adhoc

completed
2026-09-23T01:04:07.571806+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
493.9 s
total steps
331
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 start with the rightmost bottle: moving the right arm to hover ~12 cm above it so the wrist camera can show me where its cap/neck is.
move_to
right_x0.3700right_y0.2300right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0212, 0.7933, 0.6071, -0.3767, -0.0227, -0.0284, 0.9986, -0.0158, 0.7887, 0.6037, -0.3862, -0.0242, -0.0349, 0.9998] state[eef_state]: left_x=0.2955 left_y=0.0013 left_z=0.1823 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0032 right_z=0.18 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.5538, -1.4564, 9.7983, 1.7949, -0.0513, 0.1294, -0.1538, -0.8684, -1.1419, 10.4137, 1.873, 0.0171, 0.2125, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.23, "right_z": 0.15, "right_gripper": 1.0}, "note": "Three bottles lie on their sides in the middle of the table. I'll start with the rightmost bottle: moving the right arm to hover ~12 cm above it so the wrist camera can show me where its cap/neck is."})
tool
executing move_to over 19 steps (1.9s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteRight wrist view shows bottles lying with their caps pointing away from the base. Advancing 4 cm forward and dropping to 10 cm to line the jaws up over the neck of the bottle beneath me.
move_to
right_x0.4000right_y0.2350right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.7982, 0.6136, -0.3798, -0.0231, -0.0292, 0.9984, 0.783, 1.5822, 0.9768, -0.1844, 0.5915, 0.4309, 0.9998] state[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1833 left_yaw=0.0011 left_pitch=-0.0019 left_roll=-0.0004 left_gripper=0.9984 right_x=0.3584 right_y=0.2228 right_z=0.1321 right_yaw=0.0421 right_pitch=-0.0597 right_roll=-0.0509 right_gripper=0.9998 state[joint_eff]: [-0.1162, -1.6889, 6.4615, 1.7656, -0.0171, -0.0269, -0.0317, -0.0342, -7.3368, 9.0188, 1.6532, 0.4957, 0.1392, -0.0317] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.235, "right_z": 0.1}, "note": "Right wrist view shows bottles lying with their caps pointing away from the base. Advancing 4 cm forward and dropping to 10 cm to line the jaws up over the neck of the bottle beneath me."})
tool
executing move_to over 4 steps (0.4s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe target bottle sits slightly right of the jaw column and well forward in the wrist view, so I'm advancing 7 cm and shifting 1.5 cm to the arm's right; this also calibrates how far a radial move shifts the wrist image.
move_to
right_x0.4500right_y0.2200right_z0.0900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.7994, 0.6136, -0.3794, -0.0231, -0.0292, 0.9984, 0.7311, 1.7359, 0.9443, 0.0082, 0.5541, 0.3908, 0.9998] state[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.183 left_yaw=0.0011 left_pitch=-0.0027 left_roll=-0.0004 left_gripper=0.9984 right_x=0.3831 right_y=0.2235 right_z=0.085 right_yaw=0.0399 right_pitch=-0.0729 right_roll=-0.0589 right_gripper=0.9998 state[joint_eff]: [-0.1709, -1.4291, 7.0906, 1.8095, -0.0171, -0.0269, -0.0171, -0.5812, -8.0615, 8.2803, 1.7949, 0.4371, 0.1148, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.22, "right_z": 0.09}, "note": "The target bottle sits slightly right of the jaw column and well forward in the wrist view, so I'm advancing 7 cm and shifting 1.5 cm to the arm's right; this also calibrates how far a radial move shifts the wrist image."})
tool
executing move_to over 6 steps (0.6s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe arm stopped at r≈0.45 — that's its reach limit at this height, so the far bottle's neck is out of reach. Descending to bottle-axis height over the nearer part of its body (shifted 2.8 cm to the arm's right to centre the jaws) so I can drag it closer first.
move_to
right_x0.3900right_y0.2000right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8005, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.7269, 1.7607, 0.9443, 0.054, 0.5381, 0.3691, 0.9998] state[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1827 left_yaw=0.0011 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3879 right_y=0.2286 right_z=0.0808 right_yaw=0.0604 right_pitch=-0.0641 right_roll=-0.0544 right_gripper=0.9998 state[joint_eff]: [-0.0615, -1.5385, 6.8171, 1.7949, -0.0513, -0.0415, -0.0171, -0.6496, -8.4718, 8.0205, 2.0293, 0.2613, 0.0904, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.2, "right_z": 0.035}, "note": "The arm stopped at r\u22480.45 \u2014 that's its reach limit at this height, so the far bottle's neck is out of reach. Descending to bottle-axis height over the nearer part of its body (shifted 2.8 cm to the arm's right to centre the jaws) so I can drag it closer first."})
tool
executing move_to over 3 steps (0.3s)
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 noteThe last command didn't move the arm at all — it is stuck against its reach limit in an awkward pose. Retreating up and back to a comfortable pose before re-approaching a closer bottle.
move_to
right_x0.3000right_y0.1800right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8005, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.7269, 1.7607, 0.9443, 0.054, 0.5381, 0.3691, 0.9998] state[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1827 left_yaw=0.0011 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3879 right_y=0.2286 right_z=0.0808 right_yaw=0.0604 right_pitch=-0.0641 right_roll=-0.0544 right_gripper=0.9998 state[joint_eff]: [-0.0615, -1.5111, 6.7214, 1.7607, -0.0366, -0.0659, -0.0122, -0.6085, -8.4855, 8.212, 1.9805, 0.2857, 0.0806, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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": {"right_x": 0.3, "right_y": 0.18, "right_z": 0.2}, "note": "The last command didn't move the arm at all \u2014 it is stuck against its reach limit in an awkward pose. Retreating up and back to a comfortable pose before re-approaching a closer bottle."})
tool
executing move_to over 8 steps (0.8s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteWrist view shows a bottle centred on the jaw column with its cap pointing away from the base. Advancing forward and down to bring the jaws over its body.
move_to
right_x0.4000right_y0.1900right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3786, -0.0231, -0.0292, 0.9983, 0.8135, 1.2335, 0.8433, -0.3313, 0.5835, 0.4225, 0.9998] state[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1824 left_yaw=0.0011 left_pitch=-0.005 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3054 right_y=0.1866 right_z=0.1799 right_yaw=0.0848 right_pitch=-0.0127 right_roll=-0.0079 right_gripper=0.9998 state[joint_eff]: [-0.1983, -1.3197, 6.7214, 1.8632, -0.0562, -0.022, -0.0122, 0.5402, -5.4632, 10.359, 1.7118, 0.359, 0.1294, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.19, "right_z": 0.1}, "note": "Wrist view shows a bottle centred on the jaw column with its cap pointing away from the base. Advancing forward and down to bring the jaws over its body."})
tool
executing move_to over 8 steps (0.8s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe bottle is well centred on the jaw column but its neck is beyond my reach limit, so I'll grab its body here and drag it closer. Descending to bottle-axis height with jaws open.
move_to
right_x0.3770right_y0.1800right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8021, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.6117, 1.6188, 0.7891, 0.0803, 0.4248, 0.2737, 0.9998] state[eef_state]: left_x=0.2966 left_y=0.0014 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3767 right_y=0.1797 right_z=0.0782 right_yaw=0.0853 right_pitch=-0.0989 right_roll=-0.0587 right_gripper=0.9998 state[joint_eff]: [-0.212, -1.5111, 6.6667, 1.746, -0.0317, -0.0122, -0.0122, -0.8274, -6.8308, 9.0325, 2.0293, 0.3297, 0.0708, -0.0122] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.377, "right_y": 0.18, "right_z": 0.03, "right_gripper": 1.0}, "note": "The bottle is well centred on the jaw column but its neck is beyond my reach limit, so I'll grab its body here and drag it closer. Descending to bottle-axis height with jaws open."})
tool
executing move_to over 4 steps (0.4s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteJaws are straddling the bottle's body at table height; closing to grip it (bottle is ~6.5 cm across, squeezing to ~4.3 cm).
move_to
right_gripper0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8021, 0.6136, -0.3786, -0.0227, -0.0292, 0.9983, 0.614, 1.7672, 0.6163, 0.4297, 0.4137, 0.2676, 0.9998] state[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1825 left_yaw=0.0008 left_pitch=-0.0046 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3661 right_y=0.1756 right_z=0.0187 right_yaw=0.1009 right_pitch=-0.0782 right_roll=-0.043 right_gripper=0.9998 state[joint_eff]: [-0.2393, -1.6205, 6.5983, 1.7705, -0.0464, -0.0464, -0.0122, -0.3077, -7.4598, 4.9573, 2.1172, 0.232, 0.0611, -0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.45}, "note": "Jaws are straddling the bottle's body at table height; closing to grip it (bottle is ~6.5 cm across, squeezing to ~4.3 cm)."})
tool
executing move_to over 6 steps (0.6s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteGripper settled at 0.55 (~5.2 cm), so it has the bottle's body. Dragging the bottle 10 cm toward the base so its neck comes inside my reach envelope.
move_to
right_x0.2600right_y0.1700right_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.6147, 1.7874, 0.5449, 0.5816, 0.4099, 0.26, 0.5517] state[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1822 left_yaw=0.0011 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3619 right_y=0.1737 right_z=0.015 right_yaw=0.1104 right_pitch=-0.0268 right_roll=-0.0176 right_gripper=0.5517 state[joint_eff]: [-0.2256, -1.4564, 6.653, 1.8046, -0.0415, -0.0171, -0.0122, -0.3214, -6.2838, 4.6154, 1.956, 0.1636, 0.0464, 0.8767] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.26, "right_y": 0.17, "right_z": 0.015}, "note": "Gripper settled at 0.55 (~5.2 cm), so it has the bottle's body. Dragging the bottle 10 cm toward the base so its neck comes inside my reach envelope."})
tool
executing move_to over 8 steps (0.8s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteBottle dragged closer. Releasing, lifting clear and moving forward over where its neck should be, to line up a loose grasp on the neck that will let the bottle swing upright when I lift.
move_to
right_gripper1.0000right_z0.1200right_x0.3400right_y0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3782, -0.0227, -0.0292, 0.9983, 0.8936, 1.5616, 0.2619, 0.5724, 0.588, 0.4335, 0.5542] state[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0046 left_roll=-0.0005 left_gripper=0.9983 right_x=0.2636 right_y=0.1772 right_z=0.0118 right_yaw=0.1554 right_pitch=-0.015 right_roll=-0.0048 right_gripper=0.5542 state[joint_eff]: [-0.1436, -1.0735, 6.5709, 1.9023, -0.0513, -0.0122, -0.0122, 0.1573, -5.4769, 4.3556, 1.6728, 0.4127, 0.0366, 0.2613] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.12, "right_x": 0.34, "right_y": 0.19}, "note": "Bottle dragged closer. Releasing, lifting clear and moving forward over where its neck should be, to line up a loose grasp on the neck that will let the bottle swing upright when I lift."})
tool
executing move_to over 7 steps (0.7s)
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 bottle's cap/neck just up and slightly right of the jaw column. Nudging forward 3.5 cm, right 1.5 cm and down to 7 cm to put the jaws around the neck.
move_to
right_x0.3700right_y0.1750right_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.7055, 1.4124, 0.6247, 0.1299, 0.4477, 0.2913, 0.9964] state[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1823 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.333 right_y=0.1879 right_z=0.1013 right_yaw=0.1541 right_pitch=-0.0126 right_roll=-0.0101 right_gripper=0.9964 state[joint_eff]: [-0.3624, -1.5521, 6.6803, 1.8046, -0.0317, -0.0415, -0.0122, -0.6222, -6.9949, 8.6906, 1.7118, 0.2076, 0.105, -0.1783] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.175, "right_z": 0.07}, "note": "Wrist view shows the bottle's cap/neck just up and slightly right of the jaw column. Nudging forward 3.5 cm, right 1.5 cm and down to 7 cm to put the jaws around the neck."})
tool
executing move_to over 3 steps (0.3s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteStill short of the neck — the jaws sit over the bottle's mid-body while the neck is a few cm further out. Advancing 6 cm along the bottle's axis to put the jaws around the neck.
move_to
right_x0.4150right_y0.1650right_z0.0550
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5957, 1.5719, 0.614, 0.2459, 0.3748, 0.2306, 0.9968] state[eef_state]: left_x=0.2966 left_y=0.0014 left_z=0.1822 left_yaw=0.0008 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3554 right_y=0.1671 right_z=0.0571 right_yaw=0.1342 right_pitch=-0.0826 right_roll=-0.0455 right_gripper=0.9968 state[joint_eff]: [-0.212, -1.5932, 6.5983, 1.7509, -0.0562, -0.0464, -0.0122, 0.294, -7.6376, 6.0103, 2.3516, 0.0171, 0.0073, 0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_y": 0.165, "right_z": 0.055}, "note": "Still short of the neck \u2014 the jaws sit over the bottle's mid-body while the neck is a few cm further out. Advancing 6 cm along the bottle's axis to put the jaws around the neck."})
tool
executing move_to over 5 steps (0.5s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe arm has hit its forward limit again, so the neck stays out of reach; instead I'll re-grip the mid-body here (descend to axis height and close) and drag the bottle much closer to the base.
move_to
right_z0.0300right_gripper0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.5701, 1.6096, 0.5694, 0.4011, 0.3359, 0.2077, 0.9962] state[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1823 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.363 right_y=0.1678 right_z=0.0537 right_yaw=0.1543 right_pitch=-0.0271 right_roll=-0.011 right_gripper=0.9962 state[joint_eff]: [-0.1436, -1.6068, 6.5846, 1.8095, -0.0562, -0.0464, -0.0122, -0.4855, -5.6274, 5.3265, 2.0733, 0.2027, 0.1001, -0.0757] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03, "right_gripper": 0.45}, "note": "The arm has hit its forward limit again, so the neck stays out of reach; instead I'll re-grip the mid-body here (descend to axis height and close) and drag the bottle much closer to the base."})
tool
executing move_to over 6 steps (0.6s)
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 noteClosed on the bottle body; lifting to 28 cm to see whether the bottle comes up and whether it can swing toward vertical in the jaws.
move_to
right_z0.2800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.5697, 1.6096, 0.569, 0.411, 0.3382, 0.2043, 0.4543] state[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1822 left_yaw=0.0011 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3643 right_y=0.168 right_z=0.0555 right_yaw=0.154 right_pitch=-0.0178 right_roll=-0.0113 right_gripper=0.4543 state[joint_eff]: [-0.0205, -1.5521, 6.5983, 1.7802, -0.0415, -0.0513, -0.0171, -0.4718, -5.6274, 5.2991, 2.0049, 0.2466, 0.0611, 0.1245] 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": {"right_z": 0.28}, "note": "Closed on the bottle body; lifting to 28 cm to see whether the bottle comes up and whether it can swing toward vertical in the jaws."})
tool
executing move_to over 15 steps (1.5s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe lift came up empty — the previous descent had stalled with a fingertip resting on the bottle rather than straddling it. Reopening and descending again, nudged 0.7 cm sideways, to get the jaws fully around the body at table level.
move_to
right_z0.0200right_y0.1770right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3786, -0.0227, -0.0292, 0.9983, 0.5701, 1.3338, 1.2133, -0.527, 0.3283, 0.1913, 0.4539] state[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3637 right_y=0.1698 right_z=0.2557 right_yaw=0.1693 right_pitch=-0.0366 right_roll=-0.0237 right_gripper=0.4539 state[joint_eff]: [-0.0479, -1.4427, 6.5983, 1.8437, -0.0464, -0.0269, -0.0122, -0.4034, -6.2154, 9.7983, 1.79, 0.2027, 0.105, -0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.02, "right_y": 0.177, "right_gripper": 1.0}, "note": "The lift came up empty \u2014 the previous descent had stalled with a fingertip resting on the bottle rather than straddling it. Reopening and descending again, nudged 0.7 cm sideways, to get the jaws fully around the body at table level."})
tool
executing move_to over 16 steps (1.6s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteAt table height the bottle fills the wrist view but sits ~2 cm right of the jaw column; sliding the open jaws 2 cm to the arm's right so the body lies squarely between them.
move_to
right_y0.1570
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8021, 0.6132, -0.3794, -0.0227, -0.0292, 0.9983, 0.5842, 1.7264, 0.54, 0.5632, 0.3466, 0.1955, 0.9979] state[eef_state]: left_x=0.2965 left_y=0.0014 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3651 right_y=0.1738 right_z=0.0305 right_yaw=0.1664 right_pitch=-0.0098 right_roll=-0.0205 right_gripper=0.9979 state[joint_eff]: [-0.3761, -1.5658, 6.8034, 1.7363, -0.0317, -0.0513, -0.0122, 0.3897, -4.1504, 3.1795, 1.2039, -0.0904, 0.1197, -0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.157}, "note": "At table height the bottle fills the wrist view but sits ~2 cm right of the jaw column; sliding the open jaws 2 cm to the arm's right so the body lies squarely between them."})
tool
executing move_to over 2 steps (0.2s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteBottle is lying between the open jaws in the wrist view; closing to 0.55 (~5.2 cm) to squeeze its 6.5 cm body.
move_to
right_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.556, 1.7241, 0.514, 0.6682, 0.3115, 0.1776, 0.9991] state[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3725 right_y=0.172 right_z=0.0422 right_yaw=0.176 right_pitch=0.0577 right_roll=0.0136 right_gripper=0.9991 state[joint_eff]: [-0.1026, -1.6342, 6.5573, 1.9023, -0.0269, -0.0708, -0.0122, -0.7726, -7.1316, 3.9316, 1.2723, 0.1978, 0.0464, 0.1197] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.55}, "note": "Bottle is lying between the open jaws in the wrist view; closing to 0.55 (~5.2 cm) to squeeze its 6.5 cm body."})
tool
executing move_to over 5 steps (0.5s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteGripper settled at 0.556 on the bottle body. Lifting to 30 cm to check the grasp and see whether the bottle swings toward vertical in the loose jaws.
move_to
right_z0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.6121, -0.379, -0.0231, -0.0292, 0.9983, 0.5232, 1.7027, 0.4992, 0.6518, 0.2829, 0.1669, 0.5561] state[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1816 left_yaw=0.0011 left_pitch=-0.0069 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3719 right_y=0.1617 right_z=0.0411 right_yaw=0.1729 right_pitch=0.0433 right_roll=0.0147 right_gripper=0.5561 state[joint_eff]: [-0.0889, -1.6068, 6.6803, 1.7998, -0.0562, -0.022, -0.0122, -0.3077, -6.5983, 4.1504, 1.3114, 0.1197, -0.0122, 0.2271] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.3}, "note": "Gripper settled at 0.556 on the bottle body. Lifting to 30 cm to check the grasp and see whether the bottle swings toward vertical in the loose jaws."})
tool
executing move_to over 17 steps (1.7s)
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 noteLift came up empty again and the top view suggests the jaws are to the right of the bottle, not around it. Dropping back to 6 cm with jaws open so I can compare gripper and bottle positions at the same height in the overhead view.
move_to
right_z0.0600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.6102, -0.3759, -0.0231, -0.0292, 0.9983, 0.5232, 1.3357, 1.3083, -0.5819, 0.2714, 0.1513, 0.5569] state[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1813 left_yaw=0.0011 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3703 right_y=0.1631 right_z=0.2846 right_yaw=0.1912 right_pitch=-0.0129 right_roll=-0.012 right_gripper=0.5569 state[joint_eff]: [-0.0342, -1.5111, 6.9402, 1.7802, -0.0464, -0.0415, -0.0122, -0.3077, -4.3966, 9.4564, 1.8437, 0.1587, 0.1294, 0.0708] 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_z": 0.06, "right_gripper": 1.0}, "note": "Lift came up empty again and the top view suggests the jaws are to the right of the bottle, not around it. Dropping back to 6 cm with jaws open so I can compare gripper and bottle positions at the same height in the overhead view."})
tool
executing move_to over 15 steps (1.5s)
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 noteWrist view shows the bottle squarely between the open jaws; my earlier closes reached their commanded value (empty) so I'll command a tighter 0.35 and press lower, and the jaws should stall on the ~5 cm compressed bottle.
move_to
right_z0.0000right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8021, 0.6086, -0.3756, -0.0231, -0.0292, 0.9983, 0.5232, 1.5726, 0.5728, 0.3283, 0.26, 0.1516, 0.998] state[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1808 left_yaw=0.0011 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3604 right_y=0.1596 right_z=0.0526 right_yaw=0.1995 right_pitch=-0.074 right_roll=-0.0252 right_gripper=0.998 state[joint_eff]: [-0.0752, -1.5658, 6.8444, 1.7949, -0.022, -0.0513, -0.0122, -0.5402, -5.7915, 5.3128, 1.9267, 0.0806, 0.0269, -0.0659] 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": 0.0, "right_gripper": 0.35}, "note": "Wrist view shows the bottle squarely between the open jaws; my earlier closes reached their commanded value (empty) so I'll command a tighter 0.35 and press lower, and the jaws should stall on the ~5 cm compressed bottle."})
tool
executing move_to over 7 steps (0.7s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe jaws stalled at 0.556 on the bottle — a real grasp this time. Dragging the bottle ~13 cm toward the base so that its cap/neck end comes well inside my reach for the final neck grasp.
move_to
right_x0.2400right_y0.1500right_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8021, 0.6048, -0.3756, -0.0231, -0.0292, 0.9983, 0.5232, 1.7985, 0.4606, 0.7967, 0.26, 0.1444, 0.5565] state[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1791 left_yaw=0.0011 left_pitch=-0.0103 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3683 right_y=0.1642 right_z=0.0208 right_yaw=0.204 right_pitch=0.0499 right_roll=0.0099 right_gripper=0.5565 state[joint_eff]: [-0.212, -1.6889, 6.8171, 1.8437, -0.0317, -0.0757, -0.0122, -0.1983, -3.8632, 2.8786, 0.9939, 0.0611, 0.0708, 1.0037] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.24, "right_y": 0.15, "right_z": 0.02}, "note": "The jaws stalled at 0.556 on the bottle \u2014 a real grasp this time. Dragging the bottle ~13 cm toward the base so that its cap/neck end comes well inside my reach for the final neck grasp."})
tool
executing move_to over 10 steps (1.0s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteBottle successfully dragged closer (visible in the overhead view). Releasing and moving up and forward over where the neck should now be, to set up the neck grasp.
move_to
right_gripper1.0000right_z0.1300right_x0.3200right_y0.1720
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.7994, 0.5976, -0.3729, -0.0227, -0.0292, 0.9983, 0.8471, 1.3521, 0.1219, 0.5697, 0.4793, 0.3244, 0.5575] state[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.177 left_yaw=0.0008 left_pitch=-0.0122 left_roll=-0.0004 left_gripper=0.9983 right_x=0.244 right_y=0.1585 right_z=0.0198 right_yaw=0.2525 right_pitch=-0.0046 right_roll=-0.0001 right_gripper=0.5575 state[joint_eff]: [-0.1983, -1.4701, 6.9402, 1.8681, -0.0415, -0.0757, -0.0122, 0.1846, -3.1111, 4.8342, 1.8779, 0.4127, 0.1197, 0.6374] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.13, "right_x": 0.32, "right_y": 0.172}, "note": "Bottle successfully dragged closer (visible in the overhead view). Releasing and moving up and forward over where the neck should now be, to set up the neck grasp."})
tool
executing move_to over 8 steps (0.8s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe dragged bottle now points its cap toward me, and the cap sits just below the jaw column in the wrist view. Descending to neck height just ahead of the cap to straddle the narrow neck.
move_to
right_x0.3250right_y0.1680right_z0.0120
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.7982, 0.5972, -0.3725, -0.0227, -0.0292, 0.9983, 0.6411, 1.2186, 0.5411, 0.0666, 0.3191, 0.1883, 0.9969] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1772 left_yaw=0.0008 left_pitch=-0.0111 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3134 right_y=0.1692 right_z=0.1167 right_yaw=0.2497 right_pitch=-0.0048 right_roll=-0.0071 right_gripper=0.9969 state[joint_eff]: [-0.1846, -1.894, 6.2838, 1.8437, -0.0317, -0.0415, -0.0122, -0.3077, -3.3436, 8.9915, 1.6044, 0.1636, 0.0855, -0.1538] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.325, "right_y": 0.168, "right_z": 0.012}, "note": "The dragged bottle now points its cap toward me, and the cap sits just below the jaw column in the wrist view. Descending to neck height just ahead of the cap to straddle the narrow neck."})
tool
executing move_to over 7 steps (0.7s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteClose-up wrist view shows the cap up-frame and the neck just ahead of the jaws; advancing 2.5 cm so the narrow neck lies between the fingertips.
move_to
right_x0.3500right_z0.0120
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.7956, 0.5869, -0.3725, -0.0227, -0.0288, 0.9983, 0.6044, 1.6455, 0.3687, 0.6643, 0.3042, 0.1669, 0.9984] state[eef_state]: left_x=0.2938 left_y=0.0015 left_z=0.1732 left_yaw=0.0006 left_pitch=-0.0187 left_roll=0.0001 left_gripper=0.9983 right_x=0.3271 right_y=0.166 right_z=0.0211 right_yaw=0.2369 right_pitch=-0.0093 right_roll=-0.0176 right_gripper=0.9984 state[joint_eff]: [-0.253, -1.6205, 7.2957, 1.8193, -0.022, -0.0317, -0.0122, -0.1299, -4.0, 2.441, 0.9255, -0.0171, 0.0024, 0.149] 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": 0.35, "right_z": 0.012}, "note": "Close-up wrist view shows the cap up-frame and the neck just ahead of the jaws; advancing 2.5 cm so the narrow neck lies between the fingertips."})
tool
executing move_to over 2 steps (0.2s)
step 191
assistant
agent noteJaws should now straddle the bottle's neck/shoulder; closing to 0.30 (~2.9 cm) — loose enough that the bottle can pivot and hang cap-up when I lift.
move_to
right_gripper0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.7925, 0.58, -0.3691, -0.0227, -0.0292, 0.9983, 0.5705, 1.7161, 0.3923, 0.7834, 0.2615, 0.1574, 0.9989] state[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1716 left_yaw=0.0008 left_pitch=-0.0191 left_roll=-0.0002 left_gripper=0.9983 right_x=0.345 right_y=0.1714 right_z=0.0267 right_yaw=0.243 right_pitch=0.0506 right_roll=0.0207 right_gripper=0.9989 state[joint_eff]: [-0.0889, -1.9214, 6.2564, 2.0391, -0.022, -0.0513, -0.0122, -0.5812, -4.2598, 5.0256, 1.3553, 0.3932, -0.0806, 0.0562] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.3}, "note": "Jaws should now straddle the bottle's neck/shoulder; closing to 0.30 (~2.9 cm) \u2014 loose enough that the bottle can pivot and hang cap-up when I lift."})
tool
executing move_to over 7 steps (0.7s)
step 198
assistant
agent noteJaws stalled slightly above the commanded width, suggesting they have the neck. Lifting to 32 cm — if the grip is on the neck the bottle should swing down to hang cap-up.
move_to
right_z0.3200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.7891, 0.5667, -0.3637, -0.0231, -0.0292, 0.9983, 0.5499, 1.7382, 0.4355, 0.8608, 0.2321, 0.1421, 0.3137] state[eef_state]: left_x=0.292 left_y=0.0016 left_z=0.1676 left_yaw=0.0011 left_pitch=-0.0236 left_roll=0.0001 left_gripper=0.9983 right_x=0.3652 right_y=0.1804 right_z=0.0486 right_yaw=0.2524 right_pitch=0.1405 right_roll=0.0507 right_gripper=0.3137 state[joint_eff]: [-0.2256, -1.8393, 6.6803, 1.9512, -0.0464, -0.0806, -0.0122, -0.335, -4.3419, 3.3436, 0.3736, 0.2515, 0.0806, 0.1245] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.32}, "note": "Jaws stalled slightly above the commanded width, suggesting they have the neck. Lifting to 32 cm \u2014 if the grip is on the neck the bottle should swing down to hang cap-up."})
tool
executing move_to over 18 steps (1.8s)
step 216
assistant
agent noteEmpty again. The rig notes say an object centred in the wrist view with space below it is actually short of the fingertips, so I'm dropping back down 2 cm nearer the base with jaws open to re-grip the bottle's body.
move_to
right_z0.0500right_x0.3450right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.7788, 0.5484, -0.3485, -0.0227, -0.0292, 0.9983, 0.556, 1.3579, 1.4052, -0.6579, 0.231, 0.1246, 0.3129] state[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1651 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3631 right_y=0.1822 right_z=0.303 right_yaw=0.2719 right_pitch=-0.0209 right_roll=-0.0125 right_gripper=0.3129 state[joint_eff]: [-0.0752, -1.6752, 6.6393, 1.8584, -0.0269, -0.0317, -0.0122, -0.3487, -4.7795, 9.4154, 1.9414, 0.1392, 0.1197, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.05, "right_x": 0.345, "right_gripper": 1.0}, "note": "Empty again. The rig notes say an object centred in the wrist view with space below it is actually short of the fingertips, so I'm dropping back down 2 cm nearer the base with jaws open to re-grip the bottle's body."})
tool
executing move_to over 17 steps (1.7s)
step 233
assistant
agent noteThe bottle now fills the wrist view right at the jaws; pressing down to axis height and closing to 0.35 so the jaws stall on the ~5 cm compressed body.
