adhoc

completed
2026-09-22T22:34:05.450378+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
572.5 s
total steps
295
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles lie on their sides in the middle of the table. I am moving the right arm above the rightmost bottle to inspect it with the wrist camera before grasping its neck.
move_to
right_x0.3800right_y0.2200right_z0.2200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.6067, -0.3767, -0.0231, -0.0284, 0.9986, -0.0174, 0.7883, 0.6033, -0.3855, -0.0135, -0.0177, 0.9982] state[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1821 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0009 right_z=0.1801 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9982 state[joint_eff]: [-0.4034, -1.5385, 9.894, 1.8437, -0.0611, 0.1441, -0.1587, -0.6906, -0.8684, 10.2496, 1.8535, -0.0806, -0.022, -0.2027] 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": 0.38, "right_y": 0.22, "right_z": 0.22, "right_gripper": 1}, "note": "Three bottles lie on their sides in the middle of the table. I am moving the right arm above the rightmost bottle to inspect it with the wrist camera before grasping its neck."})
tool
executing move_to over 19 steps (1.9s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteRight wrist view shows a bottle lying with its cap pointing away from the base, roughly on the jaw column but well forward of the fingertips. Advancing 7 cm forward and dropping to 12 cm to line up over its neck.
move_to
right_x0.4400right_y0.2050right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.614, -0.3946, -0.0227, -0.0292, 0.9984, 0.7425, 1.5341, 1.2018, -0.44, 0.5747, 0.4191, 0.9982] state[eef_state]: left_x=0.2942 left_y=0.0017 left_z=0.1808 left_yaw=0.0001 left_pitch=-0.0141 left_roll=-0.0006 left_gripper=0.9984 right_x=0.3704 right_y=0.2145 right_z=0.2004 right_yaw=0.0406 right_pitch=-0.0561 right_roll=-0.0477 right_gripper=0.9982 state[joint_eff]: [-0.1846, -1.4017, 6.612, 1.9121, -0.0415, -0.0513, -0.0317, 0.3077, -7.1043, 9.4017, 1.6239, 0.4957, 0.2906, -0.2027] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.205, "right_z": 0.12}, "note": "Right wrist view shows a bottle lying with its cap pointing away from the base, roughly on the jaw column but well forward of the fingertips. Advancing 7 cm forward and dropping to 12 cm to line up over its neck."})
tool
executing move_to over 6 steps (0.6s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe bottle's cap is visible just ahead of the jaws but offset ~2 cm to the arm's right; shifting right and forward and descending to neck height (~5 cm) to line the jaws up on the neck.
move_to
right_x0.4550right_y0.1780right_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.794, 0.6029, -0.3939, -0.0227, -0.0292, 0.9983, 0.6079, 1.7382, 1.0561, -0.0532, 0.4667, 0.3183, 0.9981] state[eef_state]: left_x=0.2928 left_y=0.0017 left_z=0.1766 left_yaw=0.0001 left_pitch=-0.0217 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4218 right_y=0.201 right_z=0.1118 right_yaw=0.0444 right_pitch=-0.0727 right_roll=-0.0474 right_gripper=0.9981 state[joint_eff]: [-0.1162, -1.6068, 6.7897, 1.9121, -0.0415, -0.0269, -0.0171, -1.0735, -7.8838, 6.8308, 1.8681, 0.2027, 0.1685, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.455, "right_y": 0.178, "right_z": 0.05}, "note": "The bottle's cap is visible just ahead of the jaws but offset ~2 cm to the arm's right; shifting right and forward and descending to neck height (~5 cm) to line the jaws up on the neck."})
tool
executing move_to over 4 steps (0.4s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteCap is still slightly right of and ahead of the jaw column; nudging 2 cm forward and 1 cm to the arm's right to bracket the bottle neck.
move_to
right_x0.4750right_y0.1630right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7849, 0.5831, -0.3862, -0.0231, -0.0292, 0.9983, 0.5095, 1.9026, 0.9241, 0.2619, 0.3981, 0.2646, 0.9981] state[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1716 left_yaw=0.0004 left_pitch=-0.0248 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4405 right_y=0.1717 right_z=0.039 right_yaw=0.0302 right_pitch=-0.0806 right_roll=-0.0414 right_gripper=0.9981 state[joint_eff]: [-0.0889, -1.6342, 6.8718, 1.8632, -0.0464, -0.0415, -0.0122, -0.0205, -9.6752, 5.8325, 2.0098, 0.1197, 0.0855, -0.0073] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.475, "right_y": 0.163, "right_z": 0.035}, "note": "Cap is still slightly right of and ahead of the jaw column; nudging 2 cm forward and 1 cm to the arm's right to bracket the bottle neck."})
tool
executing move_to over 3 steps (0.3s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteBottle is nearly centred between the jaws but the neck still sits ahead of the closing line; advancing 3 cm more so the jaws straddle the neck just below the cap.
move_to
right_x0.4900right_y0.1580right_z0.0320
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.775, 0.5659, -0.3725, -0.0231, -0.0292, 0.9983, 0.4664, 1.9652, 0.926, 0.3901, 0.3542, 0.2237, 0.9981] state[eef_state]: left_x=0.2899 left_y=0.0019 left_z=0.1692 left_yaw=0.0004 left_pitch=-0.0183 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4594 right_y=0.1667 right_z=0.0326 right_yaw=0.0463 right_pitch=-0.0325 right_roll=-0.0202 right_gripper=0.9981 state[joint_eff]: [-0.1436, -1.6068, 6.612, 1.9121, -0.0562, -0.0611, -0.0122, -1.2103, -6.9538, 7.8427, 1.8535, 0.022, 0.0171, -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": 0.158, "right_z": 0.032}, "note": "Bottle is nearly centred between the jaws but the neck still sits ahead of the closing line; advancing 3 cm more so the jaws straddle the neck just below the cap."})
tool
executing move_to over 3 steps (0.3s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe arm has hit its forward reach (~0.47 m) with the bottle's neck still beyond the jaws, so I will instead grip the bottle's body here and drag the whole bottle back toward the base, bringing the neck into reach.
