0317 right_roll=-0.0227 right_gripper=0.019\nstate[joint_eff]: [-0.4034, -2.3726, 6.694, 1.8437, -0.1978, -0.0513, -0.0073, -0.1573, -9.0462, 5.9829, 1.9365, 0.2613, -0.0073, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26f08a1c173ebdaac962c5bdea79ddbfbac57d07951840b2a5fb666c92bb6253",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc1b32c17ef70b300e39e1e997f8da73c630ef98aa68d500cfe857a205728460",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45fecb6302c772dbf3487059fbdb49438b376f0dd196837e9a1dcedd31e55f78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9wcKjgEIEhgCKkCJhaz289iXUD2UCMwA1bg2np54Fy8Y53q/o+KfePjTmcHhN22Xq2ksfYjRYzM1fM2KZoe/Iy6TRRGGHAUQtOjmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfOCzNUGEgwQf2iFmEXqq9CaN7UaDLm7TnNwHKvEOfV0tCIwctmk4pcqxMxFAcp+NCGg0X6dY46TIrsPv4OI7xvu/KaDQ+YMCAxzye7wO3xdFo00KpUGUrIjq7Pcw8XYLhfgqkWlIAOeoEb1D7/YjFDk8axMIErEaijcgGbEL7Yp5EuvE+6ZCCXNtJjajxXYuQm5hZ8JwnwSE6iAii5BhHBwTPiJ9BbMJdZG7oZoCJ7/BDk/VnDg01WjtVZIU+dUeMSMGNsWfqPe7RxzgnSjCpi4aSHwea7kuDt9qiEpKIUkPviAL4eSeRrbHNzJXCFZhHDUDJsnxez6dsdYhf/FdOd4AyK7Q8SIDcTqF9c+4HMx8rC6Zh30pUsiNwD3nMIVVOp17SfqhFvFrvSB4My9AxkX9xDK3RgFhsMAL0YOF8FOQ2+WIBmE8L2Gr/4ypKvyWXwExFuzrm3iQ+F3ZGAjlSmZNT33V3GnNofpmk8Okbh1qZNGr6+WYuKpQ5nviTO3dUihHnUaSdEpvkJf64Gax41eEWsUDjeq5LEIv628na3yCcCFYTz2nIFs7e/jFU4OhRZoorMfY8qBeVojtqhqw7hIYQk8KJvTNa1BvFkOGi8CrCu5f2VBjYKq6DUH4s9/IhDIo1YrHfZl7YgBrJFQwzS7sN+b0uR5cPALgkiFiRl375Zb66LWI6PJ5zTJBa5gGlSAqC07i9jhC7FKYuagoMmb7mBJSWKi+JqqsC9PzdNgY5MLvI7YIJEOB9+30o9EQAL48mvHogLpqoG1tjTZckE9E0a1codBWy5oMCfeF1tvi3+mCTpA41uysmlt+BdYCxFbWuCf0gO99/hdmK7LD/s7bN/gPz/Fcy82b11zAVnR2u/C8Y38KpurGeWv1T2ZBIsd3O3VKYtgvYJ+eT87mruSfYgMgf8tMEcqF5QJ6Um3l+noM19PKFYKT1rSeAozEvgz92Eb4SFkwLCvtMvSfHIwQ70b8fO4pH9RyCjQLO0hsuJ//QeOY84gQwxe8AjZY1HrtBLd/Z+9mdTyTngdTQc0Ercd67L3/ApQSKRdxs1UNf6+dCSdgzT6bAfKdUXOVp7LmmW08BmjNuoO4YuQzL6t2VKOI2WARC9L2Kc9QF/e4jMONeH2SrJOJcu/Tw3Gy7kFPVpyTlFoGmenGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016BrjMCUBTwTvV4SsFWz242",
      "input": {
        "note": "The close came up empty (0.019) — the bottle sits a few cm beyond the fingertips and the arm won't extend at low height; trying to reach further forward at a higher z where the arm has more freedom.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.47,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016BrjMCUBTwTvV4SsFWz242",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.8219, 0.5968, -0.374, -0.2474, -0.1837, 0.9983, 0.601, 1.8278, 1.3178, -0.1822, 0.4278, 0.2756, 0.9954]\nstate[eef_state]: left_x=0.2957 left_y=0.0004 left_z=0.1732 left_yaw=0.1373 left_pitch=-0.013 left_roll=-0.0018 left_gripper=0.9983 right_x=0.4584 right_y=0.2298 right_z=0.1529 right_yaw=0.0808 right_pitch=-0.0497 right_roll=-0.0365 right_gripper=0.9954\nstate[joint_eff]: [-0.5538, -2.0991, 6.7897, 1.7851, -0.1832, -0.0024, -0.0122, -1.0325, -9.9624, 9.9624, 1.9316, 0.2613, 0.1392, 0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9972cc0803e74b51135025b503ba0c3987d7f0db3da2b0ebc429a21840b015af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aa5cb56ddd60c4a5353b78c9f86024fb30943a40ee1e43ec2f275d947da02e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ac07a032ddf85806ce32b6af457cf2d9681ee2c35e9881facee33dd50357cc05",
        "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 · 12.92 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]: [-0.1577, 0.8299, 0.627, -0.4026, -0.2474, -0.1837, 0.9982, 0.6937, 1.8336, 0.9756, 0.144, 0.519, 0.3649, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0003 left_z=0.179 left_yaw=0.1373 left_pitch=-0.0192 left_roll=0.0001 left_gripper=0.9982 right_x=0.4099 right_y=0.2315 right_z=0.0747 right_yaw=0.0532 right_pitch=-0.0348 right_roll=-0.0247 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.7983, 6.3385, 1.8632, -0.2125, -0.0513, -0.0073, -0.3761, -8.6906, 6.2838, 1.9707, 0.2711, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1577, 0.828, 0.6136, -0.3935, -0.2474, -0.1837, 0.9983, 0.6933, 1.8336, 0.9356, 0.1898, 0.5152, 0.3607, 0.019]\nstate[eef_state]: left_x=0.2956 left_y=0.0004 left_z=0.1753 left_yaw=0.1373 left_pitch=-0.0214 left_roll=0.0008 left_gripper=0.9983 right_x=0.4058 right_y=0.2287 right_z=0.0673 right_yaw=0.0581 right_pitch=-0.0317 right_roll=-0.0227 right_gripper=0.019\nstate[joint_eff]: [-0.4034, -2.3726, 6.694, 1.8437, -0.1978, -0.0513, -0.0073, -0.1573, -9.0462, 5.9829, 1.9365, 0.2613, -0.0073, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.8219, 0.5968, -0.374, -0.2474, -0.1837, 0.9983, 0.601, 1.8278, 1.3178, -0.1822, 0.4278, 0.2756, 0.9954]\nstate[eef_state]: left_x=0.2957 left_y=0.0004 left_z=0.1732 left_yaw=0.1373 left_pitch=-0.013 left_roll=-0.0018 left_gripper=0.9983 right_x=0.4584 right_y=0.2298 right_z=0.1529 right_yaw=0.0808 right_pitch=-0.0497 right_roll=-0.0365 right_gripper=0.9954\nstate[joint_eff]: [-0.5538, -2.0991, 6.7897, 1.7851, -0.1832, -0.0024, -0.0122, -1.0325, -9.9624, 9.9624, 1.9316, 0.2613, 0.1392, 0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9972cc0803e74b51135025b503ba0c3987d7f0db3da2b0ebc429a21840b015af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aa5cb56ddd60c4a5353b78c9f86024fb30943a40ee1e43ec2f275d947da02e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac07a032ddf85806ce32b6af457cf2d9681ee2c35e9881facee33dd50357cc05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxQgKjgEIEhgCKkBLZwLyyGkrvxJJHaWAtCwfMLLgzPmOxrI/IrUKlQ5JT9Z30u5KnsLrdWOvK8Sie79VTewLRI4GxANm2muddW0RMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfyCzNUGEgzgAERVHSY/wfs3kgkaDKCN1tMU1qpwXGJk4iIwDiHTl5JaDUFbdR8QY0sQYCMf9VTPRStQ379XsYT3iI5pZzwq+pLyfwryN6yhJQYYKuMG1ayW+tUrIDYu1mUdF3xsAWuMkmUC5yvGwqitga7VIdIZZXIjumVoLJQMdx2ga+ANjDI0QODJ6TKT239VtKXoZ/yaL3518yq3kGtP1l0DQpOpgrJmRuWWyEm7LRGddr2agFX5h8XfXhIhGZs97aN7x0+0Jms/e4520lYvD3EC7++nVB2qb9gFB3CEIpsWEyP33pCk5xLOLzosbwCIaVXho38gUahPmSZVBNt26coKbX1upoE14BMIIAJeofVp3K6wS2+CLrYIZkTBYW8bqZJVXqpIx5TR5fVdBcFNsdOyyDs4XdqFFU77GDzMiV8bdl2C6O2PXttihx2sOusQXWZudto8OdGnWMRCEfNWYsN+uYzoGQ/HAS2gUytrCc9eqC4Uq4nCI1246OZjcnW1FXTnfn8bGBbpuciWxsErXOGbZVtdz27nT1fKC0GHjML2B9CRtvu7T69BkjBcsKB+ZX1QAkdZaPBXw8LX37wQ+PQF7eKLlEZ0+gHel0q2ao13wn5wJV5m/T255n1iC6AAvQKGT2aUUM05lm4y34E5aph8oaW3HFmaUJ7fENhKBH1Bx/YI9MPA2BjigRc49OnF+WV1SKDHXZjdh18/EF1snRFko7njj882CGE6Ig1JUUiyX5IdR1pIts/I0IC3m6/rWeWStYYn9PYYYPHVGJTWkWjpa86cYrvStT6MRNC3q/ME9XXogAvzOygE6bu8fnlrFgler8SqlH9lFnTeX5oIfp62GDK/MN9IPo8sabNs/0cxxXfyYWr7hk/vD2mmJq4p3nUeFw3ZNDFj01VE+jeWjgWFlAxBtTlrkHm0dqof6gB2IXtg9uzXSHIgtYiwUifaHw5nulNPqbJ5z95B1d99uKRHf3FXuLankrNxzdHu30Kab1W/PTa5Llsy/Bh3VAr5fJZQq1Luv14zyOuObz1SsNtKbUNP7PQi7Mkn+HA6bhZ+YAxmR7NTFshlSFjx+DrXuVeZViERBQCB/tgIEpZtLyyQ/4jgyhpTTF+xCHsJypekgiHQJI1L+X0isqnNl8CqDF+hkRI7DbMLR1vZrcYpyOsZtZeQJQmNDiW5MsU5Qrn6Y+CBQAKiokG1S6NV62G/lq78hspylH7QJSqVPAn7YW7tK0pxbvPEHdTFa+r9mjkLijnG+98yGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E3PPUr2PYfTS4ZCromEZMF",