move_to
right_gripper0.3500right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.7738, 0.5365, -0.3454, -0.0227, -0.0288, 0.9983, 0.5835, 1.5589, 0.5003, 0.3862, 0.242, 0.1444, 0.9975] state[eef_state]: left_x=0.2896 left_y=0.0016 left_z=0.1617 left_yaw=0.0006 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9983 right_x=0.3371 right_y=0.1761 right_z=0.0415 right_yaw=0.2786 right_pitch=-0.0782 right_roll=-0.0206 right_gripper=0.9975 state[joint_eff]: [-0.1026, -1.6479, 6.6803, 1.873, -0.0415, -0.022, -0.0122, 0.5812, -5.6684, 5.135, 2.0195, 0.1245, 0.0464, -0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.35, "right_z": 0.025}, "note": "The bottle now fills the wrist view right at the jaws; pressing down to axis height and closing to 0.35 so the jaws stall on the ~5 cm compressed body."})
tool
executing move_to over 7 steps (0.7s)
step 240
assistant
agent noteJaws stalled slightly above command again; lifting to 33 cm to test whether the bottle is actually held.
move_to
right_z0.3300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.7662, 0.5186, -0.337, -0.0227, -0.0288, 0.9983, 0.588, 1.6379, 0.4244, 0.6994, 0.2497, 0.1326, 0.3564] state[eef_state]: left_x=0.288 left_y=0.0016 left_z=0.1572 left_yaw=0.0006 left_pitch=-0.0221 left_roll=0.0002 left_gripper=0.9983 right_x=0.3466 right_y=0.1829 right_z=0.0484 right_yaw=0.2833 right_pitch=0.0743 right_roll=0.0128 right_gripper=0.3564 state[joint_eff]: [-0.2393, -1.6342, 6.8581, 1.873, -0.022, -0.0024, -0.0122, -0.4308, -3.0838, 3.412, 1.1258, 0.0122, 0.1099, 0.3346] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.33}, "note": "Jaws stalled slightly above command again; lifting to 33 cm to test whether the bottle is actually held."})
tool
executing move_to over 19 steps (1.9s)
step 259
assistant
agent noteEmpty again — the successful grasp earlier was 2.5 cm further to the arm's right, so lateral aim is the likely error. Dropping back to table level at y=0.16 with jaws wide open.
move_to
right_x0.3500right_y0.1600right_z0.0250right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.7586, 0.503, -0.3264, -0.0231, -0.0292, 0.9983, 0.5888, 1.3151, 1.4174, -0.7116, 0.2306, 0.1246, 0.3563] state[eef_state]: left_x=0.2869 left_y=0.0017 left_z=0.1543 left_yaw=0.0011 left_pitch=-0.0194 left_roll=-0.0 left_gripper=0.9983 right_x=0.3443 right_y=0.1857 right_z=0.3137 right_yaw=0.305 right_pitch=-0.0199 right_roll=-0.0119 right_gripper=0.3563 state[joint_eff]: [-0.0752, -1.7162, 6.5299, 1.8877, -0.0171, -0.0317, -0.0122, -0.6222, -4.2051, 9.2376, 1.7802, 0.1783, 0.0904, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.16, "right_z": 0.025, "right_gripper": 1.0}, "note": "Empty again \u2014 the successful grasp earlier was 2.5 cm further to the arm's right, so lateral aim is the likely error. Dropping back to table level at y=0.16 with jaws wide open."})
tool
executing move_to over 19 steps (1.9s)
step 278
assistant
agent noteThe bottle body fills the jaw gap in the wrist view at table height; closing firmly to 0.30 to squeeze the body.
move_to
right_gripper0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.7513, 0.4957, -0.3187, -0.0235, -0.0292, 0.9983, 0.4931, 1.6375, 0.432, 0.5774, 0.1341, 0.0731, 0.998] state[eef_state]: left_x=0.2866 left_y=0.0018 left_z=0.1545 left_yaw=0.0014 left_pitch=-0.0118 left_roll=0.0 left_gripper=0.9983 right_x=0.3439 right_y=0.1621 right_z=0.0241 right_yaw=0.3176 right_pitch=-0.0505 right_roll=-0.004 right_gripper=0.998 state[joint_eff]: [-0.1983, -1.4564, 6.0923, 1.873, -0.0708, -0.0855, -0.0122, -0.5128, -5.3812, 3.9726, 1.6532, -0.0073, 0.0171, 0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.3}, "note": "The bottle body fills the jaw gap in the wrist view at table height; closing firmly to 0.30 to squeeze the body."})
tool
executing move_to over 7 steps (0.7s)
step 285
assistant
agent noteEach close pushes the arm up and forward — the fingers are riding over the top of the bottle. Reopening and pressing the jaws right down to the table floor (z=-0.02) so they straddle the bottle at its widest point.
move_to
right_gripper1.0000right_z-0.0200right_x0.3450right_y0.1630
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.7513, 0.4915, -0.3187, -0.0231, -0.0292, 0.9983, 0.4973, 1.6554, 0.4065, 0.7811, 0.1299, 0.0692, 0.3067] state[eef_state]: left_x=0.286 left_y=0.0017 left_z=0.1525 left_yaw=0.0011 left_pitch=-0.016 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3571 right_y=0.1718 right_z=0.0512 right_yaw=0.3266 right_pitch=0.107 right_roll=0.0225 right_gripper=0.3067 state[joint_eff]: [-0.0479, -1.4427, 6.653, 1.8779, -0.022, -0.0757, -0.0122, -0.3077, -4.8615, 3.5897, 0.9158, 0.1929, -0.0415, 0.232] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": -0.02, "right_x": 0.345, "right_y": 0.163}, "note": "Each close pushes the arm up and forward \u2014 the fingers are riding over the top of the bottle. Reopening and pressing the jaws right down to the table floor (z=-0.02) so they straddle the bottle at its widest point."})
tool
executing move_to over 7 steps (0.7s)
step 292
assistant
agent noteThe arm will not track targets out here (pitch is drifting and z won't descend), so I'm pulling back to x=0.30 where it had good authority, to approach the near end of the bottle from there.
move_to
right_x0.3000right_y0.1550right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.7494, 0.4847, -0.3115, -0.0231, -0.0288, 0.9983, 0.4973, 1.858, 0.4088, 1.0779, 0.1272, 0.0509, 0.9953] state[eef_state]: left_x=0.286 left_y=0.0017 left_z=0.1514 left_yaw=0.0009 left_pitch=-0.0137 left_roll=0.0002 left_gripper=0.9983 right_x=0.3718 right_y=0.1804 right_z=0.0405 right_yaw=0.3364 right_pitch=0.2025 right_roll=0.0227 right_gripper=0.9953 state[joint_eff]: [-0.0342, -1.7299, 6.3385, 1.873, -0.0366, -0.0317, -0.0122, -0.841, -2.1949, 0.7316, -0.1245, -0.0366, 0.1343, 0.0269] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.155, "right_z": 0.03}, "note": "The arm will not track targets out here (pitch is drifting and z won't descend), so I'm pulling back to x=0.30 where it had good authority, to approach the near end of the bottle from there."})
tool
executing move_to over 6 steps (0.6s)
step 298
assistant
agent noteBack in a well-tracking pose with the bottle's near end filling the jaw gap at table height; closing hard to take a real grip.
move_to
right_gripper0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.746, 0.4824, -0.3111, -0.0227, -0.0292, 0.9983, 0.5503, 1.5135, 0.2546, 0.6781, 0.1551, 0.078, 0.9955] state[eef_state]: left_x=0.2856 left_y=0.0017 left_z=0.1513 left_yaw=0.0008 left_pitch=-0.0122 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3038 right_y=0.1585 right_z=0.0268 right_yaw=0.3548 right_pitch=-0.0018 right_roll=-0.0029 right_gripper=0.9955 state[joint_eff]: [-0.1983, -0.9094, 6.147, 1.9512, -0.0513, -0.0708, -0.0122, 0.2803, -6.3111, 5.8188, 2.2589, 0.1245, 0.1343, 0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.3}, "note": "Back in a well-tracking pose with the bottle's near end filling the jaw gap at table height; closing hard to take a real grip."})
tool
executing move_to over 7 steps (0.7s)
step 305
assistant
agent noteJaws stalled at 0.58 — a genuine grip on the bottle's lower body. Lifting to 30 cm while easing the jaws to 0.62 so the bottle can pivot and hang vertically in the loose grip.
move_to
right_z0.3000right_x0.2700right_gripper0.6200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.7456, 0.4824, -0.3111, -0.0231, -0.0292, 0.9983, 0.5495, 1.5063, 0.2375, 0.6556, 0.1535, 0.0765, 0.5819] state[eef_state]: left_x=0.2856 left_y=0.0017 left_z=0.1514 left_yaw=0.0011 left_pitch=-0.0118 left_roll=-0.0002 left_gripper=0.9983 right_x=0.2965 right_y=0.1541 right_z=0.0188 right_yaw=0.356 right_pitch=-0.0338 right_roll=-0.0096 right_gripper=0.5819 state[joint_eff]: [-0.2667, -1.4017, 6.106, 1.8779, -0.0171, -0.0269, -0.0122, -0.1026, -3.5077, 5.641, 1.9414, 0.0122, -0.0073, 0.5983] camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.3, "right_x": 0.27, "right_gripper": 0.62}, "note": "Jaws stalled at 0.58 \u2014 a genuine grip on the bottle's lower body. Lifting to 30 cm while easing the jaws to 0.62 so the bottle can pivot and hang vertically in the loose grip."})
tool
executing move_to over 19 steps (1.9s)
step 324
assistant
agent noteThe bottle is off the table and hanging vertically in the loose jaws; lowering it until its lower end reaches the table and opening the jaws to set it down standing.
move_to
right_z0.1700right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.7429, 0.4824, -0.3115, -0.0231, -0.0292, 0.9983, 0.6289, 1.0012, 1.0782, -0.8112, 0.1898, 0.1001, 0.6199] state[eef_state]: left_x=0.2854 left_y=0.0017 left_z=0.1521 left_yaw=0.0011 left_pitch=-0.0095 left_roll=-0.0002 left_gripper=0.9983 right_x=0.2586 right_y=0.1514 right_z=0.25 right_yaw=0.3897 right_pitch=-0.147 right_roll=-0.0391 right_gripper=0.6199 state[joint_eff]: [-0.212, -1.388, 6.147, 1.8632, -0.0464, -0.0415, -0.0171, 0.2667, -2.7556, 10.8239, 2.1319, 0.2711, 0.2027, -0.0269] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17, "right_gripper": 1.0}, "note": "The bottle is off the table and hanging vertically in the loose jaws; lowering it until its lower end reaches the table and opening the jaws to set it down standing."})
tool
executing move_to over 6 steps (0.6s)
step 330
assistant
agent noteI could grasp and move a bottle, but with pitch and roll pinned the only way to stand a bottle is a pendulum lift from the neck, and the bottles' neck ends sat beyond this arm's usable reach; my last lift hung the bottle cap-down and it fell over on release. Budget exhausted with all three bottles still lying down.
give_up
hindsightKey facts I wish I'd had: (1) pitch/roll are pinned at 0, so a bottle can only be righted by grasping near the CAP/neck loosely and lifting — the bottle then pivots in the jaws and hangs cap-up; grasping the base half makes it hang cap-DOWN (verified: I lifted one this way and it hung inverted). Check which end the cap is on before grasping. (2) The right arm's usable reach is much less than the nominal box: at z<0.1 it stalls around r=sqrt(x²+y²)≈0.40–0.45, and near that limit commanded moves (including descents) simply don't track and pitch drifts off 0. Work at r≤0.35; drag distant objects closer first (dragging works well). (3) Grip diagnosis: a full-size water bottle compresses to ~5.2–5.8 cm, so command gripper 0.30–0.35 and look for the settled reading to STALL ABOVE the command (e.g. 0.58 vs 0.30) — a reading equal to the command means an empty close. I wasted ~6 attempts on empty closes that looked perfectly aligned in the wrist camera. (4) When closing pushes the arm up/forward in the readback, the fingers are riding over the top of the bottle: back off radially and press the jaws to z≈0.00 before closing. (5) The wrist view is very misleading for depth here: a bottle filling the frame between the jaws can still be missed; the reliable cue was working at a short radius where the arm tracks well.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.7403, 0.482, -0.3115, -0.0231, -0.0292, 0.9983, 0.6281, 0.8448, 0.5995, -0.4267, 0.197, 0.0998, 0.9964] state[eef_state]: left_x=0.2853 left_y=0.0017 left_z=0.1526 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2508 right_y=0.1439 right_z=0.1568 right_yaw=0.3849 right_pitch=-0.0855 right_roll=-0.029 right_gripper=0.9964 state[joint_eff]: [-0.212, -1.2513, 6.5162, 1.8535, -0.0415, -0.0708, -0.0122, -0.1436, -2.4, 7.3368, 2.0488, -0.0024, -0.0317, -0.2222] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I could grasp and move a bottle, but with pitch and roll pinned the only way to stand a bottle is a pendulum lift from the neck, and the bottles' neck ends sat beyond this arm's usable reach; my last lift hung the bottle cap-down and it fell over on release. Budget exhausted with all three bottles still lying down.", "hindsight": "Key facts I wish I'd had: (1) pitch/roll are pinned at 0, so a bottle can only be righted by grasping near the CAP/neck loosely and lifting \u2014 the bottle then pivots in the jaws and hangs cap-up; grasping the base half makes it hang cap-DOWN (verified: I lifted one this way and it hung inverted). Check which end the cap is on before grasping. (2) The right arm's usable reach is much less than the nominal box: at z<0.1 it stalls around r=sqrt(x\u00b2+y\u00b2)\u22480.40\u20130.45, and near that limit commanded moves (including descents) simply don't track and pitch drifts off 0. Work at r\u22640.35; drag distant objects closer first (dragging works well). (3) Grip diagnosis: a full-size water bottle compresses to ~5.2\u20135.8 cm, so command gripper 0.30\u20130.35 and look for the settled reading to STALL ABOVE the command (e.g. 0.58 vs 0.30) \u2014 a reading equal to the command means an empty close. I wasted ~6 attempts on empty closes that looked perfectly aligned in the wrist camera. (4) When closing pushes the arm up/forward in the readback, the fingers are riding over the top of the bottle: back off radially and press the jaws to z\u22480.00 before closing. (5) The wrist view is very misleading for depth here: a bottle filling the frame between the jaws can still be missed; the reliable cue was working at a short radius where the arm tracks well."})
tool
give_up: I could grasp and move a bottle, but with pitch and roll pinned the only way to stand a bottle is a pendulum lift from the neck, and the bottles' neck ends sat beyond this arm's usable reach; my last lift hung the bottle cap-down and it fell over on release. Budget exhausted with all three bottles still lying down.
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 · 33.8 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]: [-0.0212, 0.7933, 0.6071, -0.3767, -0.0227, -0.0284, 0.9986, -0.0158, 0.7887, 0.6037, -0.3862, -0.0242, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0013 left_z=0.1823 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0032 right_z=0.18 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.4564, 9.7983, 1.7949, -0.0513, 0.1294, -0.1538, -0.8684, -1.1419, 10.4137, 1.873, 0.0171, 0.2125, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4b0a62f37ba3d0682f41b9015e80bcb4929cd68c647a33c46fb31af9f3f7201",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99f0a974a873eadd258a73ffd960c278ea59442a0803d73f456463124bcd09d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5664d2019612c2f421a4b4516d3582f0166448f6152ca0710e37a48c73f63267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 28.09 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]: [-0.0212, 0.7933, 0.6071, -0.3767, -0.0227, -0.0284, 0.9986, -0.0158, 0.7887, 0.6037, -0.3862, -0.0242, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0013 left_z=0.1823 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0032 right_z=0.18 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.4564, 9.7983, 1.7949, -0.0513, 0.1294, -0.1538, -0.8684, -1.1419, 10.4137, 1.873, 0.0171, 0.2125, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4b0a62f37ba3d0682f41b9015e80bcb4929cd68c647a33c46fb31af9f3f7201",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99f0a974a873eadd258a73ffd960c278ea59442a0803d73f456463124bcd09d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5664d2019612c2f421a4b4516d3582f0166448f6152ca0710e37a48c73f63267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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EcRZnAm5FMnmLEMuh3Lx0/kQBt6wlJ17BwE+6i5A2EQvcPc2cGdD1t4TGPvGW4+z9lfanEUs+4vplTVSe1itvL3QcB0SA9Cmx7As7MUK/8RGu26CtIUZ+4iYH8pZwmDA7P60mkmkFvojlUJA/RRH9r49P0aPpSl55jHc+skt1p/r2h9ThGeL3EEXXZczMtKodQ7VRL2lXuLIXEz7IipiIhr/6ZRVajzX2Z/AaFRZ6bT3MPheyLawLdrhZrSGWX90aFtBkd+OPoEAVOWbUlrUulY2BIdxB8ZvhJ516M7PW2EcPoDz9WvHnYO/NzuBH3y7xoaeQHVH+ZFLt1Ct6NI3RMcZINALI6MVN73c5mhOGrSFsWNh5qbBgLTgwP+6mpYfbeLOMyMls079OSnOl2W2Qo305PFlrrs43o5ImRfvMIO9G4P7LUClALMoLUI8GJm8wdqhgjB67tClNfXKvcpQwqnuub6PkaujoKObN/6m6JCmEvF9bcF/wS3sap7Hy1ZUysm466gnaoqhJPVkw4KJ+07OLvQbXDAlhIqYTyN7gHp+nPL9yZm3hWQZlFkBO8uNbcLiHXyMTO6FMr8gJokZTVoXJDB6RDk5c9aK4cLWRtoL88WYajX6RuZVvxrlvjJcxLtyINwOxX9oSo4EY72ZtGJgqraOsykBTiKmVsxRqM8SLqghrhM+++k2RRdKgU6Z33tNQc3F+ZYMpPdufeHGoIhbawwaPGCdVkvJXogUbObiMe/Hwggcz1lBTuo1GhpupH3Ax3E/dljWAjjZebeDHwpIMkix/0MOV32vlyFMNlZIDMtWz0Jt14srcGy7V9ti2syGzScg4KIQJVG2VZl32zXsBNeEh9PLfLinjwJdJsI4RDEKaURp87/oODXLdAtKBDb1WbH1alxvCPoeVH4PeiVlRS0vDL7taYd2jEKaRs8vSbsbJyzDlrWBZYnsf4vAKCfL0cIHUYvR61oD0pBX1ZzL1eNrBhgYvMJu5yDYkJHtF4QaQyY5a1Ho3K9bhPD33nLolh/P3b9Isa62d4Bm2f/xx8hSI7sdWo99MmSjDbVZ06jKfgfUph6ccAPSyhCCayVnPqVbmUjA8VSpcw4jePbwAmLjphVmcG0hYSSAlPy3B3qV2r0utG+XheH5qd1Lb/jmWHUQVUHq8+FcHDLFl2vhubERseTu5ZOWCJp/lfPNmRqow5NtIXQ2otAr0XnNu2KowG141cFrzXJRr4J/xM8vYqwLs0ejvw2D7XM87GsHwHOihPGewxxHzrjQ34cCeziOme4eKnanEA8EmXrBUDzp50HC1+FSCykk9exOUSe7OARgrmyL9D9w+KEwqwAInqjjFiJd8F5a2jt3odthe2CLjiR3gb/ZFD6tDJxmoSFVA2YZL3TVMuLR38pC5VO+GkK8DIFrPcQNPoXJE5mfvq0hUq8+SrMlUovmC42FZL9NYV59vUKXh7UL37DMHYEebx/3ijt+ISJUDXSJj1z0aqqzJSsHgPaSPGbg+qen0qoU3FfrIduteo/pGl+NJ3KeNf3ibcTqoTOcHvUHKFSbiDR20GfUpNavD2EWoUwQUUsObiYjaaRopNrbIQaz+JGwoHUVozrnfW6S4oKV5qEOyHxcAprwyqv63nnNeWCSueFMB2xCg0NYO/9ExYddN0gvk8l92JmTO/PT58kHXnXCrx9okqBqyWfiq3CeVwIlHjHbyktQzi9QC3W540BF0bKn8fHZsG4ZvZKfcUwsr/aLY9Vj7awgIVKSsDN6Cdjtl3HYhPaTXyqEbXQJO30bhf3D7HCe6eaKubZkUOCl/fH5JKbiG8PNFu2p+QyCORLXRpIhAo01Gn02qYWEjjyxjYav1cOuQRSyMhQId0JFFI+mAvZsVGeGf6nO+qu7Zxb1iYUdA0zB2peMACmNsPBdVZqYOHkcCQCtyHK9BLp4j+OdU18xO3X2xNfN2fbspE4UzdK2KC8tqTkDMVqK8mHlgH4oRJoXa+oyuUsQLsv4GNvMG6UAEmgxlhmcDUONKgQV/sUntSdkSi4nmzGtd4vYqQK8r5iGCNNgqivtD9iRJs17pcLENJ8IsT5iDerPO1CdwtpNmZbV5fS4ZgezMSDu99kojQUaTQ5L1JoAAygf5gHSMCpzwaY8bMJXK21n3fLX0ZuPCcbgZPIeyrB2fPhb74FmEDZg0tRUgqMZWWXlFRS+59k4N1HzP7kTVBaIK7mKP54m80aj88dxmrTYlFPE1MPqT7eZxobNZEgls80eoX2onUoGXCjwdhG5kkAdkThd2bkV4kP1UhMlGUVHtxTvFh72CCxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WVUMMqo1wr6bJtPACyFbNF",
      "input": {
        "note": "Three bottles lie on their sides in the middle of the table. I'll start with the rightmost bottle: moving the right arm to hover ~12 cm above it so the wrist camera can show me where its cap/neck is.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.37,
          "right_y": 0.23,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01WVUMMqo1wr6bJtPACyFbNF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7982, 0.6136, -0.3798, -0.0231, -0.0292, 0.9984, 0.783, 1.5822, 0.9768, -0.1844, 0.5915, 0.4309, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1833 left_yaw=0.0011 left_pitch=-0.0019 left_roll=-0.0004 left_gripper=0.9984 right_x=0.3584 right_y=0.2228 right_z=0.1321 right_yaw=0.0421 right_pitch=-0.0597 right_roll=-0.0509 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.6889, 6.4615, 1.7656, -0.0171, -0.0269, -0.0317, -0.0342, -7.3368, 9.0188, 1.6532, 0.4957, 0.1392, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90900184442ef27e8039af6551d19e49bb023549dd874da82e214569a5259b84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a55a2ffaf5b20cd21b15ef1e822eaff92c37b13985e37f13d1a59faefa3543d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb056a3a0ffbc8c7afafbd402c3d06179ef982aaecc8532cf13e2172c5fe6d5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 18.15 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]: [-0.0212, 0.7933, 0.6071, -0.3767, -0.0227, -0.0284, 0.9986, -0.0158, 0.7887, 0.6037, -0.3862, -0.0242, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0013 left_z=0.1823 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0032 right_z=0.18 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.4564, 9.7983, 1.7949, -0.0513, 0.1294, -0.1538, -0.8684, -1.1419, 10.4137, 1.873, 0.0171, 0.2125, -0.0317]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7982, 0.6136, -0.3798, -0.0231, -0.0292, 0.9984, 0.783, 1.5822, 0.9768, -0.1844, 0.5915, 0.4309, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1833 left_yaw=0.0011 left_pitch=-0.0019 left_roll=-0.0004 left_gripper=0.9984 right_x=0.3584 right_y=0.2228 right_z=0.1321 right_yaw=0.0421 right_pitch=-0.0597 right_roll=-0.0509 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.6889, 6.4615, 1.7656, -0.0171, -0.0269, -0.0317, -0.0342, -7.3368, 9.0188, 1.6532, 0.4957, 0.1392, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90900184442ef27e8039af6551d19e49bb023549dd874da82e214569a5259b84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a55a2ffaf5b20cd21b15ef1e822eaff92c37b13985e37f13d1a59faefa3543d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb056a3a0ffbc8c7afafbd402c3d06179ef982aaecc8532cf13e2172c5fe6d5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UfZtnyTqjiTnEUtgEHZjs1",
      "input": {
        "note": "Right wrist view shows bottles lying with their caps pointing away from the base. Advancing 4 cm forward and dropping to 10 cm to line the jaws up over the neck of the bottle beneath me.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.235,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01UfZtnyTqjiTnEUtgEHZjs1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7994, 0.6136, -0.3794, -0.0231, -0.0292, 0.9984, 0.7311, 1.7359, 0.9443, 0.0082, 0.5541, 0.3908, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.183 left_yaw=0.0011 left_pitch=-0.0027 left_roll=-0.0004 left_gripper=0.9984 right_x=0.3831 right_y=0.2235 right_z=0.085 right_yaw=0.0399 right_pitch=-0.0729 right_roll=-0.0589 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.4291, 7.0906, 1.8095, -0.0171, -0.0269, -0.0171, -0.5812, -8.0615, 8.2803, 1.7949, 0.4371, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b80944b6abc74da315e5bd757da193b44e488e4cc4b385bd2c13914bbe26bb2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:679db7c8b28293ffe05f16c9b50bec45411104911111dfcc6aefd63fbe713754",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b3d78823ede687eb5b78c2845d8719291ceb07b96d4e1cc13269f10e073e019",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 19.26 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]: [-0.0212, 0.7933, 0.6071, -0.3767, -0.0227, -0.0284, 0.9986, -0.0158, 0.7887, 0.6037, -0.3862, -0.0242, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0013 left_z=0.1823 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0032 right_z=0.18 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.4564, 9.7983, 1.7949, -0.0513, 0.1294, -0.1538, -0.8684, -1.1419, 10.4137, 1.873, 0.0171, 0.2125, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7982, 0.6136, -0.3798, -0.0231, -0.0292, 0.9984, 0.783, 1.5822, 0.9768, -0.1844, 0.5915, 0.4309, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1833 left_yaw=0.0011 left_pitch=-0.0019 left_roll=-0.0004 left_gripper=0.9984 right_x=0.3584 right_y=0.2228 right_z=0.1321 right_yaw=0.0421 right_pitch=-0.0597 right_roll=-0.0509 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.6889, 6.4615, 1.7656, -0.0171, -0.0269, -0.0317, -0.0342, -7.3368, 9.0188, 1.6532, 0.4957, 0.1392, -0.0317]",