move_to
right_gripper0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7719, 0.5598, -0.3706, -0.0231, -0.0292, 0.9983, 0.4465, 1.977, 0.936, 0.4343, 0.3351, 0.2073, 0.9981] state[eef_state]: left_x=0.2892 left_y=0.0019 left_z=0.1676 left_yaw=0.0004 left_pitch=-0.0194 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4697 right_y=0.1644 right_z=0.0385 right_yaw=0.0512 right_pitch=0.0018 right_roll=-0.0068 right_gripper=0.9981 state[joint_eff]: [-0.253, -1.812, 6.3248, 1.9805, -0.0562, -0.0562, -0.0122, -0.3487, -8.2393, 4.9573, 1.8974, 0.022, 0.0073, -0.0122] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.45}, "note": "The arm has hit its forward reach (~0.47 m) with the bottle's neck still beyond the jaws, so I will instead grip the bottle's body here and drag the whole bottle back toward the base, bringing the neck into reach."})
tool
executing move_to over 6 steps (0.6s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteJaws at 4.3 cm gap still show no contact, so I am closing further to actually grip the bottle's shoulder before dragging it back.
move_to
right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7719, 0.5484, -0.3714, -0.0231, -0.0288, 0.9983, 0.45, 1.9766, 0.9348, 0.4648, 0.3332, 0.2043, 0.4574] state[eef_state]: left_x=0.2876 left_y=0.0019 left_z=0.1623 left_yaw=0.0002 left_pitch=-0.0317 left_roll=0.0003 left_gripper=0.9983 right_x=0.4724 right_y=0.168 right_z=0.0442 right_yaw=0.0576 right_pitch=0.0289 right_roll=0.003 right_gripper=0.4574 state[joint_eff]: [-0.1299, -1.8803, 6.3658, 1.9951, -0.0513, -0.0366, -0.0122, -0.253, -8.4308, 5.0393, 1.5116, 0.0904, 0.1001, 0.3834] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.15}, "note": "Jaws at 4.3 cm gap still show no contact, so I am closing further to actually grip the bottle's shoulder before dragging it back."})
tool
executing move_to over 4 steps (0.4s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe close was empty (jaws reached the commanded 1.5 cm gap), and the arm is at its forward reach limit, so I am retracting to get an unobstructed overhead view of all three bottles and re-plan.
move_to
right_gripper1.0000right_x0.3300right_z0.2000right_y0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7559, 0.519, -0.3515, -0.0231, -0.0292, 0.9983, 0.4503, 1.9717, 0.9478, 0.4946, 0.3344, 0.2005, 0.1548] state[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1572 left_yaw=0.0004 left_pitch=-0.0252 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4796 right_y=0.1714 right_z=0.0575 right_yaw=0.0582 right_pitch=0.0732 right_roll=0.0174 right_gripper=0.1548 state[joint_eff]: [-0.0615, -1.6342, 6.9538, 1.8681, -0.0708, -0.0659, -0.0122, -0.4308, -9.8803, 6.3248, 1.0232, 0.0708, 0.1001, 0.0659] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.33, "right_z": 0.2, "right_y": 0.1}, "note": "The close was empty (jaws reached the commanded 1.5 cm gap), and the arm is at its forward reach limit, so I am retracting to get an unobstructed overhead view of all three bottles and re-plan."})
tool
executing move_to over 12 steps (1.2s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteRe-measured from the overhead view: the rightmost bottle's cap end is near x≈0.49, y≈0.24 in the right arm's frame — my earlier attempt was ~7 cm too far to the right. Moving over its neck now.
move_to
right_x0.4500right_y0.2350right_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7452, 0.5007, -0.3325, -0.0231, -0.0292, 0.9983, 0.4503, 1.1076, 0.7788, -0.2531, 0.3279, 0.2043, 0.9963] state[eef_state]: left_x=0.2852 left_y=0.002 left_z=0.1555 left_yaw=0.0004 left_pitch=-0.0137 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3398 right_y=0.1051 right_z=0.1956 right_yaw=0.0625 right_pitch=0.0232 right_roll=0.0038 right_gripper=0.9963 state[joint_eff]: [-0.0889, -1.1009, 6.5436, 1.9267, -0.0757, -0.0464, -0.0122, -0.3761, -3.8085, 8.7179, 1.8974, 0.0855, 0.0708, -0.0269] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.235, "right_z": 0.06}, "note": "Re-measured from the overhead view: the rightmost bottle's cap end is near x\u22480.49, y\u22480.24 in the right arm's frame \u2014 my earlier attempt was ~7 cm too far to the right. Moving over its neck now."})
tool
executing move_to over 11 steps (1.1s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteOverhead view confirms the gripper is now over the rightmost bottle; the wrist view shows its cap slightly to the arm's right, so I shift 3 cm right and descend to neck height (3.5 cm) ready to grip.
move_to
right_y0.1900right_z0.0350right_x0.4400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7395, 0.498, -0.3283, -0.0231, -0.0292, 0.9983, 0.6315, 1.9266, 1.0199, 0.1955, 0.4721, 0.2867, 0.9976] state[eef_state]: left_x=0.2852 left_y=0.002 left_z=0.1567 left_yaw=0.0004 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4348 right_y=0.223 right_z=0.0552 right_yaw=0.0817 right_pitch=-0.0514 right_roll=-0.0632 right_gripper=0.9976 state[joint_eff]: [-0.2393, -1.1282, 6.4205, 1.8046, -0.0366, -0.0171, -0.0122, 0.0479, -8.0068, 7.0632, 1.6044, 0.0073, 0.3297, 0.1245] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.19, "right_z": 0.035, "right_x": 0.44}, "note": "Overhead view confirms the gripper is now over the rightmost bottle; the wrist view shows its cap slightly to the arm's right, so I shift 3 cm right and descend to neck height (3.5 cm) ready to grip."})
tool
executing move_to over 3 steps (0.3s)
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 noteThe bottle's neck now sits between the jaws in the wrist view; closing the gripper on the neck to measure what I have (a neck grip should settle near 0.25).