      "input": {
        "note": "At z=0.15 the arm reached x=0.458 and the bottle's cap/neck now sits just below the jaws in the wrist view; descending to neck height to grasp the neck loosely.",
        "targets": {
          "right_x": 0.458,
          "right_y": 0.215,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01E3PPUr2PYfTS4ZCromEZMF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.8204, 0.5869, -0.3714, -0.2474, -0.1837, 0.9982, 0.5735, 1.9785, 1.0126, 0.2966, 0.3985, 0.263, 0.9955]\nstate[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1697 left_yaw=0.1373 left_pitch=-0.0185 left_roll=-0.0001 left_gripper=0.9982 right_x=0.452 right_y=0.2146 right_z=0.0426 right_yaw=0.0842 right_pitch=-0.0387 right_roll=-0.0195 right_gripper=0.9955\nstate[joint_eff]: [-0.4991, -1.9624, 6.7487, 1.8339, -0.1832, -0.0269, -0.0171, -0.8547, -8.8821, 5.2855, 1.9219, 0.1685, -0.0513, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60afbdad8eb5de330d53f414ea78a418d609af71adf659fd1a36bc9050a5cf83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49730c7558ae20a4d637488eb19b3efa2af1bbaf82098aac8b7bcab7185f61ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d02de6ac2fee8c1f8dddb1e0bcfd36faccfef21a82991b38de5cd6e538890eb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 5.609 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]: [-0.1577, 0.828, 0.6136, -0.3935, -0.2474, -0.1837, 0.9983, 0.6933, 1.8336, 0.9356, 0.1898, 0.5152, 0.3607, 0.019]\nstate[eef_state]: left_x=0.2956 left_y=0.0004 left_z=0.1753 left_yaw=0.1373 left_pitch=-0.0214 left_roll=0.0008 left_gripper=0.9983 right_x=0.4058 right_y=0.2287 right_z=0.0673 right_yaw=0.0581 right_pitch=-0.0317 right_roll=-0.0227 right_gripper=0.019\nstate[joint_eff]: [-0.4034, -2.3726, 6.694, 1.8437, -0.1978, -0.0513, -0.0073, -0.1573, -9.0462, 5.9829, 1.9365, 0.2613, -0.0073, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.8219, 0.5968, -0.374, -0.2474, -0.1837, 0.9983, 0.601, 1.8278, 1.3178, -0.1822, 0.4278, 0.2756, 0.9954]\nstate[eef_state]: left_x=0.2957 left_y=0.0004 left_z=0.1732 left_yaw=0.1373 left_pitch=-0.013 left_roll=-0.0018 left_gripper=0.9983 right_x=0.4584 right_y=0.2298 right_z=0.1529 right_yaw=0.0808 right_pitch=-0.0497 right_roll=-0.0365 right_gripper=0.9954\nstate[joint_eff]: [-0.5538, -2.0991, 6.7897, 1.7851, -0.1832, -0.0024, -0.0122, -1.0325, -9.9624, 9.9624, 1.9316, 0.2613, 0.1392, 0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.8204, 0.5869, -0.3714, -0.2474, -0.1837, 0.9982, 0.5735, 1.9785, 1.0126, 0.2966, 0.3985, 0.263, 0.9955]\nstate[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1697 left_yaw=0.1373 left_pitch=-0.0185 left_roll=-0.0001 left_gripper=0.9982 right_x=0.452 right_y=0.2146 right_z=0.0426 right_yaw=0.0842 right_pitch=-0.0387 right_roll=-0.0195 right_gripper=0.9955\nstate[joint_eff]: [-0.4991, -1.9624, 6.7487, 1.8339, -0.1832, -0.0269, -0.0171, -0.8547, -8.8821, 5.2855, 1.9219, 0.1685, -0.0513, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60afbdad8eb5de330d53f414ea78a418d609af71adf659fd1a36bc9050a5cf83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49730c7558ae20a4d637488eb19b3efa2af1bbaf82098aac8b7bcab7185f61ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d02de6ac2fee8c1f8dddb1e0bcfd36faccfef21a82991b38de5cd6e538890eb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GpMAEmSUz8v4MsA17VPwpK",
      "input": {
        "note": "The jaws are now around the bottle's tapered shoulder just below the blue cap; closing to ~3 cm so the bottle is captured but free to swing upright when lifted.",
        "targets": {
          "right_gripper": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01GpMAEmSUz8v4MsA17VPwpK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.8185, 0.58, -0.363, -0.2474, -0.1833, 0.9982, 0.5747, 1.9949, 0.981, 0.3679, 0.3878, 0.2569, 0.5082]\nstate[eef_state]: left_x=0.2947 left_y=0.0006 left_z=0.1688 left_yaw=0.1371 left_pitch=-0.0152 left_roll=-0.0008 left_gripper=0.9982 right_x=0.4504 right_y=0.2164 right_z=0.0358 right_yaw=0.0976 right_pitch=-0.0211 right_roll=-0.008 right_gripper=0.5082\nstate[joint_eff]: [-0.5402, -2.0718, 6.065, 1.8681, -0.1587, -0.0171, -0.0073, -0.4034, -10.9607, 5.1624, 1.746, 0.1783, 0.0317, 0.8669]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ff1ba20685687887ad8b17289d62ad5dbd764a42e4e5d834bdaffc33fca9c9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae33c96c79d66369d6e9444b2958d5c983084bb20779c9a322959e997c7dab70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d75afb8b640aa2fb385f0c86bd4c80bf6f4d2676ac4c913bb929832b1d985f1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 23.65 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]: [-0.1577, 0.8219, 0.5968, -0.374, -0.2474, -0.1837, 0.9983, 0.601, 1.8278, 1.3178, -0.1822, 0.4278, 0.2756, 0.9954]\nstate[eef_state]: left_x=0.2957 left_y=0.0004 left_z=0.1732 left_yaw=0.1373 left_pitch=-0.013 left_roll=-0.0018 left_gripper=0.9983 right_x=0.4584 right_y=0.2298 right_z=0.1529 right_yaw=0.0808 right_pitch=-0.0497 right_roll=-0.0365 right_gripper=0.9954\nstate[joint_eff]: [-0.5538, -2.0991, 6.7897, 1.7851, -0.1832, -0.0024, -0.0122, -1.0325, -9.9624, 9.9624, 1.9316, 0.2613, 0.1392, 0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1577, 0.8204, 0.5869, -0.3714, -0.2474, -0.1837, 0.9982, 0.5735, 1.9785, 1.0126, 0.2966, 0.3985, 0.263, 0.9955]\nstate[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1697 left_yaw=0.1373 left_pitch=-0.0185 left_roll=-0.0001 left_gripper=0.9982 right_x=0.452 right_y=0.2146 right_z=0.0426 right_yaw=0.0842 right_pitch=-0.0387 right_roll=-0.0195 right_gripper=0.9955\nstate[joint_eff]: [-0.4991, -1.9624, 6.7487, 1.8339, -0.1832, -0.0269, -0.0171, -0.8547, -8.8821, 5.2855, 1.9219, 0.1685, -0.0513, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.8185, 