      "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]: [-0.0208, 0.7994, 0.6136, -0.3794, -0.0231, -0.0292, 0.9984, 0.7311, 1.7359, 0.9443, 0.0082, 0.5541, 0.3908, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.183 left_yaw=0.0011 left_pitch=-0.0027 left_roll=-0.0004 left_gripper=0.9984 right_x=0.3831 right_y=0.2235 right_z=0.085 right_yaw=0.0399 right_pitch=-0.0729 right_roll=-0.0589 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.4291, 7.0906, 1.8095, -0.0171, -0.0269, -0.0171, -0.5812, -8.0615, 8.2803, 1.7949, 0.4371, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b80944b6abc74da315e5bd757da193b44e488e4cc4b385bd2c13914bbe26bb2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:679db7c8b28293ffe05f16c9b50bec45411104911111dfcc6aefd63fbe713754",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b3d78823ede687eb5b78c2845d8719291ceb07b96d4e1cc13269f10e073e019",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ShjBoz46vh93zS18x7HQm8",
      "input": {
        "note": "The target bottle sits slightly right of the jaw column and well forward in the wrist view, so I'm advancing 7 cm and shifting 1.5 cm to the arm's right; this also calibrates how far a radial move shifts the wrist image.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.22,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01ShjBoz46vh93zS18x7HQm8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8005, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.7269, 1.7607, 0.9443, 0.054, 0.5381, 0.3691, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1827 left_yaw=0.0011 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3879 right_y=0.2286 right_z=0.0808 right_yaw=0.0604 right_pitch=-0.0641 right_roll=-0.0544 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5385, 6.8171, 1.7949, -0.0513, -0.0415, -0.0171, -0.6496, -8.4718, 8.0205, 2.0293, 0.2613, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9ed17bf337366960b10969cfba283e5ed5f7a9a41dfb9c020275901b7030263",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:949ec8a7f60a077a28316c455433f626e8848545181b7ffac6117303983c95cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0038c219145aed63319b557dac5db1df8c05be7de28d134218c395687acc9bd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 5.61 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]: [-0.0208, 0.7982, 0.6136, -0.3798, -0.0231, -0.0292, 0.9984, 0.783, 1.5822, 0.9768, -0.1844, 0.5915, 0.4309, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0015 left_z=0.1833 left_yaw=0.0011 left_pitch=-0.0019 left_roll=-0.0004 left_gripper=0.9984 right_x=0.3584 right_y=0.2228 right_z=0.1321 right_yaw=0.0421 right_pitch=-0.0597 right_roll=-0.0509 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.6889, 6.4615, 1.7656, -0.0171, -0.0269, -0.0317, -0.0342, -7.3368, 9.0188, 1.6532, 0.4957, 0.1392, -0.0317]",
      "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]: [-0.0208, 0.7994, 0.6136, -0.3794, -0.0231, -0.0292, 0.9984, 0.7311, 1.7359, 0.9443, 0.0082, 0.5541, 0.3908, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.183 left_yaw=0.0011 left_pitch=-0.0027 left_roll=-0.0004 left_gripper=0.9984 right_x=0.3831 right_y=0.2235 right_z=0.085 right_yaw=0.0399 right_pitch=-0.0729 right_roll=-0.0589 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.4291, 7.0906, 1.8095, -0.0171, -0.0269, -0.0171, -0.5812, -8.0615, 8.2803, 1.7949, 0.4371, 0.1148, -0.0122]",
      "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]: [-0.0208, 0.8005, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.7269, 1.7607, 0.9443, 0.054, 0.5381, 0.3691, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1827 left_yaw=0.0011 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3879 right_y=0.2286 right_z=0.0808 right_yaw=0.0604 right_pitch=-0.0641 right_roll=-0.0544 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5385, 6.8171, 1.7949, -0.0513, -0.0415, -0.0171, -0.6496, -8.4718, 8.0205, 2.0293, 0.2613, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9ed17bf337366960b10969cfba283e5ed5f7a9a41dfb9c020275901b7030263",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:949ec8a7f60a077a28316c455433f626e8848545181b7ffac6117303983c95cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0038c219145aed63319b557dac5db1df8c05be7de28d134218c395687acc9bd5",
        "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_012uLyTxUSEScVFyZ8ScUGox",
      "input": {
        "note": "The arm stopped at r≈0.45 — that's its reach limit at this height, so the far bottle's neck is out of reach. Descending to bottle-axis height over the nearer part of its body (shifted 2.8 cm to the arm's right to centre the jaws) so I can drag it closer first.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.2,
          "right_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_012uLyTxUSEScVFyZ8ScUGox",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8005, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.7269, 1.7607, 0.9443, 0.054, 0.5381, 0.3691, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1827 left_yaw=0.0011 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3879 right_y=0.2286 right_z=0.0808 right_yaw=0.0604 right_pitch=-0.0641 right_roll=-0.0544 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5111, 6.7214, 1.7607, -0.0366, -0.0659, -0.0122, -0.6085, -8.4855, 8.212, 1.9805, 0.2857, 0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e32539cf67273c833c8000f79bdd64a3fe81c785d9c210a55c82174a1efd124d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef76020c510253324d60bc16e6ce4827cbb2c00c7c3863a596f08d61cd28a5f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d2696978002e58f3fc943dba35dd293cc884aa613cc7edc2ee03d7178c09bfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 15.31 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]: [-0.0208, 0.7994, 0.6136, -0.3794, -0.0231, -0.0292, 0.9984, 0.7311, 1.7359, 0.9443, 0.0082, 0.5541, 0.3908, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0015 left_z=0.183 left_yaw=0.0011 left_pitch=-0.0027 left_roll=-0.0004 left_gripper=0.9984 right_x=0.3831 right_y=0.2235 right_z=0.085 right_yaw=0.0399 right_pitch=-0.0729 right_roll=-0.0589 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.4291, 7.0906, 1.8095, -0.0171, -0.0269, -0.0171, -0.5812, -8.0615, 8.2803, 1.7949, 0.4371, 0.1148, -0.0122]",
      "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]: [-0.0208, 0.8005, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.7269, 1.7607, 0.9443, 0.054, 0.5381, 0.3691, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1827 left_yaw=0.0011 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3879 right_y=0.2286 right_z=0.0808 right_yaw=0.0604 right_pitch=-0.0641 right_roll=-0.0544 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5385, 6.8171, 1.7949, -0.0513, -0.0415, -0.0171, -0.6496, -8.4718, 8.0205, 2.0293, 0.2613, 0.0904, -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]: [-0.0208, 0.8005, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.7269, 1.7607, 0.9443, 0.054, 0.5381, 0.3691, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1827 left_yaw=0.0011 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3879 right_y=0.2286 right_z=0.0808 right_yaw=0.0604 right_pitch=-0.0641 right_roll=-0.0544 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5111, 6.7214, 1.7607, -0.0366, -0.0659, -0.0122, -0.6085, -8.4855, 8.212, 1.9805, 0.2857, 0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e32539cf67273c833c8000f79bdd64a3fe81c785d9c210a55c82174a1efd124d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef76020c510253324d60bc16e6ce4827cbb2c00c7c3863a596f08d61cd28a5f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d2696978002e58f3fc943dba35dd293cc884aa613cc7edc2ee03d7178c09bfe",
        "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+wUKjgEIEhgCKkALNZn8gKfAm3oWimTMljoNmD9IqtnJLcHLfVmFdgjIwRDG7gTqBR4Y7aiRKdNkgnW3LSpmDYqFp25K4RVh/W2/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf/LzNUGEgzcp43AXiyQGrCrBjgaDP6Ff5JMhl3NzppS3iIwMW/UlUIEmeO9M6FHgLhuV22b0ppFFecA0GpyO0xqi8Ht3Lu+rffZI7H6XyBA1viYKpkEeXGgb4kt0eNPcEHVHuHkPd7FYGe2Q6Qh4Y7FruPcFVjKhzIzJqCK/X19IHTQUVRdsMjkFRdZuB8Bx2gNJVOyKJgkedGCQ48gZgpR2DuKbV8OBRjHM/NDJf+MkNZuZE/E8qQMDkGZ6YXFrh8pKDk4nT3pYkB2qH8RZxzTP3us1hFS5PuhTgtVlOFLOPVvYnt7HELLT8M296PExBJ2HzbzQ6DvFkUWtknc4flSubE+hwmZlBmxtyMXwRx87hBOU6EcYma5k/YmKtO9IqPg0vesz3lzeTOWnJmXYYj8CqZoJeRGUD0Dpgi9x4Su0QVk2G3MMoPro2SPMQZPOiUzKI0+9M079HmlgNVLWPakY938XAkZUp/5GVwHzB7b26EqJgyPLA+lmrVTkt43E+9YvRIZ0bJMX7pxigajJ8cyX3LYqovxYhhPvxIDpp2UuWXPYFLtSeFVDy0g2StrSQXeDtQ38vO7pVk9zgmy8BmiV2I6dhUMRzSAD21/effZGgAucENkxQdoXJrXS3Zl44HDmUhEIHXb6gIPad0TjJ6teWf9TfiRjrVSN6zc7AjGcfck/20BGgy1DnGCU4J7xoLAuQ83qaMAHfkVQbKTV12ZZ/iSbHUbCPbjt6Cu9mC9f3G48rN1JjPJXlzxxG9o611TlJHKvBKtoxziPgqRfGcb62Og/GDEPWqqiFkocLNU91VjrmI8xLYBL0I4NCcgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AKNkJz7xUU9BVQJsWGipJ5",
      "input": {
        "note": "The last command didn't move the arm at all — it is stuck against its reach limit in an awkward pose. Retreating up and back to a comfortable pose before re-approaching a closer bottle.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.18,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01AKNkJz7xUU9BVQJsWGipJ5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3786, -0.0231, -0.0292, 0.9983, 0.8135, 1.2335, 0.8433, -0.3313, 0.5835, 0.4225, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1824 left_yaw=0.0011 left_pitch=-0.005 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3054 right_y=0.1866 right_z=0.1799 right_yaw=0.0848 right_pitch=-0.0127 right_roll=-0.0079 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.3197, 6.7214, 1.8632, -0.0562, -0.022, -0.0122, 0.5402, -5.4632, 10.359, 1.7118, 0.359, 0.1294, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5179c1994fc2cb92c656eb070b5026282bc36b5bb4863900044497cea7da32e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ecb4b69453f8aab9ef3130482b32a067d274ee7bf8773c6a7c0cd653531680f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7f5220fae5c0014ec3029bcc436e656cf9e308336cab5ff8e31d227a5fe1fda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 14.27 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]: [-0.0208, 0.8005, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.7269, 1.7607, 0.9443, 0.054, 0.5381, 0.3691, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1827 left_yaw=0.0011 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3879 right_y=0.2286 right_z=0.0808 right_yaw=0.0604 right_pitch=-0.0641 right_roll=-0.0544 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5385, 6.8171, 1.7949, -0.0513, -0.0415, -0.0171, -0.6496, -8.4718, 8.0205, 2.0293, 0.2613, 0.0904, -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]: [-0.0208, 0.8005, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.7269, 1.7607, 0.9443, 0.054, 0.5381, 0.3691, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1827 left_yaw=0.0011 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3879 right_y=0.2286 right_z=0.0808 right_yaw=0.0604 right_pitch=-0.0641 right_roll=-0.0544 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5111, 6.7214, 1.7607, -0.0366, -0.0659, -0.0122, -0.6085, -8.4855, 8.212, 1.9805, 0.2857, 0.0806, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3786, -0.0231, -0.0292, 0.9983, 0.8135, 1.2335, 0.8433, -0.3313, 0.5835, 0.4225, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1824 left_yaw=0.0011 left_pitch=-0.005 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3054 right_y=0.1866 right_z=0.1799 right_yaw=0.0848 right_pitch=-0.0127 right_roll=-0.0079 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.3197, 6.7214, 1.8632, -0.0562, -0.022, -0.0122, 0.5402, -5.4632, 10.359, 1.7118, 0.359, 0.1294, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5179c1994fc2cb92c656eb070b5026282bc36b5bb4863900044497cea7da32e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ecb4b69453f8aab9ef3130482b32a067d274ee7bf8773c6a7c0cd653531680f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7f5220fae5c0014ec3029bcc436e656cf9e308336cab5ff8e31d227a5fe1fda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EWquKzEk41D741vydVoB98",
      "input": {
        "note": "Wrist view shows a bottle centred on the jaw column with its cap pointing away from the base. Advancing forward and down to bring the jaws over its body.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.19,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01EWquKzEk41D741vydVoB98",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.6117, 1.6188, 0.7891, 0.0803, 0.4248, 0.2737, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0014 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3767 right_y=0.1797 right_z=0.0782 right_yaw=0.0853 right_pitch=-0.0989 right_roll=-0.0587 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.5111, 6.6667, 1.746, -0.0317, -0.0122, -0.0122, -0.8274, -6.8308, 9.0325, 2.0293, 0.3297, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b68397b652a4d5a8a535b8887aab9e0fa8e25ff24032c460b833c8b66e601fa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ed2575036d0b6368e95fd3c67d848bb68ef3229f587717851a72666c6d634ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:48f0ddc0a7b024b8c6acaafe1a06ac3f02925af3ea0370602395cdc35149f0a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 4.1 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]: [-0.0208, 0.8005, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.7269, 1.7607, 0.9443, 0.054, 0.5381, 0.3691, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1827 left_yaw=0.0011 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3879 right_y=0.2286 right_z=0.0808 right_yaw=0.0604 right_pitch=-0.0641 right_roll=-0.0544 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5111, 6.7214, 1.7607, -0.0366, -0.0659, -0.0122, -0.6085, -8.4855, 8.212, 1.9805, 0.2857, 0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0208, 0.8024, 0.6136, -0.3786, -0.0231, -0.0292, 0.9983, 0.8135, 1.2335, 0.8433, -0.3313, 0.5835, 0.4225, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1824 left_yaw=0.0011 left_pitch=-0.005 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3054 right_y=0.1866 right_z=0.1799 right_yaw=0.0848 right_pitch=-0.0127 right_roll=-0.0079 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.3197, 6.7214, 1.8632, -0.0562, -0.022, -0.0122, 0.5402, -5.4632, 10.359, 1.7118, 0.359, 0.1294, -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]: [-0.0208, 0.8021, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.6117, 1.6188, 0.7891, 0.0803, 0.4248, 0.2737, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0014 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3767 right_y=0.1797 right_z=0.0782 right_yaw=0.0853 right_pitch=-0.0989 right_roll=-0.0587 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.5111, 6.6667, 1.746, -0.0317, -0.0122, -0.0122, -0.8274, -6.8308, 9.0325, 2.0293, 0.3297, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b68397b652a4d5a8a535b8887aab9e0fa8e25ff24032c460b833c8b66e601fa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ed2575036d0b6368e95fd3c67d848bb68ef3229f587717851a72666c6d634ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48f0ddc0a7b024b8c6acaafe1a06ac3f02925af3ea0370602395cdc35149f0a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISzhAKjgEIEhgCKkDeIcHjWE7aBvCPWRLOVf3DqDukeoNMS0foBcnOZrB++xyvZsheFItymhXY71SP8FKuuRiDysQq/t9HWTHYedydMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ3MzNUGEgz86tCyjY+KrtNuoXAaDEu9kxEI+x/OPRso4CIwzwBN78IEdw/DH3ZeS2rL/OLKvaBGxCxw/Et95IrgWi7cdCpanEtRL/0A9UA7d270KuwOtRcqbAtkBIDg/kEzjiDSsvk5l5/isZGQiJ6tIDnibrNGhI/OR6rx7+Iojq8zqAoIVHIjmy6fNvH7TThnTJnk2aZL/rlSrrlWMkbs+wekYt5rskDnQ3Athp4bijye6IEf+XhXXWeV65fAePe6p0Lb4YV4GSHu0LPjgtJ48C9EunTIZ70DosG/y5+YUtUsUzm4xNf56dhZ3OdFqC30+12rTAIaqEnxp36hoxgcbvL1pEb/tX0APpoyldCzOzmDa6V6myHp1sHbcEfUI/4/niF1xbfO+f4soEi4DDzUHznE2NumbQPtoFBWU53NhetIhjwXW47jWWO3zMPTU/ua4ObFFlAP/e8C3rz9zGnPaGXcmker1CCBxvOPH3CgO4Ha4r/gCrEitdF9mZcNd7IeMPUd4aL4v7pQhNWVR3/NBuBmpv8a6Q5DcWHizaHgWSUv0zn1n1aDdVDyTidQwYvwT4mCM5EyMrppXTLTzDnqWqwqEiZXbITiU47ommaDTNfhdS8C8Q40jZb1z05PBPV9O7vfRgTkHG+GOUez9Fa1lxVQm9ucyU4jzjiuRp9Eo7VaNsHe1wiEqCqBMB0Au923QrYe0AVA/fV7vbtL7dLWYa2J+1f1/YWjG0K/neRApHq7sgFQCL32cPrvCTAqoDYfrmYvR56NmIOLIZcg3T9aJmCmdcTHtNxRPI+OnewxsJ/qmyRQPh0w247G6MtZ2zViFOpvNQdF5revMSFi83YsKbBn4sfNPJMmYq9XSPpN165MzTmfW/qib0QKYbimb869Ib8J7OM213w6/BklS9WVzUpHu5bBiKd6iiVAximIYv22jplvyEaZCB4kmBm5IQZFv52FXibM0MUXsFxoJwIUFP93SbcrNQXlC8rX48ueoMHjMWQSdet6QP9DvhbTkW+uCkEQ0cMEJS09UhZBSniIbo2lCwsT5c96TEY/dMkDgvYqcK59RGvp4eQoMYSNYCTffT/QmBMVptsShVTN8uVHMNoSbyOaodsFwQ0FFDM/qkPZVO0vPzw6E7+VFckVF1a+LfPV3hKhnrln01lnh63EoEIpHgMRNaeQgC/bgk8j/L/fDpZ0fcpIgYrFRa8Ch72HQM3LDUMYHKUnsmDkeV59j++1J9/2sd6RMWs1D5HJmP1UyIYLYFIbC42p9hvlcZC09enwiAqDvBIvNIuxZMf6azRLNsseos259D+aEcSq2s9romPL9K4fHAsgCMb0FVDBXKpKn20lJOwq0B3petoJCZKjL1F7NAWTcCi33EWfgxTZ8dHCSsuy53amEDSC3WsqTMLXfmqh+KJMRsYOyjGdQI+Y0m4ANLO619ut74SKFmDmyoj3JY+D6c/AdhVvLKWWTjHa87zKsK5Ur9fd5TLHPvsPsIObd7RsAaIJ7U81X3ttqBKhP9oL9WiezqdvmTd6M36LMCoRZpAZJfjUZiZ5BNMC+5bmiGrQF0Yw+Mix0GytCGt3QeS+du6Do4rJQOipJaXSALFmfPJGK+muyigP+zBvGKYIFUrpDc7oTSxngcZhBfHeLdHldMJV5WPxgCz0HN1eHuAfUfwucde4S/ZdiF9z/7XZwukhZEWf4Qy7fwZH866D3G2adkyL9T6fmKxZIT1aoyNb6cJrCNddj9erNgwbwIUIQ9oVjKx3LJ1Gg44cqyDrjFt/Zd2jkXWkILyswy4OnjObxnQYxFW+gUHDkfC0IbcEY7z7/iRffoh0edLb/fePhhIbNoPIseu0cfOmiPFYUQ6FIb6PEnNHu/PkBNj5IyPRFkZ2+O5QER9p/7UDFz57wl9Tvp8VFPOSMLbsj+rGsO88PYfANXwpwV6b+GSaKXOgha+gnHOMZLV04iTM5Xb0ZyVWbsOYWIQEzt2Y0UfwBeec2U93EYQXv1LExKGMPGCpnd8AfGqt/TbKBYznVHYWL+/nlYLr8XZj3yMG07/1caZdfFDHamAc0UF6+ogN88S75rS7eDmdrcn4S+LLL1Ln1bDxCmj5gUxVEMgSDzrxAha6EoW0R3va1on2RGjp98teQ5WG6+wTDjjRp0/8hYFleWpyNbWnWAZ4Wy91zPOCq+uJyawtydXk5NgydIZl6UJ55GA6t6gSJa4Jt7tM9bgRkCXOX9vZRtAVmTIqBJEjhSpJ8VODhHxRgtaflTR4qggrL4LIXReKBJoLPT3pbGv8UdgxdwKch/GNI1+NnYpT7oRatXm4lhnvabeDjh42GNjJYfhdbo4W+6VWRgeicq0NEc0DYc1uXiYbIPWtRIe6NBNe5ZecPSAUf0eAGZtjFY987NGOpuuNIOQtATgXqj/7nX65f6AOn4Rxjr7yJsuZkkqIQbYFFLsueK6T49fJyKdfLcqPkYd6jf8hT8uxdmkQ0OtYgTo0Tqa3CCEU0o3+23C7J6WRAMkQKETm3Lqo8imgqfs4rxw0C2B36Yr2PwSQBLvpHCms6mj/iyrxDZlcD11idi/AI8xZ38bXSSkVpULEyJVyCw7Iux9UYrgUz1NyMGm+6e3Ix5w40E/nE/h+atAHsWzexLE71IH3lxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vc6obACoYBVMnc487eGhic",
      "input": {
        "note": "The bottle is well centred on the jaw column but its neck is beyond my reach limit, so I'll grab its body here and drag it closer. Descending to bottle-axis height with jaws open.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.377,
          "right_y": 0.18,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Vc6obACoYBVMnc487eGhic",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.6136, -0.3786, -0.0227, -0.0292, 0.9983, 0.614, 1.7672, 0.6163, 0.4297, 0.4137, 0.2676, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1825 left_yaw=0.0008 left_pitch=-0.0046 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3661 right_y=0.1756 right_z=0.0187 right_yaw=0.1009 right_pitch=-0.0782 right_roll=-0.043 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.6205, 6.5983, 1.7705, -0.0464, -0.0464, -0.0122, -0.3077, -7.4598, 4.9573, 2.1172, 0.232, 0.0611, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e3919f1476c399ebf4685ff324eee91d6616de7ffbe2bed82eec44c259542fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2f41a34918ff143ac101d09dc49c65bd64c7265314b349e45a94bec04e27bfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7b5aef21d76f0fadd8713343960a704913aeb498747e8f0ae6b54a6e2656bce",
        "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 · 7.53 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]: [-0.0208, 0.8024, 0.6136, -0.3786, -0.0231, -0.0292, 0.9983, 0.8135, 1.2335, 0.8433, -0.3313, 0.5835, 0.4225, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1824 left_yaw=0.0011 left_pitch=-0.005 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3054 right_y=0.1866 right_z=0.1799 right_yaw=0.0848 right_pitch=-0.0127 right_roll=-0.0079 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.3197, 6.7214, 1.8632, -0.0562, -0.022, -0.0122, 0.5402, -5.4632, 10.359, 1.7118, 0.359, 0.1294, -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]: [-0.0208, 0.8021, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.6117, 1.6188, 0.7891, 0.0803, 0.4248, 0.2737, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0014 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3767 right_y=0.1797 right_z=0.0782 right_yaw=0.0853 right_pitch=-0.0989 right_roll=-0.0587 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.5111, 6.6667, 1.746, -0.0317, -0.0122, -0.0122, -0.8274, -6.8308, 9.0325, 2.0293, 0.3297, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.6136, -0.3786, -0.0227, -0.0292, 0.9983, 0.614, 1.7672, 0.6163, 0.4297, 0.4137, 0.2676, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1825 left_yaw=0.0008 left_pitch=-0.0046 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3661 right_y=0.1756 right_z=0.0187 right_yaw=0.1009 right_pitch=-0.0782 right_roll=-0.043 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.6205, 6.5983, 1.7705, -0.0464, -0.0464, -0.0122, -0.3077, -7.4598, 4.9573, 2.1172, 0.232, 0.0611, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e3919f1476c399ebf4685ff324eee91d6616de7ffbe2bed82eec44c259542fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2f41a34918ff143ac101d09dc49c65bd64c7265314b349e45a94bec04e27bfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7b5aef21d76f0fadd8713343960a704913aeb498747e8f0ae6b54a6e2656bce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5AQKjgEIEhgCKkC5wZrrPeNqACpNQkLK8pt4q0r782B1LEldvH1wj0KSj7jtzW5kzHSvdgSle5PoES/nz4tYE+vgiWfGh+yP1/fGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaLMzNUGEgzENOc/sMsQRIpq+1YaDBDxmorCdUCBr+94+yIwY7k1InSyyRLLs80CCdesFsiRe0pEwjIfniHsHPIyUUUpNWI3acM+OJ/skHB/a0fFKoIDlgFRnF8xWED2gdf+FJ9ryyt7CZ6eroKkb2p7pzQ1LvxDjeDKIqXTWSlU/XtLOfpTxY8MgikBJl4sbuQJoxZ5TlA/cVJr3pMUPL0/m27OrBShYz1E3PiMnU86t/gRDNvn6Ei3r/2tmlQRxQHmAa2cc9mYyULeYIQtHl7RRt5u3U6uMDe4Y/HV9wBD2AtXCTHOv+R+K6rpDAFH5QJgPCdN0OPj5rAMkDfnoo1WNuLRe4TYFaL/85KTblaNKuiy104Y9LC0dzQEgWIh++gAovL+I3Wp7aF+RtrRES5ryKwWCo20h/jkDl008+SLOqMiidM75JTsZlAWP3spxtkoAiR1jzUQmOkJyqHi7Z8yAhgDAqu6fd/6v12+KEX1iVYbrEDSTmTkD4cvWmi2V9vufL5gPOoTALGctF1BI0aQ9Yu/V/uI2P3sQ8y7MhvBB9ViOc6OjfdlTa9YpWk8UxkzjK33Jp+gn43oiBcJ++hF2PxsKowejw5SXf2rt+qW5FUxbiz64ZQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0188HJiHoV35pCszMkHg6u1A",
      "input": {
        "note": "Jaws are straddling the bottle's body at table height; closing to grip it (bottle is ~6.5 cm across, squeezing to ~4.3 cm).",
        "targets": {
          "right_gripper": 0.45
