adhoc

completed
2026-09-22T23:31:45.179187+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
482.3 s
total steps
240
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'm moving the left arm to hover ~20 cm above the leftmost bottle to get a close wrist-camera look before grasping its neck.
move_to
left_x0.3400left_y-0.1350left_z0.2000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0193, 0.7929, 0.6067, -0.379, -0.0254, -0.0284, 0.9985, -0.0204, 0.7876, 0.6029, -0.3855, -0.0231, -0.017, 0.9992] state[eef_state]: left_x=0.2952 left_y=0.0024 left_z=0.1818 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2935 right_y=0.0017 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.5812, -1.5248, 9.8803, 1.8535, 0.0073, 0.1538, -0.1636, -0.4308, -0.8547, 10.3043, 1.8681, -0.0073, 0.0269, -0.0904] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.135, "left_z": 0.2, "left_gripper": 1.0}, "note": "Three bottles lie on their sides in the middle of the table. I'm moving the left arm to hover ~20 cm above the leftmost bottle to get a close wrist-camera look before grasping its neck."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe left wrist camera shows the near bottle lying with its cap toward the upper-left; I'm moving to hover just above that bottle's neck/cap so I can grip the neck and let the bottle dangle vertical.
move_to
left_x0.3800left_y-0.0900left_z0.1400left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6254, 1.2057, 0.8497, -0.3645, -0.4946, -0.3798, 0.9988, -0.0212, 0.794, 0.6041, -0.4038, -0.0238, -0.017, 0.9992] state[eef_state]: left_x=0.3316 left_y=-0.1316 left_z=0.1808 left_yaw=-0.0285 left_pitch=-0.055 left_roll=0.0217 left_gripper=0.9988 right_x=0.2916 right_y=0.0016 right_z=0.1751 right_yaw=-0.0001 right_pitch=-0.0236 right_roll=0.0009 right_gripper=0.9992 state[joint_eff]: [-0.3487, -4.3966, 9.3744, 1.6435, -0.3248, -0.0806, -0.1441, -0.0889, -1.6205, 6.9675, 1.9219, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.09, "left_z": 0.14, "left_gripper": 0.6}, "note": "The left wrist camera shows the near bottle lying with its cap toward the upper-left; I'm moving to hover just above that bottle's neck/cap so I can grip the neck and let the bottle dangle vertical."})
tool
executing move_to over 4 steps (0.4s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteIn the wrist view the bottle's cap sits left of and above the jaw column, so I'm shifting the left gripper ~4 cm to the arm's left and 3 cm further out to line up over the cap.
move_to
left_x0.3950left_y-0.0450left_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3969, 1.3106, 0.7036, -0.0937, -0.366, -0.2672, 0.6059, -0.0212, 0.7853, 0.5835, -0.3973, -0.0242, -0.0174, 0.9992] state[eef_state]: left_x=0.3646 left_y=-0.0804 left_z=0.1253 left_yaw=0.0365 left_pitch=-0.0816 left_roll=0.0298 left_gripper=0.6059 right_x=0.2893 right_y=0.0017 right_z=0.1694 right_yaw=0.0004 right_pitch=-0.029 right_roll=0.0009 right_gripper=0.9992 state[joint_eff]: [0.253, -5.4632, 6.5573, 1.9951, -0.0708, 0.0317, 0.1929, -0.1573, -1.7436, 6.9265, 1.956, -0.0611, -0.0659, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.395, "left_y": -0.045, "left_z": 0.13}, "note": "In the wrist view the bottle's cap sits left of and above the jaw column, so I'm shifting the left gripper ~4 cm to the arm's left and 3 cm further out to line up over the cap."})
tool
executing move_to over 4 steps (0.4s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe previous sideways move didn't take (y stayed at -0.086) and the cap still sits ~3 cm to the arm's left of the jaw column; retrying a smaller lateral step.
move_to
left_x0.4000left_y-0.0560left_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3744, 1.3281, 0.6971, -0.0032, -0.3107, -0.2352, 0.6047, -0.0212, 0.7746, 0.5541, -0.3878, -0.0238, -0.017, 0.9992] state[eef_state]: left_x=0.3765 left_y=-0.086 left_z=0.1312 left_yaw=-0.005 left_pitch=-0.0345 left_roll=-0.0017 left_gripper=0.6047 right_x=0.2862 right_y=0.0017 right_z=0.1608 right_yaw=-0.0001 right_pitch=-0.0381 right_roll=0.0012 right_gripper=0.9992 state[joint_eff]: [-0.335, -5.5453, 6.9402, 1.956, -0.0659, 0.2222, -0.1343, -0.2803, -1.9761, 7.0359, 1.9805, -0.0415, -0.0611, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.056, "left_z": 0.13}, "note": "The previous sideways move didn't take (y stayed at -0.086) and the cap still sits ~3 cm to the arm's left of the jaw column; retrying a smaller lateral step."})
tool
executing move_to over 3 steps (0.3s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe arm ignored the last two lateral commands (joint positions unchanged), so I'm lifting to z=0.20 while shifting left, hoping a higher pose lets the IK track the sideways motion.
move_to
left_x0.4000left_y-0.0500left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3744, 1.3281, 0.6971, -0.0032, -0.3103, -0.2352, 0.6046, -0.0212, 0.7563, 0.5194, -0.3702, -0.0242, -0.017, 0.9992] state[eef_state]: left_x=0.3764 left_y=-0.0861 left_z=0.1311 left_yaw=-0.0053 left_pitch=-0.0345 left_roll=-0.0019 left_gripper=0.6046 right_x=0.283 right_y=0.0019 right_z=0.1534 right_yaw=0.0002 right_pitch=-0.037 right_roll=0.0014 right_gripper=0.9992 state[joint_eff]: [-0.4855, -5.641, 6.7214, 1.9365, -0.0513, 0.1734, -0.022, -0.1709, -1.8667, 7.0222, 2.0098, -0.0366, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.05, "left_z": 0.2}, "note": "The arm ignored the last two lateral commands (joint positions unchanged), so I'm lifting to z=0.20 while shifting left, hoping a higher pose lets the IK track the sideways motion."})
tool
executing move_to over 5 steps (0.5s)
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 near bottle's cap is now essentially under the jaws in the wrist view; descending to cap height (z=4 cm) to check alignment before closing on the neck.
move_to
left_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2871, 1.3277, 0.7776, -0.1165, -0.2451, -0.2005, 0.6046, -0.0212, 0.7376, 0.4843, -0.3508, -0.0235, -0.017, 0.9992] state[eef_state]: left_x=0.3839 left_y=-0.0649 left_z=0.1422 left_yaw=0.01 left_pitch=-0.0784 left_roll=-0.0004 left_gripper=0.6046 right_x=0.2801 right_y=0.0018 right_z=0.1463 right_yaw=-0.0004 right_pitch=-0.0339 right_roll=0.0009 right_gripper=0.9992 state[joint_eff]: [0.4444, -8.2256, 11.9043, 2.1514, 0.0757, 0.2857, -0.0171, -0.0068, -1.6342, 6.9402, 1.9951, -0.0464, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). 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": {"left_z": 0.04}, "note": "The near bottle's cap is now essentially under the jaws in the wrist view; descending to cap height (z=4 cm) to check alignment before closing on the neck."})
tool
executing move_to over 7 steps (0.7s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteCap still sits a few cm to the arm's left of the jaw column and I only descended to z=0.057; nudging left and lower to straddle the bottle's neck.
move_to
left_y-0.0380left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3023, 1.5856, 0.4923, 0.5285, -0.2539, -0.1944, 0.6046, -0.0212, 0.7174, 0.4534, -0.3355, -0.0238, -0.017, 0.9992] state[eef_state]: left_x=0.39 left_y=-0.0714 left_z=0.0571 left_yaw=-0.0021 left_pitch=0.0204 left_roll=-0.0205 left_gripper=0.6046 right_x=0.2771 right_y=0.0019 right_z=0.1405 right_yaw=-0.0001 right_pitch=-0.0294 right_roll=0.001 right_gripper=0.9992 state[joint_eff]: [0.2667, -4.3282, 3.0701, 0.8669, -0.2173, 0.0513, -0.0122, -0.3487, -1.2376, 6.8581, 1.9219, -0.0415, -0.0073, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.038, "left_z": 0.035}, "note": "Cap still sits a few cm to the arm's left of the jaw column and I only descended to z=0.057; nudging left and lower to straddle the bottle's neck."})
tool
executing move_to over 3 steps (0.3s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe bottle's neck is now between the open jaws in the wrist view but I'm still ~6 cm high; descending to neck height (~1 cm) so I can close loosely around the neck.
move_to
left_z0.0120
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1967, 1.6257, 0.4694, 0.6498, -0.1902, -0.1585, 0.6046, -0.0212, 0.704, 0.4278, -0.3244, -0.0238, -0.017, 0.9992] state[eef_state]: left_x=0.4007 left_y=-0.0421 left_z=0.0576 left_yaw=0.0316 left_pitch=0.0685 left_roll=-0.036 left_gripper=0.6046 right_x=0.2746 right_y=0.002 right_z=0.1345 right_yaw=-0.0001 right_pitch=-0.0305 right_roll=0.0011 right_gripper=0.9992 state[joint_eff]: [-0.0615, -4.3692, 3.412, 1.3162, -0.022, 0.2125, -0.0122, -0.253, -1.4564, 7.0496, 1.9512, -0.0317, -0.0366, -0.0122] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.012}, "note": "The bottle's neck is now between the open jaws in the wrist view but I'm still ~6 cm high; descending to neck height (~1 cm) so I can close loosely around the neck."})
tool
executing move_to over 3 steps (0.3s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteDescent stopped (likely fingertips contacting the bottle) with the neck between the jaws; closing partway so the jaws capture the neck under the cap.
move_to
left_gripper0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1761, 1.6344, 0.4652, 0.6765, -0.1722, -0.1333, 0.6046, -0.0212, 0.6888, 0.4007, -0.3138, -0.0238, -0.017, 0.9992] state[eef_state]: left_x=0.4027 left_y=-0.0373 left_z=0.0581 left_yaw=0.0238 left_pitch=0.0803 left_roll=-0.0251 left_gripper=0.6046 right_x=0.2717 right_y=0.002 right_z=0.1282 right_yaw=-0.0001 right_pitch=-0.0316 right_roll=0.0011 right_gripper=0.9992 state[joint_eff]: [-0.335, -4.7658, 3.412, 1.3455, 0.0806, 0.149, -0.0122, -0.1162, -1.3197, 7.0085, 1.9853, -0.022, -0.0659, -0.0122] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.22}, "note": "Descent stopped (likely fingertips contacting the bottle) with the neck between the jaws; closing partway so the jaws capture the neck under the cap."})
tool
executing move_to over 4 steps (0.4s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteJaws are closed to 0.22 around the bottle neck; lifting to 25 cm so the bottle can swing down and hang vertically from its neck.
move_to
left_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1761, 1.6344, 0.4652, 0.6773, -0.1642, -0.1299, 0.2242, -0.0212, 0.672, 0.3733, -0.2977, -0.0238, -0.017, 0.9992] state[eef_state]: left_x=0.4028 left_y=-0.0387 left_z=0.0582 left_yaw=0.0152 left_pitch=0.0803 left_roll=-0.0259 left_gripper=0.2242 right_x=0.2695 right_y=0.0021 right_z=0.1232 right_yaw=-0.0001 right_pitch=-0.0263 right_roll=0.001 right_gripper=0.9992 state[joint_eff]: [-0.3214, -4.7658, 3.412, 1.37, 0.022, 0.149, 0.0806, -0.0068, -1.1829, 6.8171, 1.9853, -0.0513, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "Jaws are closed to 0.22 around the bottle neck; lifting to 25 cm so the bottle can swing down and hang vertically from its neck."})
tool
executing move_to over 13 steps (1.3s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe close was empty — all three bottles are untouched, and I now realise from the overhead view that the gripper was ~12 cm to the left of the target bottle. Recalibrating: moving over the left bottle's cap end at left_y≈-0.15.
move_to
left_x0.3600left_y-0.1500left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1761, 1.3014, 1.0641, -0.3408, -0.1726, -0.1337, 0.2238, -0.0212, 0.6582, 0.3485, -0.2901, -0.0242, -0.017, 0.9992] state[eef_state]: left_x=0.4062 left_y=-0.0378 left_z=0.234 left_yaw=0.0237 left_pitch=-0.0034 left_roll=-0.0083 left_gripper=0.2238 right_x=0.2666 right_y=0.0022 right_z=0.1169 right_yaw=0.0002 right_pitch=-0.0297 right_roll=0.0013 right_gripper=0.9992 state[joint_eff]: [-0.6769, -6.147, 9.4291, 1.663, -0.0952, 0.0806, -0.0513, -0.0889, -0.8547, 7.0085, 1.956, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.15, "left_z": 0.15}, "note": "The close was empty \u2014 all three bottles are untouched, and I now realise from the overhead view that the gripper was ~12 cm to the left of the target bottle. Recalibrating: moving over the left bottle's cap end at left_y\u2248-0.15."})
tool
executing move_to over 10 steps (1.0s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe overhead view shows the arm now straddling the leftmost bottle's column; moving slightly right and back, and lower, to line the jaws up over that bottle before re-checking the wrist view.
move_to
left_x0.3300left_y-0.1850left_z0.1000left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6334, 1.3666, 0.8108, -0.1463, -0.5091, -0.3832, 0.2237, -0.0212, 0.6392, 0.3222, -0.2832, -0.0238, -0.017, 0.9992] state[eef_state]: left_x=0.3575 left_y=-0.1512 left_z=0.1475 left_yaw=-0.0238 left_pitch=-0.0345 left_roll=0.0163 left_gripper=0.2237 right_x=0.2634 right_y=0.0022 right_z=0.1109 right_yaw=-0.0001 right_pitch=-0.0301 right_roll=0.001 right_gripper=0.9992 state[joint_eff]: [-0.1846, -5.1487, 6.7077, 1.746, -0.3492, -0.0611, -0.0171, -0.3214, -0.8, 6.8855, 1.9414, -0.0317, -0.0415, -0.0122] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.185, "left_z": 0.1, "left_gripper": 0.6}, "note": "The overhead view shows the arm now straddling the leftmost bottle's column; moving slightly right and back, and lower, to line the jaws up over that bottle before re-checking the wrist view."})
tool
executing move_to over 4 steps (0.4s)
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 noteOverhead shows the left bottle lying along +x with its cap at the far end; I'm advancing ~9 cm radially to put the jaws over the bottle's neck just behind the cap.
move_to
left_x0.4200left_y-0.1800left_z0.0900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.794, 1.454, 0.672, 0.0029, -0.6048, -0.4767, 0.5958, -0.0212, 0.6205, 0.2958, -0.271, -0.0238, -0.017, 0.9992] state[eef_state]: left_x=0.3256 left_y=-0.1829 left_z=0.0929 left_yaw=-0.0592 left_pitch=-0.0523 left_roll=0.0381 left_gripper=0.5958 right_x=0.261 right_y=0.0023 right_z=0.106 right_yaw=-0.0001 right_pitch=-0.0255 right_roll=0.0009 right_gripper=0.9992 state[joint_eff]: [-0.3077, -5.9829, 6.4889, 1.7558, -0.4274, -0.1587, -0.1538, -0.1299, -0.7726, 7.0359, 1.9463, -0.022, -0.0562, -0.0073] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.18, "left_z": 0.09}, "note": "Overhead shows the left bottle lying along +x with its cap at the far end; I'm advancing ~9 cm radially to put the jaws over the bottle's neck just behind the cap."})
tool
executing move_to over 8 steps (0.8s)
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 refused the last forward move (position unchanged), likely blocked or an awkward IK pose; raising to z=0.20 while moving forward to free it.
move_to
left_x0.4200left_y-0.1800left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8055, 1.4662, 0.6617, 0.0486, -0.63, -0.5026, 0.597, -0.0212, 0.6056, 0.2756, -0.2672, -0.0238, -0.017, 0.9992] state[eef_state]: left_x=0.3274 left_y=-0.1854 left_z=0.0938 left_yaw=-0.0388 left_pitch=-0.0227 left_roll=0.0137 left_gripper=0.597 right_x=0.2584 right_y=0.0023 right_z=0.1011 right_yaw=-0.0001 right_pitch=-0.0271 right_roll=0.001 right_gripper=0.9992 state[joint_eff]: [-0.0479, -6.2017, 6.2564, 1.6044, -0.4567, -0.1294, 0.1148, 0.0205, -0.5402, 6.7897, 1.9267, -0.022, -0.0806, -0.0122] 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": {"left_x": 0.42, "left_y": -0.18, "left_z": 0.2}, "note": "The arm refused the last forward move (position unchanged), likely blocked or an awkward IK pose; raising to z=0.20 while moving forward to free it."})
tool
executing move_to over 8 steps (0.8s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteWrist view shows the target bottle's neck a few cm to the arm's right and slightly further out; shifting right and forward and descending to 10 cm for a closer look.
move_to
left_x0.4300left_y-0.2100left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5983, 1.5497, 1.1133, -0.1936, -0.4942, -0.384, 0.5973, -0.0212, 0.588, 0.2497, -0.2638, -0.0235, -0.017, 0.9992] state[eef_state]: left_x=0.4163 left_y=-0.178 left_z=0.194 left_yaw=-0.0003 left_pitch=0.0197 left_roll=-0.0328 left_gripper=0.5973 right_x=0.2549 right_y=0.0023 right_z=0.0942 right_yaw=-0.0004 right_pitch=-0.032 right_roll=0.0009 right_gripper=0.9992 state[joint_eff]: [0.3214, -7.0222, 8.9504, 1.5897, -0.1245, 0.359, 0.0171, -0.1026, -0.5949, 7.0769, 1.9512, -0.0073, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.21, "left_z": 0.1}, "note": "Wrist view shows the target bottle's neck a few cm to the arm's right and slightly further out; shifting right and forward and descending to 10 cm for a closer look."})
tool
executing move_to over 7 steps (0.7s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe bottle's cap is ~3 cm to the arm's right of the jaw column in the wrist view; shifting right and descending toward cap height.
move_to
left_y0.2350left_z0.0350
assistant
agent noteCorrecting sign: the bottle's cap sits ~3 cm to the arm's right of the jaw column, so shifting to left_y=-0.235 and descending to cap height.
move_to
left_y-0.2350left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6487, 1.7832, 1.0306, 0.0364, -0.5323, -0.3977, 0.5976, -0.0212, 0.5644, 0.2234, -0.2562, -0.0235, -0.0166, 0.9992] state[eef_state]: left_x=0.4255 left_y=-0.2056 left_z=0.1006 left_yaw=-0.0129 left_pitch=-0.0368 left_roll=0.0249 left_gripper=0.5976 right_x=0.2521 right_y=0.0024 right_z=0.0893 right_yaw=-0.0006 right_pitch=-0.0271 right_roll=0.0011 right_gripper=0.9992 state[joint_eff]: [-0.5265, -8.1709, 5.7778, 1.6337, -0.4029, -0.188, 0.022, -0.335, -0.2256, 6.7214, 1.917, -0.0317, -0.022, -0.0122] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": 0.235, "left_z": 0.035}, "note": "The bottle's cap is ~3 cm to the arm's right of the jaw column in the wrist view; shifting right and descending toward cap height."})
tool
target for left_y is outside [-0.4, 0.05]
assistant
move_to({"targets": {"left_y": -0.235, "left_z": 0.035}, "note": "Correcting sign: the bottle's cap sits ~3 cm to the arm's right of the jaw column, so shifting to left_y=-0.235 and descending to cap height."})
tool
executing move_to over 5 steps (0.5s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe bottle is now centred on the jaw column but the jaws are resting on its 6.5 cm-wide body; advancing 3.5 cm so the jaws sit over the narrow neck/cap and descending to neck height.
move_to
left_x0.4650left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7086, 1.9507, 0.9813, 0.3271, -0.5816, -0.4465, 0.5977, -0.0212, 0.5446, 0.202, -0.2455, -0.0235, -0.017, 0.9992] state[eef_state]: left_x=0.4303 left_y=-0.2363 left_z=0.0589 left_yaw=-0.0082 left_pitch=0.0407 left_roll=-0.038 left_gripper=0.5977 right_x=0.2506 right_y=0.0024 right_z=0.0863 right_yaw=-0.0004 right_pitch=-0.0179 right_roll=0.0006 right_gripper=0.9992 state[joint_eff]: [-0.7316, -7.0769, 5.6821, 0.7937, -0.0464, 0.149, -0.0024, -0.0479, -0.2803, 6.7624, 1.8632, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.465, "left_z": 0.02}, "note": "The bottle is now centred on the jaw column but the jaws are resting on its 6.5 cm-wide body; advancing 3.5 cm so the jaws sit over the narrow neck/cap and descending to neck height."})
tool
executing move_to over 3 steps (0.3s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteCap and neck are just ahead of the jaws in the wrist view; advancing another 2 cm and pressing down to neck height so the open jaws straddle the neck.
move_to
left_x0.4850left_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6693, 2.0815, 1.0985, 0.3901, -0.5686, -0.445, 0.5977, -0.0212, 0.5343, 0.1898, -0.2455, -0.0238, -0.017, 0.9992] state[eef_state]: left_x=0.4663 left_y=-0.2431 left_z=0.0495 left_yaw=0.0218 left_pitch=0.0737 left_roll=-0.074 left_gripper=0.5977 right_x=0.2489 right_y=0.0025 right_z=0.0831 right_yaw=-0.0001 right_pitch=-0.0198 right_roll=0.0008 right_gripper=0.9992 state[joint_eff]: [0.6906, -8.0889, 5.5726, 0.8523, 0.0171, 0.3932, -0.0073, -0.0752, -0.3897, 6.7487, 1.8877, -0.0708, -0.0317, -0.0122] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.485, "left_z": 0.015}, "note": "Cap and neck are just ahead of the jaws in the wrist view; advancing another 2 cm and pressing down to neck height so the open jaws straddle the neck."})
tool
executing move_to over 3 steps (0.3s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe bottle's neck is at the edge of comfortable reach, so I'll first grab its body: opening the jaws fully and lowering beside the bottle's shoulder so the jaws can straddle the 6.5 cm body and drag it closer to the base.
move_to
left_gripper1.0000left_x0.4550left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6548, 2.0983, 1.1118, 0.4084, -0.5655, -0.4374, 0.5977, -0.0212, 0.5217, 0.1764, -0.2451, -0.0238, -0.017, 0.9992] state[eef_state]: left_x=0.4737 left_y=-0.2399 left_z=0.0492 left_yaw=0.0305 left_pitch=0.0844 left_roll=-0.078 left_gripper=0.5977 right_x=0.2471 right_y=0.0026 right_z=0.08 right_yaw=-0.0001 right_pitch=-0.0202 right_roll=0.0008 right_gripper=0.9992 state[joint_eff]: [0.1436, -8.0889, 5.7368, 1.0085, 0.0366, 0.3053, -0.0122, -0.3214, -0.0615, 6.8034, 1.917, -0.022, -0.0513, -0.0122] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.455, "left_z": 0.02}, "note": "The bottle's neck is at the edge of comfortable reach, so I'll first grab its body: opening the jaws fully and lowering beside the bottle's shoulder so the jaws can straddle the 6.5 cm body and drag it closer to the base."})
tool
executing move_to over 5 steps (0.5s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe open jaws now straddle the bottle's body at mid-height; closing on the body so I can drag the bottle ~10 cm closer to the base where the neck is comfortably reachable.
move_to
left_gripper0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6544, 2.1067, 1.1118, 0.3927, -0.5617, -0.4198, 0.9959, -0.0212, 0.5076, 0.1612, -0.2447, -0.0238, -0.017, 0.9992] state[eef_state]: left_x=0.4717 left_y=-0.2388 left_z=0.042 left_yaw=0.0173 left_pitch=0.0648 left_roll=-0.049 left_gripper=0.9959 right_x=0.2452 right_y=0.0026 right_z=0.0763 right_yaw=-0.0001 right_pitch=-0.021 right_roll=0.0009 right_gripper=0.9992 state[joint_eff]: [0.1162, -8.8, 5.5316, 1.2088, 0.0464, 0.1099, 0.0171, -0.1436, -0.1299, 6.9402, 1.9219, -0.022, -0.0708, -0.0073] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.45}, "note": "The open jaws now straddle the bottle's body at mid-height; closing on the body so I can drag the bottle ~10 cm closer to the base where the neck is comfortably reachable."})
tool
executing move_to over 6 steps (0.6s)
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 noteJaws have a grip on the bottle body (gripper 0.46 with effort); dragging the bottle ~10 cm back toward the base so its neck comes into comfortable reach.
move_to
left_x0.3700left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6548, 2.1056, 1.169, 0.305, -0.569, -0.4274, 0.4585, -0.0212, 0.4904, 0.1448, -0.2451, -0.0238, -0.0166, 0.9992] state[eef_state]: left_x=0.4764 left_y=-0.2413 left_z=0.0483 left_yaw=0.0257 left_pitch=0.0444 left_roll=-0.034 left_gripper=0.4585 right_x=0.2431 right_y=0.0027 right_z=0.0726 right_yaw=-0.0003 right_pitch=-0.0206 right_roll=0.0012 right_gripper=0.9992 state[joint_eff]: [-0.212, -11.3436, 7.0769, 0.9548, -0.1245, 0.0122, 0.3443, -0.1436, 0.0068, 7.0359, 1.9316, -0.0464, -0.022, -0.0122] 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": {"left_x": 0.37, "left_z": 0.05}, "note": "Jaws have a grip on the bottle body (gripper 0.46 with effort); dragging the bottle ~10 cm back toward the base so its neck comes into comfortable reach."})
tool
executing move_to over 9 steps (0.9s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteBottle successfully dragged ~10 cm closer. Releasing it and repositioning the open gripper above its neck (x≈0.44) ready to descend onto the neck.
move_to
left_gripper1.0000left_z0.1200left_x0.4400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8364, 1.8954, 0.8997, 0.2409, -0.6971, -0.5636, 0.4594, -0.0212, 0.4728, 0.1295, -0.2455, -0.0238, -0.017, 0.9992] state[eef_state]: left_x=0.3801 left_y=-0.2464 left_z=0.0486 left_yaw=0.012 left_pitch=0.012 left_roll=-0.0067 left_gripper=0.4594 right_x=0.2413 right_y=0.0027 right_z=0.0694 right_yaw=-0.0001 right_pitch=-0.0187 right_roll=0.0008 right_gripper=0.9992 state[joint_eff]: [-0.2803, -10.4957, 5.2171, 1.1697, -0.2759, -0.188, 0.0806, -0.0479, 0.4444, 6.8034, 1.9414, -0.022, -0.0513, -0.0122] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.12, "left_x": 0.44}, "note": "Bottle successfully dragged ~10 cm closer. Releasing it and repositioning the open gripper above its neck (x\u22480.44) ready to descend onto the neck."})
tool
executing move_to over 6 steps (0.6s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteOnly the bottle's blue cap is visible at the very bottom of the wrist view, meaning the neck is just short of the fingertips; pulling back 2 cm and descending to neck height with the jaws part-open.
move_to
left_x0.4150left_z0.0200left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.728, 1.8851, 1.1664, 0.0006, -0.6315, -0.5125, 0.9953, -0.0212, 0.4568, 0.1131, -0.2455, -0.0238, -0.017, 0.9992] state[eef_state]: left_x=0.4344 left_y=-0.2427 left_z=0.1071 left_yaw=0.0449 left_pitch=0.0052 left_roll=-0.0202 left_gripper=0.9953 right_x=0.2393 right_y=0.0027 right_z=0.0655 right_yaw=-0.0001 right_pitch=-0.0191 right_roll=0.0008 right_gripper=0.9992 state[joint_eff]: [0.4171, -10.1128, 8.841, 1.4432, -0.0904, 0.2711, -0.1245, -0.1299, 0.1573, 7.0222, 1.873, -0.0464, -0.0415, -0.0122] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.415, "left_z": 0.02, "left_gripper": 0.6}, "note": "Only the bottle's blue cap is visible at the very bottom of the wrist view, meaning the neck is just short of the fingertips; pulling back 2 cm and descending to neck height with the jaws part-open."})
tool
executing move_to over 6 steps (0.6s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
assistant
agent noteThe cap and neck are centred between the jaws in the wrist view; closing to 0.2 (1.9 cm) so the jaws capture the neck under the cap lip.
move_to
left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7658, 2.0022, 1.0225, 0.2634, -0.6632, -0.5282, 0.6036, -0.0212, 0.44, 0.0982, -0.2451, -0.0235, -0.0166, 0.9992] state[eef_state]: left_x=0.42 left_y=-0.2481 left_z=0.0446 left_yaw=0.0392 left_pitch=0.0213 left_roll=-0.0202 left_gripper=0.6036 right_x=0.2377 right_y=0.0027 right_z=0.0624 right_yaw=-0.0006 right_pitch=-0.0168 right_roll=0.0009 right_gripper=0.9992 state[joint_eff]: [-0.2256, -6.5436, 3.4667, 1.1306, -0.2466, -0.105, 0.0366, -0.1436, 0.0752, 6.8718, 1.8437, -0.0073, -0.0171, -0.0122] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.2}, "note": "The cap and neck are centred between the jaws in the wrist view; closing to 0.2 (1.9 cm) so the jaws capture the neck under the cap lip."})
tool
executing move_to over 5 steps (0.5s)
step 144
assistant
agent noteJaws are closed around the bottle's neck/cap; lifting to 28 cm so the bottle swings down and hangs vertically below the gripper.
move_to
left_z0.2800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.765, 2.0117, 1.0462, 0.2718, -0.6899, -0.5323, 0.2049, -0.0212, 0.4244, 0.0902, -0.2455, -0.0238, -0.0166, 0.9992] state[eef_state]: left_x=0.4267 left_y=-0.2489 left_z=0.0516 left_yaw=0.0627 left_pitch=0.0493 left_roll=-0.0284 left_gripper=0.2049 right_x=0.2372 right_y=0.0028 right_z=0.0621 right_yaw=-0.0003 right_pitch=-0.0095 right_roll=0.0009 right_gripper=0.9992 state[joint_eff]: [0.0479, -10.9744, 6.0103, 0.8962, 0.0171, 0.022, -0.0171, -0.1299, 0.1846, 6.5709, 1.8046, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.28}, "note": "Jaws are closed around the bottle's neck/cap; lifting to 28 cm so the bottle swings down and hangs vertically below the gripper."})
tool
executing move_to over 15 steps (1.5s)
step 159
assistant
agent noteThe neck grasp slipped again — I suspect the arm cannot descend below z≈0.05 at this long reach, so the jaws were above the cap. Going back down onto the bottle's body to drag it much closer to the base, where full descent works.
move_to
left_x0.3800left_y-0.2480left_z0.0450left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7635, 1.8229, 1.7309, -0.6708, -0.6807, -0.5587, 0.2045, -0.0212, 0.4225, 0.0856, -0.2455, -0.0238, -0.017, 0.9992] state[eef_state]: left_x=0.4299 left_y=-0.2527 left_z=0.2618 left_yaw=0.0703 left_pitch=-0.0018 left_roll=-0.0041 left_gripper=0.2045 right_x=0.2366 right_y=0.0028 right_z=0.0604 right_yaw=-0.0001 right_pitch=-0.0122 right_roll=0.0007 right_gripper=0.9992 state[joint_eff]: [0.1162, -10.2085, 8.8274, 1.4823, -0.2955, 0.105, -0.0513, -0.2803, -0.0479, 6.8718, 1.7949, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.248, "left_z": 0.045, "left_gripper": 1.0}, "note": "The neck grasp slipped again \u2014 I suspect the arm cannot descend below z\u22480.05 at this long reach, so the jaws were above the cap. Going back down onto the bottle's body to drag it much closer to the base, where full descent works."})
tool
executing move_to over 14 steps (1.4s)
step 173
assistant
agent noteWrist view shows the bottle end-on with the jaws straddling its body; closing on the body to drag it toward the base.
move_to
left_gripper0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8486, 1.9125, 0.973, 0.0765, -0.7273, -0.6308, 0.9971, -0.0212, 0.4114, 0.0792, -0.2451, -0.0238, -0.0166, 0.9992] state[eef_state]: left_x=0.377 left_y=-0.2448 left_z=0.045 left_yaw=0.058 left_pitch=-0.0394 left_roll=0.0343 left_gripper=0.9971 right_x=0.2362 right_y=0.0028 right_z=0.0599 right_yaw=-0.0003 right_pitch=-0.0072 right_roll=0.0009 right_gripper=0.9992 state[joint_eff]: [-0.4034, -8.8957, 5.3402, 1.5507, -0.5104, -0.1001, -0.1245, -0.1436, 0.3077, 6.7214, 1.7705, -0.0611, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.45}, "note": "Wrist view shows the bottle end-on with the jaws straddling its body; closing on the body to drag it toward the base."})
tool
executing move_to over 6 steps (0.6s)
step 179
assistant
agent noteGripper has the bottle body (reading 0.47 with grip effort); dragging it ~10 cm closer to the base so the neck lands where the arm can descend all the way to the table.
move_to
left_x0.2800left_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8513, 1.9293, 0.9348, 0.1692, -0.7467, -0.6296, 0.467, -0.0212, 0.411, 0.0792, -0.2455, -0.0238, -0.0166, 0.9992] state[eef_state]: left_x=0.3776 left_y=-0.2435 left_z=0.0399 left_yaw=0.0672 left_pitch=-0.0048 left_roll=0.0143 left_gripper=0.467 right_x=0.2361 right_y=0.0028 right_z=0.0599 right_yaw=-0.0003 right_pitch=-0.0072 right_roll=0.0009 right_gripper=0.9992 state[joint_eff]: [-0.0342, -10.6598, 4.6838, 1.4286, -0.1148, 0.0317, 0.7106, -0.1162, 0.1436, 6.7487, 1.8242, -0.0122, -0.0269, -0.0122] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.28, "left_z": 0.04}, "note": "Gripper has the bottle body (reading 0.47 with grip effort); dragging it ~10 cm closer to the base so the neck lands where the arm can descend all the way to the table."})
tool
executing move_to over 8 steps (0.8s)
step 187
assistant
agent noteBottle dragged closer; releasing it and backing the gripper up/away so the wrist camera can see the whole bottle and I can measure where its cap is.
move_to
left_gripper1.0000left_z0.1500left_x0.2400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0893, 1.7927, 0.7677, 0.0483, -0.8761, -0.8753, 0.4687, -0.0212, 0.4103, 0.0792, -0.2459, -0.0238, -0.017, 0.9992] state[eef_state]: left_x=0.2898 left_y=-0.2538 left_z=0.0396 left_yaw=0.0414 left_pitch=0.0058 left_roll=-0.0113 left_gripper=0.4687 right_x=0.2361 right_y=0.0028 right_z=0.06 right_yaw=-0.0001 right_pitch=-0.0069 right_roll=0.0006 right_gripper=0.9992 state[joint_eff]: [-0.5812, -9.4701, 4.1641, 0.8962, -0.4762, -0.188, 0.7302, -0.0342, 0.3897, 6.5436, 1.7656, -0.0073, -0.0562, -0.0122] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.15, "left_x": 0.24}, "note": "Bottle dragged closer; releasing it and backing the gripper up/away so the wrist camera can see the whole bottle and I can measure where its cap is."})
tool
executing move_to over 8 steps (0.8s)
step 195
assistant
agent noteAll three bottles are now visible in the wrist view; the target bottle's blue cap is on the jaw column about 14 cm ahead. Moving over the cap with the jaws set to 4.3 cm (wider than the cap, narrower than the shoulder).
move_to
left_x0.3900left_y-0.2530left_z0.0900left_gripper0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.2385, 1.5532, 0.9718, -0.5549, -0.9184, -1.0782, 0.997, -0.0212, 0.4103, 0.0792, -0.2459, -0.0238, -0.0166, 0.9992] state[eef_state]: left_x=0.243 left_y=-0.2628 left_z=0.1309 left_yaw=0.0231 left_pitch=-0.0181 left_roll=-0.02 left_gripper=0.997 right_x=0.2361 right_y=0.0028 right_z=0.06 right_yaw=-0.0003 right_pitch=-0.0069 right_roll=0.0009 right_gripper=0.9992 state[joint_eff]: [-0.3624, -8.5128, 8.3487, 0.8474, -0.735, -0.1538, -0.1148, -0.0752, 0.1162, 6.5983, 1.8046, -0.0317, -0.0317, -0.0122] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.253, "left_z": 0.09, "left_gripper": 0.45}, "note": "All three bottles are now visible in the wrist view; the target bottle's blue cap is on the jaw column about 14 cm ahead. Moving over the cap with the jaws set to 4.3 cm (wider than the cap, narrower than the shoulder)."})
tool
executing move_to over 12 steps (1.2s)
step 207
assistant
agent noteThe wrist view is now empty table, so I overshot the cap; pulling back 4 cm and lowering to re-acquire the cap between the jaws.
move_to
left_x0.3350left_z0.0550
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8406, 1.8202, 1.0004, -0.0303, -0.7216, -0.627, 0.4529, -0.0212, 0.4099, 0.0792, -0.2451, -0.0238, -0.0166, 0.9992] state[eef_state]: left_x=0.3764 left_y=-0.2402 left_z=0.0775 left_yaw=0.0597 left_pitch=-0.0349 left_roll=0.0246 left_gripper=0.4529 right_x=0.2362 right_y=0.0028 right_z=0.0602 right_yaw=-0.0003 right_pitch=-0.0057 right_roll=0.0009 right_gripper=0.9992 state[joint_eff]: [0.3214, -8.4444, 8.1709, 1.5604, -0.3004, 0.3736, 0.1343, -0.294, 0.0068, 6.5709, 1.7802, -0.0366, -0.0317, -0.0122] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.335, "left_z": 0.055}, "note": "The wrist view is now empty table, so I overshot the cap; pulling back 4 cm and lowering to re-acquire the cap between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 211
assistant
agent noteThe blue cap is now right between the jaw tips in the wrist view; descending to cap height (z≈0.5 cm) and nudging 1 cm forward so the jaws straddle the cap/neck.
move_to
left_z0.0050left_x0.3450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9409, 1.8153, 0.8436, 0.0662, -0.7666, -0.6888, 0.4529, -0.0212, 0.4099, 0.0792, -0.2455, -0.0238, -0.0166, 0.9992] state[eef_state]: left_x=0.3337 left_y=-0.2437 left_z=0.0446 left_yaw=0.0236 left_pitch=-0.0384 left_roll=0.0387 left_gripper=0.4529 right_x=0.2362 right_y=0.0028 right_z=0.0602 right_yaw=-0.0003 right_pitch=-0.0061 right_roll=0.0009 right_gripper=0.9992 state[joint_eff]: [0.4581, -10.0581, 4.8068, 1.2527, -0.4664, -0.0513, -0.0122, 0.0205, 0.1162, 6.8308, 1.7851, -0.0122, -0.0122, -0.0122] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.005, "left_x": 0.345}, "note": "The blue cap is now right between the jaw tips in the wrist view; descending to cap height (z\u22480.5 cm) and nudging 1 cm forward so the jaws straddle the cap/neck."})
tool
executing move_to over 3 steps (0.3s)
step 214
assistant
agent noteDescent stalled at z=3.8 cm with the cap between the jaw tips; closing hard so the jaws clamp the cap/neck.
move_to
left_gripper0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9272, 1.895, 0.8093, 0.3058, -0.8074, -0.6754, 0.453, -0.0212, 0.4099, 0.0792, -0.2451, -0.0238, -0.017, 0.9992] state[eef_state]: left_x=0.3499 left_y=-0.2478 left_z=0.0385 left_yaw=0.0582 left_pitch=0.0572 left_roll=-0.0367 left_gripper=0.453 right_x=0.2362 right_y=0.0028 right_z=0.0602 right_yaw=-0.0001 right_pitch=-0.0057 right_roll=0.0005 right_gripper=0.9992 state[joint_eff]: [0.9641, -3.3573, 3.0154, 0.5446, 0.4371, 0.0269, -0.0073, -0.2803, 0.0889, 6.694, 1.7314, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.12}, "note": "Descent stalled at z=3.8 cm with the cap between the jaw tips; closing hard so the jaws clamp the cap/neck."})
tool
executing move_to over 4 steps (0.4s)
step 218
assistant
agent noteThat close came up empty (1.2 cm, narrower than the cap) — the jaws must have been just past/above the cap. Reopening and backing up 3 cm and lower for one more attempt at the cap.
move_to
left_gripper0.5000left_x0.3250left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9157, 1.8866, 0.8616, 0.2478, -0.812, -0.6907, 0.1248, -0.0212, 0.4103, 0.0792, -0.2459, -0.0238, -0.017, 0.9992] state[eef_state]: left_x=0.3586 left_y=-0.2505 left_z=0.0504 left_yaw=0.0812 left_pitch=0.0611 left_roll=-0.0505 left_gripper=0.1248 right_x=0.2361 right_y=0.0028 right_z=0.06 right_yaw=-0.0001 right_pitch=-0.0069 right_roll=0.0006 right_gripper=0.9992 state[joint_eff]: [-0.1709, -8.6496, 5.9556, 0.7595, -0.0415, -0.0708, -0.0122, -0.0752, 0.212, 7.0085, 1.7558, -0.0171, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.5, "left_x": 0.325, "left_z": 0.03}, "note": "That close came up empty (1.2 cm, narrower than the cap) \u2014 the jaws must have been just past/above the cap. Reopening and backing up 3 cm and lower for one more attempt at the cap."})