0.58, -0.363, -0.2474, -0.1833, 0.9982, 0.5747, 1.9949, 0.981, 0.3679, 0.3878, 0.2569, 0.5082]\nstate[eef_state]: left_x=0.2947 left_y=0.0006 left_z=0.1688 left_yaw=0.1371 left_pitch=-0.0152 left_roll=-0.0008 left_gripper=0.9982 right_x=0.4504 right_y=0.2164 right_z=0.0358 right_yaw=0.0976 right_pitch=-0.0211 right_roll=-0.008 right_gripper=0.5082\nstate[joint_eff]: [-0.5402, -2.0718, 6.065, 1.8681, -0.1587, -0.0171, -0.0073, -0.4034, -10.9607, 5.1624, 1.746, 0.1783, 0.0317, 0.8669]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ff1ba20685687887ad8b17289d62ad5dbd764a42e4e5d834bdaffc33fca9c9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae33c96c79d66369d6e9444b2958d5c983084bb20779c9a322959e997c7dab70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d75afb8b640aa2fb385f0c86bd4c80bf6f4d2676ac4c913bb929832b1d985f1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0AQKjgEIEhgCKkDz32GvFXy2rIe2pyiVCgpI5cME7nUJQQ6YuzjEAGjNE/xs7hBBCDIMXCTXDJRO+ATGK5CcUKE7oIXsSAksfNLQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZCDzNUGEgzi9KsW17me388A6nAaDHroMLwjKOXjOxVEoiIwsALeS3weXODbLmiP9Qrv1MqI2huesBeD0EELCGMQKXSdHeXmtIzYhTwhI3mxbWp8Ku4C7FsoQKPNzrSgRG4MNXvAyT8kIzVI5Fk3Mw8xFRlEzfK4h+LaqzDaBdnijF9S+++R6VIJLfz33qPsVUQHjr10lTLQHaybswgg6Doy8nZFgsy5ph7f5cicNYe4n1Xk4cxV2JSMR+Cmri2wGANanJ/hL268J9r2NxsiLuIKziJczVb95IesM2ErqJaMB5hlsUd8QFgVoFqyPnGnjV/ZN0u6s89Gkxew9JxxEp1T0YcjroCBtHp/qtc1yIinUioVtdSLIDYssHeE/8whYIEyKkXcFV9+jPE6p9n/h/tJzdjufnEqjh6pR6ty0tLNg07NnUwnkq38Ha3wuTbjPRjVmMOawOZ5zgZ5iLqxCEKrmRvjBw9g35kGdTKadv6ul1mVoMGaZcgtNjUJKwHt7xZwBzUtGnFZ52k7ZxCRFmm+zIndxRZjOWDwrqSGWpNPq1DQMXG5RhNgtkhixD5rUKiSkdFEHFmzigLZztIniV9Fq2URGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XKL4BrrrYcpSVqHYXPmx2L",
      "input": {
        "note": "The jaws stopped at 0.51 (≈4.8 cm), so they are holding the bottle's upper body; lifting to 25 cm to let the bottle swing down into a vertical, cap-up hang.",
        "targets": {
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01XKL4BrrrYcpSVqHYXPmx2L",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.8177, 0.58, -0.3626, -0.2474, -0.1837, 0.9982, 0.5766, 1.7576, 1.4361, -0.4313, 0.363, 0.2363, 0.5085]\nstate[eef_state]: left_x=0.2947 left_y=0.0006 left_z=0.1691 left_yaw=0.1373 left_pitch=-0.0141 left_roll=-0.0014 left_gripper=0.9982 right_x=0.4448 right_y=0.2188 right_z=0.1902 right_yaw=0.1272 right_pitch=-0.124 right_roll=-0.058 right_gripper=0.5085\nstate[joint_eff]: [-0.4718, -2.1675, 5.7778, 1.9316, -0.1783, -0.022, -0.0073, -0.335, -13.2034, 10.5641, 1.6044, 0.4078, 0.1441, 0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38a542981f57486e0950479211e736f0e62eefde9942aa81f011dfe305ea2dbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73444979111a15aaa6d2c2fc6ce6b1a3682c91122c7165580bf97a210cda6cab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:089c2c345fdc00705667d3684e865fdce24a994133e0477397736663ddc3f774",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 16.51 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]: [-0.1577, 0.8204, 0.5869, -0.3714, -0.2474, -0.1837, 0.9982, 0.5735, 1.9785, 1.0126, 0.2966, 0.3985, 0.263, 0.9955]\nstate[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1697 left_yaw=0.1373 left_pitch=-0.0185 left_roll=-0.0001 left_gripper=0.9982 right_x=0.452 right_y=0.2146 right_z=0.0426 right_yaw=0.0842 right_pitch=-0.0387 right_roll=-0.0195 right_gripper=0.9955\nstate[joint_eff]: [-0.4991, -1.9624, 6.7487, 1.8339, -0.1832, -0.0269, -0.0171, -0.8547, -8.8821, 5.2855, 1.9219, 0.1685, -0.0513, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.8185, 0.58, -0.363, -0.2474, -0.1833, 0.9982, 0.5747, 1.9949, 0.981, 0.3679, 0.3878, 0.2569, 0.5082]\nstate[eef_state]: left_x=0.2947 left_y=0.0006 left_z=0.1688 left_yaw=0.1371 left_pitch=-0.0152 left_roll=-0.0008 left_gripper=0.9982 right_x=0.4504 right_y=0.2164 right_z=0.0358 right_yaw=0.0976 right_pitch=-0.0211 right_roll=-0.008 right_gripper=0.5082\nstate[joint_eff]: [-0.5402, -2.0718, 6.065, 1.8681, -0.1587, -0.0171, -0.0073, -0.4034, -10.9607, 5.1624, 1.746, 0.1783, 0.0317, 0.8669]",
      "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]: [-0.1577, 0.8177, 0.58, -0.3626, -0.2474, -0.1837, 0.9982, 0.5766, 1.7576, 1.4361, -0.4313, 0.363, 0.2363, 0.5085]\nstate[eef_state]: left_x=0.2947 left_y=0.0006 left_z=0.1691 left_yaw=0.1373 left_pitch=-0.0141 left_roll=-0.0014 left_gripper=0.9982 right_x=0.4448 right_y=0.2188 right_z=0.1902 right_yaw=0.1272 right_pitch=-0.124 right_roll=-0.058 right_gripper=0.5085\nstate[joint_eff]: [-0.4718, -2.1675, 5.7778, 1.9316, -0.1783, -0.022, -0.0073, -0.335, -13.2034, 10.5641, 1.6044, 0.4078, 0.1441, 0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38a542981f57486e0950479211e736f0e62eefde9942aa81f011dfe305ea2dbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73444979111a15aaa6d2c2fc6ce6b1a3682c91122c7165580bf97a210cda6cab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:089c2c345fdc00705667d3684e865fdce24a994133e0477397736663ddc3f774",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J7AQ7i4oUwLJefDLcW1Arw",
      "input": {
        "note": "Unclear whether the bottle is held or was left standing; retracting and raising the right arm to get an unobstructed top view of all three bottles.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.33,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01J7AQ7i4oUwLJefDLcW1Arw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.8169, 0.5709, -0.3542, -0.2474, -0.1833, 0.9982, 0.8005, 1.4071, 1.2858, -0.5869, 0.514, 0.3603, 0.9969]\nstate[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1668 left_yaw=0.1371 left_pitch=-0.0141 left_roll=-0.0011 left_gripper=0.9982 right_x=0.3366 right_y=0.2274 right_z=0.2569 right_yaw=0.1664 right_pitch=-0.0321 right_roll=-0.0224 right_gripper=0.9969\nstate[joint_eff]: [-0.6496, -1.7436, 6.6256, 1.8828, -0.1343, -0.0073, -0.0073, 0.2393, -7.9658, 10.0034, 1.663, 0.2564, 0.149, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bf209c4db91eb5daf76e94f04aee5d3aa300354d2a0176a89ef7fc2e10adc25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8345c774a42fa0c0316cade787b36a42c37831ee341421fea3aae894ecb557aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:01f33c69d778728e7170a5aef139491e8670937e110c16ac6202889d0732ddb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 4.178 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]: [-0.1577, 0.8185, 0.58, -0.363, -0.2474, -0.1833, 0.9982, 0.5747, 1.9949, 0.981, 0.3679, 0.3878, 0.2569, 0.5082]\nstate[eef_state]: left_x=0.2947 left_y=0.0006 left_z=0.1688 left_yaw=0.1371 left_pitch=-0.0152 left_roll=-0.0008 left_gripper=0.9982 right_x=0.4504 right_y=0.2164 right_z=0.0358 right_yaw=0.0976 right_pitch=-0.0211 right_roll=-0.008 right_gripper=0.5082\nstate[joint_eff]: [-0.5402, -2.0718, 6.065, 1.8681, -0.1587, -0.0171, -0.0073, -0.4034, -10.9607, 5.1624, 1.746, 0.1783, 0.0317, 0.8669]",