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0188HJiHoV35pCszMkHg6u1A",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.6147, 1.7874, 0.5449, 0.5816, 0.4099, 0.26, 0.5517]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1822 left_yaw=0.0011 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3619 right_y=0.1737 right_z=0.015 right_yaw=0.1104 right_pitch=-0.0268 right_roll=-0.0176 right_gripper=0.5517\nstate[joint_eff]: [-0.2256, -1.4564, 6.653, 1.8046, -0.0415, -0.0171, -0.0122, -0.3214, -6.2838, 4.6154, 1.956, 0.1636, 0.0464, 0.8767]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9180d1e66db329a620a21b606f39733e04bef0e4b31ba0aecf0778474359dd27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb3707f59da826a7ae5ae367764dfb0484b5cbe958d52a684a4ca9ef9924e304",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:431e86f1da08e8305cb902f7703c1ed4925e2ccd2c26ead2208dabdb338fd02b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 9.919 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]: [-0.0208, 0.8021, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.6117, 1.6188, 0.7891, 0.0803, 0.4248, 0.2737, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0014 left_z=0.1823 left_yaw=0.0008 left_pitch=-0.0053 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3767 right_y=0.1797 right_z=0.0782 right_yaw=0.0853 right_pitch=-0.0989 right_roll=-0.0587 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.5111, 6.6667, 1.746, -0.0317, -0.0122, -0.0122, -0.8274, -6.8308, 9.0325, 2.0293, 0.3297, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.6136, -0.3786, -0.0227, -0.0292, 0.9983, 0.614, 1.7672, 0.6163, 0.4297, 0.4137, 0.2676, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1825 left_yaw=0.0008 left_pitch=-0.0046 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3661 right_y=0.1756 right_z=0.0187 right_yaw=0.1009 right_pitch=-0.0782 right_roll=-0.043 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.6205, 6.5983, 1.7705, -0.0464, -0.0464, -0.0122, -0.3077, -7.4598, 4.9573, 2.1172, 0.232, 0.0611, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.6147, 1.7874, 0.5449, 0.5816, 0.4099, 0.26, 0.5517]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1822 left_yaw=0.0011 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3619 right_y=0.1737 right_z=0.015 right_yaw=0.1104 right_pitch=-0.0268 right_roll=-0.0176 right_gripper=0.5517\nstate[joint_eff]: [-0.2256, -1.4564, 6.653, 1.8046, -0.0415, -0.0171, -0.0122, -0.3214, -6.2838, 4.6154, 1.956, 0.1636, 0.0464, 0.8767]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9180d1e66db329a620a21b606f39733e04bef0e4b31ba0aecf0778474359dd27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb3707f59da826a7ae5ae367764dfb0484b5cbe958d52a684a4ca9ef9924e304",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:431e86f1da08e8305cb902f7703c1ed4925e2ccd2c26ead2208dabdb338fd02b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShwYKjgEIEhgCKkCBVi/dU3+yfK9qgOPGurMlvTLzsorEdqbt04ejmLxAfBMIiUPvklTPxrkg01HAfMz+EWihonIhLsnEkfbL3JtNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAarMzNUGEgyT/JRiRASzrNDuZVwaDDDjRbrhdijVl1zJsiIwtxJpRWQPOnq2veh81pw5vJAiPbTQ0GLaCrH+8Fj1XozlgtZwWOvd+suoDL96lvYWKqUEaEu/A1aYAynxqU0yBadPuXnMwFA8Wh6JKxNsIb60ir9xdcFYLjZFaIsJXqfmWBzl8aCVvhvQk+dOgeFYbj38E1dOGbVJ+O8iZC92Dht85p5pSyf5JSCwbzrXJXPQSTjXUnDozXC/iSY18ghmeCbB+BxHnQzrdEo6bA0FUWyN1IufZyOToxpEH6VAXplnRi+F2SWIVY6aY6RZys/GPCNJLrCMPcWfC5a8uGCq5WR2IvsypWLNps9Q7fU3WOgIZ2QshqMFPYCOJUhy32ykRTRCFDV4vo/jZTHjgO54cGuHGi6/obEx/TafAUcpV7a67o1peFtpUv5JIGOrAwTK4hzHEd5arQLQR/GBIJs+WCNxKg7mxKvHUt3Usv6d4N6bQ6QN+RcF7+cjmOiGvIu6SHw6p/cUyWP/YR36BCQysWskAUiglEEGUMuy37NPUKlVvWGTb1axOR/Rd6QBiWVcMS6XAQ1i2UeXmdMOj68IumTrA2hNJjI3zeSsZErA8C5rMcm8FtN7OAuQgZifMk3p0I1FLG4dCJDnnnTtvNpWbtpnfzgATzO/gLvVD3zeQxOOExjk3syUQv3vdmlwa+0ZCI4zscQYn3yVXt8heZfHHYliE/he+E7RX/rMYG2dGzePyx70Tj8av1wd6ScvOOG5EMstvetbib3hz24tzFZdtvRC/PetatvMFDNZbfw7LWVonaqs2Wn+oekOMb3njhUY9NVMqh4vzs8CGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016kyyqWwmh2ybjoLHdHoj5s",
      "input": {
        "note": "Gripper settled at 0.55 (~5.2 cm), so it has the bottle's body. Dragging the bottle 10 cm toward the base so its neck comes inside my reach envelope.",
        "targets": {
          "right_x": 0.26,
          "right_y": 0.17,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_016kyyqWwmh2ybjoLHdHoj5s",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3782, -0.0227, -0.0292, 0.9983, 0.8936, 1.5616, 0.2619, 0.5724, 0.588, 0.4335, 0.5542]\nstate[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0046 left_roll=-0.0005 left_gripper=0.9983 right_x=0.2636 right_y=0.1772 right_z=0.0118 right_yaw=0.1554 right_pitch=-0.015 right_roll=-0.0048 right_gripper=0.5542\nstate[joint_eff]: [-0.1436, -1.0735, 6.5709, 1.9023, -0.0513, -0.0122, -0.0122, 0.1573, -5.4769, 4.3556, 1.6728, 0.4127, 0.0366, 0.2613]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b87536bb7339225dde130d06f4807d5a7e51c2f6425d24095d5c0b3267eee06d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a40686338e4aee84cd2a853abcc45033052205e3b3cb0f4ae4cf79106b6b0772",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc16fcbd0c250b36644ee35d6928b362add3469553698a01e8dc3504a21c6a58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 7.43 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]: [-0.0208, 0.8021, 0.6136, -0.3786, -0.0227, -0.0292, 0.9983, 0.614, 1.7672, 0.6163, 0.4297, 0.4137, 0.2676, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1825 left_yaw=0.0008 left_pitch=-0.0046 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3661 right_y=0.1756 right_z=0.0187 right_yaw=0.1009 right_pitch=-0.0782 right_roll=-0.043 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.6205, 6.5983, 1.7705, -0.0464, -0.0464, -0.0122, -0.3077, -7.4598, 4.9573, 2.1172, 0.232, 0.0611, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.6147, 1.7874, 0.5449, 0.5816, 0.4099, 0.26, 0.5517]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1822 left_yaw=0.0011 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3619 right_y=0.1737 right_z=0.015 right_yaw=0.1104 right_pitch=-0.0268 right_roll=-0.0176 right_gripper=0.5517\nstate[joint_eff]: [-0.2256, -1.4564, 6.653, 1.8046, -0.0415, -0.0171, -0.0122, -0.3214, -6.2838, 4.6154, 1.956, 0.1636, 0.0464, 0.8767]",
      "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]: [-0.0208, 0.8024, 0.6136, -0.3782, -0.0227, -0.0292, 0.9983, 0.8936, 1.5616, 0.2619, 0.5724, 0.588, 0.4335, 0.5542]\nstate[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0046 left_roll=-0.0005 left_gripper=0.9983 right_x=0.2636 right_y=0.1772 right_z=0.0118 right_yaw=0.1554 right_pitch=-0.015 right_roll=-0.0048 right_gripper=0.5542\nstate[joint_eff]: [-0.1436, -1.0735, 6.5709, 1.9023, -0.0513, -0.0122, -0.0122, 0.1573, -5.4769, 4.3556, 1.6728, 0.4127, 0.0366, 0.2613]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b87536bb7339225dde130d06f4807d5a7e51c2f6425d24095d5c0b3267eee06d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a40686338e4aee84cd2a853abcc45033052205e3b3cb0f4ae4cf79106b6b0772",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc16fcbd0c250b36644ee35d6928b362add3469553698a01e8dc3504a21c6a58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISuQsKjgEIEhgCKkD71aDdaJYvSKezRMyKFL4+tpsG56k0YBKBg9BQDASDg8VSjSo/jk47RVuG0peekiWQGz6uZLbd7e0rQgo4IAorMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbXMzNUGEgx9G80BjMilrLujlasaDCq7AL01xH1c8QPSsiIwoNYY+CnO5HsdtWutncn1TYqp6pCsRLC0hEpPvsl5hJpt9fJe2UIMIbQa5Ir0Qp64KtcJz/HEjmZOJv60pKYs82FCOYGcXuLS8CrMdU38yrsAAfJshUSFT0oj8QgIiuODVQrpE4RrnLerGIqlJqbvOai91CCjAdj3FvhqrejuakmS1bqwJm1oog3ggei5Sd01QIuRPokna/hI1B3/wn6dq9VtINFRumrHK2ieeIViy2c65r5U8E4Hfol9WJBXvhAd2F6waB0uGvqg2YHQOvy0NjohpxBUMuusG51PNEKzICvTr8eEUDWN0wnTjXDIdro8M4AVXIXdgGerqd69jQGbBxvpPcwcZc66ds+yvDrZJDIemZ9zGxUfAYKis9rnLzLjJUW6qhUcdAjxy9ewXetkgVEv3mJex1NGpZ6RNviOh38XAWtmzn/3YHe0eNeDzK3Sd9phG8seuzWzltWKFoACsdrF3EpoOdFUfshjpFMNz6yBIyUNPgLHQNls/sIR6b1rHcHOLTWZyLkgbxgIGlj4dULcHcKtsHMILBzquWB7iU8EQXLMfIa7Lexw6Krd2taV/2Fp1JH0Uywd2WZ9llFqFWIWRcZTUEPQemtY/Sv2KiIv+mRy4dR+xkTm9mCA/TkwcOnv2IF6xlAg8s4UH3kFj3/YOZ/RHjeSOVxFvoeIqxrBOAv6FCeCGfYYonXLpMFvPEI9dSPdXYW7DT0cmriU77+ke+Eba359kkO/vMEKOLTjfawXXLMFE2GbYCv3et5jP50xL0T4bNX/KT+hUqFtZ9Nt3s7NKVRUTLWbUVP+lE09kxInqVg2MuzidmIIwflOsdEfOqfoyJG2qYsGpUvn5GRmbEuugbAgQgfCIsNGBmT/885JbyheKXC3J09Py/rvAvTtbrY5ytUKWbBQi/H3zj2qNVb/WZLf2R7UQ4QIP5nO0LLZiEYRACmeRYtJ3+qnW/9YWd6eMY4SEAWO9aSb3i4nefrAvzvIj2dFtPtJdskQurtJ7oR4qIkUgJCWvQXrgwCfxkiRSbEUBxfIA3LH/zO5zj3rp0h1hrJNugeCryPgQw1/pB6IUVC5HW2xFlwYurhy/jM/gc+mS+HdLvLeQaUyJSQpZZ7TDt746V3oaXpWq/uZVXL24Dn86mQWuk2ABsDdNO0r8dI7AM0+b5CrlWE553JNrt0yp2zEdIKTzH63wL69NVUlKLCIZKp6XYcrRVL956m9Gm+dcqwNN5wZXLjrWuefT1jpi0KThegengYVqeGheXT4x9zrdXG3F+ReXDww4hmq4TpI2cuR08m/0O7xwLRGosOr1JV8rXee30CX9CJiDdfgFc77ZRIUmOBEj0ibCHgSXdlFmlnbo/7hJULLVx61ylYUFL9kvIiry8XAMMlej9x7c89NmPILU0md+o+ui1cPubx5/U1pPl7D8MpUKqXcAn23ioqvy5hmrS/el2I0ibmFoBIhjsAg8BGzKciTFLW7JonfQuyvLLL5xnAAGROP1oNEhFfxSwmQ8qoTckOQV1ltAO+Z7QV4xnuv6+7DMZ0fkpqDpgPkq3Ykyni73dqU//t4Np2ZuO4Zw1lm3KlUHvpKQXktK7Gn2msWEKwhTMv26phd5kv6UqQNHsawKJ1aHo8QoFktNo/SBKHZ+wzkZ8V9zUPiBhyvu9Xk91NsYp392bzebS3JrsWIJd6SyJdNyeSMYYJlKS35i1OWdruJzHoQJcqrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xya321FP1R3mmu243t55L6",
      "input": {
        "note": "Bottle dragged closer. Releasing, lifting clear and moving forward over where its neck should be, to line up a loose grasp on the neck that will let the bottle swing upright when I lift.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.34,
          "right_y": 0.19,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Xya321FP1R3mmu243t55L6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.7055, 1.4124, 0.6247, 0.1299, 0.4477, 0.2913, 0.9964]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1823 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.333 right_y=0.1879 right_z=0.1013 right_yaw=0.1541 right_pitch=-0.0126 right_roll=-0.0101 right_gripper=0.9964\nstate[joint_eff]: [-0.3624, -1.5521, 6.6803, 1.8046, -0.0317, -0.0415, -0.0122, -0.6222, -6.9949, 8.6906, 1.7118, 0.2076, 0.105, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc852ac3f8e7b80e4a0ea4fac24baab66194e15e664c6648440de63f83bf6168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24553a718ec977afa37a3b4b6715919a7986f35d8be348f74853fcbf572370f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a2197a917a177a107645ea63c2f97acccdfe6b9c06250117f42fb3c7e73aaef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 9.209 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]: [-0.0208, 0.8024, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.6147, 1.7874, 0.5449, 0.5816, 0.4099, 0.26, 0.5517]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1822 left_yaw=0.0011 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3619 right_y=0.1737 right_z=0.015 right_yaw=0.1104 right_pitch=-0.0268 right_roll=-0.0176 right_gripper=0.5517\nstate[joint_eff]: [-0.2256, -1.4564, 6.653, 1.8046, -0.0415, -0.0171, -0.0122, -0.3214, -6.2838, 4.6154, 1.956, 0.1636, 0.0464, 0.8767]",
      "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]: [-0.0208, 0.8024, 0.6136, -0.3782, -0.0227, -0.0292, 0.9983, 0.8936, 1.5616, 0.2619, 0.5724, 0.588, 0.4335, 0.5542]\nstate[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0046 left_roll=-0.0005 left_gripper=0.9983 right_x=0.2636 right_y=0.1772 right_z=0.0118 right_yaw=0.1554 right_pitch=-0.015 right_roll=-0.0048 right_gripper=0.5542\nstate[joint_eff]: [-0.1436, -1.0735, 6.5709, 1.9023, -0.0513, -0.0122, -0.0122, 0.1573, -5.4769, 4.3556, 1.6728, 0.4127, 0.0366, 0.2613]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0208, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.7055, 1.4124, 0.6247, 0.1299, 0.4477, 0.2913, 0.9964]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1823 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.333 right_y=0.1879 right_z=0.1013 right_yaw=0.1541 right_pitch=-0.0126 right_roll=-0.0101 right_gripper=0.9964\nstate[joint_eff]: [-0.3624, -1.5521, 6.6803, 1.8046, -0.0317, -0.0415, -0.0122, -0.6222, -6.9949, 8.6906, 1.7118, 0.2076, 0.105, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc852ac3f8e7b80e4a0ea4fac24baab66194e15e664c6648440de63f83bf6168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24553a718ec977afa37a3b4b6715919a7986f35d8be348f74853fcbf572370f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a2197a917a177a107645ea63c2f97acccdfe6b9c06250117f42fb3c7e73aaef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISgAgKjgEIEhgCKkBFF1k1RMEj+j9wWrmoLlEDThoi4jdHZ8Mz0BFt16w+MBcdRbPrMXRji/hpfBABpcMje4CfGdrJ2OK0eHH8eXkDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb3MzNUGEgxWBr6q3SVYvZ+Ru+0aDE8xIlTTF5QDj6CUNyIwbbkc9HE1zq7oYhM13BN7H4HNh326Z6Lhav+kuX1YfIXyEbYoC1ZnQGfjFjNXPfjrKp4G2yto+WL6pyLc60gqYZPthvUDKur7d58B2Ur3UyCoGmjHLm4zBm1o2TQi935Gj6+PsopGiiiQzhWFNWjKUFD1+FTtX4FS6NmwOl9L4J2KvTJVpf0pb74pG0kmRRb7CFqHMNj5zqHFEkiWfbGln6d+ch0JH9nUroClYF5gFwEtKnTyVo34eji3QAwsl67k1J5lT14dmpQb5/ttHvQott2eyHXCjYC5HsubIXcLA67LaxjvNOcGahAXXGYLjMhYNLjDXx8mjWroCPz0AWbuPjYp7ZKYysyGSOyMUqxMW4HGL2YU6Uee1v4EHYEqfp17Gg1vowDtuuoOXix/sQh7xctXGgg4Vea5HLzOb2mG+yDqKEOUEqceJ7cM/NLEWseHeqXPLltkFSMSjOCY1RuXnL7cbr8U+3Xt1oDVhC3BMc/2vY2eL4SZTDMcee4aadSKX+UNiPlRzdASjV71FgLgiI10zgTvflWKymVOhp9JmtkrHo+1JVdOMkNU8B14sot5XCA+JrWEa3pw7urLp3jhK015GtDp3mc1NuSFUiIRplmiOsOwyoXNkmSZkxu13MBTgo6sdd0KYWzah2a4LmCsV3ZlhR0JhEyqXHCW1XTJZ0y6RxUB4UvaTciiFDU74HrdGD6TS0Li3HwQ7eFm3347b4dUFCt7sFzHtp5SAjDSjlw/bUqX/bU1kdW9C8aJSWQvbt/YewccO22YSLI8LLajarjCWRDC35qfIAyX9zvpPTeInlQQHQd0bENd9fyISEyVbGcSIOkV6myGnwncqdfKjXsUdfcvR3nrKoBioHUqR6KMxjlV+ffNiY/TLr+c567SfFeSqV1CDt3gl3gwhQQXTcyau3tEQAEgMNaUMXcHfowV0yfAL+U7VtZ9KgAbVeXLHBZ6KMvzFsEO3Cd0ZzNg+PhS1R/iN+SMjkO66XYYqkCoW9Biw7spvYyPHp3/bfGLGrCX2eW3E5zDP8fQ7Ehk5Cj/FP+dEqZdQMRdUyfMja3nwubkszj0ysrSncTc2CqZgL5pkjWV6dUxaT1Ej0vCZvVwqdNc10f0P8za2A51MwPhGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KSwyetNJMtieCvamRdQp5N",
      "input": {
        "note": "Wrist view shows the bottle's cap/neck just up and slightly right of the jaw column. Nudging forward 3.5 cm, right 1.5 cm and down to 7 cm to put the jaws around the neck.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.175,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KSwyetNJMtieCvamRdQp5N",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5957, 1.5719, 0.614, 0.2459, 0.3748, 0.2306, 0.9968]\nstate[eef_state]: left_x=0.2966 left_y=0.0014 left_z=0.1822 left_yaw=0.0008 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3554 right_y=0.1671 right_z=0.0571 right_yaw=0.1342 right_pitch=-0.0826 right_roll=-0.0455 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -1.5932, 6.5983, 1.7509, -0.0562, -0.0464, -0.0122, 0.294, -7.6376, 6.0103, 2.3516, 0.0171, 0.0073, 0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14fc7b949cfd96a4be961e9ff37c0dbd71a038c98df167b31e39460b0f6c0bdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:263ee5927ef04a480cf6e3ef6b5210e6454e4314a2b69dc17cb7a19dc7f358db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:90a9b53a5a933faced3dc407ee85855f5377df5f5cfaacde9cbd75a926201a32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 13.19 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]: [-0.0208, 0.8024, 0.6136, -0.3782, -0.0227, -0.0292, 0.9983, 0.8936, 1.5616, 0.2619, 0.5724, 0.588, 0.4335, 0.5542]\nstate[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.0046 left_roll=-0.0005 left_gripper=0.9983 right_x=0.2636 right_y=0.1772 right_z=0.0118 right_yaw=0.1554 right_pitch=-0.015 right_roll=-0.0048 right_gripper=0.5542\nstate[joint_eff]: [-0.1436, -1.0735, 6.5709, 1.9023, -0.0513, -0.0122, -0.0122, 0.1573, -5.4769, 4.3556, 1.6728, 0.4127, 0.0366, 0.2613]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0208, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.7055, 1.4124, 0.6247, 0.1299, 0.4477, 0.2913, 0.9964]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1823 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.333 right_y=0.1879 right_z=0.1013 right_yaw=0.1541 right_pitch=-0.0126 right_roll=-0.0101 right_gripper=0.9964\nstate[joint_eff]: [-0.3624, -1.5521, 6.6803, 1.8046, -0.0317, -0.0415, -0.0122, -0.6222, -6.9949, 8.6906, 1.7118, 0.2076, 0.105, -0.1783]",
      "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]: [-0.0208, 0.8024, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5957, 1.5719, 0.614, 0.2459, 0.3748, 0.2306, 0.9968]\nstate[eef_state]: left_x=0.2966 left_y=0.0014 left_z=0.1822 left_yaw=0.0008 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3554 right_y=0.1671 right_z=0.0571 right_yaw=0.1342 right_pitch=-0.0826 right_roll=-0.0455 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -1.5932, 6.5983, 1.7509, -0.0562, -0.0464, -0.0122, 0.294, -7.6376, 6.0103, 2.3516, 0.0171, 0.0073, 0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14fc7b949cfd96a4be961e9ff37c0dbd71a038c98df167b31e39460b0f6c0bdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:263ee5927ef04a480cf6e3ef6b5210e6454e4314a2b69dc17cb7a19dc7f358db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90a9b53a5a933faced3dc407ee85855f5377df5f5cfaacde9cbd75a926201a32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISyAkKjgEIEhgCKkDWRYFKCEl8FBy0Na9GNPQ8yMoy5jVUfAAQCV7ZNrZ2np4JQXa2LaxQuYgi1Cuu028k02tnxZsCX0/rYpGLo31zMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcbMzNUGEgz3RQz6OQzb8k7JVrcaDBMR3denge/Pf4wDMiIwVJoyNH3aVcVQIsMuv8sbLVpN01iJATXU/0ZJf7Zx1q9PLITejkO4qGvh1Vurqb0WKuYHgoYDEXveQPXdFiFxWkda2AN39EgrBUOr1ZbGooi4Illn/57qmIe4J6CQln/fAHX+W4XLkUu/azvnwDG7gaZif7E8k3VyX2mJOXV4cA74AhPHNSe0DZtwIM1iTWtMKafxnLgFU4/flbV0LhkFkUG0JsAoVreXbGr8fMP8yyr0DX5hdZyHGxU0A7z5Yr4Mw8UgS/k8krGOj8OSmJwJEr8Knhy0UF6V+q8jzQqATmbeeo7MYhwwn3+w5ddCqB+cJm62dTUX2BUwaXogO+twABYXneQQwb5LGQlgKuNvVaBP+10H0LOjF5YvlvPbS9nV8l2cdcQrZxQPoe6k5pm4WhH/6FYmUaQZhe7yjgr8JpxZoFMzVsJqMJCj/b1nwdNarOCpx95i50F5AwmEWYj/GvB18fo8vMTt+85N412p7P7f02VZc/Ofn9SHHOyQuIsPKK1h+UAgjXqEGdNA27sE+BRzLDn0IeoZFb119vtpK1Wg8gS3+PXWOZRQJLKJY6oU6mNAqP7lpH7jJ7GfysucQQFi4keXkWMiGyf7bu6hdwNIPMdwLY9deHMyMRkTOp9b+YE0fa0ROnDmukgrR+FQgwdiQTnCEBNPz/1Pu8RnHNcYnASp4nFHeMb7IX5M1rATm5CH6l2sXMf4iaETKp8HfjUzhkWSse1OcDMD92s1titlcZWCI6JIlX6omWmO8rRllGvcxrnk03Qrn5pGOb6DRO44i7wO6wDIzwMF4AtLmocUjXqgIVrsafjMu2dEpmBpxP0wEtCTf3b+iFdFwAoStYr8otmpPZXOZLsUiTzHFi4c6sewwGsLVjJsQuQMhS75KAe2O1oCTYMJxw6tlZZCawkjyGobbGQ7ipxqufNXFGqUpW1KWcqRTAuHOEiJsx5PcPRhWcnVt4YVr0bmIO03Epn/ZMjieXBTEWMVpopyckMHOQFNO2YY72OxWTBNq8biEMlrUj0DtrCkMt2T/2KicmYv4PqkPKa1nxkAp5GueKsZiyJI3CUd+36o0KA9rhVjnAN0CKx5Ba/UNFocOploaLolxOkuLPqUb1GG6A0q9dpTg3s7aWym1pHBExCMqLrQ5aDbDFSCtlZzxdJ2yklw4To4eLcsO/Zxrdi1mlrNeDihvtwLdznablGZQ46YKCNCLYI1WdiMbWu89W3Q61tSdx+lT6l9GgtCW/VgWAJ3LsGZ8PLs1xnnuUBbyRFNXV3+3hegYZVqUGR0mBQbt4E30hAdNREceZ6EsTzWj2t2vGMKHmo9VSkhFjLj+Im5y7jdfdZ8uo0iDYlY4qb2bJHqC7I2NidEY1LbXXtSB0In8apW0f6bewoLfC8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FcjbY51t938GdMG3RfMGDX",
      "input": {
        "note": "Still short of the neck — the jaws sit over the bottle's mid-body while the neck is a few cm further out. Advancing 6 cm along the bottle's axis to put the jaws around the neck.",
        "targets": {
          "right_x": 0.415,
          "right_y": 0.165,
          "right_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FcjbY51t938GdMG3RfMGDX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.5701, 1.6096, 0.5694, 0.4011, 0.3359, 0.2077, 0.9962]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1823 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.363 right_y=0.1678 right_z=0.0537 right_yaw=0.1543 right_pitch=-0.0271 right_roll=-0.011 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -1.6068, 6.5846, 1.8095, -0.0562, -0.0464, -0.0122, -0.4855, -5.6274, 5.3265, 2.0733, 0.2027, 0.1001, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3decf429079399daba986ba0a3310f51590f6f6edb0c7c9e9ee8224e789ed4d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:651fe5df7b958c4e53d7daff359d260c98e1cb1e4f57ddcae4673c5f4a071959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d6f7124818e9eced53eaa224daf4977cf7a7d885c32e6ee632564f88253979dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 6.389 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]: [-0.0208, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.7055, 1.4124, 0.6247, 0.1299, 0.4477, 0.2913, 0.9964]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1823 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.333 right_y=0.1879 right_z=0.1013 right_yaw=0.1541 right_pitch=-0.0126 right_roll=-0.0101 right_gripper=0.9964\nstate[joint_eff]: [-0.3624, -1.5521, 6.6803, 1.8046, -0.0317, -0.0415, -0.0122, -0.6222, -6.9949, 8.6906, 1.7118, 0.2076, 0.105, -0.1783]",
      "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]: [-0.0208, 0.8024, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5957, 1.5719, 0.614, 0.2459, 0.3748, 0.2306, 0.9968]\nstate[eef_state]: left_x=0.2966 left_y=0.0014 left_z=0.1822 left_yaw=0.0008 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3554 right_y=0.1671 right_z=0.0571 right_yaw=0.1342 right_pitch=-0.0826 right_roll=-0.0455 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -1.5932, 6.5983, 1.7509, -0.0562, -0.0464, -0.0122, 0.294, -7.6376, 6.0103, 2.3516, 0.0171, 0.0073, 0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.5701, 1.6096, 0.5694, 0.4011, 0.3359, 0.2077, 0.9962]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1823 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.363 right_y=0.1678 right_z=0.0537 right_yaw=0.1543 right_pitch=-0.0271 right_roll=-0.011 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -1.6068, 6.5846, 1.8095, -0.0562, -0.0464, -0.0122, -0.4855, -5.6274, 5.3265, 2.0733, 0.2027, 0.1001, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3decf429079399daba986ba0a3310f51590f6f6edb0c7c9e9ee8224e789ed4d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:651fe5df7b958c4e53d7daff359d260c98e1cb1e4f57ddcae4673c5f4a071959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6f7124818e9eced53eaa224daf4977cf7a7d885c32e6ee632564f88253979dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YJEL5DwqwYXaRfFgvJ2z1M",
      "input": {
        "note": "The arm has hit its forward limit again, so the neck stays out of reach; instead I'll re-grip the mid-body here (descend to axis height and close) and drag the bottle much closer to the base.",
        "targets": {
          "right_gripper": 0.45,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01YJEL5DwqwYXaRfFgvJ2z1M",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.5697, 1.6096, 0.569, 0.411, 0.3382, 0.2043, 0.4543]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1822 left_yaw=0.0011 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3643 right_y=0.168 right_z=0.0555 right_yaw=0.154 right_pitch=-0.0178 right_roll=-0.0113 right_gripper=0.4543\nstate[joint_eff]: [-0.0205, -1.5521, 6.5983, 1.7802, -0.0415, -0.0513, -0.0171, -0.4718, -5.6274, 5.2991, 2.0049, 0.2466, 0.0611, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:121f3ecb57602846895e624cbd74559d1aa3d93d3bb144b7c8286cad47d70c2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcccef112ad22a2ff995fe60c45e1e4106c35e206fef4d164a4de99aba20db5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27281b6dc00df544dd4f60a49ebc53db34c825370a5e23b6a70ecda911614a20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 20.47 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]: [-0.0208, 0.8024, 0.6136, -0.3794, -0.0227, -0.0292, 0.9983, 0.5957, 1.5719, 0.614, 0.2459, 0.3748, 0.2306, 0.9968]\nstate[eef_state]: left_x=0.2966 left_y=0.0014 left_z=0.1822 left_yaw=0.0008 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3554 right_y=0.1671 right_z=0.0571 right_yaw=0.1342 right_pitch=-0.0826 right_roll=-0.0455 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -1.5932, 6.5983, 1.7509, -0.0562, -0.0464, -0.0122, 0.294, -7.6376, 6.0103, 2.3516, 0.0171, 0.0073, 0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.5701, 1.6096, 0.5694, 0.4011, 0.3359, 0.2077, 0.9962]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1823 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.363 right_y=0.1678 right_z=0.0537 right_yaw=0.1543 right_pitch=-0.0271 right_roll=-0.011 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -1.6068, 6.5846, 1.8095, -0.0562, -0.0464, -0.0122, -0.4855, -5.6274, 5.3265, 2.0733, 0.2027, 0.1001, -0.0757]",