tool
executing move_to over 4 steps (0.4s)
step 222
assistant
agent noteCap sits squarely between the jaw tips; trying to descend to 1 cm so the jaws drop around the cap rather than resting on top of it.
move_to
left_z0.0120
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9833, 1.8847, 0.8658, 0.173, -0.8375, -0.7845, 0.4948, -0.0212, 0.4103, 0.0792, -0.2459, -0.0235, -0.0166, 0.9992] state[eef_state]: left_x=0.3373 left_y=-0.2631 left_z=0.0451 left_yaw=0.0781 left_pitch=0.0396 left_roll=-0.0638 left_gripper=0.4948 right_x=0.2361 right_y=0.0027 right_z=0.06 right_yaw=-0.0006 right_pitch=-0.0069 right_roll=0.0007 right_gripper=0.9992 state[joint_eff]: [-0.3487, -8.5265, 3.5761, 0.6911, -0.2222, 0.1441, -0.2369, -0.0342, 0.0068, 6.5709, 1.7802, -0.022, -0.0415, -0.0122] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.012}, "note": "Cap sits squarely between the jaw tips; trying to descend to 1 cm so the jaws drop around the cap rather than resting on top of it."})
tool
executing move_to over 3 steps (0.3s)
step 225
assistant
agent noteHeight is kinematically floored at 4.4 cm here; closing on the cap and lifting in one motion to see if the bottle comes up and swings vertical.
move_to
left_gripper0.1400left_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9871, 1.903, 0.9028, 0.1234, -0.8505, -0.7937, 0.4951, -0.0212, 0.4103, 0.0792, -0.2455, -0.0238, -0.0166, 0.9992] state[eef_state]: left_x=0.3388 left_y=-0.2655 left_z=0.0445 left_yaw=0.0865 left_pitch=0.0331 left_roll=-0.0399 left_gripper=0.4951 right_x=0.2362 right_y=0.0028 right_z=0.0601 right_yaw=-0.0003 right_pitch=-0.0065 right_roll=0.0009 right_gripper=0.9992 state[joint_eff]: [0.2393, -6.7487, 6.6393, 1.0183, -0.2418, -0.0073, 0.0073, 0.0068, 0.0068, 6.6803, 1.746, -0.0122, -0.0562, -0.0122] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.14, "left_z": 0.25}, "note": "Height is kinematically floored at 4.4 cm here; closing on the cap and lifting in one motion to see if the bottle comes up and swings vertical."})
tool
executing move_to over 14 steps (1.4s)
step 239
assistant
agent noteI could not stand any bottle upright within the call budget. With pitch and roll pinned the only viable strategy was to grip a bottle by its neck/cap and let it swing vertical, but the arm refuses to descend below z≈0.044 in that region, so the jaws always closed above the 3 cm-tall cap (settled readings 0.12-0.20 = empty). I was able to grasp and drag bottles by the body, but not to reorient one.
give_up
hindsightConcrete lessons: (1) Overhead scale here is ~3.3 px/cm in x at the bottle row, and image x=112 corresponds to left_y=-0.325; converting the gripper's known pose to pixels is the fastest way to calibrate mid-run — my first wrist-camera-only guesses were 12 cm off. (2) The left wrist camera appears to be laterally offset: nearby objects show left of the jaw column even when centred, so trust the overhead frame for y and use the wrist view only for final centring. (3) This arm frequently ignores lateral commands entirely (joint_pos unchanged) when at low z and long reach; raising z first makes the move take. (4) Critically, in the region x≈0.33-0.47, y≈-0.25 the commanded z floors out at ~0.044 m with no effort rise — you cannot get the fingertips to table level there, so any grasp of a low feature (bottle cap 3 cm tall) fails. Drag the object back to x≈0.25-0.30 first, where full descent works. (5) Bottles are ~22 cm long, 6.5 cm body (grippable, close to ~0.45), cap ~3 cm; body grasps and drags are reliable. (6) Budget: each reposition+look cycle costs one call, and with pinned pitch/roll standing a bottle needs the neck-dangle trick, so plan ~10 calls per bottle.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9821, 1.6352, 1.5112, -0.5945, -0.8463, -0.8154, 0.1425, -0.0212, 0.4103, 0.0792, -0.2462, -0.0238, -0.0166, 0.9992] state[eef_state]: left_x=0.3509 left_y=-0.2809 left_z=0.2816 left_yaw=0.1098 left_pitch=0.1036 left_roll=-0.2006 left_gripper=0.1425 right_x=0.2361 right_y=0.0028 right_z=0.0599 right_yaw=-0.0003 right_pitch=-0.0072 right_roll=0.0009 right_gripper=0.9992 state[joint_eff]: [-0.4718, -5.6684, 7.8564, 1.16, -0.2906, 0.1148, 0.1538, -0.2256, 0.1436, 6.653, 1.8046, -0.0317, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I could not stand any bottle upright within the call budget. With pitch and roll pinned the only viable strategy was to grip a bottle by its neck/cap and let it swing vertical, but the arm refuses to descend below z\u22480.044 in that region, so the jaws always closed above the 3 cm-tall cap (settled readings 0.12-0.20 = empty). I was able to grasp and drag bottles by the body, but not to reorient one.", "hindsight": "Concrete lessons: (1) Overhead scale here is ~3.3 px/cm in x at the bottle row, and image x=112 corresponds to left_y=-0.325; converting the gripper's known pose to pixels is the fastest way to calibrate mid-run \u2014 my first wrist-camera-only guesses were 12 cm off. (2) The left wrist camera appears to be laterally offset: nearby objects show left of the jaw column even when centred, so trust the overhead frame for y and use the wrist view only for final centring. (3) This arm frequently ignores lateral commands entirely (joint_pos unchanged) when at low z and long reach; raising z first makes the move take. (4) Critically, in the region x\u22480.33-0.47, y\u2248-0.25 the commanded z floors out at ~0.044 m with no effort rise \u2014 you cannot get the fingertips to table level there, so any grasp of a low feature (bottle cap 3 cm tall) fails. Drag the object back to x\u22480.25-0.30 first, where full descent works. (5) Bottles are ~22 cm long, 6.5 cm body (grippable, close to ~0.45), cap ~3 cm; body grasps and drags are reliable. (6) Budget: each reposition+look cycle costs one call, and with pinned pitch/roll standing a bottle needs the neck-dangle trick, so plan ~10 calls per bottle."})
tool
give_up: I could not stand any bottle upright within the call budget. With pitch and roll pinned the only viable strategy was to grip a bottle by its neck/cap and let it swing vertical, but the arm refuses to descend below z≈0.044 in that region, so the jaws always closed above the 3 cm-tall cap (settled readings 0.12-0.20 = empty). I was able to grasp and drag bottles by the body, but not to reorient one.
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 · 20.13 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]: [-0.0193, 0.7929, 0.6067, -0.379, -0.0254, -0.0284, 0.9985, -0.0204, 0.7876, 0.6029, -0.3855, -0.0231, -0.017, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0024 left_z=0.1818 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2935 right_y=0.0017 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5812, -1.5248, 9.8803, 1.8535, 0.0073, 0.1538, -0.1636, -0.4308, -0.8547, 10.3043, 1.8681, -0.0073, 0.0269, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd6bf5c8ccac82287000eff315d6e1d2b27979d86876733fe7db5ed6788a802b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11f9d1c0fd316e41b76d8676b3cc420d2bf365595b714e407ec8e1c49f17f50d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f6435e4dd75dff0f7844a2475c7854ff9c091f7adca1e1eadcaf08a2cd3583e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 29.49 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]: [-0.0193, 0.7929, 0.6067, -0.379, -0.0254, -0.0284, 0.9985, -0.0204, 0.7876, 0.6029, -0.3855, -0.0231, -0.017, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0024 left_z=0.1818 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2935 right_y=0.0017 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5812, -1.5248, 9.8803, 1.8535, 0.0073, 0.1538, -0.1636, -0.4308, -0.8547, 10.3043, 1.8681, -0.0073, 0.0269, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd6bf5c8ccac82287000eff315d6e1d2b27979d86876733fe7db5ed6788a802b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11f9d1c0fd316e41b76d8676b3cc420d2bf365595b714e407ec8e1c49f17f50d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f6435e4dd75dff0f7844a2475c7854ff9c091f7adca1e1eadcaf08a2cd3583e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XjsPpZqpaJvkm7Ef7exK6Y",
      "input": {
        "note": "Three bottles lie on their sides in the middle of the table. I'm moving the left arm to hover ~20 cm above the leftmost bottle to get a close wrist-camera look before grasping its neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.34,
          "left_y": -0.135,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01XjsPpZqpaJvkm7Ef7exK6Y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6254, 1.2057, 0.8497, -0.3645, -0.4946, -0.3798, 0.9988, -0.0212, 0.794, 0.6041, -0.4038, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3316 left_y=-0.1316 left_z=0.1808 left_yaw=-0.0285 left_pitch=-0.055 left_roll=0.0217 left_gripper=0.9988 right_x=0.2916 right_y=0.0016 right_z=0.1751 right_yaw=-0.0001 right_pitch=-0.0236 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -4.3966, 9.3744, 1.6435, -0.3248, -0.0806, -0.1441, -0.0889, -1.6205, 6.9675, 1.9219, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b629d8a69e1d73991bb3aaca9fcb0f4c6a6706d9c13ca42e83206e1170a65b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3405bb6f486c8da59572dd63345cf83c92593edc0720108f6328ad07d7c87e8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:86ece103d3cc98737ba73a8be4aa87e5714b164dba1a03a66342cad667e9dab7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 16.57 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]: [-0.0193, 0.7929, 0.6067, -0.379, -0.0254, -0.0284, 0.9985, -0.0204, 0.7876, 0.6029, -0.3855, -0.0231, -0.017, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0024 left_z=0.1818 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2935 right_y=0.0017 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5812, -1.5248, 9.8803, 1.8535, 0.0073, 0.1538, -0.1636, -0.4308, -0.8547, 10.3043, 1.8681, -0.0073, 0.0269, -0.0904]",
      "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]: [-0.6254, 1.2057, 0.8497, -0.3645, -0.4946, -0.3798, 0.9988, -0.0212, 0.794, 0.6041, -0.4038, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3316 left_y=-0.1316 left_z=0.1808 left_yaw=-0.0285 left_pitch=-0.055 left_roll=0.0217 left_gripper=0.9988 right_x=0.2916 right_y=0.0016 right_z=0.1751 right_yaw=-0.0001 right_pitch=-0.0236 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -4.3966, 9.3744, 1.6435, -0.3248, -0.0806, -0.1441, -0.0889, -1.6205, 6.9675, 1.9219, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b629d8a69e1d73991bb3aaca9fcb0f4c6a6706d9c13ca42e83206e1170a65b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3405bb6f486c8da59572dd63345cf83c92593edc0720108f6328ad07d7c87e8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86ece103d3cc98737ba73a8be4aa87e5714b164dba1a03a66342cad667e9dab7",
        "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_01H8PCSXcmouhD4URFf1eD21",
      "input": {
        "note": "The left wrist camera shows the near bottle lying with its cap toward the upper-left; I'm moving to hover just above that bottle's neck/cap so I can grip the neck and let the bottle dangle vertical.",
        "targets": {
          "left_gripper": 0.6,
          "left_x": 0.38,
          "left_y": -0.09,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01H8PCSXcmouhD4URFf1eD21",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3969, 1.3106, 0.7036, -0.0937, -0.366, -0.2672, 0.6059, -0.0212, 0.7853, 0.5835, -0.3973, -0.0242, -0.0174, 0.9992]\nstate[eef_state]: left_x=0.3646 left_y=-0.0804 left_z=0.1253 left_yaw=0.0365 left_pitch=-0.0816 left_roll=0.0298 left_gripper=0.6059 right_x=0.2893 right_y=0.0017 right_z=0.1694 right_yaw=0.0004 right_pitch=-0.029 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.253, -5.4632, 6.5573, 1.9951, -0.0708, 0.0317, 0.1929, -0.1573, -1.7436, 6.9265, 1.956, -0.0611, -0.0659, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbd5fd1b93388f68918b073ada0b2f3788d1943a945b4ecb29d07822d1e812c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49402775d7f7b7b2000db7d5f7c696774d3f337a3090509f2cab86088b4221b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4e1b9f44ebee801ed1801153c26e13eddc5c534ce1e7df18d6280518c76d78a",
        "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 · 8.297 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]: [-0.0193, 0.7929, 0.6067, -0.379, -0.0254, -0.0284, 0.9985, -0.0204, 0.7876, 0.6029, -0.3855, -0.0231, -0.017, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=0.0024 left_z=0.1818 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2935 right_y=0.0017 right_z=0.1801 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5812, -1.5248, 9.8803, 1.8535, 0.0073, 0.1538, -0.1636, -0.4308, -0.8547, 10.3043, 1.8681, -0.0073, 0.0269, -0.0904]",
      "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]: [-0.6254, 1.2057, 0.8497, -0.3645, -0.4946, -0.3798, 0.9988, -0.0212, 0.794, 0.6041, -0.4038, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3316 left_y=-0.1316 left_z=0.1808 left_yaw=-0.0285 left_pitch=-0.055 left_roll=0.0217 left_gripper=0.9988 right_x=0.2916 right_y=0.0016 right_z=0.1751 right_yaw=-0.0001 right_pitch=-0.0236 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -4.3966, 9.3744, 1.6435, -0.3248, -0.0806, -0.1441, -0.0889, -1.6205, 6.9675, 1.9219, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3969, 1.3106, 0.7036, -0.0937, -0.366, -0.2672, 0.6059, -0.0212, 0.7853, 0.5835, -0.3973, -0.0242, -0.0174, 0.9992]\nstate[eef_state]: left_x=0.3646 left_y=-0.0804 left_z=0.1253 left_yaw=0.0365 left_pitch=-0.0816 left_roll=0.0298 left_gripper=0.6059 right_x=0.2893 right_y=0.0017 right_z=0.1694 right_yaw=0.0004 right_pitch=-0.029 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.253, -5.4632, 6.5573, 1.9951, -0.0708, 0.0317, 0.1929, -0.1573, -1.7436, 6.9265, 1.956, -0.0611, -0.0659, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbd5fd1b93388f68918b073ada0b2f3788d1943a945b4ecb29d07822d1e812c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49402775d7f7b7b2000db7d5f7c696774d3f337a3090509f2cab86088b4221b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4e1b9f44ebee801ed1801153c26e13eddc5c534ce1e7df18d6280518c76d78a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kx3eAbG1ysrfX9Ajj9F9AC",
      "input": {
        "note": "In the wrist view the bottle's cap sits left of and above the jaw column, so I'm shifting the left gripper ~4 cm to the arm's left and 3 cm further out to line up over the cap.",
        "targets": {
          "left_x": 0.395,
          "left_y": -0.045,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Kx3eAbG1ysrfX9Ajj9F9AC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3744, 1.3281, 0.6971, -0.0032, -0.3107, -0.2352, 0.6047, -0.0212, 0.7746, 0.5541, -0.3878, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3765 left_y=-0.086 left_z=0.1312 left_yaw=-0.005 left_pitch=-0.0345 left_roll=-0.0017 left_gripper=0.6047 right_x=0.2862 right_y=0.0017 right_z=0.1608 right_yaw=-0.0001 right_pitch=-0.0381 right_roll=0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -5.5453, 6.9402, 1.956, -0.0659, 0.2222, -0.1343, -0.2803, -1.9761, 7.0359, 1.9805, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad3ec8e243c6143d37377eda53683c26e5e8eede7c6b00f449f72c8c240356a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfa2857526fefc9ed1b3fe103c1a172d1bfdeb234ee9b238f5c81b183e2556ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:39ef552edfc1fc9a9063686146532109f87d544968654a0f6bea90886ee96d40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 7.091 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]: [-0.6254, 1.2057, 0.8497, -0.3645, -0.4946, -0.3798, 0.9988, -0.0212, 0.794, 0.6041, -0.4038, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3316 left_y=-0.1316 left_z=0.1808 left_yaw=-0.0285 left_pitch=-0.055 left_roll=0.0217 left_gripper=0.9988 right_x=0.2916 right_y=0.0016 right_z=0.1751 right_yaw=-0.0001 right_pitch=-0.0236 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -4.3966, 9.3744, 1.6435, -0.3248, -0.0806, -0.1441, -0.0889, -1.6205, 6.9675, 1.9219, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3969, 1.3106, 0.7036, -0.0937, -0.366, -0.2672, 0.6059, -0.0212, 0.7853, 0.5835, -0.3973, -0.0242, -0.0174, 0.9992]\nstate[eef_state]: left_x=0.3646 left_y=-0.0804 left_z=0.1253 left_yaw=0.0365 left_pitch=-0.0816 left_roll=0.0298 left_gripper=0.6059 right_x=0.2893 right_y=0.0017 right_z=0.1694 right_yaw=0.0004 right_pitch=-0.029 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.253, -5.4632, 6.5573, 1.9951, -0.0708, 0.0317, 0.1929, -0.1573, -1.7436, 6.9265, 1.956, -0.0611, -0.0659, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3744, 1.3281, 0.6971, -0.0032, -0.3107, -0.2352, 0.6047, -0.0212, 0.7746, 0.5541, -0.3878, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3765 left_y=-0.086 left_z=0.1312 left_yaw=-0.005 left_pitch=-0.0345 left_roll=-0.0017 left_gripper=0.6047 right_x=0.2862 right_y=0.0017 right_z=0.1608 right_yaw=-0.0001 right_pitch=-0.0381 right_roll=0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -5.5453, 6.9402, 1.956, -0.0659, 0.2222, -0.1343, -0.2803, -1.9761, 7.0359, 1.9805, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad3ec8e243c6143d37377eda53683c26e5e8eede7c6b00f449f72c8c240356a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfa2857526fefc9ed1b3fe103c1a172d1bfdeb234ee9b238f5c81b183e2556ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39ef552edfc1fc9a9063686146532109f87d544968654a0f6bea90886ee96d40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwgcKjgEIEhgCKkDVMyvAI0N4fmeQ6+GnnwjaIFiptnNNA3Wdx3fgNR67BY6V+3uT1T00SYcS6jkXbQwF+XEyUJkzx+tLR/EU8y36Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbmgzNUGEgyH/uTChtxJVKqGx+waDPmHdY85Ar4QfwLr+iIwF21QcnKOQvoPC2io+bPYFBN5R4W2tlONT3HSFo1oWknuYeu+E9R1XUan5ahpM2SzKuAFCpXWjUAP9usYzGgdmetAvDpySbw9oF1Q1xHeqFd6NUkt7lQvSt3dsAUfsk6fu7nuupnHYftX0dOiGJ6rsDhj3JlqluaIZTwmFJsU2+50+0uHxBv+nk3drbCoZEFg+S/hiuQEdD3gzPoLI60flBk86Itdp4R7Ogojum4AuyrktCR4wDuWs4KeH8pbZ+Dn60hmMdqGSvaFmpKNTw+G8n44WVQE2Y0o+pW+EUHHL1SSBfsx7ajzXgQORfKonhPLcW+ucnqADjDGx1y1EAKqsAf4iBTsbnZwWf+ErxhFuucwpRx/I3srUaoNtI9EzejhVOaOjYkCraLevKtSv0JDXjqp8K2MWtSVtOr9VOiWAWmiTvZ1/lqU1GPpi8lSC6ymLb1BDtu68CHuqhlNNleqfCH5RFa3XJT1Okn6hfznElus6zWvSGHaK2Zh0nbs+uQ5dFSwlZNdJZYmZzJziG7E5PB1iMdnLH4gcxdzml+1c9DPjSPuUoEXeI9XBpgaJbCuSn5ZkapCOK5SQ5Oa+e2iwGb6ucjVX12CCm6LKD+x32XX0vYu9x1AvEAXKXwqmze2sSOqwXCP8VXdOocaagX63ILjf1fs8MYvaXDToJfmX8GyAsKd9eZe8BZfBZVxirsLi6iJ2tSmOxPKgLGw97yYpK+//5M401sHEHtZcuACp0/d5b0fNdgVdJ8m+5MUZazweGacOtc4omCaElJJUOuIwvAekYG6EgXcmfyP1juFEtcfXaePV9wT1Px9yAcvbgi1R0qAUAE9logjAOVbwN0/yCx2Xpi8dW0jsyFOgi6YImyr3OvDXtH1KIaPWbTR9c+KpPpcvT+kid8ZePtct/VUwV8btiaShfQD2kQL1gdulALmaSeN4Sg265r2C/q/rqrfvIW3mF9ZDKqDi4q+ExU5VI4zAuPuv8PJRQRTSEhq3seXgr5mJqHWT9GSMJGJSTkRmCviYPWHos2kBOa5hWRbeN4T0xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014QETDCpovpGSKbf38Ur1gD",
      "input": {
        "note": "The previous sideways move didn't take (y stayed at -0.086) and the cap still sits ~3 cm to the arm's left of the jaw column; retrying a smaller lateral step.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.056,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_014QETDCpovpGSKbf38Ur1gD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3744, 1.3281, 0.6971, -0.0032, -0.3103, -0.2352, 0.6046, -0.0212, 0.7563, 0.5194, -0.3702, -0.0242, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3764 left_y=-0.0861 left_z=0.1311 left_yaw=-0.0053 left_pitch=-0.0345 left_roll=-0.0019 left_gripper=0.6046 right_x=0.283 right_y=0.0019 right_z=0.1534 right_yaw=0.0002 right_pitch=-0.037 right_roll=0.0014 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -5.641, 6.7214, 1.9365, -0.0513, 0.1734, -0.022, -0.1709, -1.8667, 7.0222, 2.0098, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c76ec5e9e9bf08479b52abd911261d685ca94e631c0624b3b46e98c16c590786",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c1a8375c0c11e4058bbad93d1f009e21f8f0f52246a73e57950a45be9f5478e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1bf1759336ad6684a9be8a605ec2eb2374598a5e713f64b14a8c6d9edc7ac3c1",
        "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 · 11.38 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]: [-0.3969, 1.3106, 0.7036, -0.0937, -0.366, -0.2672, 0.6059, -0.0212, 0.7853, 0.5835, -0.3973, -0.0242, -0.0174, 0.9992]\nstate[eef_state]: left_x=0.3646 left_y=-0.0804 left_z=0.1253 left_yaw=0.0365 left_pitch=-0.0816 left_roll=0.0298 left_gripper=0.6059 right_x=0.2893 right_y=0.0017 right_z=0.1694 right_yaw=0.0004 right_pitch=-0.029 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.253, -5.4632, 6.5573, 1.9951, -0.0708, 0.0317, 0.1929, -0.1573, -1.7436, 6.9265, 1.956, -0.0611, -0.0659, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.3744, 1.3281, 0.6971, -0.0032, -0.3107, -0.2352, 0.6047, -0.0212, 0.7746, 0.5541, -0.3878, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3765 left_y=-0.086 left_z=0.1312 left_yaw=-0.005 left_pitch=-0.0345 left_roll=-0.0017 left_gripper=0.6047 right_x=0.2862 right_y=0.0017 right_z=0.1608 right_yaw=-0.0001 right_pitch=-0.0381 right_roll=0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -5.5453, 6.9402, 1.956, -0.0659, 0.2222, -0.1343, -0.2803, -1.9761, 7.0359, 1.9805, -0.0415, -0.0611, -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]: [-0.3744, 1.3281, 0.6971, -0.0032, -0.3103, -0.2352, 0.6046, -0.0212, 0.7563, 0.5194, -0.3702, -0.0242, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3764 left_y=-0.0861 left_z=0.1311 left_yaw=-0.0053 left_pitch=-0.0345 left_roll=-0.0019 left_gripper=0.6046 right_x=0.283 right_y=0.0019 right_z=0.1534 right_yaw=0.0002 right_pitch=-0.037 right_roll=0.0014 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -5.641, 6.7214, 1.9365, -0.0513, 0.1734, -0.022, -0.1709, -1.8667, 7.0222, 2.0098, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c76ec5e9e9bf08479b52abd911261d685ca94e631c0624b3b46e98c16c590786",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c1a8375c0c11e4058bbad93d1f009e21f8f0f52246a73e57950a45be9f5478e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bf1759336ad6684a9be8a605ec2eb2374598a5e713f64b14a8c6d9edc7ac3c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0gYKjgEIEhgCKkAoOTe6g6VEvqtiSGc7yJ4flLRS7S29blMsnKDefN8SGOKx4L9b+oaWFouoBaPJGQ+dBqQeMCR1mcQ69i6QlccjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcCgzNUGEgyqSkEZBYAlWPvhLN4aDCQytrv83jLguT2oRiIw4FS+n6/tMpw07rvXZuqNEX4iDxS7VaeoJqSY/06Hw8jOGq5VQPGnqXVgp9MVrQLwKvAEr67Ix1ThuF2DDT0iraD8FWfnDgDIdniECf/Qm8tzfc1zjE0f7nmIw129Vyjo3xFRj4VbKFeOUQji3jSl3CV6SviSBzp6AsZldw+CokZZsuwZTI24MC7Ze+nlEHNSQKIbub7iEpDlfq9BbQZ6bSI2JFSMbL+WPExgHdkXHqO8qu51ZdOwBSP/+RjzOnoq58ti3OThboYw20SRxBylrL+qlzBAIkbtHCBdnR1TlMyoPHr+aB4zJmYaAgJFXHFWwLnXDDwXxwfFP9yf4DaQAQt3EgV6BTLKMxYzDNyQY0vnTug+LVu6BUnx4/1bVdWbSw99YPvqNrEuzg7z0Muq7/fed2tD0iR+2HSV7ABuU6Oa2Uebr4pTrxKnA1NESSZl25XnR7jPU+yEmVnUR7p9zTeRAEIHlc3bqx7M9uAC5a+Rzb+yFlqkfbJKgQrEo3pFdN460vKpg4G/o1LqVIeYidFtnOVcDbWSbHzPzYRicf/7OvTQfkCfT1hUJt5G7bgdjZx06PRz/ktHXzpnbkIhROAZSlcJ1gKiADb7R5rvZxjaSyFOksJMEyA8wFhW0Jyyk1RMorpjq5iOQQzPSbjm9KtNzTEvBjwuXQDuJIfXFi5rOXzAzhZH+PF16/q1+4pz+r9cBqWtXS/ZqtwOxK3BYrd6VxbcYZI9dh+shYzHZwXE7uGiOWEqwaxAkCcvBB95apNUkk4x82hjq2cIHu1RXTfMDfqUDUkm7XfQ5NfOv4EboGqBxzrX65sP3feieD0g27B+QrHMWt571rYieBjBOgVb2PN6iwRNvPKIXy8N0hh3UFGiuRG4PsX+M1N454uZ6Z8LGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LVBNw9udHmRxRzd2CkRAvy",
      "input": {
        "note": "The arm ignored the last two lateral commands (joint positions unchanged), so I'm lifting to z=0.20 while shifting left, hoping a higher pose lets the IK track the sideways motion.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.05,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LVBNw9udHmRxRzd2CkRAvy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2871, 1.3277, 0.7776, -0.1165, -0.2451, -0.2005, 0.6046, -0.0212, 0.7376, 0.4843, -0.3508, -0.0235, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3839 left_y=-0.0649 left_z=0.1422 left_yaw=0.01 left_pitch=-0.0784 left_roll=-0.0004 left_gripper=0.6046 right_x=0.2801 right_y=0.0018 right_z=0.1463 right_yaw=-0.0004 right_pitch=-0.0339 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.4444, -8.2256, 11.9043, 2.1514, 0.0757, 0.2857, -0.0171, -0.0068, -1.6342, 6.9402, 1.9951, -0.0464, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea611653fafbc50343a7f818dce37373d3a227aede145905310962e71f6eb538",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:521f61a996eba151aeeb8d263cf7363b6fe735beaea5959c78c9f6c95130f067",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4dedf1ee15f3d2a1d4375aebbd821d3e62a8fc5aa5774be17a4113e7d28c059e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 6.913 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]: [-0.3744, 1.3281, 0.6971, -0.0032, -0.3107, -0.2352, 0.6047, -0.0212, 0.7746, 0.5541, -0.3878, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3765 left_y=-0.086 left_z=0.1312 left_yaw=-0.005 left_pitch=-0.0345 left_roll=-0.0017 left_gripper=0.6047 right_x=0.2862 right_y=0.0017 right_z=0.1608 right_yaw=-0.0001 right_pitch=-0.0381 right_roll=0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -5.5453, 6.9402, 1.956, -0.0659, 0.2222, -0.1343, -0.2803, -1.9761, 7.0359, 1.9805, -0.0415, -0.0611, -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]: [-0.3744, 1.3281, 0.6971, -0.0032, -0.3103, -0.2352, 0.6046, -0.0212, 0.7563, 0.5194, -0.3702, -0.0242, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3764 left_y=-0.0861 left_z=0.1311 left_yaw=-0.0053 left_pitch=-0.0345 left_roll=-0.0019 left_gripper=0.6046 right_x=0.283 right_y=0.0019 right_z=0.1534 right_yaw=0.0002 right_pitch=-0.037 right_roll=0.0014 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -5.641, 6.7214, 1.9365, -0.0513, 0.1734, -0.022, -0.1709, -1.8667, 7.0222, 2.0098, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2871, 1.3277, 0.7776, -0.1165, -0.2451, -0.2005, 0.6046, -0.0212, 0.7376, 0.4843, -0.3508, -0.0235, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3839 left_y=-0.0649 left_z=0.1422 left_yaw=0.01 left_pitch=-0.0784 left_roll=-0.0004 left_gripper=0.6046 right_x=0.2801 right_y=0.0018 right_z=0.1463 right_yaw=-0.0004 right_pitch=-0.0339 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.4444, -8.2256, 11.9043, 2.1514, 0.0757, 0.2857, -0.0171, -0.0068, -1.6342, 6.9402, 1.9951, -0.0464, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea611653fafbc50343a7f818dce37373d3a227aede145905310962e71f6eb538",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:521f61a996eba151aeeb8d263cf7363b6fe735beaea5959c78c9f6c95130f067",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dedf1ee15f3d2a1d4375aebbd821d3e62a8fc5aa5774be17a4113e7d28c059e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QcHn58v24hEnC3dvf6txn6",
      "input": {
        "note": "The near bottle's cap is now essentially under the jaws in the wrist view; descending to cap height (z=4 cm) to check alignment before closing on the neck.",
        "targets": {
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01QcHn58v24hEnC3dvf6txn6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3023, 1.5856, 0.4923, 0.5285, -0.2539, -0.1944, 0.6046, -0.0212, 0.7174, 0.4534, -0.3355, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.39 left_y=-0.0714 left_z=0.0571 left_yaw=-0.0021 left_pitch=0.0204 left_roll=-0.0205 left_gripper=0.6046 right_x=0.2771 right_y=0.0019 right_z=0.1405 right_yaw=-0.0001 right_pitch=-0.0294 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -4.3282, 3.0701, 0.8669, -0.2173, 0.0513, -0.0122, -0.3487, -1.2376, 6.8581, 1.9219, -0.0415, -0.0073, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b54fd7e6124747373dd8494d275db2adc346d0f3a257a912d52f8d1807d07b45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8994e5f3fbca4642c98ec7f19e13dc72c61695b71893e5430a422031c77f386d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7cdeaa269e9806d74a9f24b59975974b791e4f6d06667ddc8301f28c64176cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 9.097 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]: [-0.3744, 1.3281, 0.6971, -0.0032, -0.3103, -0.2352, 0.6046, -0.0212, 0.7563, 0.5194, -0.3702, -0.0242, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3764 left_y=-0.0861 left_z=0.1311 left_yaw=-0.0053 left_pitch=-0.0345 left_roll=-0.0019 left_gripper=0.6046 right_x=0.283 right_y=0.0019 right_z=0.1534 right_yaw=0.0002 right_pitch=-0.037 right_roll=0.0014 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -5.641, 6.7214, 1.9365, -0.0513, 0.1734, -0.022, -0.1709, -1.8667, 7.0222, 2.0098, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2871, 1.3277, 0.7776, -0.1165, -0.2451, -0.2005, 0.6046, -0.0212, 0.7376, 0.4843, -0.3508, -0.0235, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3839 left_y=-0.0649 left_z=0.1422 left_yaw=0.01 left_pitch=-0.0784 left_roll=-0.0004 left_gripper=0.6046 right_x=0.2801 right_y=0.0018 right_z=0.1463 right_yaw=-0.0004 right_pitch=-0.0339 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.4444, -8.2256, 11.9043, 2.1514, 0.0757, 0.2857, -0.0171, -0.0068, -1.6342, 6.9402, 1.9951, -0.0464, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3023, 1.5856, 0.4923, 0.5285, -0.2539, -0.1944, 0.6046, -0.0212, 0.7174, 0.4534, -0.3355, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.39 left_y=-0.0714 left_z=0.0571 left_yaw=-0.0021 left_pitch=0.0204 left_roll=-0.0205 left_gripper=0.6046 right_x=0.2771 right_y=0.0019 right_z=0.1405 right_yaw=-0.0001 right_pitch=-0.0294 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -4.3282, 3.0701, 0.8669, -0.2173, 0.0513, -0.0122, -0.3487, -1.2376, 6.8581, 1.9219, -0.0415, -0.0073, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b54fd7e6124747373dd8494d275db2adc346d0f3a257a912d52f8d1807d07b45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8994e5f3fbca4642c98ec7f19e13dc72c61695b71893e5430a422031c77f386d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7cdeaa269e9806d74a9f24b59975974b791e4f6d06667ddc8301f28c64176cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2AUKjgEIEhgCKkC6AO7VDbKvU1azSkdjVS76uTEpPppl73fpJLZ/HI1DCUwtUqLpZA58I1cxd8zslcJ8M48rKm1BW1lsLDxk9verMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdOgzNUGEgwYVuEO3pkW6iSD6c4aDKI8mzcvTxjciuSp5CIwbvk+VxLvSEkhUAo+VCeQjEJVIaJg55TuAUSOltPBQLB6ECghK0TdWmzpOwoxv58NKvYDZhCy5jMYFj2DpNVVNew8V/BChMIDYk6F8N0h99raD7OzlyFnYM3eeKyJ9qm/s2re+ri4tYMRrOa0aT9g/dBKpNvnqVVqsZJ+DyG0GnAYFMSDl660VpFqAZ/8FDLo3XGavUp5lepi1AGIGpmh9mh64C+IxTSN/YoFHIbcubO0/OT7ZF2JSj14m3a2ug1uARFqhIPhYe46oV//ct9iLE+p5ge4RjD7dUuja4JBkQqxxZV6r02fFYHrPd9OmRqiJWnj+Ckvh5hycyu0VdSTsd9mOCUjivH08QpayAMv+nk8n3k6ZUBT6RJoYpqduxA3ha4tv1S/YlN0rfycVq39UyqHsVzdbF4p2A39CBGcoUvjrfUeeN2lDZAMr5/Z+VjEd9J5/kVUtab3o+N0Km8ksJnvNIbkEB4nZnIw084XmoexdvgPfDOWtBy4STkeP/jwRcCqoimnhUmF/V7Qb5APm73l+mMKswZRqEbhX7RQPp4aOZiA7TsjmkoWgyIL356mnf6F1jIr+Pum3XYsf3q8C6qJJ+if6aN0L0YvLUve60ndQq6s4ivNFCiItIgppr6R4PXrm2tmnkafJp+4xMIIVe4F0q6Sx50N1S85ALJRg7mvFP1F37RNLBDY97QRW7VebnML4X2b+6RojhcOFNpMo5EREn+5ogGwIxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0162VedpaaYHyypARbZEdzNE",
      "input": {
        "note": "Cap still sits a few cm to the arm's left of the jaw column and I only descended to z=0.057; nudging left and lower to straddle the bottle's neck.",
        "targets": {
          "left_y": -0.038,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0162VedpaaYHyypARbZEdzNE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1967, 1.6257, 0.4694, 0.6498, -0.1902, -0.1585, 0.6046, -0.0212, 0.704, 0.4278, -0.3244, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4007 left_y=-0.0421 left_z=0.0576 left_yaw=0.0316 left_pitch=0.0685 left_roll=-0.036 left_gripper=0.6046 right_x=0.2746 right_y=0.002 right_z=0.1345 right_yaw=-0.0001 right_pitch=-0.0305 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -4.3692, 3.412, 1.3162, -0.022, 0.2125, -0.0122, -0.253, -1.4564, 7.0496, 1.9512, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fde93f2088f968d4f304ac5f8413a566864a3a96cf5e3e3943c0d2a2cb037809",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7aa13043857335844474c8c52fceaa6fdf40cd778291507489c92d3bc3009b92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46c0f87fce969a8c3e5f5d8eaf1ed0a669b30169b67a00200635b7c1c63ffe89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 6.49 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]: [-0.2871, 1.3277, 0.7776, -0.1165, -0.2451, -0.2005, 0.6046, -0.0212, 0.7376, 0.4843, -0.3508, -0.0235, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3839 left_y=-0.0649 left_z=0.1422 left_yaw=0.01 left_pitch=-0.0784 left_roll=-0.0004 left_gripper=0.6046 right_x=0.2801 right_y=0.0018 right_z=0.1463 right_yaw=-0.0004 right_pitch=-0.0339 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.4444, -8.2256, 11.9043, 2.1514, 0.0757, 0.2857, -0.0171, -0.0068, -1.6342, 6.9402, 1.9951, -0.0464, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3023, 1.5856, 0.4923, 0.5285, -0.2539, -0.1944, 0.6046, -0.0212, 0.7174, 0.4534, -0.3355, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.39 left_y=-0.0714 left_z=0.0571 left_yaw=-0.0021 left_pitch=0.0204 left_roll=-0.0205 left_gripper=0.6046 right_x=0.2771 right_y=0.0019 right_z=0.1405 right_yaw=-0.0001 right_pitch=-0.0294 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -4.3282, 3.0701, 0.8669, -0.2173, 0.0513, -0.0122, -0.3487, -1.2376, 6.8581, 1.9219, -0.0415, -0.0073, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1967, 1.6257, 0.4694, 0.6498, -0.1902, -0.1585, 0.6046, -0.0212, 0.704, 0.4278, -0.3244, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4007 left_y=-0.0421 left_z=0.0576 left_yaw=0.0316 left_pitch=0.0685 left_roll=-0.036 left_gripper=0.6046 right_x=0.2746 right_y=0.002 right_z=0.1345 right_yaw=-0.0001 right_pitch=-0.0305 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -4.3692, 3.412, 1.3162, -0.022, 0.2125, -0.0122, -0.253, -1.4564, 7.0496, 1.9512, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fde93f2088f968d4f304ac5f8413a566864a3a96cf5e3e3943c0d2a2cb037809",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7aa13043857335844474c8c52fceaa6fdf40cd778291507489c92d3bc3009b92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46c0f87fce969a8c3e5f5d8eaf1ed0a669b30169b67a00200635b7c1c63ffe89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsQgKjgEIEhgCKkBVckhvO9GgXdxxPNM3I6W/rc5OW1SdAO6oG7fu7yNQ2EQakboH0NJfaWSRDqfh/4q7xC3Ra9/3EAHl97Q+iXYzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd2gzNUGEgwFcGKwsNDpug3CYIoaDLBJCflBz2Y80rcxyCIwCtZR62elU8sR/mPOlYAcLV5sai4HvD8fD1KdfzskUhejpy20qbieu1Oy8w5WM/i5Ks8GvjUHj4Zp52deI5HMslEL5ZX007FACKuDfFoC/mLCTqWfGVmcYUF2/ueC/TGEcwfgxgpMlSj6U2nTyQxEBDCiyDM4mVxscI0XN9YKjHgJrFsnsSLRrBejHSabIuKlbuXYtg0Jrtk8QWhkqUJEG5WEVX7UbOp1fGnM+dNTpSWrreR4qBPFWRp3tRmvVmO6Dso1ooX0AG7khLS73gwBM+04YnM8AJSV3MyuMlvdiVZMiyPErXWtRS21tp6DvUgUdN4CSdkbhCgXv/g/1qL4zjWZVGsmvP985rvB1xeLrNXBQeOWRPiPKzcPb6WJ3ggMFlH8i6cYEh2FaU27iQP/yCTCMU/ZlxvRMUnvSpTbiMH6z7jk6w4hJa8LtnoZYyjKXo0IqtYlNTqFQ+w+hrZeukysE6i1TjhupUMm6v0DUJdzMrGyx+BxkTe1O2m7CHWudv0/trOZpXqWdv0W/ADnTDhhhAM128u4MURT/TQpjMWKVENhVM0ryngyJrO2VuBilo1d94BNZMhsY50d18r58Nx0iku4bYvkH2L0reLkMaOiwjNiUre1ZPmfiPLAeH+ynNJKTkkU5MdoHSURp0atYJNJZrwYwvJp2+BRrcRphfTlad1krAuyg10VkDL+0+pmGSk0JQpoZuHnPVfS24gxP1dhIOOIoWoh5/A+Xk0oHqTPPLCXxS8mWDzFE978SdAQDcyUvDjCKaPbbQm9txVuKUIsINE7ZXHXNJHmithVqDokSqubF7TQz9P/bSh18vLVEvQD/be9vkVGlGw3+a2kPOpUrDAOwUgW5NDrLmKBSJhLf1Mnha3TiY5kDYQy6V/2VjC0QlTOaQokPujcdUYL+a5+ewbwQOQPxmuIOd2F2jBXDxw3PcVRBeAersa0P+TdSbquN0TmSkSt4xY0Xvzj0i33pnNOEyatbYJrBouCNmgtJlR7B3/W3Zd2bewyNNi4mTn83MMcvqVudhTQuxLda13vrXxuv3eVDMCmmD3tLWwzt1NLM873F4j4PRnutmqLSlhAChN3Yl99+J44C/orHr3kW7oFRDfsPNoVg4StdZBHT+L+AcOzano1WH93L3yh0jLtINpYBw85uN3EKPDEigDc6oa5KI3ETdzR9Yh0517AxhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018qV8r3JxjE3LouiU4q7ZNf",
      "input": {
        "note": "The bottle's neck is now between the open jaws in the wrist view but I'm still ~6 cm high; descending to neck height (~1 cm) so I can close loosely around the neck.",
        "targets": {