      "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]: [-0.1577, 0.8177, 0.58, -0.3626, -0.2474, -0.1837, 0.9982, 0.5766, 1.7576, 1.4361, -0.4313, 0.363, 0.2363, 0.5085]\nstate[eef_state]: left_x=0.2947 left_y=0.0006 left_z=0.1691 left_yaw=0.1373 left_pitch=-0.0141 left_roll=-0.0014 left_gripper=0.9982 right_x=0.4448 right_y=0.2188 right_z=0.1902 right_yaw=0.1272 right_pitch=-0.124 right_roll=-0.058 right_gripper=0.5085\nstate[joint_eff]: [-0.4718, -2.1675, 5.7778, 1.9316, -0.1783, -0.022, -0.0073, -0.335, -13.2034, 10.5641, 1.6044, 0.4078, 0.1441, 0.0122]\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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.8169, 0.5709, -0.3542, -0.2474, -0.1833, 0.9982, 0.8005, 1.4071, 1.2858, -0.5869, 0.514, 0.3603, 0.9969]\nstate[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1668 left_yaw=0.1371 left_pitch=-0.0141 left_roll=-0.0011 left_gripper=0.9982 right_x=0.3366 right_y=0.2274 right_z=0.2569 right_yaw=0.1664 right_pitch=-0.0321 right_roll=-0.0224 right_gripper=0.9969\nstate[joint_eff]: [-0.6496, -1.7436, 6.6256, 1.8828, -0.1343, -0.0073, -0.0073, 0.2393, -7.9658, 10.0034, 1.663, 0.2564, 0.149, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bf209c4db91eb5daf76e94f04aee5d3aa300354d2a0176a89ef7fc2e10adc25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8345c774a42fa0c0316cade787b36a42c37831ee341421fea3aae894ecb557aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01f33c69d778728e7170a5aef139491e8670937e110c16ac6202889d0732ddb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015gBuPvEdNGDdZcXJCqmUF5",
      "input": {
        "note": "Two bottles lie ahead; I likely did have the right-hand one gripped before and released it too high. Re-approaching that bottle at 15 cm height before descending onto its neck again.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.22,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_015gBuPvEdNGDdZcXJCqmUF5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.8127, 0.5652, -0.3477, -0.2474, -0.1833, 0.9982, 0.5739, 1.7206, 1.1412, -0.1127, 0.3328, 0.207, 0.9984]\nstate[eef_state]: left_x=0.2945 left_y=0.0006 left_z=0.1667 left_yaw=0.1371 left_pitch=-0.0094 left_roll=-0.0025 left_gripper=0.9982 right_x=0.4324 right_y=0.2151 right_z=0.138 right_yaw=0.1675 right_pitch=-0.0776 right_roll=-0.0376 right_gripper=0.9984\nstate[joint_eff]: [-0.4308, -1.6889, 6.4068, 1.7802, -0.2027, -0.0317, -0.0122, -0.8821, -8.4034, 7.5692, 2.0098, 0.0562, -0.0122, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52c7f8a2aa12d13ba20d26dc0424a2d6a6f663a4c3ac489eec646158beabd932",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50bad1bd7c28a828405e35abb04016d56d04d2af976d0c3ef23b3e471d1868ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:107a2cf9536a548ad5be304081b4302d35af5b7ce575bca3f2cac76d7df7b60d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 4.902 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]: [-0.1577, 0.8177, 0.58, -0.3626, -0.2474, -0.1837, 0.9982, 0.5766, 1.7576, 1.4361, -0.4313, 0.363, 0.2363, 0.5085]\nstate[eef_state]: left_x=0.2947 left_y=0.0006 left_z=0.1691 left_yaw=0.1373 left_pitch=-0.0141 left_roll=-0.0014 left_gripper=0.9982 right_x=0.4448 right_y=0.2188 right_z=0.1902 right_yaw=0.1272 right_pitch=-0.124 right_roll=-0.058 right_gripper=0.5085\nstate[joint_eff]: [-0.4718, -2.1675, 5.7778, 1.9316, -0.1783, -0.022, -0.0073, -0.335, -13.2034, 10.5641, 1.6044, 0.4078, 0.1441, 0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1577, 0.8169, 0.5709, -0.3542, -0.2474, -0.1833, 0.9982, 0.8005, 1.4071, 1.2858, -0.5869, 0.514, 0.3603, 0.9969]\nstate[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1668 left_yaw=0.1371 left_pitch=-0.0141 left_roll=-0.0011 left_gripper=0.9982 right_x=0.3366 right_y=0.2274 right_z=0.2569 right_yaw=0.1664 right_pitch=-0.0321 right_roll=-0.0224 right_gripper=0.9969\nstate[joint_eff]: [-0.6496, -1.7436, 6.6256, 1.8828, -0.1343, -0.0073, -0.0073, 0.2393, -7.9658, 10.0034, 1.663, 0.2564, 0.149, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1577, 0.8127, 0.5652, -0.3477, -0.2474, -0.1833, 0.9982, 0.5739, 1.7206, 1.1412, -0.1127, 0.3328, 0.207, 0.9984]\nstate[eef_state]: left_x=0.2945 left_y=0.0006 left_z=0.1667 left_yaw=0.1371 left_pitch=-0.0094 left_roll=-0.0025 left_gripper=0.9982 right_x=0.4324 right_y=0.2151 right_z=0.138 right_yaw=0.1675 right_pitch=-0.0776 right_roll=-0.0376 right_gripper=0.9984\nstate[joint_eff]: [-0.4308, -1.6889, 6.4068, 1.7802, -0.2027, -0.0317, -0.0122, -0.8821, -8.4034, 7.5692, 2.0098, 0.0562, -0.0122, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52c7f8a2aa12d13ba20d26dc0424a2d6a6f663a4c3ac489eec646158beabd932",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50bad1bd7c28a828405e35abb04016d56d04d2af976d0c3ef23b3e471d1868ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:107a2cf9536a548ad5be304081b4302d35af5b7ce575bca3f2cac76d7df7b60d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgwMKjgEIEhgCKkDssM4r5iR+/6rrQP0cyxtcel4o4sGhiZuP7gIU+fQFJ6nb1NsN5/iQ8nkRCbd56/GwJyYNCuE8PW4uI6uOGOw5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcCDzNUGEgzjJid02kFS6o//V4saDKI9artkFKYV1CKAuyIwe9EiQ0inwWIVdHJqbmgq0yzM25AxkvIemT1WoXHfKz/gy7OFsI8DM/0IsKfkk+ZIKqEBIm0QI2onY/N5KkcHKDO9/X0Td1E17QfxU8OhunqWfSZbFTx7Jncf5Sk9WgyWvibx0jGHJSqPWIjAM/hPbMJXEac9G3sR0zBVUaL2meezHTXeLOOiqCSFZVL5IdihSp4rMkkUyOBcvAptVfCKH0GWOTBT6CV3tcois2imKnlAlqniLg5ebBqR7FeAK5VHC181Ofb2OXaDZl1WZPpxE8lkF5wYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JjTBxkA8sLdvaqTSkLK5ou",
      "input": {