      "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]: [-0.0208, 0.8024, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.5697, 1.6096, 0.569, 0.411, 0.3382, 0.2043, 0.4543]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1822 left_yaw=0.0011 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3643 right_y=0.168 right_z=0.0555 right_yaw=0.154 right_pitch=-0.0178 right_roll=-0.0113 right_gripper=0.4543\nstate[joint_eff]: [-0.0205, -1.5521, 6.5983, 1.7802, -0.0415, -0.0513, -0.0171, -0.4718, -5.6274, 5.2991, 2.0049, 0.2466, 0.0611, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:121f3ecb57602846895e624cbd74559d1aa3d93d3bb144b7c8286cad47d70c2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcccef112ad22a2ff995fe60c45e1e4106c35e206fef4d164a4de99aba20db5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27281b6dc00df544dd4f60a49ebc53db34c825370a5e23b6a70ecda911614a20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwQYKjgEIEhgCKkCeFoSvUkOBWrGe4bguoy/KKJE4jfh21LM753pR4Wpy53ZkqvOM+dnaaPvgk4YImGuyFR85Dj8QTs32HQ7ztvHIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdvMzNUGEgy5OKMg/omaRdARSCgaDDl+sYBzN/zomXf6JyIwo2KeTOpyWugh5PY/pJidSgSrsIsFoJSiUoqD7q5jpZ1dh12nWquQ2xzE8i9XAl6aKt8EQcpPj3YBdbr8Lg4d66aO640sw7K2fnjj2xPvzPxFttzOrjzmdjzYMRvvhP5XMFDXtwmVQr4n3V7rWK1BcQZ79sTWWU5p8kUxUU0MkM6ul+5k6CM82HJAQHANx0TguroEVmyt2nq9J97RUkgSPerHj0F/m1ose4lBK1bH/Q0exrM68CWiKBM72AMk04RkDqOr/2rr+zcjBk8bH33sEHcPw59yu8K98gCr6yy0cbmnTYh5PjsjJnFXD7qCRwSNpQO7DV+fCWZYlfzA5D/05WtdsqYLQVlh8rrvdyebCFUrJmVHdh9SqcQvGTkA+kjiYovzgsCz1PuBd7t4pai3pWBxazTgQqiERi9IzOrSPLZC2hPF44rgCga4IxIn7cYzc1YI7rV44aVilsO2KJy806KxacW3fX6RNZtyQS4x4/HtTXxnXbvoP9pubJ79lbjj0K2AlHhpfw5LlfYtFN60NUPTd1gt5k4Bvu3jH+Gkzl2k74xu+T6Ynf5LxzdPJ5g63lvtb/PCPcNjkaNwXxfHiSn1Fy+b8tmG4GHNjpE09AyDsGgw7BEaeJvlOSpBCK9RKqz5t2sZhbc8q7Zy0x4Px6Sh9U+NvJScixpubQtUZMmUTrlipq1ngsAIBJXBcQ2Nf35wQo4rJg16PeZL0Sptnb2rmPlcOqpPi9v4SZEcnTL/LoSYQLAksqlaIHnCr7VMm5+zbBvzOcLMw5B2PlmT1fJ6Ij4B+MmE5xC7sSxgALE+pSWsi2HprLT7IW/5d3LVuSDU/PNDpPe9aeUOhy/o7EHQcMLHpeXotM1upRUlYLUf+hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NxQzq67WzFpFsFjtBrMTDd",
      "input": {
        "note": "Closed on the bottle body; lifting to 28 cm to see whether the bottle comes up and whether it can swing toward vertical in the jaws.",
        "targets": {
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01NxQzq67WzFpFsFjtBrMTDd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3786, -0.0227, -0.0292, 0.9983, 0.5701, 1.3338, 1.2133, -0.527, 0.3283, 0.1913, 0.4539]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3637 right_y=0.1698 right_z=0.2557 right_yaw=0.1693 right_pitch=-0.0366 right_roll=-0.0237 right_gripper=0.4539\nstate[joint_eff]: [-0.0479, -1.4427, 6.5983, 1.8437, -0.0464, -0.0269, -0.0122, -0.4034, -6.2154, 9.7983, 1.79, 0.2027, 0.105, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f89b9b2cdffdaf96d21e90e5d1a84fcccf1114126bdd484077e1048e0fbb6a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbfa7a084bcbf7f4e5ae2a2870e63f193836930a1ae1382c16455ad2144a0f04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a929192d2a0828b9883fc81ad76f8bfbfc05d5307200efbf6fb3791ea4c10d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 10.3 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]: [-0.0208, 0.8024, 0.6136, -0.379, -0.0231, -0.0292, 0.9983, 0.5701, 1.6096, 0.5694, 0.4011, 0.3359, 0.2077, 0.9962]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1823 left_yaw=0.0011 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.363 right_y=0.1678 right_z=0.0537 right_yaw=0.1543 right_pitch=-0.0271 right_roll=-0.011 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -1.6068, 6.5846, 1.8095, -0.0562, -0.0464, -0.0122, -0.4855, -5.6274, 5.3265, 2.0733, 0.2027, 0.1001, -0.0757]",
      "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]: [-0.0208, 0.8024, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.5697, 1.6096, 0.569, 0.411, 0.3382, 0.2043, 0.4543]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1822 left_yaw=0.0011 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3643 right_y=0.168 right_z=0.0555 right_yaw=0.154 right_pitch=-0.0178 right_roll=-0.0113 right_gripper=0.4543\nstate[joint_eff]: [-0.0205, -1.5521, 6.5983, 1.7802, -0.0415, -0.0513, -0.0171, -0.4718, -5.6274, 5.2991, 2.0049, 0.2466, 0.0611, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0208, 0.8024, 0.6136, -0.3786, -0.0227, -0.0292, 0.9983, 0.5701, 1.3338, 1.2133, -0.527, 0.3283, 0.1913, 0.4539]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3637 right_y=0.1698 right_z=0.2557 right_yaw=0.1693 right_pitch=-0.0366 right_roll=-0.0237 right_gripper=0.4539\nstate[joint_eff]: [-0.0479, -1.4427, 6.5983, 1.8437, -0.0464, -0.0269, -0.0122, -0.4034, -6.2154, 9.7983, 1.79, 0.2027, 0.105, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f89b9b2cdffdaf96d21e90e5d1a84fcccf1114126bdd484077e1048e0fbb6a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbfa7a084bcbf7f4e5ae2a2870e63f193836930a1ae1382c16455ad2144a0f04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a929192d2a0828b9883fc81ad76f8bfbfc05d5307200efbf6fb3791ea4c10d4",
        "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_01BFATuw6gLSSFYCkFhFe5oN",
      "input": {
        "note": "The lift came up empty — the previous descent had stalled with a fingertip resting on the bottle rather than straddling it. Reopening and descending again, nudged 0.7 cm sideways, to get the jaws fully around the body at table level.",
        "targets": {
          "right_gripper": 1.0,
          "right_y": 0.177,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01BFATuw6gLSSFYCkFhFe5oN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.6132, -0.3794, -0.0227, -0.0292, 0.9983, 0.5842, 1.7264, 0.54, 0.5632, 0.3466, 0.1955, 0.9979]\nstate[eef_state]: left_x=0.2965 left_y=0.0014 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3651 right_y=0.1738 right_z=0.0305 right_yaw=0.1664 right_pitch=-0.0098 right_roll=-0.0205 right_gripper=0.9979\nstate[joint_eff]: [-0.3761, -1.5658, 6.8034, 1.7363, -0.0317, -0.0513, -0.0122, 0.3897, -4.1504, 3.1795, 1.2039, -0.0904, 0.1197, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33203d0d7479fd0bebb44ebba558e0c6fab4e3181fc4a770c5767922e136730c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f932a31df6f9b2dd3a897f1986a4d56f3a7be6b5d4ecf9d809004fe27eccd01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d897854e089e35e482747a571a8aaa560be3f6dbdb68db85fb9db49cff005b5",
        "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 · 20.21 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]: [-0.0208, 0.8024, 0.6136, -0.3794, -0.0231, -0.0292, 0.9983, 0.5697, 1.6096, 0.569, 0.411, 0.3382, 0.2043, 0.4543]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1822 left_yaw=0.0011 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3643 right_y=0.168 right_z=0.0555 right_yaw=0.154 right_pitch=-0.0178 right_roll=-0.0113 right_gripper=0.4543\nstate[joint_eff]: [-0.0205, -1.5521, 6.5983, 1.7802, -0.0415, -0.0513, -0.0171, -0.4718, -5.6274, 5.2991, 2.0049, 0.2466, 0.0611, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0208, 0.8024, 0.6136, -0.3786, -0.0227, -0.0292, 0.9983, 0.5701, 1.3338, 1.2133, -0.527, 0.3283, 0.1913, 0.4539]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3637 right_y=0.1698 right_z=0.2557 right_yaw=0.1693 right_pitch=-0.0366 right_roll=-0.0237 right_gripper=0.4539\nstate[joint_eff]: [-0.0479, -1.4427, 6.5983, 1.8437, -0.0464, -0.0269, -0.0122, -0.4034, -6.2154, 9.7983, 1.79, 0.2027, 0.105, -0.0562]\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]: [-0.0208, 0.8021, 0.6132, -0.3794, -0.0227, -0.0292, 0.9983, 0.5842, 1.7264, 0.54, 0.5632, 0.3466, 0.1955, 0.9979]\nstate[eef_state]: left_x=0.2965 left_y=0.0014 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3651 right_y=0.1738 right_z=0.0305 right_yaw=0.1664 right_pitch=-0.0098 right_roll=-0.0205 right_gripper=0.9979\nstate[joint_eff]: [-0.3761, -1.5658, 6.8034, 1.7363, -0.0317, -0.0513, -0.0122, 0.3897, -4.1504, 3.1795, 1.2039, -0.0904, 0.1197, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33203d0d7479fd0bebb44ebba558e0c6fab4e3181fc4a770c5767922e136730c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f932a31df6f9b2dd3a897f1986a4d56f3a7be6b5d4ecf9d809004fe27eccd01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d897854e089e35e482747a571a8aaa560be3f6dbdb68db85fb9db49cff005b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpgsKjgEIEhgCKkBAuTCvKA9/NdUg7irQ06KBvqkgQdbXxsJ0EHIImaFmM7uVkPHKtHHlXEnTKs+L+BBwIovdO4YPDmLyVqo51j4KMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf3MzNUGEgwZmVbcM4IeRKitc8saDEMVJldeRdgdK98o/SIwNAPdHQmYT0eytoi4kJ4LxxbtGHUAzehoFCrsm5hBOKiLfE+f6/pfR+50nnp7R0jRKsQJJHj01UgZV8VW4LxkRI4K6PIsvoXKhVSVeRVnOrAaLastdaFViPKyrdlFzvnpESF+8ySZLc163rZk4h2poVGOzeSTOvV7VjnTaHe6wxwbyhsyGqf8lYxuUb2v2EGDipouhKcemWVmSEZ6c/vhozd69KOqesQDfUG3yJkTXBNxm5iDC7YzqFNG9S9CO/lUVSPQa6Y6Jszmzo8gFr9sOaykboX1frevKu6TmRje4q+0aPXjtZPKlyim2O65nsLu1a9XcqlGlkOKaNPQoT7R6iwe1qhJ2ZFGQKnl1JiWIS8Z4EIbDw/e2DIYebyqWVHfh0K/w5vxJyG5vuuh7lBVh5hN2vsWBOm2aHXua7fGo7NcdS1qZR+/A6NURUaHbaAeOFaxFoQIW07isDeCh47r19RXmnYxt2XIYgmDtMYQrfS9B3htrwQIfUXZu/Od6dHN/xmEMDnqAgRndZ760kKkNr24BTzDivlXUt+UazHR5ieTg+D3T5wGFj3pSytFn8P/vd4j5jZFgXHcXujtnuJ6T0nu+Xr/mN9HMx6eYIUPUDM+9Mo5/2ZDrMvMHUNQ3eWCiLF/RD0cL9LaqhlGsuEXftNbpNLCptJ+xhbG8/jblCxwgR4E7y0ATy2oTlt7QEoAvbhiEHRsXbPUA7yxuZb0UZNlU6WcUVeW2iq4oLU+BXs689+PYlUFQuI9Q/JxVSqW+gaJFrS4onx6f6p1W4xb9/WsnVqVDHnBfAGIe4aJ/E2wgyRpf4OwyG/fW48fLrW1n/otK1urmn8wEOaKhRJ1+yjE80kkkvkR4TjnbR59i5h9STPEvDeWW47BBjEueeYJZ3mpqKmNG1len1UqH0m6oTSeA33nFan218IzJrolZ31QHLMe/qoEn2Y3offqXbpzkVPOkIL8OhvVv7cyC7wArO5LMWGOQ1zQRC0NqUem749d2IRRJa74hjT9HKVktks3W7HUkSyhIhCPzwN2DRoHNEzhd759kQwmhx6H7Ht2/gnjzgarg110h2hRbyDWuPGJEV7FsyEIrRLn31zFn3pluH6FAUDEks2E0hXx7/6CgxE0lnF1uwGhiZp2Mdvs5kdOkpb6pg5Yb9BytrJD3RgZsv4CdeorVmLOmOZexPCCPeDdJvshuwu/ngQTs8rPFUmHMfQVx+oykbiWolMFeWCJLv2DKdLP892LsrQ4pMkssi73sOzdxNBFe/G2P1Xpj4imab48CB/TFxgR5eGmYrsoaaWY37fFuYclGu90Mv2FxL7ukhFudW5Ox9Du42MaXTT2Avi+KykqufHJEwjaLn+9TjoX0I6kJ6aisjsy0tDEhvqAij36Zb5+Mwn7qaQw4M0/CmOdbWIqdI/g/uSECZdUCy4Y7eEF3AgYJi5Gkucvyg7eVqbzesfHHnhNaNM3Ea3kZ2Kzvjr+eNe/HKG3z8gbSt9Y6Yk+2jAwgWYnpp+hLO4CpBfHwViCOsUJ7OfsO1R3Ylt/k8l9L/jfP/RyZx+0zdgtjmBRjaCviNswzR8BSZ02gzi4kz8FvOFfyOe+V3U4p8A9LFNrMeU53e4S8EQb2Scxly4CYRseS1P6DQYWwzL7Ik5VKzKZy4bR1z2LH9FPjLjV6PUBUQdU+XXCS8L3Kosh2OpFXXEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013WbqkUeMD4EizZMzAsKnMb",
      "input": {
        "note": "At table height the bottle fills the wrist view but sits ~2 cm right of the jaw column; sliding the open jaws 2 cm to the arm's right so the body lies squarely between them.",
        "targets": {
          "right_y": 0.157
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_013WbqkUeMD4EizZMzAsKnMb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.556, 1.7241, 0.514, 0.6682, 0.3115, 0.1776, 0.9991]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3725 right_y=0.172 right_z=0.0422 right_yaw=0.176 right_pitch=0.0577 right_roll=0.0136 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.6342, 6.5573, 1.9023, -0.0269, -0.0708, -0.0122, -0.7726, -7.1316, 3.9316, 1.2723, 0.1978, 0.0464, 0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd6d135009849c09ad600f5969d47add95211e9bba7590ce82ebb6e514b2ffb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f17017e3b64d806e6a19ddec21fdca93be085563849ddabaa10da61ebadc439",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27c8540aa4cc457523067172f972b267c0c8f31ff2aae88add79d4bf7c57d06c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 10.67 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]: [-0.0208, 0.8024, 0.6136, -0.3786, -0.0227, -0.0292, 0.9983, 0.5701, 1.3338, 1.2133, -0.527, 0.3283, 0.1913, 0.4539]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1824 left_yaw=0.0008 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3637 right_y=0.1698 right_z=0.2557 right_yaw=0.1693 right_pitch=-0.0366 right_roll=-0.0237 right_gripper=0.4539\nstate[joint_eff]: [-0.0479, -1.4427, 6.5983, 1.8437, -0.0464, -0.0269, -0.0122, -0.4034, -6.2154, 9.7983, 1.79, 0.2027, 0.105, -0.0562]\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]: [-0.0208, 0.8021, 0.6132, -0.3794, -0.0227, -0.0292, 0.9983, 0.5842, 1.7264, 0.54, 0.5632, 0.3466, 0.1955, 0.9979]\nstate[eef_state]: left_x=0.2965 left_y=0.0014 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3651 right_y=0.1738 right_z=0.0305 right_yaw=0.1664 right_pitch=-0.0098 right_roll=-0.0205 right_gripper=0.9979\nstate[joint_eff]: [-0.3761, -1.5658, 6.8034, 1.7363, -0.0317, -0.0513, -0.0122, 0.3897, -4.1504, 3.1795, 1.2039, -0.0904, 0.1197, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.556, 1.7241, 0.514, 0.6682, 0.3115, 0.1776, 0.9991]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3725 right_y=0.172 right_z=0.0422 right_yaw=0.176 right_pitch=0.0577 right_roll=0.0136 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.6342, 6.5573, 1.9023, -0.0269, -0.0708, -0.0122, -0.7726, -7.1316, 3.9316, 1.2723, 0.1978, 0.0464, 0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd6d135009849c09ad600f5969d47add95211e9bba7590ce82ebb6e514b2ffb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f17017e3b64d806e6a19ddec21fdca93be085563849ddabaa10da61ebadc439",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27c8540aa4cc457523067172f972b267c0c8f31ff2aae88add79d4bf7c57d06c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpgUKjgEIEhgCKkDGcqXV6DsvUqKndVpc3ti8/vO6G+Sg/CR/e3Y4WZK5RZ4iCV1rccOPxVN/N5vQFWyf2CY4VmqrMgmJbOQedxbGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYPNzNUGEgyH2Zsuv+M98Qoa9HMaDBkfmtDONXIC/ypdoyIwFvJqZ7aLyyrVBJZd4nR9A88wFJ4FZ6f0HP4VlC1ZY2x/SwAZ1g0oCBrNFjdX367oKsQDEUkGvTLLQOddcDIiP8MDasZp1yxEsdMTJ0SUh27s3YnS6CPLSl1fH5eORGBd07LpRsd/cA7yi9sxeCN3m1gVwnhQfpYtsI5XhHfu2Ea3qNzQqh4uG0sLbvWREHF+i8VN3tDJbfYesuQHbPifeTHwIyLNVRDUVKbPQp8o1Q/K556fS0EOO/EanLCyFtm7jlXLiRa4GlPDtteKEP0DGyIVppE891dzrG2cGPdHjTTMTaHoOVZrAEzbGu4eEUcB3VSxlTKNi7yMJl+inPGbcEe644mlB6r51gHJBVc3pK/vihEL1itHr+O8lqVCzFKJ4AfVMsbwfhvPY1/ZQqa85Hie+cXGmbREsg4yKdVy0qcJ0OryWmupNPYwfmRGYJblKYYdLEmGv7y2e0/BmaMeSLKCPmTXAzl+BCXhy06FMdlR2QdeI1TIILBArMq7efPXGaOHmwpuatMCBqRv+OvRQLfvJfwJ5wwsPsDJNBfbVlcwy+3q01HpYR/Q2ey+3kUu3WnF9SGVePANuZBO/1AB1yCvsgRsB1Oew0G3LrxeHifSYsZ1AZJo8+hUDs7k4LicvdbVCPXHG3CvbepmxBCh2U4DATovsbQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YN58tatg2sMgM5jSn5zWUx",
      "input": {
        "note": "Bottle is lying between the open jaws in the wrist view; closing to 0.55 (~5.2 cm) to squeeze its 6.5 cm body.",
        "targets": {
          "right_gripper": 0.55
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01YN58tatg2sMgM5jSn5zWUx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6121, -0.379, -0.0231, -0.0292, 0.9983, 0.5232, 1.7027, 0.4992, 0.6518, 0.2829, 0.1669, 0.5561]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1816 left_yaw=0.0011 left_pitch=-0.0069 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3719 right_y=0.1617 right_z=0.0411 right_yaw=0.1729 right_pitch=0.0433 right_roll=0.0147 right_gripper=0.5561\nstate[joint_eff]: [-0.0889, -1.6068, 6.6803, 1.7998, -0.0562, -0.022, -0.0122, -0.3077, -6.5983, 4.1504, 1.3114, 0.1197, -0.0122, 0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:683fe9f00fc461106af5245f53b4e3d38a07b3f33a8025b3632c9640f2a07982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d411ac217cf29f97b305f209dd6fa0524cc953d05cff0e2747c0e7e6bbb7f87d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa60f8c9fb6a18ab3c9805e0c95d8217591b7c6d779cb1e31b6e9812c0a07489",
        "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 · 11.62 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]: [-0.0208, 0.8021, 0.6132, -0.3794, -0.0227, -0.0292, 0.9983, 0.5842, 1.7264, 0.54, 0.5632, 0.3466, 0.1955, 0.9979]\nstate[eef_state]: left_x=0.2965 left_y=0.0014 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3651 right_y=0.1738 right_z=0.0305 right_yaw=0.1664 right_pitch=-0.0098 right_roll=-0.0205 right_gripper=0.9979\nstate[joint_eff]: [-0.3761, -1.5658, 6.8034, 1.7363, -0.0317, -0.0513, -0.0122, 0.3897, -4.1504, 3.1795, 1.2039, -0.0904, 0.1197, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.556, 1.7241, 0.514, 0.6682, 0.3115, 0.1776, 0.9991]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3725 right_y=0.172 right_z=0.0422 right_yaw=0.176 right_pitch=0.0577 right_roll=0.0136 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.6342, 6.5573, 1.9023, -0.0269, -0.0708, -0.0122, -0.7726, -7.1316, 3.9316, 1.2723, 0.1978, 0.0464, 0.1197]",
      "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]: [-0.0208, 0.8024, 0.6121, -0.379, -0.0231, -0.0292, 0.9983, 0.5232, 1.7027, 0.4992, 0.6518, 0.2829, 0.1669, 0.5561]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1816 left_yaw=0.0011 left_pitch=-0.0069 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3719 right_y=0.1617 right_z=0.0411 right_yaw=0.1729 right_pitch=0.0433 right_roll=0.0147 right_gripper=0.5561\nstate[joint_eff]: [-0.0889, -1.6068, 6.6803, 1.7998, -0.0562, -0.022, -0.0122, -0.3077, -6.5983, 4.1504, 1.3114, 0.1197, -0.0122, 0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:683fe9f00fc461106af5245f53b4e3d38a07b3f33a8025b3632c9640f2a07982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d411ac217cf29f97b305f209dd6fa0524cc953d05cff0e2747c0e7e6bbb7f87d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa60f8c9fb6a18ab3c9805e0c95d8217591b7c6d779cb1e31b6e9812c0a07489",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgQsKjgEIEhgCKkB41rGp2IsMipxVWbkV/xc9aGLoPAP7sSLe2vYNtvc1p6TlXMvsbiswH7IP16RvCaHru5B9EvMHnbJKDxmu90RHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZzNzNUGEgwHSNrtz/3C1XvVGe8aDDa9rP2HBi9CvxgDIyIwF6cY3ezs3MXZrxAQZ7L6TgacFkytnxHoDvQWEP1xPCuGXceN2bIHvdvQWOfjJxbJKp8JFMCP9HvdX5YIvq7lBtyF5IRl7aTQDTIZeqAMc3L9NuaH9wMgZ/Z/xzeIGUlQeLBH2frqDSpE3KofSOUFy5zRercVVijhbJ0LkihAtfWXgdIRPrctZkJQtgyGk58HtBNEpF7F5qYPyevZMxw3ysabhi5HkkMAlAJlMnSgN20ltFZQlftpNH+YiYHwooVbhHPyYF4Mk2n9HWc8KfB/dAg2sOg8NEE9aVWE89jNxgIWl//KhBtxIvfwTBIQZGteJalhsqtFyi+diTBrz2JZR45dZZsuakkPvZjJSp11uU+60mkaBv2S3hHz8qH6WMwAcjdphC0pBO+xQS9PP7a5rz+o6PCLgbPtKqB/MnNgSw8/99hh6hv1IqvSU3EtehWUiNms4CLgozhEm/h4LFUq9gQIzowwUs5QjOpLeF2UZDaqtKlf+PapJI/LvnJEezJPrm2zbUc/OyVjf9w0DQOvtv4t+71+62grhMs7I/zRSDbxadfHcIipa+O0EzS5IzFdm2u6CvmnJccgLiQraAJVXd/11YWKax4DFE2Armyzzk0K+Wp+liR9v61V6MOWZx4WBdGlP5l2PieBy4sdPn5AxNUG7HDcxOiGLV/gUOflvK6ZDh/ges8i3PUfTc1wcM2I+LYQOOHFKyLH/B4t/z11YeAVHvG/OnnhaU7//+c0jyGGry/mv/hFHfFZ6Bukp+0VF1NumQ/GYAqQcX1eKy6/2D4EJD5dFoSW59gMCPgGwcrMAAKw3ZKdBHPzuYaBcU2y/NZ9Kv9oC/lwl7PZMMfbbyx/KKag9GE195Xn89D43xZ1IdXekSDpxaV/CUBal7zMawKiHS+pvo/BYyznSjZ9XjfFrvNgPJwJh3rbMxO28H5L/xLiVl/3Uh27/qjDFh+KGJXuOEC7AT72A5KMiU5lJe6MRmZTvBJN+fYORxqh1A6EWdGgQW+qCFXD3rNk0dzETKwvGC6AJ3FX0qW7lbo40lQxmgjyLi+1WchW1w+Q/cQaVaHlQ8yMHCvIklQ27+wMWcgAdeaES2S9cTDB18YWdBjRHSWi0ti9yKhKphX8NM8g6/a76YpJVm80rRoliV1US6YyX2v12ctJCEyttf6MwoN9owfho0HwjDtG+G3PQ8CiqzJecLoKqcuugBvz9ftJX2eBoxkmFHxTOiCCJYWhcbZ4eZoyjWwO6XQJV791kzDupZj8z5/lkloROASAolGKJ0cJvenxpptEflIAehqVEKs2wZVQbTWgP1aFSYHLikB7cLgPR3Gm+/KwiT5k2K1ClPf8ZOH3IcYFfPpXyvYWMlgCaZ8c6e+Tl1OMO6kxvqdFuvFQZXDl4oJGj54k6wZ/Dufn3G5+BR8bI1YzjyroaS3mFCPpuQcXhsgXypi5aqqg5TNUBfAuppX3ga3vqmQU+xo/M5YwHnd41x5LBBBDopvcPODvZyfABYBte2pnNyz5ShxIHy8M5+107qBq+3qsiZ3l9HAWKgd/M5ChHRKrznPdHYjVX3nGpzYuXocoMGVbOLJaMdg8UgAWxpdozuOfpa48CE/xyW0P30eJSvO1hhHjuyDkcjdJRtiESr6jljlerRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RpLNdZMjmCbYw3GVwszeLD",
      "input": {
        "note": "Gripper settled at 0.556 on the bottle body. Lifting to 30 cm to check the grasp and see whether the bottle swings toward vertical in the loose jaws.",
        "targets": {
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01RpLNdZMjmCbYw3GVwszeLD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6102, -0.3759, -0.0231, -0.0292, 0.9983, 0.5232, 1.3357, 1.3083, -0.5819, 0.2714, 0.1513, 0.5569]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1813 left_yaw=0.0011 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3703 right_y=0.1631 right_z=0.2846 right_yaw=0.1912 right_pitch=-0.0129 right_roll=-0.012 right_gripper=0.5569\nstate[joint_eff]: [-0.0342, -1.5111, 6.9402, 1.7802, -0.0464, -0.0415, -0.0122, -0.3077, -4.3966, 9.4564, 1.8437, 0.1587, 0.1294, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:407878588a8445db919d89ae86799f9fdf43cabb3e8997b898312901c9dee04c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c95dd932885aa06d1a272268732c090ee3d64a8b353c5ab3654572d4b3b1b6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e09393b5d5fd8cf8f0e69498e5ca388b0e21bc4a343286914d505f7be7ef9eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 16.24 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]: [-0.0208, 0.8024, 0.6132, -0.379, -0.0231, -0.0292, 0.9983, 0.556, 1.7241, 0.514, 0.6682, 0.3115, 0.1776, 0.9991]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1821 left_yaw=0.0011 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3725 right_y=0.172 right_z=0.0422 right_yaw=0.176 right_pitch=0.0577 right_roll=0.0136 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -1.6342, 6.5573, 1.9023, -0.0269, -0.0708, -0.0122, -0.7726, -7.1316, 3.9316, 1.2723, 0.1978, 0.0464, 0.1197]",
      "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]: [-0.0208, 0.8024, 0.6121, -0.379, -0.0231, -0.0292, 0.9983, 0.5232, 1.7027, 0.4992, 0.6518, 0.2829, 0.1669, 0.5561]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1816 left_yaw=0.0011 left_pitch=-0.0069 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3719 right_y=0.1617 right_z=0.0411 right_yaw=0.1729 right_pitch=0.0433 right_roll=0.0147 right_gripper=0.5561\nstate[joint_eff]: [-0.0889, -1.6068, 6.6803, 1.7998, -0.0562, -0.022, -0.0122, -0.3077, -6.5983, 4.1504, 1.3114, 0.1197, -0.0122, 0.2271]",
      "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]: [-0.0208, 0.8024, 0.6102, -0.3759, -0.0231, -0.0292, 0.9983, 0.5232, 1.3357, 1.3083, -0.5819, 0.2714, 0.1513, 0.5569]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1813 left_yaw=0.0011 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3703 right_y=0.1631 right_z=0.2846 right_yaw=0.1912 right_pitch=-0.0129 right_roll=-0.012 right_gripper=0.5569\nstate[joint_eff]: [-0.0342, -1.5111, 6.9402, 1.7802, -0.0464, -0.0415, -0.0122, -0.3077, -4.3966, 9.4564, 1.8437, 0.1587, 0.1294, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:407878588a8445db919d89ae86799f9fdf43cabb3e8997b898312901c9dee04c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c95dd932885aa06d1a272268732c090ee3d64a8b353c5ab3654572d4b3b1b6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e09393b5d5fd8cf8f0e69498e5ca388b0e21bc4a343286914d505f7be7ef9eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pahn5He678f9Qf9mDQVqcq",
      "input": {
