adhoc

completed
2026-09-22T23:54:41.530883+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
446.7 s
total steps
318
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles lie on their sides mid-table. I'm flying the right arm to hover ~22 cm above the rightmost bottle to see it in the wrist camera and judge which end has the cap.
move_to
right_x0.4500right_y0.2700right_z0.2200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7929, 0.6075, -0.3767, -0.0227, -0.0284, 0.9986, -0.0154, 0.7883, 0.6033, -0.387, -0.0238, -0.0353, 0.9998] state[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1826 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0033 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.3624, -1.4427, 9.853, 1.7705, -0.0171, 0.1245, -0.1587, -0.7179, -0.9368, 10.2085, 1.8632, -0.0073, 0.1587, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.27, "right_z": 0.22, "right_gripper": 1.0}, "note": "Three bottles lie on their sides mid-table. I'm flying the right arm to hover ~22 cm above the rightmost bottle to see it in the wrist camera and judge which end has the cap."})
tool
executing move_to over 23 steps (2.3s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteRight wrist view shows two bottles lying with their necks pointing away from the base; the nearest bottle sits right of the jaw column. Shifting right (-y) and descending to 14 cm to line the gripper up over that bottle's neck.
move_to
right_x0.4500right_y0.2300right_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7975, 0.614, -0.3798, -0.0231, -0.0292, 0.9985, 0.7174, 1.8473, 1.552, -0.4564, 0.54, 0.374, 0.9998] state[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1837 left_yaw=0.0007 left_pitch=-0.0011 left_roll=-0.0004 left_gripper=0.9985 right_x=0.4386 right_y=0.2668 right_z=0.2009 right_yaw=0.0466 right_pitch=-0.054 right_roll=-0.0445 right_gripper=0.9998 state[joint_eff]: [-0.3214, -1.4838, 6.5983, 1.707, -0.0366, -0.0464, -0.0317, -0.2393, -9.8667, 9.7299, 1.6484, 0.5201, 0.315, -0.0317] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.23, "right_z": 0.14}, "note": "Right wrist view shows two bottles lying with their necks pointing away from the base; the nearest bottle sits right of the jaw column. Shifting right (-y) and descending to 14 cm to line the gripper up over that bottle's neck."})
tool
executing move_to over 4 steps (0.4s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe wrist view now shows a single bottle lying with its blue cap at the far end, just left of the jaw column. Moving 5.5 cm farther out and 2.5 cm left to bring the neck under the jaws (and to calibrate the wrist scale from the pixel shift).
move_to
right_x0.4900right_y0.2450right_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7994, 0.614, -0.3798, -0.0231, -0.0292, 0.9984, 0.627, 1.8187, 1.2095, -0.1837, 0.4843, 0.3279, 0.9998] state[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.003 left_roll=-0.0004 left_gripper=0.9984 right_x=0.434 right_y=0.2173 right_z=0.1158 right_yaw=0.0217 right_pitch=-0.1112 right_roll=-0.0746 right_gripper=0.9998 state[joint_eff]: [-0.253, -1.4974, 6.9265, 1.7314, -0.0415, -0.0415, -0.0171, 0.5675, -9.894, 8.2393, 2.3175, 0.0415, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.49, "right_y": 0.245, "right_z": 0.14}, "note": "The wrist view now shows a single bottle lying with its blue cap at the far end, just left of the jaw column. Moving 5.5 cm farther out and 2.5 cm left to bring the neck under the jaws (and to calibrate the wrist scale from the pixel shift)."})
tool
executing move_to over 5 steps (0.5s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteWrist view: the bottle's neck/cap now sits near the jaw column but the bottle is still ahead of the fingertips. Descending to 5 cm (neck height) and nudging 1.3 cm right to line up before the final radial approach.
move_to
right_x0.4900right_y0.2320right_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.614, -0.3866, -0.0227, -0.0292, 0.9984, 0.6151, 1.9533, 1.3479, -0.115, 0.4618, 0.3012, 0.9998] state[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.181 left_yaw=0.0004 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4727 right_y=0.2421 right_z=0.1164 right_yaw=0.0453 right_pitch=-0.06 right_roll=-0.0426 right_gripper=0.9998 state[joint_eff]: [-0.1162, -1.6615, 6.7761, 1.8339, -0.0464, -0.0415, -0.0122, -1.0325, -10.4957, 9.5111, 1.6679, 0.2613, 0.0708, -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": 0.49, "right_y": 0.232, "right_z": 0.05}, "note": "Wrist view: the bottle's neck/cap now sits near the jaw column but the bottle is still ahead of the fingertips. Descending to 5 cm (neck height) and nudging 1.3 cm right to line up before the final radial approach."})
tool
executing move_to over 5 steps (0.5s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe bottle now lies between the open jaws at its label; the neck (blue cap) points away, too far out to grasp directly. Closing on the body so I can carry the bottle nearer the base, where I can then grab its neck and let it hang upright.
move_to
right_gripper0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8013, 0.6132, -0.3862, -0.0231, -0.0292, 0.9984, 0.5762, 2.0758, 1.1984, 0.1566, 0.429, 0.2787, 0.9998] state[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1809 left_yaw=0.0007 left_pitch=-0.0122 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4774 right_y=0.2268 right_z=0.0408 right_yaw=0.0445 right_pitch=-0.0719 right_roll=-0.0424 right_gripper=0.9998 state[joint_eff]: [-0.212, -1.9214, 6.0923, 1.8584, -0.0366, -0.0708, -0.0122, -0.5812, -9.812, 6.0103, 2.0098, 0.1343, -0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.5}, "note": "The bottle now lies between the open jaws at its label; the neck (blue cap) points away, too far out to grasp directly. Closing on the body so I can carry the bottle nearer the base, where I can then grab its neck and let it hang upright."})
tool
executing move_to over 5 steps (0.5s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteJaws closed to 0.5 on the bottle body. Lifting 15 cm to confirm the bottle came with the gripper.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8013, 0.6048, -0.3862, -0.0231, -0.0292, 0.9984, 0.5758, 2.0853, 1.1969, 0.2371, 0.4149, 0.263, 0.506] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1771 left_yaw=0.0007 left_pitch=-0.0206 left_roll=-0.0 left_gripper=0.9984 right_x=0.4859 right_y=0.2348 right_z=0.0492 right_yaw=0.0654 right_pitch=-0.0162 right_roll=-0.0128 right_gripper=0.506 state[joint_eff]: [-0.1026, -1.9897, 6.7077, 1.873, -0.0269, -0.0611, -0.0122, -0.6496, -10.3726, 6.2701, 1.8046, 0.1978, 0.0806, 0.2125] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Jaws closed to 0.5 on the bottle body. Lifting 15 cm to confirm the bottle came with the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe lift came up empty — the bottle is still lying on the table, so the 0.5 close was too loose. Reopening and descending back to bottle-axis height for a tighter regrasp.
move_to
right_gripper1.0000right_y0.2360right_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.5858, -0.3744, -0.0231, -0.0292, 0.9984, 0.5785, 1.8706, 1.4906, -0.1864, 0.3985, 0.2523, 0.5058] state[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1723 left_yaw=0.0007 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9984 right_x=0.4913 right_y=0.2433 right_z=0.2043 right_yaw=0.0864 right_pitch=0.054 right_roll=0.0272 right_gripper=0.5058 state[joint_eff]: [-0.2667, -1.9761, 6.9812, 1.9023, -0.0513, -0.0562, -0.0122, -0.6085, -10.4274, 7.9795, 1.5653, 0.2222, 0.0562, -0.0366] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_y": 0.236, "right_z": 0.045}, "note": "The lift came up empty \u2014 the bottle is still lying on the table, so the 0.5 close was too loose. Reopening and descending back to bottle-axis height for a tighter regrasp."})
tool
executing move_to over 11 steps (1.1s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe bottle is centred between the jaws in the wrist view. Closing harder (0.25 ≈ 2.4 cm) to really squeeze the plastic body this time.
move_to
right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7891, 0.5697, -0.3637, -0.0231, -0.0292, 0.9984, 0.569, 2.0804, 1.2011, 0.2058, 0.3874, 0.2413, 0.997] state[eef_state]: left_x=0.2924 left_y=0.0018 left_z=0.169 left_yaw=0.0007 left_pitch=-0.021 left_roll=-0.0 left_gripper=0.9984 right_x=0.4839 right_y=0.2345 right_z=0.0464 right_yaw=0.0921 right_pitch=-0.0437 right_roll=-0.0264 right_gripper=0.997 state[joint_eff]: [-0.3487, -1.9077, 6.7077, 1.8877, -0.0366, -0.0659, -0.0122, -0.6906, -9.9214, 5.8872, 1.9609, 0.0855, -0.0122, -0.2027] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.25}, "note": "The bottle is centred between the jaws in the wrist view. Closing harder (0.25 \u2248 2.4 cm) to really squeeze the plastic body this time."})
tool
executing move_to over 8 steps (0.8s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteGripper settled at 0.44 (≈4.2 cm of squeezed bottle), so the bottle is held. Lifting it clear of the table.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7841, 0.5533, -0.3523, -0.0227, -0.0292, 0.9984, 0.5701, 2.0933, 1.1648, 0.3195, 0.3809, 0.234, 0.4374] state[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1651 left_yaw=0.0004 left_pitch=-0.021 left_roll=-0.0002 left_gripper=0.9984 right_x=0.487 right_y=0.2385 right_z=0.0468 right_yaw=0.1029 right_pitch=0.012 right_roll=0.0004 right_gripper=0.4374 state[joint_eff]: [-0.0479, -1.894, 6.7077, 1.8632, -0.0464, -0.0757, -0.0122, -0.3077, -12.1368, 5.2034, 1.4481, 0.1245, 0.0464, 0.442] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper settled at 0.44 (\u22484.2 cm of squeezed bottle), so the bottle is held. Lifting it clear of the table."})
tool
executing move_to over 10 steps (1.0s)
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 noteGripper is still blocked at 0.44, so a bottle appears to be held. Carrying it back toward the base so its neck will be within reach for a re-grasp.
move_to
right_x0.3400right_y0.2600right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7784, 0.5369, -0.3443, -0.0231, -0.0292, 0.9984, 0.5701, 1.9213, 1.4639, -0.2394, 0.3618, 0.226, 0.4367] state[eef_state]: left_x=0.2901 left_y=0.0019 left_z=0.1608 left_yaw=0.0007 left_pitch=-0.0236 left_roll=0.0 left_gripper=0.9984 right_x=0.4843 right_y=0.2405 right_z=0.1547 right_yaw=0.1215 right_pitch=-0.0718 right_roll=-0.0346 right_gripper=0.4367 state[joint_eff]: [-0.4034, -1.7162, 6.7761, 1.8974, -0.0415, -0.0659, -0.0122, -0.3624, -14.8991, 9.6342, 1.9463, 0.2222, 0.0952, -0.0904] approver: 1 step(s) modified (delta_clamped). 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_x": 0.34, "right_y": 0.26, "right_z": 0.2}, "note": "Gripper is still blocked at 0.44, so a bottle appears to be held. Carrying it back toward the base so its neck will be within reach for a re-grasp."})
tool
executing move_to over 12 steps (1.2s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteBottle is carried near the base. Lowering it back onto the table so I can release and then re-grasp it by the neck, which is now within reach.
move_to
right_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7673, 0.5163, -0.3286, -0.0231, -0.0292, 0.9984, 0.868, 1.5532, 1.145, -0.3191, 0.5659, 0.408, 0.4366] state[eef_state]: left_x=0.2888 left_y=0.0019 left_z=0.1576 left_yaw=0.0007 left_pitch=-0.0175 left_roll=-0.0001 left_gripper=0.9984 right_x=0.3461 right_y=0.2676 right_z=0.1882 right_yaw=0.1598 right_pitch=-0.0239 right_roll=-0.0147 right_gripper=0.4366 state[joint_eff]: [-0.253, -1.2513, 6.8581, 1.9023, -0.0464, -0.0806, -0.0122, 0.2667, -9.4154, 6.4205, 1.6288, 0.3297, 0.0757, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.045}, "note": "Bottle is carried near the base. Lowering it back onto the table so I can release and then re-grasp it by the neck, which is now within reach."})
tool
executing move_to over 10 steps (1.0s)
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 noteBottle is back on the table nearer the base. Opening the jaws to release it before repositioning over its neck.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7624, 0.5037, -0.3222, -0.0231, -0.0292, 0.9984, 0.8703, 1.7954, 0.7853, 0.2523, 0.5671, 0.4107, 0.4366] state[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1545 left_yaw=0.0007 left_pitch=-0.0187 left_roll=-0.0001 left_gripper=0.9984 right_x=0.3399 right_y=0.2616 right_z=0.0433 right_yaw=0.1591 right_pitch=-0.0465 right_roll=-0.033 right_gripper=0.4366 state[joint_eff]: [-0.212, -1.6479, 7.0222, 1.8388, -0.0366, -0.0757, -0.0122, -0.1299, -7.159, 5.2444, 1.707, 0.1783, -0.0562, -0.0171] 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": 1.0}, "note": "Bottle is back on the table nearer the base. Opening the jaws to release it before repositioning over its neck."})
tool
executing move_to over 6 steps (0.6s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteReleased the bottle. Moving out and up slightly to look down on where its neck should be, so I can grasp the neck and let the bottle hang upright.
move_to
right_x0.4300right_y0.2600right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7586, 0.498, -0.3138, -0.0231, -0.0292, 0.9984, 0.8711, 1.8164, 0.7395, 0.3386, 0.5613, 0.403, 0.9957] state[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1546 left_yaw=0.0007 left_pitch=-0.0122 left_roll=-0.0002 left_gripper=0.9984 right_x=0.3369 right_y=0.2598 right_z=0.0331 right_yaw=0.1688 right_pitch=-0.0343 right_roll=-0.0236 right_gripper=0.9957 state[joint_eff]: [-0.1983, -1.812, 6.0513, 1.9023, -0.0415, -0.0659, -0.0122, -0.0752, -9.3197, 4.9299, 1.7607, 0.2564, -0.0073, -0.232] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.26, "right_z": 0.1}, "note": "Released the bottle. Moving out and up slightly to look down on where its neck should be, so I can grasp the neck and let the bottle hang upright."})
tool
executing move_to over 8 steps (0.8s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteWrist and left-camera views show the bottles' caps point away from the bases and slightly to the left, so the neck of the bottle I moved should be up and to the left of where I am. Shifting left and down to find that neck.
move_to
right_x0.4200right_y0.3100right_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3119, -0.0227, -0.0292, 0.9984, 0.6937, 1.8385, 1.029, 0.1596, 0.4191, 0.2707, 0.9955] state[eef_state]: left_x=0.288 left_y=0.0018 left_z=0.1556 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4179 right_y=0.2587 right_z=0.0907 right_yaw=0.1758 right_pitch=-0.0137 right_roll=-0.0079 right_gripper=0.9955 state[joint_eff]: [-0.1983, -1.5111, 6.1333, 1.8339, -0.0464, -0.0415, -0.0122, -0.6906, -7.9248, 8.4581, 1.8974, 0.232, -0.0415, -0.0366] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.31, "right_z": 0.06}, "note": "Wrist and left-camera views show the bottles' caps point away from the bases and slightly to the left, so the neck of the bottle I moved should be up and to the left of where I am. Shifting left and down to find that neck."})
tool
executing move_to over 5 steps (0.5s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteBoth bottles' blue caps point away from the base, too far out to grasp the neck directly. New plan: grab a bottle by the body, lift, yaw 180° so the neck points back toward the base, set it down, then grab the neck. Returning to the earlier successful body-grasp pose.
move_to
right_x0.4870right_y0.2380right_z0.0460
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3122, -0.0227, -0.0292, 0.9984, 0.7811, 1.9972, 1.1069, 0.1844, 0.4702, 0.3096, 0.9955] state[eef_state]: left_x=0.288 left_y=0.0018 left_z=0.1555 left_yaw=0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4112 right_y=0.3 right_z=0.0522 right_yaw=0.2005 right_pitch=-0.0448 right_roll=-0.0325 right_gripper=0.9955 state[joint_eff]: [-0.1026, -1.4564, 6.4479, 1.8486, -0.022, -0.022, -0.0122, 0.6632, -9.0188, 8.0068, 1.8535, 0.3394, 0.2125, -0.0171] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.487, "right_y": 0.238, "right_z": 0.046}, "note": "Both bottles' blue caps point away from the base, too far out to grasp the neck directly. New plan: grab a bottle by the body, lift, yaw 180\u00b0 so the neck points back toward the base, set it down, then grab the neck. Returning to the earlier successful body-grasp pose."})
tool
executing move_to over 6 steps (0.6s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe last lateral move didn't take — the open jaws are down between the two bottles and likely blocked. Lifting to 16 cm first so I can translate freely.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7563, 0.4976, -0.313, -0.0227, -0.0292, 0.9984, 0.7918, 2.0155, 1.1156, 0.1871, 0.4709, 0.3172, 0.9955] state[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1552 left_yaw=0.0004 left_pitch=-0.0095 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4094 right_y=0.3056 right_z=0.0471 right_yaw=0.2063 right_pitch=-0.0502 right_roll=-0.0304 right_gripper=0.9955 state[joint_eff]: [-0.2667, -1.4427, 6.612, 1.8046, -0.0269, -0.0415, -0.0122, -0.335, -9.812, 8.0889, 1.8046, 0.359, 0.1197, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16}, "note": "The last lateral move didn't take \u2014 the open jaws are down between the two bottles and likely blocked. Lifting to 16 cm first so I can translate freely."})
tool
executing move_to over 8 steps (0.8s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteClear of the bottles at 14 cm. Translating over the right-hand bottle's body ready to descend and grasp it.
move_to
right_x0.4870right_y0.2380right_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3122, -0.0231, -0.0292, 0.9984, 0.7925, 1.837, 1.2499, -0.0692, 0.4667, 0.3058, 0.9955] state[eef_state]: left_x=0.288 left_y=0.0019 left_z=0.1555 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4102 right_y=0.308 right_z=0.1421 right_yaw=0.2174 right_pitch=-0.0044 right_roll=-0.0067 right_gripper=0.9955 state[joint_eff]: [-0.1573, -1.5385, 6.4342, 1.8193, -0.0464, -0.0513, -0.0122, -0.2667, -10.3179, 7.7197, 1.4432, 0.2662, 0.0855, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.487, "right_y": 0.238, "right_z": 0.16}, "note": "Clear of the bottles at 14 cm. Translating over the right-hand bottle's body ready to descend and grasp it."})
tool
executing move_to over 6 steps (0.6s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteBottle is centred on the jaw column in the wrist view. Descending to bottle-axis height to grasp its body.
move_to
right_z0.0470
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3126, -0.0231, -0.0292, 0.9984, 0.5503, 1.8515, 1.2953, -0.1173, 0.2802, 0.1562, 0.9955] state[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1554 left_yaw=0.0007 left_pitch=-0.0088 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4673 right_y=0.2336 right_z=0.1378 right_yaw=0.2069 right_pitch=-0.0708 right_roll=-0.0338 right_gripper=0.9955 state[joint_eff]: [-0.1709, -1.4838, 6.4068, 1.8193, -0.0464, -0.0562, -0.0122, -0.5812, -8.5675, 10.3043, 2.0195, 0.0611, 0.1978, -0.0171] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.047}, "note": "Bottle is centred on the jaw column in the wrist view. Descending to bottle-axis height to grasp its body."})
tool
executing move_to over 6 steps (0.6s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteBottle body is squarely between the jaws. Closing to 0.25 to squeeze and hold it.
move_to
right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3115, -0.0227, -0.0292, 0.9984, 0.5488, 1.9907, 1.0576, 0.2668, 0.2607, 0.1486, 0.9955] state[eef_state]: left_x=0.2881 left_y=0.0018 left_z=0.1556 left_yaw=0.0004 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4579 right_y=0.2308 right_z=0.0433 right_yaw=0.2257 right_pitch=-0.068 right_roll=-0.0262 right_gripper=0.9955 state[joint_eff]: [-0.1846, -1.4974, 6.3795, 1.8632, -0.0562, -0.0659, -0.0122, -0.0479, -8.841, 5.3538, 2.0195, 0.1978, 0.1197, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.25}, "note": "Bottle body is squarely between the jaws. Closing to 0.25 to squeeze and hold it."})
tool
executing move_to over 8 steps (0.8s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteGripper settled at 0.53, so the bottle is firmly held. Lifting to 19 cm and starting a 180° yaw to turn the bottle end-for-end so its neck will point back toward the base.
move_to
right_z0.1900right_yaw1.6000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7563, 0.4976, -0.3119, -0.0231, -0.0292, 0.9984, 0.5488, 2.0079, 0.9947, 0.374, 0.2565, 0.1474, 0.525] state[eef_state]: left_x=0.288 left_y=0.0019 left_z=0.1555 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4531 right_y=0.2287 right_z=0.0315 right_yaw=0.2302 right_pitch=-0.0431 right_roll=-0.0161 right_gripper=0.525 state[joint_eff]: [-0.2393, -1.2376, 6.9402, 1.873, -0.0513, -0.0806, -0.0122, -0.4034, -10.8103, 5.5863, 1.9902, 0.0708, -0.0073, 0.7204] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.19, "right_yaw": 1.6}, "note": "Gripper settled at 0.53, so the bottle is firmly held. Lifting to 19 cm and starting a 180\u00b0 yaw to turn the bottle end-for-end so its neck will point back toward the base."})
tool
executing move_to over 11 steps (1.1s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteBottle held and already rotated 90°. Completing the turn to ~180° so the neck faces back toward the base.
move_to
right_yaw3.0000right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7555, 0.4976, -0.3149, -0.0227, -0.0288, 0.9984, 0.1741, 2.2807, 2.0281, -0.8173, -0.8726, -1.1191, 0.5266] state[eef_state]: left_x=0.2876 left_y=0.0018 left_z=0.155 left_yaw=0.0002 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9984 right_x=0.5003 right_y=0.2291 right_z=0.1482 right_yaw=1.4294 right_pitch=-0.0305 right_roll=-0.1233 right_gripper=0.5266 state[joint_eff]: [-0.3761, -1.0872, 6.3932, 1.873, -0.0513, -0.0366, -0.0122, -0.9504, -11.7402, 5.9692, 0.2076, -0.5446, -0.0171, 0.0757] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 3.0, "right_z": 0.19}, "note": "Bottle held and already rotated 90\u00b0. Completing the turn to ~180\u00b0 so the neck faces back toward the base."})
tool
executing move_to over 10 steps (1.0s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe 180° yaw made the IK swing the arm back close to the base; the bottle still seems held. Bringing the gripper back out to a clean pose over the table, keeping the bottle turned ~160°.
move_to
right_x0.3300right_y0.2800right_z0.1800right_yaw2.7700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7517, 0.4976, -0.3115, -0.0231, -0.0292, 0.9984, 0.8917, 2.418, 1.9808, -1.5276, -0.8474, -2.0789, 0.5258] state[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1568 left_yaw=0.0007 left_pitch=-0.0034 left_roll=-0.0004 left_gripper=0.9984 right_x=0.1411 right_y=0.3913 right_z=0.065 right_yaw=2.7664 right_pitch=-0.086 right_roll=0.0134 right_gripper=0.5258 state[joint_eff]: [-0.0889, -1.1692, 6.2291, 1.8486, -0.0562, -0.0513, -0.0122, -0.4034, -15.9521, 5.3265, -0.5836, -0.3394, -0.1978, -0.0904] 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": 0.33, "right_y": 0.28, "right_z": 0.18, "right_yaw": 2.77}, "note": "The 180\u00b0 yaw made the IK swing the arm back close to the base; the bottle still seems held. Bringing the gripper back out to a clean pose over the table, keeping the bottle turned ~160\u00b0."})
tool
executing move_to over 15 steps (1.5s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteThe arm is folded near its base and stalling. Raising the tool and unwinding the yaw to a less awkward angle so it can unfold and move back out over the table.
move_to
right_z0.2800right_yaw2.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7521, 0.4976, -0.3149, -0.0231, -0.0292, 0.9984, 0.8299, 2.3165, 1.8828, -1.5551, -0.8906, -2.0888, 0.5258] state[eef_state]: left_x=0.2874 left_y=0.0019 left_z=0.1559 left_yaw=0.0007 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9984 right_x=0.1476 right_y=0.3702 right_z=0.0921 right_yaw=2.6937 right_pitch=-0.0409 right_roll=0.0167 right_gripper=0.5258 state[joint_eff]: [-0.1026, -1.0325, 6.9949, 1.8193, -0.0415, -0.0659, -0.0122, -0.8, -15.5692, 4.5744, -0.5934, -0.4469, -0.0659, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.28, "right_yaw": 2.0}, "note": "The arm is folded near its base and stalling. Raising the tool and unwinding the yaw to a less awkward angle so it can unfold and move back out over the table."})
tool
executing move_to over 13 steps (1.3s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteArm still folded near the base and not tracking. Commanding a modest unfold: out to x=0.30 at 15 cm with the wrist yaw unwound most of the way back to neutral.
move_to
right_x0.3000right_y0.3000right_z0.1500right_yaw0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7517, 0.4976, -0.3145, -0.0231, -0.0292, 0.9984, 0.6804, 2.3535, 1.9453, -1.5551, -0.9207, -2.0838, 0.5258] state[eef_state]: left_x=0.2875 left_y=0.0019 left_z=0.1561 left_yaw=0.0007 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9984 right_x=0.21 right_y=0.3555 right_z=0.0937 right_yaw=2.5286 right_pitch=-0.0215 right_roll=-0.0115 right_gripper=0.5258 state[joint_eff]: [-0.3487, -1.3607, 6.5162, 1.8681, -0.0513, -0.0611, -0.0122, -0.0889, -13.4632, 5.4085, -0.5739, -0.6716, 0.0611, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.3, "right_z": 0.15, "right_yaw": 0.8}, "note": "Arm still folded near the base and not tracking. Commanding a modest unfold: out to x=0.30 at 15 cm with the wrist yaw unwound most of the way back to neutral."})
tool
executing move_to over 12 steps (1.2s)
step 217
assistant
agent noteThe gripper is empty — the bottle was dropped during the big yaw. Reopening and flying back over the right-hand bottle's body at 15 cm to grasp it again.
move_to
right_gripper1.0000right_x0.4600right_y0.2300right_z0.1500right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7521, 0.4976, -0.3153, -0.0227, -0.0292, 0.9984, 0.7406, 1.4456, 0.8215, -0.0402, -0.2325, -0.231, 0.5258] state[eef_state]: left_x=0.2874 left_y=0.0018 left_z=0.1559 left_yaw=0.0004 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9984 right_x=0.2738 right_y=0.3104 right_z=0.1304 right_yaw=1.0375 right_pitch=-0.0715 right_roll=-0.027 right_gripper=0.5258 state[joint_eff]: [-0.0752, -1.0188, 6.6256, 1.873, -0.0513, -0.0366, -0.0122, 0.0479, -7.7744, 6.5299, 1.9609, 0.0171, 0.1929, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.46, "right_y": 0.23, "right_z": 0.15, "right_yaw": 0.0}, "note": "The gripper is empty \u2014 the bottle was dropped during the big yaw. Reopening and flying back over the right-hand bottle's body at 15 cm to grasp it again."})
tool
executing move_to over 15 steps (1.5s)
step 232
assistant
agent noteThe previous move under-tracked; repeating the approach over the right-hand bottle's body at 12 cm with the wrist back at neutral yaw.
move_to
right_x0.4600right_y0.2300right_z0.1200right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7513, 0.4976, -0.3187, -0.0231, -0.0288, 0.9984, 0.627, 1.85, 1.2034, -0.0948, 0.1543, 0.1669, 0.9978] state[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1554 left_yaw=0.0005 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9984 right_x=0.4227 right_y=0.2772 right_z=0.101 right_yaw=0.3803 right_pitch=-0.1596 right_roll=0.0334 right_gripper=0.9978 state[joint_eff]: [-0.0889, -1.2513, 6.4615, 1.8486, -0.0464, -0.0269, -0.0122, -0.3214, -12.041, 9.6479, 1.6044, 0.2515, 0.2173, -0.1001] 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_x": 0.46, "right_y": 0.23, "right_z": 0.12, "right_yaw": 0.0}, "note": "The previous move under-tracked; repeating the approach over the right-hand bottle's body at 12 cm with the wrist back at neutral yaw."})
tool
executing move_to over 4 steps (0.4s)
step 236
assistant
agent noteThe wrist view shows this bottle now lies sideways (cap to the left, toward +y) after my earlier turn. Moving over its neck and yawing the wrist 90° so the jaws will close across the neck rather than along it.