        "note": "The bottle is centred just right of the jaw column in the wrist view; descending to 4 cm, the height that worked last time, to straddle its upper body/neck.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.208,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01JjTBxkA8sLdvaqTSkLK5ou",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.812, 0.5644, -0.3477, -0.2478, -0.1833, 0.9982, 0.5369, 1.9327, 0.9283, 0.3462, 0.3008, 0.1825, 0.9991]\nstate[eef_state]: left_x=0.2943 left_y=0.0007 left_z=0.1665 left_yaw=0.1374 left_pitch=-0.0093 left_roll=-0.0023 left_gripper=0.9982 right_x=0.4413 right_y=0.206 right_z=0.0384 right_yaw=0.1708 right_pitch=-0.054 right_roll=-0.0259 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -1.7436, 6.3795, 1.7802, -0.1929, -0.0122, -0.0073, -0.759, -8.4171, 4.9162, 2.0, 0.0464, 0.0269, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13bb1f8232cd376e4469cc0593d4a92f8b3db68e2d329b7a916c3ac55600f4b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64c5c22d9f8355ea8fb616d3fc2e911e10a7963ec0f9949d2533cb12d155b962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13b8725045dc6eb311d6da2f6eef6d0a03093fd458d61eab014d26db15fa11b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 4.349 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]: [-0.1577, 0.8169, 0.5709, -0.3542, -0.2474, -0.1833, 0.9982, 0.8005, 1.4071, 1.2858, -0.5869, 0.514, 0.3603, 0.9969]\nstate[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1668 left_yaw=0.1371 left_pitch=-0.0141 left_roll=-0.0011 left_gripper=0.9982 right_x=0.3366 right_y=0.2274 right_z=0.2569 right_yaw=0.1664 right_pitch=-0.0321 right_roll=-0.0224 right_gripper=0.9969\nstate[joint_eff]: [-0.6496, -1.7436, 6.6256, 1.8828, -0.1343, -0.0073, -0.0073, 0.2393, -7.9658, 10.0034, 1.663, 0.2564, 0.149, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1577, 0.8127, 0.5652, -0.3477, -0.2474, -0.1833, 0.9982, 0.5739, 1.7206, 1.1412, -0.1127, 0.3328, 0.207, 0.9984]\nstate[eef_state]: left_x=0.2945 left_y=0.0006 left_z=0.1667 left_yaw=0.1371 left_pitch=-0.0094 left_roll=-0.0025 left_gripper=0.9982 right_x=0.4324 right_y=0.2151 right_z=0.138 right_yaw=0.1675 right_pitch=-0.0776 right_roll=-0.0376 right_gripper=0.9984\nstate[joint_eff]: [-0.4308, -1.6889, 6.4068, 1.7802, -0.2027, -0.0317, -0.0122, -0.8821, -8.4034, 7.5692, 2.0098, 0.0562, -0.0122, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1577, 0.812, 0.5644, -0.3477, -0.2478, -0.1833, 0.9982, 0.5369, 1.9327, 0.9283, 0.3462, 0.3008, 0.1825, 0.9991]\nstate[eef_state]: left_x=0.2943 left_y=0.0007 left_z=0.1665 left_yaw=0.1374 left_pitch=-0.0093 left_roll=-0.0023 left_gripper=0.9982 right_x=0.4413 right_y=0.206 right_z=0.0384 right_yaw=0.1708 right_pitch=-0.054 right_roll=-0.0259 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -1.7436, 6.3795, 1.7802, -0.1929, -0.0122, -0.0073, -0.759, -8.4171, 4.9162, 2.0, 0.0464, 0.0269, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13bb1f8232cd376e4469cc0593d4a92f8b3db68e2d329b7a916c3ac55600f4b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64c5c22d9f8355ea8fb616d3fc2e911e10a7963ec0f9949d2533cb12d155b962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13b8725045dc6eb311d6da2f6eef6d0a03093fd458d61eab014d26db15fa11b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISpAMKjgEIEhgCKkA/igsJlbzwGOhQskp24B3sN+PwUfZbI2dBC/T7v1Rm0UYzIpc0xR6cimgvYAw0denBWNY2rDZRmSKd6VXqAF3KMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcWDzNUGEgwfwSM2H3nM8KxkIEcaDHRiyymT1qj5klMR0yIwl/R5909IT4JiCVNk+9MDfrADk1+G7Eqcb4E4w+jzPvU+An21jReXiD9JLAcIwEaPKsIBHEsaafBxKO8k9SW4VzoQJrEGgGguch1SgNyGeT0iYgL/A1MTFOSQYuQeh6KMZ1aU4JUNZm27bxAsy4I9OWg72U6hwE7UZ76UV4pD56QijWNbKAftnprR8jyJulCBXjHuCp39S3JT976b+w5gBcvetVVaO9hO80gcyxW0qWJ8cHzYdLyOJWZNh5ezZgDqn35Iq3hV56jOyURqW46k3r4EQogqzdkzp8QSlORxMmW5xSZYmcpU59BivcivWB8/E/n4xEwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X3fzXtpkMQUBXNfpcUrJ1R",
      "input": {
        "note": "Jaws straddle the bottle's upper body; closing to ~2.4 cm so the grip is firm enough to lift but lets the bottle pivot.",
        "targets": {
          "right_gripper": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01X3fzXtpkMQUBXNfpcUrJ1R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.812, 0.5644, -0.3477, -0.2474, -0.1837, 0.9982, 0.5365, 1.9495, 0.8837, 0.4572, 0.2897, 0.181, 0.4734]\nstate[eef_state]: left_x=0.2943 left_y=0.0006 left_z=0.1665 left_yaw=0.1373 left_pitch=-0.0094 left_roll=-0.0029 left_gripper=0.9982 right_x=0.441 right_y=0.2077 right_z=0.0352 right_yaw=0.1809 right_pitch=-0.0099 right_roll=-0.0035 right_gripper=0.4734\nstate[joint_eff]: [-0.6222, -1.8256, 6.3111, 1.8095, -0.149, -0.0513, -0.0073, -0.1709, -9.8803, 5.094, 1.7607, 0.149, -0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14016202a028aff7c1f874aa8978bed00e205c5f1cb08f8a2db64229ce0de25b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:174a93cc19c8d8a8a7ddd1986bcada6b44358b653b71c7845447cc322711694c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94352b128272aa1b4f93fff25dec3492d86e53fc8c1cff97dd8db0036b034d6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 15.5 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]: [-0.1577, 0.8127, 0.5652, -0.3477, -0.2474, -0.1833, 0.9982, 0.5739, 1.7206, 1.1412, -0.1127, 0.3328, 0.207, 0.9984]\nstate[eef_state]: left_x=0.2945 left_y=0.0006 left_z=0.1667 left_yaw=0.1371 left_pitch=-0.0094 left_roll=-0.0025 left_gripper=0.9982 right_x=0.4324 right_y=0.2151 right_z=0.138 right_yaw=0.1675 right_pitch=-0.0776 right_roll=-0.0376 right_gripper=0.9984\nstate[joint_eff]: [-0.4308, -1.6889, 6.4068, 1.7802, -0.2027, -0.0317, -0.0122, -0.8821, -8.4034, 7.5692, 2.0098, 0.0562, -0.0122, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1577, 0.812, 0.5644, -0.3477, -0.2478, -0.1833, 0.9982, 0.5369, 1.9327, 0.9283, 0.3462, 0.3008, 0.1825, 0.9991]\nstate[eef_state]: left_x=0.2943 left_y=0.0007 left_z=0.1665 left_yaw=0.1374 left_pitch=-0.0093 left_roll=-0.0023 left_gripper=0.9982 right_x=0.4413 right_y=0.206 right_z=0.0384 right_yaw=0.1708 right_pitch=-0.054 right_roll=-0.0259 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -1.7436, 6.3795, 1.7802, -0.1929, -0.0122, -0.0073, -0.759, -8.4171, 4.9162, 2.0, 0.0464, 0.0269, 0.0659]",