        "note": "Lift came up empty again and the top view suggests the jaws are to the right of the bottle, not around it. Dropping back to 6 cm with jaws open so I can compare gripper and bottle positions at the same height in the overhead view.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01Pahn5He678f9Qf9mDQVqcq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.6086, -0.3756, -0.0231, -0.0292, 0.9983, 0.5232, 1.5726, 0.5728, 0.3283, 0.26, 0.1516, 0.998]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1808 left_yaw=0.0011 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3604 right_y=0.1596 right_z=0.0526 right_yaw=0.1995 right_pitch=-0.074 right_roll=-0.0252 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -1.5658, 6.8444, 1.7949, -0.022, -0.0513, -0.0122, -0.5402, -5.7915, 5.3128, 1.9267, 0.0806, 0.0269, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f2cdbd33dacf64e9b6d5a769e526c8b5d1018c84596b827ec31e1f8900049dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fd0cdb0eefd8e1167fe3ac40b333e8376aea61d918a26abfe75e53e3c91dd02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a77e9c7f2222fc748f040c8e4beaf2857c97b5f89eaf2aa02393570d461c18ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 15.38 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]: [-0.0208, 0.8024, 0.6121, -0.379, -0.0231, -0.0292, 0.9983, 0.5232, 1.7027, 0.4992, 0.6518, 0.2829, 0.1669, 0.5561]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1816 left_yaw=0.0011 left_pitch=-0.0069 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3719 right_y=0.1617 right_z=0.0411 right_yaw=0.1729 right_pitch=0.0433 right_roll=0.0147 right_gripper=0.5561\nstate[joint_eff]: [-0.0889, -1.6068, 6.6803, 1.7998, -0.0562, -0.022, -0.0122, -0.3077, -6.5983, 4.1504, 1.3114, 0.1197, -0.0122, 0.2271]",
      "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]: [-0.0208, 0.8024, 0.6102, -0.3759, -0.0231, -0.0292, 0.9983, 0.5232, 1.3357, 1.3083, -0.5819, 0.2714, 0.1513, 0.5569]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1813 left_yaw=0.0011 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3703 right_y=0.1631 right_z=0.2846 right_yaw=0.1912 right_pitch=-0.0129 right_roll=-0.012 right_gripper=0.5569\nstate[joint_eff]: [-0.0342, -1.5111, 6.9402, 1.7802, -0.0464, -0.0415, -0.0122, -0.3077, -4.3966, 9.4564, 1.8437, 0.1587, 0.1294, 0.0708]",
      "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]: [-0.0208, 0.8021, 0.6086, -0.3756, -0.0231, -0.0292, 0.9983, 0.5232, 1.5726, 0.5728, 0.3283, 0.26, 0.1516, 0.998]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1808 left_yaw=0.0011 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3604 right_y=0.1596 right_z=0.0526 right_yaw=0.1995 right_pitch=-0.074 right_roll=-0.0252 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -1.5658, 6.8444, 1.7949, -0.022, -0.0513, -0.0122, -0.5402, -5.7915, 5.3128, 1.9267, 0.0806, 0.0269, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f2cdbd33dacf64e9b6d5a769e526c8b5d1018c84596b827ec31e1f8900049dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fd0cdb0eefd8e1167fe3ac40b333e8376aea61d918a26abfe75e53e3c91dd02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a77e9c7f2222fc748f040c8e4beaf2857c97b5f89eaf2aa02393570d461c18ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LtgtEMv3xWACZfWxLztkQU",
      "input": {
        "note": "Wrist view shows the bottle squarely between the open jaws; my earlier closes reached their commanded value (empty) so I'll command a tighter 0.35 and press lower, and the jaws should stall on the ~5 cm compressed bottle.",
        "targets": {
          "right_gripper": 0.35,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01LtgtEMv3xWACZfWxLztkQU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.6048, -0.3756, -0.0231, -0.0292, 0.9983, 0.5232, 1.7985, 0.4606, 0.7967, 0.26, 0.1444, 0.5565]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1791 left_yaw=0.0011 left_pitch=-0.0103 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3683 right_y=0.1642 right_z=0.0208 right_yaw=0.204 right_pitch=0.0499 right_roll=0.0099 right_gripper=0.5565\nstate[joint_eff]: [-0.212, -1.6889, 6.8171, 1.8437, -0.0317, -0.0757, -0.0122, -0.1983, -3.8632, 2.8786, 0.9939, 0.0611, 0.0708, 1.0037]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cb7be970ae397515fb52fc217344138a782de1586b175bfdd9056208cc328d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:559f8c9c574cc1a08c550754ba567d2a868239aff217951e5005b7919e4977ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:988bf60152f9fd9046b36eb5fad1c064849e70b8318cad273235b29e595770f9",
        "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 · 7.772 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]: [-0.0208, 0.8024, 0.6102, -0.3759, -0.0231, -0.0292, 0.9983, 0.5232, 1.3357, 1.3083, -0.5819, 0.2714, 0.1513, 0.5569]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1813 left_yaw=0.0011 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3703 right_y=0.1631 right_z=0.2846 right_yaw=0.1912 right_pitch=-0.0129 right_roll=-0.012 right_gripper=0.5569\nstate[joint_eff]: [-0.0342, -1.5111, 6.9402, 1.7802, -0.0464, -0.0415, -0.0122, -0.3077, -4.3966, 9.4564, 1.8437, 0.1587, 0.1294, 0.0708]",
      "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]: [-0.0208, 0.8021, 0.6086, -0.3756, -0.0231, -0.0292, 0.9983, 0.5232, 1.5726, 0.5728, 0.3283, 0.26, 0.1516, 0.998]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1808 left_yaw=0.0011 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3604 right_y=0.1596 right_z=0.0526 right_yaw=0.1995 right_pitch=-0.074 right_roll=-0.0252 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -1.5658, 6.8444, 1.7949, -0.022, -0.0513, -0.0122, -0.5402, -5.7915, 5.3128, 1.9267, 0.0806, 0.0269, -0.0659]",
      "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]: [-0.0208, 0.8021, 0.6048, -0.3756, -0.0231, -0.0292, 0.9983, 0.5232, 1.7985, 0.4606, 0.7967, 0.26, 0.1444, 0.5565]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1791 left_yaw=0.0011 left_pitch=-0.0103 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3683 right_y=0.1642 right_z=0.0208 right_yaw=0.204 right_pitch=0.0499 right_roll=0.0099 right_gripper=0.5565\nstate[joint_eff]: [-0.212, -1.6889, 6.8171, 1.8437, -0.0317, -0.0757, -0.0122, -0.1983, -3.8632, 2.8786, 0.9939, 0.0611, 0.0708, 1.0037]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cb7be970ae397515fb52fc217344138a782de1586b175bfdd9056208cc328d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:559f8c9c574cc1a08c550754ba567d2a868239aff217951e5005b7919e4977ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:988bf60152f9fd9046b36eb5fad1c064849e70b8318cad273235b29e595770f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017e9UovNrynN94Tbvo9c7my",
      "input": {
        "note": "The jaws stalled at 0.556 on the bottle — a real grasp this time. Dragging the bottle ~13 cm toward the base so that its cap/neck end comes well inside my reach for the final neck grasp.",
        "targets": {
          "right_x": 0.24,
          "right_y": 0.15,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017e9UovNrynN94Tbvo9c7my",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7994, 0.5976, -0.3729, -0.0227, -0.0292, 0.9983, 0.8471, 1.3521, 0.1219, 0.5697, 0.4793, 0.3244, 0.5575]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.177 left_yaw=0.0008 left_pitch=-0.0122 left_roll=-0.0004 left_gripper=0.9983 right_x=0.244 right_y=0.1585 right_z=0.0198 right_yaw=0.2525 right_pitch=-0.0046 right_roll=-0.0001 right_gripper=0.5575\nstate[joint_eff]: [-0.1983, -1.4701, 6.9402, 1.8681, -0.0415, -0.0757, -0.0122, 0.1846, -3.1111, 4.8342, 1.8779, 0.4127, 0.1197, 0.6374]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95eb1322d3ecde5f5869f9ee7b0f3b053101dccd17eeb15936d4409e56d36488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aff43bf2f3dce3de0bf39bc65eab2cf1b19fbdfac68baa1b89282dfa87b2a33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aebaf90404f5adc381759c0b186a96c3baec0c21b6181d0b4e288222f599b8da",
        "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 · 12.33 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]: [-0.0208, 0.8021, 0.6086, -0.3756, -0.0231, -0.0292, 0.9983, 0.5232, 1.5726, 0.5728, 0.3283, 0.26, 0.1516, 0.998]\nstate[eef_state]: left_x=0.2965 left_y=0.0015 left_z=0.1808 left_yaw=0.0011 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3604 right_y=0.1596 right_z=0.0526 right_yaw=0.1995 right_pitch=-0.074 right_roll=-0.0252 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -1.5658, 6.8444, 1.7949, -0.022, -0.0513, -0.0122, -0.5402, -5.7915, 5.3128, 1.9267, 0.0806, 0.0269, -0.0659]",
      "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]: [-0.0208, 0.8021, 0.6048, -0.3756, -0.0231, -0.0292, 0.9983, 0.5232, 1.7985, 0.4606, 0.7967, 0.26, 0.1444, 0.5565]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1791 left_yaw=0.0011 left_pitch=-0.0103 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3683 right_y=0.1642 right_z=0.0208 right_yaw=0.204 right_pitch=0.0499 right_roll=0.0099 right_gripper=0.5565\nstate[joint_eff]: [-0.212, -1.6889, 6.8171, 1.8437, -0.0317, -0.0757, -0.0122, -0.1983, -3.8632, 2.8786, 0.9939, 0.0611, 0.0708, 1.0037]",
      "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]: [-0.0208, 0.7994, 0.5976, -0.3729, -0.0227, -0.0292, 0.9983, 0.8471, 1.3521, 0.1219, 0.5697, 0.4793, 0.3244, 0.5575]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.177 left_yaw=0.0008 left_pitch=-0.0122 left_roll=-0.0004 left_gripper=0.9983 right_x=0.244 right_y=0.1585 right_z=0.0198 right_yaw=0.2525 right_pitch=-0.0046 right_roll=-0.0001 right_gripper=0.5575\nstate[joint_eff]: [-0.1983, -1.4701, 6.9402, 1.8681, -0.0415, -0.0757, -0.0122, 0.1846, -3.1111, 4.8342, 1.8779, 0.4127, 0.1197, 0.6374]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95eb1322d3ecde5f5869f9ee7b0f3b053101dccd17eeb15936d4409e56d36488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aff43bf2f3dce3de0bf39bc65eab2cf1b19fbdfac68baa1b89282dfa87b2a33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aebaf90404f5adc381759c0b186a96c3baec0c21b6181d0b4e288222f599b8da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuwkKjgEIEhgCKkCdOMMtXKlWeCMjFqxgbIYKh5U13HIWDW4GEPt3ob9wxJgERQ154rBzuG2/wbn5voob5vVh50hKkNmtGX9j0I47Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdPNzNUGEgzWpV7o60ZThK7lRi0aDNSwMkaR6zSO4uh+wyIwaMuRh1rA/6A2xo0MUE7CcLjKze+4OEWuwKyTPv0EwptiCab5SXNwgaplcTg/jrDGKtkHO9XddmUfjboAU4BrIS0SZA4fDMpmfXehDSmXe8L7BO4Uf878IXG+uI5K5NCjPkDqflZf8S6LS8tO+g3zjwx+tjQpMEkdsyLeJ5NJl255XtRpdfHbjkDHkz6lKYwOohZX+YYQWcnpEfagucKnUgNRl//soGun9k+ExGmhx5fGkKl2CxxWWdyll2esV0xxJtjZndZvxfQ7CS5ZNUGTByRLBz9PrHccZOI67DhTVHRIdqA7vNzTZiKima11XKxNipLyCqWCzFUkwgNn34xqj+0rSPlwxsSy6JAU4CmGiV/vrIzUuAun5dlXX1Fg5+aIMe+jxTCpmOa2T3QLWUxLglqEDf584TiozG4T0DOJilRG1QMWz/q6BOBGIVtgSJ5TfKIccMyoTfGF4dy8xOuqnSCOdEsLl7pAsoAaojF7kGS3F4VNF2agKVJdpAW7KQ2DExQgkmz63xUMV4O/L0t1TQV3B1jv4MpGbQ4TqoKEjS0exV6eaGPtFlykirEjzSPouLAPb/rzEmk5+OC8GH2hhhAu08rpdPK8LYh9sZDXmRceSfcIBWCQI+g3/nY9uTtgRcijqT0rP/z7DOh1ppSvZVLGk4msVHAWUOOUoy0vG1ETBsS5J1duMcJakGE+/7gZw2InzUC7maaeGWX/clplajIYpT4dqtax5hxfpVwc6k++W1V1QqUdX+H2CtQu+Q6v/H3+FqgAXF/LYGVO7Zfsl4I9bVTR5YmhRhVtabNWbcpf0D1JgtWX231/RBdsaUyTZnSZbjRZJpN+X5LmLOkZTo5w5HaX92GAfiCXQ8ADDXFJH9dZvz/RnSjEvn46uRh4mVwkyUolvmmS+fDRkyWLX4VHpntxKsYEfj/6o0VtE1qXx4SP6tM/Ej8xkuCecqzRpe/CYDJqLo6P5b+TtUMQrxHOJcjPOcbBhU1uDt42mMevcpsy3iQ0TGr7ZhMWAqzqHToRx/EnkXqUJ1lBGGjaAXSRRR6XwS/tEuDTtoKNu73ZtwKd9KYzxATVJCyyrP2bIny3G893nDuNoZkKc+i9wdBvWSYPgH9dgLn8Eg+C1kU5x/uBsfZwnENYI/MKqARY2J159vFF6pPfgk+do6OSxOCwWiuT9V6+o81BAQmhKtUSdX/90kpYmi4xFP8iesWNdBdKK1EYw1fnI1esUF0B+cYbiv8m+FDef952Mh/ZNwxB0d19f6h82JycGR1URFix2l76ZZ/OQhXTgN/rgBW1MDLB0zTUU+uI/f7OEX4FBaxYoUzf0nHspu333QK3ebxoMawvm7nra7jJ/BVnikiolGHsUChrQrnsfzAwNxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011nFJorAYG88f4tNbWQuhby",
      "input": {
        "note": "Bottle successfully dragged closer (visible in the overhead view). Releasing and moving up and forward over where the neck should now be, to set up the neck grasp.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.32,
          "right_y": 0.172,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_011nFJorAYG88f4tNbWQuhby",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7982, 0.5972, -0.3725, -0.0227, -0.0292, 0.9983, 0.6411, 1.2186, 0.5411, 0.0666, 0.3191, 0.1883, 0.9969]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1772 left_yaw=0.0008 left_pitch=-0.0111 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3134 right_y=0.1692 right_z=0.1167 right_yaw=0.2497 right_pitch=-0.0048 right_roll=-0.0071 right_gripper=0.9969\nstate[joint_eff]: [-0.1846, -1.894, 6.2838, 1.8437, -0.0317, -0.0415, -0.0122, -0.3077, -3.3436, 8.9915, 1.6044, 0.1636, 0.0855, -0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4e44e04f25b8f23fbae8b76ed2c18e00cb0ef687616ef82c378a45e90a6872e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49e325db7a836d14b37bb3174998a9d42893ecd79dda2baca53ac13239934584",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af045475ff59532242b8b6bf53145ad3bc6bebc8068fececbb61e1841c47dccb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 7.745 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]: [-0.0208, 0.8021, 0.6048, -0.3756, -0.0231, -0.0292, 0.9983, 0.5232, 1.7985, 0.4606, 0.7967, 0.26, 0.1444, 0.5565]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.1791 left_yaw=0.0011 left_pitch=-0.0103 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3683 right_y=0.1642 right_z=0.0208 right_yaw=0.204 right_pitch=0.0499 right_roll=0.0099 right_gripper=0.5565\nstate[joint_eff]: [-0.212, -1.6889, 6.8171, 1.8437, -0.0317, -0.0757, -0.0122, -0.1983, -3.8632, 2.8786, 0.9939, 0.0611, 0.0708, 1.0037]",
      "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]: [-0.0208, 0.7994, 0.5976, -0.3729, -0.0227, -0.0292, 0.9983, 0.8471, 1.3521, 0.1219, 0.5697, 0.4793, 0.3244, 0.5575]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.177 left_yaw=0.0008 left_pitch=-0.0122 left_roll=-0.0004 left_gripper=0.9983 right_x=0.244 right_y=0.1585 right_z=0.0198 right_yaw=0.2525 right_pitch=-0.0046 right_roll=-0.0001 right_gripper=0.5575\nstate[joint_eff]: [-0.1983, -1.4701, 6.9402, 1.8681, -0.0415, -0.0757, -0.0122, 0.1846, -3.1111, 4.8342, 1.8779, 0.4127, 0.1197, 0.6374]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7982, 0.5972, -0.3725, -0.0227, -0.0292, 0.9983, 0.6411, 1.2186, 0.5411, 0.0666, 0.3191, 0.1883, 0.9969]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1772 left_yaw=0.0008 left_pitch=-0.0111 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3134 right_y=0.1692 right_z=0.1167 right_yaw=0.2497 right_pitch=-0.0048 right_roll=-0.0071 right_gripper=0.9969\nstate[joint_eff]: [-0.1846, -1.894, 6.2838, 1.8437, -0.0317, -0.0415, -0.0122, -0.3077, -3.3436, 8.9915, 1.6044, 0.1636, 0.0855, -0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4e44e04f25b8f23fbae8b76ed2c18e00cb0ef687616ef82c378a45e90a6872e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49e325db7a836d14b37bb3174998a9d42893ecd79dda2baca53ac13239934584",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af045475ff59532242b8b6bf53145ad3bc6bebc8068fececbb61e1841c47dccb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MVp2i62MKSCmp4dq4DBope",
      "input": {
        "note": "The dragged bottle now points its cap toward me, and the cap sits just below the jaw column in the wrist view. Descending to neck height just ahead of the cap to straddle the narrow neck.",
        "targets": {
          "right_x": 0.325,
          "right_y": 0.168,
          "right_z": 0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01MVp2i62MKSCmp4dq4DBope",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7956, 0.5869, -0.3725, -0.0227, -0.0288, 0.9983, 0.6044, 1.6455, 0.3687, 0.6643, 0.3042, 0.1669, 0.9984]\nstate[eef_state]: left_x=0.2938 left_y=0.0015 left_z=0.1732 left_yaw=0.0006 left_pitch=-0.0187 left_roll=0.0001 left_gripper=0.9983 right_x=0.3271 right_y=0.166 right_z=0.0211 right_yaw=0.2369 right_pitch=-0.0093 right_roll=-0.0176 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -1.6205, 7.2957, 1.8193, -0.022, -0.0317, -0.0122, -0.1299, -4.0, 2.441, 0.9255, -0.0171, 0.0024, 0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68fe780f13098a080995a4d46fb47d6bbdbaffee195bc946fcbfc074a13e92ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d30119890911782af51196b6e00165ce4747cdc400d9f0b0a6ff52bfbde91677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae050d546662fa51caf93729bbe258fba4b1523f6a09bb1b2c64fe60c76bbb6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 7.815 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]: [-0.0208, 0.7994, 0.5976, -0.3729, -0.0227, -0.0292, 0.9983, 0.8471, 1.3521, 0.1219, 0.5697, 0.4793, 0.3244, 0.5575]\nstate[eef_state]: left_x=0.2953 left_y=0.0015 left_z=0.177 left_yaw=0.0008 left_pitch=-0.0122 left_roll=-0.0004 left_gripper=0.9983 right_x=0.244 right_y=0.1585 right_z=0.0198 right_yaw=0.2525 right_pitch=-0.0046 right_roll=-0.0001 right_gripper=0.5575\nstate[joint_eff]: [-0.1983, -1.4701, 6.9402, 1.8681, -0.0415, -0.0757, -0.0122, 0.1846, -3.1111, 4.8342, 1.8779, 0.4127, 0.1197, 0.6374]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7982, 0.5972, -0.3725, -0.0227, -0.0292, 0.9983, 0.6411, 1.2186, 0.5411, 0.0666, 0.3191, 0.1883, 0.9969]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1772 left_yaw=0.0008 left_pitch=-0.0111 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3134 right_y=0.1692 right_z=0.1167 right_yaw=0.2497 right_pitch=-0.0048 right_roll=-0.0071 right_gripper=0.9969\nstate[joint_eff]: [-0.1846, -1.894, 6.2838, 1.8437, -0.0317, -0.0415, -0.0122, -0.3077, -3.3436, 8.9915, 1.6044, 0.1636, 0.0855, -0.1538]",
      "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]: [-0.0208, 0.7956, 0.5869, -0.3725, -0.0227, -0.0288, 0.9983, 0.6044, 1.6455, 0.3687, 0.6643, 0.3042, 0.1669, 0.9984]\nstate[eef_state]: left_x=0.2938 left_y=0.0015 left_z=0.1732 left_yaw=0.0006 left_pitch=-0.0187 left_roll=0.0001 left_gripper=0.9983 right_x=0.3271 right_y=0.166 right_z=0.0211 right_yaw=0.2369 right_pitch=-0.0093 right_roll=-0.0176 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -1.6205, 7.2957, 1.8193, -0.022, -0.0317, -0.0122, -0.1299, -4.0, 2.441, 0.9255, -0.0171, 0.0024, 0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68fe780f13098a080995a4d46fb47d6bbdbaffee195bc946fcbfc074a13e92ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d30119890911782af51196b6e00165ce4747cdc400d9f0b0a6ff52bfbde91677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae050d546662fa51caf93729bbe258fba4b1523f6a09bb1b2c64fe60c76bbb6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkgoKjgEIEhgCKkCQodTG8TdcLRsL/Ak5txu+HnhQAgm62FUz9NeHIxucNKuX5LnLctEW5t7gzWT3fuB9a8b6/jyeVbAKIg7jQ16cMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAenNzNUGEgyi5C41svxTETR0oLkaDL3Dv0Ahw58z4fKBxiIw3UmT8t7TSLapcN6eDy42K5bM4z779C5xtILDm7XECESYzhs0cEtZepxfeyU3o0h+KrAIkxREz3n/MBKPmhCvTDO6fiLbZ8C/bbozPwr7dAUGqWfDh2TSzO0cjh34mSRnkuMAhtRtpIlq5Q0v4cTHKSt4oQ6GfxeLF1Bq/I0aNZ3y+uq+LfMv/CDGt4+hcjHf0vqLY3g6sc52rGSpTwpainBLq4PTbrgDAR0ut7QXY7ApVci0cF4REtWHAJKU7TB/sj1Hq+SGmI2G+OAEEExIV5TXrDikmLdGXhAroBMjmEGLUqti5AP7RXqeijKMt+aMZExcyDoLIxa1dxKjxWDp2TkSMZhKLCzoF7Xehmu6Y8RRWMAwkFw+4UhjOsgubN6Iey972lH0YmdGX5Pq1UviB1Kf9PmFJHymx5d9yYoLGQJTrrfKuUoH7SaATg+Bt6Yjc18BkG22SiA3abTkgMcSUzVbny5me8r2gueHtBHrJb3Iv1oVDoDgSVF6P73aCRzZ0POIXsRbK1J4TmAd1sHbCJS4p0Y9dAnMQxl3+q5IStH7PNX/DnTP7WidTV1vLgnB7IbkYtR132p0yj5gs9/7CBEkNLHS5ShOO5jlGZ7AVf0tB3UazFAvPgwYTRJKtwnHZWHYms+BzPKHKNXz+FlJ6eXTNWCOiMmmNJifQI/kUVdNiKtvWaLWA2IR1AcHq212FsIpDOKXo/3r3g1MetAfynG1VktXjHegwmg1hn3afZCWejftJIoT9ZcGoV4freY3VAhjnxjSbHhByJKWULUP9F0wE/SOdpKnP6nhyWj0NfVZEoSGqq5n7U5ybu1gmRXaHyLyFUAfLCM4AWwmegLbEW8evO41UvnyIAPx3FHq1S/0c7CbLlsMB6imjN6vmsptr4HtTye8JmsJRe2g/3BqO9ykG1CLWMofvHQXFN0eQXoFwD9QeG9hQJejoTkUMH3u+zXwzjq+my81YaZmShn7EqFhLSWAn/owAULVGvdjqnwZn5QqerthTf4QzlAs2hKID3EHI1yj/6R/Xp6RZA0+KeGAthT0muxNaJi0ylJwpZXs1986ku8MVs2+QnKSpncOvhlP7hocAMK9GpNBWBTNHNxupZTR/0pauAUWSKzih0VUtqhx8X4e6IEIMltLTfoL2mw/8NrxgehI4FkV25XZ9qzlJvWql5N6yz9ehFLcQN+oYUilsbSqoTr8+fobefWRNtA0zTvKkPHxUyj0sHWmatnXLVSq5OI8071Nl5eKvVnnPfQnbDWcjVN0GUO5YSY15RFb3K3WIRx3IQT5oHNKDG3NPt50IOvhjMDpMpjs4sDWV2NfDjFONaYE1ssZ0dRERl7Kb/hbnDAIpC0qgUO3zD5Q5OB7JeDMTybkak/BvR88M6j1ZmuEcwdnk9wctufarul74/I+B5m4ped7/kh2N2KbCrq78WXcKmSVh1HHLJ4INzJI0oM7T7PYT4HwTU8Tml0nqeNI+hCDh1lE1jLC1Hk/hxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N5BWSPTNjPnL4a1tTPTh3z",
      "input": {
        "note": "Close-up wrist view shows the cap up-frame and the neck just ahead of the jaws; advancing 2.5 cm so the narrow neck lies between the fingertips.",
        "targets": {
          "right_x": 0.35,
          "right_z": 0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01N5BWSPTNjPnL4a1tTPTh3z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7925, 0.58, -0.3691, -0.0227, -0.0292, 0.9983, 0.5705, 1.7161, 0.3923, 0.7834, 0.2615, 0.1574, 0.9989]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1716 left_yaw=0.0008 left_pitch=-0.0191 left_roll=-0.0002 left_gripper=0.9983 right_x=0.345 right_y=0.1714 right_z=0.0267 right_yaw=0.243 right_pitch=0.0506 right_roll=0.0207 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.9214, 6.2564, 2.0391, -0.022, -0.0513, -0.0122, -0.5812, -4.2598, 5.0256, 1.3553, 0.3932, -0.0806, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b7ea0fca8ada23dd5f4eb57920227da3de7ecb2b0858827831ff263f0cd0a05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46df51759ac8dc34ae5e4f34c5fd89d6a2aa3cbb676c9673243645495f0d4e5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0f522fd35910c30c78de38a9e95899d6ba43d61cebe55d53c47743bf2c1c282",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 5.087 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]: [-0.0208, 0.7982, 0.5972, -0.3725, -0.0227, -0.0292, 0.9983, 0.6411, 1.2186, 0.5411, 0.0666, 0.3191, 0.1883, 0.9969]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1772 left_yaw=0.0008 left_pitch=-0.0111 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3134 right_y=0.1692 right_z=0.1167 right_yaw=0.2497 right_pitch=-0.0048 right_roll=-0.0071 right_gripper=0.9969\nstate[joint_eff]: [-0.1846, -1.894, 6.2838, 1.8437, -0.0317, -0.0415, -0.0122, -0.3077, -3.3436, 8.9915, 1.6044, 0.1636, 0.0855, -0.1538]",
      "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]: [-0.0208, 0.7956, 0.5869, -0.3725, -0.0227, -0.0288, 0.9983, 0.6044, 1.6455, 0.3687, 0.6643, 0.3042, 0.1669, 0.9984]\nstate[eef_state]: left_x=0.2938 left_y=0.0015 left_z=0.1732 left_yaw=0.0006 left_pitch=-0.0187 left_roll=0.0001 left_gripper=0.9983 right_x=0.3271 right_y=0.166 right_z=0.0211 right_yaw=0.2369 right_pitch=-0.0093 right_roll=-0.0176 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -1.6205, 7.2957, 1.8193, -0.022, -0.0317, -0.0122, -0.1299, -4.0, 2.441, 0.9255, -0.0171, 0.0024, 0.149]",