move_to
right_x0.4700right_y0.3300right_z0.1000right_yaw1.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7513, 0.4976, -0.3183, -0.0227, -0.0292, 0.9984, 0.6327, 1.8767, 1.1591, -0.0223, 0.4187, 0.2882, 0.9991] state[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1554 left_yaw=0.0004 left_pitch=-0.0099 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4392 right_y=0.2374 right_z=0.0919 right_yaw=0.1031 right_pitch=-0.0918 right_roll=-0.0385 right_gripper=0.9991 state[joint_eff]: [-0.3761, -1.5658, 6.2427, 1.8339, -0.0269, -0.0366, -0.0122, -0.9504, -9.2786, 10.1402, 1.8388, 0.3492, 0.2564, 0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.33, "right_z": 0.1, "right_yaw": 1.5}, "note": "The wrist view shows this bottle now lies sideways (cap to the left, toward +y) after my earlier turn. Moving over its neck and yawing the wrist 90\u00b0 so the jaws will close across the neck rather than along it."})
tool
executing move_to over 9 steps (0.9s)
step 245
assistant
agent noteThat target was outside the arm's reach, so nothing moved. Instead I'll yaw the wrist 90° here and drop to bottle height to grab this sideways bottle's body and drag it closer to the base first.
move_to
right_yaw1.5000right_z0.0500right_x0.4600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7513, 0.4976, -0.3183, -0.0231, -0.0288, 0.9984, 0.6281, 1.8786, 1.1866, -0.0292, 0.4717, 0.3141, 0.9994] state[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1554 left_yaw=0.0005 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9984 right_x=0.4479 right_y=0.2305 right_z=0.1034 right_yaw=0.0435 right_pitch=-0.0569 right_roll=-0.038 right_gripper=0.9994 state[joint_eff]: [-0.1436, -1.5795, 6.3111, 1.8242, -0.0415, -0.0024, -0.0122, -0.5812, -9.5658, 8.759, 1.8193, 0.4322, 0.2125, 0.0073] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 1.5, "right_z": 0.05, "right_x": 0.46}, "note": "That target was outside the arm's reach, so nothing moved. Instead I'll yaw the wrist 90\u00b0 here and drop to bottle height to grab this sideways bottle's body and drag it closer to the base first."})
tool
executing move_to over 10 steps (1.0s)
step 255
assistant
agent noteWrist view shows the bottle lying diagonally with its blue cap up and to the left. Sliding left and slightly back (inside the arm's reach circle) to put the jaws around its neck.
move_to
right_x0.4600right_y0.3000right_z0.0450right_yaw1.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7498, 0.4976, -0.3187, -0.0227, -0.0292, 0.9984, 0.1829, 2.2749, 1.618, -0.3027, -0.7891, -0.9104, 0.9996] state[eef_state]: left_x=0.2868 left_y=0.0019 left_z=0.1558 left_yaw=0.0004 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9984 right_x=0.5008 right_y=0.2238 right_z=0.0519 right_yaw=1.2764 right_pitch=-0.0443 right_roll=-0.0812 right_gripper=0.9996 state[joint_eff]: [-0.212, -1.1556, 6.3111, 1.8486, -0.0366, 0.0122, -0.0122, -0.5538, -12.7248, 5.7094, 0.5446, -0.7009, -0.0757, 0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.3, "right_z": 0.045, "right_yaw": 1.3}, "note": "Wrist view shows the bottle lying diagonally with its blue cap up and to the left. Sliding left and slightly back (inside the arm's reach circle) to put the jaws around its neck."})
tool
executing move_to over 7 steps (0.7s)
step 262
assistant
agent noteThe blue-capped bottle's neck lies past the right arm's reach, but it is well inside the left arm's workspace. Bringing the left arm over that neck with the wrist yawed 90° so the jaws close across the bottle axis.
move_to
left_x0.4500left_y-0.2200left_z0.1200left_yaw1.5000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7506, 0.4976, -0.3183, -0.0227, -0.0292, 0.9984, 0.2222, 2.3032, 1.5856, -0.2668, -0.8375, -0.8379, 0.9996] state[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1556 left_yaw=0.0004 left_pitch=-0.0091 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4821 right_y=0.2472 right_z=0.0357 right_yaw=1.3051 right_pitch=-0.0199 right_roll=0.019 right_gripper=0.9996 state[joint_eff]: [-0.1162, -1.5248, 6.3932, 1.8339, -0.0317, -0.0415, -0.0122, -0.7726, -14.694, 6.4205, 1.3846, -0.3785, 0.2027, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.22, "left_z": 0.12, "left_yaw": 1.5, "left_gripper": 1.0}, "note": "The blue-capped bottle's neck lies past the right arm's reach, but it is well inside the left arm's workspace. Bringing the left arm over that neck with the wrist yawed 90\u00b0 so the jaws close across the bottle axis."})
tool
executing move_to over 20 steps (2.0s)
step 282
assistant
agent noteThe left arm stopped short at y=-0.06; pushing further left toward the blue-capped bottle's neck while holding 10 cm height.
move_to
left_y-0.2000left_z0.1000left_x0.4400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4648, 2.5114, 2.1017, -1.5494, -0.9131, -2.0594, 0.9987, 0.2226, 2.3032, 1.552, -0.2192, -0.8379, -0.8383, 0.9996] state[eef_state]: left_x=0.4345 left_y=-0.0575 left_z=0.0605 left_yaw=1.3823 left_pitch=-0.0395 left_roll=0.0019 left_gripper=0.9987 right_x=0.4803 right_y=0.247 right_z=0.0298 right_yaw=1.3057 right_pitch=-0.013 right_roll=0.0064 right_gripper=0.9996 state[joint_eff]: [0.0752, -12.2325, 6.612, -0.5446, -0.4811, -0.3932, -0.149, -0.4855, -13.4222, 6.2974, 1.1795, -0.5104, -0.0073, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.2, "left_z": 0.1, "left_x": 0.44}, "note": "The left arm stopped short at y=-0.06; pushing further left toward the blue-capped bottle's neck while holding 10 cm height."})
tool
executing move_to over 13 steps (1.3s)
step 295
assistant
agent noteThe blue-capped bottle's neck is right at the left gripper's jaws. Closing loosely (3.1 cm) so the neck is captured but can still pivot, which should let the bottle swing upright when I lift.
move_to
left_gripper0.3300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5236, 2.5748, 2.125, -1.5532, -0.9207, -2.0598, 0.9985, 0.2226, 2.3032, 1.5387, -0.2081, -0.8379, -0.8383, 0.9996] state[eef_state]: left_x=0.4315 left_y=-0.0826 left_z=0.0409 left_yaw=1.3219 left_pitch=-0.0208 left_roll=0.0419 left_gripper=0.9985 right_x=0.4783 right_y=0.2465 right_z=0.0266 right_yaw=1.3057 right_pitch=-0.0141 right_roll=0.0084 right_gripper=0.9996 state[joint_eff]: [-0.5128, -15.9111, 6.1333, -0.6569, -0.5006, -0.4225, -0.0366, -0.4718, -12.9846, 5.7231, 1.3065, -0.4567, -0.0024, -0.0122] 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": {"left_gripper": 0.33}, "note": "The blue-capped bottle's neck is right at the left gripper's jaws. Closing loosely (3.1 cm) so the neck is captured but can still pivot, which should let the bottle swing upright when I lift."})
tool
executing move_to over 7 steps (0.7s)
step 302
assistant
agent noteJaws settled at 3.2 cm, about the neck diameter. Lifting high so the bottle can swing down and hang upright from its neck.
move_to
left_z0.2800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5308, 2.5668, 2.1021, -1.5696, -0.9958, -2.0594, 0.3364, 0.2226, 2.3032, 1.5249, -0.189, -0.8379, -0.8387, 0.9996] state[eef_state]: left_x=0.4329 left_y=-0.0781 left_z=0.0511 left_yaw=1.2817 left_pitch=0.0526 left_roll=0.0551 left_gripper=0.3364 right_x=0.4774 right_y=0.2463 right_z=0.0242 right_yaw=1.3059 right_pitch=-0.0115 right_roll=0.0034 right_gripper=0.9996 state[joint_eff]: [-0.0068, -13.9692, 3.412, 0.0317, -0.0024, -0.3639, 0.2515, -0.4171, -12.9709, 5.5453, 1.3602, -0.4225, 0.0366, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.28}, "note": "Jaws settled at 3.2 cm, about the neck diameter. Lifting high so the bottle can swing down and hang upright from its neck."})
tool
executing move_to over 15 steps (1.5s)
step 317
assistant
agent noteI could not stand any bottle upright within the call budget. With pitch and roll pinned, the only feasible route is to grasp a bottle loosely by the neck so it swings vertical when lifted, and all three bottles' necks sat at or just beyond the arms' reach circle (r≈0.55-0.58 m) with their caps pointing away from the bases. Body grasps and a 180° yaw flip to bring the necks closer cost most of the budget and the yaw near π folded the arm back toward its base, dropping the bottle.
give_up
hindsightConcrete lessons for this rig/task: (1) Pitch and roll are pinned, so a lying bottle can only be stood up by gripping it loosely just under the cap and lifting so it pivots to hang body-down — plan the whole trial around reaching the neck. (2) Reach at table height is a circle of r≈0.55 m from the arm's base, not a per-axis limit: a target like (x=0.47, y=0.33) silently stalls even though both values are inside the box. Compute sqrt(x²+y²) before every move. (3) Yaw commands near ±π make the IK swing the arm back into a folded pose near the base (x≈0.15) and it drops the payload; keep |yaw| ≤ ~1.5 and expect large yaw changes to translate the tool several cm. (4) Gripper reading equal to the commanded value tells you nothing; a settled reading clearly ABOVE the command means something is held (0.44–0.53 held a squeezed 500 ml bottle at commands of 0.25). (5) Body grasps of the bottle need a close command ≈0.25 (a 0.5 command just slips off). (6) In the wrist view anything visible above the bottom edge is BEYOND the fingertips; the calibrated shift here was ~8 px/cm at z≈0.12. (7) Lateral moves with the open jaws down among the bottles get blocked — lift to z≈0.15 before translating.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3836, 2.1628, 2.0186, -1.5524, -0.971, -1.7573, 0.3362, 0.2226, 2.3032, 1.5192, -0.1818, -0.8379, -0.8383, 0.9996] state[eef_state]: left_x=0.4239 left_y=-0.01 left_z=0.187 left_yaw=1.2768 left_pitch=-0.0324 left_roll=-0.017 left_gripper=0.3362 right_x=0.4769 right_y=0.2462 right_z=0.0231 right_yaw=1.3056 right_pitch=-0.0108 right_roll=0.0024 right_gripper=0.9996 state[joint_eff]: [0.5538, -14.7487, 6.8171, -0.1099, -0.8523, 0.1978, -0.0366, -0.335, -12.7521, 5.641, 1.3846, -0.4567, 0.0366, -0.0122] camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I could not stand any bottle upright within the call budget. With pitch and roll pinned, the only feasible route is to grasp a bottle loosely by the neck so it swings vertical when lifted, and all three bottles' necks sat at or just beyond the arms' reach circle (r\u22480.55-0.58 m) with their caps pointing away from the bases. Body grasps and a 180\u00b0 yaw flip to bring the necks closer cost most of the budget and the yaw near \u03c0 folded the arm back toward its base, dropping the bottle.", "hindsight": "Concrete lessons for this rig/task: (1) Pitch and roll are pinned, so a lying bottle can only be stood up by gripping it loosely just under the cap and lifting so it pivots to hang body-down \u2014 plan the whole trial around reaching the neck. (2) Reach at table height is a circle of r\u22480.55 m from the arm's base, not a per-axis limit: a target like (x=0.47, y=0.33) silently stalls even though both values are inside the box. Compute sqrt(x\u00b2+y\u00b2) before every move. (3) Yaw commands near \u00b1\u03c0 make the IK swing the arm back into a folded pose near the base (x\u22480.15) and it drops the payload; keep |yaw| \u2264 ~1.5 and expect large yaw changes to translate the tool several cm. (4) Gripper reading equal to the commanded value tells you nothing; a settled reading clearly ABOVE the command means something is held (0.44\u20130.53 held a squeezed 500 ml bottle at commands of 0.25). (5) Body grasps of the bottle need a close command \u22480.25 (a 0.5 command just slips off). (6) In the wrist view anything visible above the bottom edge is BEYOND the fingertips; the calibrated shift here was ~8 px/cm at z\u22480.12. (7) Lateral moves with the open jaws down among the bottles get blocked \u2014 lift to z\u22480.15 before translating."})
tool
give_up: I could not stand any bottle upright within the call budget. With pitch and roll pinned, the only feasible route is to grasp a bottle loosely by the neck so it swings vertical when lifted, and all three bottles' necks sat at or just beyond the arms' reach circle (r≈0.55-0.58 m) with their caps pointing away from the bases. Body grasps and a 180° yaw flip to bring the necks closer cost most of the budget and the yaw near π folded the arm back toward its base, dropping the bottle.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 33.32 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6075, -0.3767, -0.0227, -0.0284, 0.9986, -0.0154, 0.7883, 0.6033, -0.387, -0.0238, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1826 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0033 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.4427, 9.853, 1.7705, -0.0171, 0.1245, -0.1587, -0.7179, -0.9368, 10.2085, 1.8632, -0.0073, 0.1587, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c7c19206d81ba128038bebd0287a0cd84a064821e5926343a043da6b3039af4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89a7a15ded187d7806e3cdf64b0b57b89034070cddda548b65a646f1cc04e82f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d655b84f81749453f8ab5ae60808056ceff7a7d82f7d05e57f4eec92e1fb93d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 21.26 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6075, -0.3767, -0.0227, -0.0284, 0.9986, -0.0154, 0.7883, 0.6033, -0.387, -0.0238, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1826 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0033 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.4427, 9.853, 1.7705, -0.0171, 0.1245, -0.1587, -0.7179, -0.9368, 10.2085, 1.8632, -0.0073, 0.1587, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c7c19206d81ba128038bebd0287a0cd84a064821e5926343a043da6b3039af4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89a7a15ded187d7806e3cdf64b0b57b89034070cddda548b65a646f1cc04e82f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d655b84f81749453f8ab5ae60808056ceff7a7d82f7d05e57f4eec92e1fb93d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MD4gBcKUwCjXfuyB8JTbuF",
      "input": {
        "note": "Three bottles lie on their sides mid-table. I'm flying the right arm to hover ~22 cm above the rightmost bottle to see it in the wrist camera and judge which end has the cap.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.45,
          "right_y": 0.27,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01MD4gBcKUwCjXfuyB8JTbuF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.614, -0.3798, -0.0231, -0.0292, 0.9985, 0.7174, 1.8473, 1.552, -0.4564, 0.54, 0.374, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1837 left_yaw=0.0007 left_pitch=-0.0011 left_roll=-0.0004 left_gripper=0.9985 right_x=0.4386 right_y=0.2668 right_z=0.2009 right_yaw=0.0466 right_pitch=-0.054 right_roll=-0.0445 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.4838, 6.5983, 1.707, -0.0366, -0.0464, -0.0317, -0.2393, -9.8667, 9.7299, 1.6484, 0.5201, 0.315, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5ced2a380f5c21fb25e58f18fbc816eaa1ba430c48c2264dc17399754309e5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4807f8fc9f33b2bcbde56504d62e4f7375355eeead48d1e3398fcb394ded366",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dbcd94677134f0fe4551a6eedc55088ac979f5ec14c3a126ca1c767934799488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 15.26 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6075, -0.3767, -0.0227, -0.0284, 0.9986, -0.0154, 0.7883, 0.6033, -0.387, -0.0238, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1826 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0033 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.4427, 9.853, 1.7705, -0.0171, 0.1245, -0.1587, -0.7179, -0.9368, 10.2085, 1.8632, -0.0073, 0.1587, -0.0317]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.614, -0.3798, -0.0231, -0.0292, 0.9985, 0.7174, 1.8473, 1.552, -0.4564, 0.54, 0.374, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1837 left_yaw=0.0007 left_pitch=-0.0011 left_roll=-0.0004 left_gripper=0.9985 right_x=0.4386 right_y=0.2668 right_z=0.2009 right_yaw=0.0466 right_pitch=-0.054 right_roll=-0.0445 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.4838, 6.5983, 1.707, -0.0366, -0.0464, -0.0317, -0.2393, -9.8667, 9.7299, 1.6484, 0.5201, 0.315, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5ced2a380f5c21fb25e58f18fbc816eaa1ba430c48c2264dc17399754309e5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4807f8fc9f33b2bcbde56504d62e4f7375355eeead48d1e3398fcb394ded366",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbcd94677134f0fe4551a6eedc55088ac979f5ec14c3a126ca1c767934799488",
        "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_014vVZ8t2vAJCoUhPySZ36Qi",
      "input": {
        "note": "Right wrist view shows two bottles lying with their necks pointing away from the base; the nearest bottle sits right of the jaw column. Shifting right (-y) and descending to 14 cm to line the gripper up over that bottle's neck.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.23,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_014vVZ8t2vAJCoUhPySZ36Qi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3798, -0.0231, -0.0292, 0.9984, 0.627, 1.8187, 1.2095, -0.1837, 0.4843, 0.3279, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.003 left_roll=-0.0004 left_gripper=0.9984 right_x=0.434 right_y=0.2173 right_z=0.1158 right_yaw=0.0217 right_pitch=-0.1112 right_roll=-0.0746 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.4974, 6.9265, 1.7314, -0.0415, -0.0415, -0.0171, 0.5675, -9.894, 8.2393, 2.3175, 0.0415, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28d80f245d73ab97b4f5433dcec9e950e458dd73e7c422aa24ba551673377787",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7b8cd5d4f4b2ff189304a4fe52553d005da5d6bc8e60bccde2101fcc05c76b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:941aee89277c17b6afe4562f90bf098f04661036452e572d5065752ce183233d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 9.202 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6075, -0.3767, -0.0227, -0.0284, 0.9986, -0.0154, 0.7883, 0.6033, -0.387, -0.0238, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1826 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0033 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.4427, 9.853, 1.7705, -0.0171, 0.1245, -0.1587, -0.7179, -0.9368, 10.2085, 1.8632, -0.0073, 0.1587, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.614, -0.3798, -0.0231, -0.0292, 0.9985, 0.7174, 1.8473, 1.552, -0.4564, 0.54, 0.374, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1837 left_yaw=0.0007 left_pitch=-0.0011 left_roll=-0.0004 left_gripper=0.9985 right_x=0.4386 right_y=0.2668 right_z=0.2009 right_yaw=0.0466 right_pitch=-0.054 right_roll=-0.0445 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.4838, 6.5983, 1.707, -0.0366, -0.0464, -0.0317, -0.2393, -9.8667, 9.7299, 1.6484, 0.5201, 0.315, -0.0317]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3798, -0.0231, -0.0292, 0.9984, 0.627, 1.8187, 1.2095, -0.1837, 0.4843, 0.3279, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.003 left_roll=-0.0004 left_gripper=0.9984 right_x=0.434 right_y=0.2173 right_z=0.1158 right_yaw=0.0217 right_pitch=-0.1112 right_roll=-0.0746 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.4974, 6.9265, 1.7314, -0.0415, -0.0415, -0.0171, 0.5675, -9.894, 8.2393, 2.3175, 0.0415, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28d80f245d73ab97b4f5433dcec9e950e458dd73e7c422aa24ba551673377787",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7b8cd5d4f4b2ff189304a4fe52553d005da5d6bc8e60bccde2101fcc05c76b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:941aee89277c17b6afe4562f90bf098f04661036452e572d5065752ce183233d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WJFMJQugUxDf3HBqo6VtbF",
      "input": {
        "note": "The wrist view now shows a single bottle lying with its blue cap at the far end, just left of the jaw column. Moving 5.5 cm farther out and 2.5 cm left to bring the neck under the jaws (and to calibrate the wrist scale from the pixel shift).",
        "targets": {
          "right_x": 0.49,
          "right_y": 0.245,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01WJFMJQugUxDf3HBqo6VtbF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3866, -0.0227, -0.0292, 0.9984, 0.6151, 1.9533, 1.3479, -0.115, 0.4618, 0.3012, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.181 left_yaw=0.0004 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4727 right_y=0.2421 right_z=0.1164 right_yaw=0.0453 right_pitch=-0.06 right_roll=-0.0426 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.6615, 6.7761, 1.8339, -0.0464, -0.0415, -0.0122, -1.0325, -10.4957, 9.5111, 1.6679, 0.2613, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ade0803ed6f17ba5475ab602baba2bb73cf0baa0093d7b9bc59c8f7a7fa7120f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ed66992315b97f2c4d8da248f4c82abc0080529c487b72472ff31d38c754bdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d24ede0c4e551af987b0341f8c96c6a43f57d0f1a75e089939bfcff84964c831",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 22.93 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.614, -0.3798, -0.0231, -0.0292, 0.9985, 0.7174, 1.8473, 1.552, -0.4564, 0.54, 0.374, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1837 left_yaw=0.0007 left_pitch=-0.0011 left_roll=-0.0004 left_gripper=0.9985 right_x=0.4386 right_y=0.2668 right_z=0.2009 right_yaw=0.0466 right_pitch=-0.054 right_roll=-0.0445 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.4838, 6.5983, 1.707, -0.0366, -0.0464, -0.0317, -0.2393, -9.8667, 9.7299, 1.6484, 0.5201, 0.315, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3798, -0.0231, -0.0292, 0.9984, 0.627, 1.8187, 1.2095, -0.1837, 0.4843, 0.3279, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.003 left_roll=-0.0004 left_gripper=0.9984 right_x=0.434 right_y=0.2173 right_z=0.1158 right_yaw=0.0217 right_pitch=-0.1112 right_roll=-0.0746 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.4974, 6.9265, 1.7314, -0.0415, -0.0415, -0.0171, 0.5675, -9.894, 8.2393, 2.3175, 0.0415, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3866, -0.0227, -0.0292, 0.9984, 0.6151, 1.9533, 1.3479, -0.115, 0.4618, 0.3012, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.181 left_yaw=0.0004 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4727 right_y=0.2421 right_z=0.1164 right_yaw=0.0453 right_pitch=-0.06 right_roll=-0.0426 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.6615, 6.7761, 1.8339, -0.0464, -0.0415, -0.0122, -1.0325, -10.4957, 9.5111, 1.6679, 0.2613, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ade0803ed6f17ba5475ab602baba2bb73cf0baa0093d7b9bc59c8f7a7fa7120f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ed66992315b97f2c4d8da248f4c82abc0080529c487b72472ff31d38c754bdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d24ede0c4e551af987b0341f8c96c6a43f57d0f1a75e089939bfcff84964c831",
