adhoc

completed
2026-09-22T21:56:28.335183+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
490.4 s
total steps
310
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles lie flat near the table midline. I'll hover the right arm above the rightmost bottle to see it in the wrist camera before grasping its neck (plan: lift by the neck so the bottle hangs cap-up, then set it down upright).
move_to
right_x0.4000right_y0.2200right_z0.2500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.7929, 0.6094, -0.3763, -0.0227, -0.0288, 0.9986, -0.0158, 0.7879, 0.6033, -0.3843, -0.0128, -0.0212, 0.9996] state[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1835 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0012 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.5402, -1.4427, 9.6615, 1.7558, -0.0366, 0.149, -0.1587, -1.0188, -0.9231, 10.2632, 1.8046, -0.1245, 0.0611, -0.0464] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.22, "right_z": 0.25, "right_gripper": 1.0}, "note": "Three bottles lie flat near the table midline. I'll hover the right arm above the rightmost bottle to see it in the wrist camera before grasping its neck (plan: lift by the neck so the bottle hangs cap-up, then set it down upright)."})
tool
executing move_to over 19 steps (1.9s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteWrist view shows two bottles lying with their caps pointing away from the base; I'm shifting right and forward to line the jaws up over the rightmost bottle's neck.
move_to
right_x0.4500right_y0.1700right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.7982, 0.6159, -0.3794, -0.0231, -0.0292, 0.9984, 0.7036, 1.5837, 1.3628, -0.5259, 0.5442, 0.382, 0.9996] state[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1844 left_yaw=0.0005 left_pitch=-0.0019 left_roll=-0.0001 left_gripper=0.9984 right_x=0.3908 right_y=0.2164 right_z=0.2307 right_yaw=0.0427 right_pitch=-0.0518 right_roll=-0.0422 right_gripper=0.9996 state[joint_eff]: [-0.1709, -1.6479, 6.612, 1.7411, -0.0562, -0.0073, -0.0317, 0.1299, -7.3778, 9.5385, 1.5507, 0.4029, 0.1929, -0.0464] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.17, "right_z": 0.15}, "note": "Wrist view shows two bottles lying with their caps pointing away from the base; I'm shifting right and forward to line the jaws up over the rightmost bottle's neck."})
tool
executing move_to over 6 steps (0.6s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe rightmost bottle is now centred on the jaw column in the wrist view with its cap pointing away from the base; advancing and lowering to bring the neck/cap between the jaws.
move_to
right_x0.4700right_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.7994, 0.6151, -0.379, -0.0231, -0.0292, 0.9983, 0.5079, 1.6615, 1.0901, -0.1371, 0.3954, 0.2539, 0.9996] state[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1838 left_yaw=0.0005 left_pitch=-0.0034 left_roll=-0.0 left_gripper=0.9983 right_x=0.4329 right_y=0.1672 right_z=0.1413 right_yaw=0.0341 right_pitch=-0.0759 right_roll=-0.0416 right_gripper=0.9996 state[joint_eff]: [-0.2393, -1.4701, 7.1316, 1.7802, -0.0269, -0.0366, -0.0171, -0.9094, -7.3915, 6.8444, 2.127, 0.2125, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_z": 0.08}, "note": "The rightmost bottle is now centred on the jaw column in the wrist view with its cap pointing away from the base; advancing and lowering to bring the neck/cap between the jaws."})
tool
executing move_to over 4 steps (0.4s)
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 cap sits a few cm beyond my reach limit, so I'll instead grasp the bottle's body here, drag it closer to the base, and then re-grasp it by the neck. Lowering to the bottle's mid-height first.
move_to
right_z0.0330right_x0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8013, 0.6151, -0.3794, -0.0231, -0.0292, 0.9983, 0.4686, 1.8503, 0.9977, 0.1547, 0.3569, 0.2264, 0.9996] state[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.0057 left_roll=0.0 left_gripper=0.9983 right_x=0.4544 right_y=0.1649 right_z=0.0695 right_yaw=0.0411 right_pitch=-0.0777 right_roll=-0.0365 right_gripper=0.9996 state[joint_eff]: [-0.0479, -1.6068, 6.9265, 1.7314, -0.0464, -0.0366, -0.0073, -0.9504, -9.7983, 6.4752, 2.0244, 0.0513, -0.0659, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.033, "right_x": 0.45}, "note": "The cap sits a few cm beyond my reach limit, so I'll instead grasp the bottle's body here, drag it closer to the base, and then re-grasp it by the neck. Lowering to the bottle's mid-height first."})
tool
executing move_to over 3 steps (0.3s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe arm hit its reach limit and couldn't descend at x=0.46, so I'm pulling back slightly to x=0.42 where it can reach the bottle's mid-height (z=3.5 cm) to grip the body.
move_to
right_x0.4200right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8021, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.4587, 1.8839, 0.9955, 0.2256, 0.3359, 0.2115, 0.9996] state[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.1831 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4628 right_y=0.1676 right_z=0.0653 right_yaw=0.0572 right_pitch=-0.0512 right_roll=-0.0222 right_gripper=0.9996 state[joint_eff]: [-0.0889, -1.6752, 6.5709, 1.7802, -0.0513, -0.0757, -0.0073, -0.1983, -10.3453, 6.4889, 1.956, 0.2369, 0.0904, -0.0122] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_z": 0.035}, "note": "The arm hit its reach limit and couldn't descend at x=0.46, so I'm pulling back slightly to x=0.42 where it can reach the bottle's mid-height (z=3.5 cm) to grip the body."})
tool
executing move_to over 4 steps (0.4s)
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 noteThe arm ignored the last command (identical readback), so it is stuck at its reach limit; raising z and pulling x back to free it.
move_to
right_x0.3800right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.4587, 1.8839, 0.9955, 0.226, 0.3359, 0.2115, 0.9996] state[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.183 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4629 right_y=0.1677 right_z=0.0653 right_yaw=0.0572 right_pitch=-0.0508 right_roll=-0.0221 right_gripper=0.9996 state[joint_eff]: [-0.1709, -1.6615, 6.5299, 1.8339, -0.0415, -0.0415, -0.0122, -0.4171, -10.2769, 6.5436, 1.9512, 0.2906, 0.1294, -0.0122] 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": {"right_x": 0.38, "right_z": 0.2}, "note": "The arm ignored the last command (identical readback), so it is stuck at its reach limit; raising z and pulling x back to free it."})
tool
executing move_to over 9 steps (0.9s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteBoth remaining bottles are visible in the wrist view with caps pointing away; I'm centring over the rightmost bottle's body at a safe height before descending to grip it and drag it closer to the base.
move_to
right_x0.4000right_y0.1500right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.6151, -0.379, -0.0231, -0.0292, 0.9983, 0.5831, 1.4235, 0.9817, -0.1688, 0.4129, 0.2672, 0.9996] state[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.3864 right_y=0.1742 right_z=0.1899 right_yaw=0.0892 right_pitch=0.016 right_roll=0.0055 right_gripper=0.9996 state[joint_eff]: [-0.0342, -1.0872, 6.6256, 1.8877, -0.0269, -0.0611, -0.0073, 0.3077, -7.5829, 10.0581, 1.7705, 0.2857, 0.1245, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.15, "right_z": 0.1}, "note": "Both remaining bottles are visible in the wrist view with caps pointing away; I'm centring over the rightmost bottle's body at a safe height before descending to grip it and drag it closer to the base."})
tool
executing move_to over 6 steps (0.6s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteBottle is centred under the jaws in the wrist view; descending to mid-body height to grip it.
move_to
right_y0.1570right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8021, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.4961, 1.5497, 0.7521, 0.1112, 0.3443, 0.2222, 0.9996] state[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.1831 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3885 right_y=0.1466 right_z=0.0928 right_yaw=0.0814 right_pitch=-0.0706 right_roll=-0.0278 right_gripper=0.9996 state[joint_eff]: [-0.2393, -1.5248, 6.5299, 1.7802, -0.0415, -0.0171, -0.0122, -0.5812, -5.8735, 6.1197, 1.9707, 0.1783, -0.149, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.157, "right_z": 0.035}, "note": "Bottle is centred under the jaws in the wrist view; descending to mid-body height to grip it."})
tool
executing move_to over 4 steps (0.4s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe bottle body sits squarely between the open jaws; closing to grip it.
move_to
right_gripper0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8021, 0.6144, -0.3786, -0.0231, -0.0292, 0.9983, 0.532, 1.7309, 0.6189, 0.4618, 0.3443, 0.2314, 0.9996] state[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1828 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.384 right_y=0.161 right_z=0.0366 right_yaw=0.1131 right_pitch=-0.0374 right_roll=-0.0057 right_gripper=0.9996 state[joint_eff]: [-0.0479, -1.6615, 6.7897, 1.8046, -0.0171, -0.0562, -0.0122, -0.0479, -6.612, 4.3282, 1.7558, 0.3443, 0.0904, -0.0122] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.45}, "note": "The bottle body sits squarely between the open jaws; closing to grip it."})
tool
executing move_to over 6 steps (0.6s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteGripper closed to 0.55 on the bottle body (a solid grip). Lifting it and carrying it ~10 cm closer to the base so its cap comes within reach for the neck re-grasp.
move_to
right_z0.1200right_x0.3000right_y0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.6144, -0.379, -0.0227, -0.0292, 0.9983, 0.5312, 1.7599, 0.5907, 0.5179, 0.3504, 0.2264, 0.5517] state[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.381 right_y=0.1577 right_z=0.0263 right_yaw=0.11 right_pitch=-0.037 right_roll=-0.0136 right_gripper=0.5517 state[joint_eff]: [-0.212, -1.4974, 6.5162, 1.8535, -0.0415, -0.0757, -0.0122, 0.0615, -8.4855, 4.6427, 1.9463, 0.1099, -0.0611, 0.7057] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12, "right_x": 0.3, "right_y": 0.2}, "note": "Gripper closed to 0.55 on the bottle body (a solid grip). Lifting it and carrying it ~10 cm closer to the base so its cap comes within reach for the neck re-grasp."})
tool
executing move_to over 7 steps (0.7s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteBottle has been moved closer to the base; setting it back down on the table and releasing so I can re-grasp it by the neck.
move_to
right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3782, -0.0231, -0.0292, 0.9983, 0.8444, 1.3918, 0.5831, -0.038, 0.5217, 0.4019, 0.5559] state[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1827 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.2846 right_y=0.1932 right_z=0.0689 right_yaw=0.1838 right_pitch=-0.14 right_roll=-0.0753 right_gripper=0.5559 state[joint_eff]: [0.0479, -1.7026, 6.4889, 1.8926, -0.0317, -0.022, -0.0122, 0.1299, -8.1573, 10.8513, 2.4542, 0.7399, 0.1343, 0.4274] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03, "right_gripper": 1.0}, "note": "Bottle has been moved closer to the base; setting it back down on the table and releasing so I can re-grasp it by the neck."})
tool
executing move_to over 5 steps (0.5s)
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 noteBottle released ~10 cm closer to the base; moving the open gripper forward over where its neck should now be (about 10 cm ahead of the body grasp point) to check alignment in the wrist view.
move_to
right_x0.3700right_y0.1850right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.8619, 1.5421, 0.3641, 0.3866, 0.5457, 0.3943, 0.9955] state[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9983 right_x=0.2733 right_y=0.1834 right_z=0.0154 right_yaw=0.1914 right_pitch=-0.0859 right_roll=-0.0608 right_gripper=0.9955 state[joint_eff]: [-0.0342, -1.6615, 6.7077, 1.7949, -0.0366, -0.0659, -0.0122, -0.3624, -4.5197, 4.3966, 1.707, 0.2955, 0.0611, -0.0855] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.185, "right_z": 0.1}, "note": "Bottle released ~10 cm closer to the base; moving the open gripper forward over where its neck should now be (about 10 cm ahead of the body grasp point) to check alignment in the wrist view."})
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 dragged bottle rotated; its blue cap now appears left of the jaw column in the wrist view, so I'm shifting the gripper ~4 cm toward the arm's left to line up on the neck.
move_to
right_y0.2250right_x0.3750
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.6121, 1.5234, 0.638, 0.2497, 0.3561, 0.2241, 0.9954] state[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9983 right_x=0.3597 right_y=0.1816 right_z=0.0843 right_yaw=0.1876 right_pitch=-0.0213 right_roll=-0.0122 right_gripper=0.9954 state[joint_eff]: [-0.2256, -1.6752, 6.6803, 1.8193, -0.0464, -0.0366, -0.0122, -0.6632, -6.0923, 8.212, 1.8681, 0.1343, -0.0415, -0.022] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.225, "right_x": 0.375}, "note": "The dragged bottle rotated; its blue cap now appears left of the jaw column in the wrist view, so I'm shifting the gripper ~4 cm toward the arm's left to line up on the neck."})
tool
executing move_to over 4 steps (0.4s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe cap is now centred on the jaw column a few cm ahead of the fingertips; advancing 3 cm and lowering to the bottle's axis height so the jaws straddle the neck just behind the cap.
move_to
right_x0.3950right_z0.0330
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3786, -0.0227, -0.0292, 0.9983, 0.696, 1.6562, 0.7265, 0.2417, 0.3885, 0.2535, 0.9953] state[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3611 right_y=0.2192 right_z=0.0664 right_yaw=0.2285 right_pitch=-0.0595 right_roll=-0.0286 right_gripper=0.9953 state[joint_eff]: [-0.1846, -1.6889, 6.4752, 1.7656, -0.0317, -0.0757, -0.0122, -0.0342, -7.1863, 8.212, 1.8291, 0.3199, 0.1538, -0.0171] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.395, "right_z": 0.033}, "note": "The cap is now centred on the jaw column a few cm ahead of the fingertips; advancing 3 cm and lowering to the bottle's axis height so the jaws straddle the neck just behind the cap."})
tool
executing move_to over 3 steps (0.3s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteDescent stalled at z≈0.068 twice; commanding a lower z and straightening the tool yaw to 0 to see if the arm will come down onto the bottle neck.
move_to
right_z0.0200right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0227, -0.0292, 0.9983, 0.7029, 1.6653, 0.7425, 0.2386, 0.3927, 0.2604, 0.9953] state[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.363 right_y=0.2236 right_z=0.0684 right_yaw=0.2284 right_pitch=-0.0548 right_roll=-0.0237 right_gripper=0.9953 state[joint_eff]: [-0.1162, -1.6615, 6.6803, 1.7949, -0.0366, -0.0611, -0.0122, -0.5812, -7.1453, 8.294, 1.8193, 0.4078, 0.1734, -0.0122] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.02, "right_yaw": 0.0}, "note": "Descent stalled at z\u22480.068 twice; commanding a lower z and straightening the tool yaw to 0 to see if the arm will come down onto the bottle neck."})
tool
executing move_to over 4 steps (0.4s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteArm is not responding to downward commands; testing with an upward move to see whether it still tracks at all.
move_to
right_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.7029, 1.6653, 0.7425, 0.2317, 0.4, 0.2604, 0.9953] state[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.3627 right_y=0.2218 right_z=0.0675 right_yaw=0.2224 right_pitch=-0.0588 right_roll=-0.031 right_gripper=0.9953 state[joint_eff]: [-0.1983, -1.5248, 6.4752, 1.8388, -0.0122, -0.0562, -0.0122, -0.5949, -7.1316, 8.0889, 1.9267, 0.3541, 0.1343, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.13}, "note": "Arm is not responding to downward commands; testing with an upward move to see whether it still tracks at all."})
tool
executing move_to over 5 steps (0.5s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteMotion is being speed-clamped, so I'm commanding a larger descent (to table level) and a small advance to bring the open jaws down around the bottle's neck.
move_to
right_z-0.0100right_x0.3900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3779, -0.0231, -0.0292, 0.9983, 0.7029, 1.6093, 0.7567, 0.1337, 0.3912, 0.2565, 0.9953] state[eef_state]: left_x=0.2969 left_y=0.0015 left_z=0.1827 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.3558 right_y=0.2178 right_z=0.0773 right_yaw=0.2305 right_pitch=-0.0862 right_roll=-0.0418 right_gripper=0.9953 state[joint_eff]: [0.0068, -1.1692, 6.4479, 1.9219, -0.0317, -0.0513, -0.0122, -0.3214, -10.5778, 10.8923, 2.1905, 0.2857, 0.0269, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": -0.01, "right_x": 0.39}, "note": "Motion is being speed-clamped, so I'm commanding a larger descent (to table level) and a small advance to bring the open jaws down around the bottle's neck."})
tool
executing move_to over 6 steps (0.6s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteJaws are down at bottle-axis height near the neck; closing fully and reading the settled gripper width to tell whether I caught the narrow neck, the body, or nothing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8021, 0.614, -0.379, -0.0231, -0.0292, 0.9983, 0.6445, 1.9293, 0.693, 0.738, 0.3721, 0.1944, 0.9954] state[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.401 right_y=0.2255 right_z=0.0355 right_yaw=0.2205 right_pitch=0.1074 right_roll=0.0107 right_gripper=0.9954 state[joint_eff]: [-0.0479, -1.4974, 6.5162, 1.7753, -0.0415, -0.0073, -0.0122, -0.8684, -2.8513, 2.988, 0.2662, -0.315, 0.2027, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Jaws are down at bottle-axis height near the neck; closing fully and reading the settled gripper width to tell whether I caught the narrow neck, the body, or nothing."})
tool
executing move_to over 10 steps (1.0s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThat close came up empty (0.017) — the jaws were too high and behind the cap, and low-z reach fails beyond x≈0.40. New plan: grip the body at a closer point and yaw the bottle 90° so its cap swings sideways into easy reach.
move_to
right_gripper1.0000right_x0.3550right_y0.2300right_z0.0330
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3782, -0.0231, -0.0292, 0.9983, 0.6399, 1.8698, 0.7719, 0.5831, 0.3393, 0.2077, 0.0169] state[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1827 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.4091 right_y=0.2357 right_z=0.0572 right_yaw=0.2366 right_pitch=0.0858 right_roll=0.0307 right_gripper=0.0169 state[joint_eff]: [-0.2256, -1.7162, 6.4615, 1.8779, -0.0464, -0.0611, -0.0122, -0.5812, -7.9248, 5.2581, 0.9841, 0.1587, 0.1197, 0.7741] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.355, "right_y": 0.23, "right_z": 0.033}, "note": "That close came up empty (0.017) \u2014 the jaws were too high and behind the cap, and low-z reach fails beyond x\u22480.40. New plan: grip the body at a closer point and yaw the bottle 90\u00b0 so its cap swings sideways into easy reach."})
tool
executing move_to over 10 steps (1.0s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe red-labelled bottle lies just right of the jaw column at body height; nudging 2 cm toward it and closing on the body (expect a reading near 0.6 if the body is caught).
move_to
right_y0.2180right_gripper0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3786, -0.0227, -0.0292, 0.9983, 0.728, 1.7992, 0.6563, 0.5476, 0.3969, 0.2543, 0.9955] state[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3634 right_y=0.2372 right_z=0.0406 right_yaw=0.254 right_pitch=0.0254 right_roll=0.0096 right_gripper=0.9955 state[joint_eff]: [-0.1026, -1.6479, 6.735, 1.8242, -0.0464, -0.0611, -0.0073, 0.4718, -8.4308, 3.494, 1.4383, 0.2955, 0.149, 0.0415] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.218, "right_gripper": 0.3}, "note": "The red-labelled bottle lies just right of the jaw column at body height; nudging 2 cm toward it and closing on the body (expect a reading near 0.6 if the body is caught)."})
tool
executing move_to over 7 steps (0.7s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe close reached 0.31 with no resistance, so the jaws missed the bottle on its left side; re-opening and shifting 2.5 cm further right where the body actually lies.
move_to
right_gripper1.0000right_y0.2000right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.6891, 1.7592, 0.638, 0.5541, 0.3584, 0.2245, 0.3103] state[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.368 right_y=0.2276 right_z=0.0504 right_yaw=0.2623 right_pitch=0.0418 right_roll=0.0153 right_gripper=0.3103 state[joint_eff]: [-0.0889, -1.4564, 6.4889, 1.8486, -0.0611, -0.0611, -0.0073, -0.9641, -7.2821, 4.1094, 1.1404, 0.0904, -0.0171, -0.0611] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_y": 0.2, "right_z": 0.035}, "note": "The close reached 0.31 with no resistance, so the jaws missed the bottle on its left side; re-opening and shifting 2.5 cm further right where the body actually lies."})
tool
executing move_to over 7 steps (0.7s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe red bottle now sits centred on the jaw column at body height; closing — a settled reading near 0.6 means the body is caught.
move_to
right_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0227, -0.0292, 0.9983, 0.6205, 1.7473, 0.5949, 0.5541, 0.3004, 0.1852, 0.9956] state[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3686 right_y=0.2035 right_z=0.038 right_yaw=0.2629 right_pitch=0.0008 right_roll=-0.0007 right_gripper=0.9956 state[joint_eff]: [-0.3077, -1.6889, 6.6393, 1.8877, -0.0464, -0.0611, -0.0122, -0.6222, -6.9675, 4.3966, 1.9072, -0.0024, 0.0269, -0.0611] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.2}, "note": "The red bottle now sits centred on the jaw column at body height; closing \u2014 a settled reading near 0.6 means the body is caught."})
tool
executing move_to over 8 steps (0.8s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteTwo body grasps missed on the smooth 6.5 cm bottle; switching to the much narrower neck, which sits ~5 cm further forward — moving the open jaws out over the neck and commanding a low z so the arm descends as far as it can.
move_to
right_gripper1.0000right_x0.4300right_y0.2150right_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8021, 0.614, -0.379, -0.0227, -0.0292, 0.9983, 0.622, 1.7378, 0.5968, 0.6197, 0.2897, 0.178, 0.2056] state[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3754 right_y=0.2114 right_z=0.0556 right_yaw=0.2762 right_pitch=0.0712 right_roll=0.0249 right_gripper=0.2056 state[joint_eff]: [-0.294, -1.5521, 6.4615, 1.8437, -0.0366, -0.0269, -0.0122, -0.335, -6.5846, 5.1761, 1.1209, 0.1685, 0.0611, 0.3053] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.43, "right_y": 0.215, "right_z": 0.015}, "note": "Two body grasps missed on the smooth 6.5 cm bottle; switching to the much narrower neck, which sits ~5 cm further forward \u2014 moving the open jaws out over the neck and commanding a low z so the arm descends as far as it can."})
tool
executing move_to over 8 steps (0.8s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
assistant
agent noteThe red bottle's neck region lies just right of the jaw column in the wrist view; shifting 3.5 cm right and closing to try to capture the narrow neck.
move_to
right_y0.1850right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8021, 0.614, -0.379, -0.0231, -0.0292, 0.9983, 0.5488, 1.945, 0.8013, 0.6151, 0.2272, 0.1192, 0.9956] state[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.43 right_y=0.2205 right_z=0.0376 right_yaw=0.2871 right_pitch=0.0553 right_roll=0.0012 right_gripper=0.9956 state[joint_eff]: [-0.0889, -1.7162, 6.5299, 1.7851, -0.022, -0.0562, -0.0073, -1.0735, -5.8462, 5.3812, 1.3309, 0.0415, 0.1001, -0.0366] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.185, "right_gripper": 0.25}, "note": "The red bottle's neck region lies just right of the jaw column in the wrist view; shifting 3.5 cm right and closing to try to capture the narrow neck."})
tool
executing move_to over 8 steps (0.8s)
step 161
assistant
agent noteRepeated empty closes suggest the target bottle is hidden under the gripper and out of the wrist camera's near field; retracting the arm high and back to get a clean overhead view of all three bottles.
move_to
right_gripper1.0000right_x0.2500right_z0.3000right_y0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.466, 1.8751, 0.7856, 0.5865, 0.1349, 0.0731, 0.2556] state[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.4385 right_y=0.1979 right_z=0.0565 right_yaw=0.3064 right_pitch=0.0709 right_roll=0.0107 right_gripper=0.2556 state[joint_eff]: [-0.1573, -1.5932, 6.653, 1.8339, -0.0366, -0.0366, -0.0122, -0.6632, -8.4855, 3.9179, 1.3114, 0.1294, 0.0317, 0.3199] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.25, "right_z": 0.3, "right_y": 0.1}, "note": "Repeated empty closes suggest the target bottle is hidden under the gripper and out of the wrist camera's near field; retracting the arm high and back to get a clean overhead view of all three bottles."})
tool
executing move_to over 16 steps (1.6s)
step 177
assistant
agent noteClean overhead view: three bottles lying parallel with caps pointing away. Returning to the exact pose where I successfully gripped the rightmost bottle's body earlier, so I can lift it and yaw it 90° to bring its neck within reach.
move_to
right_x0.3840right_y0.1570right_z0.0350right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3756, -0.0231, -0.0292, 0.9983, 0.4473, 0.8558, 1.0607, -0.7742, 0.1261, 0.0498, 0.9972] state[eef_state]: left_x=0.2971 left_y=0.0015 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.2617 right_y=0.1049 right_z=0.2879 right_yaw=0.308 right_pitch=0.0046 right_roll=-0.0148 right_gripper=0.9972 state[joint_eff]: [-0.0889, -1.5521, 6.4615, 1.8486, -0.0317, 0.0122, -0.0122, -0.4034, -1.6205, 8.8547, 1.8193, -0.0611, 0.0513, -0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.384, "right_y": 0.157, "right_z": 0.035, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "Clean overhead view: three bottles lying parallel with caps pointing away. Returning to the exact pose where I successfully gripped the rightmost bottle's body earlier, so I can lift it and yaw it 90\u00b0 to bring its neck within reach."})
tool
executing move_to over 17 steps (1.7s)
step 194
assistant
agent noteWrist view is filled by the rightmost bottle right at the jaws; closing on its body to lift it.
move_to
right_y0.1630right_gripper0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3756, -0.0227, -0.0292, 0.9983, 0.577, 1.734, 0.5926, 0.3908, 0.4301, 0.2924, 0.9996] state[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.183 left_yaw=0.0002 left_pitch=-0.0046 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3636 right_y=0.153 right_z=0.0176 right_yaw=0.0528 right_pitch=-0.1007 right_roll=-0.0516 right_gripper=0.9996 state[joint_eff]: [-0.3487, -1.4974, 6.653, 1.7167, -0.0317, -0.0024, -0.0122, -0.1983, -7.5692, 7.241, 1.9805, 0.4322, 0.2955, -0.0611] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.163, "right_gripper": 0.45}, "note": "Wrist view is filled by the rightmost bottle right at the jaws; closing on its body to lift it."})
tool
executing move_to over 6 steps (0.6s)
step 200
assistant
agent noteGripper settled at 0.56 — the bottle body is held. Lifting it and rotating 90° clockwise so its cap swings toward the arm's right, away from the other bottles and into easy reach for a neck grasp.
move_to
right_z0.1500right_yaw-1.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3763, -0.0231, -0.0292, 0.9983, 0.6033, 1.7725, 0.5152, 0.5774, 0.45, 0.3027, 0.5558] state[eef_state]: left_x=0.297 left_y=0.0015 left_z=0.1828 left_yaw=0.0005 left_pitch=-0.0053 left_roll=-0.0 left_gripper=0.9983 right_x=0.3576 right_y=0.1574 right_z=0.0122 right_yaw=0.0603 right_pitch=-0.0331 right_roll=-0.0185 right_gripper=0.5558 state[joint_eff]: [-0.1299, -1.5521, 6.653, 1.7802, -0.0464, -0.0317, -0.0122, 0.841, -5.6274, 5.6137, 1.9121, 0.315, 0.0415, 0.9304] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15, "right_yaw": -1.5}, "note": "Gripper settled at 0.56 \u2014 the bottle body is held. Lifting it and rotating 90\u00b0 clockwise so its cap swings toward the arm's right, away from the other bottles and into easy reach for a neck grasp."})
tool
executing move_to over 10 steps (1.0s)
step 210
assistant
agent noteBottle is held and partly rotated; commanding a tidy pose with the tool yawed 90° clockwise and lifted, so the bottle lies across the arm's axis with its cap toward the arm's right.