move_to
right_gripper0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7403, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5499, 1.9343, 0.8932, 0.4088, 0.4278, 0.2558, 0.9978] state[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1562 left_yaw=0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.442 right_y=0.1892 right_z=0.0414 right_yaw=0.053 right_pitch=0.0025 right_roll=-0.0255 right_gripper=0.9978 state[joint_eff]: [-0.1436, -0.8684, 6.5573, 1.8339, -0.0513, -0.0513, -0.0122, 1.1966, -8.7179, 5.1487, 1.7705, -0.0659, -0.0611, 0.0073] 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_gripper": 0.1}, "note": "The bottle's neck now sits between the jaws in the wrist view; closing the gripper on the neck to measure what I have (a neck grip should settle near 0.25)."})
tool
executing move_to over 9 steps (0.9s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteAnother empty close: the bottle only looks centred in the wrist view but is actually still a few cm forward of the fingertips. Opening the jaws and pushing out to near-maximum reach at table level so the fingers straddle the bottle's neck.
move_to
right_gripper1.0000right_x0.4850right_z0.0250right_y0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0288, 0.9983, 0.5423, 1.9293, 0.8734, 0.5262, 0.3828, 0.2344, 0.1061] state[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4498 right_y=0.1982 right_z=0.0575 right_yaw=0.0917 right_pitch=0.0825 right_roll=0.0249 right_gripper=0.1061 state[joint_eff]: [-0.2393, -1.306, 6.4068, 1.8339, -0.0464, -0.0415, -0.0122, -0.2256, -8.3077, 4.7658, 1.0818, 0.0855, 0.1148, 0.1783] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.485, "right_z": 0.025, "right_y": 0.19}, "note": "Another empty close: the bottle only looks centred in the wrist view but is actually still a few cm forward of the fingertips. Opening the jaws and pushing out to near-maximum reach at table level so the fingers straddle the bottle's neck."})
tool
executing move_to over 9 steps (0.9s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe jaws now clearly straddle the bottle's labelled body in the wrist view; closing to grip the body so I can lift it, turn it 180° and set it back down closer with the cap pointing toward the base, where the neck is easy to grasp.
move_to
right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4911, 2.0365, 1.0134, 0.445, 0.3157, 0.1928, 0.9946] state[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4799 right_y=0.1986 right_z=0.0401 right_yaw=0.1195 right_pitch=0.0242 right_roll=0.0017 right_gripper=0.9946 state[joint_eff]: [-0.1162, -1.3744, 6.4342, 1.8242, -0.0366, -0.0464, -0.0122, -1.6068, -7.0496, 6.8034, 1.5116, 0.1734, 0.1001, -0.1685] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.15}, "note": "The jaws now clearly straddle the bottle's labelled body in the wrist view; closing to grip the body so I can lift it, turn it 180\u00b0 and set it back down closer with the cap pointing toward the base, where the neck is easy to grasp."})
tool
executing move_to over 9 steps (0.9s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteGripper stalled at 0.43 (≈4 cm thickness) — I have hold of the bottle's shoulder. Lifting it up and back to confirm the grasp in the overhead view.
move_to
right_z0.2200right_x0.4200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0288, 0.9983, 0.4908, 2.0354, 1.0245, 0.4366, 0.308, 0.1814, 0.4339] state[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4818 right_y=0.2008 right_z=0.0429 right_yaw=0.1316 right_pitch=0.0263 right_roll=-0.0028 right_gripper=0.4339 state[joint_eff]: [-0.2256, -1.4017, 6.5846, 1.8339, -0.0366, -0.0171, -0.0122, -0.3214, -10.7282, 6.2427, 1.2821, 0.0464, 0.1197, 0.7204] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_x": 0.42}, "note": "Gripper stalled at 0.43 (\u22484 cm thickness) \u2014 I have hold of the bottle's shoulder. Lifting it up and back to confirm the grasp in the overhead view."})
tool
executing move_to over 12 steps (1.2s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteI am holding the bottle by its shoulder just below the cap at 18 cm height; loosening the jaws slightly so the heavy base end can swing down and the bottle hangs cap-up before I set it down.
move_to
right_gripper0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5762, 1.6115, 1.1934, -0.2623, 0.3397, 0.2123, 0.4338] state[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4184 right_y=0.206 right_z=0.1824 right_yaw=0.1735 right_pitch=-0.0649 right_roll=-0.0338 right_gripper=0.4338 state[joint_eff]: [-0.0889, -1.388, 6.4342, 1.8437, -0.022, -0.0562, -0.0122, 0.0889, -10.8376, 10.6051, 1.8339, 0.3883, 0.3004, -0.0317] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.5}, "note": "I am holding the bottle by its shoulder just below the cap at 18 cm height; loosening the jaws slightly so the heavy base end can swing down and the bottle hangs cap-up before I set it down."})
tool
executing move_to over 1 steps (0.1s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteIt is ambiguous from the images whether the bottle is actually in the jaws; raising the gripper to 32 cm to see whether a bottle comes up with it.
move_to
right_z0.3200right_gripper0.4400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5793, 1.5829, 1.2095, -0.3153, 0.3473, 0.2272, 0.4338] state[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4123 right_y=0.2021 right_z=0.1925 right_yaw=0.1621 right_pitch=-0.0704 right_roll=-0.0296 right_gripper=0.4338 state[joint_eff]: [-0.253, -1.388, 6.6667, 1.8242, -0.0415, -0.0611, -0.0122, -0.5949, -9.0872, 9.8393, 1.7363, 0.3053, 0.0952, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.32, "right_gripper": 0.44}, "note": "It is ambiguous from the images whether the bottle is actually in the jaws; raising the gripper to 32 cm to see whether a bottle comes up with it."})
tool
executing move_to over 9 steps (0.9s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe bottle fell out when I opened the jaws to 0.5 — it is lying on the table again. Returning to the pose that successfully gripped its shoulder (x≈0.48, y=0.19, table level) with jaws open.