        "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/AgKjgEIEhgCKkBcGlGCUrp2p0d8jrJ9EtfdvZOVokoWXncHU+nWA1VkG6RBPiuHLxj/TUTCv6Ijsszgtd/Xm2nrHnCAE8nHWLjmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ6rzNUGEgziDLimHTCN6ltgAk8aDHdE3QwBzJqeoVumcCIw0PSXJyLsc4//oQtaWceYWCi8Ad8bJJ7yDBwPgpXqB84KdiFWTLP6xE5nyjqT71ibKpoHTLfGXcGdlw/TtpVnm84z48zd9GqbZyUy67jmyPpdpFTpWRu5/tV2hnVJJlZDLZL0rbcFdGFV7LYfmECrkNRAY5ngQLE1saGun4mJ5dq3zRgznm9oWd5YbVsJoKvQV55UOPT+vPY3LBt6lcC0O6irRUXhjj/ZsFG4DswHhTcJIUVP3SdCO82DkYriPDaXKEfiMh94FSCNGoqlLM4/bb7kiBT+NxtUx4K+csxr8wkH5KBFTax9V6wBGfIJbvhIPvSjiq/X5RXCGDbZ7VI7NQIz+m0rsR5IpA+57Oa3RaP1D/qJBBCowMmTAqSx5k9rZfXbyUkw6+n65T5g1xObSg3UiifiIlI6ZzRHreY/kJl4t7p+XQvXePu3rzgIN98kUN2JdsEFj0tGiJ4NwhVMf8ZKPNyeqH2gpzaQqhgI31Di5hSeAjZiJDrbqHNkFYmgODj0ynAdmuGGcNxAo7giRHD4tSRVH8KHqaL8llSPV6c3pJj5cRXy8id0lO/oL0NPs7GNfaMCUJTMvM9BLKMgwyuhDUnNhI/IBtWUquciBuR//1s/YuIgnWUSPHtLUoA8rPqvrC+CBQD9VkCJ3hvC614nUZXdwqMIkiwmv5qfWpztM55TvKWFCql9uMm4nKbw1uJw3KsWFDioKADQgJwDQRaSrFuJ7MfDjl6vLxG0BKUsZTxcIM6ohCo9lkB4ftMFkMFeAE5rH5Xb52xFWCJxMx2vyluFu2sXGHOyMepuPPRJljyu71WT15BUzNBwLz7YQ8OUVugZQIWgFy3XBavMcHKbjBZ+G8DBYp16HijpsUTLSN8/hf1KL/ZwtTLmueemYhWwHaLnnrhpjpRehfZ9GPgMTyRtzzVX2k5T0k7Rm1AblRssnJ5Y3FY2cAZNIjT9wE4M3dvTNjZA4Lx+4r6dHqdmp0sUSTPO89v1f/HTPYCe7aVNzuKuvjGvx2qeqZWBXbRVZ15uChQeY4YZIaUS1PdzH68CoZzA3COL6rr0EXADJRC29F5ToWgbbvVnglzKTnUOj7w/i1/dEpplD692SCvK7p4Nli7Fk+TNV1qfdDLBKqb/NYXq83pNuHOiPw2qXHPAt4r6ezrAcOTV4nx8j/g9mNP75Al6FmCDjKvyo4KcmNwUAXviwUxyghmRKOlEShNxAb6pem/o0UqErOzJrMqWOvCE5ts2rDXpXDtz8R+juL4zqYk/Cab0CMgxVi+btSCRKIjIK4fjw4m2CBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R3V7BECZ9EpvK1bJECYqsi",
      "input": {
        "note": "Wrist view: the bottle's neck/cap now sits near the jaw column but the bottle is still ahead of the fingertips. Descending to 5 cm (neck height) and nudging 1.3 cm right to line up before the final radial approach.",
        "targets": {
          "right_x": 0.49,
          "right_y": 0.232,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01R3V7BECZ9EpvK1bJECYqsi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6132, -0.3862, -0.0231, -0.0292, 0.9984, 0.5762, 2.0758, 1.1984, 0.1566, 0.429, 0.2787, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1809 left_yaw=0.0007 left_pitch=-0.0122 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4774 right_y=0.2268 right_z=0.0408 right_yaw=0.0445 right_pitch=-0.0719 right_roll=-0.0424 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.9214, 6.0923, 1.8584, -0.0366, -0.0708, -0.0122, -0.5812, -9.812, 6.0103, 2.0098, 0.1343, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a1413170a7960fc92f1e5054de9c76387ff03a5f74f180592988f01a86e7869",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ee9c3d48f8af2d22f23b4d2227dcafbba3d2443c28a93c75740d58bd6c1fae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:732552c1218d83ba7accc8a0be96c3c048440471fb475d37e35107b9d57b3da9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 4.87 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.614, -0.3798, -0.0231, -0.0292, 0.9984, 0.627, 1.8187, 1.2095, -0.1837, 0.4843, 0.3279, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0017 left_z=0.1831 left_yaw=0.0007 left_pitch=-0.003 left_roll=-0.0004 left_gripper=0.9984 right_x=0.434 right_y=0.2173 right_z=0.1158 right_yaw=0.0217 right_pitch=-0.1112 right_roll=-0.0746 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -1.4974, 6.9265, 1.7314, -0.0415, -0.0415, -0.0171, 0.5675, -9.894, 8.2393, 2.3175, 0.0415, -0.0415, -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]: [-0.02, 0.8021, 0.614, -0.3866, -0.0227, -0.0292, 0.9984, 0.6151, 1.9533, 1.3479, -0.115, 0.4618, 0.3012, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.181 left_yaw=0.0004 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4727 right_y=0.2421 right_z=0.1164 right_yaw=0.0453 right_pitch=-0.06 right_roll=-0.0426 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.6615, 6.7761, 1.8339, -0.0464, -0.0415, -0.0122, -1.0325, -10.4957, 9.5111, 1.6679, 0.2613, 0.0708, -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]: [-0.02, 0.8013, 0.6132, -0.3862, -0.0231, -0.0292, 0.9984, 0.5762, 2.0758, 1.1984, 0.1566, 0.429, 0.2787, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1809 left_yaw=0.0007 left_pitch=-0.0122 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4774 right_y=0.2268 right_z=0.0408 right_yaw=0.0445 right_pitch=-0.0719 right_roll=-0.0424 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.9214, 6.0923, 1.8584, -0.0366, -0.0708, -0.0122, -0.5812, -9.812, 6.0103, 2.0098, 0.1343, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a1413170a7960fc92f1e5054de9c76387ff03a5f74f180592988f01a86e7869",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ee9c3d48f8af2d22f23b4d2227dcafbba3d2443c28a93c75740d58bd6c1fae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:732552c1218d83ba7accc8a0be96c3c048440471fb475d37e35107b9d57b3da9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3BwKjgEIEhgCKkDLT1IwQ8A394gnsURpMJr44UsosqUpbB5Qw3hTmLY2rIu5Jnz10IOwZGw8VQ99hlBUuGww44DE+HWW1SoKOHClMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbarzNUGEgy9r17J9vUjNf7MrjUaDM+fPtr8ysy68X+NtiIwEMJ2ZTgRzWayA1XuSmJAopHfswkD6UdZt/uIrvJzCCEYcNaNwY60vFGoV+CvF8NVKvoaBe3yOuhFaBOwGRk/gOEskTPUiccI5cMfF/yqE5fWH2zPYmmXryM4X24mLmiL0eDDhGO26+/RJVodJLAEgezEVR/O2ULlf6FK6A+IJoq7tB0KKtGZdHOY/S4FoaPfy+geAh7Es+UzU/z0jsgFPmtoHxXZcz4Y29RBNLK8ep7qaGVIJbyayyetfdZKrahgrffrY/SATifbCcd4iUfqZsZH/KNiMySduY6gw6CQ1mkO+4J4UtfGHE3r2ap0uM3Fy7ya1nP1yd9M7aiaokEsOnpPQrhAEZ9UK+3eSmrOuBLssGW88uBSlRcqWUup1F+FQTIEtjSMMldTr4SnjPxz2jusQ6MpjKfizqDYSkA3+uyCMU/WgPiMZflf6p26oZjET17PCeWnQdJGsqb2xkPctGXwqk4pipBay5pgAqev56VDburYqVL3ozcPZQUqwdH0xUmXNqPWkk6q9Mqjq5qK+wazI/b7dkHrHz5bL0MHD2KUXbhS/6BQk14RU5i6LCITYYQDvcMzKI/ClCTmyYAGhF2ctybPoYeHsCL18zJjH2vAZ6TzBf/6pK+k4+CkbFFkPlavJZF4qb59C9ZUJb4zVvhrIxxtRgO9oS3g6mGN3+O9FzDVN/Jp7UUVpivuZdcjq9jwJATdvNPMUf9EpxngiK8uoC8RjBE/iabkpjRffA21a1mjvBFm5v7y/sGAe++McetNzc0VHUTxG7T2fYSafXIeOz7pe17X5+zXBWlYNeyv29L16kHPDrDnOrbYvvcCZKG72BWvpEvKijSZRTcmLVUeDwk8GhateznFAnZSPSiMdnpQKCAQxZ/6hJajE2HOJsqyNgHH9FfILIqD743nzH74BuU6h1XuxqE9vPdtmsoQ7HGAGtGaRDLbyDA8IQZL+O2HwCmDwQ9KwZShyuWVnoIX5yYNoWT+ynNqHl/7KRPiGTmAvNINAAGo9LgaMyjkIFOZ3Mmb6Lv3Pp17LxOfQtqPU1WRTZiRpnh6Wzrm+l57Ae6G8fsF7lvyvCg0G6l+wmcWvxxlC/0FBTapMBTUlmu3iL37PPT8tSlcBZxNw/dURmvs+Oi6oxzB29z8EzvDXZEoOR5JxqTr9b+cxSikMkn/ZLhhZbhq6EiAb+hqW9YAqnNdrZOPoyGYjxTKk4lJnBwacC2kfh4pyfyfKxJRHpF9+kohW7RAvm4/AoMbHj7SIjX7CS3vUYtvgmthtgjaXt2FTWSSomOL4OXRsafgcOgMFufhPYP7+f8lOv4s3QFFjVsb9UJAxnRaqA8Pl+7fb8N2z+SvVynsP18VB/s5b01j/Oa4Jgbft7qu2DBz5G1ZRoinPWK/c98ZcBbyDrS7hjE7x1gowxbxJ2UOKTYyUga56d21OqWC81Yf98kUP2SNNdfYCrKys70hfBoFEEVb2fbyKnQxm0Kt+3EiOD2pUS0lF6LIUGYbNjVtrzfBroCbWyn9eigWI7l1Khi3eEhXy7oYGJf2hn0F8xKmjgq699M6N9lBCcEtaABIHnYLFBLhKNQN3fjHvzE6CaMuPyIPLsx9OLJB/Lg2me6JHX2atho/vKuK7cD5SXJD9P107biiw7B6UDtGWSP4xaks/qwTi34WqOK1+iX372mKCq0fr0dzSqrSPvFsoYp74Irze/Lyc0Y/c6HORBSUhi5uTZfXsB3CdH2xmOJ08uCmDEfBSXFAR5hhV66u/qfuMoOtx3CttRSXyr0RD6wxWhOFuPHfyUzC5JbDePKZVefMcte9yLV3IdtMmHSoSvwYwvxZcKMI22o8C55ObzC8aObFyxszueNsJRg0DhkGigjGW9RRC+X8WqBAkJQvAvoszm46mAqWmj2e7qc8zOHVUQZttex1FGgPXX2oKYJbU7KB5dfxaIC0nuoaerWXJApopKWhtXgYji6ZXie8PvV3Mdz+OJxccmcoQ8vTmmtbjzejEfnCu5Zkpxo9siH401h7+pnIlOmxjgOuQMkuBZr6q6rZ262tzp+nR+I1ZoJNYHp58QNxl7t5w1L0nPP//R+gs1UpnLOl41L/UpSy9t+GSoQNLltVKsahwGL7tCnvSpPmXOnMzdtptAImaWOKP7giOfWrer5XGA7Y/qSMy7ufmIeOm7aPr67A8jorL5jHK8I3Z7QC2Wfs0Fn0wgs7jzyWv+1KO43zKdwNGj/w+arGzrdUxmTEJQeYFTTJbMo/R1oEBdrYK/yPOfkJ5urILFKtaTXeWtwX6W30bpUqAoKn/TZ4VGLkrGIgtvyvKpzEAt0ju2pq+g90i5uOIpFleY9gX7ASkYNlE9jMFdutFULDVnf/P221JZprjrkLX8Z5PMAfwTy4SQXUJJQ4TMOvKDik5o1R+cW3KDdr7NuKLs/qzo3wbLozNr6xLBuWK8OgXVgjrrCNIBkXk6fJlnINYy1/NvxALb/rjl+C/qAw4vmN6vrROjR5ZWVypjqZfzxvkgGKBC1/ZftmgmvH3Tyf/R5v9bje6Dm6e56IxK9A1HOlXQd5YKu6gAe8tofz8ej0D77NDnJgErDFeW492xAnvaHzYbiPyXCO/VjUCu45YVcSl81ryOWbIuLpa4LJNKPqs8NP9235UOBD4bGDpe2ZyCn2Jqq3lLMDwFRkzM5pusj9IvD/n97HiddXcpYw+tsAymSiIqPecH9sEa81wai0++mxZ8aS9RE2RSaTmchPLBdXPTkfJFjWsUlpZNGj2/3NcPACcAvMkNGjWLw5lt8/7opJ2Q9ZVguqqfAxQKAOsSNSjHLPbAgNe7swj/5vxrWQ4tCGoC1JySTIgwJmN3KYl6phzlsEE+TFAW4TY0tNPovXqPOTaLN4dHkhPkbTGDWNDHa8OmoqrIFOGbHvRPQUMsKpm265z7fD+bohcAIDUn1BWFwPtebzDbWFfpLtaRTMjGIjxG/NEvwfLiT997m2QJkCVaYOh7e/UmsFbOOkWz6pNDJQscD+YXV5pyBjFT6vBVY4d+aY2BuU/R1iZvgp1v1RVhxEFw8kUQA3ioU+R8PTuz/rKpEUF5Nbkq/YagE28FDRYPcYJWWhmzIBwBtB88XaLHAo4w3yhpRTBhXAJdz2e5e0ZoZVNmRD3Nb7ZFMT6PIxuQFdIRxrg0Q0BBjHNc32s3jRedqnSE/L4657dPj2AMdIaFupXtLJiT776pB891NQzWLBXlH9dBKxb2u34GXc9wS0nCBQ0MrNKfPnVEy6WUEqFTNNKkgcGCNAjhMyDhoqiCvESuDY2gdKtiKR5Aqhwv1HWqjxWvuUuAgU3vpFqeSnYuWMmtH3AO5/7ZkHJhpxaDZ8843IfI5bpI6h+s3hb6W3wLS2fwwl+l9JwczCSwqrUtolLn2j4NQFRpS9x42QR7p3tyUnrWARKIgRAIsat/Ymw1PWcd+eW2ua7lfoxN6UTMw0yVQ2d5DpFArJpzxADPSDJ/YhGrK3NrmiiOy3dwCu8o8WJU19x7JatDFF1cwCznfDX8Qoky3VjTMxxQP7w82JcqBchCtQy0/GJYGFK92ne5Xqo+/kmKlj0pFZD+hLF9pqHSq7CTC8wl+xL2ZHhmibeTF9obrKwDx7Z92zqkOxYJYB7ha7wojFqEWC8HD/TGaOm33hYvCF5ygizAI2w2lK1ORkVwRePBo4KfAutXlWiAeIFu6jn4Z9spwYt58xqGTi2ZZ0muwqwTF5IRBWTkd5tnGqWNiAKyStsQN2nkak3A96A+SL0nEBjGMA/TOqRxgXYpBE4iLFsZE/lPv2vVAJAS01XJjaXVZrjsM71r+W3dWnLAk853+P6H533t5pKiGtEUPeZ3eSzC9wRf+KgD33W8dtdJWH7OYTZiubD98NZ49vwgeffMG6wXnIUik2dk3Vs9I9HXVBSPUUmmu6ZlMlZ1YTs1re/kff2XWsOUUoaD4dnnPkH6w02zYrLjWXe6dL9OuaBBIiijfa5OofCdTIwrYKhhurE1PtulATqMGv/qIcjhdlzx9yG5UXpMj0vUUOUxmhPiQKfp4Pis22V8hbMsrEpmw1OBHGW9/M6W2u4gCpun5rFtL1RgQNAkMCCxhjZke+z4qzzESOM+/EUbNoG+eyAoYsk9zV3ygaNkKaJUTkUtP1EDc82TtKXtsKfWBqtoBBK/s2jFeNjgri9C1Ydksn1+4uItNCD0SUJCmCoIdZtyoJmTCCmd9GwmGLQgdx4BbyqUgcxy7uJJ4HOShFAuvhucb0o0yigQJoJuAuGfItP9G9ifjmXla5xxpBy4CFjS1o6xQd89CuHtFJ3uuZt12KJgH6yrE/45pNkVn5Hwo3vSoR+dAAYpe3G/WEJ/leK85wu/riH1ISiNaYl5F9Pl3Tz8/zdKqtb5wbdVuRmLw+ShXeIN3nh4rx/tju7yHyYKkT2El38B3GxYlsUiLOANB8RPBXN+QGo90JnIW1/2WL69Ck9p5FeM72eczPv/Tmw9t7tgyg+5jFkEDeWbWWiLAa47s9C2/9DHzcLSdXi/bH8mXOGEfte57WQniSjvDxeBKGLvcJSszmyY/9f6LOXbywHwyVIDl/Cnlsrk9kPtuouVVmeLAw3doRikL7Tn1WIOGpWZ6pfkc67NxCJYO5HzvvY2N3AgBuG7EiEERyj4HAj49f6Xyh+zaW805rGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MEsjMxgRM6TJScMd5bpa8g",
      "input": {
        "note": "The bottle now lies between the open jaws at its label; the neck (blue cap) points away, too far out to grasp directly. Closing on the body so I can carry the bottle nearer the base, where I can then grab its neck and let it hang upright.",
        "targets": {
          "right_gripper": 0.5
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01MEsjMxgRM6TJScMd5bpa8g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6048, -0.3862, -0.0231, -0.0292, 0.9984, 0.5758, 2.0853, 1.1969, 0.2371, 0.4149, 0.263, 0.506]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1771 left_yaw=0.0007 left_pitch=-0.0206 left_roll=-0.0 left_gripper=0.9984 right_x=0.4859 right_y=0.2348 right_z=0.0492 right_yaw=0.0654 right_pitch=-0.0162 right_roll=-0.0128 right_gripper=0.506\nstate[joint_eff]: [-0.1026, -1.9897, 6.7077, 1.873, -0.0269, -0.0611, -0.0122, -0.6496, -10.3726, 6.2701, 1.8046, 0.1978, 0.0806, 0.2125]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db356a128595ce774104cacf41ce8a2b823b6c5356b6acf6e57312f4f1babeba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef26c121e8c9dd5e927375884fdd0619d1af14004270cd769976c003780820f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f9bfd2c489e0930360b3e5f3b1fef5631187e145a410bd884715439f6d1bf45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 13.2 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.614, -0.3866, -0.0227, -0.0292, 0.9984, 0.6151, 1.9533, 1.3479, -0.115, 0.4618, 0.3012, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.181 left_yaw=0.0004 left_pitch=-0.0126 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4727 right_y=0.2421 right_z=0.1164 right_yaw=0.0453 right_pitch=-0.06 right_roll=-0.0426 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.6615, 6.7761, 1.8339, -0.0464, -0.0415, -0.0122, -1.0325, -10.4957, 9.5111, 1.6679, 0.2613, 0.0708, -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]: [-0.02, 0.8013, 0.6132, -0.3862, -0.0231, -0.0292, 0.9984, 0.5762, 2.0758, 1.1984, 0.1566, 0.429, 0.2787, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1809 left_yaw=0.0007 left_pitch=-0.0122 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4774 right_y=0.2268 right_z=0.0408 right_yaw=0.0445 right_pitch=-0.0719 right_roll=-0.0424 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.9214, 6.0923, 1.8584, -0.0366, -0.0708, -0.0122, -0.5812, -9.812, 6.0103, 2.0098, 0.1343, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6048, -0.3862, -0.0231, -0.0292, 0.9984, 0.5758, 2.0853, 1.1969, 0.2371, 0.4149, 0.263, 0.506]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1771 left_yaw=0.0007 left_pitch=-0.0206 left_roll=-0.0 left_gripper=0.9984 right_x=0.4859 right_y=0.2348 right_z=0.0492 right_yaw=0.0654 right_pitch=-0.0162 right_roll=-0.0128 right_gripper=0.506\nstate[joint_eff]: [-0.1026, -1.9897, 6.7077, 1.873, -0.0269, -0.0611, -0.0122, -0.6496, -10.3726, 6.2701, 1.8046, 0.1978, 0.0806, 0.2125]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db356a128595ce774104cacf41ce8a2b823b6c5356b6acf6e57312f4f1babeba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef26c121e8c9dd5e927375884fdd0619d1af14004270cd769976c003780820f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f9bfd2c489e0930360b3e5f3b1fef5631187e145a410bd884715439f6d1bf45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS2QQKjgEIEhgCKkBS/QO/NRFG+12m/vBybi1hmrnVdMPcN65dr91/84SHSoF9dWI/3L2s5bFWQdslWI/o1j8vwtJnNKKItmLRonRuMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbyrzNUGEgy2cvShdRWC9ZwaiUYaDKEu84+ld9XF0bWKrCIwQBJH/tFlwRJcSYCr3N63wVDESyw+6IMpEI9FMjO+nmPpJ08EXBOPoyK4Xw8FXUtVKvcCgzUP5q+EOTLn8/4nBjrYURTjXitjQEALr1XY9R3Ek5oHSeoAJL0jAS8NYz3h2YenhbFUVU4xgzp5D71tq+qDkBzCAe/M9eRz8UoplCSaKn+Xk4IM+TUnSAYgPXgfE+Rr9YTHTmSkt4VQY1p1svr/pLfMYiTTangWcIsc6A0VRgU5Tj4epP38jBDAKJCsisIsaCW6K+W6BKz143SlhVdBhUKJK4d0+iQA4VdLYsPFvX7dJa54kNO5SIJWqHaEkGoBrS+slaZTR6aEXSG8+wc8TiTdIm5cFVDsJ8+0Iu1hbm9VepDSBbbEklMqwN5igeRwJjII51kge1B1ga7E1NjSDb1oyqkLDwrOGrixBP3CMZhLz+j4+ZriWE9qmHnEVRNaMa3OiKXT9w8S2D66Qa2fkPTGRVyU+jjXhbpjcMK7NdEEhTnbkZ8g/mT3I5xWrk3GTj7xRZmfB3DHJY9sVF2EqberuK88LcxyfE1EvOPJ39qrPGSbnc/FGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WtwvPsqh6JW5B1xUuFdU3y",
      "input": {
        "note": "Jaws closed to 0.5 on the bottle body. Lifting 15 cm to confirm the bottle came with the gripper.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WtwvPsqh6JW5B1xUuFdU3y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5858, -0.3744, -0.0231, -0.0292, 0.9984, 0.5785, 1.8706, 1.4906, -0.1864, 0.3985, 0.2523, 0.5058]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1723 left_yaw=0.0007 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9984 right_x=0.4913 right_y=0.2433 right_z=0.2043 right_yaw=0.0864 right_pitch=0.054 right_roll=0.0272 right_gripper=0.5058\nstate[joint_eff]: [-0.2667, -1.9761, 6.9812, 1.9023, -0.0513, -0.0562, -0.0122, -0.6085, -10.4274, 7.9795, 1.5653, 0.2222, 0.0562, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a26e663af3f2ecb6e50aec6e942cd245476df8fa253804b01e5f1df7bb09b9f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8825cdea66ea33d6759bcc465c7b37be445ad091728ac2dfe974691a642056b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aeb6043c5e4de47aead379c622d644c8464d685b9dd76435e0a8612b08967be2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 3.31 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6132, -0.3862, -0.0231, -0.0292, 0.9984, 0.5762, 2.0758, 1.1984, 0.1566, 0.429, 0.2787, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1809 left_yaw=0.0007 left_pitch=-0.0122 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4774 right_y=0.2268 right_z=0.0408 right_yaw=0.0445 right_pitch=-0.0719 right_roll=-0.0424 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.9214, 6.0923, 1.8584, -0.0366, -0.0708, -0.0122, -0.5812, -9.812, 6.0103, 2.0098, 0.1343, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6048, -0.3862, -0.0231, -0.0292, 0.9984, 0.5758, 2.0853, 1.1969, 0.2371, 0.4149, 0.263, 0.506]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1771 left_yaw=0.0007 left_pitch=-0.0206 left_roll=-0.0 left_gripper=0.9984 right_x=0.4859 right_y=0.2348 right_z=0.0492 right_yaw=0.0654 right_pitch=-0.0162 right_roll=-0.0128 right_gripper=0.506\nstate[joint_eff]: [-0.1026, -1.9897, 6.7077, 1.873, -0.0269, -0.0611, -0.0122, -0.6496, -10.3726, 6.2701, 1.8046, 0.1978, 0.0806, 0.2125]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5858, -0.3744, -0.0231, -0.0292, 0.9984, 0.5785, 1.8706, 1.4906, -0.1864, 0.3985, 0.2523, 0.5058]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1723 left_yaw=0.0007 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9984 right_x=0.4913 right_y=0.2433 right_z=0.2043 right_yaw=0.0864 right_pitch=0.054 right_roll=0.0272 right_gripper=0.5058\nstate[joint_eff]: [-0.2667, -1.9761, 6.9812, 1.9023, -0.0513, -0.0562, -0.0122, -0.6085, -10.4274, 7.9795, 1.5653, 0.2222, 0.0562, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a26e663af3f2ecb6e50aec6e942cd245476df8fa253804b01e5f1df7bb09b9f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8825cdea66ea33d6759bcc465c7b37be445ad091728ac2dfe974691a642056b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aeb6043c5e4de47aead379c622d644c8464d685b9dd76435e0a8612b08967be2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017Wic36JUH7t99R2LKYdAYN",
      "input": {
        "note": "The lift came up empty — the bottle is still lying on the table, so the 0.5 close was too loose. Reopening and descending back to bottle-axis height for a tighter regrasp.",
        "targets": {
          "right_gripper": 1.0,
          "right_y": 0.236,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_017Wic36JUH7t99R2LKYdAYN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5697, -0.3637, -0.0231, -0.0292, 0.9984, 0.569, 2.0804, 1.2011, 0.2058, 0.3874, 0.2413, 0.997]\nstate[eef_state]: left_x=0.2924 left_y=0.0018 left_z=0.169 left_yaw=0.0007 left_pitch=-0.021 left_roll=-0.0 left_gripper=0.9984 right_x=0.4839 right_y=0.2345 right_z=0.0464 right_yaw=0.0921 right_pitch=-0.0437 right_roll=-0.0264 right_gripper=0.997\nstate[joint_eff]: [-0.3487, -1.9077, 6.7077, 1.8877, -0.0366, -0.0659, -0.0122, -0.6906, -9.9214, 5.8872, 1.9609, 0.0855, -0.0122, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2ce20565d1ca9f2c90aadf8896996e361ed06ee9e5c10016a7f3bf0ee8548f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b86d2464b8a8b0b0b0635eb2700c0f6848fe08160c2b3e352c6232fb640bafd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f94b485a791835ab6442fc1672b4d6a0602eea2e26f54fe7a74dd70d0f796cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 6.708 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6048, -0.3862, -0.0231, -0.0292, 0.9984, 0.5758, 2.0853, 1.1969, 0.2371, 0.4149, 0.263, 0.506]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1771 left_yaw=0.0007 left_pitch=-0.0206 left_roll=-0.0 left_gripper=0.9984 right_x=0.4859 right_y=0.2348 right_z=0.0492 right_yaw=0.0654 right_pitch=-0.0162 right_roll=-0.0128 right_gripper=0.506\nstate[joint_eff]: [-0.1026, -1.9897, 6.7077, 1.873, -0.0269, -0.0611, -0.0122, -0.6496, -10.3726, 6.2701, 1.8046, 0.1978, 0.0806, 0.2125]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5858, -0.3744, -0.0231, -0.0292, 0.9984, 0.5785, 1.8706, 1.4906, -0.1864, 0.3985, 0.2523, 0.5058]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1723 left_yaw=0.0007 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9984 right_x=0.4913 right_y=0.2433 right_z=0.2043 right_yaw=0.0864 right_pitch=0.054 right_roll=0.0272 right_gripper=0.5058\nstate[joint_eff]: [-0.2667, -1.9761, 6.9812, 1.9023, -0.0513, -0.0562, -0.0122, -0.6085, -10.4274, 7.9795, 1.5653, 0.2222, 0.0562, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5697, -0.3637, -0.0231, -0.0292, 0.9984, 0.569, 2.0804, 1.2011, 0.2058, 0.3874, 0.2413, 0.997]\nstate[eef_state]: left_x=0.2924 left_y=0.0018 left_z=0.169 left_yaw=0.0007 left_pitch=-0.021 left_roll=-0.0 left_gripper=0.9984 right_x=0.4839 right_y=0.2345 right_z=0.0464 right_yaw=0.0921 right_pitch=-0.0437 right_roll=-0.0264 right_gripper=0.997\nstate[joint_eff]: [-0.3487, -1.9077, 6.7077, 1.8877, -0.0366, -0.0659, -0.0122, -0.6906, -9.9214, 5.8872, 1.9609, 0.0855, -0.0122, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2ce20565d1ca9f2c90aadf8896996e361ed06ee9e5c10016a7f3bf0ee8548f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b86d2464b8a8b0b0b0635eb2700c0f6848fe08160c2b3e352c6232fb640bafd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f94b485a791835ab6442fc1672b4d6a0602eea2e26f54fe7a74dd70d0f796cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4QMKjgEIEhgCKkDyqaSfxVaDkJMnnVIkmAvhuwmhs5iUjD9W+cnfIxGbQkUB1p+burFM0fs5+y3w1v53N+aa4QDH80fUCUVGNq5YMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc6rzNUGEgxYoaaID1vvbkL/t4QaDFFDYlS4Kz6F+8cL6yIwSgOMKMtPFVbuhvmM1e3DUG0exnxwILYBI+7PMHFI3XOTY68aQ8hbaa97QNkrFTy+Kv8BSA6XtMH6nDk8QIm8gTbOVnqXxF4ADS1a1ROB7AdtwptVVCNqx+tuJhTVY6oUKhi3HBKUFAnibbJhIO0YaMElFEV8d1A6p8EE8ZQXFElESdpQE9R8JOEmAByspvPOpQv1UPwVdy4G1+Yw972+X8kjVEcDjEodT7nLVggxOih7wYHouNC2MSm/iUdi20t1JjXHkNDDIpPVlriKLB44UGG6FJbBrts0AFcDalIsWflb5CPgoQXg3qQg4PhTmEDni11tIT/WjCKaOF9uo2dfcbeKDrKqGtF34kRmJ5JLU2m0rqQ9Y617TJpq9rP3aXKvnUyZh3/uZXpUDMWlFX6ZCGJbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015MTghruXeGowpeeLm6qMcW",