move_to
right_x0.3600right_y0.1000right_z0.1800right_yaw-1.5700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3763, -0.0227, -0.0292, 0.9983, 0.5587, 2.2795, 1.8011, -1.0653, 0.8223, 1.9175, 0.5579] state[eef_state]: left_x=0.297 left_y=0.0014 left_z=0.1828 left_yaw=0.0002 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4414 right_y=0.1275 right_z=0.0629 right_yaw=-1.2008 right_pitch=-0.2103 right_roll=0.294 right_gripper=0.5579 state[joint_eff]: [-0.2393, -1.0462, 6.7624, 1.8584, -0.0269, -0.0464, -0.0122, -2.865, -15.0222, 6.735, -0.1978, 0.9744, 0.2515, 0.4518] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.1, "right_z": 0.18, "right_yaw": -1.57}, "note": "Bottle is held and partly rotated; commanding a tidy pose with the tool yawed 90\u00b0 clockwise and lifted, so the bottle lies across the arm's axis with its cap toward the arm's right."})
tool
executing move_to over 8 steps (0.8s)
step 218
assistant
agent noteThe bottle is now held crosswise with its cap pointing to the arm's right; sliding back toward +y so the cap end will land inside the workspace, then setting it down on the table.
move_to
right_x0.3600right_y0.1700right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3756, -0.0227, -0.0292, 0.9983, 0.3695, 2.2326, 1.7218, -1.5051, 0.8249, 2.0758, 0.5614] state[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.183 left_yaw=0.0002 left_pitch=-0.0046 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3656 right_y=0.0063 right_z=0.0817 right_yaw=-1.5479 right_pitch=-0.091 right_roll=-0.046 right_gripper=0.5614 state[joint_eff]: [-0.2393, -1.0735, 6.6393, 1.8974, -0.0366, -0.0562, -0.0122, -0.2393, -16.2393, 5.9282, -1.1404, 1.2234, 0.149, 0.359] approver: 2 step(s) modified (delta_clamped ×2). 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": {"right_x": 0.36, "right_y": 0.17, "right_z": 0.03}, "note": "The bottle is now held crosswise with its cap pointing to the arm's right; sliding back toward +y so the cap end will land inside the workspace, then setting it down on the table."})
tool
executing move_to over 14 steps (1.4s)
step 232
assistant
agent noteThe bottle's cap currently points at the out-of-bounds fence side, so I'm rotating the held bottle 180° (through yaw 0) so the cap points toward the table centre where I can reach it.
move_to
right_yaw1.5000right_z0.1200right_x0.3600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3759, -0.0231, -0.0292, 0.9983, 0.3866, 2.2978, 1.742, -1.4425, 0.844, 2.0796, 0.5655] state[eef_state]: left_x=0.2971 left_y=0.0015 left_z=0.1829 left_yaw=0.0005 left_pitch=-0.005 left_roll=-0.0 left_gripper=0.9983 right_x=0.3793 right_y=0.0157 right_z=0.0607 right_yaw=-1.5228 right_pitch=-0.0806 right_roll=-0.0205 right_gripper=0.5655 state[joint_eff]: [-0.1026, -1.5521, 6.8581, 1.8046, -0.0415, -0.0562, -0.0073, -2.2906, -10.988, 4.9846, -0.5641, 1.0232, 0.105, 0.4274] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 1.5, "right_z": 0.12, "right_x": 0.36}, "note": "The bottle's cap currently points at the out-of-bounds fence side, so I'm rotating the held bottle 180\u00b0 (through yaw 0) so the cap points toward the table centre where I can reach it."})
tool
executing move_to over 20 steps (2.0s)
step 252
assistant
agent noteCarrying the held bottle back to a clear spot close to the base and laying it down crosswise with its cap pointing toward the table centre, where the neck will be easy to reach.
move_to
right_x0.3300right_y0.0500right_z0.0300right_yaw1.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8028, 0.6136, -0.3786, -0.0231, -0.0292, 0.9983, -0.3794, 2.083, 1.5532, -0.9745, -0.8726, -1.2667, 0.5698] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1822 left_yaw=0.0013 left_pitch=-0.008 left_roll=0.0001 left_gripper=0.9983 right_x=0.4259 right_y=-0.0203 right_z=0.087 right_yaw=1.0118 right_pitch=-0.1383 right_roll=0.178 right_gripper=0.5698 state[joint_eff]: [-0.212, -1.2923, 6.6393, 1.8242, -0.0464, -0.0611, -0.0122, 0.9368, -11.959, 6.5299, 0.1978, -0.8913, -0.0073, 0.442] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.05, "right_z": 0.03, "right_yaw": 1.5}, "note": "Carrying the held bottle back to a clear spot close to the base and laying it down crosswise with its cap pointing toward the table centre, where the neck will be easy to reach."})
tool
executing move_to over 8 steps (0.8s)
step 260
assistant
agent noteBottle laid down crosswise; releasing it and sliding the open jaws ~9 cm along its axis to straddle the narrow neck just behind the cap.
move_to
right_gripper1.0000right_x0.3590right_y0.1280right_z0.0330
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.6136, -0.3756, -0.0231, -0.0292, 0.9983, -0.3248, 2.0796, 1.2522, -0.9981, -0.9676, -1.9087, 0.572] state[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1831 left_yaw=0.0013 left_pitch=-0.0042 left_roll=-0.0 left_gripper=0.9983 right_x=0.3465 right_y=0.0406 right_z=0.0383 right_yaw=1.4286 right_pitch=-0.0123 right_roll=-0.0156 right_gripper=0.572 state[joint_eff]: [-0.294, -1.7162, 6.5299, 1.7998, -0.0269, -0.0269, -0.0122, 0.5538, -7.9385, 4.1504, -0.3199, -0.3932, -0.1441, 0.2222] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.359, "right_y": 0.128, "right_z": 0.033}, "note": "Bottle laid down crosswise; releasing it and sliding the open jaws ~9 cm along its axis to straddle the narrow neck just behind the cap."})
tool
executing move_to over 8 steps (0.8s)
step 268
assistant
agent noteJaws should now straddle the bottle's neck; closing to grip it — a settled reading near 0.25-0.3 means the neck/cap is caught.
move_to
right_gripper0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3759, -0.0231, -0.0292, 0.9983, -0.0868, 2.0289, 1.1183, -0.6277, -0.9741, -1.5249, 0.9968] state[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1829 left_yaw=0.0013 left_pitch=-0.005 left_roll=-0.0 left_gripper=0.9983 right_x=0.3514 right_y=0.1197 right_z=0.023 right_yaw=1.4521 right_pitch=-0.0275 right_roll=0.0162 right_gripper=0.9968 state[joint_eff]: [-0.0889, -1.5385, 7.0632, 1.7998, -0.022, -0.0611, -0.0122, 0.4855, -11.1795, 4.0821, 0.3883, -0.7839, 0.1148, -0.105] camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.12}, "note": "Jaws should now straddle the bottle's neck; closing to grip it \u2014 a settled reading near 0.25-0.3 means the neck/cap is caught."})
tool
executing move_to over 9 steps (0.9s)
step 277
assistant
agent noteGripper settled at 0.54 — caught near the bottle's tapered shoulder. Lifting high to let the bottle swing down and hang cap-up under the jaws.
move_to
right_z0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3756, -0.0235, -0.0292, 0.9983, -0.0929, 2.0262, 1.1061, -0.5968, -0.9859, -1.5349, 0.5364] state[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.183 left_yaw=0.0016 left_pitch=-0.0046 left_roll=0.0002 left_gripper=0.9983 right_x=0.3536 right_y=0.1186 right_z=0.0233 right_yaw=1.4514 right_pitch=-0.0151 right_roll=-0.013 right_gripper=0.5364 state[joint_eff]: [-0.1026, -1.5795, 6.7624, 1.8095, -0.0562, -0.0366, -0.0122, -0.3214, -8.9504, 4.6291, 0.3199, -0.6716, -0.0366, 0.9744] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.3}, "note": "Gripper settled at 0.54 \u2014 caught near the bottle's tapered shoulder. Lifting high to let the bottle swing down and hang cap-up under the jaws."})
tool
executing move_to over 18 steps (1.8s)
step 295
assistant
agent noteThe bottle stays rigidly horizontal in the grip rather than swinging cap-up, so with the call budget nearly exhausted I'm setting it back down flat on the table and releasing it safely.
move_to
right_z0.0400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3752, -0.0227, -0.0292, 0.9983, -0.0723, 1.8633, 1.887, -1.5242, -0.8902, -1.515, 0.5383] state[eef_state]: left_x=0.2972 left_y=0.0016 left_z=0.1831 left_yaw=0.001 left_pitch=-0.0042 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3614 right_y=0.1151 right_z=0.2499 right_yaw=1.4541 right_pitch=-0.1098 right_roll=-0.0168 right_gripper=0.5383 state[joint_eff]: [-0.0615, -1.3607, 6.6667, 1.8486, -0.0513, -0.0611, -0.0122, 0.253, -11.3709, 9.4564, -0.0024, -1.5604, 0.2808, 0.7448] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.04, "right_gripper": 1.0}, "note": "The bottle stays rigidly horizontal in the grip rather than swinging cap-up, so with the call budget nearly exhausted I'm setting it back down flat on the table and releasing it safely."})
tool
executing move_to over 14 steps (1.4s)
step 309
assistant
agent noteWith pitch and roll pinned at 0 the gripper can only approach vertically, and the bottles are rigid enough that a body or shoulder grasp holds them horizontally instead of letting them swing cap-up. I could not get a grip on the narrow neck within the call budget, so none of the bottles were stood upright.
give_up
hindsightKey lessons for this rig/task: (1) pitch and roll are truly pinned, so the only way to stand a lying bottle is to pinch it loosely by the neck/cap so it pivots and hangs cap-up, or to lever it against something — a firm body grasp keeps it horizontal no matter how high you lift. (2) A grasped bottle IS visible in its own wrist camera when held horizontally pointing forward, contrary to the general note. (3) Low-z (<0.05 m) reach fails beyond x≈0.42 for the right arm: descents just stall at z≈0.06, so bottles lying with caps pointing away have unreachable necks — drag or yaw the bottle first. (4) Moves are heavily speed-clamped: small commanded deltas get few steps and can appear to do nothing; command a larger delta to get real motion, and yaw changes >1 rad make the IK take strange paths (large x/z excursions, unexpected roll). (5) Wrist-camera lateral alignment was repeatedly misleading at close range — three consecutive closes at apparently centred positions came up empty (reading 0.2–0.3); the one grasp that worked was found by moving to a pose that had previously worked. (6) Standing three bottles needs far more than 40 calls with this workflow; budget ~10 calls per bottle and settle the grasp strategy before starting.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8028, 0.6132, -0.3759, -0.0231, -0.0292, 0.9983, -0.1001, 1.9656, 1.599, -1.3251, -1.0, -1.5642, 0.9979] state[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1826 left_yaw=0.0013 left_pitch=-0.0057 left_roll=0.0 left_gripper=0.9983 right_x=0.365 right_y=0.1163 right_z=0.1598 right_yaw=1.4611 right_pitch=-0.0031 right_roll=0.1373 right_gripper=0.9979 state[joint_eff]: [-0.0342, -1.1009, 6.7487, 1.873, -0.0317, -0.0415, -0.0122, -0.5128, -9.2376, 6.8308, 0.1294, -0.7057, 0.0073, -0.0952] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
give_up({"reason": "With pitch and roll pinned at 0 the gripper can only approach vertically, and the bottles are rigid enough that a body or shoulder grasp holds them horizontally instead of letting them swing cap-up. I could not get a grip on the narrow neck within the call budget, so none of the bottles were stood upright.", "hindsight": "Key lessons for this rig/task: (1) pitch and roll are truly pinned, so the only way to stand a lying bottle is to pinch it loosely by the neck/cap so it pivots and hangs cap-up, or to lever it against something \u2014 a firm body grasp keeps it horizontal no matter how high you lift. (2) A grasped bottle IS visible in its own wrist camera when held horizontally pointing forward, contrary to the general note. (3) Low-z (<0.05 m) reach fails beyond x\u22480.42 for the right arm: descents just stall at z\u22480.06, so bottles lying with caps pointing away have unreachable necks \u2014 drag or yaw the bottle first. (4) Moves are heavily speed-clamped: small commanded deltas get few steps and can appear to do nothing; command a larger delta to get real motion, and yaw changes >1 rad make the IK take strange paths (large x/z excursions, unexpected roll). (5) Wrist-camera lateral alignment was repeatedly misleading at close range \u2014 three consecutive closes at apparently centred positions came up empty (reading 0.2\u20130.3); the one grasp that worked was found by moving to a pose that had previously worked. (6) Standing three bottles needs far more than 40 calls with this workflow; budget ~10 calls per bottle and settle the grasp strategy before starting."})
tool
give_up: With pitch and roll pinned at 0 the gripper can only approach vertically, and the bottles are rigid enough that a body or shoulder grasp holds them horizontally instead of letting them swing cap-up. I could not get a grip on the narrow neck within the call budget, so none of the bottles were stood upright.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 27.34 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]: [-0.0208, 0.7929, 0.6094, -0.3763, -0.0227, -0.0288, 0.9986, -0.0158, 0.7879, 0.6033, -0.3843, -0.0128, -0.0212, 0.9996]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1835 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0012 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -1.4427, 9.6615, 1.7558, -0.0366, 0.149, -0.1587, -1.0188, -0.9231, 10.2632, 1.8046, -0.1245, 0.0611, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2cfcea046e043062f53c3f1b680c15af898180cb9e2377668ca2b98a358cbd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77ebc86893109bdf7bdce033813f63c6315b4ef87c64938826249a3dbf2a50a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:436824072efd5b6b83a8d88d9ba12cfcc996670210b57272f121e6713bf54db3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 13.57 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]: [-0.0208, 0.7929, 0.6094, -0.3763, -0.0227, -0.0288, 0.9986, -0.0158, 0.7879, 0.6033, -0.3843, -0.0128, -0.0212, 0.9996]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1835 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0012 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -1.4427, 9.6615, 1.7558, -0.0366, 0.149, -0.1587, -1.0188, -0.9231, 10.2632, 1.8046, -0.1245, 0.0611, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2cfcea046e043062f53c3f1b680c15af898180cb9e2377668ca2b98a358cbd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77ebc86893109bdf7bdce033813f63c6315b4ef87c64938826249a3dbf2a50a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:436824072efd5b6b83a8d88d9ba12cfcc996670210b57272f121e6713bf54db3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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A1OTPv8xNVp43U8R9jzRAB2NeXA2cxigFHoczUlJzJ/peCcNu90SRaeWLQErx4nH6faOVi4KtBfPA4DVl3WMVmB26/+WAjMBtpar+HURlAtyvgCBSclWE+uun2FbWBVhS2/aifp6DR62u+0z5q6r8kuLEAU26rIpFsPmNMC+CWs+AMjp7JQuPxIkLU/S+M5mtXVjcZ6g5+wRj24tTyrCoWMT+TUxUVNwA/kQiJ5oCKYnNA2uK+9CfioZ42OolipbZmTM2PheRXA+81L1DgeyM9X0mlfRL/9rB3JDXEy5/z/FeceD8fzkVVbEwPrfk+9fCHPHtDDyQ8JeWXdbVClg1R2W7w/ZqMny+3rLy0iI9LeUtVe4e7PbwNhXnI19Xdmc5Z0cm4ec6dkk5T4lnKUnYaHs8XnVwun43yR6jD782bd+AxAfVViiqCP8I3aH2/zcDj9oqVOjnGDkGoC2aqzbV/NvEvQOAp0LQRrEU8308l6m02siIROQ39W0ZA6VF9nVkZyrmwclNmJ+74dAkBljmSshETPvTb9E28IqXIooLHwNcQ2dd32rqQ5mD3l/oZDfGL0a12X+kCVgISXONl4ZLq5t+IYotj2Dxb4QYmcZWDFpNEJJ6Uc5rOapHYuesMp/SGUfsMUIBl0DrZQTmi5ha+VKRUJ2Hha97hiVDOAdtlpFdgqo+XDFl1L+dL73/MQO4C8/FehCgFRQ6ztfHwJDJRutXQ2fg/YnWFglCesDDycpKe4B7AbwVVdEGTuPuO74qprRIEnzgHIFcW4aqFyRE7RNyc8Dibz8hEhrXpuxD+DIERPjPhOSUnMNBSepidwGsd9fm9fM9zXZaF8wlu11PzuwEe4FlVC3bLt57gttHpKZaaV/jz8WprzL6H0oP7BTacAAmqIlnuVw55+FnZM7jAESZu8x4VHcPsDUg7VdUT0+V7VVHLe9RETCQCZCryB2SrrO5RPD+oNMhii+aNTQwhZpGS5fcQgAc7if4Tb7NbJzKipp/BW2qO6mjnPytBWVZZI+UsmG1JUaX+4Uy2keXtLFvW6VnHzx3L2W20D2eRVJAZ2qrn2ieivDcQoyo+vLKORgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DHp5j62iWcHM4ubBnd5hNB",
      "input": {
        "note": "Three bottles lie flat near the table midline. I'll hover the right arm above the rightmost bottle to see it in the wrist camera before grasping its neck (plan: lift by the neck so the bottle hangs cap-up, then set it down upright).",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.22,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01DHp5j62iWcHM4ubBnd5hNB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7982, 0.6159, -0.3794, -0.0231, -0.0292, 0.9984, 0.7036, 1.5837, 1.3628, -0.5259, 0.5442, 0.382, 0.9996]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1844 left_yaw=0.0005 left_pitch=-0.0019 left_roll=-0.0001 left_gripper=0.9984 right_x=0.3908 right_y=0.2164 right_z=0.2307 right_yaw=0.0427 right_pitch=-0.0518 right_roll=-0.0422 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.6479, 6.612, 1.7411, -0.0562, -0.0073, -0.0317, 0.1299, -7.3778, 9.5385, 1.5507, 0.4029, 0.1929, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b920452bfff98eebfade27f9e89d3cb5aabb5b24ba6088453aa2dc424a63b2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bf68b7d8652b2fab11272d0cfd031022e329bda36288617b622cf509431aaf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f350dae72c8e54ae290b81ef46266c96a04852706e2e67c054b66aa6ca6e2641",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 24.91 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]: [-0.0208, 0.7929, 0.6094, -0.3763, -0.0227, -0.0288, 0.9986, -0.0158, 0.7879, 0.6033, -0.3843, -0.0128, -0.0212, 0.9996]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1835 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0012 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -1.4427, 9.6615, 1.7558, -0.0366, 0.149, -0.1587, -1.0188, -0.9231, 10.2632, 1.8046, -0.1245, 0.0611, -0.0464]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7982, 0.6159, -0.3794, -0.0231, -0.0292, 0.9984, 0.7036, 1.5837, 1.3628, -0.5259, 0.5442, 0.382, 0.9996]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1844 left_yaw=0.0005 left_pitch=-0.0019 left_roll=-0.0001 left_gripper=0.9984 right_x=0.3908 right_y=0.2164 right_z=0.2307 right_yaw=0.0427 right_pitch=-0.0518 right_roll=-0.0422 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.6479, 6.612, 1.7411, -0.0562, -0.0073, -0.0317, 0.1299, -7.3778, 9.5385, 1.5507, 0.4029, 0.1929, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b920452bfff98eebfade27f9e89d3cb5aabb5b24ba6088453aa2dc424a63b2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bf68b7d8652b2fab11272d0cfd031022e329bda36288617b622cf509431aaf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f350dae72c8e54ae290b81ef46266c96a04852706e2e67c054b66aa6ca6e2641",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bgp1bJqaikZhfR5SDpNZ6U",
      "input": {
        "note": "Wrist view shows two bottles lying with their caps pointing away from the base; I'm shifting right and forward to line the jaws up over the rightmost bottle's neck.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.17,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Bgp1bJqaikZhfR5SDpNZ6U",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7994, 0.6151, -0.379, -0.0231, -0.0292, 0.9983, 0.5079, 1.6615, 1.0901, -0.1371, 0.3954, 0.2539, 0.9996]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1838 left_yaw=0.0005 left_pitch=-0.0034 left_roll=-0.0 left_gripper=0.9983 right_x=0.4329 right_y=0.1672 right_z=0.1413 right_yaw=0.0341 right_pitch=-0.0759 right_roll=-0.0416 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.4701, 7.1316, 1.7802, -0.0269, -0.0366, -0.0171, -0.9094, -7.3915, 6.8444, 2.127, 0.2125, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3636a7b7c2adfcb6762cd2c3d58775a8defdccf818858863486de9f09b18e677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74f753f3306e159956dc90e14324f7ec1c6681b5b1f07d16970a8128642d671b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f5f8a372ddc1281338645a1b35bf8c4d653851ef38cd461c834a8c942f583921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 16.73 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]: [-0.0208, 0.7929, 0.6094, -0.3763, -0.0227, -0.0288, 0.9986, -0.0158, 0.7879, 0.6033, -0.3843, -0.0128, -0.0212, 0.9996]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1835 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2937 right_y=0.0012 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -1.4427, 9.6615, 1.7558, -0.0366, 0.149, -0.1587, -1.0188, -0.9231, 10.2632, 1.8046, -0.1245, 0.0611, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7982, 0.6159, -0.3794, -0.0231, -0.0292, 0.9984, 0.7036, 1.5837, 1.3628, -0.5259, 0.5442, 0.382, 0.9996]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1844 left_yaw=0.0005 left_pitch=-0.0019 left_roll=-0.0001 left_gripper=0.9984 right_x=0.3908 right_y=0.2164 right_z=0.2307 right_yaw=0.0427 right_pitch=-0.0518 right_roll=-0.0422 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.6479, 6.612, 1.7411, -0.0562, -0.0073, -0.0317, 0.1299, -7.3778, 9.5385, 1.5507, 0.4029, 0.1929, -0.0464]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7994, 0.6151, -0.379, -0.0231, -0.0292, 0.9983, 0.5079, 1.6615, 1.0901, -0.1371, 0.3954, 0.2539, 0.9996]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1838 left_yaw=0.0005 left_pitch=-0.0034 left_roll=-0.0 left_gripper=0.9983 right_x=0.4329 right_y=0.1672 right_z=0.1413 right_yaw=0.0341 right_pitch=-0.0759 right_roll=-0.0416 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.4701, 7.1316, 1.7802, -0.0269, -0.0366, -0.0171, -0.9094, -7.3915, 6.8444, 2.127, 0.2125, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3636a7b7c2adfcb6762cd2c3d58775a8defdccf818858863486de9f09b18e677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74f753f3306e159956dc90e14324f7ec1c6681b5b1f07d16970a8128642d671b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5f8a372ddc1281338645a1b35bf8c4d653851ef38cd461c834a8c942f583921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B8mdcs9xqE9KekYpHLajS4",
      "input": {
        "note": "The rightmost bottle is now centred on the jaw column in the wrist view with its cap pointing away from the base; advancing and lowering to bring the neck/cap between the jaws.",
        "targets": {