move_to
right_x0.4750right_y0.1900right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5831, 1.5749, 1.6032, -0.6651, 0.3359, 0.2073, 0.4386] state[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4098 right_y=0.2048 right_z=0.3022 right_yaw=0.187 right_pitch=-0.0258 right_roll=-0.0188 right_gripper=0.4386 state[joint_eff]: [-0.2803, -1.3744, 6.8855, 1.873, -0.0269, -0.0659, -0.0122, -0.5675, -6.4479, 9.265, 1.873, 0.2759, 0.1734, -0.1685] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.475, "right_y": 0.19, "right_z": 0.03, "right_gripper": 1}, "note": "The bottle fell out when I opened the jaws to 0.5 \u2014 it is lying on the table again. Returning to the pose that successfully gripped its shoulder (x\u22480.48, y=0.19, table level) with jaws open."})
tool
executing move_to over 18 steps (1.8s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe bottle fills the wrist view right in front of the jaws; closing to grip its shoulder firmly.
move_to
right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7391, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4564, 1.9984, 0.9741, 0.3866, 0.2276, 0.136, 0.9979] state[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0001 left_pitch=-0.0072 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4673 right_y=0.189 right_z=0.0301 right_yaw=0.1882 right_pitch=-0.0483 right_roll=-0.0167 right_gripper=0.9979 state[joint_eff]: [-0.2256, -1.2376, 6.4889, 1.8193, -0.0269, -0.0757, -0.0122, -0.7863, -8.8137, 4.9162, 1.8828, 0.0317, -0.0415, -0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.15}, "note": "The bottle fills the wrist view right in front of the jaws; closing to grip its shoulder firmly."})
tool
executing move_to over 9 steps (0.9s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteEmpty close again — I was ~1.5 cm short of the pose that worked before. Pushing out to the full reach (readback should land near x=0.48) before closing.
move_to
right_x0.4900right_z0.0250right_y0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4576, 2.001, 0.9489, 0.572, 0.2165, 0.1284, 0.1565] state[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4808 right_y=0.1985 right_z=0.057 right_yaw=0.2017 right_pitch=0.1023 right_roll=0.0232 right_gripper=0.1565 state[joint_eff]: [-0.3897, -1.2786, 6.4889, 1.8291, -0.0269, -0.0659, -0.0122, -0.3214, -9.347, 4.3419, 1.0037, 0.1294, 0.0806, 0.315] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.49, "right_z": 0.025, "right_y": 0.2, "right_gripper": 1}, "note": "Empty close again \u2014 I was ~1.5 cm short of the pose that worked before. Pushing out to the full reach (readback should land near x=0.48) before closing."})
tool
executing move_to over 9 steps (0.9s)
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 noteNow at x=0.488, z=0.04 — the pose that gripped before. Closing on the bottle's shoulder.
move_to
right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4576, 2.0556, 1.0317, 0.469, 0.2047, 0.1196, 0.9948] state[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4883 right_y=0.2045 right_z=0.0397 right_yaw=0.2175 right_pitch=0.0285 right_roll=0.0028 right_gripper=0.9948 state[joint_eff]: [-0.2393, -1.265, 6.4615, 1.8339, -0.0317, -0.0415, -0.0122, -0.7726, -7.5556, 6.9538, 1.6288, 0.0366, 0.1245, -0.1441] approver: 1 step(s) modified (delta_clamped). 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_gripper": 0.15}, "note": "Now at x=0.488, z=0.04 \u2014 the pose that gripped before. Closing on the bottle's shoulder."})
tool
executing move_to over 9 steps (0.9s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteGripping the bottle's shoulder (jaws stalled at 4.0 cm). Lifting to 24 cm so there is room for the bottle to swing cap-up when I loosen the jaws slightly.
move_to
right_z0.2400right_x0.4400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.4587, 2.0483, 1.0451, 0.4526, 0.2039, 0.1024, 0.4245] state[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4903 right_y=0.2062 right_z=0.0451 right_yaw=0.2286 right_pitch=0.0324 right_roll=-0.0105 right_gripper=0.4245 state[joint_eff]: [-0.0205, -1.2103, 6.4342, 1.8388, -0.0366, -0.0611, -0.0122, -0.2256, -10.3726, 6.4752, 1.3065, -0.0122, 0.1441, 0.5788] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.24, "right_x": 0.44}, "note": "Gripping the bottle's shoulder (jaws stalled at 4.0 cm). Lifting to 24 cm so there is room for the bottle to swing cap-up when I loosen the jaws slightly."})
tool
executing move_to over 13 steps (1.3s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteStill holding the bottle (jaws at 0.42) at 20 cm height. Loosening the jaws by just 3 mm so the bottle can pivot in the jaws and hang cap-up, without letting it fall out.
move_to
right_gripper0.4600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.519, 1.6531, 1.3132, -0.3141, 0.2127, 0.1188, 0.424] state[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4383 right_y=0.2115 right_z=0.2025 right_yaw=0.2722 right_pitch=-0.0667 right_roll=-0.0261 right_gripper=0.424 state[joint_eff]: [-0.3214, -1.2103, 6.6256, 1.8193, -0.0269, -0.0708, -0.0122, -0.0205, -11.0427, 10.0855, 1.9805, 0.359, 0.2027, -0.0513] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.46}, "note": "Still holding the bottle (jaws at 0.42) at 20 cm height. Loosening the jaws by just 3 mm so the bottle can pivot in the jaws and hang cap-up, without letting it fall out."})
tool
executing move_to over 1 steps (0.1s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThe jaws did not actually move on the 3 mm request; asking for a slightly larger opening (0.48) while holding height, to let the bottle swing cap-up.
move_to
right_gripper0.4800right_z0.2250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.5224, 1.6382, 1.338, -0.3626, 0.231, 0.1299, 0.424] state[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4348 right_y=0.2078 right_z=0.2115 right_yaw=0.2543 right_pitch=-0.0722 right_roll=-0.0303 right_gripper=0.424 state[joint_eff]: [-0.1436, -1.388, 6.7214, 1.8095, -0.0366, -0.0708, -0.0122, -0.6222, -10.2906, 9.3607, 1.8339, 0.149, 0.188, -0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.48, "right_z": 0.225}, "note": "The jaws did not actually move on the 3 mm request; asking for a slightly larger opening (0.48) while holding height, to let the bottle swing cap-up."})
tool
executing move_to over 1 steps (0.1s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteRe-tightening the jaws and carrying the presumed bottle back toward the base; if the third bottle moves with the gripper in the overhead view, the grasp is real.