      "input": {
        "note": "The bottle is centred between the jaws in the wrist view. Closing harder (0.25 ≈ 2.4 cm) to really squeeze the plastic body this time.",
        "targets": {
          "right_gripper": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_015MTghruXeGowpeeLm6qMcW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7841, 0.5533, -0.3523, -0.0227, -0.0292, 0.9984, 0.5701, 2.0933, 1.1648, 0.3195, 0.3809, 0.234, 0.4374]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1651 left_yaw=0.0004 left_pitch=-0.021 left_roll=-0.0002 left_gripper=0.9984 right_x=0.487 right_y=0.2385 right_z=0.0468 right_yaw=0.1029 right_pitch=0.012 right_roll=0.0004 right_gripper=0.4374\nstate[joint_eff]: [-0.0479, -1.894, 6.7077, 1.8632, -0.0464, -0.0757, -0.0122, -0.3077, -12.1368, 5.2034, 1.4481, 0.1245, 0.0464, 0.442]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:751983749c8f0f5564398fc81ebd1439bd52654a9819d17dc50405aaa7018feb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05f1750d5e0c226f677dde42a8459b3cce47bf7625769309fa650d904625653c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:32267ddd59e70577198240183b0745cbdab8d6a60cf324f18b20faf04d1cdfa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 8.016 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.5858, -0.3744, -0.0231, -0.0292, 0.9984, 0.5785, 1.8706, 1.4906, -0.1864, 0.3985, 0.2523, 0.5058]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1723 left_yaw=0.0007 left_pitch=-0.0221 left_roll=0.0 left_gripper=0.9984 right_x=0.4913 right_y=0.2433 right_z=0.2043 right_yaw=0.0864 right_pitch=0.054 right_roll=0.0272 right_gripper=0.5058\nstate[joint_eff]: [-0.2667, -1.9761, 6.9812, 1.9023, -0.0513, -0.0562, -0.0122, -0.6085, -10.4274, 7.9795, 1.5653, 0.2222, 0.0562, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5697, -0.3637, -0.0231, -0.0292, 0.9984, 0.569, 2.0804, 1.2011, 0.2058, 0.3874, 0.2413, 0.997]\nstate[eef_state]: left_x=0.2924 left_y=0.0018 left_z=0.169 left_yaw=0.0007 left_pitch=-0.021 left_roll=-0.0 left_gripper=0.9984 right_x=0.4839 right_y=0.2345 right_z=0.0464 right_yaw=0.0921 right_pitch=-0.0437 right_roll=-0.0264 right_gripper=0.997\nstate[joint_eff]: [-0.3487, -1.9077, 6.7077, 1.8877, -0.0366, -0.0659, -0.0122, -0.6906, -9.9214, 5.8872, 1.9609, 0.0855, -0.0122, -0.2027]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7841, 0.5533, -0.3523, -0.0227, -0.0292, 0.9984, 0.5701, 2.0933, 1.1648, 0.3195, 0.3809, 0.234, 0.4374]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1651 left_yaw=0.0004 left_pitch=-0.021 left_roll=-0.0002 left_gripper=0.9984 right_x=0.487 right_y=0.2385 right_z=0.0468 right_yaw=0.1029 right_pitch=0.012 right_roll=0.0004 right_gripper=0.4374\nstate[joint_eff]: [-0.0479, -1.894, 6.7077, 1.8632, -0.0464, -0.0757, -0.0122, -0.3077, -12.1368, 5.2034, 1.4481, 0.1245, 0.0464, 0.442]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:751983749c8f0f5564398fc81ebd1439bd52654a9819d17dc50405aaa7018feb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05f1750d5e0c226f677dde42a8459b3cce47bf7625769309fa650d904625653c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32267ddd59e70577198240183b0745cbdab8d6a60cf324f18b20faf04d1cdfa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISkQgKjgEIEhgCKkAOWSex2XlPvERhHE4/62pHRmUG/dXvBkHuzZpfZerrmD/W1XVshwyK6TM8Nv89uhN3NNZMYMVKkjMClKuw9NrTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdarzNUGEgxbcznScO8/ArmBFToaDECWwD9jwDrUIEybfyIwqNogfDEmA6pIfzbMKzsINvLKxTPRKuasTDHRXsAhW3+bfJPcdXK6tKRvjCd2RUIbKq8G94Fzd+QPZE0bAEH2kyFqWnFgUugXxfUgXLRPu8de50alh+MVTPJmE8pB/YWOxeGDiOCx5uwEY3sk6ipGJ4olbMSpVT9rFyzmVkqtJqq6YYlv88T6KcoETx0SMgTr4Ze+d1GfMhFPJ+o+5cmh1/Wh14fdMMM1KfW6eC40jA7JZef0J40I3vNcjilJHgmyaE2rr8UqaNkbFggNY1k7oV3vUDYfjpslRx6oAo43XMi36SUWoP28ceV8q7/Pt2Ew4IbIJNWsMIpz9fKFw7jMslWeeyBLqvD7iEdGVuYhds8zQzT+sSx6R1E0WjgL/A2QSThQlUyBe63lia1QawtT3YxQqsD0CG2SiBBQn7pk02Ha8B976JADG+b2sTkqhVPIn1uTUTp9+Uf2o2Hffw3BGhLjyqEXUEO/FTD3iy8Xhvyz1FW52yVlmKD49weUIPAIiqY9rX0BpYonsCW0MWjghARTngGzyuRR4V/k3j8myTDk7pZ+Ceda64TvVuKEzfbvpvZ3n/MMAc6OhIbtCkGmY06rGvqw+t4UaSNUeqIcSWoINuLeNASv4kI0iyfEbtayRhi3WL0IY6De7fTRo5NA9rxUJ/o6D9TCN8xEQfJc0h4nZrH/se9x+GppeRwTfVT7rHVNg2m518uEOT8u2eRWPTmLK48fEujOxgJJ4Z1jeYToa+E1pEpxFJTebIA2oQUxz3iDBoqxBhxFOTMRha2omCN1sjXY4gxoQ2IHWoq9MZQbPPDl7Zg3tO12KjQryl8YmUCAxn0/WXzcb/ZYUbAJcAlSgASWZ7iPlxQRR+2SICbCKXrbe9fsBGxVe1uNzZ6Rc32KaSrTTNM/GsXbtsrCzmofCdPqwfpC52KuMlKxPGCnldcGm1+BErD0wmMB1Tk3mTJjDfDrOoSaRNud2IiK0q6p+8KcVR1koUzGbTQ+T8JsotJSXckT3MrC+A+VR5X4cD+WK77oi9RmkcDJwMy10ATl3nEor0Yq6NUaKE4j76O2/IAyLOAqn6SoDA5FWT6bh+bvtM2F7WqJ+h8hZxhLIJ/aL8gmT9dGGmYbmq7jBAkWejxQbYJkSDSb1R0I1UEIWeUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016Xzefx3PHoETC8dMpvmfXV",
      "input": {
        "note": "Gripper settled at 0.44 (≈4.2 cm of squeezed bottle), so the bottle is held. Lifting it clear of the table.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016Xzefx3PHoETC8dMpvmfXV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7784, 0.5369, -0.3443, -0.0231, -0.0292, 0.9984, 0.5701, 1.9213, 1.4639, -0.2394, 0.3618, 0.226, 0.4367]\nstate[eef_state]: left_x=0.2901 left_y=0.0019 left_z=0.1608 left_yaw=0.0007 left_pitch=-0.0236 left_roll=0.0 left_gripper=0.9984 right_x=0.4843 right_y=0.2405 right_z=0.1547 right_yaw=0.1215 right_pitch=-0.0718 right_roll=-0.0346 right_gripper=0.4367\nstate[joint_eff]: [-0.4034, -1.7162, 6.7761, 1.8974, -0.0415, -0.0659, -0.0122, -0.3624, -14.8991, 9.6342, 1.9463, 0.2222, 0.0952, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ba631b5be0d81f79ae483c6ae3916555e100c8be69bf31ad7d59606cd65237d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9b1c93c1952162df63e94df44441783762a0e5418869e4d90f030287482d836",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:31403f5ed135ede202b4b82495923bf525240eca2641121e89fa8e5cb17682d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 8.94 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5697, -0.3637, -0.0231, -0.0292, 0.9984, 0.569, 2.0804, 1.2011, 0.2058, 0.3874, 0.2413, 0.997]\nstate[eef_state]: left_x=0.2924 left_y=0.0018 left_z=0.169 left_yaw=0.0007 left_pitch=-0.021 left_roll=-0.0 left_gripper=0.9984 right_x=0.4839 right_y=0.2345 right_z=0.0464 right_yaw=0.0921 right_pitch=-0.0437 right_roll=-0.0264 right_gripper=0.997\nstate[joint_eff]: [-0.3487, -1.9077, 6.7077, 1.8877, -0.0366, -0.0659, -0.0122, -0.6906, -9.9214, 5.8872, 1.9609, 0.0855, -0.0122, -0.2027]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7841, 0.5533, -0.3523, -0.0227, -0.0292, 0.9984, 0.5701, 2.0933, 1.1648, 0.3195, 0.3809, 0.234, 0.4374]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1651 left_yaw=0.0004 left_pitch=-0.021 left_roll=-0.0002 left_gripper=0.9984 right_x=0.487 right_y=0.2385 right_z=0.0468 right_yaw=0.1029 right_pitch=0.012 right_roll=0.0004 right_gripper=0.4374\nstate[joint_eff]: [-0.0479, -1.894, 6.7077, 1.8632, -0.0464, -0.0757, -0.0122, -0.3077, -12.1368, 5.2034, 1.4481, 0.1245, 0.0464, 0.442]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7784, 0.5369, -0.3443, -0.0231, -0.0292, 0.9984, 0.5701, 1.9213, 1.4639, -0.2394, 0.3618, 0.226, 0.4367]\nstate[eef_state]: left_x=0.2901 left_y=0.0019 left_z=0.1608 left_yaw=0.0007 left_pitch=-0.0236 left_roll=0.0 left_gripper=0.9984 right_x=0.4843 right_y=0.2405 right_z=0.1547 right_yaw=0.1215 right_pitch=-0.0718 right_roll=-0.0346 right_gripper=0.4367\nstate[joint_eff]: [-0.4034, -1.7162, 6.7761, 1.8974, -0.0415, -0.0659, -0.0122, -0.3624, -14.8991, 9.6342, 1.9463, 0.2222, 0.0952, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ba631b5be0d81f79ae483c6ae3916555e100c8be69bf31ad7d59606cd65237d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9b1c93c1952162df63e94df44441783762a0e5418869e4d90f030287482d836",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31403f5ed135ede202b4b82495923bf525240eca2641121e89fa8e5cb17682d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISvgoKjgEIEhgCKkCG8YcN39ECOXldcqSyDGcrae0UDIlYu00HKSR6rvCnmOTsHRFIRbQMZmocCy6vxaqn+0pNZQTgTAumVJOv7HnIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd6rzNUGEgwokKzjmwwIV/uuGTwaDHZOynK5fUNePFPG4iIwNQ1QUfxItXvhAdEJ8Jn0j93+5YVg6pQH+kGOEs7+AbXMThCz7OCGQTs6UkXnvuYmKtwIRhGDT5MP0CpmF60QCa7xloWOZjDtLlkJg1Ck9IDlW7m5NMeKoUZTH7u3LZimYKl72106oPaddL2E3pNRlGiEQwxUe0nMZT5+EvQmRxIIJCuiMGK6UIc3p/QJP032vUbGen/nHEZXmms+rFrSl55xrLs9P1gNaM7JzbXJ0W6twoxgF1mmrVle3fV6rp2MNQQgIlx20KnxAAx2KIpF5RzlPK8pO1wlC/AnukLhM1kx4MBTsjxYspuSl/4Qg1Z4JJ0IUBWr1yCJwkpULHXLqacH1+YayoUhLF6z1j07w+sS5NKv0QHwLVlenmLifcOlD6G5Q9pKKUbGgcethMnxPixEo4y0E3ezh1hLSW+8HRfAXtAVh0lmW4JNho3q/UACeJfuJkw2QmeQgVaqBhx92I64qnB3+7PI/Ep6lXLWkF55Ii3Ev5+cjH33dGMqSk2Snr0z+52pEXFa+wjZQh89mohprSWCJL/ntazN7lkE6WrTqMAP6pk3yYMliw9R/HC5rQychNByJFgQ0uqOpcKwT5OirLebiJ9qC1hO1cxadIGIhH6uyv6yxhk4IytVr2k0K+iXa1D53fmKwajMqg+Kj+RbWYnIF5iTmmMdQaeZA1t0ri4AZMxIAHRUzlqQMgI5thqOS2L4Bk5va9pgRXFDhTgK2Lf5p/+dtXeP8fgsJpk/NlzAHLBZj6/y4nlZ+4ujBRPPapnAL6J3HpHngEVU6gfoJ0TQOubRfQOWUY18JpekfPMpOy9STIKhsFHYhu35IRHJ7X7ObDDBM6ZnSlP4T9SKappVkZJzfglUegPsu9RaxPGLPydOlmd3QWGmHiRdwjVNx/cICgwIfjWr9/D4vpa3KAFc6UwBYxYptuI6t/wPpLlGnZGbc1c+qgeC5cVSZUsnkQq/+t3nAL7kS2wTN35KEXoVhy954d/eKHzVeMDxpaa5gs+U3beqLC6yiFPExI8n2JCW9cgycvM8ZBJgQqxi1Cn+RxvZ6et7144EvV+n77a1Xjhh76XP+wQ4waRUBwJ/NDn22aK+Iu8QTL2xPjWCivlOu6C1ihHYE2G//B8T4CHVljVRD4uhjiTxkmFsRahj4xsm28wXAEgr80aq7tbtZMDvnyvfpLcePhHTjdNWC4uOxY8pFpRJ5nyZH1kcMSlVddPCZyeSL60NKp8u4gSS9H5WkNS5wtmq0CaRPhIC4c+L3zcr/6JBdPKgpBtwXl0LJAG1tDCMV267/JYvorxXL/qIoC9IDqbnNeGQ10y/q60bbEazLmn1QrcxKttbmmxABNliVBfnz1RfUM/29U9zJeoj80/9U6QJj4wQsCB5Fe+gAWNDTUYYv+mpbYp3qNGOe0pfsSf/PeSTrb6gDQ1HAcHT4b6VhiVbSZa9Fl1JxVu5WL1+84HuhMbAM0Nr0DnERk2pjteV1DLzevgx2ZNfD6LtlO07rTtwHt0sTOdz/im/WwmAZPNUndhzjW7GWW3aQcgxIOAJ5lmJoBLgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019Jmh6CVLhLkefxrAZxwe2i",
      "input": {
        "note": "Gripper is still blocked at 0.44, so a bottle appears to be held. Carrying it back toward the base so its neck will be within reach for a re-grasp.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.26,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_019Jmh6CVLhLkefxrAZxwe2i",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5163, -0.3286, -0.0231, -0.0292, 0.9984, 0.868, 1.5532, 1.145, -0.3191, 0.5659, 0.408, 0.4366]\nstate[eef_state]: left_x=0.2888 left_y=0.0019 left_z=0.1576 left_yaw=0.0007 left_pitch=-0.0175 left_roll=-0.0001 left_gripper=0.9984 right_x=0.3461 right_y=0.2676 right_z=0.1882 right_yaw=0.1598 right_pitch=-0.0239 right_roll=-0.0147 right_gripper=0.4366\nstate[joint_eff]: [-0.253, -1.2513, 6.8581, 1.9023, -0.0464, -0.0806, -0.0122, 0.2667, -9.4154, 6.4205, 1.6288, 0.3297, 0.0757, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd302bcf6907d9f5fecba3da476ed73e3bd63c07772397c5e558b1ebca9a0ae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:845ebcfd7c7533390c63fe3fb827d2eb87f0a18029d5bbdda89e12a328a1f47e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ba009dafa6db471ab6b8e662f443ee1e884e1aa38c652ea88656fc64bfa0411",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 4.358 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7841, 0.5533, -0.3523, -0.0227, -0.0292, 0.9984, 0.5701, 2.0933, 1.1648, 0.3195, 0.3809, 0.234, 0.4374]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1651 left_yaw=0.0004 left_pitch=-0.021 left_roll=-0.0002 left_gripper=0.9984 right_x=0.487 right_y=0.2385 right_z=0.0468 right_yaw=0.1029 right_pitch=0.012 right_roll=0.0004 right_gripper=0.4374\nstate[joint_eff]: [-0.0479, -1.894, 6.7077, 1.8632, -0.0464, -0.0757, -0.0122, -0.3077, -12.1368, 5.2034, 1.4481, 0.1245, 0.0464, 0.442]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7784, 0.5369, -0.3443, -0.0231, -0.0292, 0.9984, 0.5701, 1.9213, 1.4639, -0.2394, 0.3618, 0.226, 0.4367]\nstate[eef_state]: left_x=0.2901 left_y=0.0019 left_z=0.1608 left_yaw=0.0007 left_pitch=-0.0236 left_roll=0.0 left_gripper=0.9984 right_x=0.4843 right_y=0.2405 right_z=0.1547 right_yaw=0.1215 right_pitch=-0.0718 right_roll=-0.0346 right_gripper=0.4367\nstate[joint_eff]: [-0.4034, -1.7162, 6.7761, 1.8974, -0.0415, -0.0659, -0.0122, -0.3624, -14.8991, 9.6342, 1.9463, 0.2222, 0.0952, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5163, -0.3286, -0.0231, -0.0292, 0.9984, 0.868, 1.5532, 1.145, -0.3191, 0.5659, 0.408, 0.4366]\nstate[eef_state]: left_x=0.2888 left_y=0.0019 left_z=0.1576 left_yaw=0.0007 left_pitch=-0.0175 left_roll=-0.0001 left_gripper=0.9984 right_x=0.3461 right_y=0.2676 right_z=0.1882 right_yaw=0.1598 right_pitch=-0.0239 right_roll=-0.0147 right_gripper=0.4366\nstate[joint_eff]: [-0.253, -1.2513, 6.8581, 1.9023, -0.0464, -0.0806, -0.0122, 0.2667, -9.4154, 6.4205, 1.6288, 0.3297, 0.0757, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd302bcf6907d9f5fecba3da476ed73e3bd63c07772397c5e558b1ebca9a0ae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:845ebcfd7c7533390c63fe3fb827d2eb87f0a18029d5bbdda89e12a328a1f47e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ba009dafa6db471ab6b8e662f443ee1e884e1aa38c652ea88656fc64bfa0411",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmgsKjgEIEhgCKkDOGQoYIwgwtGTnorp/aqUhmSoChL1j3PvYu93tNkxH57tfK+QmphGpFKPXEOA4fonoHCN/qU8CGn2yYCFHJCwUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAemrzNUGEgx4Quf/DzGfLFm24PUaDIUS0jViy7TM+nNyPyIwgdrJD2YUMcDXOAXn8Io+yLDjoKZhzYedkqU1wI/sJJUSOtIfew1STUcFyF0+zCXjKrgJNu36CUNO1hoApyF2v7YiqS73jvTg31K0LYyX2ecoxwZEThEIyF6QzK2Vq+3PZQVdrH5ekwc3qc2KVmsbcg9xpFH94ZrjCJK3Q8ZxJ0qt/MU5gD5FOISvfKjbQd3JYXgbCI30DicpQJjRjk1A+R2xD2rwA/J9Sd5nmnpg5UjRai6ktvtAMiSOuU4qnoofo3zuFjEKT8/Z7un+SP/37Ia9fzy6IHpDtrcbDZjrKz0huGN3fvlbXC59t2wC0PNOxj9nxre5S3/1HodEEVfsDsDEUlGtWkwlCtqAgWssXhQMzqTEm6es4J++gitBosfV0Q/WnfodMoQShJSZVOXE2Unda9VzAHQrvvC87WTE/c0Fv0KGiXk1MRXY7SMYOxkyu9AKrIjOwrCIoA3aAXWnc2xP1u2RM/RUV4rj9Ur8jN5GhIbdl27i+EQu9wppzpHTtzYmaxXhrbfl/3FhGw4g2fvHqDhFuj3tw2ECC3tHC8wB8/vpBOscybKFWg9p8SMXA1zCRX30l2VuzdlrtQNFO2WJuL5cR7yrxYs4WvEMMElcDBAfOYgNLQ0nifLrEY2lARMLMaa3pQzY3jWe34j9R7en5t6WGboUOEvmWTCaq9tt3iui8G3dhYfcbQzk3GZjKddi8wLvrIpHVvjBcNfX9G744Eyvb5rkYY9y4mrnw4jYOoRlvicBk72ZtxeCCpP265oVxsL2cwpNMsMqDRglwiAtywUuE8EbkNHyFu96MaVgnNuFgl7iO1GH5rwgs1oGgcDIguVnNKc67bfgcLbMbkThF4KfKRy4CqXoU3aRkRbqIaSFu7zJ8Hs+SIenG0l3SL+EaJAxMFNa81Zw+ePm+X9wG+5+sqXFyMeRTvsdTi4JOmrVj1/7pTkLyA7pXKyYUFFEevIkpSIPut1jzryYOwqZoiaq4wjnS06/dF6h6lKOyeKO6H5JqIStZuqx7HQ9i9AZk/4Mv1p+CLRRRQOC0tR67toK7DKmHhYFyRH98EvrMxhH7eMTDhNU6uhIYUXFuz+gx/uAwUecVN2CLyx4o3RJ/GL7nkWGlBUkkBg8QLBkAnurNqiJKxu7muPLLJDTRIsWUY/pYZ33aIHmQv+uTr9LOWcNKgiwM0Opt1N3qsScEFH11sTkhnTFD9orLV8iCsbqNnnYTprC08II41UKqJ8dUkkZ8/s79xCwigfXd9JOxqu3nWun3+/tXs4xGgVVNLOq/IGx81imDmDKdE33dSd/f06KKF+r58dNg3vKpVzYG6oHSbPeP+Sa8d0bW7aZramvPnJ1DqdIxYOxxU7NR2rVJJ+1M3hHY1EDqG2uj5LUBBxKKy+7I+F66uaMTtkffnCr0LzGMaeyLsrhrqrmFIfBjoFUxD99mQ4fIjCLyya/i3wtpsOvY+Y4iE8cK2eeEPNbDg/9hu++NC8AjewGN0RXNPgOTmMRSngJpUmdB7ymaiuu55qmQWCH7qf+stiLD3O7jgBXd95RBu81fzJy6CsZ8LBpJ/l4bSqCw0Gg/LCHI7Ru7WxCkH2VQNRKLDJKc8c3j9vpDPDBNPHa1cbWE/tGDXp0gxCbIZheepYSfICeuAoIyWDkoob6fIs2F+WmKBnPoUqH1+wYB+kYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Lv9JEhs5FV4SxReH7dxLrr",
      "input": {
        "note": "Bottle is carried near the base. Lowering it back onto the table so I can release and then re-grasp it by the neck, which is now within reach.",
        "targets": {
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Lv9JEhs5FV4SxReH7dxLrr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7624, 0.5037, -0.3222, -0.0231, -0.0292, 0.9984, 0.8703, 1.7954, 0.7853, 0.2523, 0.5671, 0.4107, 0.4366]\nstate[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1545 left_yaw=0.0007 left_pitch=-0.0187 left_roll=-0.0001 left_gripper=0.9984 right_x=0.3399 right_y=0.2616 right_z=0.0433 right_yaw=0.1591 right_pitch=-0.0465 right_roll=-0.033 right_gripper=0.4366\nstate[joint_eff]: [-0.212, -1.6479, 7.0222, 1.8388, -0.0366, -0.0757, -0.0122, -0.1299, -7.159, 5.2444, 1.707, 0.1783, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbc614808387415debd228ff4daee6a6c8fc1c1aa34330366f0272aeb78eec2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a94ce6b67870618a73c0066ffb1481f5bf56e95938ca976e361a175a976d15c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:021674999c08ef9c010fca1e499b1a37325a217c042b1980793dc23f1dce456c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 19.2 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7784, 0.5369, -0.3443, -0.0231, -0.0292, 0.9984, 0.5701, 1.9213, 1.4639, -0.2394, 0.3618, 0.226, 0.4367]\nstate[eef_state]: left_x=0.2901 left_y=0.0019 left_z=0.1608 left_yaw=0.0007 left_pitch=-0.0236 left_roll=0.0 left_gripper=0.9984 right_x=0.4843 right_y=0.2405 right_z=0.1547 right_yaw=0.1215 right_pitch=-0.0718 right_roll=-0.0346 right_gripper=0.4367\nstate[joint_eff]: [-0.4034, -1.7162, 6.7761, 1.8974, -0.0415, -0.0659, -0.0122, -0.3624, -14.8991, 9.6342, 1.9463, 0.2222, 0.0952, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5163, -0.3286, -0.0231, -0.0292, 0.9984, 0.868, 1.5532, 1.145, -0.3191, 0.5659, 0.408, 0.4366]\nstate[eef_state]: left_x=0.2888 left_y=0.0019 left_z=0.1576 left_yaw=0.0007 left_pitch=-0.0175 left_roll=-0.0001 left_gripper=0.9984 right_x=0.3461 right_y=0.2676 right_z=0.1882 right_yaw=0.1598 right_pitch=-0.0239 right_roll=-0.0147 right_gripper=0.4366\nstate[joint_eff]: [-0.253, -1.2513, 6.8581, 1.9023, -0.0464, -0.0806, -0.0122, 0.2667, -9.4154, 6.4205, 1.6288, 0.3297, 0.0757, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7624, 0.5037, -0.3222, -0.0231, -0.0292, 0.9984, 0.8703, 1.7954, 0.7853, 0.2523, 0.5671, 0.4107, 0.4366]\nstate[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1545 left_yaw=0.0007 left_pitch=-0.0187 left_roll=-0.0001 left_gripper=0.9984 right_x=0.3399 right_y=0.2616 right_z=0.0433 right_yaw=0.1591 right_pitch=-0.0465 right_roll=-0.033 right_gripper=0.4366\nstate[joint_eff]: [-0.212, -1.6479, 7.0222, 1.8388, -0.0366, -0.0757, -0.0122, -0.1299, -7.159, 5.2444, 1.707, 0.1783, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbc614808387415debd228ff4daee6a6c8fc1c1aa34330366f0272aeb78eec2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a94ce6b67870618a73c0066ffb1481f5bf56e95938ca976e361a175a976d15c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:021674999c08ef9c010fca1e499b1a37325a217c042b1980793dc23f1dce456c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISggUKjgEIEhgCKkBwNlDVUAS9XbYxOhXvFZGZn6TDeriHdZmocNfyNe1NZYKUwXhPL990R7hDzYt3Qmzd5yh7lqR1OGF2FZS0ICrWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe6rzNUGEgwQagiKXK/DnqwsvXAaDJBwLs3V740jX4QPSyIwuHDmB8Pql30vV15gQEckh483vSftDoUSVIoiyLzp+i1puTu0AlxXxct4eUTF8+WrKqADbRWzyi5jyeUq4VtVfXTUZXYNTRqrsI13gQdTtHyROeDD3fmIAmEqSlkBKtk71y606x/BzTYxDUmyS39VcBSSHaa8od4EM7FC2a3DjFigfWYTd+5wcjRPpJ8ylm1dyXmHyTWn//usp63vCgMDXqc60olpqPa71OFpGzjD9GSavF7opzg3BSvOWXBQY//Cx7t9Hlfa5PvFzlqAAQLTOfEdiXs0IGjodR4o45aNqQi6TWSZvtjczN//2P4Ltu15sQm78JnZErNizDZCbDsNcKM8JAlZ7ZOG6eWAXqQdloyfjnnwphjmI/d6A4eeJk/DZP+UCAevq5YTmRXF2XMicS36wXKdfvYzEXmyIyFdHbhqUmykiH5aZ8gVgI1ls2IKKM1/dFvZagr5ayYRNLNVrrxoBJRnMTTWtlgE56q0JN1zz4Ng4csbamoz9SxLNsjAa/OSg1VEWPCQ2XxIY/E4PEJIRWVFDcis5sYFaY76dQ7zMmtCYvggFiZJZPE5cPvJdtBJKqUvg/Ixa0s3/uUgvsq4pBfAQFxTjvax3iy10JoUnBUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gx4S8ZMWyLkaY3Mxvux9LU",
      "input": {
        "note": "Bottle is back on the table nearer the base. Opening the jaws to release it before repositioning over its neck.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Gx4S8ZMWyLkaY3Mxvux9LU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7586, 0.498, -0.3138, -0.0231, -0.0292, 0.9984, 0.8711, 1.8164, 0.7395, 0.3386, 0.5613, 0.403, 0.9957]\nstate[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1546 left_yaw=0.0007 left_pitch=-0.0122 left_roll=-0.0002 left_gripper=0.9984 right_x=0.3369 right_y=0.2598 right_z=0.0331 right_yaw=0.1688 right_pitch=-0.0343 right_roll=-0.0236 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -1.812, 6.0513, 1.9023, -0.0415, -0.0659, -0.0122, -0.0752, -9.3197, 4.9299, 1.7607, 0.2564, -0.0073, -0.232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10d9b9026c2fe801349f37ede76552864fd1874d682f3c02c6216795d340ce58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e52bc1a421e1c5c3f058a69082354dca8eaaa871df83d441746d600451097b38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b91a7f314bed2a3cc09510078e2f280d1dd9298850d49894c168ffee882302be",
        "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 · 19.14 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7673, 0.5163, -0.3286, -0.0231, -0.0292, 0.9984, 0.868, 1.5532, 1.145, -0.3191, 0.5659, 0.408, 0.4366]\nstate[eef_state]: left_x=0.2888 left_y=0.0019 left_z=0.1576 left_yaw=0.0007 left_pitch=-0.0175 left_roll=-0.0001 left_gripper=0.9984 right_x=0.3461 right_y=0.2676 right_z=0.1882 right_yaw=0.1598 right_pitch=-0.0239 right_roll=-0.0147 right_gripper=0.4366\nstate[joint_eff]: [-0.253, -1.2513, 6.8581, 1.9023, -0.0464, -0.0806, -0.0122, 0.2667, -9.4154, 6.4205, 1.6288, 0.3297, 0.0757, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7624, 0.5037, -0.3222, -0.0231, -0.0292, 0.9984, 0.8703, 1.7954, 0.7853, 0.2523, 0.5671, 0.4107, 0.4366]\nstate[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1545 left_yaw=0.0007 left_pitch=-0.0187 left_roll=-0.0001 left_gripper=0.9984 right_x=0.3399 right_y=0.2616 right_z=0.0433 right_yaw=0.1591 right_pitch=-0.0465 right_roll=-0.033 right_gripper=0.4366\nstate[joint_eff]: [-0.212, -1.6479, 7.0222, 1.8388, -0.0366, -0.0757, -0.0122, -0.1299, -7.159, 5.2444, 1.707, 0.1783, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7586, 0.498, -0.3138, -0.0231, -0.0292, 0.9984, 0.8711, 1.8164, 0.7395, 0.3386, 0.5613, 0.403, 0.9957]\nstate[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1546 left_yaw=0.0007 left_pitch=-0.0122 left_roll=-0.0002 left_gripper=0.9984 right_x=0.3369 right_y=0.2598 right_z=0.0331 right_yaw=0.1688 right_pitch=-0.0343 right_roll=-0.0236 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -1.812, 6.0513, 1.9023, -0.0415, -0.0659, -0.0122, -0.0752, -9.3197, 4.9299, 1.7607, 0.2564, -0.0073, -0.232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10d9b9026c2fe801349f37ede76552864fd1874d682f3c02c6216795d340ce58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e52bc1a421e1c5c3f058a69082354dca8eaaa871df83d441746d600451097b38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b91a7f314bed2a3cc09510078e2f280d1dd9298850d49894c168ffee882302be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KgWWo8yx8DVdYs8zJAYtqZ",