          "right_x": 0.47,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01B8mdcs9xqE9KekYpHLajS4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8013, 0.6151, -0.3794, -0.0231, -0.0292, 0.9983, 0.4686, 1.8503, 0.9977, 0.1547, 0.3569, 0.2264, 0.9996]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.0057 left_roll=0.0 left_gripper=0.9983 right_x=0.4544 right_y=0.1649 right_z=0.0695 right_yaw=0.0411 right_pitch=-0.0777 right_roll=-0.0365 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.6068, 6.9265, 1.7314, -0.0464, -0.0366, -0.0073, -0.9504, -9.7983, 6.4752, 2.0244, 0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e061ed8997bcb373d9f21982c31ee6e83c2738fb051fb40fcc766a5ea9da0c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3391689f2c0fcdb9bc68de5b306ebde84c03a063d566a73205859f8d02f3abb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb445fc7feed5224bcb42a552ba08476441de01ab5676b3495222a2bcbab4b7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 7.579 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7982, 0.6159, -0.3794, -0.0231, -0.0292, 0.9984, 0.7036, 1.5837, 1.3628, -0.5259, 0.5442, 0.382, 0.9996]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1844 left_yaw=0.0005 left_pitch=-0.0019 left_roll=-0.0001 left_gripper=0.9984 right_x=0.3908 right_y=0.2164 right_z=0.2307 right_yaw=0.0427 right_pitch=-0.0518 right_roll=-0.0422 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.6479, 6.612, 1.7411, -0.0562, -0.0073, -0.0317, 0.1299, -7.3778, 9.5385, 1.5507, 0.4029, 0.1929, -0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7994, 0.6151, -0.379, -0.0231, -0.0292, 0.9983, 0.5079, 1.6615, 1.0901, -0.1371, 0.3954, 0.2539, 0.9996]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1838 left_yaw=0.0005 left_pitch=-0.0034 left_roll=-0.0 left_gripper=0.9983 right_x=0.4329 right_y=0.1672 right_z=0.1413 right_yaw=0.0341 right_pitch=-0.0759 right_roll=-0.0416 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.4701, 7.1316, 1.7802, -0.0269, -0.0366, -0.0171, -0.9094, -7.3915, 6.8444, 2.127, 0.2125, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8013, 0.6151, -0.3794, -0.0231, -0.0292, 0.9983, 0.4686, 1.8503, 0.9977, 0.1547, 0.3569, 0.2264, 0.9996]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.0057 left_roll=0.0 left_gripper=0.9983 right_x=0.4544 right_y=0.1649 right_z=0.0695 right_yaw=0.0411 right_pitch=-0.0777 right_roll=-0.0365 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.6068, 6.9265, 1.7314, -0.0464, -0.0366, -0.0073, -0.9504, -9.7983, 6.4752, 2.0244, 0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e061ed8997bcb373d9f21982c31ee6e83c2738fb051fb40fcc766a5ea9da0c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3391689f2c0fcdb9bc68de5b306ebde84c03a063d566a73205859f8d02f3abb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb445fc7feed5224bcb42a552ba08476441de01ab5676b3495222a2bcbab4b7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QLHJCb7JgsByKEjGWTsuEL",
      "input": {
        "note": "The cap sits a few cm beyond my reach limit, so I'll instead grasp the bottle's body here, drag it closer to the base, and then re-grasp it by the neck. Lowering to the bottle's mid-height first.",
        "targets": {
          "right_x": 0.45,
          "right_z": 0.033
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01QLHJCb7JgsByKEjGWTsuEL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.4587, 1.8839, 0.9955, 0.2256, 0.3359, 0.2115, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.1831 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4628 right_y=0.1676 right_z=0.0653 right_yaw=0.0572 right_pitch=-0.0512 right_roll=-0.0222 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.6752, 6.5709, 1.7802, -0.0513, -0.0757, -0.0073, -0.1983, -10.3453, 6.4889, 1.956, 0.2369, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94adda848a563e91ec51fde1153b8619d2f4a2b54d778eb9f9001c2ab288a281",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3da4926382e3fbe71e04edb9063703ea1cd7c94c8bf1d8bbeab856352bc5aa66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a42410da2678b49d89ff4829f7dc8f18fb0bfd0e5221a798219c113b7e2d18e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 7.141 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.7994, 0.6151, -0.379, -0.0231, -0.0292, 0.9983, 0.5079, 1.6615, 1.0901, -0.1371, 0.3954, 0.2539, 0.9996]\nstate[eef_state]: left_x=0.2966 left_y=0.0015 left_z=0.1838 left_yaw=0.0005 left_pitch=-0.0034 left_roll=-0.0 left_gripper=0.9983 right_x=0.4329 right_y=0.1672 right_z=0.1413 right_yaw=0.0341 right_pitch=-0.0759 right_roll=-0.0416 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.4701, 7.1316, 1.7802, -0.0269, -0.0366, -0.0171, -0.9094, -7.3915, 6.8444, 2.127, 0.2125, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8013, 0.6151, -0.3794, -0.0231, -0.0292, 0.9983, 0.4686, 1.8503, 0.9977, 0.1547, 0.3569, 0.2264, 0.9996]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.0057 left_roll=0.0 left_gripper=0.9983 right_x=0.4544 right_y=0.1649 right_z=0.0695 right_yaw=0.0411 right_pitch=-0.0777 right_roll=-0.0365 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.6068, 6.9265, 1.7314, -0.0464, -0.0366, -0.0073, -0.9504, -9.7983, 6.4752, 2.0244, 0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.4587, 1.8839, 0.9955, 0.2256, 0.3359, 0.2115, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.1831 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4628 right_y=0.1676 right_z=0.0653 right_yaw=0.0572 right_pitch=-0.0512 right_roll=-0.0222 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.6752, 6.5709, 1.7802, -0.0513, -0.0757, -0.0073, -0.1983, -10.3453, 6.4889, 1.956, 0.2369, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94adda848a563e91ec51fde1153b8619d2f4a2b54d778eb9f9001c2ab288a281",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3da4926382e3fbe71e04edb9063703ea1cd7c94c8bf1d8bbeab856352bc5aa66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a42410da2678b49d89ff4829f7dc8f18fb0bfd0e5221a798219c113b7e2d18e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3wYKjgEIEhgCKkAnuYNKoAMnbGn0+hbKie8MZS0h6/Nl6pdjTIRE/Mf4WBZozvHapZQrDwGGAM5UTs7p3pGlJFTSu5cSLSi0o+XeMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfTzy9UGEgzXkpGc6Pv0dkl5X9kaDFAjfMAyhZDgJjs46iIwDZHbN4wTqCAngzW66n78sIaRlw5WjwE8tpHbYaWAJjrIH/55D7xs/zOxY8jz6JydKv0EodelURths1alU+RPdt1lkHYEbovAcm5rKAhC2ZIW5SFzZaVmB4SNpGC3zl0tFNZNorrRrV1HR23Jhf/uAkvOxOfkQuwnON/omSRR5s1gnXWiZT3SlKmKi8I7Kq+6KUaFlglYmq64ymrJhVZD/L84SBkr00qyCTErQBb8Hil0VMngG9aZhwEtrOyMK0ORrIZcwKRXM9qM/DOyYR4P7cYErbFgrlrKTUCKkYXqLxSnc99KABBzOTArWDyniGRricPEJStFIpAAhyiVvQgP8gW/1Nzh4JFFaV8khVizeLtKlKwatTbr8dpCyVAO0NG6lIbbeY3v7IqDvekW+rOKO4hrZnVIENVqph27LjmbS4mEil6dOwRkKsHAR5qX1d+FotpimRI3eMFWKaVkzE6j2zFjdH+X99BfJN58SNuJoxQOJXRYbJsqk3c9RROZPRx6n9R1cVwcDnDhIZETkO4r8RiXINpOJqNtkF0NYDKOnyw6uqGygxQbYF1aIx5QKbAkQudfMm+VU2FZ7YjFP8RRRxLVr1OL0caF38REIh/1d0GGVUSOv/hjxqgMYz8AwwF3xKU1TLH83MDf62i3rGbWfsWrHKpGsb66HRXzzgwp1AFafArtNIeT185HCvouQju84Ua6pYhQZl7HTfA9GH9L1onHYp2TuhbgWRLo+V5w1l6sOq42g8Uc93sLqGOr5OtdJckfLipy3N2dm4bPyoQ43g8lrrBIxN4ofymPfAQQmA1688Zxy5qYpeQLSfDidFcxFxS7PaUMFZZS9RxZT1FG/eojSvU71FWERRPGj40gW2hfn79tZw0Nvh1PpldH1p5ZUabpWAL6Od8OYOtPgYH3MBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WLDuoPk8L1Ev4jsvWussN3",
      "input": {
        "note": "The arm hit its reach limit and couldn't descend at x=0.46, so I'm pulling back slightly to x=0.42 where it can reach the bottle's mid-height (z=3.5 cm) to grip the body.",
        "targets": {
          "right_x": 0.42,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01WLDuoPk8L1Ev4jsvWussN3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.4587, 1.8839, 0.9955, 0.226, 0.3359, 0.2115, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.183 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4629 right_y=0.1677 right_z=0.0653 right_yaw=0.0572 right_pitch=-0.0508 right_roll=-0.0221 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.6615, 6.5299, 1.8339, -0.0415, -0.0415, -0.0122, -0.4171, -10.2769, 6.5436, 1.9512, 0.2906, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c36a07ae3f0f34f2e9e1251fe162163a6526cfc2b71ccb4f647f25ecfe64f8fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:372ff0fdbbc4c14815f5955081de4408cb00d8e2ef08331cafffcec4af7a6f6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d48fe09061408aa84c8c582fe5a21b3d24335e9d14f26ddb33f4c6cec70583a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 14.18 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8013, 0.6151, -0.3794, -0.0231, -0.0292, 0.9983, 0.4686, 1.8503, 0.9977, 0.1547, 0.3569, 0.2264, 0.9996]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1832 left_yaw=0.0005 left_pitch=-0.0057 left_roll=0.0 left_gripper=0.9983 right_x=0.4544 right_y=0.1649 right_z=0.0695 right_yaw=0.0411 right_pitch=-0.0777 right_roll=-0.0365 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.6068, 6.9265, 1.7314, -0.0464, -0.0366, -0.0073, -0.9504, -9.7983, 6.4752, 2.0244, 0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.4587, 1.8839, 0.9955, 0.2256, 0.3359, 0.2115, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.1831 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4628 right_y=0.1676 right_z=0.0653 right_yaw=0.0572 right_pitch=-0.0512 right_roll=-0.0222 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.6752, 6.5709, 1.7802, -0.0513, -0.0757, -0.0073, -0.1983, -10.3453, 6.4889, 1.956, 0.2369, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.4587, 1.8839, 0.9955, 0.226, 0.3359, 0.2115, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.183 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4629 right_y=0.1677 right_z=0.0653 right_yaw=0.0572 right_pitch=-0.0508 right_roll=-0.0221 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.6615, 6.5299, 1.8339, -0.0415, -0.0415, -0.0122, -0.4171, -10.2769, 6.5436, 1.9512, 0.2906, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c36a07ae3f0f34f2e9e1251fe162163a6526cfc2b71ccb4f647f25ecfe64f8fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:372ff0fdbbc4c14815f5955081de4408cb00d8e2ef08331cafffcec4af7a6f6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d48fe09061408aa84c8c582fe5a21b3d24335e9d14f26ddb33f4c6cec70583a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2wYKjgEIEhgCKkC0pRrWIlMthBd1GCARG9Cr87o4PAPQrW4kREoTryaOxXAbVTsauiKbms1eT1QRaUDbda3xo5Jfkhr9+LIjFi1PMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfzzy9UGEgyjYsr1sZhw61rJtl8aDFiQsXXH0FDQ3SL1FSIwPMKCpPr+7aJYCIno+mn9Ods4fRPCe5OMbHvnzGdZDtqe4FL//55rp1wCkLsusLucKvkEpNdnPMIFDPgGOYAnH4THle8z+OlwQyBCBI77KZbWng0y7vDN+oWMzNXe0DHYik7cB+y/U6LR8msEb1LaNGvdFbw95Q8ap4n45pHSdrrCQgLnraRjPpG4WJ3ezrwVeZ6lfTMshP00Ej30+AYws5rxul6lwUyDkx/4L5+/v9mCrP5nHkJtUJeyEJUrpFRIppa70BqVEbDd+XpMWefBOwAYFk6bBvwakBZv9RFXqbqcZOjNN2Eq0Z0xxUiW5aRnKgsGsSIXsL1e+dLHjjcS+aJarb3zbdvquClXqDnuRRPV2+VlFX0/zCFJhhd6i5rY0AyyB28jNzkm9RlGWAv0Q0o4Jbc/4q4MPADRqAOrSzEWebInvQ8uzf06QxZLzZLPgUVmzJ7fgFTYKvp9/ZOrzquWPldPL5SKOEImq7gj+0PzbRca1o1sIdeQla+vg0w3BzfJxGgi+gck7RwpWSipjgOAKIAAw5f34u1vmpQIw/IUcDP6BNRXF0H3qeNbyUbmjeFdZvTz6TuzJj3LdEB27ST8F+LPYqGPQvqky0TZEATjuwyD/3KuJ0uzaCb9XRbA11LvTHliq9qhub2snaTpJP3nwitDHy7GSpw7JOsrN8vUlfOW8bAq58FF36/0Jntyo3z2AClNsAdEgxw7AIvBnjvVDH+QQvO9ZGzvQjFxkkzhIUTzPTIUxpi29kdE5SBUzou9i08tWsa6wwwwaiBTWrM+/BEP96J5o5ZJq7YDQJX9M9H6YjzK38IcKx5xVXBnZlLExnnurG2FZfIWuTb4ccZfhyJmTiaBNDq9puZT/jIOXDBUFHFHWvmJ/GRHq+ddlKJ6MWihOSat4sOkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014UWwy5HmyqWVtuj8ffCeVa",
      "input": {
        "note": "The arm ignored the last command (identical readback), so it is stuck at its reach limit; raising z and pulling x back to free it.",
        "targets": {
          "right_x": 0.38,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_014UWwy5HmyqWVtuj8ffCeVa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6151, -0.379, -0.0231, -0.0292, 0.9983, 0.5831, 1.4235, 0.9817, -0.1688, 0.4129, 0.2672, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.3864 right_y=0.1742 right_z=0.1899 right_yaw=0.0892 right_pitch=0.016 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.0872, 6.6256, 1.8877, -0.0269, -0.0611, -0.0073, 0.3077, -7.5829, 10.0581, 1.7705, 0.2857, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d58b20e5270b750a75df422f7fbacefa6abe0e58555cc2b7a13f3dff898f0ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2a236bdc5731bda7ef81862a505260c9abdc04f41e6c12045c282a5b7eebd32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:330e40a3b1ef00a8beae0d71d7fd4c6d63f9491afc031ca9ec4f9de2ed8b0a1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 10.85 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.4587, 1.8839, 0.9955, 0.2256, 0.3359, 0.2115, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.1831 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4628 right_y=0.1676 right_z=0.0653 right_yaw=0.0572 right_pitch=-0.0512 right_roll=-0.0222 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.6752, 6.5709, 1.7802, -0.0513, -0.0757, -0.0073, -0.1983, -10.3453, 6.4889, 1.956, 0.2369, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.4587, 1.8839, 0.9955, 0.226, 0.3359, 0.2115, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.183 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4629 right_y=0.1677 right_z=0.0653 right_yaw=0.0572 right_pitch=-0.0508 right_roll=-0.0221 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.6615, 6.5299, 1.8339, -0.0415, -0.0415, -0.0122, -0.4171, -10.2769, 6.5436, 1.9512, 0.2906, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6151, -0.379, -0.0231, -0.0292, 0.9983, 0.5831, 1.4235, 0.9817, -0.1688, 0.4129, 0.2672, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.3864 right_y=0.1742 right_z=0.1899 right_yaw=0.0892 right_pitch=0.016 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.0872, 6.6256, 1.8877, -0.0269, -0.0611, -0.0073, 0.3077, -7.5829, 10.0581, 1.7705, 0.2857, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d58b20e5270b750a75df422f7fbacefa6abe0e58555cc2b7a13f3dff898f0ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2a236bdc5731bda7ef81862a505260c9abdc04f41e6c12045c282a5b7eebd32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:330e40a3b1ef00a8beae0d71d7fd4c6d63f9491afc031ca9ec4f9de2ed8b0a1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MaRvx7oKsWBDTMz3gXGsZF",
      "input": {
        "note": "Both remaining bottles are visible in the wrist view with caps pointing away; I'm centring over the rightmost bottle's body at a safe height before descending to grip it and drag it closer to the base.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.15,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01MaRvx7oKsWBDTMz3gXGsZF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.4961, 1.5497, 0.7521, 0.1112, 0.3443, 0.2222, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.1831 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3885 right_y=0.1466 right_z=0.0928 right_yaw=0.0814 right_pitch=-0.0706 right_roll=-0.0278 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.5248, 6.5299, 1.7802, -0.0415, -0.0171, -0.0122, -0.5812, -5.8735, 6.1197, 1.9707, 0.1783, -0.149, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29b4f13ebe0d4c0601408f459eb074f8a4e23deccdf621e663cc1084cfe0d20a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c19bd0e2823c2cc02b8a31abf2aa57a1824eee844be6605bdd2d0bd570af6a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9deebe4aa8f25264a4791be2244eb11179a2203b466f8db336ccff3405d81f58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 3.983 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.4587, 1.8839, 0.9955, 0.226, 0.3359, 0.2115, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.183 left_yaw=0.0002 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4629 right_y=0.1677 right_z=0.0653 right_yaw=0.0572 right_pitch=-0.0508 right_roll=-0.0221 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.6615, 6.5299, 1.8339, -0.0415, -0.0415, -0.0122, -0.4171, -10.2769, 6.5436, 1.9512, 0.2906, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6151, -0.379, -0.0231, -0.0292, 0.9983, 0.5831, 1.4235, 0.9817, -0.1688, 0.4129, 0.2672, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.3864 right_y=0.1742 right_z=0.1899 right_yaw=0.0892 right_pitch=0.016 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.0872, 6.6256, 1.8877, -0.0269, -0.0611, -0.0073, 0.3077, -7.5829, 10.0581, 1.7705, 0.2857, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.4961, 1.5497, 0.7521, 0.1112, 0.3443, 0.2222, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.1831 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3885 right_y=0.1466 right_z=0.0928 right_yaw=0.0814 right_pitch=-0.0706 right_roll=-0.0278 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.5248, 6.5299, 1.7802, -0.0415, -0.0171, -0.0122, -0.5812, -5.8735, 6.1197, 1.9707, 0.1783, -0.149, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29b4f13ebe0d4c0601408f459eb074f8a4e23deccdf621e663cc1084cfe0d20a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c19bd0e2823c2cc02b8a31abf2aa57a1824eee844be6605bdd2d0bd570af6a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9deebe4aa8f25264a4791be2244eb11179a2203b466f8db336ccff3405d81f58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISggoKjgEIEhgCKkD+xncXTB/9ch1uhjGlmq2oAXwEVoocDvRZ2owSpb5PG7J7IgiBegSfCaygzlACT0p0ytlpr4g1Iw6Yr+FJNj/pMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZb0y9UGEgxx3ITh2EKFQPGy2sAaDLgTn9WWq9fhDvd9FSIwxFiXDt2rsrZDf6U3gqItie47RLwj853S2XivuFaN2MccIKG4saAbzdGoIOAtGYeiKqAIm3uQM/odxydLtamaqM+fuRwO+6jJCoHQP2B0+mE6CwlIjtF1Nm5L5ilHWyQgzE7ALWJf/9KbpKTmZtI4ye4ca4y1PAIYb0Ux1Fpks4L8bBhf9yysS6kN++l9BH2jLi3/voiPZkT+kUcatW7kGPuHG38591BwXPAGM0cAcug0PH/+WHRq08XTwD4wOv90TuEfRca6q6BjMEfV9S/9vCHZNSMEpRy4qDLSikQ/nYLf1Xm9KHBRHED16pCiv3L4KrMGBh+lXyCLpKltMKfEAVYsmhu8Cub9tobo2FITeB9l7TRdplQrQ9z9BvUEEktTOjPPMeDOv47Bo//cZQjlZiklM6my4zXY+xcv+zz9r/VDIiVZcwBOzMCn1Cm6x2ZXAiRjtWTrY+UtMXe1XfFgn84o4ForN7AUHiUILo8oLZWR3uLyGlhu9aGZRlF/0lMdEgTu/CV3IGON1cViGdDu0gGAzRWfcj5YZhG3Q/D53slBWCMGYNrWL/ijtqZ38/Mkzja/MHQ8TAmNj0zDkKnIcMjDrpAbOmlgG/UuOUBBxmJV6NBINAFM+ddYEDVeXykzKxqTJQp6/Nsw702VJKb77JgdZFI5sF/hCz67/8sNTgtwECwUWm7QESJkYxRC7FvOmxPHBa+Jg9OkLnWEIuRuVR8Hr66Ou760M+SnHJjD6O2i5799qgRaGbcPo2E3nO1zO+hVkZY+dBs5j8asPMaLkqta9GNDBIT9FlP4+xfiFE0x8cQkMCulc2utaHTGaqha7ZbTuLjHQT84dP32L08aQBe7oHTu8Mu7S4/tA9Om7ESd1TIx6WO77HkAaUPbmAwdqd9u/xu3lsyAfgDcaSTXl3DQ4+6cIKZGqaDab5uSIOANBsCjZcMTrMQanY9f/MqtXi9uP1w3Gy+ydB0Ivz/fcpnT8+EDn2W3M71eRPylAZ5pWTmRR+jzxJpxEvSzz3FX8jX1l/DRhLEeTmLHrzVrK0KFXDyG7OSpQV58hgvA+RgMFRB5R1wLTiI8dYPjLnPksQ8a70VRtSnWVthPluzhWeDGxWmAcUjj8b8jNF3/NId2oOxwycL8O7CdXqYLk2obPGuC5kMKapPXVwthobb4mLuvX9CzX9YArqQZmBaZ0U4aThi8cloqt1yh4AIlpbhRF+XB6gjS+Z3eOaF6pbfdCdgszonSVMTKruerLX3bGjgm/4E/q5u+3DqLgmlfVc8kn2nzTJrq0S6LgAb7JT3zGtSC32B7jmRF9jVD30A9nBI6rMxnHTpNAcn1h8Ys85NlyCRaagg8lS5p99GZ4Vf0DzYQvBDTAvMvWvZfiPzcCCk1XhMvWoNSLuVSYFdM+rlvl6/hdX6LT8iuYgJU9NvvWKgodAfrp8T8qDi93GNvVV4pOULJtn1GDLx7txB+nh/ONLpbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018mK39t9w5FNAWBFgY7k5Pk",
      "input": {
        "note": "Bottle is centred under the jaws in the wrist view; descending to mid-body height to grip it.",
        "targets": {
          "right_y": 0.157,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018mK39t9w5FNAWBFgY7k5Pk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.6144, -0.3786, -0.0231, -0.0292, 0.9983, 0.532, 1.7309, 0.6189, 0.4618, 0.3443, 0.2314, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1828 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.384 right_y=0.161 right_z=0.0366 right_yaw=0.1131 right_pitch=-0.0374 right_roll=-0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.6615, 6.7897, 1.8046, -0.0171, -0.0562, -0.0122, -0.0479, -6.612, 4.3282, 1.7558, 0.3443, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:714c9644cea507b1823c70259fb61031ad32e7ee9ec6a55592d8b68faaa31d2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:623fdec0ee4c78c133f962b829a7316baadec4eb29288b8818c4d4924e429e8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da4303b5ef4efeb7e790d8fcd4cce30b5fc2706bccdd98db358d5ce18763ac47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 9.071 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6151, -0.379, -0.0231, -0.0292, 0.9983, 0.5831, 1.4235, 0.9817, -0.1688, 0.4129, 0.2672, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.3864 right_y=0.1742 right_z=0.1899 right_yaw=0.0892 right_pitch=0.016 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.0872, 6.6256, 1.8877, -0.0269, -0.0611, -0.0073, 0.3077, -7.5829, 10.0581, 1.7705, 0.2857, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.4961, 1.5497, 0.7521, 0.1112, 0.3443, 0.2222, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.1831 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3885 right_y=0.1466 right_z=0.0928 right_yaw=0.0814 right_pitch=-0.0706 right_roll=-0.0278 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.5248, 6.5299, 1.7802, -0.0415, -0.0171, -0.0122, -0.5812, -5.8735, 6.1197, 1.9707, 0.1783, -0.149, -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]: [-0.0208, 0.8021, 0.6144, -0.3786, -0.0231, -0.0292, 0.9983, 0.532, 1.7309, 0.6189, 0.4618, 0.3443, 0.2314, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1828 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.384 right_y=0.161 right_z=0.0366 right_yaw=0.1131 right_pitch=-0.0374 right_roll=-0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.6615, 6.7897, 1.8046, -0.0171, -0.0562, -0.0122, -0.0479, -6.612, 4.3282, 1.7558, 0.3443, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:714c9644cea507b1823c70259fb61031ad32e7ee9ec6a55592d8b68faaa31d2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:623fdec0ee4c78c133f962b829a7316baadec4eb29288b8818c4d4924e429e8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da4303b5ef4efeb7e790d8fcd4cce30b5fc2706bccdd98db358d5ce18763ac47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5AIKjgEIEhgCKkApqcRcmNjwGTYc+/qj3hv+GIPY7AnU3j1Wy+Z3nul90Z3DknUtBn44JRU/DiofMx/pF/S6nDy1eJy+TQ+OlpKzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZv0y9UGEgzG1Nh6/LVFWP6ZUOIaDK2+c5JmlJ5pB7UWoSIw8Ev8a0azJoVQYglGIq8BgvvC3KhXU3MbGQnMGubpT5YM8ZkWc/WMMlOsaEPUaq30KoIBSxFLIdUaZS95JaHt9Qg8FbaehR6kKr/pqkLqnJP9NiirgmF0KfcRzjDbmlze7Iy5+6CZK0Dy/JW/ELMns+ljdQkxGpKuTEKPyLrrJJ5Ap0lx/FCOAC2YvfrL4z/47vpLqPDDcm3MYIJ6T4jYw6fmhxOPOToTxGWaGttJ/FBrixbuuhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wj39ViA4KkoHz7691ewYyX",
      "input": {
        "note": "The bottle body sits squarely between the open jaws; closing to grip it.",
        "targets": {
          "right_gripper": 0.45