          "left_z": 0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_018qV8r3JxjE3LouiU4q7ZNf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1761, 1.6344, 0.4652, 0.6765, -0.1722, -0.1333, 0.6046, -0.0212, 0.6888, 0.4007, -0.3138, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4027 left_y=-0.0373 left_z=0.0581 left_yaw=0.0238 left_pitch=0.0803 left_roll=-0.0251 left_gripper=0.6046 right_x=0.2717 right_y=0.002 right_z=0.1282 right_yaw=-0.0001 right_pitch=-0.0316 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -4.7658, 3.412, 1.3455, 0.0806, 0.149, -0.0122, -0.1162, -1.3197, 7.0085, 1.9853, -0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abc2a88582b3e3011ebdf79901f30fc7fc573b81e74038d43397a85aa0fed21f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:164d49129b21d702875f137344d184c5e24943d55820ce23b12271350228ba56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d347e21d5c9d33e0e8cbf659950479f337e764fe940396ab676d49f07c9c3e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 4.548 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]: [-0.3023, 1.5856, 0.4923, 0.5285, -0.2539, -0.1944, 0.6046, -0.0212, 0.7174, 0.4534, -0.3355, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.39 left_y=-0.0714 left_z=0.0571 left_yaw=-0.0021 left_pitch=0.0204 left_roll=-0.0205 left_gripper=0.6046 right_x=0.2771 right_y=0.0019 right_z=0.1405 right_yaw=-0.0001 right_pitch=-0.0294 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [0.2667, -4.3282, 3.0701, 0.8669, -0.2173, 0.0513, -0.0122, -0.3487, -1.2376, 6.8581, 1.9219, -0.0415, -0.0073, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.1967, 1.6257, 0.4694, 0.6498, -0.1902, -0.1585, 0.6046, -0.0212, 0.704, 0.4278, -0.3244, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4007 left_y=-0.0421 left_z=0.0576 left_yaw=0.0316 left_pitch=0.0685 left_roll=-0.036 left_gripper=0.6046 right_x=0.2746 right_y=0.002 right_z=0.1345 right_yaw=-0.0001 right_pitch=-0.0305 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -4.3692, 3.412, 1.3162, -0.022, 0.2125, -0.0122, -0.253, -1.4564, 7.0496, 1.9512, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1761, 1.6344, 0.4652, 0.6765, -0.1722, -0.1333, 0.6046, -0.0212, 0.6888, 0.4007, -0.3138, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4027 left_y=-0.0373 left_z=0.0581 left_yaw=0.0238 left_pitch=0.0803 left_roll=-0.0251 left_gripper=0.6046 right_x=0.2717 right_y=0.002 right_z=0.1282 right_yaw=-0.0001 right_pitch=-0.0316 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -4.7658, 3.412, 1.3455, 0.0806, 0.149, -0.0122, -0.1162, -1.3197, 7.0085, 1.9853, -0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abc2a88582b3e3011ebdf79901f30fc7fc573b81e74038d43397a85aa0fed21f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:164d49129b21d702875f137344d184c5e24943d55820ce23b12271350228ba56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d347e21d5c9d33e0e8cbf659950479f337e764fe940396ab676d49f07c9c3e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6wYKjgEIEhgCKkDy3U4zk+Ck22SixaIT74klfK57+t1Ih0CoPOk3kTD2iGfH1450GxHnVE5wC3p5ygPpLXrkWvCmwFNybLZScABfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeSgzNUGEgy0Qg+d/H9csf1/6NsaDE+wwqwmPientAGtzCIwhIXk+CrlaggZqYwQ0likQvaIfSoG7EpQBIAxrLVd/9/GAL6oYGhQ9Aa17k8bWqgxKokFYpueYS3rLtm33LhbKyt8rfNBL3bE/fQt8Vu9VyKeNAfEAUBK7sO6b6jGkAXt2YXC6ffoaYx6scj11ESTncskfmPv0bBHrFgi+kxTgq2UJ+m1uP8+lFhTxHSRDWOHOviRBQV3eUNTPQcs/JyumsqF3psmGEIm+slW3/IYOtEINOUXQnEYiiA96+XlB0+rgsB57Hvft07lLtwfyYnXLoX9hYl2vkWOOlvq0veqnYlolNYvGsT7YAe86v4GTxPSszplCCHJDe0PMhIB4CtYR+tQtGXGGhj+PYsCQHKx74MvuwMaF8mydI8C0Q+er9iG/fBJp3ZLCM9v5jh61JsX7Eh5hm0uLC5yxKQtrqb+0DFvayFqsPxQMEP1o9MIwY7iVImPIwEL+7BE0HHUf7cjLzYdjo5ee3HD4HJ5a5oZjR2Rw85ZMBd4ouF5bej5FFF7t9ZmuRcD5peUv+Wmf8QEK8Nc8eYF5hpLw+8jnflTjyUGHKusFKBvTrg+e1aYkhfu7eYKWOVOnoR/EUIdYZt7yG7kLhYudDfhUSJbUZT5sUNdu5S/Yptw5zZAl3PCy6HJoyFkkqdAD63K9VxT7scffeKrThpzue6J9NzrtBSZ4JN6rxcLwt79T21s8BQOWS1OmhRDNBk1G3wnYEmsksQoowa/XOfOzw5c8ocbz6Oca4p3a86KLquEW0N4R5WsCfvGKwsoctMHXUfGWY+QgCAPt7v7piOfe1nZ7daGsm4zrsSvIlk577Lo3WTtb3QYY719QzUWCsx8m5DSRToADkkd9aaYLYRB3sduAk7sqxl7Lo3AtQv06OlV10iyRqYW+hkYOTSsRirOdp/jqYsLPxsb0h+BnhzbCEx2OC1gthgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F7jiLTJj2PUKYUG2UZuXr8",
      "input": {
        "note": "Descent stopped (likely fingertips contacting the bottle) with the neck between the jaws; closing partway so the jaws capture the neck under the cap.",
        "targets": {
          "left_gripper": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01F7jiLTJj2PUKYUG2UZuXr8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1761, 1.6344, 0.4652, 0.6773, -0.1642, -0.1299, 0.2242, -0.0212, 0.672, 0.3733, -0.2977, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4028 left_y=-0.0387 left_z=0.0582 left_yaw=0.0152 left_pitch=0.0803 left_roll=-0.0259 left_gripper=0.2242 right_x=0.2695 right_y=0.0021 right_z=0.1232 right_yaw=-0.0001 right_pitch=-0.0263 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -4.7658, 3.412, 1.37, 0.022, 0.149, 0.0806, -0.0068, -1.1829, 6.8171, 1.9853, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96d222c7528a2d5a9f0f466bef039ce94302974ba3097bd038aa7aaca33a4c2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f6c321dbc2535a13e833bb8805de909cc575cc91e111e4995468efb37a14aec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:240945cfd56a3fb85469d2f5c11364b63229c250b26d41a33a6a2253e52778a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 24.65 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]: [-0.1967, 1.6257, 0.4694, 0.6498, -0.1902, -0.1585, 0.6046, -0.0212, 0.704, 0.4278, -0.3244, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4007 left_y=-0.0421 left_z=0.0576 left_yaw=0.0316 left_pitch=0.0685 left_roll=-0.036 left_gripper=0.6046 right_x=0.2746 right_y=0.002 right_z=0.1345 right_yaw=-0.0001 right_pitch=-0.0305 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -4.3692, 3.412, 1.3162, -0.022, 0.2125, -0.0122, -0.253, -1.4564, 7.0496, 1.9512, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1761, 1.6344, 0.4652, 0.6765, -0.1722, -0.1333, 0.6046, -0.0212, 0.6888, 0.4007, -0.3138, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4027 left_y=-0.0373 left_z=0.0581 left_yaw=0.0238 left_pitch=0.0803 left_roll=-0.0251 left_gripper=0.6046 right_x=0.2717 right_y=0.002 right_z=0.1282 right_yaw=-0.0001 right_pitch=-0.0316 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -4.7658, 3.412, 1.3455, 0.0806, 0.149, -0.0122, -0.1162, -1.3197, 7.0085, 1.9853, -0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1761, 1.6344, 0.4652, 0.6773, -0.1642, -0.1299, 0.2242, -0.0212, 0.672, 0.3733, -0.2977, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4028 left_y=-0.0387 left_z=0.0582 left_yaw=0.0152 left_pitch=0.0803 left_roll=-0.0259 left_gripper=0.2242 right_x=0.2695 right_y=0.0021 right_z=0.1232 right_yaw=-0.0001 right_pitch=-0.0263 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -4.7658, 3.412, 1.37, 0.022, 0.149, 0.0806, -0.0068, -1.1829, 6.8171, 1.9853, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96d222c7528a2d5a9f0f466bef039ce94302974ba3097bd038aa7aaca33a4c2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f6c321dbc2535a13e833bb8805de909cc575cc91e111e4995468efb37a14aec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:240945cfd56a3fb85469d2f5c11364b63229c250b26d41a33a6a2253e52778a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqgQKjgEIEhgCKkACUFZPv1OlY08xp4h2WjW2G4tJ8QRGQvFJI4Ml56KgSP05HWrgwvwV/oxxkrEkKi2Ja6fE+2kCoUjSUmaiZ0LjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeigzNUGEgxAYdihBLykNgUbfv8aDNPBN11ka9OMNA4GuiIwxwMVqjsmVuRd9Xlbdj3dijS6zHlQNDHQLP3B7SHBquhRL5R4egc0kYBRcqBXH19pKsgCPlp/aqmR7ndR0hM7XnMMe3KYjFOEIZMsJ6vn4EL+Kas3xoNpOlVmsmwdPrUky4CALk/BsW+rJ7WvBAZkDU+lIUq//h+9j9I5giAZEzUJHHw9VW8M30tlobRMYiFm/VQ2YHidlENh8A/u1bDhgPdzaWmSM5W/70kCMg14ZtBXYwhNkOsiEescivm4XmelC9rKoPmoZA0SEtbXLttrHdxYjjqc0QJN+Rmn9/NE0sTyaT6TlgUepxY9CpJ0sbbTmbij1gX5nUDvYMJV4ikvcBhZPVSJcUR87dsRg2u7NrlTDfi0wfE3e/2W6aWc0M84N/gQKvwuUVXMFyiFvQDR6Hg82CaHhY9uEa7BszzWD55VNSwuSAtaETu985UXw6fm/NWZK+UtkFV6PBNAfOCHIzPFLs8bZfRUN//WPVr2vBOk/NdUoLnruvF4IRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bz9814YknC7Uivj16yfWBd",
      "input": {
        "note": "Jaws are closed to 0.22 around the bottle neck; lifting to 25 cm so the bottle can swing down and hang vertically from its neck.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01Bz9814YknC7Uivj16yfWBd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1761, 1.3014, 1.0641, -0.3408, -0.1726, -0.1337, 0.2238, -0.0212, 0.6582, 0.3485, -0.2901, -0.0242, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4062 left_y=-0.0378 left_z=0.234 left_yaw=0.0237 left_pitch=-0.0034 left_roll=-0.0083 left_gripper=0.2238 right_x=0.2666 right_y=0.0022 right_z=0.1169 right_yaw=0.0002 right_pitch=-0.0297 right_roll=0.0013 right_gripper=0.9992\nstate[joint_eff]: [-0.6769, -6.147, 9.4291, 1.663, -0.0952, 0.0806, -0.0513, -0.0889, -0.8547, 7.0085, 1.956, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:466706c709a4aafd580ce822cdc8682bd71cff96aa413973ee19bd747bc9c609",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc4074d78555b2dd47e8f4d28a609441afa03fc90812bd1f4a30f971e7e251ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:79bd25b12a7d0ba0acba485f6500c7ebc25596f3f30480e91e2e75dd013af24f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 15.93 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]: [-0.1761, 1.6344, 0.4652, 0.6765, -0.1722, -0.1333, 0.6046, -0.0212, 0.6888, 0.4007, -0.3138, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4027 left_y=-0.0373 left_z=0.0581 left_yaw=0.0238 left_pitch=0.0803 left_roll=-0.0251 left_gripper=0.6046 right_x=0.2717 right_y=0.002 right_z=0.1282 right_yaw=-0.0001 right_pitch=-0.0316 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -4.7658, 3.412, 1.3455, 0.0806, 0.149, -0.0122, -0.1162, -1.3197, 7.0085, 1.9853, -0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1761, 1.6344, 0.4652, 0.6773, -0.1642, -0.1299, 0.2242, -0.0212, 0.672, 0.3733, -0.2977, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4028 left_y=-0.0387 left_z=0.0582 left_yaw=0.0152 left_pitch=0.0803 left_roll=-0.0259 left_gripper=0.2242 right_x=0.2695 right_y=0.0021 right_z=0.1232 right_yaw=-0.0001 right_pitch=-0.0263 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -4.7658, 3.412, 1.37, 0.022, 0.149, 0.0806, -0.0068, -1.1829, 6.8171, 1.9853, -0.0513, -0.0366, -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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1761, 1.3014, 1.0641, -0.3408, -0.1726, -0.1337, 0.2238, -0.0212, 0.6582, 0.3485, -0.2901, -0.0242, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4062 left_y=-0.0378 left_z=0.234 left_yaw=0.0237 left_pitch=-0.0034 left_roll=-0.0083 left_gripper=0.2238 right_x=0.2666 right_y=0.0022 right_z=0.1169 right_yaw=0.0002 right_pitch=-0.0297 right_roll=0.0013 right_gripper=0.9992\nstate[joint_eff]: [-0.6769, -6.147, 9.4291, 1.663, -0.0952, 0.0806, -0.0513, -0.0889, -0.8547, 7.0085, 1.956, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:466706c709a4aafd580ce822cdc8682bd71cff96aa413973ee19bd747bc9c609",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc4074d78555b2dd47e8f4d28a609441afa03fc90812bd1f4a30f971e7e251ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79bd25b12a7d0ba0acba485f6500c7ebc25596f3f30480e91e2e75dd013af24f",
        "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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MGBeBcu0916AZcEZBps+M533D/+EfMyN5SdePW41kRnOj/uE0NNYKH7F2xq+zkumHj9gSZOolI5QlO1/7EnjuZqASn9Mb9L3eWn9BinQ6ymvQs5o6nB5X//5LGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012gMhTzpjucvFvvDSr8Truf",
      "input": {
        "note": "The close was empty — all three bottles are untouched, and I now realise from the overhead view that the gripper was ~12 cm to the left of the target bottle. Recalibrating: moving over the left bottle's cap end at left_y≈-0.15.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.15,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012gMhTzpjucvFvvDSr8Truf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6334, 1.3666, 0.8108, -0.1463, -0.5091, -0.3832, 0.2237, -0.0212, 0.6392, 0.3222, -0.2832, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3575 left_y=-0.1512 left_z=0.1475 left_yaw=-0.0238 left_pitch=-0.0345 left_roll=0.0163 left_gripper=0.2237 right_x=0.2634 right_y=0.0022 right_z=0.1109 right_yaw=-0.0001 right_pitch=-0.0301 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -5.1487, 6.7077, 1.746, -0.3492, -0.0611, -0.0171, -0.3214, -0.8, 6.8855, 1.9414, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf7ea43ed0c40969f749d5c53ea17292549949f62eff28f1e0f6ee091cc10f80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3544f8203d29d927aabae945429e77d69170274445d31dce01bc17a05da3ae8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:265cdce9fd72d0450b1cf2d3de037ac0b52d576c6e411bfe19bc8dcb5e71c399",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 28.57 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]: [-0.1761, 1.6344, 0.4652, 0.6773, -0.1642, -0.1299, 0.2242, -0.0212, 0.672, 0.3733, -0.2977, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4028 left_y=-0.0387 left_z=0.0582 left_yaw=0.0152 left_pitch=0.0803 left_roll=-0.0259 left_gripper=0.2242 right_x=0.2695 right_y=0.0021 right_z=0.1232 right_yaw=-0.0001 right_pitch=-0.0263 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -4.7658, 3.412, 1.37, 0.022, 0.149, 0.0806, -0.0068, -1.1829, 6.8171, 1.9853, -0.0513, -0.0366, -0.0122]\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]: [-0.1761, 1.3014, 1.0641, -0.3408, -0.1726, -0.1337, 0.2238, -0.0212, 0.6582, 0.3485, -0.2901, -0.0242, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4062 left_y=-0.0378 left_z=0.234 left_yaw=0.0237 left_pitch=-0.0034 left_roll=-0.0083 left_gripper=0.2238 right_x=0.2666 right_y=0.0022 right_z=0.1169 right_yaw=0.0002 right_pitch=-0.0297 right_roll=0.0013 right_gripper=0.9992\nstate[joint_eff]: [-0.6769, -6.147, 9.4291, 1.663, -0.0952, 0.0806, -0.0513, -0.0889, -0.8547, 7.0085, 1.956, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6334, 1.3666, 0.8108, -0.1463, -0.5091, -0.3832, 0.2237, -0.0212, 0.6392, 0.3222, -0.2832, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3575 left_y=-0.1512 left_z=0.1475 left_yaw=-0.0238 left_pitch=-0.0345 left_roll=0.0163 left_gripper=0.2237 right_x=0.2634 right_y=0.0022 right_z=0.1109 right_yaw=-0.0001 right_pitch=-0.0301 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -5.1487, 6.7077, 1.746, -0.3492, -0.0611, -0.0171, -0.3214, -0.8, 6.8855, 1.9414, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf7ea43ed0c40969f749d5c53ea17292549949f62eff28f1e0f6ee091cc10f80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3544f8203d29d927aabae945429e77d69170274445d31dce01bc17a05da3ae8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:265cdce9fd72d0450b1cf2d3de037ac0b52d576c6e411bfe19bc8dcb5e71c399",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013CrRaN6Zu9skQXFcUCZ5oq",
      "input": {
        "note": "The overhead view shows the arm now straddling the leftmost bottle's column; moving slightly right and back, and lower, to line the jaws up over that bottle before re-checking the wrist view.",
        "targets": {
          "left_gripper": 0.6,
          "left_x": 0.33,
          "left_y": -0.185,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013CrRaN6Zu9skQXFcUCZ5oq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.794, 1.454, 0.672, 0.0029, -0.6048, -0.4767, 0.5958, -0.0212, 0.6205, 0.2958, -0.271, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3256 left_y=-0.1829 left_z=0.0929 left_yaw=-0.0592 left_pitch=-0.0523 left_roll=0.0381 left_gripper=0.5958 right_x=0.261 right_y=0.0023 right_z=0.106 right_yaw=-0.0001 right_pitch=-0.0255 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -5.9829, 6.4889, 1.7558, -0.4274, -0.1587, -0.1538, -0.1299, -0.7726, 7.0359, 1.9463, -0.022, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eedb8e5ffc97377045a063d956d4901e8076a3730b02c7c95aff5c02530daee9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b02596d9e3be9ae75967387777ad57ed00fc0b04c7a92462578334e316bdb3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a846aef044e2918d677f06477e5f35761139527aefdf3996e3bd383bcee1069",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 11.87 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]: [-0.1761, 1.3014, 1.0641, -0.3408, -0.1726, -0.1337, 0.2238, -0.0212, 0.6582, 0.3485, -0.2901, -0.0242, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4062 left_y=-0.0378 left_z=0.234 left_yaw=0.0237 left_pitch=-0.0034 left_roll=-0.0083 left_gripper=0.2238 right_x=0.2666 right_y=0.0022 right_z=0.1169 right_yaw=0.0002 right_pitch=-0.0297 right_roll=0.0013 right_gripper=0.9992\nstate[joint_eff]: [-0.6769, -6.147, 9.4291, 1.663, -0.0952, 0.0806, -0.0513, -0.0889, -0.8547, 7.0085, 1.956, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6334, 1.3666, 0.8108, -0.1463, -0.5091, -0.3832, 0.2237, -0.0212, 0.6392, 0.3222, -0.2832, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3575 left_y=-0.1512 left_z=0.1475 left_yaw=-0.0238 left_pitch=-0.0345 left_roll=0.0163 left_gripper=0.2237 right_x=0.2634 right_y=0.0022 right_z=0.1109 right_yaw=-0.0001 right_pitch=-0.0301 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -5.1487, 6.7077, 1.746, -0.3492, -0.0611, -0.0171, -0.3214, -0.8, 6.8855, 1.9414, -0.0317, -0.0415, -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]: [-0.794, 1.454, 0.672, 0.0029, -0.6048, -0.4767, 0.5958, -0.0212, 0.6205, 0.2958, -0.271, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3256 left_y=-0.1829 left_z=0.0929 left_yaw=-0.0592 left_pitch=-0.0523 left_roll=0.0381 left_gripper=0.5958 right_x=0.261 right_y=0.0023 right_z=0.106 right_yaw=-0.0001 right_pitch=-0.0255 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -5.9829, 6.4889, 1.7558, -0.4274, -0.1587, -0.1538, -0.1299, -0.7726, 7.0359, 1.9463, -0.022, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eedb8e5ffc97377045a063d956d4901e8076a3730b02c7c95aff5c02530daee9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b02596d9e3be9ae75967387777ad57ed00fc0b04c7a92462578334e316bdb3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a846aef044e2918d677f06477e5f35761139527aefdf3996e3bd383bcee1069",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dm1Jxbb93PHBcX8cwE8GjM",
      "input": {
        "note": "Overhead shows the left bottle lying along +x with its cap at the far end; I'm advancing ~9 cm radially to put the jaws over the bottle's neck just behind the cap.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.18,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Dm1Jxbb93PHBcX8cwE8GjM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8055, 1.4662, 0.6617, 0.0486, -0.63, -0.5026, 0.597, -0.0212, 0.6056, 0.2756, -0.2672, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3274 left_y=-0.1854 left_z=0.0938 left_yaw=-0.0388 left_pitch=-0.0227 left_roll=0.0137 left_gripper=0.597 right_x=0.2584 right_y=0.0023 right_z=0.1011 right_yaw=-0.0001 right_pitch=-0.0271 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -6.2017, 6.2564, 1.6044, -0.4567, -0.1294, 0.1148, 0.0205, -0.5402, 6.7897, 1.9267, -0.022, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5858a4134132b6cddf833c2e7f5f29bb30105665db753de33630d61322b4ca1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f75ac597126782cabc8d12a234781883e0092f9b3b5379381b3283142accc4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0acb08831bcfe318ff4a9c36b145c3068580d0e67f347d98a9530384197ac6fc",
        "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 · 12.21 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]: [-0.6334, 1.3666, 0.8108, -0.1463, -0.5091, -0.3832, 0.2237, -0.0212, 0.6392, 0.3222, -0.2832, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3575 left_y=-0.1512 left_z=0.1475 left_yaw=-0.0238 left_pitch=-0.0345 left_roll=0.0163 left_gripper=0.2237 right_x=0.2634 right_y=0.0022 right_z=0.1109 right_yaw=-0.0001 right_pitch=-0.0301 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -5.1487, 6.7077, 1.746, -0.3492, -0.0611, -0.0171, -0.3214, -0.8, 6.8855, 1.9414, -0.0317, -0.0415, -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]: [-0.794, 1.454, 0.672, 0.0029, -0.6048, -0.4767, 0.5958, -0.0212, 0.6205, 0.2958, -0.271, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3256 left_y=-0.1829 left_z=0.0929 left_yaw=-0.0592 left_pitch=-0.0523 left_roll=0.0381 left_gripper=0.5958 right_x=0.261 right_y=0.0023 right_z=0.106 right_yaw=-0.0001 right_pitch=-0.0255 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -5.9829, 6.4889, 1.7558, -0.4274, -0.1587, -0.1538, -0.1299, -0.7726, 7.0359, 1.9463, -0.022, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8055, 1.4662, 0.6617, 0.0486, -0.63, -0.5026, 0.597, -0.0212, 0.6056, 0.2756, -0.2672, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3274 left_y=-0.1854 left_z=0.0938 left_yaw=-0.0388 left_pitch=-0.0227 left_roll=0.0137 left_gripper=0.597 right_x=0.2584 right_y=0.0023 right_z=0.1011 right_yaw=-0.0001 right_pitch=-0.0271 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -6.2017, 6.2564, 1.6044, -0.4567, -0.1294, 0.1148, 0.0205, -0.5402, 6.7897, 1.9267, -0.022, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5858a4134132b6cddf833c2e7f5f29bb30105665db753de33630d61322b4ca1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f75ac597126782cabc8d12a234781883e0092f9b3b5379381b3283142accc4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0acb08831bcfe318ff4a9c36b145c3068580d0e67f347d98a9530384197ac6fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JhqxuFxCPMNh2t65cpphzn",
      "input": {
        "note": "The arm refused the last forward move (position unchanged), likely blocked or an awkward IK pose; raising to z=0.20 while moving forward to free it.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.18,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01JhqxuFxCPMNh2t65cpphzn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5983, 1.5497, 1.1133, -0.1936, -0.4942, -0.384, 0.5973, -0.0212, 0.588, 0.2497, -0.2638, -0.0235, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4163 left_y=-0.178 left_z=0.194 left_yaw=-0.0003 left_pitch=0.0197 left_roll=-0.0328 left_gripper=0.5973 right_x=0.2549 right_y=0.0023 right_z=0.0942 right_yaw=-0.0004 right_pitch=-0.032 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -7.0222, 8.9504, 1.5897, -0.1245, 0.359, 0.0171, -0.1026, -0.5949, 7.0769, 1.9512, -0.0073, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d61a8a397735707e40e573b46dbb400f3f84b4db5386d88990cc833823ec0971",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74868b4233e3a54ac9b8b963d846d4e17896e7338f8bc938a30ca3fe624a5386",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a8d8abaa89c7e11eab54d3440058a93dd8f4e09228b54332b8191c652ce73b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /messages · status 200 · 10.14 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]: [-0.794, 1.454, 0.672, 0.0029, -0.6048, -0.4767, 0.5958, -0.0212, 0.6205, 0.2958, -0.271, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3256 left_y=-0.1829 left_z=0.0929 left_yaw=-0.0592 left_pitch=-0.0523 left_roll=0.0381 left_gripper=0.5958 right_x=0.261 right_y=0.0023 right_z=0.106 right_yaw=-0.0001 right_pitch=-0.0255 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -5.9829, 6.4889, 1.7558, -0.4274, -0.1587, -0.1538, -0.1299, -0.7726, 7.0359, 1.9463, -0.022, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8055, 1.4662, 0.6617, 0.0486, -0.63, -0.5026, 0.597, -0.0212, 0.6056, 0.2756, -0.2672, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3274 left_y=-0.1854 left_z=0.0938 left_yaw=-0.0388 left_pitch=-0.0227 left_roll=0.0137 left_gripper=0.597 right_x=0.2584 right_y=0.0023 right_z=0.1011 right_yaw=-0.0001 right_pitch=-0.0271 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -6.2017, 6.2564, 1.6044, -0.4567, -0.1294, 0.1148, 0.0205, -0.5402, 6.7897, 1.9267, -0.022, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5983, 1.5497, 1.1133, -0.1936, -0.4942, -0.384, 0.5973, -0.0212, 0.588, 0.2497, -0.2638, -0.0235, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4163 left_y=-0.178 left_z=0.194 left_yaw=-0.0003 left_pitch=0.0197 left_roll=-0.0328 left_gripper=0.5973 right_x=0.2549 right_y=0.0023 right_z=0.0942 right_yaw=-0.0004 right_pitch=-0.032 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -7.0222, 8.9504, 1.5897, -0.1245, 0.359, 0.0171, -0.1026, -0.5949, 7.0769, 1.9512, -0.0073, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d61a8a397735707e40e573b46dbb400f3f84b4db5386d88990cc833823ec0971",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74868b4233e3a54ac9b8b963d846d4e17896e7338f8bc938a30ca3fe624a5386",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a8d8abaa89c7e11eab54d3440058a93dd8f4e09228b54332b8191c652ce73b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/AwKjgEIEhgCKkCcJFS+g5J0IS382mqAv8eJz+ixTnKnIX4BrhS5qrFQmlPwvczCIpDLZpH0jBUNMHGGSumNafzCsCg4kJJ32VwHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcmhzNUGEgy1XQl1XYVpjceFQukaDPObTZ5embcETaOFPiIwCm5WqAH+Xh5ImwB5z8jNf3XSSYmgwY4t2kIGzMonGBQ3L4CKaB/Xp9hZVT6C9L+ZKpoLMPEgj9QslTIN46uTj6IliMPOyITp+v3pd/zHrSo2xuHSZZBOzy5yTdr6YxKpnTgkNW1GRGZTTKD1C3LEDmGZO8fJvU9UH4kaRGdvfS3fNaaoaIJwZYGelOKJOogdSNy6Vq2maS4HlVusVQmGIte0ddRjlqCGV6PZjjDep3fTjERIRfEjh2HGrmrMCe705+17k+Et4rO2P119XnmnCBYhOFeRI2cP306lBzUwHGL+6PdR6vh+iqQxqNi42lW2NbSjdD33eLjqpQywjstzOPZWxGagZituy8OytZKCz3Gp1XFeGsogVxeuQTgmR+MZlspYMQg3tnRi3vcFZ1p4CKw/XbXgBdRdpE5u9DPlLo4MSb6u7/FRDOYkUtJRi6cOwsaaevQxm6yySKeyDbVD6ehn9U6tCdI8GqJ0NUTJHVjzAqco+jVklltUQCcSphm4bWlqWqszFyoZX4VjLb3zbeGR5iFnG7K1EcYLxvCUBAaxyJy/tJj4y27qTN0gBzdJSlAR3fnP/nBOsdWDopYTo+3XIYQfIUCIb0ANsMK9gps//2NWRkl8MYnPatNK4AZPM1sgYlLfY7kuggtdDGUbpKKyKuDgOGgDcNhYCPJl9J0cD2AJLOjgrHgBTu1kVqYq1PAt8nOwHheDY0LfRpwVYIqfqoVbS0OFiiGtHwz2f0h+VkoSAkJilDy4aeg4lovXItyiOwsSSMSEvYhVAOC1uWMNEdP6lgZRgZTJY8Qy3jRzlkowtXVJXDxRXvlWZJDOXC7/F9iPtNxJ+IqtkFw5FKlr2iRdjyFLj4PAmyk0kxZLxC77wrRRh00viHj+6lPHKn34inN1xLItACBJMbY+fjo0Yd/iC/mmh6+y2VpbdC+F04Yg2nOib73dYdur9fGivflSAnm2CMl8LdKJv4STI538FW63UWHuxM/fRqI9J5BEQyp7mkCGG/6J8yKJGdbBFZnFoG1KtKL/yCSCpy8YgRGHTIFvMpF+YrPeqso+BecEpKWzJL8e3nGP/MDI7Id7zQPANsycBg15lF8kFCdtlTR2KpJ8RoVSlGYNOl8iA7eLqavZQenQvrnZAtmNaOrsBACr/pee5fjPxOqytlNZRNAHgoLeWdwO0zuQP2oHz5UQylPecexRsK9k++ljau18Ep3V2ZtwCshjY5wstGTUX1tfhLEUBt5sLKGjOHAotM6UcCAQj6zCIDHvAkZGqDDmFPJn+iQy+FEWQ2cySJ+Tx5fwKEQywY9tWyed3e0TpGSuoRSPYLcDG4wX0oKztjonyP5/qcMWhgxCB63P9Dx+A7ThhWIoTTMkui7iUUXjpMtRXidsWEC1GapNky88GyC9N46KosAFnCh8dakyP4MUdIikou4MeNoPdRq+e7vIS5yzNquXDDfLALedFdk3Qfar/z5uF8b9IFsgy1wsYF8WoeDMuXtmKYIDxXyvnFcc864D/S8YAEOJgYomKTavDp7CwRckqxCpcoZfO3HMCMzIBbPK2BQD1Bw0+5L95f9nHENceDCHECUumcB8Z1672++3JGg+QyhNFV6RClUNC/E6yPJAXnBV8vNNQDRpGQgPZ4d4FeYLO+NcBANpevLKqVLIO+9f7Sjg1ZP7b8suyTtwYsTdGHlTtCpUz0GzIWSKUvGQDcjOiysrYx3jzaYvqr97xS8QjUqzZj1EpvKunbexRY2WSBtcvO2f7nj0DQeBCIwZidUiJ4YKJMXM5NlLu1n64cSkL4h8LGmtYFuMe7EKwmt8AinqLhJDeA2dt6BtP0vxLQc63E/tYq351MNH12wgsy4PoThcaD6V8w33dq3szCvT0dvZgdYVN1IhTPxSwN3R2KZgYG3q4e36cHpqFyFOTSc9Heos4aVaBoDzdULG0ZH9reQ2c2hliOXW8GVNnNNPN6V+paeZI6EOitQ/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gr7JguPUeBWkez2kH4JjHU",
      "input": {
        "note": "Wrist view shows the target bottle's neck a few cm to the arm's right and slightly further out; shifting right and forward and descending to 10 cm for a closer look.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.21,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Gr7JguPUeBWkez2kH4JjHU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6487, 1.7832, 1.0306, 0.0364, -0.5323, -0.3977, 0.5976, -0.0212, 0.5644, 0.2234, -0.2562, -0.0235, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4255 left_y=-0.2056 left_z=0.1006 left_yaw=-0.0129 left_pitch=-0.0368 left_roll=0.0249 left_gripper=0.5976 right_x=0.2521 right_y=0.0024 right_z=0.0893 right_yaw=-0.0006 right_pitch=-0.0271 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -8.1709, 5.7778, 1.6337, -0.4029, -0.188, 0.022, -0.335, -0.2256, 6.7214, 1.917, -0.0317, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:703bb2e27ddeb2801187c67cab5a95e4be8a8fed886c4cb0bf36705d4fad0f6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d6b2bc249566a36c98e45f34dd4d963709f439be13bbb3defd254526af7f93c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:923e9703b666a83a8e15adb80b34801e4cfbfec51d4071cdf4c7781adc1973b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 2.656 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6487, 1.7832, 1.0306, 0.0364, -0.5323, -0.3977, 0.5976, -0.0212, 0.5644, 0.2234, -0.2562, -0.0235, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4255 left_y=-0.2056 left_z=0.1006 left_yaw=-0.0129 left_pitch=-0.0368 left_roll=0.0249 left_gripper=0.5976 right_x=0.2521 right_y=0.0024 right_z=0.0893 right_yaw=-0.0006 right_pitch=-0.0271 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -8.1709, 5.7778, 1.6337, -0.4029, -0.188, 0.022, -0.335, -0.2256, 6.7214, 1.917, -0.0317, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:703bb2e27ddeb2801187c67cab5a95e4be8a8fed886c4cb0bf36705d4fad0f6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d6b2bc249566a36c98e45f34dd4d963709f439be13bbb3defd254526af7f93c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:923e9703b666a83a8e15adb80b34801e4cfbfec51d4071cdf4c7781adc1973b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS5gkKjgEIEhgCKkA+Ux74e1tlT5nl1M52/pi5Oa1IGlZnwweTYNpeuaMOBkEoQYijToG18VwUnmb/WhaLPq6mIyrg/YnpI4aIN1AaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdShzNUGEgxKQx4UlsJAVUqjldMaDFDelpR/dm2WnCyC/yIwMQU7rOCLdA+21S+SaPh8RWtEM2wqkXCOy5j6DRXPobVx2n5x7Z/RMF2bgKawsKXvKoQIUpYGbHPVTHvZmQ9RPzbZgQ9H4jpVB9OaWmK0m9MYTCEYIXnRlTAiiGLubZ0OO0g/+msxPfwLGfQavUuMAIS6dDXkN+bCA7JB85D5J/1RUamEWP7C5dZfMaD1aM8AfDKCE4SP+V5cwIz8gsfRekctIIcNWfkBMcfBJJ5QgvNV23r6Csh9pyXP9Q+rfXt6RZ5JtpTheozrKJgKzNkIrxDi/Y1oEA1VvcExJNZulu9bQS3d2pwMqAlSVKf17/GKgvco6eLakfnz/rVzFtQgfT3EHr3sl7v+w8G1N3QtZE5xxyM+NhkrgVw8oclYCZ+WVH2YqKgA7FN1/BBHp5cbEwqriYr4yJeo5NOMvf2mbvzWJq69X+0O1sHdE9ARpZ8U8RnspwlGRlM4tNaj9wJkGenEUK64Y7RH2RxarMMHPQ6B9Nqx14xMfEQsgqZyOAmon4ONv4O0Q0v6KYfmrwJxZr7YBbF3yZn3PssJ4aRh0vxA3rUjlRAEAejp1rotVK0Yug+Cf4v7WwKFmtS2tKWoOgrX2elNrl/3VZ30UeZ1enzsDgMPTcgW4NYULOosx4qcnglvDpLb7dvxtOB70W7fdaDATkIcBlKy7LhsWa/qNvJ1DNeKoYi0HFlvRURrJDnH8E/IuAkVzksv5TtxDt1rCLwfi/uJ1WIFGqKMNCOYgmpTgTZiGa3Mt58N7N+sbDxICZ5NDL3VSPMlX8z9qxZGzkSM8vLKwbDRKrgxtQcUzFwdbk7oo3wQgolFpM5Cbbwmg4OBBvrmG/D/u4RU4APST88cfohYi1SlNPE33nR3aSxob6JWofP3S5LsH+50/1klHSPDWdhXmw3m5y1YiJH7Vzj2oXnJVuwATDq8r6wE/a/7wl/CDYDqWJbtUqTdajetJL67h6yIKcC0zxA7xLbUbSNRsUetQpICI/9uK40R4l8az82WQrC9Q1R3v+K3A+Cr8HXFLDP7QDbONyUGZ2tmRKcXR6u9ibw44qPaixH6UegK50lsE2TZh/svJe+4RZhfTOOPxMdhqblSJKrDHBuCHKeDGRLWRUOHmWYVXLmQhnV6jpmX1PGPrYkobnAnaKxJmCRTxxyqF8wBUDq9KUcD9wtvyz0WkeR55ZyR/Im7AiYwwZlhuKYAtG6e6PeROt6M08gkJ2jmFHmXGWm17k6kXFa3F1r/wbwapz8o1vs0R8UTxarGoUIz7Q1qpMPPikSnYIbdkGJJk1bpGqjkkOk6O1Q5uVk6dO0tdm4fS6imzvuqcq0J/q03bQ3bWEkDDlWthLm18kQfquHM3shfiq3K1oiGk85m66pVOY20xCpqO1Ym4grqX4Fc1dqNrwt+Z/Jm/OUGGZBXTPiec2+20r8KqarKPxjcwk4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K2ph2smQnDFgHeqiaa2kEA",
      "input": {
        "note": "The bottle's cap is ~3 cm to the arm's right of the jaw column in the wrist view; shifting right and descending toward cap height.",
        "targets": {
          "left_y": 0.235,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "content": "target for left_y is outside [-0.4, 0.05]",
      "tool_use_id": "toolu_01K2ph2smQnDFgHeqiaa2kEA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
call 17 attempt 0 · /messages · status 200 · 13.46 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 48 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8055, 1.4662, 0.6617, 0.0486, -0.63, -0.5026, 0.597, -0.0212, 0.6056, 0.2756, -0.2672, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3274 left_y=-0.1854 left_z=0.0938 left_yaw=-0.0388 left_pitch=-0.0227 left_roll=0.0137 left_gripper=0.597 right_x=0.2584 right_y=0.0023 right_z=0.1011 right_yaw=-0.0001 right_pitch=-0.0271 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -6.2017, 6.2564, 1.6044, -0.4567, -0.1294, 0.1148, 0.0205, -0.5402, 6.7897, 1.9267, -0.022, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5983, 1.5497, 1.1133, -0.1936, -0.4942, -0.384, 0.5973, -0.0212, 0.588, 0.2497, -0.2638, -0.0235, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4163 left_y=-0.178 left_z=0.194 left_yaw=-0.0003 left_pitch=0.0197 left_roll=-0.0328 left_gripper=0.5973 right_x=0.2549 right_y=0.0023 right_z=0.0942 right_yaw=-0.0004 right_pitch=-0.032 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -7.0222, 8.9504, 1.5897, -0.1245, 0.359, 0.0171, -0.1026, -0.5949, 7.0769, 1.9512, -0.0073, -0.0317, -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 48 current as-sent form
{
  "content": [
    {
      "content": "target for left_y is outside [-0.4, 0.05]",
      "tool_use_id": "toolu_01K2ph2smQnDFgHeqiaa2kEA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EQLTVMKBmq9WSdcmhjafMP",
      "input": {
        "note": "Correcting sign: the bottle's cap sits ~3 cm to the arm's right of the jaw column, so shifting to left_y=-0.235 and descending to cap height.",
        "targets": {
          "left_y": -0.235,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01EQLTVMKBmq9WSdcmhjafMP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7086, 1.9507, 0.9813, 0.3271, -0.5816, -0.4465, 0.5977, -0.0212, 0.5446, 0.202, -0.2455, -0.0235, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4303 left_y=-0.2363 left_z=0.0589 left_yaw=-0.0082 left_pitch=0.0407 left_roll=-0.038 left_gripper=0.5977 right_x=0.2506 right_y=0.0024 right_z=0.0863 right_yaw=-0.0004 right_pitch=-0.0179 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.7316, -7.0769, 5.6821, 0.7937, -0.0464, 0.149, -0.0024, -0.0479, -0.2803, 6.7624, 1.8632, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd7441380575216610834eaa0c2c982a078f9c81e0e2adf456498682dfe68c2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:474a11be09f0b3f2483d3019438e35f64d18ac3db688486390df6834e290938e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:016f1f5d1ed749672a2614d51695eed1186737844ac81bb6eae0d9f0a4fa5c36",
        "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 · 6.205 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 51 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5983, 1.5497, 1.1133, -0.1936, -0.4942, -0.384, 0.5973, -0.0212, 0.588, 0.2497, -0.2638, -0.0235, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4163 left_y=-0.178 left_z=0.194 left_yaw=-0.0003 left_pitch=0.0197 left_roll=-0.0328 left_gripper=0.5973 right_x=0.2549 right_y=0.0023 right_z=0.0942 right_yaw=-0.0004 right_pitch=-0.032 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -7.0222, 8.9504, 1.5897, -0.1245, 0.359, 0.0171, -0.1026, -0.5949, 7.0769, 1.9512, -0.0073, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.6487, 1.7832, 1.0306, 0.0364, -0.5323, -0.3977, 0.5976, -0.0212, 0.5644, 0.2234, -0.2562, -0.0235, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4255 left_y=-0.2056 left_z=0.1006 left_yaw=-0.0129 left_pitch=-0.0368 left_roll=0.0249 left_gripper=0.5976 right_x=0.2521 right_y=0.0024 right_z=0.0893 right_yaw=-0.0006 right_pitch=-0.0271 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -8.1709, 5.7778, 1.6337, -0.4029, -0.188, 0.022, -0.335, -0.2256, 6.7214, 1.917, -0.0317, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7086, 1.9507, 0.9813, 0.3271, -0.5816, -0.4465, 0.5977, -0.0212, 0.5446, 0.202, -0.2455, -0.0235, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4303 left_y=-0.2363 left_z=0.0589 left_yaw=-0.0082 left_pitch=0.0407 left_roll=-0.038 left_gripper=0.5977 right_x=0.2506 right_y=0.0024 right_z=0.0863 right_yaw=-0.0004 right_pitch=-0.0179 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.7316, -7.0769, 5.6821, 0.7937, -0.0464, 0.149, -0.0024, -0.0479, -0.2803, 6.7624, 1.8632, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd7441380575216610834eaa0c2c982a078f9c81e0e2adf456498682dfe68c2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:474a11be09f0b3f2483d3019438e35f64d18ac3db688486390df6834e290938e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:016f1f5d1ed749672a2614d51695eed1186737844ac81bb6eae0d9f0a4fa5c36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NF9AhMgYZBAMicmZCrJ5z4",
      "input": {
        "note": "The bottle is now centred on the jaw column but the jaws are resting on its 6.5 cm-wide body; advancing 3.5 cm so the jaws sit over the narrow neck/cap and descending to neck height.",
        "targets": {
          "left_x": 0.465,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01NF9AhMgYZBAMicmZCrJ5z4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6693, 2.0815, 1.0985, 0.3901, -0.5686, -0.445, 0.5977, -0.0212, 0.5343, 0.1898, -0.2455, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4663 left_y=-0.2431 left_z=0.0495 left_yaw=0.0218 left_pitch=0.0737 left_roll=-0.074 left_gripper=0.5977 right_x=0.2489 right_y=0.0025 right_z=0.0831 right_yaw=-0.0001 right_pitch=-0.0198 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [0.6906, -8.0889, 5.5726, 0.8523, 0.0171, 0.3932, -0.0073, -0.0752, -0.3897, 6.7487, 1.8877, -0.0708, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b40352aaaf45530a02dccf1bb0c46034f710956f6795aa9b575b4d1fd604d2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2cafd8aece39fe7b9f13e85ebf679eb2ec219fa9ddccfb3afbd55d40ec160c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:79b1e1142909191d94f5d92d030dcd410427d10ac0d54fd1c3085f1d95e2f2d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 14.61 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 51 changed as sent