      "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]: [-0.1577, 0.812, 0.5644, -0.3477, -0.2474, -0.1837, 0.9982, 0.5365, 1.9495, 0.8837, 0.4572, 0.2897, 0.181, 0.4734]\nstate[eef_state]: left_x=0.2943 left_y=0.0006 left_z=0.1665 left_yaw=0.1373 left_pitch=-0.0094 left_roll=-0.0029 left_gripper=0.9982 right_x=0.441 right_y=0.2077 right_z=0.0352 right_yaw=0.1809 right_pitch=-0.0099 right_roll=-0.0035 right_gripper=0.4734\nstate[joint_eff]: [-0.6222, -1.8256, 6.3111, 1.8095, -0.149, -0.0513, -0.0073, -0.1709, -9.8803, 5.094, 1.7607, 0.149, -0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14016202a028aff7c1f874aa8978bed00e205c5f1cb08f8a2db64229ce0de25b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:174a93cc19c8d8a8a7ddd1986bcada6b44358b653b71c7845447cc322711694c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94352b128272aa1b4f93fff25dec3492d86e53fc8c1cff97dd8db0036b034d6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS4gIKjgEIEhgCKkBswnWNQMt/ki2Kencu1sfDsh47XacVn3h3Ek+Hi4V14YcyoZB4jFa8uyFf0jRDVuIMha+YIwCjPECDHvEV2ycnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcuDzNUGEgyXwfg9Yyc5vWTD+ZsaDADvLRZ2MoZ4zuregSIwekW+Co5epDyxZ4uVGBaZtfw6oipku6OSrmY0wxqXPesinV9q87ANNxgrHM/bEIKqKoAB6IPWzCLep84ACETsq1a5uWl8c849EEOPbU84Lq6aDOobWkacbcCo3hFC6ulyK4uWe4sIsPrzpqexPVxBQ2NYAkQa0cFdwUEJsZSpYWqMX2ufiwNTvfQuYZvEiE9K1y2bD8QDr1h1G14FUHKA53KsEucegMQ+gc/NRa3a9hcmwvAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0193W4krH18SNodvbij6s2ie",
      "input": {
        "note": "Gripper settled at 0.47 (~4.5 cm) — it has the bottle. Lifting to 26 cm so the bottle can swing down to hang vertically, cap up, in the loose grip.",
        "targets": {
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_0193W4krH18SNodvbij6s2ie",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.812, 0.5644, -0.3473, -0.2474, -0.1833, 0.9982, 0.5365, 1.7027, 1.3663, -0.5018, 0.2569, 0.1661, 0.4735]\nstate[eef_state]: left_x=0.2944 left_y=0.0006 left_z=0.1666 left_yaw=0.1371 left_pitch=-0.009 left_roll=-0.0027 left_gripper=0.9982 right_x=0.4225 right_y=0.2032 right_z=0.1705 right_yaw=0.2068 right_pitch=-0.2337 right_roll=-0.072 right_gripper=0.4735\nstate[joint_eff]: [-0.294, -1.8393, 6.2974, 1.8486, -0.2125, -0.022, -0.0073, -0.335, -14.2154, 13.2171, 2.6838, 0.4029, 0.1294, 1.0183]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19464f52a3160cabd0b9ae43d410f5c15d22a9303393eb62063ad94d296d6ed3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dac58d45ddb2422a3c2a5846f45727ecef2b70214f7ea18465c48972e225d93f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aa98470fa2cb8bce28e558c8b2572358c05257250221596f966d3cabdc815124",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 5.905 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]: [-0.1577, 0.812, 0.5644, -0.3477, -0.2478, -0.1833, 0.9982, 0.5369, 1.9327, 0.9283, 0.3462, 0.3008, 0.1825, 0.9991]\nstate[eef_state]: left_x=0.2943 left_y=0.0007 left_z=0.1665 left_yaw=0.1374 left_pitch=-0.0093 left_roll=-0.0023 left_gripper=0.9982 right_x=0.4413 right_y=0.206 right_z=0.0384 right_yaw=0.1708 right_pitch=-0.054 right_roll=-0.0259 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -1.7436, 6.3795, 1.7802, -0.1929, -0.0122, -0.0073, -0.759, -8.4171, 4.9162, 2.0, 0.0464, 0.0269, 0.0659]",
      "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]: [-0.1577, 0.812, 0.5644, -0.3477, -0.2474, -0.1837, 0.9982, 0.5365, 1.9495, 0.8837, 0.4572, 0.2897, 0.181, 0.4734]\nstate[eef_state]: left_x=0.2943 left_y=0.0006 left_z=0.1665 left_yaw=0.1373 left_pitch=-0.0094 left_roll=-0.0029 left_gripper=0.9982 right_x=0.441 right_y=0.2077 right_z=0.0352 right_yaw=0.1809 right_pitch=-0.0099 right_roll=-0.0035 right_gripper=0.4734\nstate[joint_eff]: [-0.6222, -1.8256, 6.3111, 1.8095, -0.149, -0.0513, -0.0073, -0.1709, -9.8803, 5.094, 1.7607, 0.149, -0.0073, 1.033]",
      "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]: [-0.1577, 0.812, 0.5644, -0.3473, -0.2474, -0.1833, 0.9982, 0.5365, 1.7027, 1.3663, -0.5018, 0.2569, 0.1661, 0.4735]\nstate[eef_state]: left_x=0.2944 left_y=0.0006 left_z=0.1666 left_yaw=0.1371 left_pitch=-0.009 left_roll=-0.0027 left_gripper=0.9982 right_x=0.4225 right_y=0.2032 right_z=0.1705 right_yaw=0.2068 right_pitch=-0.2337 right_roll=-0.072 right_gripper=0.4735\nstate[joint_eff]: [-0.294, -1.8393, 6.2974, 1.8486, -0.2125, -0.022, -0.0073, -0.335, -14.2154, 13.2171, 2.6838, 0.4029, 0.1294, 1.0183]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19464f52a3160cabd0b9ae43d410f5c15d22a9303393eb62063ad94d296d6ed3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dac58d45ddb2422a3c2a5846f45727ecef2b70214f7ea18465c48972e225d93f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa98470fa2cb8bce28e558c8b2572358c05257250221596f966d3cabdc815124",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018xN6REiiR7iqoriHVX7TAH",
      "input": {
        "note": "Top view confirms the bottle is off the table and held, but the grip is tight so it stays horizontal. Lowering to 13 cm so I can loosen the jaws and let it swing/settle base-down from a small height.",
        "targets": {
          "right_x": 0.4,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_018xN6REiiR7iqoriHVX7TAH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.812, 0.5644, -0.3462, -0.2478, -0.1833, 0.9982, 0.5735, 1.5452, 1.0119, -0.2882, 0.2764, 0.178, 0.4738]\nstate[eef_state]: left_x=0.2945 left_y=0.0007 left_z=0.1668 left_yaw=0.1374 left_pitch=-0.0079 left_roll=-0.0028 left_gripper=0.9982 right_x=0.3755 right_y=0.1895 right_z=0.1274 right_yaw=0.2224 right_pitch=-0.2127 right_roll=-0.0716 right_gripper=0.4738\nstate[joint_eff]: [-0.5402, -1.6615, 6.3795, 1.8437, -0.2076, -0.0464, -0.0073, -0.0342, -8.6359, 9.9077, 3.5775, 0.3687, 0.0366, 0.8474]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:604d8cda4371e05bbe62845cf59a20569ac0924569916e09d6fd7cd6db223b03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5aacafa22357ae4333ae8bc1809dccebc2c41fea402589e6567f9f37d7d836f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5084181516e384fd1c372b793ad190507f62e7a3d69d761a28821d2d7217d05c",
        "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 · 12.29 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]: [-0.1577, 0.812, 0.5644, -0.3477, -0.2474, -0.1837, 0.9982, 0.5365, 1.9495, 0.8837, 0.4572, 0.2897, 0.181, 0.4734]\nstate[eef_state]: left_x=0.2943 left_y=0.0006 left_z=0.1665 left_yaw=0.1373 left_pitch=-0.0094 left_roll=-0.0029 left_gripper=0.9982 right_x=0.441 right_y=0.2077 right_z=0.0352 right_yaw=0.1809 right_pitch=-0.0099 right_roll=-0.0035 right_gripper=0.4734\nstate[joint_eff]: [-0.6222, -1.8256, 6.3111, 1.8095, -0.149, -0.0513, -0.0073, -0.1709, -9.8803, 5.094, 1.7607, 0.149, -0.0073, 1.033]",