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Wj39ViA4KkoHz7691ewYyX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6144, -0.379, -0.0227, -0.0292, 0.9983, 0.5312, 1.7599, 0.5907, 0.5179, 0.3504, 0.2264, 0.5517]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.381 right_y=0.1577 right_z=0.0263 right_yaw=0.11 right_pitch=-0.037 right_roll=-0.0136 right_gripper=0.5517\nstate[joint_eff]: [-0.212, -1.4974, 6.5162, 1.8535, -0.0415, -0.0757, -0.0122, 0.0615, -8.4855, 4.6427, 1.9463, 0.1099, -0.0611, 0.7057]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ed48a501ed6e82108a484d99cfc550c88440b5ce59a06636f75f03f75c13de2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f072cf47b02d9e28d87ed3f2319e1acbcfdadc04a5880487a95dee1f28bd1a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:44524ca7a748307ff5fbd78afeb4abf3176077cb9092b4792d552359316451e6",
        "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 · 7.22 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.6151, -0.379, -0.0227, -0.0292, 0.9983, 0.4961, 1.5497, 0.7521, 0.1112, 0.3443, 0.2222, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0014 left_z=0.1831 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3885 right_y=0.1466 right_z=0.0928 right_yaw=0.0814 right_pitch=-0.0706 right_roll=-0.0278 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.5248, 6.5299, 1.7802, -0.0415, -0.0171, -0.0122, -0.5812, -5.8735, 6.1197, 1.9707, 0.1783, -0.149, -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]: [-0.0208, 0.8021, 0.6144, -0.3786, -0.0231, -0.0292, 0.9983, 0.532, 1.7309, 0.6189, 0.4618, 0.3443, 0.2314, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1828 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.384 right_y=0.161 right_z=0.0366 right_yaw=0.1131 right_pitch=-0.0374 right_roll=-0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.6615, 6.7897, 1.8046, -0.0171, -0.0562, -0.0122, -0.0479, -6.612, 4.3282, 1.7558, 0.3443, 0.0904, -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]: [-0.0208, 0.8024, 0.6144, -0.379, -0.0227, -0.0292, 0.9983, 0.5312, 1.7599, 0.5907, 0.5179, 0.3504, 0.2264, 0.5517]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.381 right_y=0.1577 right_z=0.0263 right_yaw=0.11 right_pitch=-0.037 right_roll=-0.0136 right_gripper=0.5517\nstate[joint_eff]: [-0.212, -1.4974, 6.5162, 1.8535, -0.0415, -0.0757, -0.0122, 0.0615, -8.4855, 4.6427, 1.9463, 0.1099, -0.0611, 0.7057]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ed48a501ed6e82108a484d99cfc550c88440b5ce59a06636f75f03f75c13de2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f072cf47b02d9e28d87ed3f2319e1acbcfdadc04a5880487a95dee1f28bd1a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44524ca7a748307ff5fbd78afeb4abf3176077cb9092b4792d552359316451e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlgcKjgEIEhgCKkCzQS0pNfubxSlYDhbIYQ3BxEX/yW6/CDsGHRGWbkHxDknGW9HAM4z2uUbO0+Rl1ko7jewSjuYHAOhn6KbWNky6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaT0y9UGEgzLA1D8UxzURFrdPeoaDN9oOwUSXfX4x/ku7CIw7mRXklbeeIxxRCSTVPJ0BCN7XY9KhOvAjbi3vGjmE0VeQQsn9O6VEvlIj53bkFMLKrQFpVemMSwWl8J5tIHhyp+Q7wJ0fRhxcfU/AK0/2Cf9TzXgXErvrqQp5PqIdNT/vR7MsBady4V10gVt6KpOyf1WWXX1XNlz9QM9Khcb9Av0gzeHKUYd5gtJGj3WzRJwGE+8gghUpQCUGEakHwTd3HkloMENBMwFhiYB9naq5D2ld9cqJfgDwaU0nNZMN1mJ85E7J5Y/rQ64TjRFX4smAoNsEf2AWQECDo5WaPOxLMeIWTw9IqdvyafTonHVht9GzdvDE9fVAK5/Tprz05C9esTp3VfYTn35MOMaCUXLCF7aPQhJjGUnphsXqefEz2qJxIy8PwsJTwsL7cffPRkScHFZ9TRHwpSHQFuTParjDb6DTzvlMMKIGCQuGk+OoTP/CK9YzxYF6rOV7zYHuRcRERXiU28ws4B+9Jt6SATFpnTtjtMGih4O8y3RO1ohK1d9r4N/MbOtXHmmYJxSksHd9xWnbjrXc8AC/AWbISWhHdwcdd5MAzvkY6zR1ox3ghU3Q9le+KvUGhjKXHIIfYq5QJbInFK4Y8rHpL08OrlmpCnNJrFUbtXtuJZoPDPKCTyh2xvQ3us4WTXxxNKbXAw+THqHomIMwVqTkNurxiT3V8mPxaUAtX1eT8zq+9HBZXvLsxF3k6qeg0BMii+ZLlytb00D1xpE+2ZBSl3B3X9LNdrLDtLNz1TEmEVIy1zl74grwAl4NfKQOSR1JjZLknIV9oQJyOYIZMtGuat9bL5aKHWAVL2CRxBW12BJRkX3dwcWq7ssRH46Nj7NmjqXQ4+KLg5dOjCJgXEF1u55slqMa9tteJw9i2vc/ZTKAKWPhi6yIy2x/sCIX5reULKrWRkZPuwpHCVBIveqV1E5W/+iS7HK2CG9ADZu7GGO3qpZytEzRTZ2chhYO635hKgquTaDujw3QN4R5o0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Nd4o3jR6XkCTRg8XigKCU",
      "input": {
        "note": "Gripper closed to 0.55 on the bottle body (a solid grip). Lifting it and carrying it ~10 cm closer to the base so its cap comes within reach for the neck re-grasp.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.2,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_011Nd4o3jR6XkCTRg8XigKCU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3782, -0.0231, -0.0292, 0.9983, 0.8444, 1.3918, 0.5831, -0.038, 0.5217, 0.4019, 0.5559]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1827 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.2846 right_y=0.1932 right_z=0.0689 right_yaw=0.1838 right_pitch=-0.14 right_roll=-0.0753 right_gripper=0.5559\nstate[joint_eff]: [0.0479, -1.7026, 6.4889, 1.8926, -0.0317, -0.022, -0.0122, 0.1299, -8.1573, 10.8513, 2.4542, 0.7399, 0.1343, 0.4274]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dea445486004d0574c2f6244035cf6c09a9e952bacb885c4afd15ece2095cc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd2660002ad18190a01219ec44e4bc485b09ded63afb6dea6973eb7084e6e699",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e79b71bd41876692fa17c2e57bb89efda2fdc92b021dbcd8cfa176c2b7113e53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 12.62 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.6144, -0.3786, -0.0231, -0.0292, 0.9983, 0.532, 1.7309, 0.6189, 0.4618, 0.3443, 0.2314, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1828 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.384 right_y=0.161 right_z=0.0366 right_yaw=0.1131 right_pitch=-0.0374 right_roll=-0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.6615, 6.7897, 1.8046, -0.0171, -0.0562, -0.0122, -0.0479, -6.612, 4.3282, 1.7558, 0.3443, 0.0904, -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]: [-0.0208, 0.8024, 0.6144, -0.379, -0.0227, -0.0292, 0.9983, 0.5312, 1.7599, 0.5907, 0.5179, 0.3504, 0.2264, 0.5517]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.381 right_y=0.1577 right_z=0.0263 right_yaw=0.11 right_pitch=-0.037 right_roll=-0.0136 right_gripper=0.5517\nstate[joint_eff]: [-0.212, -1.4974, 6.5162, 1.8535, -0.0415, -0.0757, -0.0122, 0.0615, -8.4855, 4.6427, 1.9463, 0.1099, -0.0611, 0.7057]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3782, -0.0231, -0.0292, 0.9983, 0.8444, 1.3918, 0.5831, -0.038, 0.5217, 0.4019, 0.5559]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1827 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.2846 right_y=0.1932 right_z=0.0689 right_yaw=0.1838 right_pitch=-0.14 right_roll=-0.0753 right_gripper=0.5559\nstate[joint_eff]: [0.0479, -1.7026, 6.4889, 1.8926, -0.0317, -0.022, -0.0122, 0.1299, -8.1573, 10.8513, 2.4542, 0.7399, 0.1343, 0.4274]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dea445486004d0574c2f6244035cf6c09a9e952bacb885c4afd15ece2095cc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd2660002ad18190a01219ec44e4bc485b09ded63afb6dea6973eb7084e6e699",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e79b71bd41876692fa17c2e57bb89efda2fdc92b021dbcd8cfa176c2b7113e53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlgcKjgEIEhgCKkB+HwWbx6Npy7CUfS0XTFZ6XsqeGR74DoLxmmRdSojP0wdAvwIywaXoeIcwi3tIvKCp7TTkxfXyU3I7h/5PjYhpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaz0y9UGEgyncws6+lqWkRLaXu4aDBcwKN9cI7rDj9t22CIwMS0AR5JNDYBV26kFEM1p8HWFZCDBsdnq2ZNbRiLtKZzMvdVj28gg7xVsmpXhoqO7KrQFlh57ZR1Y0cay0HTZ4d/6HaD4mkmvrPhryKByMZBGhR6afj2IpgGQM/DT3kUIeYUIu5TsqHSO/ApZEwNUBes1GQxZLyOvOW8qH9DnLx6DH3KjBZp8vzIimuXB/LTfy5vSF66ycqWcTIUIoEzDgtY5b9l8ftCv7vZtG9318AMmD005seLz6wYrWW2oKNx0fZmrimPqOk3mHXWFa67W6kOSSozyDNw4u5dnpME8y8ZkTOdX8GB6Vp3EAkzShTRDwJ0VnswBQilZnUtBxGRjO5Ryjv66xRjJ5lVJ0LmUSaeSMU4ITvVVVz/hUskyDvSyeCe7OUb/iGsUv3Csc0qlhVvICYMzzkFCG6hMCdPGPMHA7RmAEe8H1mxOXtZLmTyp6vEY/zB14Lrxxlicr+rKsidvoF8ApT+IG4YfdT/SiBgD+Faz+B+AMiAkgSPIwOTRyiJyyH93D3E52EjXkGB8kMFM0kyoT55sL8CZscN6qn7QU5ectle90tIL8A38PI2ylNPknkbWqUMbQ7IcrzC2/jSgDgAa+iHBFIqBQy42TwOhW07Ylus1wnMwhOiAxspLxCBnf49/IZE305cIgBm07G4DTYXFR/choYLKvB4jDo0e3UQOlNsey4mJWOvVrG/xEbq8FcnfUUwH3tzEKBiUJ5C1JEslp7auNBFH+tYAnlDtTkafaQavTny6MQ0pehVYKCD/7B4hC+t0fS3XsMPjmpauPXc7x5sbyEff87oRJ5xN+6pyvD++UUR8y8nnHYC/2YRFqlQXOh3ZbVPRXEotBRliryXJeTpDTn2QJdeOBlhjGK80U3zi3FO33yW6a8BOLdFvCPNX+CTeK5QFot6lunX1CBG/R4am/geia/+Chsy8YOVDHoAHtH7ESCe8Mu80/x2BxHL6QzSv0LS23H+W+ifciUaOLmgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AuRoMta1SiuJHyzaZRq2cx",
      "input": {
        "note": "Bottle has been moved closer to the base; setting it back down on the table and releasing so I can re-grasp it by the neck.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01AuRoMta1SiuJHyzaZRq2cx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.8619, 1.5421, 0.3641, 0.3866, 0.5457, 0.3943, 0.9955]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9983 right_x=0.2733 right_y=0.1834 right_z=0.0154 right_yaw=0.1914 right_pitch=-0.0859 right_roll=-0.0608 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.6615, 6.7077, 1.7949, -0.0366, -0.0659, -0.0122, -0.3624, -4.5197, 4.3966, 1.707, 0.2955, 0.0611, -0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d95a02262970fde88972da7e43f1c43c75d22c8d1f45f169b2d88de3635ef548",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ca6c3e39523758f1266e149f0e35f7401504e35dc249e05ad0544e796569ab3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:81a0502df56269b7ac521907759f1957458a07ae1ee4f4ba8ca16a6d43a1ed94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 9.948 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6144, -0.379, -0.0227, -0.0292, 0.9983, 0.5312, 1.7599, 0.5907, 0.5179, 0.3504, 0.2264, 0.5517]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.381 right_y=0.1577 right_z=0.0263 right_yaw=0.11 right_pitch=-0.037 right_roll=-0.0136 right_gripper=0.5517\nstate[joint_eff]: [-0.212, -1.4974, 6.5162, 1.8535, -0.0415, -0.0757, -0.0122, 0.0615, -8.4855, 4.6427, 1.9463, 0.1099, -0.0611, 0.7057]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3782, -0.0231, -0.0292, 0.9983, 0.8444, 1.3918, 0.5831, -0.038, 0.5217, 0.4019, 0.5559]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1827 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.2846 right_y=0.1932 right_z=0.0689 right_yaw=0.1838 right_pitch=-0.14 right_roll=-0.0753 right_gripper=0.5559\nstate[joint_eff]: [0.0479, -1.7026, 6.4889, 1.8926, -0.0317, -0.022, -0.0122, 0.1299, -8.1573, 10.8513, 2.4542, 0.7399, 0.1343, 0.4274]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.8619, 1.5421, 0.3641, 0.3866, 0.5457, 0.3943, 0.9955]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9983 right_x=0.2733 right_y=0.1834 right_z=0.0154 right_yaw=0.1914 right_pitch=-0.0859 right_roll=-0.0608 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.6615, 6.7077, 1.7949, -0.0366, -0.0659, -0.0122, -0.3624, -4.5197, 4.3966, 1.707, 0.2955, 0.0611, -0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d95a02262970fde88972da7e43f1c43c75d22c8d1f45f169b2d88de3635ef548",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ca6c3e39523758f1266e149f0e35f7401504e35dc249e05ad0544e796569ab3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81a0502df56269b7ac521907759f1957458a07ae1ee4f4ba8ca16a6d43a1ed94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013WfK7ZCa26ruW71PworduK",
      "input": {
        "note": "Bottle released ~10 cm closer to the base; moving the open gripper forward over where its neck should now be (about 10 cm ahead of the body grasp point) to check alignment in the wrist view.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.185,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_013WfK7ZCa26ruW71PworduK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.6121, 1.5234, 0.638, 0.2497, 0.3561, 0.2241, 0.9954]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9983 right_x=0.3597 right_y=0.1816 right_z=0.0843 right_yaw=0.1876 right_pitch=-0.0213 right_roll=-0.0122 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.6752, 6.6803, 1.8193, -0.0464, -0.0366, -0.0122, -0.6632, -6.0923, 8.212, 1.8681, 0.1343, -0.0415, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63b5e40d1e62593e6e45f35e5d7a29f13052b734e4f4243d1e6a17b86f87a1ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2604867227c503c443a30ab6e2a1782544f79dce758f8e820059ab9323b6f526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ed0bc24e76f9fe307fd9f789f21419a661c2f30cf3371fe217432790f4ac33e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 7.62 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3782, -0.0231, -0.0292, 0.9983, 0.8444, 1.3918, 0.5831, -0.038, 0.5217, 0.4019, 0.5559]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1827 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.2846 right_y=0.1932 right_z=0.0689 right_yaw=0.1838 right_pitch=-0.14 right_roll=-0.0753 right_gripper=0.5559\nstate[joint_eff]: [0.0479, -1.7026, 6.4889, 1.8926, -0.0317, -0.022, -0.0122, 0.1299, -8.1573, 10.8513, 2.4542, 0.7399, 0.1343, 0.4274]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.8619, 1.5421, 0.3641, 0.3866, 0.5457, 0.3943, 0.9955]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9983 right_x=0.2733 right_y=0.1834 right_z=0.0154 right_yaw=0.1914 right_pitch=-0.0859 right_roll=-0.0608 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.6615, 6.7077, 1.7949, -0.0366, -0.0659, -0.0122, -0.3624, -4.5197, 4.3966, 1.707, 0.2955, 0.0611, -0.0855]\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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.6121, 1.5234, 0.638, 0.2497, 0.3561, 0.2241, 0.9954]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9983 right_x=0.3597 right_y=0.1816 right_z=0.0843 right_yaw=0.1876 right_pitch=-0.0213 right_roll=-0.0122 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.6752, 6.6803, 1.8193, -0.0464, -0.0366, -0.0122, -0.6632, -6.0923, 8.212, 1.8681, 0.1343, -0.0415, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63b5e40d1e62593e6e45f35e5d7a29f13052b734e4f4243d1e6a17b86f87a1ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2604867227c503c443a30ab6e2a1782544f79dce758f8e820059ab9323b6f526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ed0bc24e76f9fe307fd9f789f21419a661c2f30cf3371fe217432790f4ac33e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1QkKjgEIEhgCKkDBG+xc9IeiO05YCR4512T0rIh5tm92Q7ruMJGpuS95k/n6Ms5xGucwhPqzA057Nfo8sLeui0+VL80goRu4rikmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcT0y9UGEgznCv+r25B1c2SLzbwaDHIo+85CB5OCQuY7FCIwm/ka+UFwsHS3+v8g6rI4zzILzOgPqDLvmnLnYa/o8BcBZgBivV5dFZxArph+1iCOKvMHULigkcj0/NMs73uOtVFknz92PyJnmzGTN/yh//ttrGtNTXsn59wjC5E5PlbxaH0dvKwk/46UZmka6NLx659U8o3+3BUJ59lFz5EozFo9oFxFkw/xlHJtmTj4qkH+Pj3YC1aBWKWe6BnMOVuUPs1LxJLBlFnGME8R4iJpngD5lYG4g2DLgzFW1eox7uyledguN0JfcMwyYLaudx8KV4zA2baST05+0iGg8P7m1gK41FvK+8cCAkTLbWUWtqQZXcpt/lxHH3Ucs8m7BISYU58BdbpyQgQ/DIqrx+4ldjtfXFaEHYs+lYjDrfVzPsAPrqLYc/uGoVTp6jgl+to93s2pLV2KrZvQxUkDiEnE5PYEkoL7k0Wt9fEmVk5tbCCATfufSUl9xh09RyVspsXhz/DGG1JtLs9ecz7ylNDqHoLJZ7aB9T+rRsoytag5kpGl9UxcVzsUBfPdg4ekoLomZZnYF+wbvlSoxqQkbsirFhLSGwhHvZjw9h+fX9N5ONQ4UHrnOxX5jclDFOG5En+W1UH7BxHuYMQJsYgj2eHddeEz2hN8Uek5ImtlApTqE3idygwesyYOtnfeH/n0f93RKb3xezzv0XVZgzXIKwK9Z2+/Ip0NtFhED269vxi4kP2F67lyd7KwD6aGnrlrYB9yaalVsNwG5FMeDa/dFb89iG9UztAYACGUTLxjz9JugnDHNRBKUR783uvc3JtEicZdDDHqpCIvE552piqIuhcglp7FujRONssQj5WH16ocb85xflAMd7PgKoxhH7+BJGi7uJnglkOhetuovQQRAeTHKw2KGkMLTQRINE48VhU02fcYxEEdtM3zvn9fVuBQbY9826aScWH8xIQ9OMTPr34IU+pjBN1m6F+WIX8PH1YDR/c20l+bgCAzfoNfgHZMlDUTTEAjIp+SxOJrN+B5+yejQJzpXDykGIbEKrhY+FQS0et5M9I2JjqyOqNEVLC7S+awUB12/N4I6fKmtlo6agT3TJtDzS56Qs3uREBdpQnoNni3QtZm+upxhbTFXwp8sBJDD7PCIhV6JzkUZKuMQL0j4jNu3xmp1321KayWch7jT/lTJr0ERowKfKVAr2wKS/9YDirFjZorAuPFEDgi4/sT7dFpCojEakxNBYEYIVQFeuZ0J0lMxpHMEJ2cQZKsSmGn8zTIl8K9gbZQnetuOCQ4tXAMwG/l4+SR3X4JWn4j6JLuEzp27+xWlSuzX5Uigem81zk7erd7O+JF70A+PGYnl04k60DkLI63bSqpEjpk8SAXfcrKeQFMnvmmH3tO8JlLwuWFcCRrIneeFPPPLVCQPI5/M2ss8C8BSODEHme4hWLEaXgnB3VTGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019g1aLsYaiSSFNdoV6szM4h",
      "input": {
        "note": "The dragged bottle rotated; its blue cap now appears left of the jaw column in the wrist view, so I'm shifting the gripper ~4 cm toward the arm's left to line up on the neck.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.225
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019g1aLsYaiSSFNdoV6szM4h",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3786, -0.0227, -0.0292, 0.9983, 0.696, 1.6562, 0.7265, 0.2417, 0.3885, 0.2535, 0.9953]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3611 right_y=0.2192 right_z=0.0664 right_yaw=0.2285 right_pitch=-0.0595 right_roll=-0.0286 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.6889, 6.4752, 1.7656, -0.0317, -0.0757, -0.0122, -0.0342, -7.1863, 8.212, 1.8291, 0.3199, 0.1538, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e4806871e3a454f4956f6b9b955abc1da7f45ada313a0e7a445ac433fe72410",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b174cee552b5922dea305e5d74d486a956f4f008cdf8d465561448c28d61b8ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ea860a93cf9c127470ff055419116d0d9e49452017c2a1e7623f9f48f05ff8f",
        "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 · 10.44 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.8619, 1.5421, 0.3641, 0.3866, 0.5457, 0.3943, 0.9955]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9983 right_x=0.2733 right_y=0.1834 right_z=0.0154 right_yaw=0.1914 right_pitch=-0.0859 right_roll=-0.0608 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.6615, 6.7077, 1.7949, -0.0366, -0.0659, -0.0122, -0.3624, -4.5197, 4.3966, 1.707, 0.2955, 0.0611, -0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.6121, 1.5234, 0.638, 0.2497, 0.3561, 0.2241, 0.9954]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9983 right_x=0.3597 right_y=0.1816 right_z=0.0843 right_yaw=0.1876 right_pitch=-0.0213 right_roll=-0.0122 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.6752, 6.6803, 1.8193, -0.0464, -0.0366, -0.0122, -0.6632, -6.0923, 8.212, 1.8681, 0.1343, -0.0415, -0.022]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3786, -0.0227, -0.0292, 0.9983, 0.696, 1.6562, 0.7265, 0.2417, 0.3885, 0.2535, 0.9953]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3611 right_y=0.2192 right_z=0.0664 right_yaw=0.2285 right_pitch=-0.0595 right_roll=-0.0286 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.6889, 6.4752, 1.7656, -0.0317, -0.0757, -0.0122, -0.0342, -7.1863, 8.212, 1.8291, 0.3199, 0.1538, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e4806871e3a454f4956f6b9b955abc1da7f45ada313a0e7a445ac433fe72410",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b174cee552b5922dea305e5d74d486a956f4f008cdf8d465561448c28d61b8ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ea860a93cf9c127470ff055419116d0d9e49452017c2a1e7623f9f48f05ff8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyAYKjgEIEhgCKkBkMsBJXGVE2Lnrc/Pckjf9CS4zd3cNou0Y51m+08V4oqBVLQaQDAOyO6shX8NF1jGg4rsiVb4WixjAxPtI506DMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcz0y9UGEgw/UXQ4Ms3YhJ1+Qo4aDMu/5UYMz+1B+Vcl7SIwjiS88SPkDyyenOysV6ULuyQNZTVnXxd1q/kD7qv3Dbylt8IgN0W1E4mn/aKR17V4KuYELOJ2qaWt5g+W0YPfBSWJgLLtz6WlOVJ67hE+K0YTgFOXxWYiyWbMtOVtb9k42e9nn/j1LasmPPS20WMTveLsG7kNwbAkvj2HIW3hHuDAZlCVT3HTyK9lYJ8Id0TLqemIO4pIXj/f/NcoCE+7QI7YwDj1Ok8NPGZPcMzBY1IXKSR91qWt1v0/LlCGEFEIf6aUvooaQ4jTWU707qbAoTcH2P35xU0TQuA/uTwNBSXmvbK8E12mEixMK4jYMILDi2HlbEOimMrxiUd73zkzA4xl53aJ01gDGnsyuM4R3zurJ5rPdD7bPZW6FNrenScCW2AW5nHrjF1DhPkIPM3sNiVkwWq2CCmulwUCu6vmoDBMtescochGiwphQlgWiem24Nx6m5SKsoEKnny8xVkfVkLWFoGoyXNDiZDpBI+EyHTusZxobUYuVZQ0CMhncRkJuHy7yVf/eahfd3sFl8yNAKFVOf8DyAOsTtxmUA6dZzV2de4aSGaoWnJbL3HanxRN5mhHTxfzH5vTTTO8octlY2tim6KS1x2uVJb+H0qS1PlYskTX+wtPmICefp8tsV2TWl8uAm6Ef3LSzXOxn4igfp/84K0M5q3SfTtYsIu1MgDVySgDtNgsO4zWk3zSI045txf/xlJdA9z+WfHmlFx2mvUVlMX5e9gcekj9tnLwOyiIi9dhYNlL/TLN5Hg4R+ncqmPc6OcGLqY5V1TvkYeo/FfgoTS9N1w0uXyBeeHrFwBJDefApxm8Clkx3qty2bQVZXvQCKmgAR6gRsksVGlhwGvdNkBhiz/aTo2M2HyxFxkyOy49DI4dgDEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015H6sRVNTHMKusZJhkgi1un",
      "input": {
        "note": "The cap is now centred on the jaw column a few cm ahead of the fingertips; advancing 3 cm and lowering to the bottle's axis height so the jaws straddle the neck just behind the cap.",
        "targets": {
          "right_x": 0.395,
          "right_z": 0.033
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015H6sRVNTHMKusZJhkgi1un",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0227, -0.0292, 0.9983, 0.7029, 1.6653, 0.7425, 0.2386, 0.3927, 0.2604, 0.9953]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.363 right_y=0.2236 right_z=0.0684 right_yaw=0.2284 right_pitch=-0.0548 right_roll=-0.0237 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.6615, 6.6803, 1.7949, -0.0366, -0.0611, -0.0122, -0.5812, -7.1453, 8.294, 1.8193, 0.4078, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed5b502c8ae3ebcdbae662d7288c7605948d697113d5543048e06e3000b5c700",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df5f8e0ad4212ede8beb0898075c14733391f43246b00323405f5d9ba168ccfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ac692409106eb3a65cf1634c12b0a42a989b53821bdd1785d1447764c455ae15",
        "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 · 7.152 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.6121, 1.5234, 0.638, 0.2497, 0.3561, 0.2241, 0.9954]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9983 right_x=0.3597 right_y=0.1816 right_z=0.0843 right_yaw=0.1876 right_pitch=-0.0213 right_roll=-0.0122 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -1.6752, 6.6803, 1.8193, -0.0464, -0.0366, -0.0122, -0.6632, -6.0923, 8.212, 1.8681, 0.1343, -0.0415, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3786, -0.0227, -0.0292, 0.9983, 0.696, 1.6562, 0.7265, 0.2417, 0.3885, 0.2535, 0.9953]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3611 right_y=0.2192 right_z=0.0664 right_yaw=0.2285 right_pitch=-0.0595 right_roll=-0.0286 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.6889, 6.4752, 1.7656, -0.0317, -0.0757, -0.0122, -0.0342, -7.1863, 8.212, 1.8291, 0.3199, 0.1538, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0227, -0.0292, 0.9983, 0.7029, 1.6653, 0.7425, 0.2386, 0.3927, 0.2604, 0.9953]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.363 right_y=0.2236 right_z=0.0684 right_yaw=0.2284 right_pitch=-0.0548 right_roll=-0.0237 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.6615, 6.6803, 1.7949, -0.0366, -0.0611, -0.0122, -0.5812, -7.1453, 8.294, 1.8193, 0.4078, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed5b502c8ae3ebcdbae662d7288c7605948d697113d5543048e06e3000b5c700",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df5f8e0ad4212ede8beb0898075c14733391f43246b00323405f5d9ba168ccfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac692409106eb3a65cf1634c12b0a42a989b53821bdd1785d1447764c455ae15",