message 54 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6487, 1.7832, 1.0306, 0.0364, -0.5323, -0.3977, 0.5976, -0.0212, 0.5644, 0.2234, -0.2562, -0.0235, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4255 left_y=-0.2056 left_z=0.1006 left_yaw=-0.0129 left_pitch=-0.0368 left_roll=0.0249 left_gripper=0.5976 right_x=0.2521 right_y=0.0024 right_z=0.0893 right_yaw=-0.0006 right_pitch=-0.0271 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -8.1709, 5.7778, 1.6337, -0.4029, -0.188, 0.022, -0.335, -0.2256, 6.7214, 1.917, -0.0317, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7086, 1.9507, 0.9813, 0.3271, -0.5816, -0.4465, 0.5977, -0.0212, 0.5446, 0.202, -0.2455, -0.0235, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4303 left_y=-0.2363 left_z=0.0589 left_yaw=-0.0082 left_pitch=0.0407 left_roll=-0.038 left_gripper=0.5977 right_x=0.2506 right_y=0.0024 right_z=0.0863 right_yaw=-0.0004 right_pitch=-0.0179 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.7316, -7.0769, 5.6821, 0.7937, -0.0464, 0.149, -0.0024, -0.0479, -0.2803, 6.7624, 1.8632, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6693, 2.0815, 1.0985, 0.3901, -0.5686, -0.445, 0.5977, -0.0212, 0.5343, 0.1898, -0.2455, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4663 left_y=-0.2431 left_z=0.0495 left_yaw=0.0218 left_pitch=0.0737 left_roll=-0.074 left_gripper=0.5977 right_x=0.2489 right_y=0.0025 right_z=0.0831 right_yaw=-0.0001 right_pitch=-0.0198 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [0.6906, -8.0889, 5.5726, 0.8523, 0.0171, 0.3932, -0.0073, -0.0752, -0.3897, 6.7487, 1.8877, -0.0708, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b40352aaaf45530a02dccf1bb0c46034f710956f6795aa9b575b4d1fd604d2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2cafd8aece39fe7b9f13e85ebf679eb2ec219fa9ddccfb3afbd55d40ec160c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79b1e1142909191d94f5d92d030dcd410427d10ac0d54fd1c3085f1d95e2f2d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnQUKjgEIEhgCKkB8W0Qk2gfD80/CANcsBDtX765kpc8M1gPeMCa0PE4kv7eUlUt02RieEW9dqhvDbrA0CIDdul1Nbuxaw+E6d7JHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeuhzNUGEgw1tq6g8gyOUQX6AsYaDBs0/0xF6rmTwUR0fiIwO6pwcbbQA7PK+vTm9f6HNnTd237s2VBxQrXEpa0emLepJ+LzQoe28sEFivhmgYYBKrsDZYQt8BHfUmkhA5rCkim2F8KAOYvarv4lHFG42TytJN990WJ+U6GnR0v+rEpnDJr1NI1VGYAycG5F6X7U4Jl1Cod9Y3uLOfitCVTb6EScS3tiazXd7ek1n6a8bo35c+dYUP7G1wTIgAmOL6Wl+fGyPbAIwdmG7YwRvbf5VgwwqT06M9GNt5EYejarZiHMl2ajWqQhoVd/PMUSPbFSOL7QGFI7XwLh1SxaexjkZyuVFa2WnJZ6i0ypKDiGvCuBfbVwqyz+WIID9iZVJv69tFa3UTsbsCPmyUNHU8CR9XQdP5fzeX/2EFcqcOh/lLcgMYVK+zg3+ri3dHXq9PUPDJhSZSqvAzj4Y2jpjovdnws+2CPOHfLlQPSlM4neEYsLpMrpYLvfjp676piQ0upWWXVRRvYf+UIJoT0VQ5yTiuYkFDaHRdp29eg1pXRL2M5oo9/C6O+QJm3Xpr/oOT2sGak2ZrIE48bq3MX02QcTJXfsuzcmVDh+OSHjexY3DBpfPsTOHWdIU+tEICrtgh89o69VtxgE7A1u24YQq5n9yj1kKbu7gSHLV/b21966CPvU+4g/srC1mN+Dk1ab2+kYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Eru8VhyB84Uaidvzk6Rmw6",
      "input": {
        "note": "Cap and neck are just ahead of the jaws in the wrist view; advancing another 2 cm and pressing down to neck height so the open jaws straddle the neck.",
        "targets": {
          "left_x": 0.485,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Eru8VhyB84Uaidvzk6Rmw6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6548, 2.0983, 1.1118, 0.4084, -0.5655, -0.4374, 0.5977, -0.0212, 0.5217, 0.1764, -0.2451, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4737 left_y=-0.2399 left_z=0.0492 left_yaw=0.0305 left_pitch=0.0844 left_roll=-0.078 left_gripper=0.5977 right_x=0.2471 right_y=0.0026 right_z=0.08 right_yaw=-0.0001 right_pitch=-0.0202 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [0.1436, -8.0889, 5.7368, 1.0085, 0.0366, 0.3053, -0.0122, -0.3214, -0.0615, 6.8034, 1.917, -0.022, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a051538d09e67309909d0d185996aa10443bdef019e369d1588f1be5b4a3ad2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:284ef7f62912a516dc57087450192247bf8492d0e64e6406a01f16c45b59a7d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:78ab0645ca8cd158b1e69c28201487a2ece2587afbd87dc7b1f736d1990a89c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 10.95 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 51 changed as sent