move_to
right_gripper0.3000right_x0.3400right_y0.2600right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7391, 0.498, -0.3283, -0.0231, -0.0288, 0.9983, 0.5217, 1.6314, 1.2423, -0.2615, 0.2039, 0.1181, 0.4587] state[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1568 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4313 right_y=0.2108 right_z=0.191 right_yaw=0.2827 right_pitch=-0.0647 right_roll=-0.0207 right_gripper=0.4587 state[joint_eff]: [-0.3897, -1.1966, 6.7624, 1.873, -0.022, -0.0073, -0.0122, -0.5538, -9.0598, 7.6239, 2.127, 0.0122, 0.0171, -0.1587] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.3, "right_x": 0.34, "right_y": 0.26, "right_z": 0.2}, "note": "Re-tightening the jaws and carrying the presumed bottle back toward the base; if the third bottle moves with the gripper in the overhead view, the grasp is real."})
tool
executing move_to over 8 steps (0.8s)
step 188
assistant
agent noteThe right arm has stopped tracking commands for several moves (readback stuck near x=0.43, z=0.19) and the jaws are empty; raising straight up with the jaws open to free whatever is blocking it.
move_to
right_z0.3500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7395, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.5224, 1.631, 1.2541, -0.2985, 0.2077, 0.1253, 0.3008] state[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1565 left_yaw=0.0001 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4284 right_y=0.2088 right_z=0.1894 right_yaw=0.2759 right_pitch=-0.0881 right_roll=-0.0232 right_gripper=0.3008 state[joint_eff]: [-0.1026, -1.0735, 6.7487, 1.79, -0.0317, -0.0757, -0.0122, -0.4308, -10.9197, 10.0444, 1.8535, 0.1587, 0.0659, -0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.35, "right_gripper": 1}, "note": "The right arm has stopped tracking commands for several moves (readback stuck near x=0.43, z=0.19) and the jaws are empty; raising straight up with the jaws open to free whatever is blocking it."})
tool
executing move_to over 11 steps (1.1s)
step 199
assistant
agent noteNew plan: first drag the far bottle closer so its neck is within reach. Descending to the grasp pose on its shoulder at x≈0.49, table level.
move_to
right_x0.4900right_y0.2000right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7391, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5243, 1.644, 1.8061, -0.7574, 0.2008, 0.0998, 0.9966] state[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1566 left_yaw=0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4252 right_y=0.2093 right_z=0.3379 right_yaw=0.2983 right_pitch=-0.0115 right_roll=-0.0213 right_gripper=0.9966 state[joint_eff]: [-0.0889, -1.3197, 6.5846, 1.7998, -0.0171, -0.0171, -0.0122, -0.0342, -6.3111, 9.0188, 1.8144, 0.1245, 0.2125, 0.1099] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.49, "right_y": 0.2, "right_z": 0.03, "right_gripper": 1}, "note": "New plan: first drag the far bottle closer so its neck is within reach. Descending to the grasp pose on its shoulder at x\u22480.49, table level."})
tool
executing move_to over 20 steps (2.0s)
step 219
assistant
agent noteBottle body fills the wrist view between the jaws; closing to grip it for the drag back toward the base.
move_to
right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.4198, 2.0354, 1.0397, 0.3809, 0.104, 0.057, 0.9982] state[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4834 right_y=0.1996 right_z=0.0335 right_yaw=0.2979 right_pitch=-0.0405 right_roll=-0.0057 right_gripper=0.9982 state[joint_eff]: [-0.1983, -1.347, 6.6393, 1.8193, -0.0611, -0.0415, -0.0122, -0.5538, -8.7453, 5.1624, 1.7558, -0.0708, 0.1343, -0.2027] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.15}, "note": "Bottle body fills the wrist view between the jaws; closing to grip it for the drag back toward the base."})
tool
executing move_to over 9 steps (0.9s)
step 228
assistant
agent notePattern spotted: the arm rises ~2 cm while the jaws close, so closes started at z≈0.06 grab air above the bottle. Opening and pressing down to z≈0 first so the jaws end up at bottle-axis height.
move_to
right_z0.0050right_x0.4900right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3298, -0.0231, -0.0292, 0.9983, 0.4202, 2.0354, 1.0199, 0.5407, 0.0925, 0.0463, 0.1563] state[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1563 left_yaw=0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4958 right_y=0.2076 right_z=0.0592 right_yaw=0.3132 right_pitch=0.0979 right_roll=0.007 right_gripper=0.1563 state[joint_eff]: [-0.1299, -1.388, 6.5983, 1.8291, -0.0562, -0.0757, -0.0122, -0.1846, -9.7026, 4.4923, 1.1013, 0.188, 0.0659, 0.2515] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.005, "right_x": 0.49, "right_gripper": 1}, "note": "Pattern spotted: the arm rises ~2 cm while the jaws close, so closes started at z\u22480.06 grab air above the bottle. Opening and pressing down to z\u22480 first so the jaws end up at bottle-axis height."})
tool
executing move_to over 9 steps (0.9s)
step 237
assistant
agent noteJaws are now at 4.4 cm height with the bottle between them; closing to grip.
move_to
right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0288, 0.9983, 0.4278, 2.0998, 1.0534, 0.5652, 0.0959, 0.0433, 0.995] state[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=-0.0001 left_pitch=-0.008 left_roll=-0.0004 left_gripper=0.9983 right_x=0.5023 right_y=0.2144 right_z=0.0442 right_yaw=0.3197 right_pitch=0.0916 right_roll=0.002 right_gripper=0.995 state[joint_eff]: [-0.335, -1.4154, 6.4068, 1.8291, -0.0513, -0.022, -0.0122, -0.3214, -6.5573, 3.6308, 1.3114, -0.0366, -0.0024, -0.2466] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.15}, "note": "Jaws are now at 4.4 cm height with the bottle between them; closing to grip."})
tool
executing move_to over 9 steps (0.9s)
step 246
assistant
agent noteGripped the bottle (jaws stalled at 3.9 cm). Dragging it 14 cm back toward the base along the table so its neck comes into comfortable reach.