        "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+wkKjgEIEhgCKkD2bb24BYTAUH0JCW8IWynHueIKcBFYQ1Ana17v8rdYlbZNNu8dwLUu29ME5fvgQLUF/keqwWK+YZQSA/3/HVpTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdf0y9UGEgyS9zSyXylAs1y0TToaDNxkV5Co27+M88BjTSIwksT7s65BTHBR6vIe8ZglxZBtlPgu9B9MmMkz6zoHZrMYQwk8SCx5RQcciTaNzZDVKpkIamg4ajwd3prn5pUGwiu5H+iKWuT5xEg7sdRTK9hVfuKsleiKmfJGeeIotbXNcttgwnaipwA6gXf6BDe/pTflT288TFMYDEOikI9ajLGv5EO3BIud9nnvCwPxF0porZF/TXAVwF0BPG+YM9UQ6oliWkYk8M5KqhUN4Gy56pz4ByDx3w2kQl27R5ARSdUVMXjxBieyNHY63UkWs/UC/hDwXUFi08dw4mvCfaGqhM7IIYaFHe4iK4VBYhmuZkaNyNuwWaL8+RwKitrMD26TosPdJDPAPY04eR5EAHlbAwJVCdHZc8XnHP0nDBenRbXHh+6e8m8+nEHEOQd5Kcb54EiFVUCRUcoF5ob9NGhH7JW5HkQC0r8nqo9juE4ETywA9vyu/6siQv8F/iv574mTLmDGMD/M2ELF24VXQDeWuD7yh8TL5OaR+j3sb+zFwZRgrqPXwJEDIb0tSNEMM8cKgZNddaQgbb43b3i5cgr3KzVUOniTZZ9C3/6sRDmdB6JUff9NVtU4T3VzZp/8vXISIj7WjqqUqLSu7cyZxXhlmlh3t3jUNkh3Yq4BiT+mlCJsbDM8W5JRO66qGSK+Cvlg0RPNwcsBFt/YiK3w9Vby83rUBO75d8iPL/mbmJHkV0iyR6V1pQnQH/N9jjnpSYusqdGQCHfHf2hVQ4y3barrVGdPAZ0wdhQOCcFA9BKV/stcpBUk6UMrmg3gZoTzH/c6o3yKA7G72LcbgJCe4kr60YvAugIasL+OnWSYzg0VE2PZK3ijFKePYIhAb65Myqvatd0OO6JZCCyxRgZXM2fGmaIVRVg7Fj5kmWsmaGOUFqxv+Nleea8cxLXun8X+KuApWu+pO5MuNXV9S/lWAjswljEElFBcGlAqe1EVlOMDHZ4n1TGpidNQWqqb3ZzHs0VZ5zGdgVi8veKcd4QYuTUlg9KVWJ6KJoEPbxrNCcQXVoH2nG1Ad20VT0zFpuqRLHM+50MEKV5kArDzi540kC7jiNvHdNCSx2SniXKqVXWah9Yah0sCUueWh0tA4x+3C84skb4yPHVdvLt28cEPs8CABemUcWISpdjY5XNCs82Jyg6SsL0hLXBGpGaWvDqDMvyorOb2pggKxep5CF/yNH22pdX7fk+ugZfgxhwormzOWws4RksTQ8an7+P3EIVp8WLZUV8MClEKrHcvkPrnq0gTsQoTpW1dSyZmYgrrrjMdY+03xYiXsRheceBQKyexRmMmHsnTHEkQFofp9KNrKeCONcMsU3Oj3+yEIE3K6JwERsYCY2HxA6WY3F7KvmidhOKa/hennpKCUlLkUUSmrbz9Y1P9Lxnl1GeBPQZkBojWSgbe6QSMNX2F2l67q/pWu9LRcuSWUw2pvjzJZK3CgwV/WUc3XtTOB6K2sTmNtvEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015MJ6RU1hrQxAWXpAzgrLta",
      "input": {
        "note": "Descent stalled at z≈0.068 twice; commanding a lower z and straightening the tool yaw to 0 to see if the arm will come down onto the bottle neck.",
        "targets": {
          "right_yaw": 0.0,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_015MJ6RU1hrQxAWXpAzgrLta",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.7029, 1.6653, 0.7425, 0.2317, 0.4, 0.2604, 0.9953]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.3627 right_y=0.2218 right_z=0.0675 right_yaw=0.2224 right_pitch=-0.0588 right_roll=-0.031 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -1.5248, 6.4752, 1.8388, -0.0122, -0.0562, -0.0122, -0.5949, -7.1316, 8.0889, 1.9267, 0.3541, 0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc464a2116107f51a95871bfab702c38f306786c83903ff4254f9b821d0904a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ca78f0eac60f0fbfb60a0d9b3746b9872c2603924e6da4a330e14e54def0ce1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:500bb4d7e9779ea739c7eb3418f7d1300e48f525cd034a3823d3167f45ce3c61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 11.88 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3786, -0.0227, -0.0292, 0.9983, 0.696, 1.6562, 0.7265, 0.2417, 0.3885, 0.2535, 0.9953]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3611 right_y=0.2192 right_z=0.0664 right_yaw=0.2285 right_pitch=-0.0595 right_roll=-0.0286 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.6889, 6.4752, 1.7656, -0.0317, -0.0757, -0.0122, -0.0342, -7.1863, 8.212, 1.8291, 0.3199, 0.1538, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0227, -0.0292, 0.9983, 0.7029, 1.6653, 0.7425, 0.2386, 0.3927, 0.2604, 0.9953]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.363 right_y=0.2236 right_z=0.0684 right_yaw=0.2284 right_pitch=-0.0548 right_roll=-0.0237 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.6615, 6.6803, 1.7949, -0.0366, -0.0611, -0.0122, -0.5812, -7.1453, 8.294, 1.8193, 0.4078, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.7029, 1.6653, 0.7425, 0.2317, 0.4, 0.2604, 0.9953]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.3627 right_y=0.2218 right_z=0.0675 right_yaw=0.2224 right_pitch=-0.0588 right_roll=-0.031 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -1.5248, 6.4752, 1.8388, -0.0122, -0.0562, -0.0122, -0.5949, -7.1316, 8.0889, 1.9267, 0.3541, 0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc464a2116107f51a95871bfab702c38f306786c83903ff4254f9b821d0904a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ca78f0eac60f0fbfb60a0d9b3746b9872c2603924e6da4a330e14e54def0ce1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:500bb4d7e9779ea739c7eb3418f7d1300e48f525cd034a3823d3167f45ce3c61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS7AYKjgEIEhgCKkD7noRGXq52FU4qj7DQkKLoEMi8wIWsAnteisY+HhhsejnEqwzRALBhCbfw+VVAbv9d7ahkUtOgCFaUSEZfdcCbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd70y9UGEgwMDSp1vmYehRc9HEQaDKHZ5q56WU24WbhUkSIwE7tKdqV8XmyCWX5L2drY7KJfFdxmNV6e5buFjYC0m6mW+uwrZ57WC2ru7Nve1HQvKooFfzUXt/pco8j757uF4qYdIe1bT4mwqFNkXJ8uEVAHCwkHPsmTzyIWctegEnDAfX6jX1o6azi4Ge+/ERt6GFJl62yweeNSQEuR2tH0NEfYHQdIfrXWZYRhF1qwe7O/n7RgEAP/ODEH551nZ4C59A0n0oPSp2PCtico0J7o1hs2Feq8V7ECuK6NIrQDTckjRXQ+B4mFiQTEsh+eu6qloViaFMG/LrMz2Nx3hxCDWbErqXrd3XwGufmunbX/vD+cn0lLYzf0jZpUXoKOjmLWHmcVgSz10wYZyys2tSK/tOxQs0qRF5YvJslqM3L+gQQFqGMCvi2oibOYcHHnvtaMbC5sSoDWzCoxEY62rmou8nw7xFR7x1xqnp654gMMbg4zVkYbiMJFvk6Dn7malv4rceCLcGUVRpRNvJmYxJNnoTH837GogsbRFaEvqEfhUxf0u8opV6HWUlemunTNrfcQNxfE5WI68dNGQXeYO4CGMhCw7W5Pgo25XYT5rUXLXzOfmLeYUFvz/ZvqyXNQg86c32ETeYv/E4Xj7rXoSup+KBsQSI59N5iMKUh0ol/I8fjYoJrSiEqvDRquWpbKt52YUFhPcqTKpv5KIFbKptyq1n3Qo6f2tCPTVwDirlDuRbWolpkY7DP2ir7oMwOyYayA17FT6dZcAo27vZS9IGhWQcTSkwwx1FkMtAOkorAojSdPbpjRRThJBMwTYRBTSyBYS5TrhFcvWpsxnpRIH3ZpzynzfLsU0mFw32Wa1YRvcrJmECb1DaoSIVWYFVP9qkOz6VjjfAvP6fsktuFqM8mcfBX1qndKkhsoBVO2NAxDy2LhP68j02gAqVaT/izcFaLY26nc92Rjta24YsixNlIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LiUDkg2Wi72ArnGh5gRBuG",
      "input": {
        "note": "Arm is not responding to downward commands; testing with an upward move to see whether it still tracks at all.",
        "targets": {
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LiUDkg2Wi72ArnGh5gRBuG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3779, -0.0231, -0.0292, 0.9983, 0.7029, 1.6093, 0.7567, 0.1337, 0.3912, 0.2565, 0.9953]\nstate[eef_state]: left_x=0.2969 left_y=0.0015 left_z=0.1827 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.3558 right_y=0.2178 right_z=0.0773 right_yaw=0.2305 right_pitch=-0.0862 right_roll=-0.0418 right_gripper=0.9953\nstate[joint_eff]: [0.0068, -1.1692, 6.4479, 1.9219, -0.0317, -0.0513, -0.0122, -0.3214, -10.5778, 10.8923, 2.1905, 0.2857, 0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cda8b86115a5d46098e78c4aae1c13be6b02ebccc3a255a16aaf37f5f269eaed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87efc7a712e484e2f8668e5884dfb086fce7d65cc1a8ce676e88a5abb65dd6b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7ef935087ee7c12843926628926a2849ff11f6971813ef27a08197c2716fe7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /messages · status 200 · 7.888 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0227, -0.0292, 0.9983, 0.7029, 1.6653, 0.7425, 0.2386, 0.3927, 0.2604, 0.9953]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.363 right_y=0.2236 right_z=0.0684 right_yaw=0.2284 right_pitch=-0.0548 right_roll=-0.0237 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.6615, 6.6803, 1.7949, -0.0366, -0.0611, -0.0122, -0.5812, -7.1453, 8.294, 1.8193, 0.4078, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.7029, 1.6653, 0.7425, 0.2317, 0.4, 0.2604, 0.9953]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.3627 right_y=0.2218 right_z=0.0675 right_yaw=0.2224 right_pitch=-0.0588 right_roll=-0.031 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -1.5248, 6.4752, 1.8388, -0.0122, -0.0562, -0.0122, -0.5949, -7.1316, 8.0889, 1.9267, 0.3541, 0.1343, -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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3779, -0.0231, -0.0292, 0.9983, 0.7029, 1.6093, 0.7567, 0.1337, 0.3912, 0.2565, 0.9953]\nstate[eef_state]: left_x=0.2969 left_y=0.0015 left_z=0.1827 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.3558 right_y=0.2178 right_z=0.0773 right_yaw=0.2305 right_pitch=-0.0862 right_roll=-0.0418 right_gripper=0.9953\nstate[joint_eff]: [0.0068, -1.1692, 6.4479, 1.9219, -0.0317, -0.0513, -0.0122, -0.3214, -10.5778, 10.8923, 2.1905, 0.2857, 0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cda8b86115a5d46098e78c4aae1c13be6b02ebccc3a255a16aaf37f5f269eaed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87efc7a712e484e2f8668e5884dfb086fce7d65cc1a8ce676e88a5abb65dd6b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7ef935087ee7c12843926628926a2849ff11f6971813ef27a08197c2716fe7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyAsKjgEIEhgCKkBBUbhCTiC455Hxg/8OSkxzd5dOPAwPOX0QmTsTgWrXBZpM3rY3Sql1eEdj7B4jGvlnHOUfX9FVxzSIaoMQ5YseMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAer0y9UGEgy15LsnMSdHDU6ZkEYaDAnryWSIgRxVJvI6myIwWCeq4QLdklfFM19ENT1WgBO1C71ZjsYMUCSz34LQizOvXIUO7DcEib3y0fonenMBKuYJqMY1iAmRPChRB6CHQ8B1krJRAp0f68AGyXI4eJVLNhUAHLrx2bZolcn51h27MB/7NdJ0UBMTxkdpLBvBYbMZsX1PYt7gRCISGW3rgEZrz2HwNlEga8W2RqoPqDVY0pPUwSREft3PUuWTEkIHhZxD11K5+S1TpZ26ecKPUmpzHAhwTws5n5+0Xm3cYRRaASXuGLSB3miZS6ie2TT2fi1PhpAprrSdhT2EiHxJfuIZQKHSyuoIhNUyMe+616XAb/QfxpoL0+l6L+XulDclXfom0clzMsI5Svx+3d0qz6WoZscXGxYrMpSkOy7Cz3ztErhrnAuSTAgHKOwJBofbnq7ELpWQ80BAtU6l6eZ6Idn1NZTYg97gyxjFHuw7mDXC3DAIfckuguHz946sbrNzCZK5CNuWm/ndpz9oWgYCxnlrU0l57LXjXPhzOqEuF1W6WEOsKXtxJayr+k0YvT/7OWlmo7JYfKEwDolwe56R4K5GSbUAAhwLZ4RhLJsD24S2vPsvqcyyVxnGgjKXrAhcYBC6atNSzG0eFmVUzwSxj+YRjEU5CW//ys4+/Bazv2JwzL46ZUMjDtY9xwgfti4VKrbVW/3T3iw2NVDWDS6czFk0ktjOqI+8TbrPGblbePG6U0J5SBVIy+eSNXgyYZ+/ZoVzG+HrR8QF4ibB6Qx7/HEgBhnNYpWOMA+nKtjwtFkaMIQ0/C/wlo6ezm4v/S6/boPUUqIqlW6wagJeCFhlNLrqBkB1rPZorY+jjED78UZSRiLHENB/IZBN+94m3EV36wE4O+N2w4MogR147dikpzCv+l+lkBQzQe0zyEra3sD6eEziRq5UChhz1y1/u8NJlg+qEHtwbPUQPeZHyNmCmxZLQ5SnfENYiykXRiNmfb2aNa4bALNefUVKAEBMg9kTzR4xaQlR2npqPFQEZuCQrtu9h16O6DvndUdhIavQfk4FHPYz4qviX/BTTcuGp0aUdoiKq4JRGMrlH7ABMR0Gdz3HU/LfAzghMEGV22HY5Ngx+ps9Y2y3hCArK/kdKDOX4mjXud5jJAO/yt7AqU5z2yojFW4VlPVwT2mNLAT5N3YOtF9ZtbxsHD+a0vuF8rWadF8xUMP44QMEumwdichrakif7WNQq6FjwfFQViaZfP6P7x1TBeokC6Qv6wtuMJFg5A04FxuftnvtfXPXhPxS/Jdp0paLR1Qt4j169kuIPn7t2KNzhioZOGMc9SHoZ4okfZ66zpBReewXUCFB51DVpcsqvQ4Fw/VkNbmoSecqOmYlCC4eium7/+Pgm7un3PrUq8zCgULvB6I55u+8FdsFz2atmT+2RacJHnkcGWc7s0oMP82EIEMRvdxkAYn4FDVjZydRSn8yc/NIG1yL5VB5ByAcvD4FlG6vpYtQ00ASwsubAPp2WmFbjFaJpbtr+y6x9HFtgEA6stL9ROCAbtu8qHGIYGkmKnYNY7u+QT5XlQLAUOT2XX4kgJQVe8f8Owc+/TtFzuz2p5ECKcwHvhnO/Sas33McYmf7ZK0ZwMPOh2qTMDVgV3hsO/1r/0N+4DLR8i4DtxZYZ6+yuTxnl8fmMvV69lJQaBe6tztMrCyA+IQgE4tt6wFzDrMRajsf3KKrrdXBu+2Uj/7DaeTV3vrPqoZrsUasi4bIcNtcg1gSy1I3xGIYR3Y485jXGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015NHn45yCS7C4dqPk62VTUx",
      "input": {
        "note": "Motion is being speed-clamped, so I'm commanding a larger descent (to table level) and a small advance to bring the open jaws down around the bottle's neck.",
        "targets": {
          "right_x": 0.39,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015NHn45yCS7C4dqPk62VTUx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.379, -0.0231, -0.0292, 0.9983, 0.6445, 1.9293, 0.693, 0.738, 0.3721, 0.1944, 0.9954]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.401 right_y=0.2255 right_z=0.0355 right_yaw=0.2205 right_pitch=0.1074 right_roll=0.0107 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.4974, 6.5162, 1.7753, -0.0415, -0.0073, -0.0122, -0.8684, -2.8513, 2.988, 0.2662, -0.315, 0.2027, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9331bec88d8fbb0c39089841c995391fed67d80b824d3d922aa519a53db5146c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f276adb28d35130038fe616bf2f90c4b2e769834809c2cbed9af0cb41d8be7da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:039c2506e74c8a5295d39c95ef899bc487f17325a9bb135ba1097c0e7e171dff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 28.11 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.7029, 1.6653, 0.7425, 0.2317, 0.4, 0.2604, 0.9953]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.3627 right_y=0.2218 right_z=0.0675 right_yaw=0.2224 right_pitch=-0.0588 right_roll=-0.031 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -1.5248, 6.4752, 1.8388, -0.0122, -0.0562, -0.0122, -0.5949, -7.1316, 8.0889, 1.9267, 0.3541, 0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3779, -0.0231, -0.0292, 0.9983, 0.7029, 1.6093, 0.7567, 0.1337, 0.3912, 0.2565, 0.9953]\nstate[eef_state]: left_x=0.2969 left_y=0.0015 left_z=0.1827 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.3558 right_y=0.2178 right_z=0.0773 right_yaw=0.2305 right_pitch=-0.0862 right_roll=-0.0418 right_gripper=0.9953\nstate[joint_eff]: [0.0068, -1.1692, 6.4479, 1.9219, -0.0317, -0.0513, -0.0122, -0.3214, -10.5778, 10.8923, 2.1905, 0.2857, 0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.379, -0.0231, -0.0292, 0.9983, 0.6445, 1.9293, 0.693, 0.738, 0.3721, 0.1944, 0.9954]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.401 right_y=0.2255 right_z=0.0355 right_yaw=0.2205 right_pitch=0.1074 right_roll=0.0107 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.4974, 6.5162, 1.7753, -0.0415, -0.0073, -0.0122, -0.8684, -2.8513, 2.988, 0.2662, -0.315, 0.2027, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9331bec88d8fbb0c39089841c995391fed67d80b824d3d922aa519a53db5146c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f276adb28d35130038fe616bf2f90c4b2e769834809c2cbed9af0cb41d8be7da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:039c2506e74c8a5295d39c95ef899bc487f17325a9bb135ba1097c0e7e171dff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISkwYKjgEIEhgCKkAbgCigj221IxILduP3zs0/F0OrcYEYzNmfsoENVyvmBqa0Rr3BJD7UB/3CzEBfpjriEdaciCmyvEFahAPjdqjIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfP0y9UGEgx5AjhzNUFdmglZt3AaDEO591wyBSFZXsZODyIwHwLnN5Q/U1AW4NrGbBkKLoNSj/2TenHjKasVxgIECwyFj4NMDqQMZCaUNPEw01A0KrEE2ymtbC+kcbLEu76/VbGXWDsVGwvJIIktOVb3QPD01tPNGrWr9+kkLraXpfi1dMMuH/FDYFNc4hic38SvBCOFOYogy0KHedLqE3B88/rTrRh6MO008KhD9kCQeA92JYWSUiofHy1TBzI7yhvyZG/nlLdXLiDVQVL5ZH/doFeP8JUtY8ysaJ3tjhGfOySZ90Vvq13RnZIX/xJXXn3N6SOcibUUC8SCEWw/57TOcagSR/IYtx1JISrkAkAbbQSDHco8YXcEOltiG7KKLG5ZFvDePSVf4khC4Ob60dHc18eBju64+Z+XUGPOxiPa8yyxB19U/Kg1SgKTTdeQAojTZzoqiZAEXWXTy8v5iX63CUt1Hk0QeWQjhcttORkPaLGKQfxnL/S8h+Mw8oXiDucoS6mkxxZO/4jBniiyNT3hziOhWamKm9xoxYKTm/Qsa8AKD5HNMxnjnGO1YAeSv3cRWpRHkZKuzabBz39/8y5ahxU4KvyFVK/6Y7vCgiGehHPt7MJ9qFDvDtT2Yr2EboRxZBJZSu/haxjV5HoN0YyXOfPqspMfxjZh2bB7wJvLD20O301rVtrZSu65Uxoj5bnOIOl4zIjStEEo+GZQBF8xb2e108HpTLKDHjs4EADAtmrKrBscN2F0an/DNogq/u4R+PgqvlDAgZ7g/FSi81vIqfRb3GyjPMPHR3MN25WbughQfh1MFri2UU/OieAy2aTJLJ2uuLC6auUOCTJqaiWA29Espq2sGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XDHErbmNKNwMDoeEceroPQ",
      "input": {
        "note": "Jaws are down at bottle-axis height near the neck; closing fully and reading the settled gripper width to tell whether I caught the narrow neck, the body, or nothing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XDHErbmNKNwMDoeEceroPQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3782, -0.0231, -0.0292, 0.9983, 0.6399, 1.8698, 0.7719, 0.5831, 0.3393, 0.2077, 0.0169]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1827 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.4091 right_y=0.2357 right_z=0.0572 right_yaw=0.2366 right_pitch=0.0858 right_roll=0.0307 right_gripper=0.0169\nstate[joint_eff]: [-0.2256, -1.7162, 6.4615, 1.8779, -0.0464, -0.0611, -0.0122, -0.5812, -7.9248, 5.2581, 0.9841, 0.1587, 0.1197, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c8d56783645d6a2608101e2dc48033f8f76e10d4644e3225af72713a88d9b0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:779c02bf630c9c151424cd6944461b3e760a84de3be4b9e3ae0e25f69c51475e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b66f24e5945712e16b5261f6bda9637045c248ad7105232304e2e5e3eb2a8280",
        "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 · 9.835 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3779, -0.0231, -0.0292, 0.9983, 0.7029, 1.6093, 0.7567, 0.1337, 0.3912, 0.2565, 0.9953]\nstate[eef_state]: left_x=0.2969 left_y=0.0015 left_z=0.1827 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.3558 right_y=0.2178 right_z=0.0773 right_yaw=0.2305 right_pitch=-0.0862 right_roll=-0.0418 right_gripper=0.9953\nstate[joint_eff]: [0.0068, -1.1692, 6.4479, 1.9219, -0.0317, -0.0513, -0.0122, -0.3214, -10.5778, 10.8923, 2.1905, 0.2857, 0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.379, -0.0231, -0.0292, 0.9983, 0.6445, 1.9293, 0.693, 0.738, 0.3721, 0.1944, 0.9954]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.401 right_y=0.2255 right_z=0.0355 right_yaw=0.2205 right_pitch=0.1074 right_roll=0.0107 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.4974, 6.5162, 1.7753, -0.0415, -0.0073, -0.0122, -0.8684, -2.8513, 2.988, 0.2662, -0.315, 0.2027, -0.0073]\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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3782, -0.0231, -0.0292, 0.9983, 0.6399, 1.8698, 0.7719, 0.5831, 0.3393, 0.2077, 0.0169]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1827 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.4091 right_y=0.2357 right_z=0.0572 right_yaw=0.2366 right_pitch=0.0858 right_roll=0.0307 right_gripper=0.0169\nstate[joint_eff]: [-0.2256, -1.7162, 6.4615, 1.8779, -0.0464, -0.0611, -0.0122, -0.5812, -7.9248, 5.2581, 0.9841, 0.1587, 0.1197, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c8d56783645d6a2608101e2dc48033f8f76e10d4644e3225af72713a88d9b0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:779c02bf630c9c151424cd6944461b3e760a84de3be4b9e3ae0e25f69c51475e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b66f24e5945712e16b5261f6bda9637045c248ad7105232304e2e5e3eb2a8280",
        "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_01WeHmuycb7iyjMdZZWTEvvT",
      "input": {
        "note": "That close came up empty (0.017) — the jaws were too high and behind the cap, and low-z reach fails beyond x≈0.40. New plan: grip the body at a closer point and yaw the bottle 90° so its cap swings sideways into easy reach.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.355,
          "right_y": 0.23,
          "right_z": 0.033
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WeHmuycb7iyjMdZZWTEvvT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3786, -0.0227, -0.0292, 0.9983, 0.728, 1.7992, 0.6563, 0.5476, 0.3969, 0.2543, 0.9955]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3634 right_y=0.2372 right_z=0.0406 right_yaw=0.254 right_pitch=0.0254 right_roll=0.0096 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -1.6479, 6.735, 1.8242, -0.0464, -0.0611, -0.0073, 0.4718, -8.4308, 3.494, 1.4383, 0.2955, 0.149, 0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5432f8a23c97c76725d3a2865a234c0d6470d69ab4bb4c05a3e04a4d1b1b15b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:205ff31264ba633edcbe9efc85fd5ecd9ff0bb67fa5089e7ab7023cd93eef719",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dfee61cc4db5bb5148e16f07e595d2f846ae912d1540e61ad0aa0d42b52b8e55",
        "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 · 10.57 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.379, -0.0231, -0.0292, 0.9983, 0.6445, 1.9293, 0.693, 0.738, 0.3721, 0.1944, 0.9954]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.401 right_y=0.2255 right_z=0.0355 right_yaw=0.2205 right_pitch=0.1074 right_roll=0.0107 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.4974, 6.5162, 1.7753, -0.0415, -0.0073, -0.0122, -0.8684, -2.8513, 2.988, 0.2662, -0.315, 0.2027, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3782, -0.0231, -0.0292, 0.9983, 0.6399, 1.8698, 0.7719, 0.5831, 0.3393, 0.2077, 0.0169]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1827 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.4091 right_y=0.2357 right_z=0.0572 right_yaw=0.2366 right_pitch=0.0858 right_roll=0.0307 right_gripper=0.0169\nstate[joint_eff]: [-0.2256, -1.7162, 6.4615, 1.8779, -0.0464, -0.0611, -0.0122, -0.5812, -7.9248, 5.2581, 0.9841, 0.1587, 0.1197, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3786, -0.0227, -0.0292, 0.9983, 0.728, 1.7992, 0.6563, 0.5476, 0.3969, 0.2543, 0.9955]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3634 right_y=0.2372 right_z=0.0406 right_yaw=0.254 right_pitch=0.0254 right_roll=0.0096 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -1.6479, 6.735, 1.8242, -0.0464, -0.0611, -0.0073, 0.4718, -8.4308, 3.494, 1.4383, 0.2955, 0.149, 0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5432f8a23c97c76725d3a2865a234c0d6470d69ab4bb4c05a3e04a4d1b1b15b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:205ff31264ba633edcbe9efc85fd5ecd9ff0bb67fa5089e7ab7023cd93eef719",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfee61cc4db5bb5148e16f07e595d2f846ae912d1540e61ad0aa0d42b52b8e55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxggKjgEIEhgCKkBxuYlpHKRADwQ97F0HIoFvTqvnu8AoNiQKhWpNzNZyQXOSueGuD9/NzsAUct3zQIVsTRuaJwAhDAWBmnLXOdhfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZr1y9UGEgyuD+Qf/1gwGhE5U/saDH12c8yil0b1UxkBFSIwFb/jWRBNrLFI1kuWNz6KryhMnkL+FkXXjaJiot4PACn/MW8TpZITXXCDr+t5eGWdKuQGwYnx0cP99CI8ScXhap6foPd2h50fEIktcpiDwtStM3JX3jskCr60LTkXfN4vaPP7F6MW+VkTVXiWPV5cmPXmdoiTJYm9TpHXaIa2hFto1ivnbN75PQOKucep5rFoU9cyeNL3NK900XdYGPjj9vfUaXyJQ/9b9xf+vFSYuDJzd/+4aO7Q4A3PpVpQQ9QoinSqMSrRZXx6+QqefxaTImAAVVpfeLeg/FaB2MjJjwFoeOFoUp3LBy4lJA4HmyDx/mFc9ABRt/zI+rrl2v9CGJuwSs9R8WlO45nBzYgH0TZqT/E5dPOSjOwcKYbMHxp52U9Vsyqe+NhliDNDF1FJg0CJUyizApF/rTjqZoMarUM5j1d85hn2tlJf27LIbapN4dtx9Mde6tklpZ919zesw1AEYMvaYbrseODnjluEd3tFLoD845JMw2+6/+PWl+0pk6LpEEkrjiuSNtTV33A+lTIgc0nDfETRP0y6joDyUvjrG6wl+6yd8Lk83hSxJH9pJgoseTRc0OwOEOotkKsstzLWY/xmTfiGsgJ724SiH/RaMEUSjT5xSWGt0girYAx53yjeuZBU169qByiZFlxVCzcOKc/wyifQglqkzbwXhy9eOZr164I+8hxTnx2+lbQBPUFcqYcBHpuZlJq3QkVP6ATAOeGsonV5wDkySC/DZyIaLbvyMUAf9BSZ77qA+t6WgGgC+Is13q4NicUtHABILyYrqLBHQc6UPMBO2Gcl8ITtMEDE6SE6zlaUQnoDQcIgnu0TSXWpApPZx9BvDPgoij7yQtyVSABTym+j+lOjyTgoyVI1F3OogOUqWpGrrVOMtGXlB75ShenJmUTiBpgVbCYpSbXEEvE/bq3fnj3ndvN34Fgpp6FRpeiAohz5ZI/MGWS0ugNGJGyINM5iXQRdif30yOnVM4ZUkaBLjkovFjlr0JRiTiRR+Kmk0+xsj/rBPsS1t37pFOzbMMdaBMQut/mTVaAGPN1T7sNTS6fhIVHPkHlGJejHOTcYHU34TfPlOH6zvjRnUx275ZWFDyoo4lcri7kLWAq1wBE6eA11qz+MwdYTg5ZUYWC7kJpudGCERxBvEiuk5ZFhIS1Gxn3BYDv0DKI0y/UjOaGSv780m/7yRN6m4Ic2DTyYWyvuEBmA17mCaQOf4xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HEBn6Z36oJE2QpNbUuh6L6",