      "input": {
        "note": "Released the bottle. Moving out and up slightly to look down on where its neck should be, so I can grasp the neck and let the bottle hang upright.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.26,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KgWWo8yx8DVdYs8zJAYtqZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3119, -0.0227, -0.0292, 0.9984, 0.6937, 1.8385, 1.029, 0.1596, 0.4191, 0.2707, 0.9955]\nstate[eef_state]: left_x=0.288 left_y=0.0018 left_z=0.1556 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4179 right_y=0.2587 right_z=0.0907 right_yaw=0.1758 right_pitch=-0.0137 right_roll=-0.0079 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -1.5111, 6.1333, 1.8339, -0.0464, -0.0415, -0.0122, -0.6906, -7.9248, 8.4581, 1.8974, 0.232, -0.0415, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:774c5bd20ac36373dc6c8e9b67d85301d51cba855ef57b9b37ad60e60d65afa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b34772f2556f297743a4439971c2d1c8957edaa363b1d6fd57b2de96246ee9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:adbcb6e272a6fb29f30cee93a0e533a6fcdb512a7ce1dc2b7da4116b4657ab0a",
        "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 · 13.68 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7624, 0.5037, -0.3222, -0.0231, -0.0292, 0.9984, 0.8703, 1.7954, 0.7853, 0.2523, 0.5671, 0.4107, 0.4366]\nstate[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1545 left_yaw=0.0007 left_pitch=-0.0187 left_roll=-0.0001 left_gripper=0.9984 right_x=0.3399 right_y=0.2616 right_z=0.0433 right_yaw=0.1591 right_pitch=-0.0465 right_roll=-0.033 right_gripper=0.4366\nstate[joint_eff]: [-0.212, -1.6479, 7.0222, 1.8388, -0.0366, -0.0757, -0.0122, -0.1299, -7.159, 5.2444, 1.707, 0.1783, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7586, 0.498, -0.3138, -0.0231, -0.0292, 0.9984, 0.8711, 1.8164, 0.7395, 0.3386, 0.5613, 0.403, 0.9957]\nstate[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1546 left_yaw=0.0007 left_pitch=-0.0122 left_roll=-0.0002 left_gripper=0.9984 right_x=0.3369 right_y=0.2598 right_z=0.0331 right_yaw=0.1688 right_pitch=-0.0343 right_roll=-0.0236 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -1.812, 6.0513, 1.9023, -0.0415, -0.0659, -0.0122, -0.0752, -9.3197, 4.9299, 1.7607, 0.2564, -0.0073, -0.232]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3119, -0.0227, -0.0292, 0.9984, 0.6937, 1.8385, 1.029, 0.1596, 0.4191, 0.2707, 0.9955]\nstate[eef_state]: left_x=0.288 left_y=0.0018 left_z=0.1556 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4179 right_y=0.2587 right_z=0.0907 right_yaw=0.1758 right_pitch=-0.0137 right_roll=-0.0079 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -1.5111, 6.1333, 1.8339, -0.0464, -0.0415, -0.0122, -0.6906, -7.9248, 8.4581, 1.8974, 0.232, -0.0415, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:774c5bd20ac36373dc6c8e9b67d85301d51cba855ef57b9b37ad60e60d65afa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b34772f2556f297743a4439971c2d1c8957edaa363b1d6fd57b2de96246ee9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adbcb6e272a6fb29f30cee93a0e533a6fcdb512a7ce1dc2b7da4116b4657ab0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bg6ZffdRfsH6vZWg1e7p5g",
      "input": {
        "note": "Wrist and left-camera views show the bottles' caps point away from the bases and slightly to the left, so the neck of the bottle I moved should be up and to the left of where I am. Shifting left and down to find that neck.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.31,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Bg6ZffdRfsH6vZWg1e7p5g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3122, -0.0227, -0.0292, 0.9984, 0.7811, 1.9972, 1.1069, 0.1844, 0.4702, 0.3096, 0.9955]\nstate[eef_state]: left_x=0.288 left_y=0.0018 left_z=0.1555 left_yaw=0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4112 right_y=0.3 right_z=0.0522 right_yaw=0.2005 right_pitch=-0.0448 right_roll=-0.0325 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -1.4564, 6.4479, 1.8486, -0.022, -0.022, -0.0122, 0.6632, -9.0188, 8.0068, 1.8535, 0.3394, 0.2125, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d90665dd4c3d9d7dd3104765b3497d49be376f9575d741c0951bf30f70a1be74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b20406faa46eee905788150f75166dc2da7e0ef74c6db55c96c29a4f45371198",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:82fb8fd1cbc857a53b2c68dcced4d9bde06fec36ad87a37a8f6d41b6dbc58129",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 7.156 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7586, 0.498, -0.3138, -0.0231, -0.0292, 0.9984, 0.8711, 1.8164, 0.7395, 0.3386, 0.5613, 0.403, 0.9957]\nstate[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1546 left_yaw=0.0007 left_pitch=-0.0122 left_roll=-0.0002 left_gripper=0.9984 right_x=0.3369 right_y=0.2598 right_z=0.0331 right_yaw=0.1688 right_pitch=-0.0343 right_roll=-0.0236 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -1.812, 6.0513, 1.9023, -0.0415, -0.0659, -0.0122, -0.0752, -9.3197, 4.9299, 1.7607, 0.2564, -0.0073, -0.232]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3119, -0.0227, -0.0292, 0.9984, 0.6937, 1.8385, 1.029, 0.1596, 0.4191, 0.2707, 0.9955]\nstate[eef_state]: left_x=0.288 left_y=0.0018 left_z=0.1556 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4179 right_y=0.2587 right_z=0.0907 right_yaw=0.1758 right_pitch=-0.0137 right_roll=-0.0079 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -1.5111, 6.1333, 1.8339, -0.0464, -0.0415, -0.0122, -0.6906, -7.9248, 8.4581, 1.8974, 0.232, -0.0415, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3122, -0.0227, -0.0292, 0.9984, 0.7811, 1.9972, 1.1069, 0.1844, 0.4702, 0.3096, 0.9955]\nstate[eef_state]: left_x=0.288 left_y=0.0018 left_z=0.1555 left_yaw=0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4112 right_y=0.3 right_z=0.0522 right_yaw=0.2005 right_pitch=-0.0448 right_roll=-0.0325 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -1.4564, 6.4479, 1.8486, -0.022, -0.022, -0.0122, 0.6632, -9.0188, 8.0068, 1.8535, 0.3394, 0.2125, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d90665dd4c3d9d7dd3104765b3497d49be376f9575d741c0951bf30f70a1be74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b20406faa46eee905788150f75166dc2da7e0ef74c6db55c96c29a4f45371198",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82fb8fd1cbc857a53b2c68dcced4d9bde06fec36ad87a37a8f6d41b6dbc58129",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PYqexV8DVAVRWGB3iXMH7s",
      "input": {
        "note": "Both bottles' blue caps point away from the base, too far out to grasp the neck directly. New plan: grab a bottle by the body, lift, yaw 180° so the neck points back toward the base, set it down, then grab the neck. Returning to the earlier successful body-grasp pose.",
        "targets": {
          "right_x": 0.487,
          "right_y": 0.238,
          "right_z": 0.046
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PYqexV8DVAVRWGB3iXMH7s",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7563, 0.4976, -0.313, -0.0227, -0.0292, 0.9984, 0.7918, 2.0155, 1.1156, 0.1871, 0.4709, 0.3172, 0.9955]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1552 left_yaw=0.0004 left_pitch=-0.0095 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4094 right_y=0.3056 right_z=0.0471 right_yaw=0.2063 right_pitch=-0.0502 right_roll=-0.0304 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.4427, 6.612, 1.8046, -0.0269, -0.0415, -0.0122, -0.335, -9.812, 8.0889, 1.8046, 0.359, 0.1197, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df1fd88a153558a550c6a465a1f8389f062b75daf83e6c1f9d6d01c24b0882c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6818ecd04d3c623a1067c1b0ffb2dfa9d30f4089754f43e7079808b974035d5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b39fd01e947c90ac6b149157f3433b83b064ccf66b05b6a50acb23d28b27232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 4.119 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3119, -0.0227, -0.0292, 0.9984, 0.6937, 1.8385, 1.029, 0.1596, 0.4191, 0.2707, 0.9955]\nstate[eef_state]: left_x=0.288 left_y=0.0018 left_z=0.1556 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4179 right_y=0.2587 right_z=0.0907 right_yaw=0.1758 right_pitch=-0.0137 right_roll=-0.0079 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -1.5111, 6.1333, 1.8339, -0.0464, -0.0415, -0.0122, -0.6906, -7.9248, 8.4581, 1.8974, 0.232, -0.0415, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3122, -0.0227, -0.0292, 0.9984, 0.7811, 1.9972, 1.1069, 0.1844, 0.4702, 0.3096, 0.9955]\nstate[eef_state]: left_x=0.288 left_y=0.0018 left_z=0.1555 left_yaw=0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4112 right_y=0.3 right_z=0.0522 right_yaw=0.2005 right_pitch=-0.0448 right_roll=-0.0325 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -1.4564, 6.4479, 1.8486, -0.022, -0.022, -0.0122, 0.6632, -9.0188, 8.0068, 1.8535, 0.3394, 0.2125, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7563, 0.4976, -0.313, -0.0227, -0.0292, 0.9984, 0.7918, 2.0155, 1.1156, 0.1871, 0.4709, 0.3172, 0.9955]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1552 left_yaw=0.0004 left_pitch=-0.0095 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4094 right_y=0.3056 right_z=0.0471 right_yaw=0.2063 right_pitch=-0.0502 right_roll=-0.0304 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.4427, 6.612, 1.8046, -0.0269, -0.0415, -0.0122, -0.335, -9.812, 8.0889, 1.8046, 0.359, 0.1197, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df1fd88a153558a550c6a465a1f8389f062b75daf83e6c1f9d6d01c24b0882c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6818ecd04d3c623a1067c1b0ffb2dfa9d30f4089754f43e7079808b974035d5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b39fd01e947c90ac6b149157f3433b83b064ccf66b05b6a50acb23d28b27232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0QYKjgEIEhgCKkApHHIFQXZ4kP/mzfSyqw5N+FvxyTu57J0CkDYkETTBm/VAGNA6DYEKWSiijYpLVGwZ8oJUapLt6Prnco+vZp2OMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAauszNUGEgzs1XAerc6sOOHegTEaDKlDs325dV0ZHKAkfiIwHqTg9t3hMPHRLvetegRTpPeSVz9KMb3EReRuxE2fWgwaS+/cFM2XVNecApRkGINiKu8EC0b5wZCcYONNegqlfhC8JCHSAZEjexXkMUCONRncvfjVqGfaaE25skHW+xNUoccF1jSTkF/P+UsFWg3nTwRcUmE0mXfPswtoM6Uv5BRPLlzC5JBPl4DxQ6Xus3uLPETJuRwcLS2g1piDYpT83mcm+ZiNTCfRBJ0ljY6xZNF/tikdoTgPw1gnzEiyb+Vec1exTjPr8bSKlBn5y6DrEbfQ7Kq25KF5+cNU8k5MXKVXawQ+UzyTxaFeyKcIk+AZOsdnYN2qbwhXRtuR3da10Cg9egPSWP1KDZsMv+xG1dvzoQff6135RZTbmdwRlb1/ECdzcuHTrRx6ht0aLU1Bp5HibDGgkRW2d3DA08EW+ydoRMspaR6up331dDt3UKEKZebxXD2DVU7A/hO/+Saf+NBHCfZZQ8ntPZRvY/4uzh3/fRSVsi8VrqTZpz4z6rzSDW9iM5+b75upxqJCAp2SBau6x7qHAjTI9XgVASqQ3cSYkDmlh64IJOcpPJtUNaOjg8A2SAh6Rn0wXHXPDPqMWQ7qrwTiCqop+cvDI5G1PAkVO3feEjp1hGTFWumXtisj5NLBpplD03GJ3bex7nR0yIkCfQONN/TazL+7ExOl0ybQYVq8jnbIhSvIMnACR0g3xbQqknVeF8Ote6jN8zEdSCk/1B4LtMdAtQvXKBZZBkURM2njVZTN6yTktdweEB6RfAZm44QLIfAhVxMYT41Zz+XEVQapzFdLh1ST7De2NcampE8NcvPtTJ0HNc5yzp/BFKi5yH+fx3GC7sbN2iLcX97Qc7WMxYcgRiI4VqnfUjpFdX+8dluYCM8mdLGaArzHauUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016fcCgD4W6dTRCA63GcepW6",
      "input": {
        "note": "The last lateral move didn't take — the open jaws are down between the two bottles and likely blocked. Lifting to 16 cm first so I can translate freely.",
        "targets": {
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_016fcCgD4W6dTRCA63GcepW6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3122, -0.0231, -0.0292, 0.9984, 0.7925, 1.837, 1.2499, -0.0692, 0.4667, 0.3058, 0.9955]\nstate[eef_state]: left_x=0.288 left_y=0.0019 left_z=0.1555 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4102 right_y=0.308 right_z=0.1421 right_yaw=0.2174 right_pitch=-0.0044 right_roll=-0.0067 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -1.5385, 6.4342, 1.8193, -0.0464, -0.0513, -0.0122, -0.2667, -10.3179, 7.7197, 1.4432, 0.2662, 0.0855, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db9052dba1de3eb5b863c1d4431ebb4dae40f7b44cae4365fc49001def9b7b2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c01e141a10ea2acf909cee9cb02aa2b1bceac858a0bb70f5d9dd6c2e451b20e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:01c21ca5b44b09d980ca8a17850baa48ab4e5c24659b9c63e90c601f0141331a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 5.462 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3122, -0.0227, -0.0292, 0.9984, 0.7811, 1.9972, 1.1069, 0.1844, 0.4702, 0.3096, 0.9955]\nstate[eef_state]: left_x=0.288 left_y=0.0018 left_z=0.1555 left_yaw=0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4112 right_y=0.3 right_z=0.0522 right_yaw=0.2005 right_pitch=-0.0448 right_roll=-0.0325 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -1.4564, 6.4479, 1.8486, -0.022, -0.022, -0.0122, 0.6632, -9.0188, 8.0068, 1.8535, 0.3394, 0.2125, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7563, 0.4976, -0.313, -0.0227, -0.0292, 0.9984, 0.7918, 2.0155, 1.1156, 0.1871, 0.4709, 0.3172, 0.9955]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1552 left_yaw=0.0004 left_pitch=-0.0095 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4094 right_y=0.3056 right_z=0.0471 right_yaw=0.2063 right_pitch=-0.0502 right_roll=-0.0304 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.4427, 6.612, 1.8046, -0.0269, -0.0415, -0.0122, -0.335, -9.812, 8.0889, 1.8046, 0.359, 0.1197, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3122, -0.0231, -0.0292, 0.9984, 0.7925, 1.837, 1.2499, -0.0692, 0.4667, 0.3058, 0.9955]\nstate[eef_state]: left_x=0.288 left_y=0.0019 left_z=0.1555 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4102 right_y=0.308 right_z=0.1421 right_yaw=0.2174 right_pitch=-0.0044 right_roll=-0.0067 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -1.5385, 6.4342, 1.8193, -0.0464, -0.0513, -0.0122, -0.2667, -10.3179, 7.7197, 1.4432, 0.2662, 0.0855, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db9052dba1de3eb5b863c1d4431ebb4dae40f7b44cae4365fc49001def9b7b2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c01e141a10ea2acf909cee9cb02aa2b1bceac858a0bb70f5d9dd6c2e451b20e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01c21ca5b44b09d980ca8a17850baa48ab4e5c24659b9c63e90c601f0141331a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5gMKjgEIEhgCKkDFPKmzkNGFGOJGRAwdNe7U9gIY9/B1gJxiwHT6oMEZnSpQ+2q0d2UnF9JLWkT2W3Xe2tgANqFT5fU/+5Cgc6TsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbCszNUGEgxtFpzLJ4t3qBmgko8aDPYHg03fiZoqCQOh5SIwIsl6uSRQ+bE9GiZ4Q0G+0+gm4NNOLYoEuUcnx+N6QbEonsCqHVvRoAcWsmehSV/WKoQC2JbUReTPnNO4sOJ3Ka9K6kk7aRYir2Q8QJCmwU4VyEgfB1JgOIRwPu/6eeaKzPXaNv3yPPyU/NvWrVr0EjvLjuwj/1pl8S6Hvoibs98yl1i5vsvDy27iKB37pn9JO8T9ilnm76T0+kurv5andF4bmrh0uLdLxWUErvb38s/j4Q+7BqXNmJSy7mz92NE0zGpwl9Bi8R6H3sKodWywHYZMU0ixE20Ibhsmz31Focr0u59uwSfRihidjRo41vmDw85vRyHXLJJ9WnoK34uJWd+NPmNKSogy0y6R4s71WOLDw/18vyDS5kSYMExu/lz/IdLuLlQV2z8/8NplhsB+McjbKB4lAVoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VK7jkmqHWXoa5obg49nKY5",
      "input": {
        "note": "Clear of the bottles at 14 cm. Translating over the right-hand bottle's body ready to descend and grasp it.",
        "targets": {
          "right_x": 0.487,
          "right_y": 0.238,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VK7jkmqHWXoa5obg49nKY5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3126, -0.0231, -0.0292, 0.9984, 0.5503, 1.8515, 1.2953, -0.1173, 0.2802, 0.1562, 0.9955]\nstate[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1554 left_yaw=0.0007 left_pitch=-0.0088 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4673 right_y=0.2336 right_z=0.1378 right_yaw=0.2069 right_pitch=-0.0708 right_roll=-0.0338 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -1.4838, 6.4068, 1.8193, -0.0464, -0.0562, -0.0122, -0.5812, -8.5675, 10.3043, 2.0195, 0.0611, 0.1978, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d73512ece7a7cc7848ff6094e69244801c3607e15b6735ca46c4d5f22e018e55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dba031f0c4fb9cfd81c9afff4bbe5453b054e66e1a3cf19696b50348d2ceef8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:de3e5a2af695db2dfe099ee074a352af2004b01fb2b17d767f090574e93ff5d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 3.831 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7563, 0.4976, -0.313, -0.0227, -0.0292, 0.9984, 0.7918, 2.0155, 1.1156, 0.1871, 0.4709, 0.3172, 0.9955]\nstate[eef_state]: left_x=0.2879 left_y=0.0018 left_z=0.1552 left_yaw=0.0004 left_pitch=-0.0095 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4094 right_y=0.3056 right_z=0.0471 right_yaw=0.2063 right_pitch=-0.0502 right_roll=-0.0304 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.4427, 6.612, 1.8046, -0.0269, -0.0415, -0.0122, -0.335, -9.812, 8.0889, 1.8046, 0.359, 0.1197, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3122, -0.0231, -0.0292, 0.9984, 0.7925, 1.837, 1.2499, -0.0692, 0.4667, 0.3058, 0.9955]\nstate[eef_state]: left_x=0.288 left_y=0.0019 left_z=0.1555 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4102 right_y=0.308 right_z=0.1421 right_yaw=0.2174 right_pitch=-0.0044 right_roll=-0.0067 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -1.5385, 6.4342, 1.8193, -0.0464, -0.0513, -0.0122, -0.2667, -10.3179, 7.7197, 1.4432, 0.2662, 0.0855, -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]: [-0.02, 0.7559, 0.4976, -0.3126, -0.0231, -0.0292, 0.9984, 0.5503, 1.8515, 1.2953, -0.1173, 0.2802, 0.1562, 0.9955]\nstate[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1554 left_yaw=0.0007 left_pitch=-0.0088 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4673 right_y=0.2336 right_z=0.1378 right_yaw=0.2069 right_pitch=-0.0708 right_roll=-0.0338 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -1.4838, 6.4068, 1.8193, -0.0464, -0.0562, -0.0122, -0.5812, -8.5675, 10.3043, 2.0195, 0.0611, 0.1978, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d73512ece7a7cc7848ff6094e69244801c3607e15b6735ca46c4d5f22e018e55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dba031f0c4fb9cfd81c9afff4bbe5453b054e66e1a3cf19696b50348d2ceef8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de3e5a2af695db2dfe099ee074a352af2004b01fb2b17d767f090574e93ff5d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISwAcKjgEIEhgCKkC/XjCP05qIkTlzlpjVVZVDzv0+V4q6dEue5r188IrnnWpbVfjNkd5NyWxDN60u55189F+to+hsySvV3nD2zQ6jMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbaszNUGEgxoLlHaZLFPow3y2eIaDO/3c7Ca1uf1No2qmyIwdjxQrXoZHs/lIAbPH51/C6LF+X3yIfSunTR6dCgCLQa71AJILDbTx0WA468IP6ZFKt4FOqd+vSsslKcoSs0/NH0hn46B/LHTcGZlhGLFly4mH5ZxdPC4FoA6RNYlO9Uby5kfCu9U3yt3LXu2ZbK8uJohlVFQkra+ek5RgWtSYyKWTko/2/ZhJc6PZlHRtnLbQXiBq7fIWsubJaBL99bW+kPnqBLlBcR9rtAtaY6WlyhgdkRf9n80RH8/UW9Ge5TvOxBJcJwxHgbf59LvZYbb2wTuQdqhlLladh4QxIMdXDbGWbvEMp7heTyP74VOmaE0dQSXddrlP4LcX4pJry/1etPxGMXD4iyyEulzyiFPjReCKQL/aU8/0ELqhYuxES70KAgx8sDQ+lWY2Haa5TX4s2Zq6BXnalW78989lRi5GL01ExQ3YV7nMsUysL9lCXMbeTityztGPXuGsqfbmrwxRNbwHzkFJlhfDwu/oTlocMDkCumEUbhWnR0oaruw/Ed1/LqQinnA1XNS4wcbnJrEzSO83Ap3rB3ZLYXlVRgMYdowbcnsLha9tLRjFmEOB1WAUnvggxNraLy98HYNrubdCAFRWt4crYVq+RrL7fcq6tZ1UBoz1miY9PfyQnL7b5TwVxoOEmnvuQRs2B8AGFR2HflckhF2FTuJjgWlsay+Be+O+/J9xsscQ2OcXPix72wEVI2c93cCqxIQalOy19SHwobRSnD0tvWCY35GUnLBWtV0Dgq4nZbp8r9vKjWXuTuj/pc7xYBOYb4T9AKFz0AvlN2ZAAwfdur4+gOjisQiEEBkxB6QGlwf/f9xtRp6mU+Kg39xVAYxHLETZ6xRDqisR+obufutkxw4HiT2giCb/r2wmhFg/CDvOfF+TIwbH6ZqW4QIdWJD+LLlj/riAMAPA4SZrvApy6RdKDWFYQWMOZjTqU2I3hwOKoGSsg8Lnlqg4Hjgza4QM32T1aPCWsI+ayirdqcl6tH7BG5ATNObY5NlGQd6A+32hLMTD2ssCSjcX+/gDmf2jS8WG3LpJIaz5DkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WdcDD6EckgPd6ojxpHvESz",
      "input": {
        "note": "Bottle is centred on the jaw column in the wrist view. Descending to bottle-axis height to grasp its body.",
        "targets": {
          "right_z": 0.047
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01WdcDD6EckgPd6ojxpHvESz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3115, -0.0227, -0.0292, 0.9984, 0.5488, 1.9907, 1.0576, 0.2668, 0.2607, 0.1486, 0.9955]\nstate[eef_state]: left_x=0.2881 left_y=0.0018 left_z=0.1556 left_yaw=0.0004 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4579 right_y=0.2308 right_z=0.0433 right_yaw=0.2257 right_pitch=-0.068 right_roll=-0.0262 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.4974, 6.3795, 1.8632, -0.0562, -0.0659, -0.0122, -0.0479, -8.841, 5.3538, 2.0195, 0.1978, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b2e585c5e47a3ccaf64e3a88ac105c1a9cf3a6b8f7d8d0fe6087e56343c0a10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a16a5b8350d6049777f5b20181d820ec3916249213d1567095ea0f53ffc88558",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f5279db844596c5b8fb895a9af48ccc3113a8e0cc7d523c18521579ada43d6f",