message 54 changed as sent

message 57 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7086, 1.9507, 0.9813, 0.3271, -0.5816, -0.4465, 0.5977, -0.0212, 0.5446, 0.202, -0.2455, -0.0235, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4303 left_y=-0.2363 left_z=0.0589 left_yaw=-0.0082 left_pitch=0.0407 left_roll=-0.038 left_gripper=0.5977 right_x=0.2506 right_y=0.0024 right_z=0.0863 right_yaw=-0.0004 right_pitch=-0.0179 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.7316, -7.0769, 5.6821, 0.7937, -0.0464, 0.149, -0.0024, -0.0479, -0.2803, 6.7624, 1.8632, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6693, 2.0815, 1.0985, 0.3901, -0.5686, -0.445, 0.5977, -0.0212, 0.5343, 0.1898, -0.2455, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4663 left_y=-0.2431 left_z=0.0495 left_yaw=0.0218 left_pitch=0.0737 left_roll=-0.074 left_gripper=0.5977 right_x=0.2489 right_y=0.0025 right_z=0.0831 right_yaw=-0.0001 right_pitch=-0.0198 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [0.6906, -8.0889, 5.5726, 0.8523, 0.0171, 0.3932, -0.0073, -0.0752, -0.3897, 6.7487, 1.8877, -0.0708, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6548, 2.0983, 1.1118, 0.4084, -0.5655, -0.4374, 0.5977, -0.0212, 0.5217, 0.1764, -0.2451, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4737 left_y=-0.2399 left_z=0.0492 left_yaw=0.0305 left_pitch=0.0844 left_roll=-0.078 left_gripper=0.5977 right_x=0.2471 right_y=0.0026 right_z=0.08 right_yaw=-0.0001 right_pitch=-0.0202 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [0.1436, -8.0889, 5.7368, 1.0085, 0.0366, 0.3053, -0.0122, -0.3214, -0.0615, 6.8034, 1.917, -0.022, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a051538d09e67309909d0d185996aa10443bdef019e369d1588f1be5b4a3ad2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:284ef7f62912a516dc57087450192247bf8492d0e64e6406a01f16c45b59a7d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78ab0645ca8cd158b1e69c28201487a2ece2587afbd87dc7b1f736d1990a89c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015bMsqb6oCY3onmdKkEUVMh",
      "input": {
        "note": "The bottle's neck is at the edge of comfortable reach, so I'll first grab its body: opening the jaws fully and lowering beside the bottle's shoulder so the jaws can straddle the 6.5 cm body and drag it closer to the base.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.455,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_015bMsqb6oCY3onmdKkEUVMh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6544, 2.1067, 1.1118, 0.3927, -0.5617, -0.4198, 0.9959, -0.0212, 0.5076, 0.1612, -0.2447, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4717 left_y=-0.2388 left_z=0.042 left_yaw=0.0173 left_pitch=0.0648 left_roll=-0.049 left_gripper=0.9959 right_x=0.2452 right_y=0.0026 right_z=0.0763 right_yaw=-0.0001 right_pitch=-0.021 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -8.8, 5.5316, 1.2088, 0.0464, 0.1099, 0.0171, -0.1436, -0.1299, 6.9402, 1.9219, -0.022, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:416e06f49e200ecb2c07b35cb560bb9ec00d310d94d4c1cc51bc19fab489ae74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c1c8995829c7b4a6eae6985163540cfc13d542d4c0b355ee7cbfc5e79fbe76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c38d8e586eacc3754b7109c1a4fecb615c93b83668eaea7d9525aacdc16992c",
        "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 · 6.44 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 54 changed as sent

message 57 changed as sent

message 60 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6693, 2.0815, 1.0985, 0.3901, -0.5686, -0.445, 0.5977, -0.0212, 0.5343, 0.1898, -0.2455, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4663 left_y=-0.2431 left_z=0.0495 left_yaw=0.0218 left_pitch=0.0737 left_roll=-0.074 left_gripper=0.5977 right_x=0.2489 right_y=0.0025 right_z=0.0831 right_yaw=-0.0001 right_pitch=-0.0198 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [0.6906, -8.0889, 5.5726, 0.8523, 0.0171, 0.3932, -0.0073, -0.0752, -0.3897, 6.7487, 1.8877, -0.0708, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6548, 2.0983, 1.1118, 0.4084, -0.5655, -0.4374, 0.5977, -0.0212, 0.5217, 0.1764, -0.2451, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4737 left_y=-0.2399 left_z=0.0492 left_yaw=0.0305 left_pitch=0.0844 left_roll=-0.078 left_gripper=0.5977 right_x=0.2471 right_y=0.0026 right_z=0.08 right_yaw=-0.0001 right_pitch=-0.0202 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [0.1436, -8.0889, 5.7368, 1.0085, 0.0366, 0.3053, -0.0122, -0.3214, -0.0615, 6.8034, 1.917, -0.022, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6544, 2.1067, 1.1118, 0.3927, -0.5617, -0.4198, 0.9959, -0.0212, 0.5076, 0.1612, -0.2447, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4717 left_y=-0.2388 left_z=0.042 left_yaw=0.0173 left_pitch=0.0648 left_roll=-0.049 left_gripper=0.9959 right_x=0.2452 right_y=0.0026 right_z=0.0763 right_yaw=-0.0001 right_pitch=-0.021 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -8.8, 5.5316, 1.2088, 0.0464, 0.1099, 0.0171, -0.1436, -0.1299, 6.9402, 1.9219, -0.022, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:416e06f49e200ecb2c07b35cb560bb9ec00d310d94d4c1cc51bc19fab489ae74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c1c8995829c7b4a6eae6985163540cfc13d542d4c0b355ee7cbfc5e79fbe76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c38d8e586eacc3754b7109c1a4fecb615c93b83668eaea7d9525aacdc16992c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwAsKjgEIEhgCKkB4jUu3LyDCMQXWIDXodG6Plxloug2KzOBJaUo8TzNrK2RpkpiWZT5arAge2eySKgM6BWQ+6Jjz728s5Vklw5cUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYWizNUGEgyJVovXNcIlV3+557YaDFtYPTlWh24m3vBhNSIwAQZMtlb8I0NPipNCh3cRLO+YF32PxegBIARMuiVACLFOR26O2CZ3v8iJOZ5wzkeKKt4JQtw8vmibKILaYbZ5YOKD535ckz4/ETQ1HWWsYyv8rI9a/uEJVljwleIZVP6Q59nOs39hPggu7aelkGgA60PLgmmnOV3vAsbKM7lC/2SvpvsjF64MHhMPY2TXQmXDyBA0OmASAtt1dqqdV9XuGNFGyU+xtXGJvbn9EyWUCHM1iLMKOCZVVKuyPCX9yO7oR/24lbWT4iWeAe8wKEzp9zeMlXyJX4PNs3lH+o0yhtpuygpO8wt7VuZoZoaDybxddBzdGjOVzthElxvOVtuylGZhTQ5ya7uoB//Bbf9pNal+z9Oh5N1RqSyXrI72ELvTB3fNdopZzRwlrHsS74BOftBlnO5xDvAzVASjbyVPrf37Sh7a/dcitb/8zl15dW/IVpYlKx23ipKanD7bIzM4wTslSUe009C2o2Iq7PaBpGbH8UVLUbUQ14Tv7ACmsg1LYkq7YKihiInBb8nrqMu2V3b3+Z340+ieKdHzoIWWcW5rS0+xmUm4+AKHGF9BdKbC6742GSIOJThmO66Wcz17G1E6ri/scnqei2C0dVnzzlG2rCI2COr3PeVJSLNy6yVL583IpxLm6ipNrDUkxEV9ov9VaLzD5nj+E72pi/EQugZ4nd2Brigkan1bcEPV5o2CdkrdKGz82XP5ZM3hxXfoO9o9FhL59g5V1OQGnLOCjYWLH4PInA4Q9pbA10KSqlsMz5YJ2ugdJzM0pyJlb2uf0pEPQiH70lrIodUwN+hP0W/2jgHMurS9/Tut/bvndM8ZYqFQjO/ux1IA503zkq/RT87o4glKdtb+CAv8LmQPpCZKHatZboWp1wVQP0DJDs7yxaeecZAoZWTm+Jj7y/I2MgRzv3yaZYZw7u+L/gmRyQcW27yo8wp96DEFG1fGsoTwf674BxCSbdbUwDauhBuKRBMwdt/eUm/O98hmqoJK+iwn29EDbk5DfMqFkuOmDb/fxyEniV+IOba9/PaL20fkSKky1T7oNN1o2P1bJo5EgDRorC8Yon8Z7mSVDtagJnqKBM30jnq9xI8ZEoLWqkaIma2kzbhcOYJytpCjM0kuJsnQ1LqSHdhHSj8rfw70dpyry9PDUnfggxicNmfItMbXeyfdvLp6W9fbz8PqIflBFijE/nldfDjfQ08c8PTI3jERUQ83SERX7sahVZjIM7MvNm2lErk6hg2kgj0n7thjRSrhGkn00pF0CI/DovMRtM3gVRd/oTv1MoioKOQyDNRQVvYs2a/PZB/IRYEmyK4QPbaZDWxMfCbvvEwEyT8aInDKvv+MMiJuc/XH2hzBq3BI9UGPuVjNF6gm+4mgSqHiLrAA84cQYJGkqiolpONFZ+id5NDJCblPDKoW7owKDmNoWSfsOfbxipovXddQ5gvOyb6yhb3a4tyUP3s1QMXi5EDZLMh6eWlzOyOlZhy43dU1Pa3rcRCOJ6sbDOSFbY0YdnlrybHaV8TexPKb8w7j19NtXGaFPT2AZtGRxQ7GQ0694TpCvK5p8iouJSgRa1BaJ0nhfa97H8Y440S0wzHwjQGU6NLKuCaPvhx4mfXrttS1Yojn93ZqK+rTs3J/pSCWWjcD0ZfQqcApcBAwYEgUk9FR/NcPiEv9KwJGi0FARO8C+RqEPZF2lAibjIrar5nqMJeQs+lWv/+IatNDBnJVSwkANBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WeMdK7EnCzkVFAawcxtjWS",
      "input": {
        "note": "The open jaws now straddle the bottle's body at mid-height; closing on the body so I can drag the bottle ~10 cm closer to the base where the neck is comfortably reachable.",
        "targets": {
          "left_gripper": 0.45
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01WeMdK7EnCzkVFAawcxtjWS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6548, 2.1056, 1.169, 0.305, -0.569, -0.4274, 0.4585, -0.0212, 0.4904, 0.1448, -0.2451, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4764 left_y=-0.2413 left_z=0.0483 left_yaw=0.0257 left_pitch=0.0444 left_roll=-0.034 left_gripper=0.4585 right_x=0.2431 right_y=0.0027 right_z=0.0726 right_yaw=-0.0003 right_pitch=-0.0206 right_roll=0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -11.3436, 7.0769, 0.9548, -0.1245, 0.0122, 0.3443, -0.1436, 0.0068, 7.0359, 1.9316, -0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b043c46054f6a1026e39eecfe56f28a105c00b2887b99eb36a5db0b63d250df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53abd723849c36585c8a9383c36bb0b55c5c07191b6fb50d74c8162bf9d9b925",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72a79bd3609c8dc6dbea59885195ef38ad7f9fde83f25476a2391d5e2c6c8a21",
        "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 · 11.05 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 57 changed as sent