move_to
right_x0.3600right_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4263, 2.0861, 1.1156, 0.437, 0.0879, 0.0357, 0.4117] state[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.5057 right_y=0.2166 right_z=0.0485 right_yaw=0.3294 right_pitch=0.0392 right_roll=-0.0062 right_gripper=0.4117 state[joint_eff]: [-0.1846, -1.388, 6.6256, 1.8535, -0.0415, -0.0464, -0.0122, -0.335, -11.5214, 6.5299, 1.243, -0.0073, 0.1245, 0.5153] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_z": 0.045}, "note": "Gripped the bottle (jaws stalled at 3.9 cm). Dragging it 14 cm back toward the base along the table so its neck comes into comfortable reach."})
tool
executing move_to over 12 steps (1.2s)
step 258
assistant
agent noteThe overhead view confirms the bottle moved with the jaws. Squeezing a bit tighter and lifting it to 22 cm, ready to let it pivot cap-up.
move_to
right_gripper0.2500right_z0.2200right_x0.3400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.6296, 1.7332, 0.6205, 0.5472, 0.2432, 0.1387, 0.4102] state[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.3696 right_y=0.2211 right_z=0.05 right_yaw=0.3472 right_pitch=0.0235 right_roll=-0.0034 right_gripper=0.4102 state[joint_eff]: [-0.2256, -1.0325, 6.4342, 1.8535, -0.0317, -0.0415, -0.0122, 0.3214, -7.7333, 4.7111, 1.5067, 0.1099, 0.1538, -0.1734] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.25, "right_z": 0.22, "right_x": 0.34}, "note": "The overhead view confirms the bottle moved with the jaws. Squeezing a bit tighter and lifting it to 22 cm, ready to let it pivot cap-up."})
tool
executing move_to over 11 steps (1.1s)
step 269
assistant
agent noteHolding the bottle at 22 cm with a tight grip on its tapered shoulder; opening the jaws to a 3.1 cm gap so the bottle slides down to its narrow neck, catches under the cap and swings cap-up.
move_to
right_gripper0.3300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.6876, 1.3457, 0.9699, -0.2554, 0.2634, 0.1566, 0.2515] state[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3402 right_y=0.2245 right_z=0.1934 right_yaw=0.3786 right_pitch=-0.0359 right_roll=-0.0184 right_gripper=0.2515 state[joint_eff]: [-0.2256, -1.388, 6.4342, 1.8242, -0.0464, -0.0464, -0.0122, 0.4718, -7.6239, 9.8667, 1.7851, 0.3199, 0.2564, 0.0366] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.33}, "note": "Holding the bottle at 22 cm with a tight grip on its tapered shoulder; opening the jaws to a 3.1 cm gap so the bottle slides down to its narrow neck, catches under the cap and swings cap-up."})
tool
executing move_to over 1 steps (0.1s)
step 270
assistant
agent noteThe bottle slipped out when I over-squeezed. Last attempt: with the jaws preset to a 2.8 cm gap I descend onto the bottle's narrow neck so the jaws can capture it under the cap and let it swing upright when lifted.
move_to
right_x0.4200right_y0.2250right_z0.0350right_gripper0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.6937, 1.3323, 0.9943, -0.318, 0.2691, 0.1719, 0.2512] state[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3347 right_y=0.2219 right_z=0.1974 right_yaw=0.3714 right_pitch=-0.0582 right_roll=-0.0169 right_gripper=0.2512 state[joint_eff]: [-0.1299, -1.388, 6.4479, 1.8046, -0.0317, -0.0513, -0.0122, -0.1709, -6.7487, 9.4974, 1.746, 0.2515, 0.0611, 0.1099] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.225, "right_z": 0.035, "right_gripper": 0.3}, "note": "The bottle slipped out when I over-squeezed. Last attempt: with the jaws preset to a 2.8 cm gap I descend onto the bottle's narrow neck so the jaws can capture it under the cap and let it swing upright when lifted."})
tool
executing move_to over 11 steps (1.1s)
step 281
assistant
agent noteFinal attempt with the remaining budget: sliding the 2.8 cm jaw gap forward onto the bottle's neck while rising, hoping to hook it under the cap so it swings upright.
move_to
right_x0.4700right_z0.2400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3298, -0.0231, -0.0292, 0.9983, 0.5514, 1.8469, 0.791, 0.4942, 0.1448, 0.0818, 0.3] state[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1563 left_yaw=0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4137 right_y=0.2288 right_z=0.052 right_yaw=0.3819 right_pitch=0.0153 right_roll=0.0003 right_gripper=0.3 state[joint_eff]: [-0.3897, -1.347, 6.4342, 1.8095, -0.022, -0.0806, -0.0122, -1.1419, -5.7368, 5.9145, 0.7937, 0.0269, 0.0659, 0.022] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_z": 0.24}, "note": "Final attempt with the remaining budget: sliding the 2.8 cm jaw gap forward onto the bottle's neck while rising, hoping to hook it under the cap so it swings upright."})
tool
executing move_to over 13 steps (1.3s)
step 294
assistant
agent noteAll three bottles are still lying on their sides and I am out of LLM-call budget. With pitch and roll pinned at 0 the tool can only approach straight down, so a lying bottle can only be righted by capturing its neck under the cap in a loose jaw gap and letting it swing cap-up; I could grip and drag a bottle but never got the neck captured before the budget ran out.