      "input": {
        "note": "The red-labelled bottle lies just right of the jaw column at body height; nudging 2 cm toward it and closing on the body (expect a reading near 0.6 if the body is caught).",
        "targets": {
          "right_gripper": 0.3,
          "right_y": 0.218
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01HEBn6Z36oJE2QpNbUuh6L6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.6891, 1.7592, 0.638, 0.5541, 0.3584, 0.2245, 0.3103]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.368 right_y=0.2276 right_z=0.0504 right_yaw=0.2623 right_pitch=0.0418 right_roll=0.0153 right_gripper=0.3103\nstate[joint_eff]: [-0.0889, -1.4564, 6.4889, 1.8486, -0.0611, -0.0611, -0.0073, -0.9641, -7.2821, 4.1094, 1.1404, 0.0904, -0.0171, -0.0611]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f545b277e5693c84043f2660918f4f2d3707af75e6df7acdd7dda20cbc26065",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:448c1651d20b22f84f1ec69cab6cae6b6fe9d6d474f6b10f72d6c36d1ed2e400",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b1633e066f3ad2c418b9091934370bd923f0c557d5caa375dac2129b3b65430",
        "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 · 8.027 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3782, -0.0231, -0.0292, 0.9983, 0.6399, 1.8698, 0.7719, 0.5831, 0.3393, 0.2077, 0.0169]\nstate[eef_state]: left_x=0.2968 left_y=0.0015 left_z=0.1827 left_yaw=0.0005 left_pitch=-0.0065 left_roll=0.0 left_gripper=0.9983 right_x=0.4091 right_y=0.2357 right_z=0.0572 right_yaw=0.2366 right_pitch=0.0858 right_roll=0.0307 right_gripper=0.0169\nstate[joint_eff]: [-0.2256, -1.7162, 6.4615, 1.8779, -0.0464, -0.0611, -0.0122, -0.5812, -7.9248, 5.2581, 0.9841, 0.1587, 0.1197, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3786, -0.0227, -0.0292, 0.9983, 0.728, 1.7992, 0.6563, 0.5476, 0.3969, 0.2543, 0.9955]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3634 right_y=0.2372 right_z=0.0406 right_yaw=0.254 right_pitch=0.0254 right_roll=0.0096 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -1.6479, 6.735, 1.8242, -0.0464, -0.0611, -0.0073, 0.4718, -8.4308, 3.494, 1.4383, 0.2955, 0.149, 0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.6891, 1.7592, 0.638, 0.5541, 0.3584, 0.2245, 0.3103]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.368 right_y=0.2276 right_z=0.0504 right_yaw=0.2623 right_pitch=0.0418 right_roll=0.0153 right_gripper=0.3103\nstate[joint_eff]: [-0.0889, -1.4564, 6.4889, 1.8486, -0.0611, -0.0611, -0.0073, -0.9641, -7.2821, 4.1094, 1.1404, 0.0904, -0.0171, -0.0611]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f545b277e5693c84043f2660918f4f2d3707af75e6df7acdd7dda20cbc26065",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:448c1651d20b22f84f1ec69cab6cae6b6fe9d6d474f6b10f72d6c36d1ed2e400",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b1633e066f3ad2c418b9091934370bd923f0c557d5caa375dac2129b3b65430",
        "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/AkKjgEIEhgCKkAGRdOaJMXLhRF/GgcRqzjcdvUvTVjVYT6p8j8st5It41S4vcAFMbIMuXysgL1Z0MCderfziQS5mxLczDcCgeujMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaX1y9UGEgzHLuuWSFgkszYG3HUaDNIR0RQElFNQ0sCfEyIwdsjA3oZu3HeFgpfI+QDQhtZFUK7+oWNvC7wNSpXYO/cKl7YAeMK3yJXZ15D3JyfPKpoI2mq/jvqPjQqw/m/S0YInx9VinS0XJoSuLA2z3rqefediO3XTjWNnNjmy/5Z4oU4fDKx2CagAedMsosrWeitYyKYZXxMShLtLCSKX4H6SXRdPUvw3B3pL8rjfzPbKkUBtUEcLt/1DT5vEH3E642lWlbiLQcNKsTli6vqaUEtl13Mevm16ZKcF+gGiWvZzo2njgZHlq7TV0/zU5s/cU5qwNzrcKZ3Cd/HbhcOZyRSkuKIBPPb6Sh1J05lkapRnIZkxlIyGtzJVqtSD/xygonK+tbstiHUnrOhd7nnvtksG8mAe2urVjz5xc+2o+chsbpLRj5Y6Dv2wE3km5YhrGet24igbxhXwLFu2b9C/bF6CwyS5cADIKn/zcos2RjN9Di85oAIJIBl1vfleEk2as1SzupvefsoEBNyF+qqAwhiqe82ZJaMtEklL8FQmz6mBKzImzaBCctmh1jBXS1IBJaXT2ytX1vRYZ17CsWTz8O90QmRj3i/1+hIwgNF1sS6jdX6nHd48tfsja6kbD52ByCh3w9jS72TpH5roDd4znpgQcvrtg9gZa2Ftx0YGgQX4/IWvsWvY+vrm+0QJnBBbkshSnxPs7oJY0IP/zONCWkoN0vNi90RzgCh1tP+cXXUsZq6jH+ioaoEQ5Lxo9n/r/NU6JHYYRuEBslSNRyIlTtOgq7iFI6S9ebzNfVqGzF2/3w/MHUZsZmBF50PcbDhnjMgZD8uTebUAqvWhXKGeHHoSp3rI+F/9xo/sBD8m9Tn69wZbyID2MYhXCR2l8WIN8XZeLWZOuOgNPjFn5ysCUNNd9z/7hrSkWVoRIfAz460hcIE8BPobZECXXiESWRVq/HNedZqcPR9CpuoHfr8QuP0BRC1C/r7zbB7CdGKl9HnKSACAMXTJA7/kE85RkeUIzHz8oE2KoW3zDu8GY6d/oZbEgDSX5dmyog0r/oJJOr+FOarYS39/VR7Ml/VIWdRQ49t6Ou4DRwxz6qWuApdjxZUKe5FJjjdvJTQ8E5Idli/aX9L9cnQ//5C6iLGQr3J/1HPBc0D0epbm8gXca0A4baA7T9cf623GRI63bGL7m/XB7VmQ3gZ+jM3L5pVP9AL3RDqWKWa8NqHY1yioeB/PIupTYEfrGC29XVQNSFK6FH7WCccqw/ywl7Aw4ippfzg8fQLBxM4gMahoMC+zGkPTyW+0KupVw8QAqwcvsltln8Q9H0sZU5igqPKV80cmRLXzpwyeN4fiVmHrZILO3mG3FMX64nKzKWid4gtSXML8xC6ktb4DGgpKEcCcm+guO14dLv+AzSo3aCuDcRTiU1sbfmJjPgmBqZvTJ3OMshNvRIldOdI26Um6aUL3XbbeAerXMRpZJBBX35tlx6CS8IVhLO3iDWCRL3/t1dPbDI0qGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0159RV7QMzGVJomrtmzJAwXN",
      "input": {
        "note": "The close reached 0.31 with no resistance, so the jaws missed the bottle on its left side; re-opening and shifting 2.5 cm further right where the body actually lies.",
        "targets": {
          "right_gripper": 1.0,
          "right_y": 0.2,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_0159RV7QMzGVJomrtmzJAwXN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0227, -0.0292, 0.9983, 0.6205, 1.7473, 0.5949, 0.5541, 0.3004, 0.1852, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3686 right_y=0.2035 right_z=0.038 right_yaw=0.2629 right_pitch=0.0008 right_roll=-0.0007 right_gripper=0.9956\nstate[joint_eff]: [-0.3077, -1.6889, 6.6393, 1.8877, -0.0464, -0.0611, -0.0122, -0.6222, -6.9675, 4.3966, 1.9072, -0.0024, 0.0269, -0.0611]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bc9f874104d993f56040bbf589f72d3360e404800ab25da050b13e9ed79b6d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26571933e5c75e94cd0ac0050eae7cc998840e54f5f3adb46a7e827b19ea3d55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:046c64dd0248e81da4d79fd8db8d0ae512faa126ce6f75f115c8544b3ba08554",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 18.85 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.3786, -0.0227, -0.0292, 0.9983, 0.728, 1.7992, 0.6563, 0.5476, 0.3969, 0.2543, 0.9955]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3634 right_y=0.2372 right_z=0.0406 right_yaw=0.254 right_pitch=0.0254 right_roll=0.0096 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -1.6479, 6.735, 1.8242, -0.0464, -0.0611, -0.0073, 0.4718, -8.4308, 3.494, 1.4383, 0.2955, 0.149, 0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.6891, 1.7592, 0.638, 0.5541, 0.3584, 0.2245, 0.3103]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.368 right_y=0.2276 right_z=0.0504 right_yaw=0.2623 right_pitch=0.0418 right_roll=0.0153 right_gripper=0.3103\nstate[joint_eff]: [-0.0889, -1.4564, 6.4889, 1.8486, -0.0611, -0.0611, -0.0073, -0.9641, -7.2821, 4.1094, 1.1404, 0.0904, -0.0171, -0.0611]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0227, -0.0292, 0.9983, 0.6205, 1.7473, 0.5949, 0.5541, 0.3004, 0.1852, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3686 right_y=0.2035 right_z=0.038 right_yaw=0.2629 right_pitch=0.0008 right_roll=-0.0007 right_gripper=0.9956\nstate[joint_eff]: [-0.3077, -1.6889, 6.6393, 1.8877, -0.0464, -0.0611, -0.0122, -0.6222, -6.9675, 4.3966, 1.9072, -0.0024, 0.0269, -0.0611]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bc9f874104d993f56040bbf589f72d3360e404800ab25da050b13e9ed79b6d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26571933e5c75e94cd0ac0050eae7cc998840e54f5f3adb46a7e827b19ea3d55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:046c64dd0248e81da4d79fd8db8d0ae512faa126ce6f75f115c8544b3ba08554",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS2AcKjgEIEhgCKkB3/1xfsV2FvpVmBLkfWAtU46bxqKTm3U6Wzfm+5+DfiBQke756HQR82C5oIRIl+nGa+W3E08PKqXq1UiP7bNBsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa/1y9UGEgxvSRcJMphh2mAgrZMaDFuVoF3pIa4hcGQEgCIwCUQUWVg9kaV9GpV7R7rQ/M2na21H3lfPfHw4zCn5F32Mgn8XR8WAAEiDm82nnGotKvYFrHrjB0ElxOSear/mzOz7HJITvGEaKrAT+88wOYqoFDWggItvbX7vS1IveeifVPzU+XsV5rDxuTAHCm6hIpNJTAUS/M6smN315DvvkdMkIMktHiraLwaFdyTArIW5x/zzVX/e4XMyCyyeCvlS0zg3JCTt14QY/FfEX3S4Wa+PMHGe4aaHYscrOx3nJsuGbuXwvHeuVQv8XabgD3XmPM93KGaLRiJFlPy5M7IGS6VgXQNugDm+8C/AWqonuYgpOMxxoYfv4TcHYD9HUeywO3+v4Rjot3Sz+itwGcjbs6Tll6zGowYPo72dIUPBwRYP4sYBYLK4aTmNj8sFxm11x3ZPSUs+B/76OSoQweseRHJK7QsCX/j3NJNdggbU7nfQZnuYGJZxukVNst/xhT2p2pSfBdCqiwOfjVnU/kDGg9sHc/N8M7+GXeSKcR9Vu05bg12B9EOpIHsiFy2VFYOzpbwWZu+FpyYqzSb7RuSI8bKaSXdvqqDRxqNXJrKpMN/HwXLmBckQaBQ6bCkhxxN4N5BiHlarrdfslGILfVBNDOQr41lQoPE9b5BxdMrdwoHU35V20HsdunREDaBXYTHVZuOaqnpVWgqXFhCb4BvslNQfio7zztYQ3LIPNbiGJOFB2/zbIWBR6PfTKSdNoTuwrKFJlxvjrLejCzIPm2r+COLbrNF0WRjBLBHGKhONvSecTrJ+QIW0LqeQrGnkbKDcGVYaORQ/kRd6wwVMgYuiW9ktCKYcEJjYG47tSb0MG5sMJJZxlO0K+XauFW5ucXuQCagxYlrkWQzWDEgHpWiGqYSUsaibqAyQOqb5HAeey2ZLo9lt/gfBYzwO0GWnkup/cBKXEJY97n2m2HYX0GxVUPW//1Eu3Hges0TA1TPslj24ktiio9IncNlRmvfzLIKC3mXToB+cfjag/se0XIzH8hMpNpMpFqSgdtyDg4VBG6/GOCIkqdCq9nSk7PVoZgvxwol4fij3R8drTKtX/Ibid5pU+iOHhYCbyPoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W7VfckM2cTZWdc2wAmAF8r",
      "input": {
        "note": "The red bottle now sits centred on the jaw column at body height; closing — a settled reading near 0.6 means the body is caught.",
        "targets": {
          "right_gripper": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01W7VfckM2cTZWdc2wAmAF8r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.379, -0.0227, -0.0292, 0.9983, 0.622, 1.7378, 0.5968, 0.6197, 0.2897, 0.178, 0.2056]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3754 right_y=0.2114 right_z=0.0556 right_yaw=0.2762 right_pitch=0.0712 right_roll=0.0249 right_gripper=0.2056\nstate[joint_eff]: [-0.294, -1.5521, 6.4615, 1.8437, -0.0366, -0.0269, -0.0122, -0.335, -6.5846, 5.1761, 1.1209, 0.1685, 0.0611, 0.3053]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c3028f50298b5dc3cc15422eb33cfd6f96e4290f004b041dd403d146b004881",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:826e06a112b5e4e8b8d2afcecb713669834533ec072a62305ec85738688d2bf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:deca01011441c34ebbe741308782379edd224e1e1f0e538d1c913db6968e4f21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 14.26 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.6891, 1.7592, 0.638, 0.5541, 0.3584, 0.2245, 0.3103]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.368 right_y=0.2276 right_z=0.0504 right_yaw=0.2623 right_pitch=0.0418 right_roll=0.0153 right_gripper=0.3103\nstate[joint_eff]: [-0.0889, -1.4564, 6.4889, 1.8486, -0.0611, -0.0611, -0.0073, -0.9641, -7.2821, 4.1094, 1.1404, 0.0904, -0.0171, -0.0611]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0227, -0.0292, 0.9983, 0.6205, 1.7473, 0.5949, 0.5541, 0.3004, 0.1852, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3686 right_y=0.2035 right_z=0.038 right_yaw=0.2629 right_pitch=0.0008 right_roll=-0.0007 right_gripper=0.9956\nstate[joint_eff]: [-0.3077, -1.6889, 6.6393, 1.8877, -0.0464, -0.0611, -0.0122, -0.6222, -6.9675, 4.3966, 1.9072, -0.0024, 0.0269, -0.0611]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.379, -0.0227, -0.0292, 0.9983, 0.622, 1.7378, 0.5968, 0.6197, 0.2897, 0.178, 0.2056]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3754 right_y=0.2114 right_z=0.0556 right_yaw=0.2762 right_pitch=0.0712 right_roll=0.0249 right_gripper=0.2056\nstate[joint_eff]: [-0.294, -1.5521, 6.4615, 1.8437, -0.0366, -0.0269, -0.0122, -0.335, -6.5846, 5.1761, 1.1209, 0.1685, 0.0611, 0.3053]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c3028f50298b5dc3cc15422eb33cfd6f96e4290f004b041dd403d146b004881",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:826e06a112b5e4e8b8d2afcecb713669834533ec072a62305ec85738688d2bf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:deca01011441c34ebbe741308782379edd224e1e1f0e538d1c913db6968e4f21",
        "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_01ReR6a1rzajw8i7ezTx93hK",
      "input": {
        "note": "Two body grasps missed on the smooth 6.5 cm bottle; switching to the much narrower neck, which sits ~5 cm further forward — moving the open jaws out over the neck and commanding a low z so the arm descends as far as it can.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.43,
          "right_y": 0.215,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01ReR6a1rzajw8i7ezTx93hK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.379, -0.0231, -0.0292, 0.9983, 0.5488, 1.945, 0.8013, 0.6151, 0.2272, 0.1192, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.43 right_y=0.2205 right_z=0.0376 right_yaw=0.2871 right_pitch=0.0553 right_roll=0.0012 right_gripper=0.9956\nstate[joint_eff]: [-0.0889, -1.7162, 6.5299, 1.7851, -0.022, -0.0562, -0.0073, -1.0735, -5.8462, 5.3812, 1.3309, 0.0415, 0.1001, -0.0366]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b3b7edfd9aac0400f08235aa1bf193b43c9654ad26d1cf9fe23573a7e3a93bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ec7376f219e018809cd93b1abcb069223c92a651f84a27993b520b7c1c724a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d26e260db8a83d0f6b4aceb1774bc1551d2d1aef15c3a02d5571aa05f1deab3a",
        "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 · 21.67 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0227, -0.0292, 0.9983, 0.6205, 1.7473, 0.5949, 0.5541, 0.3004, 0.1852, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1825 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3686 right_y=0.2035 right_z=0.038 right_yaw=0.2629 right_pitch=0.0008 right_roll=-0.0007 right_gripper=0.9956\nstate[joint_eff]: [-0.3077, -1.6889, 6.6393, 1.8877, -0.0464, -0.0611, -0.0122, -0.6222, -6.9675, 4.3966, 1.9072, -0.0024, 0.0269, -0.0611]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.379, -0.0227, -0.0292, 0.9983, 0.622, 1.7378, 0.5968, 0.6197, 0.2897, 0.178, 0.2056]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3754 right_y=0.2114 right_z=0.0556 right_yaw=0.2762 right_pitch=0.0712 right_roll=0.0249 right_gripper=0.2056\nstate[joint_eff]: [-0.294, -1.5521, 6.4615, 1.8437, -0.0366, -0.0269, -0.0122, -0.335, -6.5846, 5.1761, 1.1209, 0.1685, 0.0611, 0.3053]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.379, -0.0231, -0.0292, 0.9983, 0.5488, 1.945, 0.8013, 0.6151, 0.2272, 0.1192, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.43 right_y=0.2205 right_z=0.0376 right_yaw=0.2871 right_pitch=0.0553 right_roll=0.0012 right_gripper=0.9956\nstate[joint_eff]: [-0.0889, -1.7162, 6.5299, 1.7851, -0.022, -0.0562, -0.0073, -1.0735, -5.8462, 5.3812, 1.3309, 0.0415, 0.1001, -0.0366]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b3b7edfd9aac0400f08235aa1bf193b43c9654ad26d1cf9fe23573a7e3a93bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ec7376f219e018809cd93b1abcb069223c92a651f84a27993b520b7c1c724a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d26e260db8a83d0f6b4aceb1774bc1551d2d1aef15c3a02d5571aa05f1deab3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QepUJQ2C7C1uYpm96m6e3A",
      "input": {
        "note": "The red bottle's neck region lies just right of the jaw column in the wrist view; shifting 3.5 cm right and closing to try to capture the narrow neck.",
        "targets": {
          "right_gripper": 0.25,
          "right_y": 0.185
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01QepUJQ2C7C1uYpm96m6e3A",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.466, 1.8751, 0.7856, 0.5865, 0.1349, 0.0731, 0.2556]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.4385 right_y=0.1979 right_z=0.0565 right_yaw=0.3064 right_pitch=0.0709 right_roll=0.0107 right_gripper=0.2556\nstate[joint_eff]: [-0.1573, -1.5932, 6.653, 1.8339, -0.0366, -0.0366, -0.0122, -0.6632, -8.4855, 3.9179, 1.3114, 0.1294, 0.0317, 0.3199]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a9ebab8e744dec40403bfc91fd711b7b323766de56fde506d4802d484c21d98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e6f9eacb0509e123f2458e9514b77fb49426e66f91cda03b5c409b33b80ce03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9783cf5fee842d08df72d6d5705a99c93e4effe1688c15e3a7ab666b4014433",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 29.81 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.379, -0.0227, -0.0292, 0.9983, 0.622, 1.7378, 0.5968, 0.6197, 0.2897, 0.178, 0.2056]\nstate[eef_state]: left_x=0.2967 left_y=0.0014 left_z=0.1826 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3754 right_y=0.2114 right_z=0.0556 right_yaw=0.2762 right_pitch=0.0712 right_roll=0.0249 right_gripper=0.2056\nstate[joint_eff]: [-0.294, -1.5521, 6.4615, 1.8437, -0.0366, -0.0269, -0.0122, -0.335, -6.5846, 5.1761, 1.1209, 0.1685, 0.0611, 0.3053]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.379, -0.0231, -0.0292, 0.9983, 0.5488, 1.945, 0.8013, 0.6151, 0.2272, 0.1192, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.43 right_y=0.2205 right_z=0.0376 right_yaw=0.2871 right_pitch=0.0553 right_roll=0.0012 right_gripper=0.9956\nstate[joint_eff]: [-0.0889, -1.7162, 6.5299, 1.7851, -0.022, -0.0562, -0.0073, -1.0735, -5.8462, 5.3812, 1.3309, 0.0415, 0.1001, -0.0366]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.466, 1.8751, 0.7856, 0.5865, 0.1349, 0.0731, 0.2556]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.4385 right_y=0.1979 right_z=0.0565 right_yaw=0.3064 right_pitch=0.0709 right_roll=0.0107 right_gripper=0.2556\nstate[joint_eff]: [-0.1573, -1.5932, 6.653, 1.8339, -0.0366, -0.0366, -0.0122, -0.6632, -8.4855, 3.9179, 1.3114, 0.1294, 0.0317, 0.3199]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a9ebab8e744dec40403bfc91fd711b7b323766de56fde506d4802d484c21d98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e6f9eacb0509e123f2458e9514b77fb49426e66f91cda03b5c409b33b80ce03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9783cf5fee842d08df72d6d5705a99c93e4effe1688c15e3a7ab666b4014433",
        "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_01DDFabmVRJvKX2u5FBwmypu",
      "input": {
        "note": "Repeated empty closes suggest the target bottle is hidden under the gripper and out of the wrist camera's near field; retracting the arm high and back to get a clean overhead view of all three bottles.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.25,
          "right_y": 0.1,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01DDFabmVRJvKX2u5FBwmypu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3756, -0.0231, -0.0292, 0.9983, 0.4473, 0.8558, 1.0607, -0.7742, 0.1261, 0.0498, 0.9972]\nstate[eef_state]: left_x=0.2971 left_y=0.0015 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.2617 right_y=0.1049 right_z=0.2879 right_yaw=0.308 right_pitch=0.0046 right_roll=-0.0148 right_gripper=0.9972\nstate[joint_eff]: [-0.0889, -1.5521, 6.4615, 1.8486, -0.0317, 0.0122, -0.0122, -0.4034, -1.6205, 8.8547, 1.8193, -0.0611, 0.0513, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:092ec51af9443f2aac74569b484c34850f31ebfa015c835f4535f824041c83a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87afc8b2992402607add0cb83ebf7372eb275234ca65440dd9f543967e419a25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9ffe46000c49eed9140d07ba7820e3bd2e9f69e8a3dc4c66c957102956f693e1",
        "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 · 6.064 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8021, 0.614, -0.379, -0.0231, -0.0292, 0.9983, 0.5488, 1.945, 0.8013, 0.6151, 0.2272, 0.1192, 0.9956]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1826 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.43 right_y=0.2205 right_z=0.0376 right_yaw=0.2871 right_pitch=0.0553 right_roll=0.0012 right_gripper=0.9956\nstate[joint_eff]: [-0.0889, -1.7162, 6.5299, 1.7851, -0.022, -0.0562, -0.0073, -1.0735, -5.8462, 5.3812, 1.3309, 0.0415, 0.1001, -0.0366]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.466, 1.8751, 0.7856, 0.5865, 0.1349, 0.0731, 0.2556]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.4385 right_y=0.1979 right_z=0.0565 right_yaw=0.3064 right_pitch=0.0709 right_roll=0.0107 right_gripper=0.2556\nstate[joint_eff]: [-0.1573, -1.5932, 6.653, 1.8339, -0.0366, -0.0366, -0.0122, -0.6632, -8.4855, 3.9179, 1.3114, 0.1294, 0.0317, 0.3199]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3756, -0.0231, -0.0292, 0.9983, 0.4473, 0.8558, 1.0607, -0.7742, 0.1261, 0.0498, 0.9972]\nstate[eef_state]: left_x=0.2971 left_y=0.0015 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.2617 right_y=0.1049 right_z=0.2879 right_yaw=0.308 right_pitch=0.0046 right_roll=-0.0148 right_gripper=0.9972\nstate[joint_eff]: [-0.0889, -1.5521, 6.4615, 1.8486, -0.0317, 0.0122, -0.0122, -0.4034, -1.6205, 8.8547, 1.8193, -0.0611, 0.0513, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:092ec51af9443f2aac74569b484c34850f31ebfa015c835f4535f824041c83a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87afc8b2992402607add0cb83ebf7372eb275234ca65440dd9f543967e419a25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ffe46000c49eed9140d07ba7820e3bd2e9f69e8a3dc4c66c957102956f693e1",
        "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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mjfHeDasw2lEYOXwQvShtgi41+c8rr0p5r6LjbGQpJ0KkTwqrvAkbD+ePQzkV4cKu59qxnLUu5gOUJr4YpAvWhQsXyf6HIvvCMjrsg//Wk3YFZm8IMmEDHFalIG9Lugg2xQYjcn12EP7bfy7smq2dKlHTHhNyrA8VY7PRj96Bx/+Qd4O6BXw7qJpXOsjSAOXz05ERauNDZ3M/2tXxyy0ueuV1UrVhZ0jHnDkvvVghLQDRbj4Bx0JBtpERaSVmRoLg8qzbjC/k5hXem4tjkwZrhRld/kvyiBXaPXe6dDKGYMQDv1HnbK5981lckjQldMGQcfeoi7j1QdR0FTMkW0ey5ojw2Az137DlO5DfibYRxFNK4a5CMGCN7rQZ4iVd1wlRvNwvVyf6CO4cmIWeu/zkjaZBASdUnGwT5cXZEG04iS8vJeqtfWTIJVcTSC2HZPpPMn9L2eIOfkkUithNTHoU1R7E55N0HvckGQMJBw7hQUEjBJP7q28OODyJUlEsSVe+j/1uamnkrpCqlHXsBDrS8XKfx+oRCUnzTuaB5BRJrkCDuboc2K0rtKHt8CLmuH+psMhANQB8K5x6sywryMivBMRiFVOywsvZLpSj6gsWtDrG1VVJgSF/tOK388bZoqLPGK3vIDsFRhgmzwTHRELRzrwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D7TguwZdGhdcjyFgKWX64H",