message 60 changed as sent

message 63 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6548, 2.0983, 1.1118, 0.4084, -0.5655, -0.4374, 0.5977, -0.0212, 0.5217, 0.1764, -0.2451, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4737 left_y=-0.2399 left_z=0.0492 left_yaw=0.0305 left_pitch=0.0844 left_roll=-0.078 left_gripper=0.5977 right_x=0.2471 right_y=0.0026 right_z=0.08 right_yaw=-0.0001 right_pitch=-0.0202 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [0.1436, -8.0889, 5.7368, 1.0085, 0.0366, 0.3053, -0.0122, -0.3214, -0.0615, 6.8034, 1.917, -0.022, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6544, 2.1067, 1.1118, 0.3927, -0.5617, -0.4198, 0.9959, -0.0212, 0.5076, 0.1612, -0.2447, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4717 left_y=-0.2388 left_z=0.042 left_yaw=0.0173 left_pitch=0.0648 left_roll=-0.049 left_gripper=0.9959 right_x=0.2452 right_y=0.0026 right_z=0.0763 right_yaw=-0.0001 right_pitch=-0.021 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -8.8, 5.5316, 1.2088, 0.0464, 0.1099, 0.0171, -0.1436, -0.1299, 6.9402, 1.9219, -0.022, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6548, 2.1056, 1.169, 0.305, -0.569, -0.4274, 0.4585, -0.0212, 0.4904, 0.1448, -0.2451, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4764 left_y=-0.2413 left_z=0.0483 left_yaw=0.0257 left_pitch=0.0444 left_roll=-0.034 left_gripper=0.4585 right_x=0.2431 right_y=0.0027 right_z=0.0726 right_yaw=-0.0003 right_pitch=-0.0206 right_roll=0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -11.3436, 7.0769, 0.9548, -0.1245, 0.0122, 0.3443, -0.1436, 0.0068, 7.0359, 1.9316, -0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b043c46054f6a1026e39eecfe56f28a105c00b2887b99eb36a5db0b63d250df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53abd723849c36585c8a9383c36bb0b55c5c07191b6fb50d74c8162bf9d9b925",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72a79bd3609c8dc6dbea59885195ef38ad7f9fde83f25476a2391d5e2c6c8a21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwgUKjgEIEhgCKkC/aJiZ0x22s3jtAjkem18O8YCN1CzClxmgu9iSFHG19q7irgctn2VxX0XAj1WUrw+lu4u80jor2MuT9tbST+++Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYyizNUGEgwQnGGwUUcD/uz07FkaDCmkASuh0N3hpjBrryIwa2WBggN+IbtYTblkRRm1UmH7PHaFR2H0FwK7X+54XwJMRh4pLm09KJ3DYo0NP/QZKuADRqleFsZFHnpBZYYd071OvHbo1/QmYehz0UuZwzq3tq+yFL0NOgw9RyGYMNRL7VPmLzwrNo+9tMvaDHhUbfAQ3N3DklsAlpd/0n3zoDzaCcjcZvcDuE/3ymWle1sb1Jg4yP1wKdMk+4Gw3bdzZwWm+R3X4VBRurFHHsMHtZXv29rSg8+kXIzCL3QjDa7otZWrPa1AYSaN8NZF8t35V9hCWxk6r02xwV0V5jHUq7H9q9ggwOoLqO/h6KbHFIvX2vAkrzTBs4Z3Dw91vfgv3H4QbOspH3l6IeZoIzIeFcRAJZBHCUhYKT/MJQczBS5yasgbHNyvv4RuL5j7fEDQDmacvV2mxMcEkMNzHMriltLiLLOoaonE6V0drUAjIynW33uP7GuDfcOHGhiQqAYH2wyf8oUaI0vnS4z/8tuVu9AL78jB2sJFiQnXJo6qH5x8m1+tmfslrUWQvZc1q70z76fhLqHKlQbNW6YFk2QAb4FB161cJVw23LkpNzglO9vubMNxX2NDYbjWocF7WAqS9siiiWR21G9U+a7E/N0O6Nc90ecOsthPNKo2ex7KV/xg8fwpe54fafcGKHWF1MDPh9BUWMsu39HL4Ga3QZAiE9e5AloPHb5OYjJHKEY+m/7SUO8aGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CdrEdD2Q8bbNKUUTKktFCg",
      "input": {
        "note": "Jaws have a grip on the bottle body (gripper 0.46 with effort); dragging the bottle ~10 cm back toward the base so its neck comes into comfortable reach.",
        "targets": {
          "left_x": 0.37,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01CdrEdD2Q8bbNKUUTKktFCg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8364, 1.8954, 0.8997, 0.2409, -0.6971, -0.5636, 0.4594, -0.0212, 0.4728, 0.1295, -0.2455, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3801 left_y=-0.2464 left_z=0.0486 left_yaw=0.012 left_pitch=0.012 left_roll=-0.0067 left_gripper=0.4594 right_x=0.2413 right_y=0.0027 right_z=0.0694 right_yaw=-0.0001 right_pitch=-0.0187 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -10.4957, 5.2171, 1.1697, -0.2759, -0.188, 0.0806, -0.0479, 0.4444, 6.8034, 1.9414, -0.022, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56a7019cfbc4f9c1234b74f7c0ce5cfb4ea0f91d42eebe527be116e4fa8cb6dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:757e02898f9516d87222b3d73911cde0b3e6d2e71c94d53033b2a681765eefe5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:affda44698eec2966e4dc0532542b5f235e1fab475708c115c62917e5c94000e",
        "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 · 8.201 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 60 changed as sent

message 63 changed as sent

message 66 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6544, 2.1067, 1.1118, 0.3927, -0.5617, -0.4198, 0.9959, -0.0212, 0.5076, 0.1612, -0.2447, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4717 left_y=-0.2388 left_z=0.042 left_yaw=0.0173 left_pitch=0.0648 left_roll=-0.049 left_gripper=0.9959 right_x=0.2452 right_y=0.0026 right_z=0.0763 right_yaw=-0.0001 right_pitch=-0.021 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -8.8, 5.5316, 1.2088, 0.0464, 0.1099, 0.0171, -0.1436, -0.1299, 6.9402, 1.9219, -0.022, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6548, 2.1056, 1.169, 0.305, -0.569, -0.4274, 0.4585, -0.0212, 0.4904, 0.1448, -0.2451, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4764 left_y=-0.2413 left_z=0.0483 left_yaw=0.0257 left_pitch=0.0444 left_roll=-0.034 left_gripper=0.4585 right_x=0.2431 right_y=0.0027 right_z=0.0726 right_yaw=-0.0003 right_pitch=-0.0206 right_roll=0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -11.3436, 7.0769, 0.9548, -0.1245, 0.0122, 0.3443, -0.1436, 0.0068, 7.0359, 1.9316, -0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8364, 1.8954, 0.8997, 0.2409, -0.6971, -0.5636, 0.4594, -0.0212, 0.4728, 0.1295, -0.2455, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3801 left_y=-0.2464 left_z=0.0486 left_yaw=0.012 left_pitch=0.012 left_roll=-0.0067 left_gripper=0.4594 right_x=0.2413 right_y=0.0027 right_z=0.0694 right_yaw=-0.0001 right_pitch=-0.0187 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -10.4957, 5.2171, 1.1697, -0.2759, -0.188, 0.0806, -0.0479, 0.4444, 6.8034, 1.9414, -0.022, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56a7019cfbc4f9c1234b74f7c0ce5cfb4ea0f91d42eebe527be116e4fa8cb6dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:757e02898f9516d87222b3d73911cde0b3e6d2e71c94d53033b2a681765eefe5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:affda44698eec2966e4dc0532542b5f235e1fab475708c115c62917e5c94000e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5goKjgEIEhgCKkCZKpHvoC310x1P8urFNiKxG8px8B2KGIWIoKJcI1V7nSXcGdmvODM9KHok31RypZDaPbWUnPSypo1xtWwGO8rnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZiizNUGEgwzYgG3jNvheO0WFDsaDNns8ogFo9Eb6OOYRyIwPO3IMuDJB21RTUtbgMesWUW2vfPE/s3rjynBsZDRF1phTaM2RJtQhUxP7vMSt/kMKoQJgrEsa6hzpaVuUJQt5DO0kaYXW1donU+JRokVtJdD6rTb3EE+SzvR35tWGkDT4gKCusnLCuCW+9Cpbg+cDTNzt2Ok9NU5mGej1x/lYQLxhKaSqr065twAI3R01aD2VfkAXR2vbA4F2L+6Gz/pqhcT1Eu0YHz3DBV1fXT+3AwY4/IgNoOZBM0cvB1GsRR6dZEKTJtCQv482FOkZpEBRRAnaIDI4Zmy5sQdzNoU+sd49HZLDdvMHARcB4eyM+HC0m2wJfPaRVXzHZZVXvXN9kX1dV3E9XFjgpR/PJK2iyyA40QQ595ZVuOjhRhbecoKavjta3ZjIXDLSjRhPMQubr2fVahRwDZxOdJuuBAZpAuNPqw7apb6PRT/db67l+m4khPYbdI5eyCP62YOYYnby6wNFV0xhrrGHikWU5iSqkoSC74y/OAmzLd1sXUYYeTy5YSPrW7dnbezlaCDaD2Jcbs6rw6QP4+++/fnue9eDkV9DoQwlF/tuOtWQMUUByQ0m/F7o9imeLgcFl6m8SWPFcDcP3YXcCzl0dmvgF/OveRkrAbEvlJoM7whCK7NueMJudfzysdYgiAjdolYY/pyeJUWwU2lAOa4fx0Lt7xhalICRgvE1vUMLACLbXC5q3KJ+nmUNgfvDFtvzank+SJp3z7p9ZTRKKFFO+amfbvbH4ifzMnFIoeWYw4nsT8aTOWtJslF1cqUWs2xjxfx0rhgxGcWlUDjNekg4Byi9Eh10ojaHDprjKqqp1KrtWCu0RZI86WKKrPCRT/r478g5tqpGq0h7cslUOxBp5Erx56GX5YJH+M2/TWBiTy9cBL1aq+BIfTRA6+KRVJWJABowFNZlQJhl+jMX23VzdR/T8jShkOJlY2AW9VFGeIHG07UHKfMrTjqVuicvwW7b/pj7IcFmHuX5ws9iyw/mE78oe2ZJfjUNYYtp6UgJoTdWP+W7q7Jxwd+sv6wpIBknkfswIkP+UpOgJgHELqQKgBCS1r5zXG3HJ11xovPUA/DYqJfIjyW4zY2JFGW/x6WSL76ONuwUAB/oKh93QpJF5SZ8NjEYVv/qgXqd8KQr+VTHfNI3BI9tJHgEnhuMd2TXFE+0ZrRA7w9ayAetgDS56SngNwEfEkvuikETl7UcdE6B4gLUwiyAHK7vQYwcRFCxk7hg8xCHTsPtlWSsNgRJ3HZwRuTXJs8gU4GNGq9Ypjm79F4NoipolvxHRCsJdzpvDM9ZQLtQZPDE9nuKPqzu7ziR+OJUFmnlGsdeTdx1Ei8OOAks6o2VFztYRt/J6GOqpM6mmki9uT0oLYx40o16M1FAWoSKrh3x5i2M5iZ9GCKcyO917NDSY1ldJ2PRyj6TqjVr+r4sJ+oQBMEaB5mTTJ/yrnqH7Hfuh5sqI1C/hoEFHJw0ylbhxhmQKa2l0+p19RwIJJn2DDS/LQ/3MvNsvEJXWtQ80rh9wwtMIfmUZVHOLi30OukfBzAAZMSXIF36W46trL/sljbqQ2q/59TojmrRttDvw92X6bSw0MDjBaQRTyd4mEa3bjii7ZhrxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011TgU3ygNVqDFapj3JoCxKk",
      "input": {
        "note": "Bottle successfully dragged ~10 cm closer. Releasing it and repositioning the open gripper above its neck (x≈0.44) ready to descend onto the neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.44,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_011TgU3ygNVqDFapj3JoCxKk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.728, 1.8851, 1.1664, 0.0006, -0.6315, -0.5125, 0.9953, -0.0212, 0.4568, 0.1131, -0.2455, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4344 left_y=-0.2427 left_z=0.1071 left_yaw=0.0449 left_pitch=0.0052 left_roll=-0.0202 left_gripper=0.9953 right_x=0.2393 right_y=0.0027 right_z=0.0655 right_yaw=-0.0001 right_pitch=-0.0191 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [0.4171, -10.1128, 8.841, 1.4432, -0.0904, 0.2711, -0.1245, -0.1299, 0.1573, 7.0222, 1.873, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d34d36b574aa32f44221ee02b07973caa1ac171accb9ff2469e3acece8052ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89edcf17c9000133f28eef757fbac657ca5b88eb0b432bb47f6baed1dd5b3127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:095a1fb985915478b9bf18e07e533c78c8fad1b5ce1d70817de5690f8ad5fab0",
        "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 · 6.665 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 63 changed as sent

message 66 changed as sent

message 69 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6548, 2.1056, 1.169, 0.305, -0.569, -0.4274, 0.4585, -0.0212, 0.4904, 0.1448, -0.2451, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4764 left_y=-0.2413 left_z=0.0483 left_yaw=0.0257 left_pitch=0.0444 left_roll=-0.034 left_gripper=0.4585 right_x=0.2431 right_y=0.0027 right_z=0.0726 right_yaw=-0.0003 right_pitch=-0.0206 right_roll=0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -11.3436, 7.0769, 0.9548, -0.1245, 0.0122, 0.3443, -0.1436, 0.0068, 7.0359, 1.9316, -0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8364, 1.8954, 0.8997, 0.2409, -0.6971, -0.5636, 0.4594, -0.0212, 0.4728, 0.1295, -0.2455, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3801 left_y=-0.2464 left_z=0.0486 left_yaw=0.012 left_pitch=0.012 left_roll=-0.0067 left_gripper=0.4594 right_x=0.2413 right_y=0.0027 right_z=0.0694 right_yaw=-0.0001 right_pitch=-0.0187 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -10.4957, 5.2171, 1.1697, -0.2759, -0.188, 0.0806, -0.0479, 0.4444, 6.8034, 1.9414, -0.022, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.728, 1.8851, 1.1664, 0.0006, -0.6315, -0.5125, 0.9953, -0.0212, 0.4568, 0.1131, -0.2455, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4344 left_y=-0.2427 left_z=0.1071 left_yaw=0.0449 left_pitch=0.0052 left_roll=-0.0202 left_gripper=0.9953 right_x=0.2393 right_y=0.0027 right_z=0.0655 right_yaw=-0.0001 right_pitch=-0.0191 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [0.4171, -10.1128, 8.841, 1.4432, -0.0904, 0.2711, -0.1245, -0.1299, 0.1573, 7.0222, 1.873, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d34d36b574aa32f44221ee02b07973caa1ac171accb9ff2469e3acece8052ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89edcf17c9000133f28eef757fbac657ca5b88eb0b432bb47f6baed1dd5b3127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:095a1fb985915478b9bf18e07e533c78c8fad1b5ce1d70817de5690f8ad5fab0",
        "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/ggKjgEIEhgCKkA+8J2fjmdeq9nE0S3wR4p0VORA2iPCp/WLbqJ+aSshb4NGuqYHD+5qw/BFfbMB3/kV3srsfhBadNyt+Xfyy0ZcMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaGizNUGEgymxUWMPDt31KXxQAwaDM7QfNsVf4Ns5tqH+iIwZHpyzYE/p/LFCaqkeS+7Gj4mYxY7x6J4SKVOTo7wrftbtedRfwyHYDwMuVdKhGACKpwHxF6Hk7X0csnJGYInV6W11vCUHOh3kZte4vlwyQgh+G32VSH28hRdYTr8Rneaf42ByueriEpbl/AQ3JSkE64NAGofaOSwIn9HVvibHSGfK3/MYcJPHCrP1Msq0Y/cqEng4DM7Sp1SJzig6N85hdjc2+kTuobfMeusWp3d0DxebCif3GyvKh3rzrTjh4UdScfmjhrhJOJr8bq/4hSOyBI6MowwG6gCXrCSz7Zo/VQIiYXdDhJLjxj4AH1tHML0IM4JU3fUJI0A/cE9pGIqd4/Jas41fzl6rkA2mXXgG9enFk5W/FkqX0EEt6VdP+FNITy0plYMc/O+amfeCjfBDYclVcnwkqRBfi0yuxkgoVUjVdifI3PUg/OkXrr7Dryvd8aVksfsdwGkkz7vDFrjh6hJ/0Bk2q0lC674w9+gpz4QDYbraeFqXaBxlJiR+1YjomEQE8GaSFoUJolCht/da50uHwmvJeFcNeGgV8nx/mp7m7dz5zYZf7sv+OLMJM4xhqqYpXuJu7ceDK+KOQSQeL6vlC4aHZgL3/quXT83VH1NBb9WNlIWJx04ZJoVe/8n0WcsDEobmphOeYOpYvmCQfVT4PH5OGGp4kzeZUknKDS/75qexte53nazQg5pQ1b+dnfBgOIawKZOBZlJbdAI/5HWZTK/ApEcEbWrBDOTyAcaWRQ6knok2LdRGAjhgo3/VexC/aKsSibgnvJze0NP84jRkoBwChyhTq1utbuhKVHfd1jHM5Q244GpG44rsYCaP7itOLRE9Bywuu70VZQKnlDPWRuVN1rOaA4Q9u8LBoCyhlRRttAkqC3wetSh0jNhR/Ub6m3/iR+/nojux71baRv5RyjLcoJZdSFVJS/jfjQi2XP+OIRiD8TrohRcpd0smrSXvFGxnQHRZZbzliuo1nmq21DrXf0BWLzfumHpcOjXe/MIWj3c+GoZicsCNMpGR++8II8kG70Dkj0Mooei6kDS7mDP5zDsGuMyKfPaimgw04ec/dwdFWzTJfP2tkJVbjNEAIicjQniHruJfYh+edQ1aiNsqG2PL0LwNipNbob0OPNHSq+PALVKIXh0fovBG2ITQuNVbNiFuf2+SYMw+i/HILbbG536njQlUt+FybZ9W9jSIt1kyMX8o1DXTbiR4FqPCZ4kKcqDd41qWtKXMyPFlxUoBE25dC2v3q7Ci/nj9hxrtguPNbVulqCJK2Bs4S0wumiw812SKMMOx11WGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R3UPhvRF5epAEVck3ZCFzr",
      "input": {
        "note": "Only the bottle's blue cap is visible at the very bottom of the wrist view, meaning the neck is just short of the fingertips; pulling back 2 cm and descending to neck height with the jaws part-open.",
        "targets": {
          "left_gripper": 0.6,
          "left_x": 0.415,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01R3UPhvRF5epAEVck3ZCFzr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7658, 2.0022, 1.0225, 0.2634, -0.6632, -0.5282, 0.6036, -0.0212, 0.44, 0.0982, -0.2451, -0.0235, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.42 left_y=-0.2481 left_z=0.0446 left_yaw=0.0392 left_pitch=0.0213 left_roll=-0.0202 left_gripper=0.6036 right_x=0.2377 right_y=0.0027 right_z=0.0624 right_yaw=-0.0006 right_pitch=-0.0168 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -6.5436, 3.4667, 1.1306, -0.2466, -0.105, 0.0366, -0.1436, 0.0752, 6.8718, 1.8437, -0.0073, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de5535fdbaa8cae8de01e06a29feb0c6b997c1f43ab6ee3347494d57378ce6d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a530bd3ab9831a6fbdc6d463eeee1ff2e065b2d8ee9e5a2b7d420c4605f2cbf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:97d618bc50a6eb325a1df26d9905c028a9afca594517e45edde94ec8dd2a5a48",
        "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 · 3.513 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 66 changed as sent

message 69 changed as sent

message 72 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8364, 1.8954, 0.8997, 0.2409, -0.6971, -0.5636, 0.4594, -0.0212, 0.4728, 0.1295, -0.2455, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3801 left_y=-0.2464 left_z=0.0486 left_yaw=0.012 left_pitch=0.012 left_roll=-0.0067 left_gripper=0.4594 right_x=0.2413 right_y=0.0027 right_z=0.0694 right_yaw=-0.0001 right_pitch=-0.0187 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -10.4957, 5.2171, 1.1697, -0.2759, -0.188, 0.0806, -0.0479, 0.4444, 6.8034, 1.9414, -0.022, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.728, 1.8851, 1.1664, 0.0006, -0.6315, -0.5125, 0.9953, -0.0212, 0.4568, 0.1131, -0.2455, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4344 left_y=-0.2427 left_z=0.1071 left_yaw=0.0449 left_pitch=0.0052 left_roll=-0.0202 left_gripper=0.9953 right_x=0.2393 right_y=0.0027 right_z=0.0655 right_yaw=-0.0001 right_pitch=-0.0191 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [0.4171, -10.1128, 8.841, 1.4432, -0.0904, 0.2711, -0.1245, -0.1299, 0.1573, 7.0222, 1.873, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7658, 2.0022, 1.0225, 0.2634, -0.6632, -0.5282, 0.6036, -0.0212, 0.44, 0.0982, -0.2451, -0.0235, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.42 left_y=-0.2481 left_z=0.0446 left_yaw=0.0392 left_pitch=0.0213 left_roll=-0.0202 left_gripper=0.6036 right_x=0.2377 right_y=0.0027 right_z=0.0624 right_yaw=-0.0006 right_pitch=-0.0168 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -6.5436, 3.4667, 1.1306, -0.2466, -0.105, 0.0366, -0.1436, 0.0752, 6.8718, 1.8437, -0.0073, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de5535fdbaa8cae8de01e06a29feb0c6b997c1f43ab6ee3347494d57378ce6d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a530bd3ab9831a6fbdc6d463eeee1ff2e065b2d8ee9e5a2b7d420c4605f2cbf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97d618bc50a6eb325a1df26d9905c028a9afca594517e45edde94ec8dd2a5a48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwwYKjgEIEhgCKkB1tqTmlvOgY/PM+Cav7CAFvTmVOFP0UMpWWSi96ggDQE6S4GEdSqbOlQ2MThpW0f6wJC7zJ7NL3x1Dh+OgjAYdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaiizNUGEgwoml2HmXWG0NUj0wwaDFoJGqAz4eLZY0VpgyIwjwcYAMRzal1KYy7g0vInIvmA99xgFlLqv+7A8uwbaZqnd4cG1uM0bguz++rx1z6wKuEEl40X4fpQC1Nn+dFYPRmqitGnUvk+y42ZqGSdcJC7tM/7qVg4EE1uGtqiBUe29LtmF3Uo7bCXw1sBduj5Vo+nJUFtrPxAzCywGriao3vY+qJq5s7dc2Tt8duRDZOh54QL+sRn2dqThKZzhVRDTPdjKC0WyX9c67joRPbgM9w3qer2G+R05lJuzYhzuVUHdBvbg9p4T8qWwrg9kIeTsyKRj6Q0VXwEQUXnVE26m8lX4Y4FcumH1HyPjEAK249xDSX1wLGi3SiJJpeuHx9DEA+2Jma03xKG/i77xnLN93B+yY2f5oJM6EeE06YDhtkYUSsyVJiqaxPe2aUKle93bbEXd8E6EeeO8Q0yiYC5sVURCNs47aNih1RIqcSBrpQyvAM0x9pg0W0IpQBGHS4FbEKeR3SerPtOjyJevEFi71Z9xzPNA7h+KRJ5osjCysy5lBJoNZAgfzqmR8wolyDqv4fXGP8GAGFo2/KTZGkvLBq6fzT+a21b4mtwiz4phCGef0KNcWsna/VXrZlXEmkYguUF+Jb066hoHS8MQV1/+NUkuRrv3gUX3oiGsZUZcC372bW1zpInVNfAIuGQm26Ryeer41rj88MuiD8GdSmXrph6azQN88z6ZUwhgW3yEVC3mHkCNBKawhfplcESwOpkzn/4NhcZkVrvmzCOAc7b164ETjJyfjp77RorW0RiQi72t3lfLHYSdxZMwFId4mrgPLhu3nFLPqquGBAEnNEAbNrH3xjzsfH6ANIq0AjoaEKsCoql3hOMY1qd+BsoXaAzWM094xaJB5IuFvrLSSF2Qn+6oTe6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A3KHe6xDGp4NiHWs1euTdT",
      "input": {
        "note": "The cap and neck are centred between the jaws in the wrist view; closing to 0.2 (1.9 cm) so the jaws capture the neck under the cap lip.",
        "targets": {
          "left_gripper": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01A3KHe6xDGp4NiHWs1euTdT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.765, 2.0117, 1.0462, 0.2718, -0.6899, -0.5323, 0.2049, -0.0212, 0.4244, 0.0902, -0.2455, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4267 left_y=-0.2489 left_z=0.0516 left_yaw=0.0627 left_pitch=0.0493 left_roll=-0.0284 left_gripper=0.2049 right_x=0.2372 right_y=0.0028 right_z=0.0621 right_yaw=-0.0003 right_pitch=-0.0095 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.0479, -10.9744, 6.0103, 0.8962, 0.0171, 0.022, -0.0171, -0.1299, 0.1846, 6.5709, 1.8046, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e927be711d3ac6f0bd7b274ce3acfa261c826dd120c55e5358ddf472657cf1aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2948352c517ab5327b57cffafb08733faa5ab43df181599a82fbcd2778738927",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9d82dd3bc8c6bc4402a8995e3f4887b39c0ef66952046a33699a21ac9bbf0f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 25.35 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 69 changed as sent

message 72 changed as sent

message 75 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.728, 1.8851, 1.1664, 0.0006, -0.6315, -0.5125, 0.9953, -0.0212, 0.4568, 0.1131, -0.2455, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4344 left_y=-0.2427 left_z=0.1071 left_yaw=0.0449 left_pitch=0.0052 left_roll=-0.0202 left_gripper=0.9953 right_x=0.2393 right_y=0.0027 right_z=0.0655 right_yaw=-0.0001 right_pitch=-0.0191 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [0.4171, -10.1128, 8.841, 1.4432, -0.0904, 0.2711, -0.1245, -0.1299, 0.1573, 7.0222, 1.873, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7658, 2.0022, 1.0225, 0.2634, -0.6632, -0.5282, 0.6036, -0.0212, 0.44, 0.0982, -0.2451, -0.0235, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.42 left_y=-0.2481 left_z=0.0446 left_yaw=0.0392 left_pitch=0.0213 left_roll=-0.0202 left_gripper=0.6036 right_x=0.2377 right_y=0.0027 right_z=0.0624 right_yaw=-0.0006 right_pitch=-0.0168 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -6.5436, 3.4667, 1.1306, -0.2466, -0.105, 0.0366, -0.1436, 0.0752, 6.8718, 1.8437, -0.0073, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.765, 2.0117, 1.0462, 0.2718, -0.6899, -0.5323, 0.2049, -0.0212, 0.4244, 0.0902, -0.2455, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4267 left_y=-0.2489 left_z=0.0516 left_yaw=0.0627 left_pitch=0.0493 left_roll=-0.0284 left_gripper=0.2049 right_x=0.2372 right_y=0.0028 right_z=0.0621 right_yaw=-0.0003 right_pitch=-0.0095 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.0479, -10.9744, 6.0103, 0.8962, 0.0171, 0.022, -0.0171, -0.1299, 0.1846, 6.5709, 1.8046, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e927be711d3ac6f0bd7b274ce3acfa261c826dd120c55e5358ddf472657cf1aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2948352c517ab5327b57cffafb08733faa5ab43df181599a82fbcd2778738927",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9d82dd3bc8c6bc4402a8995e3f4887b39c0ef66952046a33699a21ac9bbf0f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShgMKjgEIEhgCKkBC/oTIjF/Rb34G68v3dQlM/m+MV0gL7kKbecc7jVonThcmAPfGAbMgcU2gitpdEWeT7+ainQekY/gqB97ROCsGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa2izNUGEgysJXilAU4NEHwcX1QaDDDYBZrwYLt1kDk2mCIwdl+ccjgmNsiGQRHG1hUboMisdX0/menrTNpduf+BLNNHtTJKN/rvbzTL80UNfSpoKqQBQJ3GNDL4mhukoN/O6inskKxwLB81Mc5JG0D0Rb2i0qKTV+CwRpB9BUDmOLm5S01CsZAU9X0dubuXtIs5WDNZWoxdahrVrZYhVBw/u2hN8FMDY5LFapZdxWeM8osomDhS1IrMS3PQcjKcMCEJ3QUnQVIi7g7unKGhXxPqgV2Zjm2d2JxBOVl9T8byq8CovQygJNMPO+AMw6rBcJdGziSC8+q5bpkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GCYxt5DNdapaEvvvB4oFmJ",
      "input": {
        "note": "Jaws are closed around the bottle's neck/cap; lifting to 28 cm so the bottle swings down and hangs vertically below the gripper.",
        "targets": {
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01GCYxt5DNdapaEvvvB4oFmJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7635, 1.8229, 1.7309, -0.6708, -0.6807, -0.5587, 0.2045, -0.0212, 0.4225, 0.0856, -0.2455, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4299 left_y=-0.2527 left_z=0.2618 left_yaw=0.0703 left_pitch=-0.0018 left_roll=-0.0041 left_gripper=0.2045 right_x=0.2366 right_y=0.0028 right_z=0.0604 right_yaw=-0.0001 right_pitch=-0.0122 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -10.2085, 8.8274, 1.4823, -0.2955, 0.105, -0.0513, -0.2803, -0.0479, 6.8718, 1.7949, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3783d6628337804343445b92706ffe0f3ea0eadce4876208cd6e4db5251fc24b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b897f34777ebeb04349897a6b7597c51b44ce919a9430292a520fab030f859b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab1e954a1ee1a90ea0b208573742279f0dedb8ddf6a5f9ce2cfa578452bd376d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 7.671 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 72 changed as sent