give_up
hindsightKey things I learned the hard way: 1) pitch/roll are truly pinned, so you CANNOT tilt a bottle upright by wrist rotation. The only viable trick is: set the jaw gap slightly wider than the neck (~0.28–0.33, i.e. 2.7–3.1 cm) so the bottle hangs by its cap ring and swings cap-up, then lower until the base touches and open. A firm grip (0.15 command, stalling at ~0.41 = 4 cm on the shoulder) keeps the bottle horizontal; opening to 0.5 just drops it; squeezing from 0.41 to 0.25 pops it out. 2) The wrist camera is very misleading for depth on this rig: a bottle can look perfectly centred between the jaw wedges and still be several cm forward, and the same bottle looked "centred" at right_y=0.105 and at right_y=0.21. Use the overhead view for y and the gripper-thickness readback for confirmation, not the wrist view. 3) Gripper-close diagnostics are the real depth sensor: reading == command means empty; a stall at 0.41 means you have the 4 cm shoulder. 4) The arm RISES ~2 cm and pitches forward while the jaws close at long reach. Close only when the z readback is ~0.04; if you descend to z=0.03 the close lifts you to 0.06 and grabs air above the 6.5 cm bottle. Command z≈0.00–0.01 so the close settles at ~0.04. 5) Forward reach at table level is ~0.48–0.50 in x (contact extends it slightly); targets beyond that silently stall. The far bottle's cap was past that, so drag the bottle back by its body (grip, then move x to 0.36 at z=0.045) before working on the neck — that worked well. 6) Gripper-only move_to calls with a delta smaller than ~0.05 execute a single step and often do not change the jaws at all; request a bigger change. 7) Overhead scale that worked: image x=110 is the table centre line, ~2.77 px/cm horizontally at table level; right_y = 0.33 - (x_img-110)/277 m, left_y = -0.32 + (110-x_img)/277. Budget: each grasp attempt costs 3–4 calls; 40 calls is only enough for one bottle unless the first grasp works.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.329, -0.0227, -0.0292, 0.9983, 0.4839, 1.7386, 1.433, -0.3035, 0.0731, 0.0242, 0.3001] state[eef_state]: left_x=0.2851 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4628 right_y=0.2327 right_z=0.2151 right_yaw=0.4057 right_pitch=-0.0368 right_roll=-0.0144 right_gripper=0.3001 state[joint_eff]: [-0.1299, -1.4154, 6.6256, 1.8681, -0.0269, -0.0464, -0.0122, -1.0051, -8.9641, 10.4821, 1.8144, 0.0757, 0.1392, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]
assistant
give_up({"reason": "All three bottles are still lying on their sides and I am out of LLM-call budget. With pitch and roll pinned at 0 the tool can only approach straight down, so a lying bottle can only be righted by capturing its neck under the cap in a loose jaw gap and letting it swing cap-up; I could grip and drag a bottle but never got the neck captured before the budget ran out.", "hindsight": "Key things I learned the hard way:\n1) pitch/roll are truly pinned, so you CANNOT tilt a bottle upright by wrist rotation. The only viable trick is: set the jaw gap slightly wider than the neck (~0.28\u20130.33, i.e. 2.7\u20133.1 cm) so the bottle hangs by its cap ring and swings cap-up, then lower until the base touches and open. A firm grip (0.15 command, stalling at ~0.41 = 4 cm on the shoulder) keeps the bottle horizontal; opening to 0.5 just drops it; squeezing from 0.41 to 0.25 pops it out.\n2) The wrist camera is very misleading for depth on this rig: a bottle can look perfectly centred between the jaw wedges and still be several cm forward, and the same bottle looked \"centred\" at right_y=0.105 and at right_y=0.21. Use the overhead view for y and the gripper-thickness readback for confirmation, not the wrist view.\n3) Gripper-close diagnostics are the real depth sensor: reading == command means empty; a stall at 0.41 means you have the 4 cm shoulder.\n4) The arm RISES ~2 cm and pitches forward while the jaws close at long reach. Close only when the z readback is ~0.04; if you descend to z=0.03 the close lifts you to 0.06 and grabs air above the 6.5 cm bottle. Command z\u22480.00\u20130.01 so the close settles at ~0.04.\n5) Forward reach at table level is ~0.48\u20130.50 in x (contact extends it slightly); targets beyond that silently stall. The far bottle's cap was past that, so drag the bottle back by its body (grip, then move x to 0.36 at z=0.045) before working on the neck \u2014 that worked well.\n6) Gripper-only move_to calls with a delta smaller than ~0.05 execute a single step and often do not change the jaws at all; request a bigger change.\n7) Overhead scale that worked: image x=110 is the table centre line, ~2.77 px/cm horizontally at table level; right_y = 0.33 - (x_img-110)/277 m, left_y = -0.32 + (110-x_img)/277.\nBudget: each grasp attempt costs 3\u20134 calls; 40 calls is only enough for one bottle unless the first grasp works."})
tool
give_up: All three bottles are still lying on their sides and I am out of LLM-call budget. With pitch and roll pinned at 0 the tool can only approach straight down, so a lying bottle can only be righted by capturing its neck under the cap in a loose jaw gap and letting it swing cap-up; I could grip and drag a bottle but never got the neck captured before the budget ran out.