      "input": {
        "note": "Clean overhead view: three bottles lying parallel with caps pointing away. Returning to the exact pose where I successfully gripped the rightmost bottle's body earlier, so I can lift it and yaw it 90° to bring its neck within reach.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.384,
          "right_y": 0.157,
          "right_yaw": 0.0,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01D7TguwZdGhdcjyFgKWX64H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3756, -0.0227, -0.0292, 0.9983, 0.577, 1.734, 0.5926, 0.3908, 0.4301, 0.2924, 0.9996]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.183 left_yaw=0.0002 left_pitch=-0.0046 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3636 right_y=0.153 right_z=0.0176 right_yaw=0.0528 right_pitch=-0.1007 right_roll=-0.0516 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -1.4974, 6.653, 1.7167, -0.0317, -0.0024, -0.0122, -0.1983, -7.5692, 7.241, 1.9805, 0.4322, 0.2955, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e23afeab00ff86a909fc7b1100f19a547040bbaa6e8bdff560cc63d3044f53d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:117cda7c20a0a62a7b4389612344112ff602d51ab77c270544a32643416a213c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f591c892a61e89423b4c227553503eed4ce452806eb41d5efd1f50c410b336c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 10.03 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.614, -0.3786, -0.0231, -0.0292, 0.9983, 0.466, 1.8751, 0.7856, 0.5865, 0.1349, 0.0731, 0.2556]\nstate[eef_state]: left_x=0.2967 left_y=0.0015 left_z=0.1825 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.4385 right_y=0.1979 right_z=0.0565 right_yaw=0.3064 right_pitch=0.0709 right_roll=0.0107 right_gripper=0.2556\nstate[joint_eff]: [-0.1573, -1.5932, 6.653, 1.8339, -0.0366, -0.0366, -0.0122, -0.6632, -8.4855, 3.9179, 1.3114, 0.1294, 0.0317, 0.3199]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3756, -0.0231, -0.0292, 0.9983, 0.4473, 0.8558, 1.0607, -0.7742, 0.1261, 0.0498, 0.9972]\nstate[eef_state]: left_x=0.2971 left_y=0.0015 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.2617 right_y=0.1049 right_z=0.2879 right_yaw=0.308 right_pitch=0.0046 right_roll=-0.0148 right_gripper=0.9972\nstate[joint_eff]: [-0.0889, -1.5521, 6.4615, 1.8486, -0.0317, 0.0122, -0.0122, -0.4034, -1.6205, 8.8547, 1.8193, -0.0611, 0.0513, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3756, -0.0227, -0.0292, 0.9983, 0.577, 1.734, 0.5926, 0.3908, 0.4301, 0.2924, 0.9996]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.183 left_yaw=0.0002 left_pitch=-0.0046 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3636 right_y=0.153 right_z=0.0176 right_yaw=0.0528 right_pitch=-0.1007 right_roll=-0.0516 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -1.4974, 6.653, 1.7167, -0.0317, -0.0024, -0.0122, -0.1983, -7.5692, 7.241, 1.9805, 0.4322, 0.2955, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e23afeab00ff86a909fc7b1100f19a547040bbaa6e8bdff560cc63d3044f53d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:117cda7c20a0a62a7b4389612344112ff602d51ab77c270544a32643416a213c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f591c892a61e89423b4c227553503eed4ce452806eb41d5efd1f50c410b336c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuAQKjgEIEhgCKkC3wn9e0zQPWguSrljL5mzb4nbMTZaAWzq2b6SR4km9ZpAsySZHcc9PuWV3c+nR7O2JSwJ6MJIl2uJuZcxkO4GGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY72y9UGEgymBl8N5wkE/bSq45waDCRF5uw0IuGp23XBFiIw6Rw3tyJTd86sn+hMZrnWgp204urO9kDgx2EkRgUxvJabJQBce0i0xd8L9v3dMxv2KtYCpD0z6YEX3KYysJH+4OymIxYb8LyxhQmaH9ESw2SLDv987BqNZhH7dmx5nzt+kMt5B2ml2w617CtqEB7WGN/XgDiW+0LMMvxQE49r8Y1+3EUpG32XaRAOKMC4j2BwFDyme0cD/pxduqwTIkIwwYDBJynkTcuxbVPOXX1Ish2OvZbihggghRi8CVB1LrCGXKFyNwGOijf+mAKP2NhLuf+JdINlEYoj3RhJBkY3HLX5C9eat5dt6jqj1xJAc0DBvPbQ22ejULtrRDSRhOEy8dywi7HfRb5cyzi4Ojbj6MrdEoLgjxmnaA4/PP9AcG4+CSmkfKiQbEfUIWj/bP1JPdAEBtN0EmgiUAOVB1fbmJ1vuJDzDNddHxXcvHR99U0+D2QcE9bf/Nfa1KpN4uTWlY4Z4GiQXFeXURes0aGqqOKYZgcLtXfk33m2GV7VR436ZsY2SpwQbASNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Lw4CoVFfutL4DF91TeRY9J",
      "input": {
        "note": "Wrist view is filled by the rightmost bottle right at the jaws; closing on its body to lift it.",
        "targets": {
          "right_gripper": 0.45,
          "right_y": 0.163
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Lw4CoVFfutL4DF91TeRY9J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3763, -0.0231, -0.0292, 0.9983, 0.6033, 1.7725, 0.5152, 0.5774, 0.45, 0.3027, 0.5558]\nstate[eef_state]: left_x=0.297 left_y=0.0015 left_z=0.1828 left_yaw=0.0005 left_pitch=-0.0053 left_roll=-0.0 left_gripper=0.9983 right_x=0.3576 right_y=0.1574 right_z=0.0122 right_yaw=0.0603 right_pitch=-0.0331 right_roll=-0.0185 right_gripper=0.5558\nstate[joint_eff]: [-0.1299, -1.5521, 6.653, 1.7802, -0.0464, -0.0317, -0.0122, 0.841, -5.6274, 5.6137, 1.9121, 0.315, 0.0415, 0.9304]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:157188283ca905127a71151562993c42c89e96a58b142e7e87ff338d15d1e9ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88671324aeefdeb11eac056f4a9a453aed87ec5ab1833b4419f8b27b7b219ebc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6a040f8465028729850c09838eca11d4ae31c2498bd198d457c9944843a0d81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 5.943 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3756, -0.0231, -0.0292, 0.9983, 0.4473, 0.8558, 1.0607, -0.7742, 0.1261, 0.0498, 0.9972]\nstate[eef_state]: left_x=0.2971 left_y=0.0015 left_z=0.183 left_yaw=0.0005 left_pitch=-0.0046 left_roll=-0.0 left_gripper=0.9983 right_x=0.2617 right_y=0.1049 right_z=0.2879 right_yaw=0.308 right_pitch=0.0046 right_roll=-0.0148 right_gripper=0.9972\nstate[joint_eff]: [-0.0889, -1.5521, 6.4615, 1.8486, -0.0317, 0.0122, -0.0122, -0.4034, -1.6205, 8.8547, 1.8193, -0.0611, 0.0513, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3756, -0.0227, -0.0292, 0.9983, 0.577, 1.734, 0.5926, 0.3908, 0.4301, 0.2924, 0.9996]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.183 left_yaw=0.0002 left_pitch=-0.0046 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3636 right_y=0.153 right_z=0.0176 right_yaw=0.0528 right_pitch=-0.1007 right_roll=-0.0516 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -1.4974, 6.653, 1.7167, -0.0317, -0.0024, -0.0122, -0.1983, -7.5692, 7.241, 1.9805, 0.4322, 0.2955, -0.0611]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3763, -0.0231, -0.0292, 0.9983, 0.6033, 1.7725, 0.5152, 0.5774, 0.45, 0.3027, 0.5558]\nstate[eef_state]: left_x=0.297 left_y=0.0015 left_z=0.1828 left_yaw=0.0005 left_pitch=-0.0053 left_roll=-0.0 left_gripper=0.9983 right_x=0.3576 right_y=0.1574 right_z=0.0122 right_yaw=0.0603 right_pitch=-0.0331 right_roll=-0.0185 right_gripper=0.5558\nstate[joint_eff]: [-0.1299, -1.5521, 6.653, 1.7802, -0.0464, -0.0317, -0.0122, 0.841, -5.6274, 5.6137, 1.9121, 0.315, 0.0415, 0.9304]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:157188283ca905127a71151562993c42c89e96a58b142e7e87ff338d15d1e9ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88671324aeefdeb11eac056f4a9a453aed87ec5ab1833b4419f8b27b7b219ebc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6a040f8465028729850c09838eca11d4ae31c2498bd198d457c9944843a0d81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxwkKjgEIEhgCKkBjNte3R+JNfn15av8qjhtfn4njkSrff3VVFgRnM190Hgco8Dla+nhA6l+tSPcubYa4Kfw1wLB/UAoN/563zyJ2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZn2y9UGEgw1e8nIm9ICAFkYFlYaDMmn+fLsqpmdErQWZiIwiFs97YDtoeL57luEDncOG9gK7xzBIvKMbU1TG2l5/o8b1E1TeDd9uNNTyz+LiYlSKuUH0dt9u2A8D8/Zt4wpUs79+NLdYuq4BLfj5HDSBqkKnsGl7v7ly5u04kxtEy2+ouw52Gy4qEkQ9/R7iYaP4YZ0YcO3GiKGPsLHN7y8IHhbA9FYxGqbaYZy+q89zyaok/vD3vsOz1e2xRrVcZsztiaQv8QNSyKG9/UcsfStT5lCFCS+WrClFMO/pUjx1LLV6fBdsD6HqeN5TkZ86pyLZAMow1wDW9a/+LUw6rdMn09r+gO0cT0/T1nEpOu8Bnn9teHWRn5tMUDWnOtecHlDSEefRcO8fDyywTn3s6idM5xkBtWdueaO2mCebsyR8vqZDIqv3spVlkqC18HZuqIOSC265cjQiMKVdtGOCRU+sIuHsXfDf0JWPp1laSUK7GnBy4oHRR7wa6lLuobqwGQN/fUGXGnL4i10O7PuSXrP9IFqUhdpzjJnF6Ygm2pf52Ck7o+SzYYq2k4OU+8NfH1BjwPzlovNKfx/7mePxFbrtFNLfiu61OuYofj+IFcnVZbgYhrXo84zpoZpLvrnhK8ERQMhPl83S/m0ClS8uTydsfVOr54OryZNk0Gcz3A0Ctn4irya0yrEXdWjqMlvdgk4230kMf4t53thQUF9yXXARjTZH6BQpElTUajiLT59xS2wyPGA4yZB6Otx5vYDPF0RYSgq6OERQJOCvN5/k4oL+ddwMGApS2W4eI8FRatYlRSEBjALVmN0TGkyFHtVPsVVZ8cxtyL3tvehdeACwyM21yjkZh0OjNh28o08PY6Y/by44e33ndEhbSaQrtrss2j1KaC5wSC8W3j0MRX0q7jnuzzxjOS+lFFVoPXhK6mZU1VeOordGiTvDEp+Azci5FC9cCiiWNOLu5Rxch4ArvfOZONV4d+n8RrrfFk4RFsbVTexoUI/sRAhkP6t3+b4ynGgT1Itcni+yXTosWaLttVPdJTQ74Z5bo7/M1H0cXrli2lsaJP3SClhCyd7hizNApWBFUMPK9+CW1hjcJCFTuX8JkcOzaUcpgpF5r3fkrFT78y4JhvS99FnXQRA+hw0KDm6u5bEHdKtYwzdAUXa5JVH7OWnXhfBZp01Pp1/nlYpByqcCXoC0ju11D0iz10rh5KAHUnTXnYE01Cl+5purlWb/tdnQkMDGkbhL0MJBVs6MyQtgbHifg+9cx2MZBFa1WBUrySHT7uxOZhwV4Bd1hoPQtH/GOX+Wh1jPmIR3BPnlL+dqsxbwshKTxFoKgbAQOCNz7UPzJoxk9z9F0bM5YQZjGJ6I690ZFcn6oDRZSFoRwJOD59mXgVtbL+E74rQtFXQMvrvK2QIYdinzsjev0RkbxbcmP09cU+7DRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TT7zBEpucNvugzffTokAX6",
      "input": {
        "note": "Gripper settled at 0.56 — the bottle body is held. Lifting it and rotating 90° clockwise so its cap swings toward the arm's right, away from the other bottles and into easy reach for a neck grasp.",
        "targets": {
          "right_yaw": -1.5,
          "right_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_01TT7zBEpucNvugzffTokAX6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3763, -0.0227, -0.0292, 0.9983, 0.5587, 2.2795, 1.8011, -1.0653, 0.8223, 1.9175, 0.5579]\nstate[eef_state]: left_x=0.297 left_y=0.0014 left_z=0.1828 left_yaw=0.0002 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4414 right_y=0.1275 right_z=0.0629 right_yaw=-1.2008 right_pitch=-0.2103 right_roll=0.294 right_gripper=0.5579\nstate[joint_eff]: [-0.2393, -1.0462, 6.7624, 1.8584, -0.0269, -0.0464, -0.0122, -2.865, -15.0222, 6.735, -0.1978, 0.9744, 0.2515, 0.4518]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30c934f05a9a4e69111b312c97e82afa9d10c89543d884720113242f69d1a6f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32fbe56b1abf5e81af848c41a6c2d9a5f3c35fc5fa10f27ff20c48d913e6637d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9c5a996380c32e8f4cb7b818b27fab97c9c4d712ecc7e05f93191c524f10586",
        "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 · 9.74 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3756, -0.0227, -0.0292, 0.9983, 0.577, 1.734, 0.5926, 0.3908, 0.4301, 0.2924, 0.9996]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.183 left_yaw=0.0002 left_pitch=-0.0046 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3636 right_y=0.153 right_z=0.0176 right_yaw=0.0528 right_pitch=-0.1007 right_roll=-0.0516 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -1.4974, 6.653, 1.7167, -0.0317, -0.0024, -0.0122, -0.1983, -7.5692, 7.241, 1.9805, 0.4322, 0.2955, -0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3763, -0.0231, -0.0292, 0.9983, 0.6033, 1.7725, 0.5152, 0.5774, 0.45, 0.3027, 0.5558]\nstate[eef_state]: left_x=0.297 left_y=0.0015 left_z=0.1828 left_yaw=0.0005 left_pitch=-0.0053 left_roll=-0.0 left_gripper=0.9983 right_x=0.3576 right_y=0.1574 right_z=0.0122 right_yaw=0.0603 right_pitch=-0.0331 right_roll=-0.0185 right_gripper=0.5558\nstate[joint_eff]: [-0.1299, -1.5521, 6.653, 1.7802, -0.0464, -0.0317, -0.0122, 0.841, -5.6274, 5.6137, 1.9121, 0.315, 0.0415, 0.9304]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3763, -0.0227, -0.0292, 0.9983, 0.5587, 2.2795, 1.8011, -1.0653, 0.8223, 1.9175, 0.5579]\nstate[eef_state]: left_x=0.297 left_y=0.0014 left_z=0.1828 left_yaw=0.0002 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4414 right_y=0.1275 right_z=0.0629 right_yaw=-1.2008 right_pitch=-0.2103 right_roll=0.294 right_gripper=0.5579\nstate[joint_eff]: [-0.2393, -1.0462, 6.7624, 1.8584, -0.0269, -0.0464, -0.0122, -2.865, -15.0222, 6.735, -0.1978, 0.9744, 0.2515, 0.4518]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30c934f05a9a4e69111b312c97e82afa9d10c89543d884720113242f69d1a6f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32fbe56b1abf5e81af848c41a6c2d9a5f3c35fc5fa10f27ff20c48d913e6637d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9c5a996380c32e8f4cb7b818b27fab97c9c4d712ecc7e05f93191c524f10586",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISggQKjgEIEhgCKkDuhEIuKtHABSy9b34SSCRxlvRVsA7FP2jpe8EV9u9zo9c/0SAaKtR1caPBxEkzt1DlIV9VsVvsaRI02qrNXpyXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ/2y9UGEgy3OgxgIbq599I6zQIaDK9cVUZuMCAEytbRoiIwpcJfkREfoPWJSdpR8cPbkGzvP3pF/A6ANvJsskZ3+1aHKhauEwMgC79p0Db90i71KqACy51lK63mb68D2aynxCylwDSQiDvwbN2pQqnmWuvzRkt/PCWU14Wupgr82bVy4aEsgyiLNVocsyr7hRZWNlIZZZFS1pPmcSz5tzVDegZEHq1CijAA1UEnvu3d7A1knSg0IKQ4n5XVTiJJwala70Fqi0ZKR/62UjJVnTBvRDuhCidoL+LGNGt6B4XymYNvmWkKj5pTRGY38N7Ngd7vl1EztBTm3AUKzf0IVOlURI18ptvqWsA94ytNJ14QOZJa1bjwRP701IXO2LqeJOvpeSfNZoUJaxnpBbCnO8YjppNByIv1PwsfTn5J5KQ8uWxozbSBQNdt3RnSpWnhWQOFuTAp4fhrteQ48Y4JzUKHOMnelE9VFKay6iHY9YS3Ghskq/C5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TcjGkkoiyrRiUxn5jiwm3j",
      "input": {
        "note": "Bottle is held and partly rotated; commanding a tidy pose with the tool yawed 90° clockwise and lifted, so the bottle lies across the arm's axis with its cap toward the arm's right.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.1,
          "right_yaw": -1.57,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01TcjGkkoiyrRiUxn5jiwm3j",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3756, -0.0227, -0.0292, 0.9983, 0.3695, 2.2326, 1.7218, -1.5051, 0.8249, 2.0758, 0.5614]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.183 left_yaw=0.0002 left_pitch=-0.0046 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3656 right_y=0.0063 right_z=0.0817 right_yaw=-1.5479 right_pitch=-0.091 right_roll=-0.046 right_gripper=0.5614\nstate[joint_eff]: [-0.2393, -1.0735, 6.6393, 1.8974, -0.0366, -0.0562, -0.0122, -0.2393, -16.2393, 5.9282, -1.1404, 1.2234, 0.149, 0.359]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ad8915c7a77fa78de1b4d2bd5e5b640ae460f8eafc837d174531503d763d30e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e767f43df4fb0277af77163c80a9949cdc98a455bde02913ec867d04fbf2051",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0570bc3683fdd56ed6caf3fc2a907c4226e30c499ec5d3f629ae660c722bcfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 13.85 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3763, -0.0231, -0.0292, 0.9983, 0.6033, 1.7725, 0.5152, 0.5774, 0.45, 0.3027, 0.5558]\nstate[eef_state]: left_x=0.297 left_y=0.0015 left_z=0.1828 left_yaw=0.0005 left_pitch=-0.0053 left_roll=-0.0 left_gripper=0.9983 right_x=0.3576 right_y=0.1574 right_z=0.0122 right_yaw=0.0603 right_pitch=-0.0331 right_roll=-0.0185 right_gripper=0.5558\nstate[joint_eff]: [-0.1299, -1.5521, 6.653, 1.7802, -0.0464, -0.0317, -0.0122, 0.841, -5.6274, 5.6137, 1.9121, 0.315, 0.0415, 0.9304]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3763, -0.0227, -0.0292, 0.9983, 0.5587, 2.2795, 1.8011, -1.0653, 0.8223, 1.9175, 0.5579]\nstate[eef_state]: left_x=0.297 left_y=0.0014 left_z=0.1828 left_yaw=0.0002 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4414 right_y=0.1275 right_z=0.0629 right_yaw=-1.2008 right_pitch=-0.2103 right_roll=0.294 right_gripper=0.5579\nstate[joint_eff]: [-0.2393, -1.0462, 6.7624, 1.8584, -0.0269, -0.0464, -0.0122, -2.865, -15.0222, 6.735, -0.1978, 0.9744, 0.2515, 0.4518]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3756, -0.0227, -0.0292, 0.9983, 0.3695, 2.2326, 1.7218, -1.5051, 0.8249, 2.0758, 0.5614]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.183 left_yaw=0.0002 left_pitch=-0.0046 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3656 right_y=0.0063 right_z=0.0817 right_yaw=-1.5479 right_pitch=-0.091 right_roll=-0.046 right_gripper=0.5614\nstate[joint_eff]: [-0.2393, -1.0735, 6.6393, 1.8974, -0.0366, -0.0562, -0.0122, -0.2393, -16.2393, 5.9282, -1.1404, 1.2234, 0.149, 0.359]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ad8915c7a77fa78de1b4d2bd5e5b640ae460f8eafc837d174531503d763d30e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e767f43df4fb0277af77163c80a9949cdc98a455bde02913ec867d04fbf2051",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0570bc3683fdd56ed6caf3fc2a907c4226e30c499ec5d3f629ae660c722bcfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoggKjgEIEhgCKkC+/mDUivEUja3ePTKtoepgy+R1ApvxijNVkO3GOZjKvn8GdnhlyNHwPs7M22KmL+34T1SWV0su5qa/NSVNDCyDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAar2y9UGEgx6sXI7PiEANzwwrgAaDCP2M4nZ8qItgx4x3CIwbQKUiYqQUv0ftFulQ3YvPgQlOSQj+fCvhmDFxxf0XVYUltDxblJlgmCM0oJQRU8kKsAGc+Cy+ub1Mdipypp6CNneq0h4oamduu5x3/GYph7wA3EcVcsNYdvb7rK+DmiByrs3MjcC+f4oXLE/blwiL7cyi80ydZjQKLXCZxWD/EiO3WxdKc5g1Dj0s+KZP4BXSUCUWHzDWLekmZm/FCGhRJibQ1vQ7aZhHePYZoq1rP3jydqPIBWLfI1tvTjQtNKSeFnr0VeUgjbLqSClOfMbRojIdi99wQupV05O1QR+HC+6GAIUmWXoMBw+e7a9sy9iD5RDVtV7rHU5Ea8F1lH5wp/0iH9HTPHpEdDIeGnvSKUgK/UzXF0pH1QBYhF33nTAPS4ztL2bTdHCcqaDzxvqjV9GuPm1WEjREoNa1A4RfV86IR6xZqRPHM+NIZi8+iIPPba8d28ID/9Q5tlKpHqycomB6VksxHq3Xiixkd1YkZtTSh8ygLPh8fP/Tx0G9TmYaYTlrtqWfAmlYVpTLffREkEYrj0MoL5OU8dJV87kLdCRe6inlN+zR9KRIxtzywY7/1+nJpepWhyN4xUvp+jgoAdT0AfT9SyTS7jeMjUHYEITk3fJkItcr3doVYlhfXYj4aWaxRp5auA0hEYgjEn6RtNs3TyKs/sklaHypb2V7KhOSsNvBW7rfjt0TA7vaEbXSzNV4C84KXmn+FkgewTWZ3QHZb+/9e4IcOgYVhdo66ExXzXS19CQlwvLpXvlGEA1u/Y/jRiVtHPOWfhcK8byuD7JnV+L6ljubm2j9X+5vhL1kgren+/rwzyDkRosoLFNumo8NEkDmI/PWWqlND+uv+KaiUJMxoIijHNxaEE4f+AHgpwW0ZHJrXptfNA49ShTauCh1tjkfn8MuF+yoL0bq0+P4en0HDQLrpwBGDNLAW5TWiWr+oLLM9B0R4BaIYB361CRclwYiyAqamQdai3mnhp/BZDy1dZSO5SLdWHr1PLGpnfouYbqKEn1DdFzVfmdtkWLNZFALpi0QTDCcaFMbLcfZR+mU0+HDtMO37qknwGzzzcn5+HIOU5fUM9sthdvI1HXQWZoAuZj6EqCBgeGi8vFgiCeTZVWiguHzQ3DmqFRNJUWZTPrThTqM2sT4PgXvX0CaGGjd8TbWwldPL/HQUc68RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JjFvpb7uWugmmufEZKrzAk",
      "input": {
        "note": "The bottle is now held crosswise with its cap pointing to the arm's right; sliding back toward +y so the cap end will land inside the workspace, then setting it down on the table.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.17,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01JjFvpb7uWugmmufEZKrzAk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3759, -0.0231, -0.0292, 0.9983, 0.3866, 2.2978, 1.742, -1.4425, 0.844, 2.0796, 0.5655]\nstate[eef_state]: left_x=0.2971 left_y=0.0015 left_z=0.1829 left_yaw=0.0005 left_pitch=-0.005 left_roll=-0.0 left_gripper=0.9983 right_x=0.3793 right_y=0.0157 right_z=0.0607 right_yaw=-1.5228 right_pitch=-0.0806 right_roll=-0.0205 right_gripper=0.5655\nstate[joint_eff]: [-0.1026, -1.5521, 6.8581, 1.8046, -0.0415, -0.0562, -0.0073, -2.2906, -10.988, 4.9846, -0.5641, 1.0232, 0.105, 0.4274]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ab3fe376666dbab491c76a28ce7d45666d0782042986dc37a3fbcb8236689ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6d816ef65eafefeaf89e607eccd88b8622e689acc8616262f5169029abf7066",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e7fa76f6f38477dbe1c906d93adda3b02964e86a77d51a769bc3f977b8a378f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 8.586 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3763, -0.0227, -0.0292, 0.9983, 0.5587, 2.2795, 1.8011, -1.0653, 0.8223, 1.9175, 0.5579]\nstate[eef_state]: left_x=0.297 left_y=0.0014 left_z=0.1828 left_yaw=0.0002 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4414 right_y=0.1275 right_z=0.0629 right_yaw=-1.2008 right_pitch=-0.2103 right_roll=0.294 right_gripper=0.5579\nstate[joint_eff]: [-0.2393, -1.0462, 6.7624, 1.8584, -0.0269, -0.0464, -0.0122, -2.865, -15.0222, 6.735, -0.1978, 0.9744, 0.2515, 0.4518]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3756, -0.0227, -0.0292, 0.9983, 0.3695, 2.2326, 1.7218, -1.5051, 0.8249, 2.0758, 0.5614]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.183 left_yaw=0.0002 left_pitch=-0.0046 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3656 right_y=0.0063 right_z=0.0817 right_yaw=-1.5479 right_pitch=-0.091 right_roll=-0.046 right_gripper=0.5614\nstate[joint_eff]: [-0.2393, -1.0735, 6.6393, 1.8974, -0.0366, -0.0562, -0.0122, -0.2393, -16.2393, 5.9282, -1.1404, 1.2234, 0.149, 0.359]\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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3759, -0.0231, -0.0292, 0.9983, 0.3866, 2.2978, 1.742, -1.4425, 0.844, 2.0796, 0.5655]\nstate[eef_state]: left_x=0.2971 left_y=0.0015 left_z=0.1829 left_yaw=0.0005 left_pitch=-0.005 left_roll=-0.0 left_gripper=0.9983 right_x=0.3793 right_y=0.0157 right_z=0.0607 right_yaw=-1.5228 right_pitch=-0.0806 right_roll=-0.0205 right_gripper=0.5655\nstate[joint_eff]: [-0.1026, -1.5521, 6.8581, 1.8046, -0.0415, -0.0562, -0.0073, -2.2906, -10.988, 4.9846, -0.5641, 1.0232, 0.105, 0.4274]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ab3fe376666dbab491c76a28ce7d45666d0782042986dc37a3fbcb8236689ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6d816ef65eafefeaf89e607eccd88b8622e689acc8616262f5169029abf7066",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e7fa76f6f38477dbe1c906d93adda3b02964e86a77d51a769bc3f977b8a378f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ldf7VNUVzHidhPcc27jkYK",
      "input": {
        "note": "The bottle's cap currently points at the out-of-bounds fence side, so I'm rotating the held bottle 180° (through yaw 0) so the cap points toward the table centre where I can reach it.",
        "targets": {
          "right_x": 0.36,