message 75 changed as sent

message 78 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7658, 2.0022, 1.0225, 0.2634, -0.6632, -0.5282, 0.6036, -0.0212, 0.44, 0.0982, -0.2451, -0.0235, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.42 left_y=-0.2481 left_z=0.0446 left_yaw=0.0392 left_pitch=0.0213 left_roll=-0.0202 left_gripper=0.6036 right_x=0.2377 right_y=0.0027 right_z=0.0624 right_yaw=-0.0006 right_pitch=-0.0168 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -6.5436, 3.4667, 1.1306, -0.2466, -0.105, 0.0366, -0.1436, 0.0752, 6.8718, 1.8437, -0.0073, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.765, 2.0117, 1.0462, 0.2718, -0.6899, -0.5323, 0.2049, -0.0212, 0.4244, 0.0902, -0.2455, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4267 left_y=-0.2489 left_z=0.0516 left_yaw=0.0627 left_pitch=0.0493 left_roll=-0.0284 left_gripper=0.2049 right_x=0.2372 right_y=0.0028 right_z=0.0621 right_yaw=-0.0003 right_pitch=-0.0095 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.0479, -10.9744, 6.0103, 0.8962, 0.0171, 0.022, -0.0171, -0.1299, 0.1846, 6.5709, 1.8046, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7635, 1.8229, 1.7309, -0.6708, -0.6807, -0.5587, 0.2045, -0.0212, 0.4225, 0.0856, -0.2455, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4299 left_y=-0.2527 left_z=0.2618 left_yaw=0.0703 left_pitch=-0.0018 left_roll=-0.0041 left_gripper=0.2045 right_x=0.2366 right_y=0.0028 right_z=0.0604 right_yaw=-0.0001 right_pitch=-0.0122 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -10.2085, 8.8274, 1.4823, -0.2955, 0.105, -0.0513, -0.2803, -0.0479, 6.8718, 1.7949, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3783d6628337804343445b92706ffe0f3ea0eadce4876208cd6e4db5251fc24b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b897f34777ebeb04349897a6b7597c51b44ce919a9430292a520fab030f859b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab1e954a1ee1a90ea0b208573742279f0dedb8ddf6a5f9ce2cfa578452bd376d",
        "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_01H7W9C5cmDFmy5YTprrz4Zr",
      "input": {
        "note": "The neck grasp slipped again — I suspect the arm cannot descend below z≈0.05 at this long reach, so the jaws were above the cap. Going back down onto the bottle's body to drag it much closer to the base, where full descent works.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.38,
          "left_y": -0.248,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01H7W9C5cmDFmy5YTprrz4Zr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8486, 1.9125, 0.973, 0.0765, -0.7273, -0.6308, 0.9971, -0.0212, 0.4114, 0.0792, -0.2451, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.377 left_y=-0.2448 left_z=0.045 left_yaw=0.058 left_pitch=-0.0394 left_roll=0.0343 left_gripper=0.9971 right_x=0.2362 right_y=0.0028 right_z=0.0599 right_yaw=-0.0003 right_pitch=-0.0072 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -8.8957, 5.3402, 1.5507, -0.5104, -0.1001, -0.1245, -0.1436, 0.3077, 6.7214, 1.7705, -0.0611, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd8b6196c11160f7ec0fc52652fe614870cf20410a51e1a8481a36dc9e8e48c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45e386f510b61656b19e7204e77f11883703e52b31c1a5dc28d0dacff4033914",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d3a8581ddcbbde03eb2591631316a7da93a8222ce33f4295b74a97f36ab296a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 5.372 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 75 changed as sent

message 78 changed as sent

message 81 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.765, 2.0117, 1.0462, 0.2718, -0.6899, -0.5323, 0.2049, -0.0212, 0.4244, 0.0902, -0.2455, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4267 left_y=-0.2489 left_z=0.0516 left_yaw=0.0627 left_pitch=0.0493 left_roll=-0.0284 left_gripper=0.2049 right_x=0.2372 right_y=0.0028 right_z=0.0621 right_yaw=-0.0003 right_pitch=-0.0095 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.0479, -10.9744, 6.0103, 0.8962, 0.0171, 0.022, -0.0171, -0.1299, 0.1846, 6.5709, 1.8046, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7635, 1.8229, 1.7309, -0.6708, -0.6807, -0.5587, 0.2045, -0.0212, 0.4225, 0.0856, -0.2455, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4299 left_y=-0.2527 left_z=0.2618 left_yaw=0.0703 left_pitch=-0.0018 left_roll=-0.0041 left_gripper=0.2045 right_x=0.2366 right_y=0.0028 right_z=0.0604 right_yaw=-0.0001 right_pitch=-0.0122 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -10.2085, 8.8274, 1.4823, -0.2955, 0.105, -0.0513, -0.2803, -0.0479, 6.8718, 1.7949, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8486, 1.9125, 0.973, 0.0765, -0.7273, -0.6308, 0.9971, -0.0212, 0.4114, 0.0792, -0.2451, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.377 left_y=-0.2448 left_z=0.045 left_yaw=0.058 left_pitch=-0.0394 left_roll=0.0343 left_gripper=0.9971 right_x=0.2362 right_y=0.0028 right_z=0.0599 right_yaw=-0.0003 right_pitch=-0.0072 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -8.8957, 5.3402, 1.5507, -0.5104, -0.1001, -0.1245, -0.1436, 0.3077, 6.7214, 1.7705, -0.0611, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd8b6196c11160f7ec0fc52652fe614870cf20410a51e1a8481a36dc9e8e48c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45e386f510b61656b19e7204e77f11883703e52b31c1a5dc28d0dacff4033914",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d3a8581ddcbbde03eb2591631316a7da93a8222ce33f4295b74a97f36ab296a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISnAgKjgEIEhgCKkCCvZAjDyz2ZpDh+kC7ZyjGEWMM9nPK+gT/vIF2aUBGE9qO9DPp61XWbAROZv0tPGW0rULFTuBcx7930xSHitBIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdCizNUGEgz+IZzsYoda/PVVV1waDNei43wVKBg7WvhzECIwy65XC5KTt19lzRTPG/BFJlpgzKTO41LrXbJk37KiYVkijcw65ewDKpdVviLy9YTuKroG91vyqMq991PLD1LQatmKMaVubygP4cHfR+gjpi/iM7OT06UJtIfLFrkQluuUHAE+C9aK4jZkay498/zmYyvJvFbb/JQiMZ3uyzyxzxC36DY/4nKfZNkU2V8U7fCHX7J6pC8W+MpLppWnrCHnIIOgze/TX7qXhaIHy+JAYgq0b+JnnPhCXjyqlPIjfckGT+ZUJCTzfw+rVFGcEDeXEXWEcjcvqXs4jE7dx5iGX/TMFmccgO/N0IHSBYZyK2xHXiqaaUd2yA5tVZhU+urKu7ArJbJFhH7fY22UFpROYO+3khZEM6yyt7LPCTCn3QihzU5u+5jxdq26fd350J0ZAuifR2NB7g0wdoL6ERZvdDrNmgRPUh6x4rWu/4qV29i2YKW3ohjhW5X944lZGj2Ik4YnHfb2UCzTvaKnzdCslKpmTzNtGbi26FuqHeNAjYeztM488PsPQfPlgsE6clqo6I990SI7bUgAMfHnn43v38S9tNZEa5OYILj1x209fPvrdSf8e+XQAxCXh5N74dC0p+m/OnTplyP/AECZb9diGStfETStsnvmoKCpa3RcUqItsnW3LYhJlkLjhaw/FDHl4tSrPjuhHtosPN2CpL/KDL6BYEnnrnxUPLveAOSJP9XX9vG12WJatijQ3sWO2+eDT8DNaqbu37i+r67152u2usad0HRWSjoIu8tIEqrOiJjgnvp1gzM7GlktOOT5emFZnxWwkSOOsQ9Hr2+ioTwC+qeMto1iXkghqG2mV6hWRmsEG9hE73GygvaNbZCswZHtLezRn8TKvDzBOz86dYWZqucKlMdY3jdT3ImyPBWMy67YRizww5me0FKgt3ZS6c5ClsJSneLOi1Ct8o4DVtYVpbr6Jun3YgNFGm5akyeaOaTXMnOTNs2Um1uXs/VdUMQce2X+p+oaJa6YJSThWkUNImgNDETEhIEto01fGoeN2BPXfgG7XuCabj1yBClRYS10uymtFtXe6mW+0CnGf9bSUx59d2RNJd4UI6zFw+MDnDIaWFVwgzSC60hvXP+LMj+weSirh8eaKd/1Q0n1tGKE7lyyVWmF1CQg39Xkjfub7Qnl0xdJmoVR+xQMq+XFvhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RrzQRNCy7Tj9Dc88usrAdW",
      "input": {
        "note": "Wrist view shows the bottle end-on with the jaws straddling its body; closing on the body to drag it toward the base.",
        "targets": {
          "left_gripper": 0.45
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01RrzQRNCy7Tj9Dc88usrAdW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8513, 1.9293, 0.9348, 0.1692, -0.7467, -0.6296, 0.467, -0.0212, 0.411, 0.0792, -0.2455, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3776 left_y=-0.2435 left_z=0.0399 left_yaw=0.0672 left_pitch=-0.0048 left_roll=0.0143 left_gripper=0.467 right_x=0.2361 right_y=0.0028 right_z=0.0599 right_yaw=-0.0003 right_pitch=-0.0072 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -10.6598, 4.6838, 1.4286, -0.1148, 0.0317, 0.7106, -0.1162, 0.1436, 6.7487, 1.8242, -0.0122, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c5e8dbd60aa3028920bbc09ab9a496c9104f410df343befabd5a56a3a956a39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5abee74ed326692700d313f30088f1c8ad0412286cb6f21c2f57fd18df2b9c4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1def0add2d951d1deb283a8c3e2643d01ecce79044a1ea9251c93bcb52bd680",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 18.06 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 78 changed as sent

message 81 changed as sent

message 84 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7635, 1.8229, 1.7309, -0.6708, -0.6807, -0.5587, 0.2045, -0.0212, 0.4225, 0.0856, -0.2455, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.4299 left_y=-0.2527 left_z=0.2618 left_yaw=0.0703 left_pitch=-0.0018 left_roll=-0.0041 left_gripper=0.2045 right_x=0.2366 right_y=0.0028 right_z=0.0604 right_yaw=-0.0001 right_pitch=-0.0122 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -10.2085, 8.8274, 1.4823, -0.2955, 0.105, -0.0513, -0.2803, -0.0479, 6.8718, 1.7949, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8486, 1.9125, 0.973, 0.0765, -0.7273, -0.6308, 0.9971, -0.0212, 0.4114, 0.0792, -0.2451, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.377 left_y=-0.2448 left_z=0.045 left_yaw=0.058 left_pitch=-0.0394 left_roll=0.0343 left_gripper=0.9971 right_x=0.2362 right_y=0.0028 right_z=0.0599 right_yaw=-0.0003 right_pitch=-0.0072 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -8.8957, 5.3402, 1.5507, -0.5104, -0.1001, -0.1245, -0.1436, 0.3077, 6.7214, 1.7705, -0.0611, -0.0464, -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 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8513, 1.9293, 0.9348, 0.1692, -0.7467, -0.6296, 0.467, -0.0212, 0.411, 0.0792, -0.2455, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3776 left_y=-0.2435 left_z=0.0399 left_yaw=0.0672 left_pitch=-0.0048 left_roll=0.0143 left_gripper=0.467 right_x=0.2361 right_y=0.0028 right_z=0.0599 right_yaw=-0.0003 right_pitch=-0.0072 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -10.6598, 4.6838, 1.4286, -0.1148, 0.0317, 0.7106, -0.1162, 0.1436, 6.7487, 1.8242, -0.0122, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c5e8dbd60aa3028920bbc09ab9a496c9104f410df343befabd5a56a3a956a39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5abee74ed326692700d313f30088f1c8ad0412286cb6f21c2f57fd18df2b9c4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1def0add2d951d1deb283a8c3e2643d01ecce79044a1ea9251c93bcb52bd680",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqgQKjgEIEhgCKkCZyMSKr+3thkZtRoxFDIJaiMdVqmu5p3uz0ZMsesADhV91ajEHc265+JA0T9sdrP9y3S9AytG7P1kSRUwoEc1iMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdaizNUGEgx3edZzog8W0L2d4VUaDHK0nqsNRLwAfz82qyIwH8It2Lb+u4m2aNyZxP/h6z2Ccn9ivz4ABOPT8cd0+m3hivgPtO7QuAkU1b5SVzTjKsgC59RyY8rnAv35cGwm6WGBC3OrTdLfxW2jPey/Hq5igIaYbzKgiQJATh2Kj9CT+C6XRQnqyqYxJgoKXng3dz/dfcc432VZ8Ej4RtHtwhXjZ+Awiyg/WkgqczXFv2sO+Fdh2R49T3/oqRq2zJILGrWaY9csloPUsJiYlOYlwn9Rn/SG/ZTCiRQfCWBKjsugoyGDB3jAha3LNLuFb4jSVMX4xtnN7Ix1eS/ql80Dlp91gUYQL7Zk+ksw4dUV136APvnSILoVuvzJleTPvOAhgjLG93aT65t6AiS99bVQacwjKcs8unjnAFVsR3WCy84tqtEK7afS/bj7NbKdWoaJJ9YXtillfDmQdv03xqiJBtYO0/Z/wIoYiBBgW2P2ERb2kCq/DYT8riFbMRTfMVwH4TceBmNFb2Drsxh3hlPT5JYFcC7MVDBbGaYi+RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WzhfxWehzH2jXUQwzKP566",
      "input": {
        "note": "Gripper has the bottle body (reading 0.47 with grip effort); dragging it ~10 cm closer to the base so the neck lands where the arm can descend all the way to the table.",
        "targets": {
          "left_x": 0.28,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01WzhfxWehzH2jXUQwzKP566",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0893, 1.7927, 0.7677, 0.0483, -0.8761, -0.8753, 0.4687, -0.0212, 0.4103, 0.0792, -0.2459, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.2898 left_y=-0.2538 left_z=0.0396 left_yaw=0.0414 left_pitch=0.0058 left_roll=-0.0113 left_gripper=0.4687 right_x=0.2361 right_y=0.0028 right_z=0.06 right_yaw=-0.0001 right_pitch=-0.0069 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.5812, -9.4701, 4.1641, 0.8962, -0.4762, -0.188, 0.7302, -0.0342, 0.3897, 6.5436, 1.7656, -0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eec813e382b9927fbf10b00be4c1fa76c51b84af968d0f022a37be281934759d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d85d7510865ed5552d2ad12f02ec05111d8990bc97d245a5eed0da8f595b98d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8488befde48861c52c28e8ae9cbf0d0e04ed6b5658516bd32a18e777e0b64207",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 13.38 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 81 changed as sent

message 84 changed as sent

message 87 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8486, 1.9125, 0.973, 0.0765, -0.7273, -0.6308, 0.9971, -0.0212, 0.4114, 0.0792, -0.2451, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.377 left_y=-0.2448 left_z=0.045 left_yaw=0.058 left_pitch=-0.0394 left_roll=0.0343 left_gripper=0.9971 right_x=0.2362 right_y=0.0028 right_z=0.0599 right_yaw=-0.0003 right_pitch=-0.0072 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -8.8957, 5.3402, 1.5507, -0.5104, -0.1001, -0.1245, -0.1436, 0.3077, 6.7214, 1.7705, -0.0611, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8513, 1.9293, 0.9348, 0.1692, -0.7467, -0.6296, 0.467, -0.0212, 0.411, 0.0792, -0.2455, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3776 left_y=-0.2435 left_z=0.0399 left_yaw=0.0672 left_pitch=-0.0048 left_roll=0.0143 left_gripper=0.467 right_x=0.2361 right_y=0.0028 right_z=0.0599 right_yaw=-0.0003 right_pitch=-0.0072 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -10.6598, 4.6838, 1.4286, -0.1148, 0.0317, 0.7106, -0.1162, 0.1436, 6.7487, 1.8242, -0.0122, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0893, 1.7927, 0.7677, 0.0483, -0.8761, -0.8753, 0.4687, -0.0212, 0.4103, 0.0792, -0.2459, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.2898 left_y=-0.2538 left_z=0.0396 left_yaw=0.0414 left_pitch=0.0058 left_roll=-0.0113 left_gripper=0.4687 right_x=0.2361 right_y=0.0028 right_z=0.06 right_yaw=-0.0001 right_pitch=-0.0069 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.5812, -9.4701, 4.1641, 0.8962, -0.4762, -0.188, 0.7302, -0.0342, 0.3897, 6.5436, 1.7656, -0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eec813e382b9927fbf10b00be4c1fa76c51b84af968d0f022a37be281934759d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d85d7510865ed5552d2ad12f02ec05111d8990bc97d245a5eed0da8f595b98d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8488befde48861c52c28e8ae9cbf0d0e04ed6b5658516bd32a18e777e0b64207",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0113p3e7sLgtZkpKASEYzUx4",
      "input": {
        "note": "Bottle dragged closer; releasing it and backing the gripper up/away so the wrist camera can see the whole bottle and I can measure where its cap is.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.24,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_0113p3e7sLgtZkpKASEYzUx4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.2385, 1.5532, 0.9718, -0.5549, -0.9184, -1.0782, 0.997, -0.0212, 0.4103, 0.0792, -0.2459, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.243 left_y=-0.2628 left_z=0.1309 left_yaw=0.0231 left_pitch=-0.0181 left_roll=-0.02 left_gripper=0.997 right_x=0.2361 right_y=0.0028 right_z=0.06 right_yaw=-0.0003 right_pitch=-0.0069 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -8.5128, 8.3487, 0.8474, -0.735, -0.1538, -0.1148, -0.0752, 0.1162, 6.5983, 1.8046, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8dbd6be2e9371200021d99b4768fc57b0be9bd2fb031f706a275c6f7c41d7aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2186a267be3af9bafce09e0e3b664048e02879b15fcbdba0a047b563eb2333f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04e86c32fd5bf637add5f2f78221c726d4089b57e8da592f4d206fc9442e8a39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 6.709 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 84 changed as sent

message 87 changed as sent

message 90 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8513, 1.9293, 0.9348, 0.1692, -0.7467, -0.6296, 0.467, -0.0212, 0.411, 0.0792, -0.2455, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3776 left_y=-0.2435 left_z=0.0399 left_yaw=0.0672 left_pitch=-0.0048 left_roll=0.0143 left_gripper=0.467 right_x=0.2361 right_y=0.0028 right_z=0.0599 right_yaw=-0.0003 right_pitch=-0.0072 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -10.6598, 4.6838, 1.4286, -0.1148, 0.0317, 0.7106, -0.1162, 0.1436, 6.7487, 1.8242, -0.0122, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0893, 1.7927, 0.7677, 0.0483, -0.8761, -0.8753, 0.4687, -0.0212, 0.4103, 0.0792, -0.2459, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.2898 left_y=-0.2538 left_z=0.0396 left_yaw=0.0414 left_pitch=0.0058 left_roll=-0.0113 left_gripper=0.4687 right_x=0.2361 right_y=0.0028 right_z=0.06 right_yaw=-0.0001 right_pitch=-0.0069 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.5812, -9.4701, 4.1641, 0.8962, -0.4762, -0.188, 0.7302, -0.0342, 0.3897, 6.5436, 1.7656, -0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.2385, 1.5532, 0.9718, -0.5549, -0.9184, -1.0782, 0.997, -0.0212, 0.4103, 0.0792, -0.2459, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.243 left_y=-0.2628 left_z=0.1309 left_yaw=0.0231 left_pitch=-0.0181 left_roll=-0.02 left_gripper=0.997 right_x=0.2361 right_y=0.0028 right_z=0.06 right_yaw=-0.0003 right_pitch=-0.0069 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -8.5128, 8.3487, 0.8474, -0.735, -0.1538, -0.1148, -0.0752, 0.1162, 6.5983, 1.8046, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8dbd6be2e9371200021d99b4768fc57b0be9bd2fb031f706a275c6f7c41d7aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2186a267be3af9bafce09e0e3b664048e02879b15fcbdba0a047b563eb2333f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04e86c32fd5bf637add5f2f78221c726d4089b57e8da592f4d206fc9442e8a39",
        "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_01Vp4yjbma94R3sQTNezMCy9",
      "input": {
        "note": "All three bottles are now visible in the wrist view; the target bottle's blue cap is on the jaw column about 14 cm ahead. Moving over the cap with the jaws set to 4.3 cm (wider than the cap, narrower than the shoulder).",
        "targets": {
          "left_gripper": 0.45,
          "left_x": 0.39,
          "left_y": -0.253,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Vp4yjbma94R3sQTNezMCy9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8406, 1.8202, 1.0004, -0.0303, -0.7216, -0.627, 0.4529, -0.0212, 0.4099, 0.0792, -0.2451, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3764 left_y=-0.2402 left_z=0.0775 left_yaw=0.0597 left_pitch=-0.0349 left_roll=0.0246 left_gripper=0.4529 right_x=0.2362 right_y=0.0028 right_z=0.0602 right_yaw=-0.0003 right_pitch=-0.0057 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -8.4444, 8.1709, 1.5604, -0.3004, 0.3736, 0.1343, -0.294, 0.0068, 6.5709, 1.7802, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e11ccd630132aee97f4434b45bc753a7e6c4e9cdb6d4efc17dc9823ab1001b07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:878d13325281ef7664ff93060cf92cfd3e8559d65c372aa7e0d64d4f3fb10cd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a23649547620af084aa8280f269802f47e64d10a252c040c9118cee56f28923e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 9.128 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 87 changed as sent

message 90 changed as sent

message 93 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0893, 1.7927, 0.7677, 0.0483, -0.8761, -0.8753, 0.4687, -0.0212, 0.4103, 0.0792, -0.2459, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.2898 left_y=-0.2538 left_z=0.0396 left_yaw=0.0414 left_pitch=0.0058 left_roll=-0.0113 left_gripper=0.4687 right_x=0.2361 right_y=0.0028 right_z=0.06 right_yaw=-0.0001 right_pitch=-0.0069 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.5812, -9.4701, 4.1641, 0.8962, -0.4762, -0.188, 0.7302, -0.0342, 0.3897, 6.5436, 1.7656, -0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.2385, 1.5532, 0.9718, -0.5549, -0.9184, -1.0782, 0.997, -0.0212, 0.4103, 0.0792, -0.2459, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.243 left_y=-0.2628 left_z=0.1309 left_yaw=0.0231 left_pitch=-0.0181 left_roll=-0.02 left_gripper=0.997 right_x=0.2361 right_y=0.0028 right_z=0.06 right_yaw=-0.0003 right_pitch=-0.0069 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -8.5128, 8.3487, 0.8474, -0.735, -0.1538, -0.1148, -0.0752, 0.1162, 6.5983, 1.8046, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8406, 1.8202, 1.0004, -0.0303, -0.7216, -0.627, 0.4529, -0.0212, 0.4099, 0.0792, -0.2451, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3764 left_y=-0.2402 left_z=0.0775 left_yaw=0.0597 left_pitch=-0.0349 left_roll=0.0246 left_gripper=0.4529 right_x=0.2362 right_y=0.0028 right_z=0.0602 right_yaw=-0.0003 right_pitch=-0.0057 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -8.4444, 8.1709, 1.5604, -0.3004, 0.3736, 0.1343, -0.294, 0.0068, 6.5709, 1.7802, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e11ccd630132aee97f4434b45bc753a7e6c4e9cdb6d4efc17dc9823ab1001b07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:878d13325281ef7664ff93060cf92cfd3e8559d65c372aa7e0d64d4f3fb10cd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a23649547620af084aa8280f269802f47e64d10a252c040c9118cee56f28923e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlQYKjgEIEhgCKkDk+f2wst+bPwMW0beCo2MwXyfwuw4BS4jxKDkvaHo2FHr4D3wvDFKVGrw5g/R+CoQFTqpz2zYUrDIxIU610suJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf+izNUGEgyXo7stcwV45BVP1ioaDETWJDnHsKS0FmaikSIwIYOhGO5aUTR3OPN/hqzqFYq77sRozF7rb/OIgX+SIafC8qQy63v2VlwJ8+gBQX+cKrMEJ+bqkYBvven+JkB0GbkULoGmTliSJNj46XcDAirH0oClUc+7rLGH8I2YlaE+kELCjLUmTaAsw2VWKXrc3I9nrTxoTD3ee2Alo0dXDFVkYVPTGT5cPhYSn4qUq32xH8JKwIIRUAa5ZO7Mh4s9x7aUl2ULWVahyQ6/EETscTmyWMtavtB2bP+jEfepGn+p0M3+SeiWZZI3JlPQ+UxEpYTiHo3424/a1iljMD62Gor4+DOeZK5aK8RTAspv1P/rsQ5Tijkm7AmbA7CI+qRhC7Khckx9BIy18FHARvDSML1x/yUe7FTo6V5g4/fU7L8M7VfUGqJPmFoHACCX0y6TBsm6CiQaFUHXpwMB5DVXb6PTqcFEkV0cp8/s87W3PiYcjfOGIIZ3K+oaWbXHUBwZhC5qeNTxdmdY51Efw2J8oAnz4G/yJWgdd2hYssPywpvaDpcO2Wgz6GhUzcp7BQ3tFLmviqYqFnUjt6efoaaXCtQOBSgLVwkn19Yf5ARlQQaBj8yYIwP4jjxHwTf9pcyoT29cxOnX4ZIkt7E5+PaOlrWPm1M5ifWpFrMHeHIvNAhdwD0GPSgtd5VwEUVl35LdPAj2Ki7FLwnfgvchZULtnXdOz3pipjiK2otdzy8KxZ1aYRkUOyhkYUB/eVgfFfSBVCcCiVJX0MZMQ/VP/yLc3dOXaVWeGTqNIFjEJyxhlFuO7FMgh7+xYhxMV832/7uEGyK+gjQVMb0hIWHuGcpIf9zsylEepEYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012ZfA465iuRE6CMqhe2idqa",
      "input": {
        "note": "The wrist view is now empty table, so I overshot the cap; pulling back 4 cm and lowering to re-acquire the cap between the jaws.",
        "targets": {
          "left_x": 0.335,
          "left_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_012ZfA465iuRE6CMqhe2idqa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9409, 1.8153, 0.8436, 0.0662, -0.7666, -0.6888, 0.4529, -0.0212, 0.4099, 0.0792, -0.2455, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3337 left_y=-0.2437 left_z=0.0446 left_yaw=0.0236 left_pitch=-0.0384 left_roll=0.0387 left_gripper=0.4529 right_x=0.2362 right_y=0.0028 right_z=0.0602 right_yaw=-0.0003 right_pitch=-0.0061 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.4581, -10.0581, 4.8068, 1.2527, -0.4664, -0.0513, -0.0122, 0.0205, 0.1162, 6.8308, 1.7851, -0.0122, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d526096acaa0b5ef3a85c9a8ecfd0f1aa1cd7c86b918ce25d8848a394ab5a6c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2830833a403feffa5b0b434e4a34f3c0f63381da4201fbd6b2a845736619c39a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:abca6335addd04b3f19aa1c7589d2ded8fd9dbda9a073151358ab10aa43ba20e",
        "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 90 changed as sent