      "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]: [-0.1577, 0.812, 0.5644, -0.3473, -0.2474, -0.1833, 0.9982, 0.5365, 1.7027, 1.3663, -0.5018, 0.2569, 0.1661, 0.4735]\nstate[eef_state]: left_x=0.2944 left_y=0.0006 left_z=0.1666 left_yaw=0.1371 left_pitch=-0.009 left_roll=-0.0027 left_gripper=0.9982 right_x=0.4225 right_y=0.2032 right_z=0.1705 right_yaw=0.2068 right_pitch=-0.2337 right_roll=-0.072 right_gripper=0.4735\nstate[joint_eff]: [-0.294, -1.8393, 6.2974, 1.8486, -0.2125, -0.022, -0.0073, -0.335, -14.2154, 13.2171, 2.6838, 0.4029, 0.1294, 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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.812, 0.5644, -0.3462, -0.2478, -0.1833, 0.9982, 0.5735, 1.5452, 1.0119, -0.2882, 0.2764, 0.178, 0.4738]\nstate[eef_state]: left_x=0.2945 left_y=0.0007 left_z=0.1668 left_yaw=0.1374 left_pitch=-0.0079 left_roll=-0.0028 left_gripper=0.9982 right_x=0.3755 right_y=0.1895 right_z=0.1274 right_yaw=0.2224 right_pitch=-0.2127 right_roll=-0.0716 right_gripper=0.4738\nstate[joint_eff]: [-0.5402, -1.6615, 6.3795, 1.8437, -0.2076, -0.0464, -0.0073, -0.0342, -8.6359, 9.9077, 3.5775, 0.3687, 0.0366, 0.8474]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:604d8cda4371e05bbe62845cf59a20569ac0924569916e09d6fd7cd6db223b03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5aacafa22357ae4333ae8bc1809dccebc2c41fea402589e6567f9f37d7d836f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5084181516e384fd1c372b793ad190507f62e7a3d69d761a28821d2d7217d05c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4QUKjgEIEhgCKkBpZrRx6Yj2k28YxV8d30ehBAG8srf1KSnABa2+0iXhQY/hFmypz2uy8ArxBLRb6iIpURFXBBochqmctMnxJf0JMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeKDzNUGEgxovW+tYAg4e0iav0UaDI4VztQWW6a7HrQgNiIwBmyFIPbflR3D+PUuXQ7TaK82heah1GqVNrBH4um6dtSKHZX9B+LMQwtFP6T47AheKv8Dzu7vLmEz/mMGoISoJBOZIpJEXq8BvH2qlkedmogJmfehtS15BZK5ZEd5DFsUMSqAqdOZqmbt6TSyCpV+pQtQeuyGUNIvhPikYum826LIWV6OxFKKbbPgh2GBh8hjUQSmYNsvqWGoDyzUR/wB4jaB4bJgu7jdSF4/sEJDZqW/8KNFg3pab55JOvqj95E7C/rPk+H0WhohrZlFNBLMO5+rw4rmkBZ5vKJCwmQPIJH0MM0Tv19yvo38iX35FeqDH+1gR/aHPJhiuQs55CoHs9VfYElSmhlfOpiI2G8JXmaVyfC6VgODS8VdjpLhSwtHoBp3vq1gwpwLfOHY/mV5DFFjA/GXPh64s3VmaFSP0sjBiUem4ZCdlFvgsmSkgJgKP9lmw/qQzV3wTGxmjS2LbBRCTRzOVOp7BOSohGBGJUkddhfSRiSWWxF6uiUXdI2g6irzRFJ/Ns1JZlTUygVvpK4cp4KUf6kkngLc+3CTJOhMk5fHQO6yocrjPAEybDoejuUhO5QeHml/XCjJwFGQBE/X+JX5ApmN01/nMA8oNq+hIhOMlgFidePBA0GLeNRMKY0x7qtjSLoKmLqoj0jYZx9lNUACurAIEK0R9i8Xi1XMXjmwaP1YNxyxMMkzycbehgLrOhxwafd2e5y8AMVw/48Hmm/WnWpMQcCqhsMyoMYgRhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015xfxyjZB82V5Lcha3c4vEL",
      "input": {
        "note": "Bottle held horizontally at 13 cm with its cap pointing forward; loosening the jaws to ~6 cm so the heavy base end swings down and the bottle settles onto its base.",
        "targets": {
          "right_gripper": 0.65
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_015xfxyjZB82V5Lcha3c4vEL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.8131, 0.5644, -0.3466, -0.2478, -0.1833, 0.9982, 0.5823, 1.5219, 0.8146, -0.0658, 0.2676, 0.178, 0.6427]\nstate[eef_state]: left_x=0.2945 left_y=0.0007 left_z=0.1665 left_yaw=0.1374 left_pitch=-0.0093 left_roll=-0.0023 left_gripper=0.9982 right_x=0.3615 right_y=0.1864 right_z=0.0943 right_yaw=0.2416 right_pitch=-0.1693 right_roll=-0.0489 right_gripper=0.6427\nstate[joint_eff]: [-0.4855, -1.2376, 6.5983, 1.8193, -0.1832, -0.0171, -0.0073, -0.3897, -8.0889, 8.0615, 2.254, 0.2173, 0.0366, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99dce8c4bbaeb956244e8d7d9d99bfb35aacd9c8a806672633faa4e7ee928606",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b9981eeb02be1398d5545029442336938c4bf494b76be0b5023af53e53c3a63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f86092acdc7496c6698728ed8561fd4b015928def178fe70adc719ac9ab7c18d",
        "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 · 9.452 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]: [-0.1577, 0.812, 0.5644, -0.3473, -0.2474, -0.1833, 0.9982, 0.5365, 1.7027, 1.3663, -0.5018, 0.2569, 0.1661, 0.4735]\nstate[eef_state]: left_x=0.2944 left_y=0.0006 left_z=0.1666 left_yaw=0.1371 left_pitch=-0.009 left_roll=-0.0027 left_gripper=0.9982 right_x=0.4225 right_y=0.2032 right_z=0.1705 right_yaw=0.2068 right_pitch=-0.2337 right_roll=-0.072 right_gripper=0.4735\nstate[joint_eff]: [-0.294, -1.8393, 6.2974, 1.8486, -0.2125, -0.022, -0.0073, -0.335, -14.2154, 13.2171, 2.6838, 0.4029, 0.1294, 1.0183]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1577, 0.812, 0.5644, -0.3462, -0.2478, -0.1833, 0.9982, 0.5735, 1.5452, 1.0119, -0.2882, 0.2764, 0.178, 0.4738]\nstate[eef_state]: left_x=0.2945 left_y=0.0007 left_z=0.1668 left_yaw=0.1374 left_pitch=-0.0079 left_roll=-0.0028 left_gripper=0.9982 right_x=0.3755 right_y=0.1895 right_z=0.1274 right_yaw=0.2224 right_pitch=-0.2127 right_roll=-0.0716 right_gripper=0.4738\nstate[joint_eff]: [-0.5402, -1.6615, 6.3795, 1.8437, -0.2076, -0.0464, -0.0073, -0.0342, -8.6359, 9.9077, 3.5775, 0.3687, 0.0366, 0.8474]\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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.8131, 0.5644, -0.3466, -0.2478, -0.1833, 0.9982, 0.5823, 1.5219, 0.8146, -0.0658, 0.2676, 0.178, 0.6427]\nstate[eef_state]: left_x=0.2945 left_y=0.0007 left_z=0.1665 left_yaw=0.1374 left_pitch=-0.0093 left_roll=-0.0023 left_gripper=0.9982 right_x=0.3615 right_y=0.1864 right_z=0.0943 right_yaw=0.2416 right_pitch=-0.1693 right_roll=-0.0489 right_gripper=0.6427\nstate[joint_eff]: [-0.4855, -1.2376, 6.5983, 1.8193, -0.1832, -0.0171, -0.0073, -0.3897, -8.0889, 8.0615, 2.254, 0.2173, 0.0366, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99dce8c4bbaeb956244e8d7d9d99bfb35aacd9c8a806672633faa4e7ee928606",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b9981eeb02be1398d5545029442336938c4bf494b76be0b5023af53e53c3a63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f86092acdc7496c6698728ed8561fd4b015928def178fe70adc719ac9ab7c18d",
        "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_01KRdGHktL3kQxyyetiqMudb",
      "input": {