          "right_yaw": 1.5,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01Ldf7VNUVzHidhPcc27jkYK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8028, 0.6136, -0.3786, -0.0231, -0.0292, 0.9983, -0.3794, 2.083, 1.5532, -0.9745, -0.8726, -1.2667, 0.5698]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1822 left_yaw=0.0013 left_pitch=-0.008 left_roll=0.0001 left_gripper=0.9983 right_x=0.4259 right_y=-0.0203 right_z=0.087 right_yaw=1.0118 right_pitch=-0.1383 right_roll=0.178 right_gripper=0.5698\nstate[joint_eff]: [-0.212, -1.2923, 6.6393, 1.8242, -0.0464, -0.0611, -0.0122, 0.9368, -11.959, 6.5299, 0.1978, -0.8913, -0.0073, 0.442]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dd4ef6ab90822ec9b81ad872f46e7071309ccf3d3122b3893e40e9864f48324",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c079480bba49f96017042a499bc164480265e8d34d60c18898bfa98cc6d0a00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:67a50ea71768ba3d32520d9784ff43b751cf2e48ac4b2d4d60f3a8153012aecf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 11.89 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3756, -0.0227, -0.0292, 0.9983, 0.3695, 2.2326, 1.7218, -1.5051, 0.8249, 2.0758, 0.5614]\nstate[eef_state]: left_x=0.2971 left_y=0.0014 left_z=0.183 left_yaw=0.0002 left_pitch=-0.0046 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3656 right_y=0.0063 right_z=0.0817 right_yaw=-1.5479 right_pitch=-0.091 right_roll=-0.046 right_gripper=0.5614\nstate[joint_eff]: [-0.2393, -1.0735, 6.6393, 1.8974, -0.0366, -0.0562, -0.0122, -0.2393, -16.2393, 5.9282, -1.1404, 1.2234, 0.149, 0.359]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3759, -0.0231, -0.0292, 0.9983, 0.3866, 2.2978, 1.742, -1.4425, 0.844, 2.0796, 0.5655]\nstate[eef_state]: left_x=0.2971 left_y=0.0015 left_z=0.1829 left_yaw=0.0005 left_pitch=-0.005 left_roll=-0.0 left_gripper=0.9983 right_x=0.3793 right_y=0.0157 right_z=0.0607 right_yaw=-1.5228 right_pitch=-0.0806 right_roll=-0.0205 right_gripper=0.5655\nstate[joint_eff]: [-0.1026, -1.5521, 6.8581, 1.8046, -0.0415, -0.0562, -0.0073, -2.2906, -10.988, 4.9846, -0.5641, 1.0232, 0.105, 0.4274]\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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8028, 0.6136, -0.3786, -0.0231, -0.0292, 0.9983, -0.3794, 2.083, 1.5532, -0.9745, -0.8726, -1.2667, 0.5698]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1822 left_yaw=0.0013 left_pitch=-0.008 left_roll=0.0001 left_gripper=0.9983 right_x=0.4259 right_y=-0.0203 right_z=0.087 right_yaw=1.0118 right_pitch=-0.1383 right_roll=0.178 right_gripper=0.5698\nstate[joint_eff]: [-0.212, -1.2923, 6.6393, 1.8242, -0.0464, -0.0611, -0.0122, 0.9368, -11.959, 6.5299, 0.1978, -0.8913, -0.0073, 0.442]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dd4ef6ab90822ec9b81ad872f46e7071309ccf3d3122b3893e40e9864f48324",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c079480bba49f96017042a499bc164480265e8d34d60c18898bfa98cc6d0a00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67a50ea71768ba3d32520d9784ff43b751cf2e48ac4b2d4d60f3a8153012aecf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsAcKjgEIEhgCKkAN64QhgUn8JYqVSNTnviXNySj2JUAGj+6+FNYBn8xt0oye+noVVGoP9ITMZbj8+Hu+xqyR2QbhkyDs8POfdMI3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcT2y9UGEgxTtzJL2bU0VQlqiW4aDE4Sfo8A/JaCHZX03yIwKBMOFC8xWUja4Hif0SuJ0iLVfcXYU+n8H9JP5JyErNFyVrgpzjZuT229FKww0PQdKs4Fyh2I/K05OfXUkZrrRi3+/9rgGApoeIdSbIQvzxWeW06+MZMidA4shB868xyx6/4XUqOD+c1ARLlF9k8jwPtUX8jMgeohUASTFRQLZxdR6gssrRnRMzIlg0IXyrim8r/5ZztvHE+J6f/fK4NJvcRtlq92BjrcUME4QJ3jJZCmk3TtuPLzOyAqcwePPo1xFnvPND/9AdcKFtvl5ddeDJ6w9lYO+C9ly/lvHBeWvCpHaT9XhvSrq05GNbhA9aGHOCHWWuyCPrbRkG+/U+3CTCj5kiqkXXKPK2wfLxZ2LmQ3nCPoI3pikCf2qgGHjZS/k1IhBNTSY8oaQMmytFkcdAqkRW4IU7jZViJyX+t/Vo/vv6cx0MKMByoAgCjkaZ03EsBgEKwwCug0ECwrf2vq3fRvoG94HHAcrrSUHcRgoKBr4Cqgje4D8YxlbD5LvcoeVQfTvrZNWyXDSjiYNEidZIPJdUNDLcLzVdHVIIv82bUHJBztMqdiKRUztgNEMoEL1jfccaqlv1h2aHUhEg5we9BvuT/6p8AXDrCEUyCVCLs6RIHL8j1JFfiiISiTliClsz+gqv3ug8h5lMbq2UmeBQ49R44XZ3BWWv1FCcG8nRb6Ae4IW27HTP60fU+tuTNLImjLGIDa+r8A2HJJ3+Nm499HVMPJts14UMk9MBHyrPDFr/8QlGEatHEKRO0E5ZZh5+rge4V7UxXp+9JfaSCaKXeDkImZmhm6eFsb/YvQEPI7R1X6vyw7u4Ls9OY+xWP+qCuZ0sjyoVc2ao3x7A/pvaglVTUqFqbLjF/UHGC7LRzOJcfKznk63fJ6Ct//UQYw2NHGVzZ2NSHt7tHHpO2/7iq5jfPRHDUn7JMgLr6HqsRE+X2T609V2yNwsxpF/UZnux5fQQa1XlCcKccUlzf/euxzeXrVNx5Nk2fejf9rK5gGSfi5XXtxpy4M5V6nctv83RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FVh9nzKhR9J2K31kRKKXu4",
      "input": {
        "note": "Carrying the held bottle back to a clear spot close to the base and laying it down crosswise with its cap pointing toward the table centre, where the neck will be easy to reach.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.05,
          "right_yaw": 1.5,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01FVh9nzKhR9J2K31kRKKXu4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.3756, -0.0231, -0.0292, 0.9983, -0.3248, 2.0796, 1.2522, -0.9981, -0.9676, -1.9087, 0.572]\nstate[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1831 left_yaw=0.0013 left_pitch=-0.0042 left_roll=-0.0 left_gripper=0.9983 right_x=0.3465 right_y=0.0406 right_z=0.0383 right_yaw=1.4286 right_pitch=-0.0123 right_roll=-0.0156 right_gripper=0.572\nstate[joint_eff]: [-0.294, -1.7162, 6.5299, 1.7998, -0.0269, -0.0269, -0.0122, 0.5538, -7.9385, 4.1504, -0.3199, -0.3932, -0.1441, 0.2222]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e881be3d71635987b075aec5cdc4ac06ba9a7feac911301157404f7d065197da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:197a4df634ff1e0ca8f6ddef8428013fb4941d2dfa97960e89fdd42d82679b9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f6e6523f051beec78fa458463cfc794f5284506db35dfd000cb7f2f4c63ad40",
        "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 · 6.515 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0208, 0.8024, 0.6136, -0.3759, -0.0231, -0.0292, 0.9983, 0.3866, 2.2978, 1.742, -1.4425, 0.844, 2.0796, 0.5655]\nstate[eef_state]: left_x=0.2971 left_y=0.0015 left_z=0.1829 left_yaw=0.0005 left_pitch=-0.005 left_roll=-0.0 left_gripper=0.9983 right_x=0.3793 right_y=0.0157 right_z=0.0607 right_yaw=-1.5228 right_pitch=-0.0806 right_roll=-0.0205 right_gripper=0.5655\nstate[joint_eff]: [-0.1026, -1.5521, 6.8581, 1.8046, -0.0415, -0.0562, -0.0073, -2.2906, -10.988, 4.9846, -0.5641, 1.0232, 0.105, 0.4274]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8028, 0.6136, -0.3786, -0.0231, -0.0292, 0.9983, -0.3794, 2.083, 1.5532, -0.9745, -0.8726, -1.2667, 0.5698]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1822 left_yaw=0.0013 left_pitch=-0.008 left_roll=0.0001 left_gripper=0.9983 right_x=0.4259 right_y=-0.0203 right_z=0.087 right_yaw=1.0118 right_pitch=-0.1383 right_roll=0.178 right_gripper=0.5698\nstate[joint_eff]: [-0.212, -1.2923, 6.6393, 1.8242, -0.0464, -0.0611, -0.0122, 0.9368, -11.959, 6.5299, 0.1978, -0.8913, -0.0073, 0.442]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.3756, -0.0231, -0.0292, 0.9983, -0.3248, 2.0796, 1.2522, -0.9981, -0.9676, -1.9087, 0.572]\nstate[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1831 left_yaw=0.0013 left_pitch=-0.0042 left_roll=-0.0 left_gripper=0.9983 right_x=0.3465 right_y=0.0406 right_z=0.0383 right_yaw=1.4286 right_pitch=-0.0123 right_roll=-0.0156 right_gripper=0.572\nstate[joint_eff]: [-0.294, -1.7162, 6.5299, 1.7998, -0.0269, -0.0269, -0.0122, 0.5538, -7.9385, 4.1504, -0.3199, -0.3932, -0.1441, 0.2222]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e881be3d71635987b075aec5cdc4ac06ba9a7feac911301157404f7d065197da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:197a4df634ff1e0ca8f6ddef8428013fb4941d2dfa97960e89fdd42d82679b9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f6e6523f051beec78fa458463cfc794f5284506db35dfd000cb7f2f4c63ad40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012UQENu9K1MqVznTjwZ3BxN",
      "input": {
        "note": "Bottle laid down crosswise; releasing it and sliding the open jaws ~9 cm along its axis to straddle the narrow neck just behind the cap.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.359,
          "right_y": 0.128,
          "right_z": 0.033
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_012UQENu9K1MqVznTjwZ3BxN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3759, -0.0231, -0.0292, 0.9983, -0.0868, 2.0289, 1.1183, -0.6277, -0.9741, -1.5249, 0.9968]\nstate[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1829 left_yaw=0.0013 left_pitch=-0.005 left_roll=-0.0 left_gripper=0.9983 right_x=0.3514 right_y=0.1197 right_z=0.023 right_yaw=1.4521 right_pitch=-0.0275 right_roll=0.0162 right_gripper=0.9968\nstate[joint_eff]: [-0.0889, -1.5385, 7.0632, 1.7998, -0.022, -0.0611, -0.0122, 0.4855, -11.1795, 4.0821, 0.3883, -0.7839, 0.1148, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ed21e3b5b170a87fd19934dad4eac71bf54192a9a61443dd3cba78c8f18d8f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fed75a1bfc1cb8ccfdcab7621c0a72352410e78fde6a53903ef1844c82d6b7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d0ccde64aa78ed29da0a935247e275ff6b9b8473de90307d49cb70d809fd616",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 7.783 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8028, 0.6136, -0.3786, -0.0231, -0.0292, 0.9983, -0.3794, 2.083, 1.5532, -0.9745, -0.8726, -1.2667, 0.5698]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1822 left_yaw=0.0013 left_pitch=-0.008 left_roll=0.0001 left_gripper=0.9983 right_x=0.4259 right_y=-0.0203 right_z=0.087 right_yaw=1.0118 right_pitch=-0.1383 right_roll=0.178 right_gripper=0.5698\nstate[joint_eff]: [-0.212, -1.2923, 6.6393, 1.8242, -0.0464, -0.0611, -0.0122, 0.9368, -11.959, 6.5299, 0.1978, -0.8913, -0.0073, 0.442]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.3756, -0.0231, -0.0292, 0.9983, -0.3248, 2.0796, 1.2522, -0.9981, -0.9676, -1.9087, 0.572]\nstate[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1831 left_yaw=0.0013 left_pitch=-0.0042 left_roll=-0.0 left_gripper=0.9983 right_x=0.3465 right_y=0.0406 right_z=0.0383 right_yaw=1.4286 right_pitch=-0.0123 right_roll=-0.0156 right_gripper=0.572\nstate[joint_eff]: [-0.294, -1.7162, 6.5299, 1.7998, -0.0269, -0.0269, -0.0122, 0.5538, -7.9385, 4.1504, -0.3199, -0.3932, -0.1441, 0.2222]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3759, -0.0231, -0.0292, 0.9983, -0.0868, 2.0289, 1.1183, -0.6277, -0.9741, -1.5249, 0.9968]\nstate[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1829 left_yaw=0.0013 left_pitch=-0.005 left_roll=-0.0 left_gripper=0.9983 right_x=0.3514 right_y=0.1197 right_z=0.023 right_yaw=1.4521 right_pitch=-0.0275 right_roll=0.0162 right_gripper=0.9968\nstate[joint_eff]: [-0.0889, -1.5385, 7.0632, 1.7998, -0.022, -0.0611, -0.0122, 0.4855, -11.1795, 4.0821, 0.3883, -0.7839, 0.1148, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ed21e3b5b170a87fd19934dad4eac71bf54192a9a61443dd3cba78c8f18d8f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fed75a1bfc1cb8ccfdcab7621c0a72352410e78fde6a53903ef1844c82d6b7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d0ccde64aa78ed29da0a935247e275ff6b9b8473de90307d49cb70d809fd616",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzgUKjgEIEhgCKkCjTAJCGFzzJOZMC5fRLM5QZtmMefgGyqwJw9BlNr1KSDwWkuWxFsBjzEZBMTUC9UdCK8EXlaCb/si3T70HKLaJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdj2y9UGEgwtMMYwdoMUGwesoNYaDJskks1foH086HiTDSIwgITFyXQ+dgs6EcK2ngDfzqw+TIY8Gn4k7/FFvV/3XNPxt3JV/0eoa86/y+2toqnMKuwDq9LmWfUka1Fp6jXZs98Ou/QKRsVwGJ3L6EpvYc3dThCh4vVkh038A0WzA+qKWHHN14uITndVD/qBhUlI6cmOQo5/n0IBAjm4lPJ5SO80vT3Ve8aYNU0wor1Ook2PT9yvufeii3LNvdWNujfk6CnNoS4UpHBraGuHd90KHUO9nvDPld0Pb2Od+8/BY7qB4LRJJFHGsX1NBeRMFv6HY0MD+8Bevhd0dlJ3SVDAcTf4yfMuNF1bIN/r5Yz0BrwQX6YpDvvpD/JKDvMOH0T6Fx8HtHDQBcQSMMYGoYXVDd+ioCZ16z5khvpiiu+3tNLtw8cU3zdvBDx7PVHhLivaOGX0FxJwR/RYZitKBC4o1J9XLV2SH/5Ck5GAZRaHfH9YgJEnYAJNhWBgoJDwF/68tzSWRkXVLU/ak06kjSoHvihKQ69eGt3RX8zMdIrTvBEDljI2p0iflta0sWOuKqoCU6JEiPV/Ar42BKKlsNBz7AZnA9eJJAD2D6fncWZoovewzj+N5CjRzY3wDVpNMpeBxDC72njwyffiaFSFAYv6NXV06Fm7gORWh9InKRPJxeBe8XMCOmVrlNbrD5J1ebCqmy86f+9ZpCXRlNogYCthnC5EjstMtpPf/aCKbqyVQMy/77h29w9iTnnS01aY/i3JGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R7WEWmKcRZ1iSX93PqkSWw",
      "input": {
        "note": "Jaws should now straddle the bottle's neck; closing to grip it — a settled reading near 0.25-0.3 means the neck/cap is caught.",
        "targets": {
          "right_gripper": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01R7WEWmKcRZ1iSX93PqkSWw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3756, -0.0235, -0.0292, 0.9983, -0.0929, 2.0262, 1.1061, -0.5968, -0.9859, -1.5349, 0.5364]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.183 left_yaw=0.0016 left_pitch=-0.0046 left_roll=0.0002 left_gripper=0.9983 right_x=0.3536 right_y=0.1186 right_z=0.0233 right_yaw=1.4514 right_pitch=-0.0151 right_roll=-0.013 right_gripper=0.5364\nstate[joint_eff]: [-0.1026, -1.5795, 6.7624, 1.8095, -0.0562, -0.0366, -0.0122, -0.3214, -8.9504, 4.6291, 0.3199, -0.6716, -0.0366, 0.9744]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9df405c75a5a44447c591515602d9881c98a8ff957011f79a5be082c3c337ac9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dea4b8eced2e1d9308ef343dd4aff45a7a7029d5d32d5dd3be6ade33fafe3c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee00b9cb12777d07326129b8b50d42b0af28ed67447120bc525c8dc9a636e821",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /messages · status 200 · 10.35 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6136, -0.3756, -0.0231, -0.0292, 0.9983, -0.3248, 2.0796, 1.2522, -0.9981, -0.9676, -1.9087, 0.572]\nstate[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1831 left_yaw=0.0013 left_pitch=-0.0042 left_roll=-0.0 left_gripper=0.9983 right_x=0.3465 right_y=0.0406 right_z=0.0383 right_yaw=1.4286 right_pitch=-0.0123 right_roll=-0.0156 right_gripper=0.572\nstate[joint_eff]: [-0.294, -1.7162, 6.5299, 1.7998, -0.0269, -0.0269, -0.0122, 0.5538, -7.9385, 4.1504, -0.3199, -0.3932, -0.1441, 0.2222]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3759, -0.0231, -0.0292, 0.9983, -0.0868, 2.0289, 1.1183, -0.6277, -0.9741, -1.5249, 0.9968]\nstate[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1829 left_yaw=0.0013 left_pitch=-0.005 left_roll=-0.0 left_gripper=0.9983 right_x=0.3514 right_y=0.1197 right_z=0.023 right_yaw=1.4521 right_pitch=-0.0275 right_roll=0.0162 right_gripper=0.9968\nstate[joint_eff]: [-0.0889, -1.5385, 7.0632, 1.7998, -0.022, -0.0611, -0.0122, 0.4855, -11.1795, 4.0821, 0.3883, -0.7839, 0.1148, -0.105]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3756, -0.0235, -0.0292, 0.9983, -0.0929, 2.0262, 1.1061, -0.5968, -0.9859, -1.5349, 0.5364]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.183 left_yaw=0.0016 left_pitch=-0.0046 left_roll=0.0002 left_gripper=0.9983 right_x=0.3536 right_y=0.1186 right_z=0.0233 right_yaw=1.4514 right_pitch=-0.0151 right_roll=-0.013 right_gripper=0.5364\nstate[joint_eff]: [-0.1026, -1.5795, 6.7624, 1.8095, -0.0562, -0.0366, -0.0122, -0.3214, -8.9504, 4.6291, 0.3199, -0.6716, -0.0366, 0.9744]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9df405c75a5a44447c591515602d9881c98a8ff957011f79a5be082c3c337ac9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dea4b8eced2e1d9308ef343dd4aff45a7a7029d5d32d5dd3be6ade33fafe3c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee00b9cb12777d07326129b8b50d42b0af28ed67447120bc525c8dc9a636e821",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7wYKjgEIEhgCKkBgLruLo8mfbzGYZX4frnRprJjGvjDG9PE/tSKtZMNoqkFg1gtigsaxqz3z5iUIFtRmjP9KhHYw2EdUF1NVvB6wMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeD2y9UGEgzIcjFxhFGAr9Wz44IaDK1EFjAP98FJxnRp3SIw8hg7D7yklph0nhknJNHNC+vPaI21sz7kbVQvSmwim2HNAcmpMy7ynR60BmnNhBgrKo0FZ6FgLcOz9kdougmaxXk9EaCYxz9y1xrwrxK7X+t4vggR3ciYlxPOuhgIAOchmwvmfL6lpVLPoxTDx2AnPQhk/n3SqUhG0AeNCjX71Uhdbefhh5YziVFOfkuKS3RZr+07TVbstwkG9d5+nozOFrk1kVOBEAJzQwOZyBdp1rsshwPHxndZgvx1M3+4zrax/D4BKRqFKf/QH5/eLLjtbeHbCYAKnVNds0AGNLGXJ7UAxIYT/W9JKWfLFrYVkHRbP1qjO0hQ/i6lCHq5gkgfXRRsjY+S4IP2HSnQfAD1jRjdsCDCZo088+h70I+Pb8n3bAGxSAlhtzHx3pbIMmeyrC7rLPo6X/VMWe3uszd6P0pTsHC0p9xmqhBIq3RX/JLR/vZV2CV1Rtp57c0HdS/qto0QDpPSB75D9qp8x15BMrGGJzCXi5QaLx/ImrFF4wZqnB4etifzEnIhiT+QoaYA1p2uMSZA3LAYgyv77+alra8Q/Dv072KtXft9FwNoExe0cwoANyHB6D2lnTjOBhVXqXY9V2LomnnyHVIMKVysW6leP/bigCHOnIfC7+pnUU1pDB37rkKZA9QPfhY6f7mrxrKq+bxh1H20TpdZ53hKDxQNvYSdphbj7APsHz2pi99qu1NVDvaMAMWVoRopsIEWfpOPEHxz/aox9NI+fUgvpYDbjX0YW7cpo+iB6mVgwPVB1n1eK55XfE1gim/eT1kV1YnnxUI2iDzy9of2MmBXNaqDe3Ulwuw3QHC92CVZEah7ek2xmBlBP4gACjID60RYAnjFOspIWP8qRpeDQYu4ParfwTdfmSMkZUNpngA38MhzHKwoFVhTZiAsq2BTuWlzcJ0cKqtYDyVFIc2u6C/J0ocYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015XyGfhP1X3prj9KKeAnBfU",
      "input": {
        "note": "Gripper settled at 0.54 — caught near the bottle's tapered shoulder. Lifting high to let the bottle swing down and hang cap-up under the jaws.",
        "targets": {
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_015XyGfhP1X3prj9KKeAnBfU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3752, -0.0227, -0.0292, 0.9983, -0.0723, 1.8633, 1.887, -1.5242, -0.8902, -1.515, 0.5383]\nstate[eef_state]: left_x=0.2972 left_y=0.0016 left_z=0.1831 left_yaw=0.001 left_pitch=-0.0042 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3614 right_y=0.1151 right_z=0.2499 right_yaw=1.4541 right_pitch=-0.1098 right_roll=-0.0168 right_gripper=0.5383\nstate[joint_eff]: [-0.0615, -1.3607, 6.6667, 1.8486, -0.0513, -0.0611, -0.0122, 0.253, -11.3709, 9.4564, -0.0024, -1.5604, 0.2808, 0.7448]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88d2c04fbc47032ee0f142cf027a533a0fd4539e88851c7ae0807da251b02346",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6686f0acc20659da9ba7210a941018d7883e903ceb5dbeecdf65be7f642d7560",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c754aa61022ed9e39a64aeb98f336c6fb5ed4d729a5c2e87b6b6e79f3a4e972f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 12.19 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3759, -0.0231, -0.0292, 0.9983, -0.0868, 2.0289, 1.1183, -0.6277, -0.9741, -1.5249, 0.9968]\nstate[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1829 left_yaw=0.0013 left_pitch=-0.005 left_roll=-0.0 left_gripper=0.9983 right_x=0.3514 right_y=0.1197 right_z=0.023 right_yaw=1.4521 right_pitch=-0.0275 right_roll=0.0162 right_gripper=0.9968\nstate[joint_eff]: [-0.0889, -1.5385, 7.0632, 1.7998, -0.022, -0.0611, -0.0122, 0.4855, -11.1795, 4.0821, 0.3883, -0.7839, 0.1148, -0.105]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3756, -0.0235, -0.0292, 0.9983, -0.0929, 2.0262, 1.1061, -0.5968, -0.9859, -1.5349, 0.5364]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.183 left_yaw=0.0016 left_pitch=-0.0046 left_roll=0.0002 left_gripper=0.9983 right_x=0.3536 right_y=0.1186 right_z=0.0233 right_yaw=1.4514 right_pitch=-0.0151 right_roll=-0.013 right_gripper=0.5364\nstate[joint_eff]: [-0.1026, -1.5795, 6.7624, 1.8095, -0.0562, -0.0366, -0.0122, -0.3214, -8.9504, 4.6291, 0.3199, -0.6716, -0.0366, 0.9744]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6136, -0.3752, -0.0227, -0.0292, 0.9983, -0.0723, 1.8633, 1.887, -1.5242, -0.8902, -1.515, 0.5383]\nstate[eef_state]: left_x=0.2972 left_y=0.0016 left_z=0.1831 left_yaw=0.001 left_pitch=-0.0042 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3614 right_y=0.1151 right_z=0.2499 right_yaw=1.4541 right_pitch=-0.1098 right_roll=-0.0168 right_gripper=0.5383\nstate[joint_eff]: [-0.0615, -1.3607, 6.6667, 1.8486, -0.0513, -0.0611, -0.0122, 0.253, -11.3709, 9.4564, -0.0024, -1.5604, 0.2808, 0.7448]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88d2c04fbc47032ee0f142cf027a533a0fd4539e88851c7ae0807da251b02346",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6686f0acc20659da9ba7210a941018d7883e903ceb5dbeecdf65be7f642d7560",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c754aa61022ed9e39a64aeb98f336c6fb5ed4d729a5c2e87b6b6e79f3a4e972f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmwsKjgEIEhgCKkBrWlN9DLUXKz08zWrTqA9/GsxxmA4PdKcg0oPnrSUhr0srsxqC3gBDHk8bVp/WLhMbjgG3tZ4UYA1qErVFHlXuMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAez2y9UGEgw8jjKyOvEflQGpmoAaDHKlnyKO56djp8egKiIwRkjKIM20C9KR3z6mseAwnHC5xsjze8fkjgrFolMQKOduCkb3L+QLMlVJoDy8LPczKrkJlUVnItsQ92mXq2ryx66wuCUsALUeSYLFaoY09wpY6Rx2vZvDxcHTf9rxMlPd15txdAFNf5m9eOQ5Olffexm/UxHWFVIMLWBTNMM8Trg7hfkbTIGbqEyQ7L9hDFlMCtoPhPrQwW20eN+hkZPGG5DGPd/nGD8U4CnMYRuCXaWZ3wBGQjEPsB5nJWHLMCd5YCdJtAU2v8At8H9qXlJ8maFcpnmGdcZZ8srdcS/aQVKX9EQTBZsy6ehnCyG7WySkzzmM3MdpdmBEJaCPpD17b2uq6IsSpxfS8ubcAx0u7dkQW7r1spBJZwrCJTCph4ih9SHphjPuu29Q3PzsVio5vTWcw5ipxcgr+5RpPHyHOnw0tC8NFJ2yw4xHcc08RyU9YY90elNFZu4j3xw+NFewK5OJThA/sLLtUqhNtT87gJ5tujT/BMjqD1wRtK8EggU5ONqG22LlqTBwu001BmOL1Ak39yip2Q+6zZnGQwxklPZQh0FZ886LmOflK2aTQ0sMgfmIOhtiDbHaMh4LsSU6eWOhqisVEFDlh+BxqXHZ/CB8u2EPuw/g1nG089RahPrf0qbhax5B7YKGJXoEI+Kz1IdO9ZGAijT6uMkws4stpFSC7anpqDpcBwQfwAXYTQhXG12rAT8dYensXfdl1BhPkgiTbjDGe8Q1AixXSQoRLAw4cQKySreyIf5hY9vlHUBh/Jz3s7xaYvlD3nxax78gemqdxTvVgKTvVBLgcNYsCDBGPIpKhYs3qdk+8rPOoau950m/fVN12F8TCVUCOJax11Al30byExJxOKJ/zKBpJ5eRxeLRGDMVGKkLsY4cYNqN2Tfm+meux3mI22QmisN6UXtRQErnDHLm+1p9aBFT6MKw68T0ebkEgkrntQ8hD7t4KOGNfYryPtjR+OYkh8gBN+hv5CE0YTbffEAFv1fT4krfBHrOuCpLug+wCDjvUJMhAH6/C8dihYoqy7S2bt0Ja0zMNXpn6jZaHUxjCyR0U3SI6o66mCDbFHcjncBGCYfo6W6dQQ6pxoiLu4xNGayWFXoH3Nb6vJWfX9v4AL6qWneBFaIkr80oyISgE4go6i2OUpJjM6qpZdniiEZuc5GD2P1Fk8MLUatN0TwvyHwlTUJfP85FIbkQji8cGyWUCzff0b+ViQxWUegLU+VeTKHzRCq/HXmefTclNIP5CQh47i1fooIEG2hr+lWJ6RdGsARBGfPkxacHB1o9GdO+UbZEyzbu1WAGmwSRipZv5HDezVbsH505osAOLsBtYGh/JgGPl8HV7U522mNj6nzFQnbP5RYgzbBRj4AxLX0XyD6tXxT0U1csPmFjM131owls/0ZkkamcBLtkWDIf1aXxskWvkybPEWVQhKmcLZs8NCON/apG6duWoT/NAkdJ/A5ZP1Axd5L+XpZmEeKTlRQWZ+/rwh+x6z8vqoTvskUJlBr2pAh+U9xeCeCJQbqIX58YWMoB9/hfgQ71XYYm8a8ts4HRngWnCGHrzMdHAIh4+f6hg93Wty2QgAJNV3W/tZRsu/MN4zOe3wNSDi4SlCTCunwDWzV/V7l52Oh1Kt4ovQiftrcUFPq9Hj2F9HubXJtOBHyhaZe0I9A8xmbA3krjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MSBtxo3Y3LigJTFCFuURBi",
      "input": {
        "note": "The bottle stays rigidly horizontal in the grip rather than swinging cap-up, so with the call budget nearly exhausted I'm setting it back down flat on the table and releasing it safely.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01MSBtxo3Y3LigJTFCFuURBi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8028, 0.6132, -0.3759, -0.0231, -0.0292, 0.9983, -0.1001, 1.9656, 1.599, -1.3251, -1.0, -1.5642, 0.9979]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1826 left_yaw=0.0013 left_pitch=-0.0057 left_roll=0.0 left_gripper=0.9983 right_x=0.365 right_y=0.1163 right_z=0.1598 right_yaw=1.4611 right_pitch=-0.0031 right_roll=0.1373 right_gripper=0.9979\nstate[joint_eff]: [-0.0342, -1.1009, 6.7487, 1.873, -0.0317, -0.0415, -0.0122, -0.5128, -9.2376, 6.8308, 0.1294, -0.7057, 0.0073, -0.0952]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da78baf713c1d60c84d9ab0519ab18e44691f2710d2a0d16cb1821c93b2d847c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caeba6c7439522e7c5aed2e492a5a89c9547d226f895f40be237b7aeb025150a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a4ba47296735c14f62aa2a6280652a06176305f8937f08fd5531dd42557ede11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]