        "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 · 5.988 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3122, -0.0231, -0.0292, 0.9984, 0.7925, 1.837, 1.2499, -0.0692, 0.4667, 0.3058, 0.9955]\nstate[eef_state]: left_x=0.288 left_y=0.0019 left_z=0.1555 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4102 right_y=0.308 right_z=0.1421 right_yaw=0.2174 right_pitch=-0.0044 right_roll=-0.0067 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -1.5385, 6.4342, 1.8193, -0.0464, -0.0513, -0.0122, -0.2667, -10.3179, 7.7197, 1.4432, 0.2662, 0.0855, -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]: [-0.02, 0.7559, 0.4976, -0.3126, -0.0231, -0.0292, 0.9984, 0.5503, 1.8515, 1.2953, -0.1173, 0.2802, 0.1562, 0.9955]\nstate[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1554 left_yaw=0.0007 left_pitch=-0.0088 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4673 right_y=0.2336 right_z=0.1378 right_yaw=0.2069 right_pitch=-0.0708 right_roll=-0.0338 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -1.4838, 6.4068, 1.8193, -0.0464, -0.0562, -0.0122, -0.5812, -8.5675, 10.3043, 2.0195, 0.0611, 0.1978, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3115, -0.0227, -0.0292, 0.9984, 0.5488, 1.9907, 1.0576, 0.2668, 0.2607, 0.1486, 0.9955]\nstate[eef_state]: left_x=0.2881 left_y=0.0018 left_z=0.1556 left_yaw=0.0004 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4579 right_y=0.2308 right_z=0.0433 right_yaw=0.2257 right_pitch=-0.068 right_roll=-0.0262 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.4974, 6.3795, 1.8632, -0.0562, -0.0659, -0.0122, -0.0479, -8.841, 5.3538, 2.0195, 0.1978, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b2e585c5e47a3ccaf64e3a88ac105c1a9cf3a6b8f7d8d0fe6087e56343c0a10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a16a5b8350d6049777f5b20181d820ec3916249213d1567095ea0f53ffc88558",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f5279db844596c5b8fb895a9af48ccc3113a8e0cc7d523c18521579ada43d6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpwQKjgEIEhgCKkBk3vee29bfjjta1zL9zadmRW9EfxdYpaZtDkW68tgB0/TVTkGUvdPnZLBTdYM0/ibg9PzAn3Dj4xh39tBiWQebMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbuszNUGEgyoSUqz7b6uYwTPZO4aDFxVxQ8lTOMup4kbbSIw3EnxgFDhdOz0zQi5vK68r5TGElfVNfilK9O6pFz6JxZBlNHC/xhJnMf6wOc49OQaKsUCKlz0VTJK4ui9yX4x9/d9A48G0HItRIQeq7FfPouYpUTzGg3LqW12gN3PEomYMeq/xkliAjk2MUWoYvyNsfke3T+53LwJZ5g61B8aMr1PzKOe5/Rcpsp8kJPfqC7MzqTvQA15UCMLX6EDCf9DV7jB3dFiB5ki1uNLIJq/hPfXrSpoLCuuxq53aGM0Y8eXErKfp5Qjerk62QJ31Clchoj7TG2JGTllXPWWIKrP6BItoo9ohA0J6CcECOH4YwVsprjL1M/VNCRBFFnbZxRRrmAorXyy4uE497eC791L/dtfl+2+JiN/vdrY+5BrBdernGQmffh04ZAi6jX+JtaSYQsDT3WUpRgh9X4T+Au4vHeYmTF+W6PG7U6kfG3f7hIF6D6eKOC/KGpEqltR/ElR8Lwff9eeV4OOi5gTv/dfqSdgc6ubUL1YdBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FCzp4YmhuB5X2hfAKUsahe",
      "input": {
        "note": "Bottle body is squarely between the jaws. Closing to 0.25 to squeeze and hold it.",
        "targets": {
          "right_gripper": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01FCzp4YmhuB5X2hfAKUsahe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7563, 0.4976, -0.3119, -0.0231, -0.0292, 0.9984, 0.5488, 2.0079, 0.9947, 0.374, 0.2565, 0.1474, 0.525]\nstate[eef_state]: left_x=0.288 left_y=0.0019 left_z=0.1555 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4531 right_y=0.2287 right_z=0.0315 right_yaw=0.2302 right_pitch=-0.0431 right_roll=-0.0161 right_gripper=0.525\nstate[joint_eff]: [-0.2393, -1.2376, 6.9402, 1.873, -0.0513, -0.0806, -0.0122, -0.4034, -10.8103, 5.5863, 1.9902, 0.0708, -0.0073, 0.7204]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1df8e0e5f36affdbe7e53aa86ccfa1a0bfcb879b48fad245dfbd777e55cbff2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:152f326a05a0e99181ad33f80ae60c59abcec8565c811da2a71fc8fa3a289ef4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3889668b869bf4673900877220db70fdcbaa689814056abef611d0609df8a32b",
        "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 · 6.993 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3126, -0.0231, -0.0292, 0.9984, 0.5503, 1.8515, 1.2953, -0.1173, 0.2802, 0.1562, 0.9955]\nstate[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1554 left_yaw=0.0007 left_pitch=-0.0088 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4673 right_y=0.2336 right_z=0.1378 right_yaw=0.2069 right_pitch=-0.0708 right_roll=-0.0338 right_gripper=0.9955\nstate[joint_eff]: [-0.1709, -1.4838, 6.4068, 1.8193, -0.0464, -0.0562, -0.0122, -0.5812, -8.5675, 10.3043, 2.0195, 0.0611, 0.1978, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3115, -0.0227, -0.0292, 0.9984, 0.5488, 1.9907, 1.0576, 0.2668, 0.2607, 0.1486, 0.9955]\nstate[eef_state]: left_x=0.2881 left_y=0.0018 left_z=0.1556 left_yaw=0.0004 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4579 right_y=0.2308 right_z=0.0433 right_yaw=0.2257 right_pitch=-0.068 right_roll=-0.0262 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.4974, 6.3795, 1.8632, -0.0562, -0.0659, -0.0122, -0.0479, -8.841, 5.3538, 2.0195, 0.1978, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7563, 0.4976, -0.3119, -0.0231, -0.0292, 0.9984, 0.5488, 2.0079, 0.9947, 0.374, 0.2565, 0.1474, 0.525]\nstate[eef_state]: left_x=0.288 left_y=0.0019 left_z=0.1555 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4531 right_y=0.2287 right_z=0.0315 right_yaw=0.2302 right_pitch=-0.0431 right_roll=-0.0161 right_gripper=0.525\nstate[joint_eff]: [-0.2393, -1.2376, 6.9402, 1.873, -0.0513, -0.0806, -0.0122, -0.4034, -10.8103, 5.5863, 1.9902, 0.0708, -0.0073, 0.7204]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1df8e0e5f36affdbe7e53aa86ccfa1a0bfcb879b48fad245dfbd777e55cbff2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:152f326a05a0e99181ad33f80ae60c59abcec8565c811da2a71fc8fa3a289ef4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3889668b869bf4673900877220db70fdcbaa689814056abef611d0609df8a32b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISugYKjgEIEhgCKkCwn9kYH9Z2QjcUzxWdxk7zpbIdehgYG/XG+gookiHgPELrBHx8u4RHOWSOXr0hgxW7cxTaRVTOpIVOnZYv1R8BMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcGszNUGEgww+5p5BJ7XigmYx/MaDNttfeYguG5SRhCLoyIw+4heDOYKZLDlcIJdxHPXL8hyDLdzMV5SP8Ttc8UsZmD+H1x+lt7QqeXJHaOS/92sKtgEGjfP/bZEH1T+t0mV+5TnWit++I/yEv/AdLnKiD70SrchTB0Jsj/e4+nQa9CwdcC6NDFP58KphQWAr+K3UlZ9mxzJA3lQD1B8c9i+qTiX+KkwC5GMVcJWu+1823Yzxsl+uICJYBsIBpErMeqT9Eoxc0GK2Rk3g0yPXqgVo8SmDYGc47X9vtKhcf207GM/xFHlS6E0i6R9H8HqZtJzj7xBxYvNlRnnQxHMSDV7jFi5Xy+nulQGcoVuR4quGhCZKhA9wD68ZeUx0z0UXt+bvf8oH7ubfRp2/Vzcmynn1pkY060YHrZi5t3wFNNfGSkFT9tcWi2WKOVRwAsM7lk32Oux+Pg+UjTm/USeg3vS4udKMeW+7abA5lHDDwJL0DXmQ70CXe3/tr8Wlpwl6WO+WJr/kRiP7MR4HkGDps22s70zVEVB9p74B9IZZrKb4wmsYudzb7efTfuhpx0B5b8NDSoeJER252Cxp/D6w+nhvWy0+mpcK5DYwNVVrCIaw6HiP0ZzbaeduVfnKvu/RgA87/k/gxaENFuQTvslovGsWBP7TDYEq9ABj9sgbOkUEB3R4y5QQvZBC8dWrqv7baTVL9vJHwNXVua34w4f8HJow3fB5cz6XXVMYNVX3lBxhegRg9NC1ysgGXyinNDd2WHqF7I1BNJu3v9NtzSVkEQtovAuV7pF0oYBnpyzUsFIINokt9wFT3Fu234sviwNLvjiQMoHfPBpkrD5So5N+A1N2hXATax3imaX5lVxnsvWHkTTylrE37pdvH7oITPiMb0GG+fRaVmpoy3eCUhUGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xrcuzr2nuKz6HWPYrqtU5E",
      "input": {
        "note": "Gripper settled at 0.53, so the bottle is firmly held. Lifting to 19 cm and starting a 180° yaw to turn the bottle end-for-end so its neck will point back toward the base.",
        "targets": {
          "right_yaw": 1.6,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Xrcuzr2nuKz6HWPYrqtU5E",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7555, 0.4976, -0.3149, -0.0227, -0.0288, 0.9984, 0.1741, 2.2807, 2.0281, -0.8173, -0.8726, -1.1191, 0.5266]\nstate[eef_state]: left_x=0.2876 left_y=0.0018 left_z=0.155 left_yaw=0.0002 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9984 right_x=0.5003 right_y=0.2291 right_z=0.1482 right_yaw=1.4294 right_pitch=-0.0305 right_roll=-0.1233 right_gripper=0.5266\nstate[joint_eff]: [-0.3761, -1.0872, 6.3932, 1.873, -0.0513, -0.0366, -0.0122, -0.9504, -11.7402, 5.9692, 0.2076, -0.5446, -0.0171, 0.0757]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:710ffec61e3e0583204475d63edc21b507a4fa3d30d5db03bbef0fe641870276",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d20f1a02115c9cfcb6e6c2752e342dd91891834837fd2d96db4718d3c182321d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cdbb7772f37fe0a9a1251f9cb06a56c73aa38c9cca337db70d86d9fde73aa339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 6.791 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.4976, -0.3115, -0.0227, -0.0292, 0.9984, 0.5488, 1.9907, 1.0576, 0.2668, 0.2607, 0.1486, 0.9955]\nstate[eef_state]: left_x=0.2881 left_y=0.0018 left_z=0.1556 left_yaw=0.0004 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4579 right_y=0.2308 right_z=0.0433 right_yaw=0.2257 right_pitch=-0.068 right_roll=-0.0262 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.4974, 6.3795, 1.8632, -0.0562, -0.0659, -0.0122, -0.0479, -8.841, 5.3538, 2.0195, 0.1978, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7563, 0.4976, -0.3119, -0.0231, -0.0292, 0.9984, 0.5488, 2.0079, 0.9947, 0.374, 0.2565, 0.1474, 0.525]\nstate[eef_state]: left_x=0.288 left_y=0.0019 left_z=0.1555 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4531 right_y=0.2287 right_z=0.0315 right_yaw=0.2302 right_pitch=-0.0431 right_roll=-0.0161 right_gripper=0.525\nstate[joint_eff]: [-0.2393, -1.2376, 6.9402, 1.873, -0.0513, -0.0806, -0.0122, -0.4034, -10.8103, 5.5863, 1.9902, 0.0708, -0.0073, 0.7204]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7555, 0.4976, -0.3149, -0.0227, -0.0288, 0.9984, 0.1741, 2.2807, 2.0281, -0.8173, -0.8726, -1.1191, 0.5266]\nstate[eef_state]: left_x=0.2876 left_y=0.0018 left_z=0.155 left_yaw=0.0002 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9984 right_x=0.5003 right_y=0.2291 right_z=0.1482 right_yaw=1.4294 right_pitch=-0.0305 right_roll=-0.1233 right_gripper=0.5266\nstate[joint_eff]: [-0.3761, -1.0872, 6.3932, 1.873, -0.0513, -0.0366, -0.0122, -0.9504, -11.7402, 5.9692, 0.2076, -0.5446, -0.0171, 0.0757]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:710ffec61e3e0583204475d63edc21b507a4fa3d30d5db03bbef0fe641870276",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d20f1a02115c9cfcb6e6c2752e342dd91891834837fd2d96db4718d3c182321d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdbb7772f37fe0a9a1251f9cb06a56c73aa38c9cca337db70d86d9fde73aa339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS5AcKjgEIEhgCKkCGb2gtTfJZWiRAXtxkGS9eiqWZP2IydW1PvNZVj7H8mGJeWR/EmH2YhwiERoLEtRnENHs8VmbIZXz5BeNxe8rkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcmszNUGEgyRS0OiJBBJ2rd9iQkaDII2PrQlR3R/3KeeLCIwshZRvYOds9Oc4O/03MMS8pJZpnaMuiirWZI7N7WXngTwL1GoZZUef9EKcphP9r1qKoIGSkKdPhdn3ZfnSQ6Zjmw7iM84hh/F7O2LPcM5IKWb7gMI0bl3sm/N+eR1f732ZzgiEivsOAduhowSfBfmUPnNvGNK3V3wq/OOdZGSNTLXky5RsPwVqevSNsk6a5efGB30+0SndVXuT2xumV9qJRtW5w8FrECEU744ZacNroTJwEluZh5G+K5FDMIMHdFtZEXOa6dHRtLZYfca6VFqMKrIs/MZF26R+9qTXNBzBQWKqJGfae/D2wHvZD2NrOIrzpEyMdxvjUhYB9h+tMfpS1/cONuqkLRLxvBnfgcTDqaTdqgcC0SMVGqYQILzvAySDw2mflgJeNLsyFfw8kIlxfquO3af+YYCsGytl08060J1r9sJCbDZzO2aC89NWLrmvz/ZSOWLTTHxWZ4EG8T7dnMq1NEFim48n9NOy+x80T63vlugwJDAZ7ytqLikjbKNTDBzpdEi6W33E0Popkr1UulgoyJRLmFnb2O5aFjnktcwkssNUpiG1uxBlP+hcgxroiKUAXrzquHcGxq18/js4gJjAPnLKbnC/9vnCAOA2UFCeMO0jhKu/v9QKZKUrCUz2+vkQZgqSMO91Gz6dzauhHmTUi2RLa4B+7kSPeUhGhxTQAGq06EwaIZhFWtgnlWDOJeJrZgaefk+hdUG8CDa0UW1cNPHUejuSrqTHFaLSwRD4g64bTJB+vX+QugFurvZPKLwzKbgJiw9yl5ySrnzL/DzpnQgNWaWox2/i68G6EczkFfCHI/SqAGeN3tAuAiuI+xuAm0SwenDGtRNoI2wnvRQhKYMbj8g1a5ua102cP0RWz8alWJG23iM0ceLOLRh1Q2aJ+Me6o/h1xSq2bujooSmZErlgKCD7FdTQzOA1pGmwRhrpiDMgCIzUzkQNKvwB2AjDzujusk8JaPvtok5vPzlbilOCNCORWD7H10l5JiWE+etNfcN0YmFUo+8qmOoWv+/WmE0HopRk8UR/7ifbo0cvc35FVgu01GuGgMgfkku/xP2la2nKzfxfBTsG+BGLowV08EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X4MFwxdTzrtsEPVJh7ciaL",
      "input": {
        "note": "Bottle held and already rotated 90°. Completing the turn to ~180° so the neck faces back toward the base.",
        "targets": {
          "right_yaw": 3.0,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01X4MFwxdTzrtsEPVJh7ciaL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7517, 0.4976, -0.3115, -0.0231, -0.0292, 0.9984, 0.8917, 2.418, 1.9808, -1.5276, -0.8474, -2.0789, 0.5258]\nstate[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1568 left_yaw=0.0007 left_pitch=-0.0034 left_roll=-0.0004 left_gripper=0.9984 right_x=0.1411 right_y=0.3913 right_z=0.065 right_yaw=2.7664 right_pitch=-0.086 right_roll=0.0134 right_gripper=0.5258\nstate[joint_eff]: [-0.0889, -1.1692, 6.2291, 1.8486, -0.0562, -0.0513, -0.0122, -0.4034, -15.9521, 5.3265, -0.5836, -0.3394, -0.1978, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17907266b8c65dd4b10e88b3f8ff98d5ad8a72619dff84b81e8572d4c747b960",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c838e79ae3ffc6363bc4a64501647d3b6c92592703fdaf60d1f338b3c763951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4bf825e833df66089cbb31ff132efd7a9c86519af07b9749f9ecb4cd8047b5b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 9.072 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7563, 0.4976, -0.3119, -0.0231, -0.0292, 0.9984, 0.5488, 2.0079, 0.9947, 0.374, 0.2565, 0.1474, 0.525]\nstate[eef_state]: left_x=0.288 left_y=0.0019 left_z=0.1555 left_yaw=0.0007 left_pitch=-0.0084 left_roll=-0.0003 left_gripper=0.9984 right_x=0.4531 right_y=0.2287 right_z=0.0315 right_yaw=0.2302 right_pitch=-0.0431 right_roll=-0.0161 right_gripper=0.525\nstate[joint_eff]: [-0.2393, -1.2376, 6.9402, 1.873, -0.0513, -0.0806, -0.0122, -0.4034, -10.8103, 5.5863, 1.9902, 0.0708, -0.0073, 0.7204]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7555, 0.4976, -0.3149, -0.0227, -0.0288, 0.9984, 0.1741, 2.2807, 2.0281, -0.8173, -0.8726, -1.1191, 0.5266]\nstate[eef_state]: left_x=0.2876 left_y=0.0018 left_z=0.155 left_yaw=0.0002 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9984 right_x=0.5003 right_y=0.2291 right_z=0.1482 right_yaw=1.4294 right_pitch=-0.0305 right_roll=-0.1233 right_gripper=0.5266\nstate[joint_eff]: [-0.3761, -1.0872, 6.3932, 1.873, -0.0513, -0.0366, -0.0122, -0.9504, -11.7402, 5.9692, 0.2076, -0.5446, -0.0171, 0.0757]\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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7517, 0.4976, -0.3115, -0.0231, -0.0292, 0.9984, 0.8917, 2.418, 1.9808, -1.5276, -0.8474, -2.0789, 0.5258]\nstate[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1568 left_yaw=0.0007 left_pitch=-0.0034 left_roll=-0.0004 left_gripper=0.9984 right_x=0.1411 right_y=0.3913 right_z=0.065 right_yaw=2.7664 right_pitch=-0.086 right_roll=0.0134 right_gripper=0.5258\nstate[joint_eff]: [-0.0889, -1.1692, 6.2291, 1.8486, -0.0562, -0.0513, -0.0122, -0.4034, -15.9521, 5.3265, -0.5836, -0.3394, -0.1978, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17907266b8c65dd4b10e88b3f8ff98d5ad8a72619dff84b81e8572d4c747b960",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c838e79ae3ffc6363bc4a64501647d3b6c92592703fdaf60d1f338b3c763951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bf825e833df66089cbb31ff132efd7a9c86519af07b9749f9ecb4cd8047b5b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqgcKjgEIEhgCKkAUkw4oKZfP/ANLoxbTBAd+0N1iPXrRBqCfslwIutOfWQUiVEN04GPvav6gjxJnw/Fn475WJNnwIKhBQuHYXpZsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdCszNUGEgxUViEH0rBoxUB5vNkaDDKb7Rpby2a98EtGySIwnI4tq6HU/RZUY3tZHEzuRnbVB2fSXDeQsWGkCIlB4Kpq/qeL0/jM13ORrOtR6kVWKsgFhe0MfdF0lKwsMuvlcyJBXTgZuEpGmAHHEntNiM5vf5U2PSrKc8CF0WcHBWAO0ZjXWqSJqSLg5tm3e5tq4GbTBK63FMtMtMcO//2Roy40r5JhBp6ylIjqn8Q2EkKfL9t2wKBkJXhQ0Ud+4qgPSDS+QarQopluliJhWc+TR4h2iFukVBF+w8sbcnoMazeBmMEGwnzUiufDBCJxN1Lhluat5ID5vVoVJLHSkLonfiDWuPO9MXqB6VSsJ1JpkV/0vfKOjadSIAEHbIE0u7TdaFJ2ZwzvC6J8eEVxL98IzKEtHOnEmNPACcmMSr8Sgz6aiQmOFh7YsE8WH4aHNCwyW23lf4fmiDua1EQQMH/NzkTXYwfCFm4e+kkOIh43ISvCT+5LKQchzGlz5a3n1ls/vkBbe7HNjMmml2gDaWHQuu2OPWGNxfxBchf9JwUHpGGV44sWcbb8KZJ+HComfijU9myTUNaYbebEi6gtcnreMx5f4YCHL1BO1HJMu8rOiDpOrXK1vZmg7M3sotdVcYoGHJF65P3Pz+VaRviyjQi1E+VrkZAUF+QjkVnlixF0q2zpYOua7B02d3LV1Aqy+AGgI/ajTSxebmTKnkE7Fq2OCCUz20tXHj11d5jZVXv9XtFsDhi4lhTAiQWLLezHs34YTYG55YD3Nyx0eA7y3oq6xQWyGrqIGPg5/sC2oJg0GU1rmKjA/XouymnbQcArp4fDeLHBHWvGNTI3dLIg9T9jfxLxQ8Ww0Xdy1M+H5nLf4j5lEoITQAA7SZScDnQVQpXCESZQ2aT9WPMQqBa7Bcr2OACYH40i5Y7b+eV+XMKcF4maM7ujLdWsTENuWdxvKDC3kkYaQTv4Qr1QmX/gGDJvcAbAbSrp7lpOd3yIysxo9f/bSPwe4t8QoLfflT7jvhSLyhuRax/ErrKDnP8dmPsegVe/CMu8sZW1AB8axxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HDJc787uvnEcjKderEaHVL",
      "input": {
        "note": "The 180° yaw made the IK swing the arm back close to the base; the bottle still seems held. Bringing the gripper back out to a clean pose over the table, keeping the bottle turned ~160°.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.28,
          "right_yaw": 2.77,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01HDJc787uvnEcjKderEaHVL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7521, 0.4976, -0.3149, -0.0231, -0.0292, 0.9984, 0.8299, 2.3165, 1.8828, -1.5551, -0.8906, -2.0888, 0.5258]\nstate[eef_state]: left_x=0.2874 left_y=0.0019 left_z=0.1559 left_yaw=0.0007 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9984 right_x=0.1476 right_y=0.3702 right_z=0.0921 right_yaw=2.6937 right_pitch=-0.0409 right_roll=0.0167 right_gripper=0.5258\nstate[joint_eff]: [-0.1026, -1.0325, 6.9949, 1.8193, -0.0415, -0.0659, -0.0122, -0.8, -15.5692, 4.5744, -0.5934, -0.4469, -0.0659, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7c917222eaaea66bc9a3b4b11143224c0e820aaae29410b467775b0b2549451",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f1197148c45168a47fbc9b3b9ba7014379598ae1f15c3dec3e68323b6d282ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a89ac60d57465cf3d08a8a40831279322508b8c4a0a4a0d0d90f42b4ae48dcaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 10.6 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7555, 0.4976, -0.3149, -0.0227, -0.0288, 0.9984, 0.1741, 2.2807, 2.0281, -0.8173, -0.8726, -1.1191, 0.5266]\nstate[eef_state]: left_x=0.2876 left_y=0.0018 left_z=0.155 left_yaw=0.0002 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9984 right_x=0.5003 right_y=0.2291 right_z=0.1482 right_yaw=1.4294 right_pitch=-0.0305 right_roll=-0.1233 right_gripper=0.5266\nstate[joint_eff]: [-0.3761, -1.0872, 6.3932, 1.873, -0.0513, -0.0366, -0.0122, -0.9504, -11.7402, 5.9692, 0.2076, -0.5446, -0.0171, 0.0757]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7517, 0.4976, -0.3115, -0.0231, -0.0292, 0.9984, 0.8917, 2.418, 1.9808, -1.5276, -0.8474, -2.0789, 0.5258]\nstate[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1568 left_yaw=0.0007 left_pitch=-0.0034 left_roll=-0.0004 left_gripper=0.9984 right_x=0.1411 right_y=0.3913 right_z=0.065 right_yaw=2.7664 right_pitch=-0.086 right_roll=0.0134 right_gripper=0.5258\nstate[joint_eff]: [-0.0889, -1.1692, 6.2291, 1.8486, -0.0562, -0.0513, -0.0122, -0.4034, -15.9521, 5.3265, -0.5836, -0.3394, -0.1978, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7521, 0.4976, -0.3149, -0.0231, -0.0292, 0.9984, 0.8299, 2.3165, 1.8828, -1.5551, -0.8906, -2.0888, 0.5258]\nstate[eef_state]: left_x=0.2874 left_y=0.0019 left_z=0.1559 left_yaw=0.0007 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9984 right_x=0.1476 right_y=0.3702 right_z=0.0921 right_yaw=2.6937 right_pitch=-0.0409 right_roll=0.0167 right_gripper=0.5258\nstate[joint_eff]: [-0.1026, -1.0325, 6.9949, 1.8193, -0.0415, -0.0659, -0.0122, -0.8, -15.5692, 4.5744, -0.5934, -0.4469, -0.0659, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7c917222eaaea66bc9a3b4b11143224c0e820aaae29410b467775b0b2549451",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f1197148c45168a47fbc9b3b9ba7014379598ae1f15c3dec3e68323b6d282ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a89ac60d57465cf3d08a8a40831279322508b8c4a0a4a0d0d90f42b4ae48dcaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpgoKjgEIEhgCKkBwQH1Tj5sb8r8wGenCxj86H/VGFeiENALMxwOXef+BrtVQymw5yl4KIank5gVrB/BQN7JrtNkMGFH51GNrWrFQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAduszNUGEgw/sO4osRtCOeZwqE4aDPsh8Y+hTzQ6dSNtUSIwnlKg5LOqVgklUlob46lESZyC01Yg9CLipucqZKoFxl9lxe9i/aNF3BMJew6iA7hUKsQIq4lNIdvqzVWJHSxIhvAL6xEmQz/N9qVuB2vX19IbJlp9g6c9Pn+wuVoQksgEeZ/aeSSRH6uck9O0yWbB12mvh+2XNObsrwAy5TGeGtOvEAbbjCLOnAohsqKFtlgxbI8mJoks5WIT6TC5SAQ61sXVTJnrpfjzVOqqOlRkitdZfW7qs0faZYXE/nVvvkAcng2a6LHZCD5gWRngmDJebk7lixokelFiJZcyGXKGu/skZZMqt3ZZfOoDoDXZEfJ74TlpOYJc2L8RTam7aF+eBXwhq3z7WLkSttH3LkEeWAqGzs8CRUe/6YiPA1nm6KFUhGo0epFELxd0PfP4E41ZZMmKEdlM0w1SVkj3HoMV2YVnk0zBtrgk7pX4XL0R60lo4kF6WeJVbfAXKBK8SdLK6RWGdzb6fgA/h/Wpa+ztpNgtV++gQC6B5bZN8x9ppLtRwYLFS10ZplDhsHUNd/WOxfMGyoOuh/I9BFUosSRRkEHcA0ddrydv/dfpPPP+VbV0sRVlFreo9iU6JwhTjw9gtyCQJmTEWHpBLUq3kyS7bF/HsxeRM915eiE8y3DDGrcYIFiINTi4J5prcEZfUa5dx0rDZpJKOV0ZJKC6imUK4CYHrTw8bX94JU6d3xrgGmv8Ot4HeBkyk1fIJ3Sy1TBsODwuMaZI0QOCqmsSLty89pN7OcsJoEPy4Y7en3jDyKT70yejS8/GrV/TslOplbcNLqQNxW2H8A3Nna+t6XpknLauqcWPLZvzE7D+ctJzx3QFAwdsUHvBKuygjqEvpPBkUcFgJxaYgqtJ7DNgqewiVSwJ85ygW4qNNB0jcpoMtaPZ5Ws1/Rw6zPM9qVEsUtXdPzrcz82uS9UCXr5uASr0AdjwO/56OMal5fs4erpR6D+J+0ELkPtHRaj36uMPK1gC5jdEocKKrFELPuot/nDmsfNoz+2oNpNmG+qI7rCEIBU74d9HQpPXRzVmfO6KQqvUAbWffq2ikCmOmx5FCE1iRjcT2+9M6C6ynhkIJh85FTAC+NhQzIHHjCm0Xdy676CM24FY4/XznDBjRn70WjkdzH5Cx/ZW85QGAI7C0/UP2HSypzaZdEXRJhr6HQdzb4/b+nfFhYTsA56R1Im0LQ/QC+EE86Uvfr4/mqsVpcf18Ogxqm5H54CF87iyk+HX9COa0Gi1sRR/ma9Wn6pfEF4Qxwwc4LMvsBdkVtHivLkrM5l217rgSUhPNKfbwMCUmvp3W1fRx1YGtYhCfKA4zRuwLkJ3ohP69Y39C2GErDDq8RYszPWXJNsFkluks0jh1L9NiP4qOqscQJWKeN+jYRVXQhnBgk4MbhR3mOqh6rcfbf7ZQHWRXYzDDkYHWGBNLjpR6X0hYyIGGUKfzr2PPyNG1uslJL/ERxT9zXd/pkZRM2ovWMgtD2cavs/lFxzmHfVfl7v8ly1V5CKONFBwoM1Vih5Ei9gMnnNqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GjRNmhbgjmqbcVdYQYaK9w",
      "input": {
        "note": "The arm is folded near its base and stalling. Raising the tool and unwinding the yaw to a less awkward angle so it can unfold and move back out over the table.",
        "targets": {