message 93 changed as sent

message 96 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.2385, 1.5532, 0.9718, -0.5549, -0.9184, -1.0782, 0.997, -0.0212, 0.4103, 0.0792, -0.2459, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.243 left_y=-0.2628 left_z=0.1309 left_yaw=0.0231 left_pitch=-0.0181 left_roll=-0.02 left_gripper=0.997 right_x=0.2361 right_y=0.0028 right_z=0.06 right_yaw=-0.0003 right_pitch=-0.0069 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -8.5128, 8.3487, 0.8474, -0.735, -0.1538, -0.1148, -0.0752, 0.1162, 6.5983, 1.8046, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8406, 1.8202, 1.0004, -0.0303, -0.7216, -0.627, 0.4529, -0.0212, 0.4099, 0.0792, -0.2451, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3764 left_y=-0.2402 left_z=0.0775 left_yaw=0.0597 left_pitch=-0.0349 left_roll=0.0246 left_gripper=0.4529 right_x=0.2362 right_y=0.0028 right_z=0.0602 right_yaw=-0.0003 right_pitch=-0.0057 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -8.4444, 8.1709, 1.5604, -0.3004, 0.3736, 0.1343, -0.294, 0.0068, 6.5709, 1.7802, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9409, 1.8153, 0.8436, 0.0662, -0.7666, -0.6888, 0.4529, -0.0212, 0.4099, 0.0792, -0.2455, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3337 left_y=-0.2437 left_z=0.0446 left_yaw=0.0236 left_pitch=-0.0384 left_roll=0.0387 left_gripper=0.4529 right_x=0.2362 right_y=0.0028 right_z=0.0602 right_yaw=-0.0003 right_pitch=-0.0061 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.4581, -10.0581, 4.8068, 1.2527, -0.4664, -0.0513, -0.0122, 0.0205, 0.1162, 6.8308, 1.7851, -0.0122, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d526096acaa0b5ef3a85c9a8ecfd0f1aa1cd7c86b918ce25d8848a394ab5a6c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2830833a403feffa5b0b434e4a34f3c0f63381da4201fbd6b2a845736619c39a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abca6335addd04b3f19aa1c7589d2ded8fd9dbda9a073151358ab10aa43ba20e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkggKjgEIEhgCKkA3V3VpfE4bTxKFVTdcBmepFTVAn3vyL1cSD6KUcJ61VuQMH3GQXr3kq57gHn/gRut089X0zoGGDa5x0wYEWWkdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYijzNUGEgxDjUE0A9C15lSqOfAaDFtz4b1MrPfmtriQSSIwtlTFPwd2OZ2/I3KulEBJ+kSa1AGpqda0ehdKh9Dwlhr31b0r5rOVYzRhFO5W3BgxKrAGe3gU1BTHLU5gejy3FBMbJ1etGpKdPSeD8P6KtM4rAPequnG3zfhTlphf9hvTxpoxawWs7DlBWc6g/TmyVKrYyRc9vzoOmnRn2xRZFvnd6hS/hQ8TguOnwO0fSW2Nalavd5c23sJaSMEHMXuzoBXvCtqFDNlAGQhjflqAViitOK2qDRLTHr928O3MjhbRd1BspGYUZholc0KWqiHqV6EPvW0u2CU9mMTC9REt8VIL7OacgCiP9wkNOyhj3+mMzmU84QeNTqNeMb2ljyaQZsmxsAlpwvs0yNMbSEN9tHi7KzD5fXgSfzg1JBWt2ByvgjCUzVZUfnckxWCF/a2AZG+Egyyu/674z9mzvxm7oqBjUZZM7GXWMU7SzwAF+YRJESYes8f1qXgF0gSuPYija186FauVg7U66Gg8IaAZTMK5v2Ap6GhBNVdGSAPANwOGd6rPzux9x/FQeMRrydTfz75SHfSu8PfOvgZByGSPN4nNOPFmOzAwOlJkERBqOPMGHYyVK3FE1UsA3bqfwMNoDCaDpot19xxTJgZFAOE76MtdKhHmSSXgkStzshaD9qbXibldQ6ChXN+DY+hQuGx7PF1VFCpTG/5ofTDsoK382gudN9oMt8XWzo1aClMWlKNs/gH1kJFlwVxb97BW3eMul8SFrS7TZ4bze0amL2UfQnQwtBcJKVV2ZYpvHBo7wvNQF4OObqSSeFaHEasKBDrWz5gOcy6+kDXSXbkt5YGI2Dlozt9Z9nQon/5VYJU1IUjn/SVqTOy3CiWrcsesjOyYu0W4RDI4QOzszLde/2bJFjF5yOZ2HDvSQgyVndMjYb+063qUX1bckMbYiGn97yAs6OQ85n1hq6i4pwB8hLfe82S7mgKsndmQVXNDuREMU4dvd3lbHyENET3UfCvrGW2X4gJjr19pn6l4uPUCdiCK13jFECiKz+47OeSeqpH+FdeVvW0uTL3m78E5d8JnT34S1Vrcbm+LQghjX5RmM+jZOMbMo0Ea7ELtmI0uAezmVCdz+9YiHiB32MtYqv+hp7+0uE9Dhoy+2sAAn0GSKdXXoDwhPANagE6GHRiBBihnwjwIltKyGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NcJ3YcLd5fmupvbp2YUG2X",
      "input": {
        "note": "The blue cap is now right between the jaw tips in the wrist view; descending to cap height (z≈0.5 cm) and nudging 1 cm forward so the jaws straddle the cap/neck.",
        "targets": {
          "left_x": 0.345,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01NcJ3YcLd5fmupvbp2YUG2X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9272, 1.895, 0.8093, 0.3058, -0.8074, -0.6754, 0.453, -0.0212, 0.4099, 0.0792, -0.2451, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3499 left_y=-0.2478 left_z=0.0385 left_yaw=0.0582 left_pitch=0.0572 left_roll=-0.0367 left_gripper=0.453 right_x=0.2362 right_y=0.0028 right_z=0.0602 right_yaw=-0.0001 right_pitch=-0.0057 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.9641, -3.3573, 3.0154, 0.5446, 0.4371, 0.0269, -0.0073, -0.2803, 0.0889, 6.694, 1.7314, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a32e32016225835743ad2536fd514d39d6f8d8bc733330abac62a189dc5953d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:306ff953876af5f366dbe5ef4472dfbefdf42058735fdd41a9bb390d20a5e63e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:618da5957a350d066689ea5e369105d42531118615224c3407d0071ee495eae9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 12.35 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 93 changed as sent

message 96 changed as sent

message 99 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8406, 1.8202, 1.0004, -0.0303, -0.7216, -0.627, 0.4529, -0.0212, 0.4099, 0.0792, -0.2451, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3764 left_y=-0.2402 left_z=0.0775 left_yaw=0.0597 left_pitch=-0.0349 left_roll=0.0246 left_gripper=0.4529 right_x=0.2362 right_y=0.0028 right_z=0.0602 right_yaw=-0.0003 right_pitch=-0.0057 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -8.4444, 8.1709, 1.5604, -0.3004, 0.3736, 0.1343, -0.294, 0.0068, 6.5709, 1.7802, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9409, 1.8153, 0.8436, 0.0662, -0.7666, -0.6888, 0.4529, -0.0212, 0.4099, 0.0792, -0.2455, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3337 left_y=-0.2437 left_z=0.0446 left_yaw=0.0236 left_pitch=-0.0384 left_roll=0.0387 left_gripper=0.4529 right_x=0.2362 right_y=0.0028 right_z=0.0602 right_yaw=-0.0003 right_pitch=-0.0061 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.4581, -10.0581, 4.8068, 1.2527, -0.4664, -0.0513, -0.0122, 0.0205, 0.1162, 6.8308, 1.7851, -0.0122, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9272, 1.895, 0.8093, 0.3058, -0.8074, -0.6754, 0.453, -0.0212, 0.4099, 0.0792, -0.2451, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3499 left_y=-0.2478 left_z=0.0385 left_yaw=0.0582 left_pitch=0.0572 left_roll=-0.0367 left_gripper=0.453 right_x=0.2362 right_y=0.0028 right_z=0.0602 right_yaw=-0.0001 right_pitch=-0.0057 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.9641, -3.3573, 3.0154, 0.5446, 0.4371, 0.0269, -0.0073, -0.2803, 0.0889, 6.694, 1.7314, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a32e32016225835743ad2536fd514d39d6f8d8bc733330abac62a189dc5953d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:306ff953876af5f366dbe5ef4472dfbefdf42058735fdd41a9bb390d20a5e63e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:618da5957a350d066689ea5e369105d42531118615224c3407d0071ee495eae9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7wMKjgEIEhgCKkD7xLqSB/QrPTX1Cy5JOsi4J3jqmbA68ML0U3NM5ZMXR9vUcPx7nVhOxpawaHKuHfHBCSP3Ay+j3ulrRGQyQ4wEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY+jzNUGEgzYzeYFpM1bgLZCsfAaDMZ7TeWdcMNUskOEQSIwmtQzjM7q0zTzQL8dIRhoj7IqxTJUnRcuFog2slsbifGVrC+1I5NgdoL0+7j9OXliKo0CClEHUcP5BrW+iz8EN4OVlcnPhhjoFUh+M0/31fBwKb0gu8j8T0wLlZo3Fu5ZEB/cWz/Qw1dhWrtshx+vSrWWPPDnhb3GYxpLdjB14Fp/bnWmHuQOtxcFkk1ZI1OIGSb5tu//bTusgmAz8CUy+84p7jW7G1BdQDh9tzjY0/Tv4EwGAlD3gezgy69Lb3QbXT2Tuv31HVedNbAy0eDLS00CSMMhkEysxEB6jZc1NH4TrBs3tRYKeAkkqgX1LrfKkkNVpEQLvlR1XGr6kI8ZnXwvwdg8J5nGU72Pn5kRQpoBZGcxS1etSCBShNknWOhyHpX3zuYdcYzgd2vMXDSGgWKYxYADBf2Szi9xZ0hLmDcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EXXYnLbodLHeCAGhrZYF2u",
      "input": {
        "note": "Descent stalled at z=3.8 cm with the cap between the jaw tips; closing hard so the jaws clamp the cap/neck.",
        "targets": {
          "left_gripper": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EXXYnLbodLHeCAGhrZYF2u",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9157, 1.8866, 0.8616, 0.2478, -0.812, -0.6907, 0.1248, -0.0212, 0.4103, 0.0792, -0.2459, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3586 left_y=-0.2505 left_z=0.0504 left_yaw=0.0812 left_pitch=0.0611 left_roll=-0.0505 left_gripper=0.1248 right_x=0.2361 right_y=0.0028 right_z=0.06 right_yaw=-0.0001 right_pitch=-0.0069 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -8.6496, 5.9556, 0.7595, -0.0415, -0.0708, -0.0122, -0.0752, 0.212, 7.0085, 1.7558, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc293e460b2d51b52711dbddc3389d9039bca082ce5e56b4d0dc26565563c932",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58d8e838e919b5a46fc3bae961bb2a323f6214c4f2a0747e0e53e3b446b51082",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0868bfd745016360fb8703cc1f79ba1caf0943f17666985d06a24f16220b7c82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 17.52 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 96 changed as sent

message 99 changed as sent

message 102 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9409, 1.8153, 0.8436, 0.0662, -0.7666, -0.6888, 0.4529, -0.0212, 0.4099, 0.0792, -0.2455, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3337 left_y=-0.2437 left_z=0.0446 left_yaw=0.0236 left_pitch=-0.0384 left_roll=0.0387 left_gripper=0.4529 right_x=0.2362 right_y=0.0028 right_z=0.0602 right_yaw=-0.0003 right_pitch=-0.0061 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.4581, -10.0581, 4.8068, 1.2527, -0.4664, -0.0513, -0.0122, 0.0205, 0.1162, 6.8308, 1.7851, -0.0122, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9272, 1.895, 0.8093, 0.3058, -0.8074, -0.6754, 0.453, -0.0212, 0.4099, 0.0792, -0.2451, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3499 left_y=-0.2478 left_z=0.0385 left_yaw=0.0582 left_pitch=0.0572 left_roll=-0.0367 left_gripper=0.453 right_x=0.2362 right_y=0.0028 right_z=0.0602 right_yaw=-0.0001 right_pitch=-0.0057 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.9641, -3.3573, 3.0154, 0.5446, 0.4371, 0.0269, -0.0073, -0.2803, 0.0889, 6.694, 1.7314, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9157, 1.8866, 0.8616, 0.2478, -0.812, -0.6907, 0.1248, -0.0212, 0.4103, 0.0792, -0.2459, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3586 left_y=-0.2505 left_z=0.0504 left_yaw=0.0812 left_pitch=0.0611 left_roll=-0.0505 left_gripper=0.1248 right_x=0.2361 right_y=0.0028 right_z=0.06 right_yaw=-0.0001 right_pitch=-0.0069 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -8.6496, 5.9556, 0.7595, -0.0415, -0.0708, -0.0122, -0.0752, 0.212, 7.0085, 1.7558, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc293e460b2d51b52711dbddc3389d9039bca082ce5e56b4d0dc26565563c932",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58d8e838e919b5a46fc3bae961bb2a323f6214c4f2a0747e0e53e3b446b51082",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0868bfd745016360fb8703cc1f79ba1caf0943f17666985d06a24f16220b7c82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0goKjgEIEhgCKkBfkQ6F6YAM8R7SbmquNm9stoPulrUZGpXwNFVAo/sJJVIoHO9oStV3f69jp30zLNNvInY+JV68/fVsrS2ccGcRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZqjzNUGEgzqbdZnD9HaoCDSQ/QaDF8n6vs8h8P/CA/lGSIwV9fTknyrfYpZEbSQbUh0kT4R+FOl6DsRkYiQHNda34mtQKOos9UlGcXWw/ulyg0JKvAI/csPCTXrZv3HvtCijhV5l9zwLUpnOWCThUI73wUrVFdy3ckkGgoYYV7TTQ/i86UjQN6OuGSk9YMe8qtQaxdE5GqPjQ7wSXR7JB2QXsd8F4V32w12kyMaall8qLPcl0Rpe+npeZbPMqhuiez1ZjS1Az0IL3MOvCC4cqmfRxHOMCdFdwVWzLvCUljxPiMupM2ebxNqxaNOMGFSXVGYOBVp6zpQozSXiBmN4Sr5qWYko0PyLhdl42jCDYTtgH4vUNm4W4WxF5BgYLIq1qxlAKX8Xz2RJhVwY/hKc5czqEzv6kQ7jxA5YZt54TEeTtLN0XnxQSK5JJXtSFvbIL4QawWlt+eMbWXsEhTDK2KLEgA72vadO83EBiTR39rWt3zmVNU03hJhzrs6BzwEOPB28XOY+c/SaYX0euCud4/85XixUvE2tH8tleEgRhzomQGKGWoK0qJfFQ3CPP5DX3fo1rP7mnnYgFlLpg3RwerdJYuuqftaLOjTqpdR1b6wqHgyxVpDpKuuxSUj6tztr52QoaojkvN0rOZrTKpAKsMlCL+zxLKBvIoHkdjB6fYNbpBuzBVey11GcyU7kGte4zSA3Tu7P92/cfmng83Tu7jEOdSGrSq0NFj+lxJgL3i7G+e8kpmklcV0BAmSSgR48hXMnfsXZap2PWA23aXR+/cKgllqEflBlfDf4IP8eNcThgtwa4NKPYUGSL6Byy5FZc93IGGGrz6PQK8xj5ja46Rwj6kYNMjQi2NFU5tCWBaA6BREHkpQmFcYDRCqFpVHY6NswcnuqhSvPFMcEjRk6BLgIrdkJvF2XNFL4NAuQaAQhh96cnEWWpdrT8EJKwtXtYsYMmvv5QNueEHuezkT5hDgzzgxHCtQZJetTVnQP14SNCKzRUvTEdKlBngaviwUxi9HS19qOk4m+4Be21mfTQqxIhxG/HsQuiY/UuBa8CrLmGboVGMGcnnoI0Oxe5xjMIO1hULPmpx64srcjRHRltxG0DGfTJ6CnKHr1gLUX+gqzJayp4nJXXN/XJbfcIJ2MfY6MMpRg2RXRuwMoi3QTaC2XVHYTNcExbrb4HBJ6VqFo9S5bdoSMFjUMMW4BD9H0f7kn1lX1xLnxZZ5BeNJYYrxldUzWJPKbG+ixZB0BBWqu49cZgY5kcBZZghYJUsib+JtD4xIVqlJyxVEvvCWMWFOUGij+ZkF3q935vaNegPooBljf8J0lrB2EggtLHQAmOUleVbTYxpLh48vLvHtYqYsd6J94syxmJHc3h/+LF6i8C4LrGrYp4GjayvdrSbrLtOlwOrQMmEBRg6gb2fjPuvrH+x5T++nqJ4brGJy84EOQTRb4papkx7XhPifPGW0onp+TyBIY7ZMmCJZNA2B0b/06iM7mxLriN8owJD70Vh5xSaWDs56tV9Bx6DRACOYrsyx0Qo4IHmA9Ie9ez7QyEAJVN4SVxtMw6sTwfofVAoRj8/7acGfFm7kgvP9WvYweSqfCDMSOTqdLYXuMpII4ntOYnLuylAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KK6Pf9TWKVVAbMNCvhyWds",
      "input": {
        "note": "That close came up empty (1.2 cm, narrower than the cap) — the jaws must have been just past/above the cap. Reopening and backing up 3 cm and lower for one more attempt at the cap.",
        "targets": {
          "left_gripper": 0.5,
          "left_x": 0.325,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KK6Pf9TWKVVAbMNCvhyWds",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9833, 1.8847, 0.8658, 0.173, -0.8375, -0.7845, 0.4948, -0.0212, 0.4103, 0.0792, -0.2459, -0.0235, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3373 left_y=-0.2631 left_z=0.0451 left_yaw=0.0781 left_pitch=0.0396 left_roll=-0.0638 left_gripper=0.4948 right_x=0.2361 right_y=0.0027 right_z=0.06 right_yaw=-0.0006 right_pitch=-0.0069 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -8.5265, 3.5761, 0.6911, -0.2222, 0.1441, -0.2369, -0.0342, 0.0068, 6.5709, 1.7802, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ceaf786691a4edecffcc38a9087f6cc32d894a57c7c771eb2012d7561d72810",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5f9d72443a7d1025eb5dcfd3d8e27fa9b8b9e773c17b21ddac005a4d2f0092d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1861d4d72212ebf28ed11d2385cfeed58f994e9b0af578e79f62158fc9388608",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 9.042 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 99 changed as sent

message 102 changed as sent

message 105 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9272, 1.895, 0.8093, 0.3058, -0.8074, -0.6754, 0.453, -0.0212, 0.4099, 0.0792, -0.2451, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3499 left_y=-0.2478 left_z=0.0385 left_yaw=0.0582 left_pitch=0.0572 left_roll=-0.0367 left_gripper=0.453 right_x=0.2362 right_y=0.0028 right_z=0.0602 right_yaw=-0.0001 right_pitch=-0.0057 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [0.9641, -3.3573, 3.0154, 0.5446, 0.4371, 0.0269, -0.0073, -0.2803, 0.0889, 6.694, 1.7314, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9157, 1.8866, 0.8616, 0.2478, -0.812, -0.6907, 0.1248, -0.0212, 0.4103, 0.0792, -0.2459, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3586 left_y=-0.2505 left_z=0.0504 left_yaw=0.0812 left_pitch=0.0611 left_roll=-0.0505 left_gripper=0.1248 right_x=0.2361 right_y=0.0028 right_z=0.06 right_yaw=-0.0001 right_pitch=-0.0069 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -8.6496, 5.9556, 0.7595, -0.0415, -0.0708, -0.0122, -0.0752, 0.212, 7.0085, 1.7558, -0.0171, -0.0562, -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 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9833, 1.8847, 0.8658, 0.173, -0.8375, -0.7845, 0.4948, -0.0212, 0.4103, 0.0792, -0.2459, -0.0235, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3373 left_y=-0.2631 left_z=0.0451 left_yaw=0.0781 left_pitch=0.0396 left_roll=-0.0638 left_gripper=0.4948 right_x=0.2361 right_y=0.0027 right_z=0.06 right_yaw=-0.0006 right_pitch=-0.0069 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -8.5265, 3.5761, 0.6911, -0.2222, 0.1441, -0.2369, -0.0342, 0.0068, 6.5709, 1.7802, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ceaf786691a4edecffcc38a9087f6cc32d894a57c7c771eb2012d7561d72810",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5f9d72443a7d1025eb5dcfd3d8e27fa9b8b9e773c17b21ddac005a4d2f0092d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1861d4d72212ebf28ed11d2385cfeed58f994e9b0af578e79f62158fc9388608",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PksuPcZCtnJJAmjCzfTmz4",
      "input": {
        "note": "Cap sits squarely between the jaw tips; trying to descend to 1 cm so the jaws drop around the cap rather than resting on top of it.",
        "targets": {
          "left_z": 0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01PksuPcZCtnJJAmjCzfTmz4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9871, 1.903, 0.9028, 0.1234, -0.8505, -0.7937, 0.4951, -0.0212, 0.4103, 0.0792, -0.2455, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3388 left_y=-0.2655 left_z=0.0445 left_yaw=0.0865 left_pitch=0.0331 left_roll=-0.0399 left_gripper=0.4951 right_x=0.2362 right_y=0.0028 right_z=0.0601 right_yaw=-0.0003 right_pitch=-0.0065 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -6.7487, 6.6393, 1.0183, -0.2418, -0.0073, 0.0073, 0.0068, 0.0068, 6.6803, 1.746, -0.0122, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f99f29c264c77dc146db2e2426f25411ace5068f09c64360f97087146767b31d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e05215a163c68587fe79d100dcca48ed997fed5e56e38eef3fc7c9fd5e74ed06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc5e8d30abb60c58c0f43b23e3ba548d5f5322cba22752e9a832386b9e270705",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /messages · status 200 · 14.95 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 102 changed as sent

message 105 changed as sent

message 108 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9157, 1.8866, 0.8616, 0.2478, -0.812, -0.6907, 0.1248, -0.0212, 0.4103, 0.0792, -0.2459, -0.0238, -0.017, 0.9992]\nstate[eef_state]: left_x=0.3586 left_y=-0.2505 left_z=0.0504 left_yaw=0.0812 left_pitch=0.0611 left_roll=-0.0505 left_gripper=0.1248 right_x=0.2361 right_y=0.0028 right_z=0.06 right_yaw=-0.0001 right_pitch=-0.0069 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -8.6496, 5.9556, 0.7595, -0.0415, -0.0708, -0.0122, -0.0752, 0.212, 7.0085, 1.7558, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9833, 1.8847, 0.8658, 0.173, -0.8375, -0.7845, 0.4948, -0.0212, 0.4103, 0.0792, -0.2459, -0.0235, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3373 left_y=-0.2631 left_z=0.0451 left_yaw=0.0781 left_pitch=0.0396 left_roll=-0.0638 left_gripper=0.4948 right_x=0.2361 right_y=0.0027 right_z=0.06 right_yaw=-0.0006 right_pitch=-0.0069 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -8.5265, 3.5761, 0.6911, -0.2222, 0.1441, -0.2369, -0.0342, 0.0068, 6.5709, 1.7802, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9871, 1.903, 0.9028, 0.1234, -0.8505, -0.7937, 0.4951, -0.0212, 0.4103, 0.0792, -0.2455, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3388 left_y=-0.2655 left_z=0.0445 left_yaw=0.0865 left_pitch=0.0331 left_roll=-0.0399 left_gripper=0.4951 right_x=0.2362 right_y=0.0028 right_z=0.0601 right_yaw=-0.0003 right_pitch=-0.0065 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -6.7487, 6.6393, 1.0183, -0.2418, -0.0073, 0.0073, 0.0068, 0.0068, 6.6803, 1.746, -0.0122, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f99f29c264c77dc146db2e2426f25411ace5068f09c64360f97087146767b31d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e05215a163c68587fe79d100dcca48ed997fed5e56e38eef3fc7c9fd5e74ed06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc5e8d30abb60c58c0f43b23e3ba548d5f5322cba22752e9a832386b9e270705",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgAkKjgEIEhgCKkDCZ6no72uNLXNYI6kkmmuSQRKP5/KamGOpJL+CPuTY6X1ZX2xAd1YqtimwDAeXVHnmppaxqEzG8yHha10bI7kvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbajzNUGEgyvmAaeCdJYUXdMaC8aDOueR9uaCAwMmmAmvyIwRBaxpUDyMQhgXFUnvUcXTdaF7JZJZoz4nSgDUagDobETRKOXvBHdofWe7kOxHoObKp4H6UR2oBt5jsvmZj0Zfz0YoHtMcd0OvyZs2Iqg/hLyJNzuJlpurApfOAfsCukseYLe2Xe5gWqqxHXzCH9Eyzn+7irrASGVhavdkgBsmPUwxYZSfcH/qck9ppl2X1Vt7/eVAVOS1YNaW+bGpA9dq9DzqXHQnj4I0w4LX3t+45dk8H4hPGLnhdgGJbRqZGfFemnULvjn04QZ7T63gOravkmvVm73QY28wTp1u6vi+iDvzQv9fOVQ6slPKzgzbn7RxKuP/xudU5L0OmRrNFPegD7Cqd5CVSlx1pI9uZWSZ3yRH6n/DzM4UMKrDodOQr/UQEbRwZHiTT52YAYUwA6Q1W2QUvTpEZY28smAbH/AYPDylYaI3Vu2NYVIIowse9dVDycCYIvYezLAU3ueOv3NYo+Z8uoFIUBGAS2sFk9B7XVwDDDuzppopE+057SSK/UBieHZLVsMTjf+ZEsNbHzl80YDj7LSU5MLaAWtCC6WtEx1uzP97niaY5tPSEGk9dVPamSm+hY9BIQXbzdSi61z696Z3wo59cbcWyZfXwulxTphZQwWE42pMHfs4Vm3WdZVifNzl89FW2hqI62Ngb0SHaCkYhtHwnP6GTYLbIdMuoiLxYnrpNBpUFw3j9YXGLYCfqPvdV5H9AXXdBB2H48UfQI1QQFYgMwQi0I8PB8xaftu1HE8wZJgziTt7Khn6C8qr1okxcSorPZKqzAQEBu+PlFelYY6vnqtdOxm7Bk2slBExYZQ55I5GGf+Mjb6Se4lYPniAfnQc8l65/eHoVBUZ0pGWXRlo05ukWK3NYKCoFL/OFP86vclrDl4WF8NiDHxes1h1IGGa2ldMa0d3B7I3tLz+MHzRS4J+NoS2OEW9B7CnW4c8Zwu6N6VsjZxgyhQ1JoPERBlcCyR968qHGR4wsau309VXFF+ruL7jIspJh6W+NDzUTJeb4Vu9Hqt3re4nWyJQuRmyJN7hRpD7OrI7X4vc6DFN0f3Y+BE2UZByBZB/j6S4jp6Jk6Pko7sF4TFZX69ei5duqzeBLOq+zLH9sHmB9B+hJo4o9FuEb/imkAwhCiwCQWP3s2PZO00NE0GaXYN6bBkFhAEtfUjW4ZhRHJKLoJzqhw9/yHO9DprJLpq2i1pNU4066YoNdFtoOel1A/JVyLiks/aJlq3CMeuRyOdc6HtPdv181hvNFk2l9HyoN+wAuF0y4n5IICK85W2rmSsvm5jmzkpw0MxvaOHFN0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DSgwXjLE9XKe3Z5hShLU7B",
      "input": {
        "note": "Height is kinematically floored at 4.4 cm here; closing on the cap and lifting in one motion to see if the bottle comes up and swings vertical.",
        "targets": {
          "left_gripper": 0.14,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01DSgwXjLE9XKe3Z5hShLU7B",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9821, 1.6352, 1.5112, -0.5945, -0.8463, -0.8154, 0.1425, -0.0212, 0.4103, 0.0792, -0.2462, -0.0238, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3509 left_y=-0.2809 left_z=0.2816 left_yaw=0.1098 left_pitch=0.1036 left_roll=-0.2006 left_gripper=0.1425 right_x=0.2361 right_y=0.0028 right_z=0.0599 right_yaw=-0.0003 right_pitch=-0.0072 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [-0.4718, -5.6684, 7.8564, 1.16, -0.2906, 0.1148, 0.1538, -0.2256, 0.1436, 6.653, 1.8046, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:145bf679642035edf640059d3fd8d170bb52be78c01f82401a45fb4146c35ae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d830f8428c409fbe55fc0b05636cd5235e131062eea23c4657fc013e5b239c16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:32907427505b0edd86399ea40ff23788b3d25a6460b9cf3e2e98277c82f986b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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