      "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]: [-0.0208, 0.7925, 0.58, -0.3691, -0.0227, -0.0292, 0.9983, 0.5705, 1.7161, 0.3923, 0.7834, 0.2615, 0.1574, 0.9989]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1716 left_yaw=0.0008 left_pitch=-0.0191 left_roll=-0.0002 left_gripper=0.9983 right_x=0.345 right_y=0.1714 right_z=0.0267 right_yaw=0.243 right_pitch=0.0506 right_roll=0.0207 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.9214, 6.2564, 2.0391, -0.022, -0.0513, -0.0122, -0.5812, -4.2598, 5.0256, 1.3553, 0.3932, -0.0806, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b7ea0fca8ada23dd5f4eb57920227da3de7ecb2b0858827831ff263f0cd0a05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46df51759ac8dc34ae5e4f34c5fd89d6a2aa3cbb676c9673243645495f0d4e5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0f522fd35910c30c78de38a9e95899d6ba43d61cebe55d53c47743bf2c1c282",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9gcKjgEIEhgCKkAgtCnqeDDQG0F1lKO4D3Pky0Lc2NEPFAN2s2Ix/9AskvxpcDp2UgulvNCpoIp8vRixJ4xL3t3MxiCaBgn8sxNTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfHNzNUGEgxAKlnqIOK96ujHGrcaDAph23xLkPhCXLShuyIwIrhOc3ceEr/6VYRxrlZ60KDgTp8GxdPc6VBAlXd2jmGcRUc1bYIq2sY8turvyllTKpQGk8RZy6pbZfO/a11b/Cjw2QLhyGkp3aglixxwtQVlthoORL6/eH2rbB6A+YWF4/EGOS+DR6UoP5Fbf+2z0Q/OhU912TaGJV0Il41he8xE0vqZvf5J+neXCS7iIZTdxzk5ZExCuKThKlFRj2FQ8cBUnpxQio1OViXcASsRQtiuECrTHUN2d6PGcdYd7B5XthWzF9tvZ4RLoWnU28qKo378uaNzGvxNWwIOyFEG1xo9cNv15jWS4fo251TBKutsYLu1xualUp4PDXCBTVL2wZnOqxMTc1sBe6Fnkjt5r2t6BUwsIu4zQYwMtTKCOBPPAYN+YBGeW5lg8/CcL/DW819GpC8gF3Rn8a00s2WbLGUWXfm98xSuvFs9uj3ibl4onyl170wJqz/0tgc3pbV+tGAIFkZMPpH3loK+eUIBOWxQdOM42ItiknJW3VH2Ubern6oXej9Gudn00UJ6NxmL+l6BJi/y0qqRoFPjxMlmFGIRwUy4h1h4yzjJIGpjdD0uEVR3HXfpQQueVk7ZM2sLQd9l8gU3W/tVW6cx8HgELfQyow1pF12M8kTZkQGhHouc+26t4rlXeEABHnaLFVPenXzpy1J/nWH4kUxNoaf0yEOWm9BjwqNd9XP4ltzgZssa8u8Ni+A136IeqF9rnPkcg98CcQG8x0ob5JyifmMpk1eZnyCj5Yzn/lRm8PUfGj2PbuSRqQjEiZZUJ80ap1PaDsc/Y3gouOFvqI3YgNh3zYxEpVCu5Uspaq9psRdM/P4iuSFwOqQiIwUKAHN5DG5Anzd6/ctkhBnilgTbQCSFpyuMaiKDPLpS+WlZXTfsJnIPWgeIc/spDcO9qN/8tmkgD/f6ShV8K1dHXTBaQ/uhbztHDqygVeel+82hCnNNT7q3DFA0PgDogLb4XpZ2OQeV+F0xaRBxzb6uDWKznE4Vf/ygUwMvr1Ev/CVTjuOm/DP2zoYnya4qiOyHfXc9vIoeTVC14WO/msr3IqDSiOWA25S/X+MNaGfr2C18OY3xdgISJz9p8iVKq9vFQFmReWDG7S9CVgRJ6tcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MR7CwuLAfUHbDCLnigjg3S",
      "input": {
        "note": "Jaws should now straddle the bottle's neck/shoulder; closing to 0.30 (~2.9 cm) — loose enough that the bottle can pivot and hang cap-up when I lift.",
        "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_01MR7CwuLAfUHbDCLnigjg3S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7891, 0.5667, -0.3637, -0.0231, -0.0292, 0.9983, 0.5499, 1.7382, 0.4355, 0.8608, 0.2321, 0.1421, 0.3137]\nstate[eef_state]: left_x=0.292 left_y=0.0016 left_z=0.1676 left_yaw=0.0011 left_pitch=-0.0236 left_roll=0.0001 left_gripper=0.9983 right_x=0.3652 right_y=0.1804 right_z=0.0486 right_yaw=0.2524 right_pitch=0.1405 right_roll=0.0507 right_gripper=0.3137\nstate[joint_eff]: [-0.2256, -1.8393, 6.6803, 1.9512, -0.0464, -0.0806, -0.0122, -0.335, -4.3419, 3.3436, 0.3736, 0.2515, 0.0806, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3f5b8d15fe8448b3bf9d0b9243216363eb0fd1c4d1bea4f103326b56e32b3be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a430a74b00a155642fd4906f87ee8d685569f9ebeda04931a9d618f2a68e05a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:12fe3d2ab440891186f9d1144698687b471f8c225c4287b1b5f7ed77eb2275c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 20.81 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]: [-0.0208, 0.7956, 0.5869, -0.3725, -0.0227, -0.0288, 0.9983, 0.6044, 1.6455, 0.3687, 0.6643, 0.3042, 0.1669, 0.9984]\nstate[eef_state]: left_x=0.2938 left_y=0.0015 left_z=0.1732 left_yaw=0.0006 left_pitch=-0.0187 left_roll=0.0001 left_gripper=0.9983 right_x=0.3271 right_y=0.166 right_z=0.0211 right_yaw=0.2369 right_pitch=-0.0093 right_roll=-0.0176 right_gripper=0.9984\nstate[joint_eff]: [-0.253, -1.6205, 7.2957, 1.8193, -0.022, -0.0317, -0.0122, -0.1299, -4.0, 2.441, 0.9255, -0.0171, 0.0024, 0.149]",
      "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]: [-0.0208, 0.7925, 0.58, -0.3691, -0.0227, -0.0292, 0.9983, 0.5705, 1.7161, 0.3923, 0.7834, 0.2615, 0.1574, 0.9989]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1716 left_yaw=0.0008 left_pitch=-0.0191 left_roll=-0.0002 left_gripper=0.9983 right_x=0.345 right_y=0.1714 right_z=0.0267 right_yaw=0.243 right_pitch=0.0506 right_roll=0.0207 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.9214, 6.2564, 2.0391, -0.022, -0.0513, -0.0122, -0.5812, -4.2598, 5.0256, 1.3553, 0.3932, -0.0806, 0.0562]",
      "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]: [-0.0208, 0.7891, 0.5667, -0.3637, -0.0231, -0.0292, 0.9983, 0.5499, 1.7382, 0.4355, 0.8608, 0.2321, 0.1421, 0.3137]\nstate[eef_state]: left_x=0.292 left_y=0.0016 left_z=0.1676 left_yaw=0.0011 left_pitch=-0.0236 left_roll=0.0001 left_gripper=0.9983 right_x=0.3652 right_y=0.1804 right_z=0.0486 right_yaw=0.2524 right_pitch=0.1405 right_roll=0.0507 right_gripper=0.3137\nstate[joint_eff]: [-0.2256, -1.8393, 6.6803, 1.9512, -0.0464, -0.0806, -0.0122, -0.335, -4.3419, 3.3436, 0.3736, 0.2515, 0.0806, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3f5b8d15fe8448b3bf9d0b9243216363eb0fd1c4d1bea4f103326b56e32b3be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a430a74b00a155642fd4906f87ee8d685569f9ebeda04931a9d618f2a68e05a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12fe3d2ab440891186f9d1144698687b471f8c225c4287b1b5f7ed77eb2275c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsAUKjgEIEhgCKkBtxkpQX8nyP61iYMB/tuy5anFoepGDzJtAWNdn9+3bQ6AB8PDpugEc7xGBNjO45uXBcB+G4f9pGs1PkMi2sh4sMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfbNzNUGEgy7yIkj4xRIK+5IC00aDJWhYAD4RLWhXglRMiIwullJlpv844vjAwBtB4VgZarh0TtiPd4cgQwNq8L00mpFOkur0UXDdZO6y65mhwT5Ks4DFFIl3kNPWUwEX3RndPrlhnLAgB9K4iuQ5wXozxDBCWRW5S1SlUhNjyxXWUW69Dqkxw16p7nSAUfTp7OE0Tju8i/cx9JGsyd5LIuK38VBiW5QmlU8AyRMK1wiQBBu8tNGhWwMhFrUHoYPzQfabVUkYWpIzQBHTF0OWi41HR2SaPXlp1VMc09snbRXqqYLMgkEfBmCIsp++CN9HmXEEtjmsuRm6sEgBpJjnK2b4Apg1olJk/E/YlHmcjEeJy8glkrnwOWmDLbjI1Jw3O/r/q2DdWDTFf1mTfpkfrAeXHKCpZejthKez8lJQKB5K9ys5AmqfDgmuti6Y2ywiMm4Nz2xS99zipSJf8xLBN+9L4kJvwQoDJCxBj7IbpncWr9LLi67884HZTsoNs3jGusqtmV9WAu2DPI2QzKS/N7MBItRAvFs+kLyZweBZ0I7vctYIYaJA6Iq8YZRJuPM2lal6R1D2ADSwPV8s+iGavuSkGx9o0093I1L8/BIbz4Wzf9/IFY2kfyB06sQThJ+yswMUu5lvZL4S8guUzuoNIKYZ3f5HDpE8YlOwMLjVEKPs7T/IYraP0xjWZWtsTecGdXqJR7+WJuG3H9O5xMWSqExOiJ4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nd4Zfz6Mp2vANVfaBfwUn2",
      "input": {
        "note": "Jaws stalled slightly above the commanded width, suggesting they have the neck. Lifting to 32 cm — if the grip is on the neck the bottle should swing down to hang cap-up.",
        "targets": {
          "right_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01Nd4Zfz6Mp2vANVfaBfwUn2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7788, 0.5484, -0.3485, -0.0227, -0.0292, 0.9983, 0.556, 1.3579, 1.4052, -0.6579, 0.231, 0.1246, 0.3129]\nstate[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1651 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3631 right_y=0.1822 right_z=0.303 right_yaw=0.2719 right_pitch=-0.0209 right_roll=-0.0125 right_gripper=0.3129\nstate[joint_eff]: [-0.0752, -1.6752, 6.6393, 1.8584, -0.0269, -0.0317, -0.0122, -0.3487, -4.7795, 9.4154, 1.9414, 0.1392, 0.1197, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ed3d6e8e785760b88d80124680081b1252843325acc9904e052a4f3f94221e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aed77c4d68538f13c47daeb70f75040af4b945d3ed90885400bce2d69ff563c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:60cbc89fa73744972ba093f53e02845d272f7ae768770fdfed1f500d0324499d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 4.278 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]: [-0.0208, 0.7925, 0.58, -0.3691, -0.0227, -0.0292, 0.9983, 0.5705, 1.7161, 0.3923, 0.7834, 0.2615, 0.1574, 0.9989]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1716 left_yaw=0.0008 left_pitch=-0.0191 left_roll=-0.0002 left_gripper=0.9983 right_x=0.345 right_y=0.1714 right_z=0.0267 right_yaw=0.243 right_pitch=0.0506 right_roll=0.0207 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -1.9214, 6.2564, 2.0391, -0.022, -0.0513, -0.0122, -0.5812, -4.2598, 5.0256, 1.3553, 0.3932, -0.0806, 0.0562]",
      "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]: [-0.0208, 0.7891, 0.5667, -0.3637, -0.0231, -0.0292, 0.9983, 0.5499, 1.7382, 0.4355, 0.8608, 0.2321, 0.1421, 0.3137]\nstate[eef_state]: left_x=0.292 left_y=0.0016 left_z=0.1676 left_yaw=0.0011 left_pitch=-0.0236 left_roll=0.0001 left_gripper=0.9983 right_x=0.3652 right_y=0.1804 right_z=0.0486 right_yaw=0.2524 right_pitch=0.1405 right_roll=0.0507 right_gripper=0.3137\nstate[joint_eff]: [-0.2256, -1.8393, 6.6803, 1.9512, -0.0464, -0.0806, -0.0122, -0.335, -4.3419, 3.3436, 0.3736, 0.2515, 0.0806, 0.1245]",
      "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]: [-0.0208, 0.7788, 0.5484, -0.3485, -0.0227, -0.0292, 0.9983, 0.556, 1.3579, 1.4052, -0.6579, 0.231, 0.1246, 0.3129]\nstate[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1651 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3631 right_y=0.1822 right_z=0.303 right_yaw=0.2719 right_pitch=-0.0209 right_roll=-0.0125 right_gripper=0.3129\nstate[joint_eff]: [-0.0752, -1.6752, 6.6393, 1.8584, -0.0269, -0.0317, -0.0122, -0.3487, -4.7795, 9.4154, 1.9414, 0.1392, 0.1197, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ed3d6e8e785760b88d80124680081b1252843325acc9904e052a4f3f94221e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aed77c4d68538f13c47daeb70f75040af4b945d3ed90885400bce2d69ff563c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60cbc89fa73744972ba093f53e02845d272f7ae768770fdfed1f500d0324499d",
        "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_01TeFEgEL4tfwBnbtiEEht7c",
      "input": {
        "note": "Empty again. The rig notes say an object centred in the wrist view with space below it is actually short of the fingertips, so I'm dropping back down 2 cm nearer the base with jaws open to re-grip the bottle's body.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.345,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01TeFEgEL4tfwBnbtiEEht7c",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7738, 0.5365, -0.3454, -0.0227, -0.0288, 0.9983, 0.5835, 1.5589, 0.5003, 0.3862, 0.242, 0.1444, 0.9975]\nstate[eef_state]: left_x=0.2896 left_y=0.0016 left_z=0.1617 left_yaw=0.0006 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9983 right_x=0.3371 right_y=0.1761 right_z=0.0415 right_yaw=0.2786 right_pitch=-0.0782 right_roll=-0.0206 right_gripper=0.9975\nstate[joint_eff]: [-0.1026, -1.6479, 6.6803, 1.873, -0.0415, -0.022, -0.0122, 0.5812, -5.6684, 5.135, 2.0195, 0.1245, 0.0464, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29f8d93c95f327ac0cee264780e283c7c7cf049339eb6631b5b1fb33bfd57ca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b672749d28424b42798cc393a49e94b4fedef6216d8e976a81e6e0e0084fd00d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:375fe56934438277e2d7d7b6bed5290b9ed7336a38d196c0d941dd030a6d23ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 4.837 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]: [-0.0208, 0.7891, 0.5667, -0.3637, -0.0231, -0.0292, 0.9983, 0.5499, 1.7382, 0.4355, 0.8608, 0.2321, 0.1421, 0.3137]\nstate[eef_state]: left_x=0.292 left_y=0.0016 left_z=0.1676 left_yaw=0.0011 left_pitch=-0.0236 left_roll=0.0001 left_gripper=0.9983 right_x=0.3652 right_y=0.1804 right_z=0.0486 right_yaw=0.2524 right_pitch=0.1405 right_roll=0.0507 right_gripper=0.3137\nstate[joint_eff]: [-0.2256, -1.8393, 6.6803, 1.9512, -0.0464, -0.0806, -0.0122, -0.335, -4.3419, 3.3436, 0.3736, 0.2515, 0.0806, 0.1245]",
      "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]: [-0.0208, 0.7788, 0.5484, -0.3485, -0.0227, -0.0292, 0.9983, 0.556, 1.3579, 1.4052, -0.6579, 0.231, 0.1246, 0.3129]\nstate[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1651 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3631 right_y=0.1822 right_z=0.303 right_yaw=0.2719 right_pitch=-0.0209 right_roll=-0.0125 right_gripper=0.3129\nstate[joint_eff]: [-0.0752, -1.6752, 6.6393, 1.8584, -0.0269, -0.0317, -0.0122, -0.3487, -4.7795, 9.4154, 1.9414, 0.1392, 0.1197, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0208, 0.7738, 0.5365, -0.3454, -0.0227, -0.0288, 0.9983, 0.5835, 1.5589, 0.5003, 0.3862, 0.242, 0.1444, 0.9975]\nstate[eef_state]: left_x=0.2896 left_y=0.0016 left_z=0.1617 left_yaw=0.0006 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9983 right_x=0.3371 right_y=0.1761 right_z=0.0415 right_yaw=0.2786 right_pitch=-0.0782 right_roll=-0.0206 right_gripper=0.9975\nstate[joint_eff]: [-0.1026, -1.6479, 6.6803, 1.873, -0.0415, -0.022, -0.0122, 0.5812, -5.6684, 5.135, 2.0195, 0.1245, 0.0464, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29f8d93c95f327ac0cee264780e283c7c7cf049339eb6631b5b1fb33bfd57ca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b672749d28424b42798cc393a49e94b4fedef6216d8e976a81e6e0e0084fd00d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:375fe56934438277e2d7d7b6bed5290b9ed7336a38d196c0d941dd030a6d23ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyAMKjgEIEhgCKkCmTYNcT7Ug1xoK22ClGy3u5mALjAAT670RcQDB6Q7QxLF1mFtUOKof+qQjw2fYvZssVrhpcjGac2GEdyLvM9irMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZPOzNUGEgzZihOD9GtlMutkfTQaDDvAl1jXSTlA/p/MsyIwj0/TQ034SLpm0h1t96AzFadyhf3TUnQxPyvxMT1GeMCoBVBayaIctOFKOWBb370uKuYBvsTLrcVT2QaHAW4PcOiXS0TxJEtXEQnfeZ4r2x5LVUzBOsLLsBKLbbAxxEBc/I5HTCJr/SDBHeZlbDehWodPWGk0eiol/nphgGKKw0a7cAStVM6Cd3c9EnkD8BX3jCGEhFVRY32AG+zetfVDiwfx4KiNXWFcaRo3Ax3sn39o1WmcRnqBjC5Vsts9NZ3/dIEzfFvFzaC/ONknMADlnT65rDYtKC33dt71ZD+a3ZlY3ttQOsu+1etoCyTLXdniwXaQRDeRp7XFshbZv1McHoRza3Zgj37dmxU4tPWppHWUt+WcbGuJyo0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016xkNTWZnTsbjyej1X9fWPX",
      "input": {
        "note": "The bottle now fills the wrist view right at the jaws; pressing down to axis height and closing to 0.35 so the jaws stall on the ~5 cm compressed body.",
        "targets": {
          "right_gripper": 0.35,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_016xkNTWZnTsbjyej1X9fWPX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7662, 0.5186, -0.337, -0.0227, -0.0288, 0.9983, 0.588, 1.6379, 0.4244, 0.6994, 0.2497, 0.1326, 0.3564]\nstate[eef_state]: left_x=0.288 left_y=0.0016 left_z=0.1572 left_yaw=0.0006 left_pitch=-0.0221 left_roll=0.0002 left_gripper=0.9983 right_x=0.3466 right_y=0.1829 right_z=0.0484 right_yaw=0.2833 right_pitch=0.0743 right_roll=0.0128 right_gripper=0.3564\nstate[joint_eff]: [-0.2393, -1.6342, 6.8581, 1.873, -0.022, -0.0024, -0.0122, -0.4308, -3.0838, 3.412, 1.1258, 0.0122, 0.1099, 0.3346]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86bee68f1a2d3be33c55b012b2c14bca0698a9daf43eb6c4c706b6895eaff5b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae0db7684c58c908009e7b925696f43c698545a9e175684323020d5bf4672d91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ef23d4f4666ac754372133938e5435dcffd2c8f020bd58bf977d18c98baf3dde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 11.82 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]: [-0.0208, 0.7788, 0.5484, -0.3485, -0.0227, -0.0292, 0.9983, 0.556, 1.3579, 1.4052, -0.6579, 0.231, 0.1246, 0.3129]\nstate[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1651 left_yaw=0.0008 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3631 right_y=0.1822 right_z=0.303 right_yaw=0.2719 right_pitch=-0.0209 right_roll=-0.0125 right_gripper=0.3129\nstate[joint_eff]: [-0.0752, -1.6752, 6.6393, 1.8584, -0.0269, -0.0317, -0.0122, -0.3487, -4.7795, 9.4154, 1.9414, 0.1392, 0.1197, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0208, 0.7738, 0.5365, -0.3454, -0.0227, -0.0288, 0.9983, 0.5835, 1.5589, 0.5003, 0.3862, 0.242, 0.1444, 0.9975]\nstate[eef_state]: left_x=0.2896 left_y=0.0016 left_z=0.1617 left_yaw=0.0006 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9983 right_x=0.3371 right_y=0.1761 right_z=0.0415 right_yaw=0.2786 right_pitch=-0.0782 right_roll=-0.0206 right_gripper=0.9975\nstate[joint_eff]: [-0.1026, -1.6479, 6.6803, 1.873, -0.0415, -0.022, -0.0122, 0.5812, -5.6684, 5.135, 2.0195, 0.1245, 0.0464, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0208, 0.7662, 0.5186, -0.337, -0.0227, -0.0288, 0.9983, 0.588, 1.6379, 0.4244, 0.6994, 0.2497, 0.1326, 0.3564]\nstate[eef_state]: left_x=0.288 left_y=0.0016 left_z=0.1572 left_yaw=0.0006 left_pitch=-0.0221 left_roll=0.0002 left_gripper=0.9983 right_x=0.3466 right_y=0.1829 right_z=0.0484 right_yaw=0.2833 right_pitch=0.0743 right_roll=0.0128 right_gripper=0.3564\nstate[joint_eff]: [-0.2393, -1.6342, 6.8581, 1.873, -0.022, -0.0024, -0.0122, -0.4308, -3.0838, 3.412, 1.1258, 0.0122, 0.1099, 0.3346]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86bee68f1a2d3be33c55b012b2c14bca0698a9daf43eb6c4c706b6895eaff5b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae0db7684c58c908009e7b925696f43c698545a9e175684323020d5bf4672d91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef23d4f4666ac754372133938e5435dcffd2c8f020bd58bf977d18c98baf3dde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9wUKjgEIEhgCKkB8MEU/RdpsqeejTWhjaVckQ5i/mx6TNJV4wsvD+d/sDQexZv75frcZb+LfMQIT8EqOK9LjyRThruD5GLEJT0MwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZnOzNUGEgwSmpPIo2GgSaj3m0kaDJaO3Trk81dizuE7ZCIwHOmlYr6JTqVJjBFKG3m8rqlgKevV5eaQb+sV+eFm/TzS6ZQZcEPGTnQScWibc63lKpUE/ktUAVjkhLxUsC/GZT16NMJfGLusHFrm2WTW3woGDYzjKEFF7zRnaxy69KkLQdZqpJXjFdXs075f++M6Rc7kmYF+BRc12xj+CuMw7TIjoaba9X5h78SLpHv8WObhKevqUI0dELqIrJuByD/6YrKA2STsF1N0YWRXC6/kIjECfuSgTQz8Ph1rzMolh81/WlJZnxGwgTUVrA4dJRN9GJir+oTrOX27c2Y1skdTDJs8H1N07vwkKWERgTOQwbNMkj8iBO4E+Q7DI5GaKRHkeWTDz+Ebv07LoDGLAyNtKXS6JSPpzHIBgCqKEqk5yMpqWyzUyQsWjcvMulEVJdM62jwydTdxzC7/RZ8UiokAGHirm4Ivp91dkvPeCLWDoRByG6pD6zym/GEkqEX/84deGwBcpBXurBVfhnfL54+omBsjC2tJV/YsNbvezlKrDpkfmWZ40VVkAUGTlZNluSYp/SfyLuFomOKRJSBSu32Y+6KqzZapmdBOpSQMhfF06WO9jg9l8oyAhIZRZUxjL+V99l5SUcRxYi4DcfEVCVJj1eU6U2AzLdMmshSDN5h2xKIQVvbrvQVNXLwiQaAV864BUTeMoT69IK0bv3vwzB4a5HOk6AyGEt3f2PD+HG5tOMaBm/7cUFzDKV0P2v9+sivPZjYjDUC+a77Liz/CoyGcPZdx1xfErwIuDtC6zHeKPTxsjUMTAvKwJZUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01USUWTNht3jKiMeYJyJZyXU",
      "input": {
        "note": "Jaws stalled slightly above command again; lifting to 33 cm to test whether the bottle is actually held.",
        "targets": {
          "right_z": 0.33
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01USUWTNht3jKiMeYJyJZyXU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7586, 0.503, -0.3264, -0.0231, -0.0292, 0.9983, 0.5888, 1.3151, 1.4174, -0.7116, 0.2306, 0.1246, 0.3563]\nstate[eef_state]: left_x=0.2869 left_y=0.0017 left_z=0.1543 left_yaw=0.0011 left_pitch=-0.0194 left_roll=-0.0 left_gripper=0.9983 right_x=0.3443 right_y=0.1857 right_z=0.3137 right_yaw=0.305 right_pitch=-0.0199 right_roll=-0.0119 right_gripper=0.3563\nstate[joint_eff]: [-0.0752, -1.7162, 6.5299, 1.8877, -0.0171, -0.0317, -0.0122, -0.6222, -4.2051, 9.2376, 1.7802, 0.1783, 0.0904, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c371209243b935108b3038e9641b2d799e8fa12c97bac953278adce0ae1eb22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c28eac20f3198551843f0ca22e7612049b9d58998eda70df0ada18a84ec5ad66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:206c13ad38c879246cb1389d7593131c0165104b00900e8b8fe3d02b75a13b1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /messages · status 200 · 4.476 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]: [-0.0208, 0.7738, 0.5365, -0.3454, -0.0227, -0.0288, 0.9983, 0.5835, 1.5589, 0.5003, 0.3862, 0.242, 0.1444, 0.9975]\nstate[eef_state]: left_x=0.2896 left_y=0.0016 left_z=0.1617 left_yaw=0.0006 left_pitch=-0.0202 left_roll=0.0001 left_gripper=0.9983 right_x=0.3371 right_y=0.1761 right_z=0.0415 right_yaw=0.2786 right_pitch=-0.0782 right_roll=-0.0206 right_gripper=0.9975\nstate[joint_eff]: [-0.1026, -1.6479, 6.6803, 1.873, -0.0415, -0.022, -0.0122, 0.5812, -5.6684, 5.135, 2.0195, 0.1245, 0.0464, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0208, 0.7662, 0.5186, -0.337, -0.0227, -0.0288, 0.9983, 0.588, 1.6379, 0.4244, 0.6994, 0.2497, 0.1326, 0.3564]\nstate[eef_state]: left_x=0.288 left_y=0.0016 left_z=0.1572 left_yaw=0.0006 left_pitch=-0.0221 left_roll=0.0002 left_gripper=0.9983 right_x=0.3466 right_y=0.1829 right_z=0.0484 right_yaw=0.2833 right_pitch=0.0743 right_roll=0.0128 right_gripper=0.3564\nstate[joint_eff]: [-0.2393, -1.6342, 6.8581, 1.873, -0.022, -0.0024, -0.0122, -0.4308, -3.0838, 3.412, 1.1258, 0.0122, 0.1099, 0.3346]",
      "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]: [-0.0208, 0.7586, 0.503, -0.3264, -0.0231, -0.0292, 0.9983, 0.5888, 1.3151, 1.4174, -0.7116, 0.2306, 0.1246, 0.3563]\nstate[eef_state]: left_x=0.2869 left_y=0.0017 left_z=0.1543 left_yaw=0.0011 left_pitch=-0.0194 left_roll=-0.0 left_gripper=0.9983 right_x=0.3443 right_y=0.1857 right_z=0.3137 right_yaw=0.305 right_pitch=-0.0199 right_roll=-0.0119 right_gripper=0.3563\nstate[joint_eff]: [-0.0752, -1.7162, 6.5299, 1.8877, -0.0171, -0.0317, -0.0122, -0.6222, -4.2051, 9.2376, 1.7802, 0.1783, 0.0904, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c371209243b935108b3038e9641b2d799e8fa12c97bac953278adce0ae1eb22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c28eac20f3198551843f0ca22e7612049b9d58998eda70df0ada18a84ec5ad66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:206c13ad38c879246cb1389d7593131c0165104b00900e8b8fe3d02b75a13b1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0182wtu3WBYMWNHxbgL7CeoV",
      "input": {
        "note": "Empty again — the successful grasp earlier was 2.5 cm further to the arm's right, so lateral aim is the likely error. Dropping back to table level at y=0.16 with jaws wide open.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.35,
          "right_y": 0.16,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_0182wtu3WBYMWNHxbgL7CeoV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7513, 0.4957, -0.3187, -0.0235, -0.0292, 0.9983, 0.4931, 1.6375, 0.432, 0.5774, 0.1341, 0.0731, 0.998]\nstate[eef_state]: left_x=0.2866 left_y=0.0018 left_z=0.1545 left_yaw=0.0014 left_pitch=-0.0118 left_roll=0.0 left_gripper=0.9983 right_x=0.3439 right_y=0.1621 right_z=0.0241 right_yaw=0.3176 right_pitch=-0.0505 right_roll=-0.004 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -1.4564, 6.0923, 1.873, -0.0708, -0.0855, -0.0122, -0.5128, -5.3812, 3.9726, 1.6532, -0.0073, 0.0171, 0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:907fc9acc7e013ff44291e68d15564c8aebc91abd0092d4b0f2ea742860e6f1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b63c36229d0e341741cb81d7b793bb80ddbaba6df6f13492ff94bc0d4547978b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7796091f1e5a884235470153ccd57878a6a680b5661d86983f63986e9ca2999d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 9.146 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]: [-0.0208, 0.7662, 0.5186, -0.337, -0.0227, -0.0288, 0.9983, 0.588, 1.6379, 0.4244, 0.6994, 0.2497, 0.1326, 0.3564]\nstate[eef_state]: left_x=0.288 left_y=0.0016 left_z=0.1572 left_yaw=0.0006 left_pitch=-0.0221 left_roll=0.0002 left_gripper=0.9983 right_x=0.3466 right_y=0.1829 right_z=0.0484 right_yaw=0.2833 right_pitch=0.0743 right_roll=0.0128 right_gripper=0.3564\nstate[joint_eff]: [-0.2393, -1.6342, 6.8581, 1.873, -0.022, -0.0024, -0.0122, -0.4308, -3.0838, 3.412, 1.1258, 0.0122, 0.1099, 0.3346]",