          "right_yaw": 2.0,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01GjRNmhbgjmqbcVdYQYaK9w",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7517, 0.4976, -0.3145, -0.0231, -0.0292, 0.9984, 0.6804, 2.3535, 1.9453, -1.5551, -0.9207, -2.0838, 0.5258]\nstate[eef_state]: left_x=0.2875 left_y=0.0019 left_z=0.1561 left_yaw=0.0007 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9984 right_x=0.21 right_y=0.3555 right_z=0.0937 right_yaw=2.5286 right_pitch=-0.0215 right_roll=-0.0115 right_gripper=0.5258\nstate[joint_eff]: [-0.3487, -1.3607, 6.5162, 1.8681, -0.0513, -0.0611, -0.0122, -0.0889, -13.4632, 5.4085, -0.5739, -0.6716, 0.0611, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c6fe21eb319c4cc2205d8dbf3b4d8c77051961424dcb870c6656ebe2bebfdfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36cc7db9c56b255b96074540613b94889a8da1857dde1c2a1dd96b01e74840df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f3154fda5fee4b7b0593c6d50bf76438b765b7ae170df3dac0ddb6fe5a5f69e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 26.54 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7517, 0.4976, -0.3115, -0.0231, -0.0292, 0.9984, 0.8917, 2.418, 1.9808, -1.5276, -0.8474, -2.0789, 0.5258]\nstate[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1568 left_yaw=0.0007 left_pitch=-0.0034 left_roll=-0.0004 left_gripper=0.9984 right_x=0.1411 right_y=0.3913 right_z=0.065 right_yaw=2.7664 right_pitch=-0.086 right_roll=0.0134 right_gripper=0.5258\nstate[joint_eff]: [-0.0889, -1.1692, 6.2291, 1.8486, -0.0562, -0.0513, -0.0122, -0.4034, -15.9521, 5.3265, -0.5836, -0.3394, -0.1978, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7521, 0.4976, -0.3149, -0.0231, -0.0292, 0.9984, 0.8299, 2.3165, 1.8828, -1.5551, -0.8906, -2.0888, 0.5258]\nstate[eef_state]: left_x=0.2874 left_y=0.0019 left_z=0.1559 left_yaw=0.0007 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9984 right_x=0.1476 right_y=0.3702 right_z=0.0921 right_yaw=2.6937 right_pitch=-0.0409 right_roll=0.0167 right_gripper=0.5258\nstate[joint_eff]: [-0.1026, -1.0325, 6.9949, 1.8193, -0.0415, -0.0659, -0.0122, -0.8, -15.5692, 4.5744, -0.5934, -0.4469, -0.0659, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7517, 0.4976, -0.3145, -0.0231, -0.0292, 0.9984, 0.6804, 2.3535, 1.9453, -1.5551, -0.9207, -2.0838, 0.5258]\nstate[eef_state]: left_x=0.2875 left_y=0.0019 left_z=0.1561 left_yaw=0.0007 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9984 right_x=0.21 right_y=0.3555 right_z=0.0937 right_yaw=2.5286 right_pitch=-0.0215 right_roll=-0.0115 right_gripper=0.5258\nstate[joint_eff]: [-0.3487, -1.3607, 6.5162, 1.8681, -0.0513, -0.0611, -0.0122, -0.0889, -13.4632, 5.4085, -0.5739, -0.6716, 0.0611, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c6fe21eb319c4cc2205d8dbf3b4d8c77051961424dcb870c6656ebe2bebfdfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36cc7db9c56b255b96074540613b94889a8da1857dde1c2a1dd96b01e74840df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f3154fda5fee4b7b0593c6d50bf76438b765b7ae170df3dac0ddb6fe5a5f69e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISwQsKjgEIEhgCKkAbqEQDjF/VKlyyct1z1Il14RZJIY5wdMWqzme+dH86keYE44jVItOhQhBJvglz7zBAUjcy/6mjI6Rb474rHiF5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeeszNUGEgyR29FZU575bpEXaNEaDF49gi7ytL6C0P1jxSIw+8tgm7V1qB6zSQ9iDmkj7FCvCzom39+MYmgzt6fhf9ruDh+sGVNzhPxadbg7QP17Kt8JGszhsrS6/9mGtKIpqfzvmI1jz8cllxx+kw0v+Tu6qIBX+GdRCkKo+Zfdg3EGe3Zs2zPQFCBNWICswhZ/cV0OFoD19LWYDTG8SPuSZ14Ad2XSCg8xbSh2Cv4ZzaIQWS+VaoZXf9lCJLZWe4CCbUQWU24Zq6GLHk48ewJpNPPYsewNJAQJHMr21pZz0Qv27B7ztU2s9dXFpmmA3IWi73PSNAUdeZ0wP/BkXTFdLoVzbtI9XfDOHnNLmxH7u9oVU3ghDdrb8lY/db+LpV8QcqctjjiUTiIGfgkiLBc2qqHTqbxefM5i0i1emPHDUCbcI2D42Eg0tbvkvOjysjyhOnu2GBPRvbkVbZ7ueYR7FrzaMcmIaGfQQZannKxJrfjUs+UwL6PiP+eDaOums4USKxMWndcol013h+/NmKnQYUEzzKn9tp2j3L7p8I8pgAGIMmdtXvBKWvM/tNvt9pBNluCVYuqwv4Dllbx4O1DZEoHPc7eJxd3/Gz6veUJX+0AUR0p2BWCLY11bvDAjYIQ1zXy+SrKGafHfkM9aLRsLJSlyveNWGt7QV0GSG/KunAc39CD2hjDNSgEhLzmI7ioVrB0Nt4dmyrHWvOU5lYQTCpQ/be4X5IlP9kvpTNIHHd6ByEYlaMZvKyefEdvrY2Jx92RNGx8jX2pCWW03IF6CNb6G7XJscR8uRTL3CjYIKfV9g20HJZjjDf+BLMIq+0Ym6JmQqogm3Ky7Ho6FJQHL2VND2gccR6ccaM4wAyefsLC+zS71V6mja5X4BO6tLN4M2H62hBCSed+AUYpoDhFMkwC60W+AZ0QSsoLseZCqKTq1P38D6eDQZtttTEFmFy62IthRTS4YjLibSc1HSD4Sa7jgv+S1MgPnS03WhR6E6i2kcoZltTVe3wyRsyh+XczrogE6klA3kOTjqrnyryozYQDcEIkhQTmz8HzAjzDgVeofetoWuOmNnLzwvO9IHuvqb5OBVthJsJ9WgtmfEF1Vh/eUSyaTO9hh1Lz2Dx9vm8e2m63swzCA74wlmq9KPQIUUuYp+g0XC7Hyh9W1mZzdLq6MlEv72OsAHy9z2W6nItW1aSLVGQEUsdegqmIsBrlNRbDqUWbiAuaabRRppSAAv+v3GovQKlKnTYuAZta02Zz5o68dZqUSm6uLOoiYyLnUidBM9JMgYiejBhlgDLW6am0pkfC/ZnFcwsgTbVQ/4Av6BK4011PIjWgMz5SXxfwKiMseJdu5fJYsV6Ptp5ufG0yESCp1b8jzSVAe1TND0EffkLZSmEz8UlhX4CxCwqjZPhOeRxzrpw1HiqJYALmmfoATRDawjwOMWzFFnE82NdRKOT3j86X/qovkPt4RGWOjrk0FU7TM60/W7XAujaFepad4Yj8GuqQljoRUUjYMcAhO7x0MiyhrKWaY9wc41NP8ZArH8wSwrJOtwfbLlT53z2n6BLP2nDP1X8gKPNVdERz5ODxpR09JzC1QaD+WTjBDVaGb/p18Vf82woK0eoUvLxedNOkRp8UmskSZalVPiNPIwG4Gh+UvvwDKrIM/30kAd4ItPXceNC3+W6BHaFkfPaQxb3VI7FW8eedYTapleI7ENN6Su95eGChA3ZIZsd2AqZZhHZDA+YnQWtOkFU8mqtBMF3ivKfk6FwD+6kPRtm4fvA0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A6ztZg2EU9kGsKPnFuSKB9",
      "input": {
        "note": "Arm still folded near the base and not tracking. Commanding a modest unfold: out to x=0.30 at 15 cm with the wrist yaw unwound most of the way back to neutral.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.3,
          "right_yaw": 0.8,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01A6ztZg2EU9kGsKPnFuSKB9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7521, 0.4976, -0.3153, -0.0227, -0.0292, 0.9984, 0.7406, 1.4456, 0.8215, -0.0402, -0.2325, -0.231, 0.5258]\nstate[eef_state]: left_x=0.2874 left_y=0.0018 left_z=0.1559 left_yaw=0.0004 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9984 right_x=0.2738 right_y=0.3104 right_z=0.1304 right_yaw=1.0375 right_pitch=-0.0715 right_roll=-0.027 right_gripper=0.5258\nstate[joint_eff]: [-0.0752, -1.0188, 6.6256, 1.873, -0.0513, -0.0366, -0.0122, 0.0479, -7.7744, 6.5299, 1.9609, 0.0171, 0.1929, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4629db2119a290d99280c0805cc5d1dc858dbc012169951d3116bc7f7710e571",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd5a38f2642a4b4327c4955a8a811680901857a75a5914f9b86964b8c54a162c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f063f992f3b81fda9da2fb5998ec44d5a94786b8c898ed296faefdc1e0cbc92e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 8.175 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7521, 0.4976, -0.3149, -0.0231, -0.0292, 0.9984, 0.8299, 2.3165, 1.8828, -1.5551, -0.8906, -2.0888, 0.5258]\nstate[eef_state]: left_x=0.2874 left_y=0.0019 left_z=0.1559 left_yaw=0.0007 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9984 right_x=0.1476 right_y=0.3702 right_z=0.0921 right_yaw=2.6937 right_pitch=-0.0409 right_roll=0.0167 right_gripper=0.5258\nstate[joint_eff]: [-0.1026, -1.0325, 6.9949, 1.8193, -0.0415, -0.0659, -0.0122, -0.8, -15.5692, 4.5744, -0.5934, -0.4469, -0.0659, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7517, 0.4976, -0.3145, -0.0231, -0.0292, 0.9984, 0.6804, 2.3535, 1.9453, -1.5551, -0.9207, -2.0838, 0.5258]\nstate[eef_state]: left_x=0.2875 left_y=0.0019 left_z=0.1561 left_yaw=0.0007 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9984 right_x=0.21 right_y=0.3555 right_z=0.0937 right_yaw=2.5286 right_pitch=-0.0215 right_roll=-0.0115 right_gripper=0.5258\nstate[joint_eff]: [-0.3487, -1.3607, 6.5162, 1.8681, -0.0513, -0.0611, -0.0122, -0.0889, -13.4632, 5.4085, -0.5739, -0.6716, 0.0611, -0.0122]\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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7521, 0.4976, -0.3153, -0.0227, -0.0292, 0.9984, 0.7406, 1.4456, 0.8215, -0.0402, -0.2325, -0.231, 0.5258]\nstate[eef_state]: left_x=0.2874 left_y=0.0018 left_z=0.1559 left_yaw=0.0004 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9984 right_x=0.2738 right_y=0.3104 right_z=0.1304 right_yaw=1.0375 right_pitch=-0.0715 right_roll=-0.027 right_gripper=0.5258\nstate[joint_eff]: [-0.0752, -1.0188, 6.6256, 1.873, -0.0513, -0.0366, -0.0122, 0.0479, -7.7744, 6.5299, 1.9609, 0.0171, 0.1929, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4629db2119a290d99280c0805cc5d1dc858dbc012169951d3116bc7f7710e571",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd5a38f2642a4b4327c4955a8a811680901857a75a5914f9b86964b8c54a162c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f063f992f3b81fda9da2fb5998ec44d5a94786b8c898ed296faefdc1e0cbc92e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G9KQQpmFwBHX9WF3FMU3PX",
      "input": {
        "note": "The gripper is empty — the bottle was dropped during the big yaw. Reopening and flying back over the right-hand bottle's body at 15 cm to grasp it again.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.46,
          "right_y": 0.23,
          "right_yaw": 0.0,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01G9KQQpmFwBHX9WF3FMU3PX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7513, 0.4976, -0.3187, -0.0231, -0.0288, 0.9984, 0.627, 1.85, 1.2034, -0.0948, 0.1543, 0.1669, 0.9978]\nstate[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1554 left_yaw=0.0005 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9984 right_x=0.4227 right_y=0.2772 right_z=0.101 right_yaw=0.3803 right_pitch=-0.1596 right_roll=0.0334 right_gripper=0.9978\nstate[joint_eff]: [-0.0889, -1.2513, 6.4615, 1.8486, -0.0464, -0.0269, -0.0122, -0.3214, -12.041, 9.6479, 1.6044, 0.2515, 0.2173, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c60c6dea3dd427d83bf8f78d8ef643979a32aa968eb640880abad186bced106",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ea8a96738a81fc057776b94fc82ee617bc27d11f67169d7865ba8ffcaade5b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72628a35e39aeceb53ec6ae30b29eb2f5386256011d4d509bb3622a4fb7a788d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 20.12 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7517, 0.4976, -0.3145, -0.0231, -0.0292, 0.9984, 0.6804, 2.3535, 1.9453, -1.5551, -0.9207, -2.0838, 0.5258]\nstate[eef_state]: left_x=0.2875 left_y=0.0019 left_z=0.1561 left_yaw=0.0007 left_pitch=-0.0065 left_roll=-0.0003 left_gripper=0.9984 right_x=0.21 right_y=0.3555 right_z=0.0937 right_yaw=2.5286 right_pitch=-0.0215 right_roll=-0.0115 right_gripper=0.5258\nstate[joint_eff]: [-0.3487, -1.3607, 6.5162, 1.8681, -0.0513, -0.0611, -0.0122, -0.0889, -13.4632, 5.4085, -0.5739, -0.6716, 0.0611, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7521, 0.4976, -0.3153, -0.0227, -0.0292, 0.9984, 0.7406, 1.4456, 0.8215, -0.0402, -0.2325, -0.231, 0.5258]\nstate[eef_state]: left_x=0.2874 left_y=0.0018 left_z=0.1559 left_yaw=0.0004 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9984 right_x=0.2738 right_y=0.3104 right_z=0.1304 right_yaw=1.0375 right_pitch=-0.0715 right_roll=-0.027 right_gripper=0.5258\nstate[joint_eff]: [-0.0752, -1.0188, 6.6256, 1.873, -0.0513, -0.0366, -0.0122, 0.0479, -7.7744, 6.5299, 1.9609, 0.0171, 0.1929, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7513, 0.4976, -0.3187, -0.0231, -0.0288, 0.9984, 0.627, 1.85, 1.2034, -0.0948, 0.1543, 0.1669, 0.9978]\nstate[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1554 left_yaw=0.0005 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9984 right_x=0.4227 right_y=0.2772 right_z=0.101 right_yaw=0.3803 right_pitch=-0.1596 right_roll=0.0334 right_gripper=0.9978\nstate[joint_eff]: [-0.0889, -1.2513, 6.4615, 1.8486, -0.0464, -0.0269, -0.0122, -0.3214, -12.041, 9.6479, 1.6044, 0.2515, 0.2173, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c60c6dea3dd427d83bf8f78d8ef643979a32aa968eb640880abad186bced106",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ea8a96738a81fc057776b94fc82ee617bc27d11f67169d7865ba8ffcaade5b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72628a35e39aeceb53ec6ae30b29eb2f5386256011d4d509bb3622a4fb7a788d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISgAoKjgEIEhgCKkBbd0fj+HVvHRoTsdb5v48qa5N6pUjXAh+HgLpBXmXkJCF902mGrPoHiRt2GpeNFfz4ZNV2cQ4BiQuX1g3v1/NcMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYytzNUGEgyrBDRV0qhSKXfZ1noaDNkG9nZcZWbl8d59IiIwLIIWdUS1relswVAIVenb1+oKnES+INIbHS0PkQPxdeuFzP6wV62xqLLuTG+BR/XGKp4ItjF/YDbzO9X+sG3qGE0CxBxAzBUcuZQIh+aMm/2c0cT2XZ/1EC5yqzyOCRn1YiX4IJHfHd+/YjpbRRfBHBlfzjCTILvQz8l47eQifwiRZPFudvuJ3x1HjYEYNzJ7Qh/Pjs3ucEX1PIw1llIp2K3xMhk55eTDt+sZa+kohnzOZQzCBpUXXHt5PrmvyGbCA9Vi6Srb6d3xKiAMxOAGiNAxgDwK6TwP4PjlO+V58ZgEeJuP1R5DTuyaYp5NxDVaZlrQnkvRO83EoBerUzBYId++DUgKM/38qzHJ11FkJKcj+5S6Q0gzsNVWmQXLnLWh8FS2Rb7DeCRM/1LHtkmMFd1tUbfBcB5QBXZRlzFI68II2upv1xiGxlf2rsg3gLGQoeVKHN5+/RIaDd9OspfsUtrhpMPS8t7DYNIwqMulCtK5QOURBDU5NGJZEURXcKuOy4KsJ/WmVrXFVJ8WKp66Rg1aeRn+In9EoK5PGvrlgg0Qhv3WarqbYyQDJkoYJ505qbtqpgQLuwxIFioG56gXXuGo5RR+z6X3SxXu+5ZyPOnXzCVMP0tU1p5sNII0f7Of1+T0ELPGc1uOuIbU9Gw7i/FdJQGLxl38q0Q3b8TikQcVc6KkBNPuiuEiNPiJlE8wmOvPouNaUbRvax2KFbepGsw1hne5fB14vWhPy5txLvzsHBOJZNKtVkm16AHC4jfLoDn5AB+ErfDp+UMdhvvk2QtDd1O/TvAaE9isKB/e1fzHZc4JMND71mfo50EuRsxuhLID0vU/LjV2bU0t2mbALlc29OSzPHoHggqvPmH6RoS8UHJ8dbl36WgaNrpsUNH6u9Ru5KvkO35l28Y08gaYgaW0ELn8e2Hqy3p+fVuk+CxA66qxLs+MLp6shEbRdbzuAwZDE4W+D1N8AUl5HwwVVvWJ1RvKxJHrMZCE1YikvA/Acm+x7Pd7FFbXqmjVxZZuyq1I+0B+bXO6B7/+QqpiXPqLjhGDt+7/l4M+EAMeJrnkjLpgfsaRZo+IcMx6dO9Mm5rMqXQksGXI8ouQbjYXpfEJ1zQj/rfbiOvkjwpvoyUo+2zfIvBVQ7er/cAnxdSttSavMh/Ro2emcH883Fjt110DKWNqlPFKJiDP58sp5xwUk0OReygOsNIYzlvByu+Opvei4F9dD+bGUvMJUvSgyYNm66GjB59aXfD4oQDAUsi9BUXMbkktILOxcqmuLilrElnlEhP9PD/kC3V/u4/L9Wvdx7iwPVY2ZXm+HGvzcfkoZDEZjAysnmeufa1ZvKzSnG3wTgnj2dc6flwvd56dJ9CFi9XEYHIJx2BGzFclcLx6oilHCyyzmFLgy8UW3tAIj9D0NJv/Vx8aTgswBgtfKVHZA6o5x+TeQBfUVDz6H8Y7M6YvNHRlInmXuPE1GUAzoxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NDA2GFxbJ18W7HuX9JAu7d",
      "input": {
        "note": "The previous move under-tracked; repeating the approach over the right-hand bottle's body at 12 cm with the wrist back at neutral yaw.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.23,
          "right_yaw": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01NDA2GFxbJ18W7HuX9JAu7d",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7513, 0.4976, -0.3183, -0.0227, -0.0292, 0.9984, 0.6327, 1.8767, 1.1591, -0.0223, 0.4187, 0.2882, 0.9991]\nstate[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1554 left_yaw=0.0004 left_pitch=-0.0099 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4392 right_y=0.2374 right_z=0.0919 right_yaw=0.1031 right_pitch=-0.0918 right_roll=-0.0385 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -1.5658, 6.2427, 1.8339, -0.0269, -0.0366, -0.0122, -0.9504, -9.2786, 10.1402, 1.8388, 0.3492, 0.2564, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e97b1df9de7ff20c1a3c1523e32f8be733dc4302009f52fb4adf1f1d30cb2b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc3f1d78b24cabd71a21765ae912f7939e827f2ab88a35203dc08b953a3ce1a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:193ee15555fc8276140e00ec602a5810c4da899fd74808246da187c8cc6cebc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 16.98 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7521, 0.4976, -0.3153, -0.0227, -0.0292, 0.9984, 0.7406, 1.4456, 0.8215, -0.0402, -0.2325, -0.231, 0.5258]\nstate[eef_state]: left_x=0.2874 left_y=0.0018 left_z=0.1559 left_yaw=0.0004 left_pitch=-0.0076 left_roll=-0.0005 left_gripper=0.9984 right_x=0.2738 right_y=0.3104 right_z=0.1304 right_yaw=1.0375 right_pitch=-0.0715 right_roll=-0.027 right_gripper=0.5258\nstate[joint_eff]: [-0.0752, -1.0188, 6.6256, 1.873, -0.0513, -0.0366, -0.0122, 0.0479, -7.7744, 6.5299, 1.9609, 0.0171, 0.1929, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7513, 0.4976, -0.3187, -0.0231, -0.0288, 0.9984, 0.627, 1.85, 1.2034, -0.0948, 0.1543, 0.1669, 0.9978]\nstate[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1554 left_yaw=0.0005 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9984 right_x=0.4227 right_y=0.2772 right_z=0.101 right_yaw=0.3803 right_pitch=-0.1596 right_roll=0.0334 right_gripper=0.9978\nstate[joint_eff]: [-0.0889, -1.2513, 6.4615, 1.8486, -0.0464, -0.0269, -0.0122, -0.3214, -12.041, 9.6479, 1.6044, 0.2515, 0.2173, -0.1001]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7513, 0.4976, -0.3183, -0.0227, -0.0292, 0.9984, 0.6327, 1.8767, 1.1591, -0.0223, 0.4187, 0.2882, 0.9991]\nstate[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1554 left_yaw=0.0004 left_pitch=-0.0099 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4392 right_y=0.2374 right_z=0.0919 right_yaw=0.1031 right_pitch=-0.0918 right_roll=-0.0385 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -1.5658, 6.2427, 1.8339, -0.0269, -0.0366, -0.0122, -0.9504, -9.2786, 10.1402, 1.8388, 0.3492, 0.2564, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e97b1df9de7ff20c1a3c1523e32f8be733dc4302009f52fb4adf1f1d30cb2b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc3f1d78b24cabd71a21765ae912f7939e827f2ab88a35203dc08b953a3ce1a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:193ee15555fc8276140e00ec602a5810c4da899fd74808246da187c8cc6cebc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MLLRuzv28hCR3c2w3inCUj",
      "input": {
        "note": "The wrist view shows this bottle now lies sideways (cap to the left, toward +y) after my earlier turn. Moving over its neck and yawing the wrist 90° so the jaws will close across the neck rather than along it.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.33,
          "right_yaw": 1.5,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01MLLRuzv28hCR3c2w3inCUj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7513, 0.4976, -0.3183, -0.0231, -0.0288, 0.9984, 0.6281, 1.8786, 1.1866, -0.0292, 0.4717, 0.3141, 0.9994]\nstate[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1554 left_yaw=0.0005 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9984 right_x=0.4479 right_y=0.2305 right_z=0.1034 right_yaw=0.0435 right_pitch=-0.0569 right_roll=-0.038 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.5795, 6.3111, 1.8242, -0.0415, -0.0024, -0.0122, -0.5812, -9.5658, 8.759, 1.8193, 0.4322, 0.2125, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b47d30d3e0db862a68ef77d9a1bec4dcb0e2c1c090dfaa1add07ce65b2af208",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a50c110915d3c6e2fe5c6408f4d6a4226a278e381791ee34bc355bee99e055e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04eb681b24ea3bc6a063f167e4e2112332ec17b482fcb8738fbf6685da011b1f",
        "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 · 27.31 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7513, 0.4976, -0.3187, -0.0231, -0.0288, 0.9984, 0.627, 1.85, 1.2034, -0.0948, 0.1543, 0.1669, 0.9978]\nstate[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1554 left_yaw=0.0005 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9984 right_x=0.4227 right_y=0.2772 right_z=0.101 right_yaw=0.3803 right_pitch=-0.1596 right_roll=0.0334 right_gripper=0.9978\nstate[joint_eff]: [-0.0889, -1.2513, 6.4615, 1.8486, -0.0464, -0.0269, -0.0122, -0.3214, -12.041, 9.6479, 1.6044, 0.2515, 0.2173, -0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7513, 0.4976, -0.3183, -0.0227, -0.0292, 0.9984, 0.6327, 1.8767, 1.1591, -0.0223, 0.4187, 0.2882, 0.9991]\nstate[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1554 left_yaw=0.0004 left_pitch=-0.0099 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4392 right_y=0.2374 right_z=0.0919 right_yaw=0.1031 right_pitch=-0.0918 right_roll=-0.0385 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -1.5658, 6.2427, 1.8339, -0.0269, -0.0366, -0.0122, -0.9504, -9.2786, 10.1402, 1.8388, 0.3492, 0.2564, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7513, 0.4976, -0.3183, -0.0231, -0.0288, 0.9984, 0.6281, 1.8786, 1.1866, -0.0292, 0.4717, 0.3141, 0.9994]\nstate[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1554 left_yaw=0.0005 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9984 right_x=0.4479 right_y=0.2305 right_z=0.1034 right_yaw=0.0435 right_pitch=-0.0569 right_roll=-0.038 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.5795, 6.3111, 1.8242, -0.0415, -0.0024, -0.0122, -0.5812, -9.5658, 8.759, 1.8193, 0.4322, 0.2125, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b47d30d3e0db862a68ef77d9a1bec4dcb0e2c1c090dfaa1add07ce65b2af208",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a50c110915d3c6e2fe5c6408f4d6a4226a278e381791ee34bc355bee99e055e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04eb681b24ea3bc6a063f167e4e2112332ec17b482fcb8738fbf6685da011b1f",
        "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_01FwZwMQGzc7Kr1poVSvkT9R",
      "input": {
        "note": "That target was outside the arm's reach, so nothing moved. Instead I'll yaw the wrist 90° here and drop to bottle height to grab this sideways bottle's body and drag it closer to the base first.",
        "targets": {
          "right_x": 0.46,
          "right_yaw": 1.5,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FwZwMQGzc7Kr1poVSvkT9R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7498, 0.4976, -0.3187, -0.0227, -0.0292, 0.9984, 0.1829, 2.2749, 1.618, -0.3027, -0.7891, -0.9104, 0.9996]\nstate[eef_state]: left_x=0.2868 left_y=0.0019 left_z=0.1558 left_yaw=0.0004 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9984 right_x=0.5008 right_y=0.2238 right_z=0.0519 right_yaw=1.2764 right_pitch=-0.0443 right_roll=-0.0812 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.1556, 6.3111, 1.8486, -0.0366, 0.0122, -0.0122, -0.5538, -12.7248, 5.7094, 0.5446, -0.7009, -0.0757, 0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c9b23d6b37d0f52e7b6278494c1626f1b210f70ca7468b80e0c8eb7dbd3be0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ed2bbf28dbba5b38409e50c02b16422aade6b4b5621ef0510d34b5b70d6b7f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fba79cee491de7175baf43594d67c0939385c304fc711ae46a0625e68852a0fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 19.27 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7513, 0.4976, -0.3183, -0.0227, -0.0292, 0.9984, 0.6327, 1.8767, 1.1591, -0.0223, 0.4187, 0.2882, 0.9991]\nstate[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1554 left_yaw=0.0004 left_pitch=-0.0099 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4392 right_y=0.2374 right_z=0.0919 right_yaw=0.1031 right_pitch=-0.0918 right_roll=-0.0385 right_gripper=0.9991\nstate[joint_eff]: [-0.3761, -1.5658, 6.2427, 1.8339, -0.0269, -0.0366, -0.0122, -0.9504, -9.2786, 10.1402, 1.8388, 0.3492, 0.2564, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7513, 0.4976, -0.3183, -0.0231, -0.0288, 0.9984, 0.6281, 1.8786, 1.1866, -0.0292, 0.4717, 0.3141, 0.9994]\nstate[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1554 left_yaw=0.0005 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9984 right_x=0.4479 right_y=0.2305 right_z=0.1034 right_yaw=0.0435 right_pitch=-0.0569 right_roll=-0.038 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.5795, 6.3111, 1.8242, -0.0415, -0.0024, -0.0122, -0.5812, -9.5658, 8.759, 1.8193, 0.4322, 0.2125, 0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7498, 0.4976, -0.3187, -0.0227, -0.0292, 0.9984, 0.1829, 2.2749, 1.618, -0.3027, -0.7891, -0.9104, 0.9996]\nstate[eef_state]: left_x=0.2868 left_y=0.0019 left_z=0.1558 left_yaw=0.0004 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9984 right_x=0.5008 right_y=0.2238 right_z=0.0519 right_yaw=1.2764 right_pitch=-0.0443 right_roll=-0.0812 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.1556, 6.3111, 1.8486, -0.0366, 0.0122, -0.0122, -0.5538, -12.7248, 5.7094, 0.5446, -0.7009, -0.0757, 0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c9b23d6b37d0f52e7b6278494c1626f1b210f70ca7468b80e0c8eb7dbd3be0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ed2bbf28dbba5b38409e50c02b16422aade6b4b5621ef0510d34b5b70d6b7f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fba79cee491de7175baf43594d67c0939385c304fc711ae46a0625e68852a0fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RXYBfdFBLUzXmzq6kU7NEZ",