        "note": "The bottle slid back down to the table still lying; opening the jaws and moving forward to the narrow neck just below the cap, which is the part that can retain the bottle while it swings upright.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.435,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01KRdGHktL3kQxyyetiqMudb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.8124, 0.5644, -0.3458, -0.2474, -0.1837, 0.9982, 0.4789, 1.8389, 0.7612, 0.4076, 0.1883, 0.1059, 0.9968]\nstate[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1668 left_yaw=0.1373 left_pitch=-0.0079 left_roll=-0.0033 left_gripper=0.9982 right_x=0.4128 right_y=0.1811 right_z=0.028 right_yaw=0.2474 right_pitch=-0.0861 right_roll=-0.0246 right_gripper=0.9968\nstate[joint_eff]: [-0.253, -1.6479, 6.653, 1.7558, -0.1978, -0.0513, -0.0073, -0.5675, -7.2957, 8.0068, 1.9121, 0.0122, 0.1392, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af2f18d4bc7edabc305f267f129087f76c52e7cf4d3f867e1fea7f7939c5fbcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ceb6525f08e3f2d9d2c7bea6b7a0c5ec96b381008860aa4f6f8b947d9cc23d41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e34f602a3beea9c09ffc0886fbe55d3438c681f9dd27522efeab120b52921b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 16.95 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]: [-0.1577, 0.812, 0.5644, -0.3462, -0.2478, -0.1833, 0.9982, 0.5735, 1.5452, 1.0119, -0.2882, 0.2764, 0.178, 0.4738]\nstate[eef_state]: left_x=0.2945 left_y=0.0007 left_z=0.1668 left_yaw=0.1374 left_pitch=-0.0079 left_roll=-0.0028 left_gripper=0.9982 right_x=0.3755 right_y=0.1895 right_z=0.1274 right_yaw=0.2224 right_pitch=-0.2127 right_roll=-0.0716 right_gripper=0.4738\nstate[joint_eff]: [-0.5402, -1.6615, 6.3795, 1.8437, -0.2076, -0.0464, -0.0073, -0.0342, -8.6359, 9.9077, 3.5775, 0.3687, 0.0366, 0.8474]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.1577, 0.8131, 0.5644, -0.3466, -0.2478, -0.1833, 0.9982, 0.5823, 1.5219, 0.8146, -0.0658, 0.2676, 0.178, 0.6427]\nstate[eef_state]: left_x=0.2945 left_y=0.0007 left_z=0.1665 left_yaw=0.1374 left_pitch=-0.0093 left_roll=-0.0023 left_gripper=0.9982 right_x=0.3615 right_y=0.1864 right_z=0.0943 right_yaw=0.2416 right_pitch=-0.1693 right_roll=-0.0489 right_gripper=0.6427\nstate[joint_eff]: [-0.4855, -1.2376, 6.5983, 1.8193, -0.1832, -0.0171, -0.0073, -0.3897, -8.0889, 8.0615, 2.254, 0.2173, 0.0366, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1577, 0.8124, 0.5644, -0.3458, -0.2474, -0.1837, 0.9982, 0.4789, 1.8389, 0.7612, 0.4076, 0.1883, 0.1059, 0.9968]\nstate[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1668 left_yaw=0.1373 left_pitch=-0.0079 left_roll=-0.0033 left_gripper=0.9982 right_x=0.4128 right_y=0.1811 right_z=0.028 right_yaw=0.2474 right_pitch=-0.0861 right_roll=-0.0246 right_gripper=0.9968\nstate[joint_eff]: [-0.253, -1.6479, 6.653, 1.7558, -0.1978, -0.0513, -0.0073, -0.5675, -7.2957, 8.0068, 1.9121, 0.0122, 0.1392, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af2f18d4bc7edabc305f267f129087f76c52e7cf4d3f867e1fea7f7939c5fbcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ceb6525f08e3f2d9d2c7bea6b7a0c5ec96b381008860aa4f6f8b947d9cc23d41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e34f602a3beea9c09ffc0886fbe55d3438c681f9dd27522efeab120b52921b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISrQkKjgEIEhgCKkCnEKpsbwV/6OnlJVc27PhSzw5kwAv/NVy8kRK28YGEZAxsnwzjhgwqWP21AFMk5jJbJynIZapU4ypaosgHtTY+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfiDzNUGEgw7GYHjqnaAnI2lpH4aDMprA2Pz4wDtc5CU+iIw1AyPR7GHGduoyTeKuYUb1VQ2qjrM2quBIzVeZb4nw6rWQs0R8Vjfo2WvWxeHwtg6KssHkv0gZQNSOpHhGc4ydWKLpsDs/Kcei8aJp+60U87uObnaoJRcxltfnvLrLaHGUAQyEnrGnM/Sf9z9bmGSPRDiSR08puS/q/oknl4j0uGHAToFq43RC7iwH461SulRh4SMPLpAm3WzFVNwGE+jwlhLYmAHFtJypaYF6StKr3VtpEwqr6Wpg+44SgGM6g44i3BMgtjRPLbqH0QeG31Mpto/QJ6q+j5FftG4aj8Uy9+xDgpD0/n6QkA9iQ8c+WepQ0FkI3V/gr41k76woR4RwSeT0CU3H5P68fvgcsQjlFAZ+vNFAIldYeoT7xCuu3G3HQPZ4DPBxdxrySTQ5pvDHo2YMMUCWuSeE1UiW9XB2ZMKb3sGks+JvLCAWzi0LK2SwPeuFMbU0mmY3L7TzHOsbmpZgxynqDFp8zx3+DicZCwJd22czG0WVOmyqxHr0hXz2O90YiBv7NpbIr+lvDAoFS+GW9MtOXfQJAW0ynTWE4aFQCTrpUt4qIVwUHzC9tgHygCerhfy0k4ndHwjR1FfKEwTg7BjfcBqiEl/IGFvgUmNA4Uhkr85RiRuNrJljRR2438k8vr6mU30LBr0E/2OOLJLj7OOI5HuAQ4srEC6LmsIy+iqwsG4/a/Y3D1RxCOnnrAmUHrSUGuRsu5ckE1Ez4wVW6q0zicW8Hm9Z5NxqTrUf4HjM/8sPIwaaU38Vxd7jEyKuBXLqiqo4HMREeIPknSDSGk7bSJ08JUzIezKM4MnBpMsQMbMEa81GxuN0TrF6+3xxp5cUHu4rSx2+H9V4EbRZ89TBqcB4ldjAFB6FZezTjgKYCI+xOJN7QCE2j1QZDKAKhFxc2EQeTMCwUnAav9AqFnILZ1B37Gf+asAQD1qU7Y3KaCZ4JD/W56tiQ8rsSjVtJZDYxuYbB5sARN29I+wKvG3rENiCcz12V/XcZ0IHaZ5nzL14q7EoNoL6sYpHonJmxsfd+pwOL4NI03pA3S3ZgwhUxbM0fbEgFQK03m0i1AjNhFK1dB8inyiYWiqWOJsHCh434YyP/rS7+azqzxsloxMbalP1sQ+1PuBgeG2Cnd9Dsd8c1MSBGLXAl7OoP5zLm+0XIlIAl96kIrb3N4vVmwL8/OUBRtL0OLajeM4fi5sW7zKYhrtdT9bRvI3GIb9dodywUcJEHjmJVu0scB+X0wRGLq10eXSFR3M7gjFjv7FyKFyDBuRer0TrPEYcywy5Tr/JKn8oPMsxqiic14UFuDzDutPV9PLqFyva8qNcDQebM4o5TkyDD7Catq8nmYAjuFPWjvBwuowQyMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016ELasi8HsezsrYGvVJ73VJ",
      "input": {
        "note": "The cap and neck sit forward-left of the jaws; moving onto the neck while closing the jaws to ~2 cm so they capture the narrow neck under the cap.",
        "targets": {
          "right_gripper": 0.22,
          "right_x": 0.44,
          "right_y": 0.2,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_016ELasi8HsezsrYGvVJ73VJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.8124, 0.5644, -0.345, -0.2474, -0.1833, 0.9982, 0.4854, 1.9022, 0.8082, 0.4858, 0.1795, 0.0994, 0.5159]\nstate[eef_state]: left_x=0.2947 left_y=0.0006 left_z=0.167 left_yaw=0.1371 left_pitch=-0.0072 left_roll=-0.0032 left_gripper=0.9982 right_x=0.4304 right_y=0.1955 right_z=0.0323 right_yaw=0.2655 right_pitch=-0.0271 right_roll=-0.0109 right_gripper=0.5159\nstate[joint_eff]: [-0.4034, -1.6615, 6.4068, 1.7802, -0.188, -0.022, -0.0073, 0.5402, -7.6103, 7.9248, 1.8877, 0.1538, 0.1148, 0.906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77dbd0c7330096952cfab9b4d7ff0e0f9721de5fe6a4d8b55039c44aacfebb0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efa0cbe6c3fd5c9393af8ae71d6cfe1576c867df1b091808edf0c93a86e10af3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d442a9f50166bb9a71be74403fd811a07f3ee6623888f972c5737462dc55c00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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