      "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]: [-0.0208, 0.7586, 0.503, -0.3264, -0.0231, -0.0292, 0.9983, 0.5888, 1.3151, 1.4174, -0.7116, 0.2306, 0.1246, 0.3563]\nstate[eef_state]: left_x=0.2869 left_y=0.0017 left_z=0.1543 left_yaw=0.0011 left_pitch=-0.0194 left_roll=-0.0 left_gripper=0.9983 right_x=0.3443 right_y=0.1857 right_z=0.3137 right_yaw=0.305 right_pitch=-0.0199 right_roll=-0.0119 right_gripper=0.3563\nstate[joint_eff]: [-0.0752, -1.7162, 6.5299, 1.8877, -0.0171, -0.0317, -0.0122, -0.6222, -4.2051, 9.2376, 1.7802, 0.1783, 0.0904, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0208, 0.7513, 0.4957, -0.3187, -0.0235, -0.0292, 0.9983, 0.4931, 1.6375, 0.432, 0.5774, 0.1341, 0.0731, 0.998]\nstate[eef_state]: left_x=0.2866 left_y=0.0018 left_z=0.1545 left_yaw=0.0014 left_pitch=-0.0118 left_roll=0.0 left_gripper=0.9983 right_x=0.3439 right_y=0.1621 right_z=0.0241 right_yaw=0.3176 right_pitch=-0.0505 right_roll=-0.004 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -1.4564, 6.0923, 1.873, -0.0708, -0.0855, -0.0122, -0.5128, -5.3812, 3.9726, 1.6532, -0.0073, 0.0171, 0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:907fc9acc7e013ff44291e68d15564c8aebc91abd0092d4b0f2ea742860e6f1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b63c36229d0e341741cb81d7b793bb80ddbaba6df6f13492ff94bc0d4547978b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7796091f1e5a884235470153ccd57878a6a680b5661d86983f63986e9ca2999d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4AQKjgEIEhgCKkD2RM1anIj/mNhEbqa0jedX5094bW6dbfD3dK7s2HK2aUSZCJ/YyhqQC81XwnEZMdpTaW0PfBLDeFW6uAYoM6alMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa3OzNUGEgxVi5S0YaINvrId22oaDFsmyBU3ZNL6JFO23SIwOBLKtnJ1qliHw6zXgZ+w0v8CmTzUeNUpd30ha0J8ouJNy5RuDL9T0OMDYKfE3YHEKv4CU5N6gSJgNzLpy7xBmHlOdXzC/Jat3YoSUu3haqT5kbV6aa1Z1amZ52quVP+Jl7YNXkbYbFpmT3VmJXAZolb7mmOj5AlyH88Kr9C1tdKL3N7YIU9Yo7WRI4pyNIApep6FeLl6XXoksktihFO3oe2Ty9pS/44CxKIF2LgRXxTLTz1p8twFZSjylAj7mrQOjvLvjfafhmgc/dFELubIfow7ftse6RPS+cit0ZrhIQqgf4iHYyePA6tWvrHVY5msjgl/MQnlRvQHRpV/FbkcrEQc/ImSD415b4FrBBITJbKSZ/qyh8U86qr+oyi5t2Yed0qhriT0XKMpSp2mRwWnbOWOl6KpOMOG+vPtmOn8dECcibWUZylY8a0jhwHRgZJ1G6P8hlqWXag4FPRCjry4oy+cCakJuyaAiF1JzkW8ivFpZqVdv5mnTxjCltI+oIQRXiuSn+ljcqC6HF4OtGa9oxfjvaOn3ugFiNT9ULM5L2S097M057KmNxtA/Gor1j92QBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BMzfLFyTWwhRBwqKneYV7C",
      "input": {
        "note": "The bottle body fills the jaw gap in the wrist view at table height; closing firmly to 0.30 to squeeze the body.",
        "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_01BMzfLFyTWwhRBwqKneYV7C",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7513, 0.4915, -0.3187, -0.0231, -0.0292, 0.9983, 0.4973, 1.6554, 0.4065, 0.7811, 0.1299, 0.0692, 0.3067]\nstate[eef_state]: left_x=0.286 left_y=0.0017 left_z=0.1525 left_yaw=0.0011 left_pitch=-0.016 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3571 right_y=0.1718 right_z=0.0512 right_yaw=0.3266 right_pitch=0.107 right_roll=0.0225 right_gripper=0.3067\nstate[joint_eff]: [-0.0479, -1.4427, 6.653, 1.8779, -0.022, -0.0757, -0.0122, -0.3077, -4.8615, 3.5897, 0.9158, 0.1929, -0.0415, 0.232]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e59789a58e72c4a2e004d74c6297499dfc6e19bca3ef3baafade4b1ac38a7f6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3310af8ad2867ba4723ecfcc9608de3ffd79ceb405a2c92ff369e0e5b61b13fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f98177a1759df9d801ddfa12c8ba85f64e3d3397e0679531fdb5f6f4da79c340",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 13.99 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]: [-0.0208, 0.7586, 0.503, -0.3264, -0.0231, -0.0292, 0.9983, 0.5888, 1.3151, 1.4174, -0.7116, 0.2306, 0.1246, 0.3563]\nstate[eef_state]: left_x=0.2869 left_y=0.0017 left_z=0.1543 left_yaw=0.0011 left_pitch=-0.0194 left_roll=-0.0 left_gripper=0.9983 right_x=0.3443 right_y=0.1857 right_z=0.3137 right_yaw=0.305 right_pitch=-0.0199 right_roll=-0.0119 right_gripper=0.3563\nstate[joint_eff]: [-0.0752, -1.7162, 6.5299, 1.8877, -0.0171, -0.0317, -0.0122, -0.6222, -4.2051, 9.2376, 1.7802, 0.1783, 0.0904, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0208, 0.7513, 0.4957, -0.3187, -0.0235, -0.0292, 0.9983, 0.4931, 1.6375, 0.432, 0.5774, 0.1341, 0.0731, 0.998]\nstate[eef_state]: left_x=0.2866 left_y=0.0018 left_z=0.1545 left_yaw=0.0014 left_pitch=-0.0118 left_roll=0.0 left_gripper=0.9983 right_x=0.3439 right_y=0.1621 right_z=0.0241 right_yaw=0.3176 right_pitch=-0.0505 right_roll=-0.004 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -1.4564, 6.0923, 1.873, -0.0708, -0.0855, -0.0122, -0.5128, -5.3812, 3.9726, 1.6532, -0.0073, 0.0171, 0.0317]\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]: [-0.0208, 0.7513, 0.4915, -0.3187, -0.0231, -0.0292, 0.9983, 0.4973, 1.6554, 0.4065, 0.7811, 0.1299, 0.0692, 0.3067]\nstate[eef_state]: left_x=0.286 left_y=0.0017 left_z=0.1525 left_yaw=0.0011 left_pitch=-0.016 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3571 right_y=0.1718 right_z=0.0512 right_yaw=0.3266 right_pitch=0.107 right_roll=0.0225 right_gripper=0.3067\nstate[joint_eff]: [-0.0479, -1.4427, 6.653, 1.8779, -0.022, -0.0757, -0.0122, -0.3077, -4.8615, 3.5897, 0.9158, 0.1929, -0.0415, 0.232]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e59789a58e72c4a2e004d74c6297499dfc6e19bca3ef3baafade4b1ac38a7f6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3310af8ad2867ba4723ecfcc9608de3ffd79ceb405a2c92ff369e0e5b61b13fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f98177a1759df9d801ddfa12c8ba85f64e3d3397e0679531fdb5f6f4da79c340",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4goKjgEIEhgCKkCieIECQ4CRGJdCQI0AARZK6PgIRn/Sjctu9K2z9IM+TDaI+lXTSeZSL4yG55LwJKF9KfCk3Xlswl1x1dDfvDtQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbbOzNUGEgz6QCMb0+Us/nBoQQIaDJo5y1t0q3BYCKCSPyIwiAUM9EVEwifAsHIp3nXo5I1o2E/kfbtQ4TPs9ZuXPTKVbYcGsf8ElFqm20ksBXAKKoAJ/sFz3ec2UKxdsNrB4b43fvzK8tFxwS7hTG90m6Ae8/fwOtQBSDAHSqsoAKfl71fvheQca6grsWibqhKNCK/5QyaevAF2S4gcFo+QH0qOMhGUWSVoBEgthRETRSCnfbj940lWVbnlJNp9ZMWRa0dHz6E6gtoeq860DeKtQ8H7HvOT+IhcCS9OD66+uCAsOMEDODITFHod1bjg5EClDg8+hYe1kzhp8McL3TkTdWLw+U7OKM01JAzwqwfP9Vc3a/omoc8DJO17gYm/0cKjt2JZRs9+bIzxy31wgDAEja482/3RwvFIZ4nfpUNRaeRY8Kq5Jo658CtXbFViFTsBFpTetMuvMkCynbu4gpwuorLi19VxZcdD/ohhunRTVhwMDBCnQpSDGGpN7+olIu1ym6MpwX+ibbZHUGkyjtKp3cp8LwgfZ5kLmmIiwsL8lGLF8+rdEodrFP2PKSsSibDCiUWlMDAPhkrYx7KkHCWRXFmbW1gUlxkRl6vqvmT2jXQhixUXmGK3R8+P/ag3ADc60cnsHgAG2Ysfd7wLbuZyusFjli4mBQlJsGbCCRIIbUI4U5jzkcesfIfSObTHvQ/F90qZfSWjPCMCmiWO7JadxFJwzIiQwo4C6bowDtTbaik90/JicWllMTDeXsq980RCAW4rGA1e11zPO15nLmVX7Zb/cM9mQMGOdWYqweMFLY69K1Mw/nqapklKjUV8TO2FObgIfTMYTi9m0tjXPTikmkL0+RTFxV85Yo+O3ijSJFMKs5bTKAOph4OryU8FCOQfKTOQ67MmgJ+F8p8YQJSHKnpv1ufP5FLSumja7j1K+N/WIS+Y5Wewxvr+txT79SRbGGqsNKZlELCL8VX72dd+G1SuFYKnnb3CUYTFQsoSH57xdvOfbxBcANSGkUfhVnYNwjIGV2GIGibBMp+uwroN7B+gWps51Yuph1XZPY9OQcCg/jFA/GdcNvQKFZqBZ0zM2dVPjuLxYZqEy5wE4J8zHqb3+HUjGJkJox99qmLzudNXzV+WioyIW8ZZ162WTH19KaxcqCCMXVQ5R0mxm6wmrS/jpFEaKdaBqxzeSQHWxv/B1Egj0Io7qaPFh+Xkuyj6/+5kmZNJNlygZ3VhwfKyT4iAMF1g+3n+lZUbQUsijIYkmEaX/c+bgjwNfYx9P9SEm2vAz/JBvDwZsNfdPLOpo0Q6wA583HpyT4W8tQaXIKCB45L5kt2RENiS0xXS2Ph/JhsN3BFL7kqodbJ1rqqgLOI1ZhXwDtoOaQ1k8ADBbgUEhdnzezOdr2b6/h+V91ErzaNG6+A1jCcKsKyegI/BJwasLeiKrI0yCJ6/+RUReGGseREuFnEQIxF3gClWXnBwi7EZDwoHzcYP77c7srvMBPL7QMMDnRTVaT4YU+Mtm6SdVMoVE2XXx82zUuX/ikcZExVVDSNkVCOE9N4/UnLJOUSA3DlYl5nQGERiWHjVnaDXiN6nDqAYf7vJGNrET0fPg2+70BW5J7gsKenhZKLH9/Hm0FHrimD1Pporw5ehQT/slfBpGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KSRkzA1fPrbp88FQ6Djdiv",
      "input": {
        "note": "Each close pushes the arm up and forward — the fingers are riding over the top of the bottle. Reopening and pressing the jaws right down to the table floor (z=-0.02) so they straddle the bottle at its widest point.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.345,
          "right_y": 0.163,
          "right_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01KSRkzA1fPrbp88FQ6Djdiv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7494, 0.4847, -0.3115, -0.0231, -0.0288, 0.9983, 0.4973, 1.858, 0.4088, 1.0779, 0.1272, 0.0509, 0.9953]\nstate[eef_state]: left_x=0.286 left_y=0.0017 left_z=0.1514 left_yaw=0.0009 left_pitch=-0.0137 left_roll=0.0002 left_gripper=0.9983 right_x=0.3718 right_y=0.1804 right_z=0.0405 right_yaw=0.3364 right_pitch=0.2025 right_roll=0.0227 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -1.7299, 6.3385, 1.873, -0.0366, -0.0317, -0.0122, -0.841, -2.1949, 0.7316, -0.1245, -0.0366, 0.1343, 0.0269]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce91f787d3b040e6572cf783ec971e60479cf30d2eab14d0f8d80601c4522d84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2948e5816018444718ec59a2e4192755c51d57ebf4e6083908ce0c95a3955848",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:26e10b890cdd29764b6817a3116b9519bab9906d88beee1bdccb2a84e584fbfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 6.348 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7513, 0.4957, -0.3187, -0.0235, -0.0292, 0.9983, 0.4931, 1.6375, 0.432, 0.5774, 0.1341, 0.0731, 0.998]\nstate[eef_state]: left_x=0.2866 left_y=0.0018 left_z=0.1545 left_yaw=0.0014 left_pitch=-0.0118 left_roll=0.0 left_gripper=0.9983 right_x=0.3439 right_y=0.1621 right_z=0.0241 right_yaw=0.3176 right_pitch=-0.0505 right_roll=-0.004 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -1.4564, 6.0923, 1.873, -0.0708, -0.0855, -0.0122, -0.5128, -5.3812, 3.9726, 1.6532, -0.0073, 0.0171, 0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7513, 0.4915, -0.3187, -0.0231, -0.0292, 0.9983, 0.4973, 1.6554, 0.4065, 0.7811, 0.1299, 0.0692, 0.3067]\nstate[eef_state]: left_x=0.286 left_y=0.0017 left_z=0.1525 left_yaw=0.0011 left_pitch=-0.016 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3571 right_y=0.1718 right_z=0.0512 right_yaw=0.3266 right_pitch=0.107 right_roll=0.0225 right_gripper=0.3067\nstate[joint_eff]: [-0.0479, -1.4427, 6.653, 1.8779, -0.022, -0.0757, -0.0122, -0.3077, -4.8615, 3.5897, 0.9158, 0.1929, -0.0415, 0.232]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7494, 0.4847, -0.3115, -0.0231, -0.0288, 0.9983, 0.4973, 1.858, 0.4088, 1.0779, 0.1272, 0.0509, 0.9953]\nstate[eef_state]: left_x=0.286 left_y=0.0017 left_z=0.1514 left_yaw=0.0009 left_pitch=-0.0137 left_roll=0.0002 left_gripper=0.9983 right_x=0.3718 right_y=0.1804 right_z=0.0405 right_yaw=0.3364 right_pitch=0.2025 right_roll=0.0227 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -1.7299, 6.3385, 1.873, -0.0366, -0.0317, -0.0122, -0.841, -2.1949, 0.7316, -0.1245, -0.0366, 0.1343, 0.0269]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce91f787d3b040e6572cf783ec971e60479cf30d2eab14d0f8d80601c4522d84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2948e5816018444718ec59a2e4192755c51d57ebf4e6083908ce0c95a3955848",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26e10b890cdd29764b6817a3116b9519bab9906d88beee1bdccb2a84e584fbfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QKLJzM6Fob8hn6X4GxjGCA",
      "input": {
        "note": "The arm will not track targets out here (pitch is drifting and z won't descend), so I'm pulling back to x=0.30 where it had good authority, to approach the near end of the bottle from there.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.155,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QKLJzM6Fob8hn6X4GxjGCA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.746, 0.4824, -0.3111, -0.0227, -0.0292, 0.9983, 0.5503, 1.5135, 0.2546, 0.6781, 0.1551, 0.078, 0.9955]\nstate[eef_state]: left_x=0.2856 left_y=0.0017 left_z=0.1513 left_yaw=0.0008 left_pitch=-0.0122 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3038 right_y=0.1585 right_z=0.0268 right_yaw=0.3548 right_pitch=-0.0018 right_roll=-0.0029 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -0.9094, 6.147, 1.9512, -0.0513, -0.0708, -0.0122, 0.2803, -6.3111, 5.8188, 2.2589, 0.1245, 0.1343, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:169477685c6f723ba05fdcd6686d06c81fbdf47e38538b8fe048f75f2865b0c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b65d3538a467873a46f5932126c2e1fc1dc2be3d5adccf98749b321bfb49f98f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6794c254694d7ec85d03578fd33afd6e5d099635051ffec841269d5f68427f6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 14.62 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7513, 0.4915, -0.3187, -0.0231, -0.0292, 0.9983, 0.4973, 1.6554, 0.4065, 0.7811, 0.1299, 0.0692, 0.3067]\nstate[eef_state]: left_x=0.286 left_y=0.0017 left_z=0.1525 left_yaw=0.0011 left_pitch=-0.016 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3571 right_y=0.1718 right_z=0.0512 right_yaw=0.3266 right_pitch=0.107 right_roll=0.0225 right_gripper=0.3067\nstate[joint_eff]: [-0.0479, -1.4427, 6.653, 1.8779, -0.022, -0.0757, -0.0122, -0.3077, -4.8615, 3.5897, 0.9158, 0.1929, -0.0415, 0.232]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7494, 0.4847, -0.3115, -0.0231, -0.0288, 0.9983, 0.4973, 1.858, 0.4088, 1.0779, 0.1272, 0.0509, 0.9953]\nstate[eef_state]: left_x=0.286 left_y=0.0017 left_z=0.1514 left_yaw=0.0009 left_pitch=-0.0137 left_roll=0.0002 left_gripper=0.9983 right_x=0.3718 right_y=0.1804 right_z=0.0405 right_yaw=0.3364 right_pitch=0.2025 right_roll=0.0227 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -1.7299, 6.3385, 1.873, -0.0366, -0.0317, -0.0122, -0.841, -2.1949, 0.7316, -0.1245, -0.0366, 0.1343, 0.0269]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.746, 0.4824, -0.3111, -0.0227, -0.0292, 0.9983, 0.5503, 1.5135, 0.2546, 0.6781, 0.1551, 0.078, 0.9955]\nstate[eef_state]: left_x=0.2856 left_y=0.0017 left_z=0.1513 left_yaw=0.0008 left_pitch=-0.0122 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3038 right_y=0.1585 right_z=0.0268 right_yaw=0.3548 right_pitch=-0.0018 right_roll=-0.0029 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -0.9094, 6.147, 1.9512, -0.0513, -0.0708, -0.0122, 0.2803, -6.3111, 5.8188, 2.2589, 0.1245, 0.1343, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:169477685c6f723ba05fdcd6686d06c81fbdf47e38538b8fe048f75f2865b0c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b65d3538a467873a46f5932126c2e1fc1dc2be3d5adccf98749b321bfb49f98f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6794c254694d7ec85d03578fd33afd6e5d099635051ffec841269d5f68427f6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjQQKjgEIEhgCKkALO4UAPziPf987BveN+MdInq0tHWOC7SHLAbGV7qIyL9pVnd2CoZciNCJWrE3e34v3iNUvsPGQVGmYllrAm2ppMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAczOzNUGEgz2h2WbRoXAB+Os9ioaDDQe3VtDxvFfxGu0CyIwj2c0ZPWb5ZDwYYvx3JYO6K6imZ5gc7Ul1oG6T654sRcgY/bSIA+pxnLeKZg3CblAKqsCvazTroAzrgweNTAt5Ks1BXa6YKlFQAJLoA+drafEuWsPQuOKA7Fymv3EDG6t+FoF6HK0T1lNGCYNOOZZPOEAfz4J9URJEkYDojL8bAnBC6yZDTcTOSsk8RPFZUZjUb+NkUOIDDB5ZhGZJiwgiTPRGWeMgebPFNoOthTAjGtgwjmcdVQqFnxDqoX9dNEc60ZGxPYagNnTomSrOd2lGgo/1wQSz9lekRQkRoii269OHd8b802bTCEbcWClkmlJzlOis1SqgLaklUDN95i+hPYYMwsSK4l1VdbWlrjVLcb5uLFyy/E0y5I8C/bzCPfH/5D5sxG+frmL0KOMMCyAjas4ZklJ6bzvz5W1j44m/lLH6UaJBB0NJV6/c7YXoMSdGNVUPU+vCmCa3nG5dC0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YX4YKi4JpKzCWxBnUy3Ksq",
      "input": {
        "note": "Back in a well-tracking pose with the bottle's near end filling the jaw gap at table height; closing hard to take a real grip.",
        "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_01YX4YKi4JpKzCWxBnUy3Ksq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7456, 0.4824, -0.3111, -0.0231, -0.0292, 0.9983, 0.5495, 1.5063, 0.2375, 0.6556, 0.1535, 0.0765, 0.5819]\nstate[eef_state]: left_x=0.2856 left_y=0.0017 left_z=0.1514 left_yaw=0.0011 left_pitch=-0.0118 left_roll=-0.0002 left_gripper=0.9983 right_x=0.2965 right_y=0.1541 right_z=0.0188 right_yaw=0.356 right_pitch=-0.0338 right_roll=-0.0096 right_gripper=0.5819\nstate[joint_eff]: [-0.2667, -1.4017, 6.106, 1.8779, -0.0171, -0.0269, -0.0122, -0.1026, -3.5077, 5.641, 1.9414, 0.0122, -0.0073, 0.5983]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab829e5134eae3cadeb4108fd5f38e3ceed47f0a0bf54c8bf61aeb7a6f632cd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5c1086e76c8973828778dc669d4d1adb6114b95b6d5d45d38c718590148253b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84f126665b0dd5fcdf04caae34767fb9f304366f22feff032848ae5041cec62a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 12.93 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7494, 0.4847, -0.3115, -0.0231, -0.0288, 0.9983, 0.4973, 1.858, 0.4088, 1.0779, 0.1272, 0.0509, 0.9953]\nstate[eef_state]: left_x=0.286 left_y=0.0017 left_z=0.1514 left_yaw=0.0009 left_pitch=-0.0137 left_roll=0.0002 left_gripper=0.9983 right_x=0.3718 right_y=0.1804 right_z=0.0405 right_yaw=0.3364 right_pitch=0.2025 right_roll=0.0227 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -1.7299, 6.3385, 1.873, -0.0366, -0.0317, -0.0122, -0.841, -2.1949, 0.7316, -0.1245, -0.0366, 0.1343, 0.0269]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.746, 0.4824, -0.3111, -0.0227, -0.0292, 0.9983, 0.5503, 1.5135, 0.2546, 0.6781, 0.1551, 0.078, 0.9955]\nstate[eef_state]: left_x=0.2856 left_y=0.0017 left_z=0.1513 left_yaw=0.0008 left_pitch=-0.0122 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3038 right_y=0.1585 right_z=0.0268 right_yaw=0.3548 right_pitch=-0.0018 right_roll=-0.0029 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -0.9094, 6.147, 1.9512, -0.0513, -0.0708, -0.0122, 0.2803, -6.3111, 5.8188, 2.2589, 0.1245, 0.1343, 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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7456, 0.4824, -0.3111, -0.0231, -0.0292, 0.9983, 0.5495, 1.5063, 0.2375, 0.6556, 0.1535, 0.0765, 0.5819]\nstate[eef_state]: left_x=0.2856 left_y=0.0017 left_z=0.1514 left_yaw=0.0011 left_pitch=-0.0118 left_roll=-0.0002 left_gripper=0.9983 right_x=0.2965 right_y=0.1541 right_z=0.0188 right_yaw=0.356 right_pitch=-0.0338 right_roll=-0.0096 right_gripper=0.5819\nstate[joint_eff]: [-0.2667, -1.4017, 6.106, 1.8779, -0.0171, -0.0269, -0.0122, -0.1026, -3.5077, 5.641, 1.9414, 0.0122, -0.0073, 0.5983]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab829e5134eae3cadeb4108fd5f38e3ceed47f0a0bf54c8bf61aeb7a6f632cd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5c1086e76c8973828778dc669d4d1adb6114b95b6d5d45d38c718590148253b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84f126665b0dd5fcdf04caae34767fb9f304366f22feff032848ae5041cec62a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018zDgL9V1sThoBKF419x1aj",
      "input": {
        "note": "Jaws stalled at 0.58 — a genuine grip on the bottle's lower body. Lifting to 30 cm while easing the jaws to 0.62 so the bottle can pivot and hang vertically in the loose grip.",
        "targets": {
          "right_gripper": 0.62,
          "right_x": 0.27,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_018zDgL9V1sThoBKF419x1aj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7429, 0.4824, -0.3115, -0.0231, -0.0292, 0.9983, 0.6289, 1.0012, 1.0782, -0.8112, 0.1898, 0.1001, 0.6199]\nstate[eef_state]: left_x=0.2854 left_y=0.0017 left_z=0.1521 left_yaw=0.0011 left_pitch=-0.0095 left_roll=-0.0002 left_gripper=0.9983 right_x=0.2586 right_y=0.1514 right_z=0.25 right_yaw=0.3897 right_pitch=-0.147 right_roll=-0.0391 right_gripper=0.6199\nstate[joint_eff]: [-0.212, -1.388, 6.147, 1.8632, -0.0464, -0.0415, -0.0171, 0.2667, -2.7556, 10.8239, 2.1319, 0.2711, 0.2027, -0.0269]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dae1cd897957832acedae365c1ff8421c57b561b3d7e409b3d359536529dbcdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a7891e92672accab305b4def9bc78f0218fda954378dcab7d933a61b4c362c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:86ae0f3b764fa9a9b3435a3e424f57eefa3e7589159520ad1028bea85df7c007",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 14.47 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.746, 0.4824, -0.3111, -0.0227, -0.0292, 0.9983, 0.5503, 1.5135, 0.2546, 0.6781, 0.1551, 0.078, 0.9955]\nstate[eef_state]: left_x=0.2856 left_y=0.0017 left_z=0.1513 left_yaw=0.0008 left_pitch=-0.0122 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3038 right_y=0.1585 right_z=0.0268 right_yaw=0.3548 right_pitch=-0.0018 right_roll=-0.0029 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -0.9094, 6.147, 1.9512, -0.0513, -0.0708, -0.0122, 0.2803, -6.3111, 5.8188, 2.2589, 0.1245, 0.1343, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7456, 0.4824, -0.3111, -0.0231, -0.0292, 0.9983, 0.5495, 1.5063, 0.2375, 0.6556, 0.1535, 0.0765, 0.5819]\nstate[eef_state]: left_x=0.2856 left_y=0.0017 left_z=0.1514 left_yaw=0.0011 left_pitch=-0.0118 left_roll=-0.0002 left_gripper=0.9983 right_x=0.2965 right_y=0.1541 right_z=0.0188 right_yaw=0.356 right_pitch=-0.0338 right_roll=-0.0096 right_gripper=0.5819\nstate[joint_eff]: [-0.2667, -1.4017, 6.106, 1.8779, -0.0171, -0.0269, -0.0122, -0.1026, -3.5077, 5.641, 1.9414, 0.0122, -0.0073, 0.5983]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7429, 0.4824, -0.3115, -0.0231, -0.0292, 0.9983, 0.6289, 1.0012, 1.0782, -0.8112, 0.1898, 0.1001, 0.6199]\nstate[eef_state]: left_x=0.2854 left_y=0.0017 left_z=0.1521 left_yaw=0.0011 left_pitch=-0.0095 left_roll=-0.0002 left_gripper=0.9983 right_x=0.2586 right_y=0.1514 right_z=0.25 right_yaw=0.3897 right_pitch=-0.147 right_roll=-0.0391 right_gripper=0.6199\nstate[joint_eff]: [-0.212, -1.388, 6.147, 1.8632, -0.0464, -0.0415, -0.0171, 0.2667, -2.7556, 10.8239, 2.1319, 0.2711, 0.2027, -0.0269]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dae1cd897957832acedae365c1ff8421c57b561b3d7e409b3d359536529dbcdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a7891e92672accab305b4def9bc78f0218fda954378dcab7d933a61b4c362c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86ae0f3b764fa9a9b3435a3e424f57eefa3e7589159520ad1028bea85df7c007",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ldha4tmmGvLhkUAKyHvmPv",
      "input": {
        "note": "The bottle is off the table and hanging vertically in the loose jaws; lowering it until its lower end reaches the table and opening the jaws to set it down standing.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Ldha4tmmGvLhkUAKyHvmPv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7403, 0.482, -0.3115, -0.0231, -0.0292, 0.9983, 0.6281, 0.8448, 0.5995, -0.4267, 0.197, 0.0998, 0.9964]\nstate[eef_state]: left_x=0.2853 left_y=0.0017 left_z=0.1526 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.2508 right_y=0.1439 right_z=0.1568 right_yaw=0.3849 right_pitch=-0.0855 right_roll=-0.029 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -1.2513, 6.5162, 1.8535, -0.0415, -0.0708, -0.0122, -0.1436, -2.4, 7.3368, 2.0488, -0.0024, -0.0317, -0.2222]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fa001af16c567087416eef971afbfcf324af3286c6361d098ed9ccc580c46f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09ececcd234a318ea1ba6246885034e7aa71b71fc235598708188895aaf0f7dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:56ce7fef8a2ce7b87e14b7985a4b7a7d7da6dca96c1832782cc8e20fbee2383c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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