      "input": {
        "note": "Wrist view shows the bottle lying diagonally with its blue cap up and to the left. Sliding left and slightly back (inside the arm's reach circle) to put the jaws around its neck.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.3,
          "right_yaw": 1.3,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01RXYBfdFBLUzXmzq6kU7NEZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7506, 0.4976, -0.3183, -0.0227, -0.0292, 0.9984, 0.2222, 2.3032, 1.5856, -0.2668, -0.8375, -0.8379, 0.9996]\nstate[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1556 left_yaw=0.0004 left_pitch=-0.0091 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4821 right_y=0.2472 right_z=0.0357 right_yaw=1.3051 right_pitch=-0.0199 right_roll=0.019 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.5248, 6.3932, 1.8339, -0.0317, -0.0415, -0.0122, -0.7726, -14.694, 6.4205, 1.3846, -0.3785, 0.2027, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c109ab21db6fca932ec8a01d971235d7c8a330509b1e28e8f88a32f0d3ef7cf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42e42c6afcb3fdc4c38a83c7eda6588345fc057907e2bbc6319bb0b8bcececfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f84dab055971bfffa2773c39eced8214ceef6b951e1afe529eb8a10d9dbb28af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /messages · status 200 · 4.738 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7513, 0.4976, -0.3183, -0.0231, -0.0288, 0.9984, 0.6281, 1.8786, 1.1866, -0.0292, 0.4717, 0.3141, 0.9994]\nstate[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1554 left_yaw=0.0005 left_pitch=-0.0099 left_roll=0.0001 left_gripper=0.9984 right_x=0.4479 right_y=0.2305 right_z=0.1034 right_yaw=0.0435 right_pitch=-0.0569 right_roll=-0.038 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.5795, 6.3111, 1.8242, -0.0415, -0.0024, -0.0122, -0.5812, -9.5658, 8.759, 1.8193, 0.4322, 0.2125, 0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7498, 0.4976, -0.3187, -0.0227, -0.0292, 0.9984, 0.1829, 2.2749, 1.618, -0.3027, -0.7891, -0.9104, 0.9996]\nstate[eef_state]: left_x=0.2868 left_y=0.0019 left_z=0.1558 left_yaw=0.0004 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9984 right_x=0.5008 right_y=0.2238 right_z=0.0519 right_yaw=1.2764 right_pitch=-0.0443 right_roll=-0.0812 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.1556, 6.3111, 1.8486, -0.0366, 0.0122, -0.0122, -0.5538, -12.7248, 5.7094, 0.5446, -0.7009, -0.0757, 0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7506, 0.4976, -0.3183, -0.0227, -0.0292, 0.9984, 0.2222, 2.3032, 1.5856, -0.2668, -0.8375, -0.8379, 0.9996]\nstate[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1556 left_yaw=0.0004 left_pitch=-0.0091 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4821 right_y=0.2472 right_z=0.0357 right_yaw=1.3051 right_pitch=-0.0199 right_roll=0.019 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.5248, 6.3932, 1.8339, -0.0317, -0.0415, -0.0122, -0.7726, -14.694, 6.4205, 1.3846, -0.3785, 0.2027, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c109ab21db6fca932ec8a01d971235d7c8a330509b1e28e8f88a32f0d3ef7cf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42e42c6afcb3fdc4c38a83c7eda6588345fc057907e2bbc6319bb0b8bcececfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f84dab055971bfffa2773c39eced8214ceef6b951e1afe529eb8a10d9dbb28af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoBcKjgEIEhgCKkDA5oRBKqUjPiMzHt3Vz8b0x7MBi0IEJFXzCvG2S/iLwqiq7wXdDmjX6L/cgkD59yst5qn9OWPvoVQ2znDXgbd+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeKtzNUGEgyQgAYBViKqd4AMBLoaDBn4JNfB8L52i9mJSCIwOVwAIed7cUcscaQGQfXbaUBV2/e+Ni0CAFe/GcO8gURQAtSBj/QAnZH9p9nAj13AKr4Vop8oika4qXqH/bsB2jsZvzEwdQI9oyWsqIlGerh2O8EfNXj3Iy7SVr/KsFxkAirWv8DgQguug/Xjpk4/wQ2LBo691HGyBSUa8Kul0KVqy1xqngv3h/Yw1xEY/Ye03J64H16FhStpKt2v7Tf1UQ/sCfOcWtIktyy4JQfp/eSdDrnaQ8/cMTST5VoEyLGuNwTfgVh3N4CIc3ImXmDHvgUABLo3JZ7tBp4Zq9uI+1LhIUeF9WNuqI2CRK317kRMk7vqDZ65fbz08/GkeIlyn+4RbekwNo2i4JIGmQgBhW2zQuU2fX+xN8npAMqbm0M7gDPmuOoqDk3PjlpWHHswRp3IP36N+sro3/weDYfbKIBxPKP9Ea6FTyzYupykrqmZVjV+1nQR2+gfjfcCWQ59uHviAf5gmTE5CiMn2BvIHxSnb2RZIW0BLVqjuUhjbZ0JEvcqxrgZ09rdVNeTyNl6HfP+BKtgVErFR5E/bZDAp6FD+9GXqTCCUoNWV1j5XGCcx3wsCgTX/+iq4frOBh6szQrBCu0ZdOc2K+asaDKrGQ4gvKXPM4DDG8mAmIKROJaE/AA0vioYCEZEAD7ijwFNPcykMoSyAVtU3hEb55SrrTxfOnHGa8cwtv5wo5OoQSb1EmnO6xRO4rMV/afJwI8168QU5JLFHZqo6MIWTB4/DYzEUPaX9237QSP1x/IDl11n6rIMFjfegXjT8fEA5FOcyQKMFR9eA24P29WF/trakFi0gKc91RgviCIMn1Yf8g03hOmNddfLrEkfhSBJ4kEbueGT1mUrN3RdRQtmJ+IbbaVpBZb4k/IKhRyrQJ8bs7fIiRYd+1val3ikTynpBOyg1tBuhSSX1zvjE28pHQ5AdVZgO+M4LMrdkeyGa+W+g64y0gPOrksgF+2b9LotljboPsGd4XT5sCP1gJQ1tLSp+1bQIdhd3fy5+Chd2nHrn6DuI/SqoOgdWfV0fxQPRNYFZtDnR/6iBia2CTW8kQl6A04ZtcJUOBouat7HqyBgF93CFq6j5+4QcWiHSMtOOCyR1CKPGGvsRDdRCZ3KIAEgjskZYkPyPphGk9cl2upWobFLbF/KqSgLFWtGF5ptIONUGKBzTx8xjOUBIwwiYNratD6tCjidvmbCx6gMPOP+pzfqKb9soPnt/SxVZ2pfFBijMht10wdil8BixC+jTSuwk6SGzDYVL5iKSzRP/WIGYhqXeLwDVMuDYAYRgca8JCfAjTgkhDjnsxHAADvALSx7USrUnN0LRXv28m0RMaLkR497BXzRHJBnU10aKJYOK4GFauaVRUbX8aSz0JZ6bmfQHdaKOehPDSbJpReHS5eWUU5FygkLvuh7zpdIPFs3B9C9EI7c9n0+/YybyTQ0pXO79o6C0Q/7QuFRS5/jzDwAyB7K8jjdz3hZLkbZj3zxtL6SVRZj9Lk+YTH3UQKKUAnQ9jaugljWY3mf7wU6F9EIsSwsu9hmqlkfnB/u03brzMmSFhZ21R3KiD3/RizTD0ywAoQhTJrrRKD4oPdWgJek+GIB+sZ2kKNjmphNjYJ63KZQ3ZgHxtrXthXeqY784flgC5t5fBiIdK7WTyfnDIFoIJvlzOyI9c+m9btN/jAW7C0VEk75D69Nu8btC1gg+OH7uRs86Bipy98nzTmzVqPdhp7mpIV9TblGr2WzhX1KkChpOnQymTBmzsQOJr//6Wd/ByO+sPIcwG6biOI2NMjSiyU772niCMP90CaxCS7DnanJJ3Cy3z0xBjbX2zm4NRjQWh22YjX62VXauRjwWFBoZXBfNP9uk1RkqbVN7bCw54dfpvwgb1lrfsrS0cTSIiq7b2LObQZxe8Pur/wwSd5klcmv9dDvI/33fPGNZUX9lTlxawsV0FdZ4GBDqAP7vkBHLV26ajYCTtgVRK30gdWsm64lz79kMUnABGxK3PGyvNLwBifLI7hQlNrxgq4O+SkXWuCdqnLRYd+IVK83vpKTFFbJIurQFRAIH+4WwnBQU/if5YxwLvzIDrT+GntHS5uJfr12w5HxLK6x5sowHnzRTuumRNIUh4WqzY+6/dlrXYOCpg7nw/s659QcRSERFeZUSF2l/VJJsffvynqrEkbFZC23/txHW8/rbRw00sotcEMO1bbm9miRu5tfllIzgixn3PQyhIPROMTRyh1d4A2WZHOPjJVys7znPKwHoeei/cpv8tvzIAyYfKYbJC3MttobnQU50V8H/s40C5TEiUQ6E9HjMNj7UtQQNRaD9w7bHE0PaZdrOiTyWKnsec3wFMuhsqXbthMt4BWukxJTmbpSWvq2+E2vQ3G3Bjw+jcq0UwgCMyy4Goff0+zvQe4RyX2AA19/g7dNBrHTU6hKkdMghJedOij47luOmx9MLVEcXlFDFjgHqWqHY6ZQJ8Os97RgAiTVVGuk9z1e3RKaisT5CmAsHEUQaTrDwVl4EnMuHlLcT99raYw1iN4Qv2Z7pY8evZewgTa3RyoC/JBBGc5lqRllKg5KkAJ/8B25EWNtDdm7GpgfbC1CPEmlg67hw2k35UGXWvuijwIf+sUdHRNZxlRhMDuzjPren/J1UrZMMF9e71RmMx9v+3VwrPFUdwezJHeIMAoYS9LQVJqDJlymMlwZULegJYlq1ucMJBJITrCZm4xpP4XI3xBLiMVTZ7cYv+7nIev3E6eNt5udttaj2gwOv55zsqVpr6wkL0eSmGQDHcugDF6zF2tPvyiPFuRpUMxMrZHEpkNoqlrBkgoupgHD/sCkpNx4QLOojt899uriNwxL76SCnUJxo2LbfN33X6+xn+KYbQFVnlcCZSP2G0C9NmiYnsinJj2PndpGiwxfDu6RGhySrfVUm1+MPtu30YIwT6MnDYJ3uYIMU2a33pRQmC4bgJ5w/EvPrgUu8NVVp6205N9AnCpDVsZHq6YJQD1OHYJn1nR7PcW65jbyuRZSAQBDAuCmxtl958pcy/6e+LmbusBDUTPcz7HlJHfR5FwsbTv5vwakZDJ7oPvA75dx9in1mEQwLooDzSqOirvHCqTqXA4Ztf4EthcEXpz/6ggH37pKOo3vEH5kZXnk3tpiddEANvbTwd3b5LT7VFX3j3wtuPjLS6S+EWIlPVyBG7nASBj+AE8Ay9RVnY/7MITiNCcaPomZfKajqDJIew3LiXLFWxtiAPut30L+QjRbi5DYc+nOjVv31qSPz7OQK/9+fKexetFTatAui7CEvO5firx8elB6GStx69EsGcBc7l35uL+m76RqAirS3t++40FJex+/cHQUZgMdVYHBut7HIQYci2LFbFiavymncLXjrVscdHvnsz/5iZCjuYzQBSma1CZiOSFw06AJMmKGIxN3+poEh4tAPDWpZhMRCTCpTBm86sl7d4nHaglS/zduCLQNWDvdFcAKbkZ4AplD6tOXh3y2AoINrQUxB7gG6VBqisHnO32kzL48E8gqlqthLMvE6pqBCs4bH5GfCuax4D8G6SEf48VSdhnoHMlz9XuynMhYTVx7zZM6w3VYLbZazlO/cG5g9lNlaon/hX9Z6XWYyYjpE3pMl96QYR6mnQQtJVnua5NEVortvS+Pufq4OFwIEfEAQNHRcGCW2ATUsaExSlmPlV/lxSG3RdhIZGbW9kla7XnNmGdrbQlvDpYEi9PiU6velTnFAyTiI7UTPq5sJ7IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011E26fME5X1SCFb3ALKFhj9",
      "input": {
        "note": "The blue-capped bottle's neck lies past the right arm's reach, but it is well inside the left arm's workspace. Bringing the left arm over that neck with the wrist yawed 90° so the jaws close across the bottle axis.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.45,
          "left_y": -0.22,
          "left_yaw": 1.5,
          "left_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_011E26fME5X1SCFb3ALKFhj9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4648, 2.5114, 2.1017, -1.5494, -0.9131, -2.0594, 0.9987, 0.2226, 2.3032, 1.552, -0.2192, -0.8379, -0.8383, 0.9996]\nstate[eef_state]: left_x=0.4345 left_y=-0.0575 left_z=0.0605 left_yaw=1.3823 left_pitch=-0.0395 left_roll=0.0019 left_gripper=0.9987 right_x=0.4803 right_y=0.247 right_z=0.0298 right_yaw=1.3057 right_pitch=-0.013 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -12.2325, 6.612, -0.5446, -0.4811, -0.3932, -0.149, -0.4855, -13.4222, 6.2974, 1.1795, -0.5104, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce661621bc59888d5a15d00b65aa8dc81d8f72e57637e6c620bdd87063153cc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9623fb6f71fd05fa56649a7426ef3954103c39454700a3f89955a2628bc57759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:42285e2b5af01ceeb10c0976163c036472689cc3b189e4aeb0b95ea377efe588",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 6.389 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7498, 0.4976, -0.3187, -0.0227, -0.0292, 0.9984, 0.1829, 2.2749, 1.618, -0.3027, -0.7891, -0.9104, 0.9996]\nstate[eef_state]: left_x=0.2868 left_y=0.0019 left_z=0.1558 left_yaw=0.0004 left_pitch=-0.0088 left_roll=-0.0005 left_gripper=0.9984 right_x=0.5008 right_y=0.2238 right_z=0.0519 right_yaw=1.2764 right_pitch=-0.0443 right_roll=-0.0812 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -1.1556, 6.3111, 1.8486, -0.0366, 0.0122, -0.0122, -0.5538, -12.7248, 5.7094, 0.5446, -0.7009, -0.0757, 0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7506, 0.4976, -0.3183, -0.0227, -0.0292, 0.9984, 0.2222, 2.3032, 1.5856, -0.2668, -0.8375, -0.8379, 0.9996]\nstate[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1556 left_yaw=0.0004 left_pitch=-0.0091 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4821 right_y=0.2472 right_z=0.0357 right_yaw=1.3051 right_pitch=-0.0199 right_roll=0.019 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.5248, 6.3932, 1.8339, -0.0317, -0.0415, -0.0122, -0.7726, -14.694, 6.4205, 1.3846, -0.3785, 0.2027, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4648, 2.5114, 2.1017, -1.5494, -0.9131, -2.0594, 0.9987, 0.2226, 2.3032, 1.552, -0.2192, -0.8379, -0.8383, 0.9996]\nstate[eef_state]: left_x=0.4345 left_y=-0.0575 left_z=0.0605 left_yaw=1.3823 left_pitch=-0.0395 left_roll=0.0019 left_gripper=0.9987 right_x=0.4803 right_y=0.247 right_z=0.0298 right_yaw=1.3057 right_pitch=-0.013 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -12.2325, 6.612, -0.5446, -0.4811, -0.3932, -0.149, -0.4855, -13.4222, 6.2974, 1.1795, -0.5104, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce661621bc59888d5a15d00b65aa8dc81d8f72e57637e6c620bdd87063153cc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9623fb6f71fd05fa56649a7426ef3954103c39454700a3f89955a2628bc57759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42285e2b5af01ceeb10c0976163c036472689cc3b189e4aeb0b95ea377efe588",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISigUKjgEIEhgCKkDoaxJuHsiTavd1nV0UiCPl/i2HMyz3nchOWPt4WreZywKJJgnzCIJO1ECCHV8MPMHos4kQVTvi5W3L78NimGBHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAemtzNUGEgxBNj64MqJ1MA/eUDUaDMWpmyJT322F9t35FiIw+kXK0TR2t6xbHxSaq7/GZVABpKZ99QRRWiolebnkdD5QF2Uu81LgXqBvPvsGTQVmKqgDk3sGM6zsM5VNVbpMYeO7xeL3N2TuUQlEY2dJlRczo45y4KWC4BP1kMZfgZIblXZHY1LcOauRCwuDHl/6RK6JCXfBAkkDU3x13mqXv2cwY98CwG4aho7G1Ub7XLuQ5lHttg5m91QHS5vB6n5u85b9GdeoeWq0huvLz9e4G3JaUJyUGKG7ITxI12ZLYdWX/86w2OXQZ4icZIXC3005dFImpIMlPEnrUj14hu4t4yix0+WIyKyGNXA3chj6b0gxIIRnnRZqBe+G67R75PymBiWjPD6HKKulDPYyrdgXqhn7JmG4XTG34zpVQyuKIIeqncVbQMhnCFmMY4C90xslfAHy/2G0DWnlSnLmOCBziLB76FXufPp/7RxAw42vyF3HXI/KzyVLGXNOAgxGb85r0Qftm3/IDP2RFmSUT8t3xycZMydojPBxNVWznpRFNGZvDiz1Q9xhCQWWO/SU+KibBqaroduKJ45NvRnboqWmY4bF/WSt9YH9wjhRKqsdCmNon3ea2bkqYKWq0BOEWDXjWt1/PSx7yZbIOrmPyeFuBOprcShwcJ2f2npe0BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DCrVERVWwByzFR9y8b43c9",
      "input": {
        "note": "The left arm stopped short at y=-0.06; pushing further left toward the blue-capped bottle's neck while holding 10 cm height.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.2,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01DCrVERVWwByzFR9y8b43c9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5236, 2.5748, 2.125, -1.5532, -0.9207, -2.0598, 0.9985, 0.2226, 2.3032, 1.5387, -0.2081, -0.8379, -0.8383, 0.9996]\nstate[eef_state]: left_x=0.4315 left_y=-0.0826 left_z=0.0409 left_yaw=1.3219 left_pitch=-0.0208 left_roll=0.0419 left_gripper=0.9985 right_x=0.4783 right_y=0.2465 right_z=0.0266 right_yaw=1.3057 right_pitch=-0.0141 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -15.9111, 6.1333, -0.6569, -0.5006, -0.4225, -0.0366, -0.4718, -12.9846, 5.7231, 1.3065, -0.4567, -0.0024, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6f135545e9c2f21f24abef814395d89051cb22f41f07ca0b764a16431f2e9d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30ec481691396709b9bf24075d7b0dedd4983b6ca703a4ff89c61c3353c6eaa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d11f9e97eea8a653332a2ef04ce9f81fcd2a2932a87ef6af1c286f148e553ccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 4.057 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7506, 0.4976, -0.3183, -0.0227, -0.0292, 0.9984, 0.2222, 2.3032, 1.5856, -0.2668, -0.8375, -0.8379, 0.9996]\nstate[eef_state]: left_x=0.2869 left_y=0.0019 left_z=0.1556 left_yaw=0.0004 left_pitch=-0.0091 left_roll=-0.0005 left_gripper=0.9984 right_x=0.4821 right_y=0.2472 right_z=0.0357 right_yaw=1.3051 right_pitch=-0.0199 right_roll=0.019 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.5248, 6.3932, 1.8339, -0.0317, -0.0415, -0.0122, -0.7726, -14.694, 6.4205, 1.3846, -0.3785, 0.2027, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4648, 2.5114, 2.1017, -1.5494, -0.9131, -2.0594, 0.9987, 0.2226, 2.3032, 1.552, -0.2192, -0.8379, -0.8383, 0.9996]\nstate[eef_state]: left_x=0.4345 left_y=-0.0575 left_z=0.0605 left_yaw=1.3823 left_pitch=-0.0395 left_roll=0.0019 left_gripper=0.9987 right_x=0.4803 right_y=0.247 right_z=0.0298 right_yaw=1.3057 right_pitch=-0.013 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -12.2325, 6.612, -0.5446, -0.4811, -0.3932, -0.149, -0.4855, -13.4222, 6.2974, 1.1795, -0.5104, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5236, 2.5748, 2.125, -1.5532, -0.9207, -2.0598, 0.9985, 0.2226, 2.3032, 1.5387, -0.2081, -0.8379, -0.8383, 0.9996]\nstate[eef_state]: left_x=0.4315 left_y=-0.0826 left_z=0.0409 left_yaw=1.3219 left_pitch=-0.0208 left_roll=0.0419 left_gripper=0.9985 right_x=0.4783 right_y=0.2465 right_z=0.0266 right_yaw=1.3057 right_pitch=-0.0141 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -15.9111, 6.1333, -0.6569, -0.5006, -0.4225, -0.0366, -0.4718, -12.9846, 5.7231, 1.3065, -0.4567, -0.0024, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6f135545e9c2f21f24abef814395d89051cb22f41f07ca0b764a16431f2e9d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30ec481691396709b9bf24075d7b0dedd4983b6ca703a4ff89c61c3353c6eaa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d11f9e97eea8a653332a2ef04ce9f81fcd2a2932a87ef6af1c286f148e553ccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4wYKjgEIEhgCKkDREMfnWbBu3/xkeb395M/EX8E/FuP7mlLQ5TvkrUrqZpk1p078iJVNWobQKh9uACeZZmeYx+6EclMb+SKuBNCnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfGtzNUGEgylGGU2fTBHPtKeoDEaDE5HMfR0paqtwfM+4yIw70HAWB5Pjr2npRM3TOGl98vsAxh8Uclywkqk2Z7qk+Br8yXckdOE8JuCgLzeKZ7IKoEFrtlv+hYFiJrHKvmD4JKRvyPm777JmN83/avbq227egNUlqXdyIYFc36a2j5E/Juy8rSrn/GQTaP7iM2IGLM/W+1HCKIPjm4ZCyZhjNGiM2oihHhigkjlhSWm0sxtIddc2W7zgrEiFZ88uks23wrwpwKdYVW9oQwcrCyfehYO5cACQzxJ4SGGChpWK/7AxqVAK8xSA+OVogvk6yWNWkBFL0v8y+HsMn1ZHCuiQEnd8xFMaos0YA8kXCBUoMFe5QKWlqgcyj3xD7Hf2M989xrMT1E5uGNj947gyK8nZurEsrLGItT9fKVtzsEag2ncdbgSA2j/OOEzJr5JlS1wCisvia5ll9Fl9WErq33YmZkQA5/0Zj2tpTolwLDyB6XOHGwy4oDkMD06EVp1WIxWNaYS2FrStLLmF3uBH+FJtuMNdvzCg/lInPCgwgcDODMI9MkYUJ0FgVOYBdNT5Tru+hDINKcHmsUvWCswIDtaSXEcjqcVc8wO60JgGPwmBhQ1AfqEBheqt3kG3vp4DmQ4Di6fysBhxJvH9RweRE19fI5EbMY0FKYGr5+i9/K7fy6em6LsV0FvU9ZLAj1D3HlWMvcM+PGw4Fl96xKPm2Lwaesf8goGM4DtS06eUufjZe9ZcTfCX2C0cWQCEve3S06T59zbh/0cjfSUj/FCvoccgaj6ud6FgMYUmoxKAs9xRH7IwHSLGyxo8krdBtbG3/cOfOt7amQOzmM5Jp/JYMgD+mn453lzWdur0yNRkbZaEfzjtddAS89ZuD+E1ieeEE2npLxQkQjg9WGNH6Mxpdx+mAlWJyM7zX4puIoW7UvSJscIAniajIRYB3r8LFD/NELD2cSGDLAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013M1SrwXmLTD4er4EQ4bG6s",
      "input": {
        "note": "The blue-capped bottle's neck is right at the left gripper's jaws. Closing loosely (3.1 cm) so the neck is captured but can still pivot, which should let the bottle swing upright when I lift.",
        "targets": {
          "left_gripper": 0.33
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013M1SrwXmLTD4er4EQ4bG6s",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5308, 2.5668, 2.1021, -1.5696, -0.9958, -2.0594, 0.3364, 0.2226, 2.3032, 1.5249, -0.189, -0.8379, -0.8387, 0.9996]\nstate[eef_state]: left_x=0.4329 left_y=-0.0781 left_z=0.0511 left_yaw=1.2817 left_pitch=0.0526 left_roll=0.0551 left_gripper=0.3364 right_x=0.4774 right_y=0.2463 right_z=0.0242 right_yaw=1.3059 right_pitch=-0.0115 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -13.9692, 3.412, 0.0317, -0.0024, -0.3639, 0.2515, -0.4171, -12.9709, 5.5453, 1.3602, -0.4225, 0.0366, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87c9b2c3c740c1d2fd2f38fc649ae965808da7287d966ff1a922a46ed6a629c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1820c361bc261b7b8911e232e8b0ac094a0c6253bc4bf651063e84db4a450847",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:16612f34083e0b7d09923600d3dd61b265df5e6097661f96a3f908e91ba0b4c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 12.41 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]: [-0.4648, 2.5114, 2.1017, -1.5494, -0.9131, -2.0594, 0.9987, 0.2226, 2.3032, 1.552, -0.2192, -0.8379, -0.8383, 0.9996]\nstate[eef_state]: left_x=0.4345 left_y=-0.0575 left_z=0.0605 left_yaw=1.3823 left_pitch=-0.0395 left_roll=0.0019 left_gripper=0.9987 right_x=0.4803 right_y=0.247 right_z=0.0298 right_yaw=1.3057 right_pitch=-0.013 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -12.2325, 6.612, -0.5446, -0.4811, -0.3932, -0.149, -0.4855, -13.4222, 6.2974, 1.1795, -0.5104, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5236, 2.5748, 2.125, -1.5532, -0.9207, -2.0598, 0.9985, 0.2226, 2.3032, 1.5387, -0.2081, -0.8379, -0.8383, 0.9996]\nstate[eef_state]: left_x=0.4315 left_y=-0.0826 left_z=0.0409 left_yaw=1.3219 left_pitch=-0.0208 left_roll=0.0419 left_gripper=0.9985 right_x=0.4783 right_y=0.2465 right_z=0.0266 right_yaw=1.3057 right_pitch=-0.0141 right_roll=0.0084 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -15.9111, 6.1333, -0.6569, -0.5006, -0.4225, -0.0366, -0.4718, -12.9846, 5.7231, 1.3065, -0.4567, -0.0024, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5308, 2.5668, 2.1021, -1.5696, -0.9958, -2.0594, 0.3364, 0.2226, 2.3032, 1.5249, -0.189, -0.8379, -0.8387, 0.9996]\nstate[eef_state]: left_x=0.4329 left_y=-0.0781 left_z=0.0511 left_yaw=1.2817 left_pitch=0.0526 left_roll=0.0551 left_gripper=0.3364 right_x=0.4774 right_y=0.2463 right_z=0.0242 right_yaw=1.3059 right_pitch=-0.0115 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -13.9692, 3.412, 0.0317, -0.0024, -0.3639, 0.2515, -0.4171, -12.9709, 5.5453, 1.3602, -0.4225, 0.0366, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87c9b2c3c740c1d2fd2f38fc649ae965808da7287d966ff1a922a46ed6a629c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1820c361bc261b7b8911e232e8b0ac094a0c6253bc4bf651063e84db4a450847",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16612f34083e0b7d09923600d3dd61b265df5e6097661f96a3f908e91ba0b4c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISvgQKjgEIEhgCKkDwO4RJvbLExHnjNnB4MqSEByOM5aHMWO6fzSp43t01GsjENyu48j1PRA+ey/yLdUNkQ0qoW1AGWNx50wt2vj/cMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfatzNUGEgzsbcqjAEywbwHZV1kaDPZnGIYEQFZBQvQ2xiIwSinovd46vpJ+ORqxcZ6BOcogXNHQxlT+Vfc240f1xSAk6+ltcY68wQhezGON7qXaKtwCBH7rLYBkysQY5Tekp1OrZ/qw8cEYURcrm3ybgeMZl3ytPn4qnqlFEuigvM5QWGIht6cAga6ORcAS2gLyCK8uuE2c3Cmwh7gqMRiA2Z6gk+eIhaQVq1QPZfCVKTYtFQj7RaYP+Xvhq/r1MWYHHReqokgfja4hEN1+E30abnsOFsfMmJ2+MvbMoAWwNs3qDoccwdJap1qkVn7QDNgZ3IIQ2lMLowjd84eai85I0u/5wzMkkzMdZn9sQa4/sQFNRpBRP/pgff6+oCabdbQW9uIJIUXpBi3vZBy+YEAzzvRnQ34n2UiBDpSmhf4ip4K+Kb54MDfvygqsQvio2er5EF+IMxczlFQnnTNnlf6OaV5bgqCvEGQmNdfoaae6k4b9jJzibsCfabVMsZDgmmPx9NyBJcpepeAxaYBdxS/rMX6DvB9/bh8y6+n6zR/azYS0Q4CS0QAzrVHL9tHKlJyNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MRxtNsFqzKLs3kpuUyUNWZ",
      "input": {
        "note": "Jaws settled at 3.2 cm, about the neck diameter. Lifting high so the bottle can swing down and hang upright from its neck.",
        "targets": {
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01MRxtNsFqzKLs3kpuUyUNWZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3836, 2.1628, 2.0186, -1.5524, -0.971, -1.7573, 0.3362, 0.2226, 2.3032, 1.5192, -0.1818, -0.8379, -0.8383, 0.9996]\nstate[eef_state]: left_x=0.4239 left_y=-0.01 left_z=0.187 left_yaw=1.2768 left_pitch=-0.0324 left_roll=-0.017 left_gripper=0.3362 right_x=0.4769 right_y=0.2462 right_z=0.0231 right_yaw=1.3056 right_pitch=-0.0108 right_roll=0.0024 right_gripper=0.9996\nstate[joint_eff]: [0.5538, -14.7487, 6.8171, -0.1099, -0.8523, 0.1978, -0.0366, -0.335, -12.7521, 5.641, 1.3846, -0.4567, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad655729ae77a1aa3423f2cc3ebd49b06add101d3e9b0648023314ba54e95bd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d68f3b5fa3eb35eea2e4d28e51f382b444aa4dc1d09d073978822ee4df253ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:52745f06daf925e4168ba6bf81dc13039deb50c7e2408da082993e66235cb130",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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