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 · 37.51 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, 0.7933, 0.6067, -0.3767, -0.0231, -0.0284, 0.9986, -0.0174, 0.7883, 0.6033, -0.3855, -0.0135, -0.0177, 0.9982]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1821 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0009 right_z=0.1801 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9982\nstate[joint_eff]: [-0.4034, -1.5385, 9.894, 1.8437, -0.0611, 0.1441, -0.1587, -0.6906, -0.8684, 10.2496, 1.8535, -0.0806, -0.022, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e245e23ee9babc9d82751f81a27d24b7b736cde4a7ac8bd33bda239fb83fd3fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:674707a8337bda501d917c981becde5b5b2c7a6aef81efe99068f84f095f98dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:67264fc55bad16558ce369cceca8d90196a6ad0a6e56ae3d9f74a77399fe5b3b",
        "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 · 14.64 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, 0.7933, 0.6067, -0.3767, -0.0231, -0.0284, 0.9986, -0.0174, 0.7883, 0.6033, -0.3855, -0.0135, -0.0177, 0.9982]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1821 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0009 right_z=0.1801 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9982\nstate[joint_eff]: [-0.4034, -1.5385, 9.894, 1.8437, -0.0611, 0.1441, -0.1587, -0.6906, -0.8684, 10.2496, 1.8535, -0.0806, -0.022, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e245e23ee9babc9d82751f81a27d24b7b736cde4a7ac8bd33bda239fb83fd3fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:674707a8337bda501d917c981becde5b5b2c7a6aef81efe99068f84f095f98dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67264fc55bad16558ce369cceca8d90196a6ad0a6e56ae3d9f74a77399fe5b3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VtizXKg1riJGQYYfM6Qq7Z",
      "input": {
        "note": "Three bottles lie on their sides in the middle of the table. I am moving the right arm above the rightmost bottle to inspect it with the wrist camera before grasping its neck.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.38,
          "right_y": 0.22,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01VtizXKg1riJGQYYfM6Qq7Z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.614, -0.3946, -0.0227, -0.0292, 0.9984, 0.7425, 1.5341, 1.2018, -0.44, 0.5747, 0.4191, 0.9982]\nstate[eef_state]: left_x=0.2942 left_y=0.0017 left_z=0.1808 left_yaw=0.0001 left_pitch=-0.0141 left_roll=-0.0006 left_gripper=0.9984 right_x=0.3704 right_y=0.2145 right_z=0.2004 right_yaw=0.0406 right_pitch=-0.0561 right_roll=-0.0477 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -1.4017, 6.612, 1.9121, -0.0415, -0.0513, -0.0317, 0.3077, -7.1043, 9.4017, 1.6239, 0.4957, 0.2906, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6875d24ba5a04326a187e28031ad70bf81767733a580a6c13cd3a6ff28f12fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3148edac1da458e6d52a3d44901acd48592a5397cf8989676ea225cf0135b26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8aed1192948112ade0fe4daed0078b277b4cd1171c4dfe2d3ded3d57d2fe4c27",
        "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 · 12.54 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, 0.7933, 0.6067, -0.3767, -0.0231, -0.0284, 0.9986, -0.0174, 0.7883, 0.6033, -0.3855, -0.0135, -0.0177, 0.9982]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1821 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0009 right_z=0.1801 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9982\nstate[joint_eff]: [-0.4034, -1.5385, 9.894, 1.8437, -0.0611, 0.1441, -0.1587, -0.6906, -0.8684, 10.2496, 1.8535, -0.0806, -0.022, -0.2027]",
      "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, 0.7967, 0.614, -0.3946, -0.0227, -0.0292, 0.9984, 0.7425, 1.5341, 1.2018, -0.44, 0.5747, 0.4191, 0.9982]\nstate[eef_state]: left_x=0.2942 left_y=0.0017 left_z=0.1808 left_yaw=0.0001 left_pitch=-0.0141 left_roll=-0.0006 left_gripper=0.9984 right_x=0.3704 right_y=0.2145 right_z=0.2004 right_yaw=0.0406 right_pitch=-0.0561 right_roll=-0.0477 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -1.4017, 6.612, 1.9121, -0.0415, -0.0513, -0.0317, 0.3077, -7.1043, 9.4017, 1.6239, 0.4957, 0.2906, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6875d24ba5a04326a187e28031ad70bf81767733a580a6c13cd3a6ff28f12fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3148edac1da458e6d52a3d44901acd48592a5397cf8989676ea225cf0135b26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aed1192948112ade0fe4daed0078b277b4cd1171c4dfe2d3ded3d57d2fe4c27",
        "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_01DRPL9y61Zp8yHrX7a1wkab",
      "input": {
        "note": "Right wrist view shows a bottle lying with its cap pointing away from the base, roughly on the jaw column but well forward of the fingertips. Advancing 7 cm forward and dropping to 12 cm to line up over its neck.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.205,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01DRPL9y61Zp8yHrX7a1wkab",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.794, 0.6029, -0.3939, -0.0227, -0.0292, 0.9983, 0.6079, 1.7382, 1.0561, -0.0532, 0.4667, 0.3183, 0.9981]\nstate[eef_state]: left_x=0.2928 left_y=0.0017 left_z=0.1766 left_yaw=0.0001 left_pitch=-0.0217 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4218 right_y=0.201 right_z=0.1118 right_yaw=0.0444 right_pitch=-0.0727 right_roll=-0.0474 right_gripper=0.9981\nstate[joint_eff]: [-0.1162, -1.6068, 6.7897, 1.9121, -0.0415, -0.0269, -0.0171, -1.0735, -7.8838, 6.8308, 1.8681, 0.2027, 0.1685, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d81a4149b83050db214ac28e6234659d42bfd7ec308b826d1e039ba49c6e4f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2dee974b18b6d761a5b41797aa192b285431ae048993bcacfc16a0882096aee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af6cbba829027047adb8eee636fcbf4c96ff82c57ddfed215d773884f703862f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 11.92 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, 0.7933, 0.6067, -0.3767, -0.0231, -0.0284, 0.9986, -0.0174, 0.7883, 0.6033, -0.3855, -0.0135, -0.0177, 0.9982]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.1821 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0009 right_z=0.1801 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9982\nstate[joint_eff]: [-0.4034, -1.5385, 9.894, 1.8437, -0.0611, 0.1441, -0.1587, -0.6906, -0.8684, 10.2496, 1.8535, -0.0806, -0.022, -0.2027]",
      "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, 0.7967, 0.614, -0.3946, -0.0227, -0.0292, 0.9984, 0.7425, 1.5341, 1.2018, -0.44, 0.5747, 0.4191, 0.9982]\nstate[eef_state]: left_x=0.2942 left_y=0.0017 left_z=0.1808 left_yaw=0.0001 left_pitch=-0.0141 left_roll=-0.0006 left_gripper=0.9984 right_x=0.3704 right_y=0.2145 right_z=0.2004 right_yaw=0.0406 right_pitch=-0.0561 right_roll=-0.0477 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -1.4017, 6.612, 1.9121, -0.0415, -0.0513, -0.0317, 0.3077, -7.1043, 9.4017, 1.6239, 0.4957, 0.2906, -0.2027]",
      "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, 0.794, 0.6029, -0.3939, -0.0227, -0.0292, 0.9983, 0.6079, 1.7382, 1.0561, -0.0532, 0.4667, 0.3183, 0.9981]\nstate[eef_state]: left_x=0.2928 left_y=0.0017 left_z=0.1766 left_yaw=0.0001 left_pitch=-0.0217 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4218 right_y=0.201 right_z=0.1118 right_yaw=0.0444 right_pitch=-0.0727 right_roll=-0.0474 right_gripper=0.9981\nstate[joint_eff]: [-0.1162, -1.6068, 6.7897, 1.9121, -0.0415, -0.0269, -0.0171, -1.0735, -7.8838, 6.8308, 1.8681, 0.2027, 0.1685, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d81a4149b83050db214ac28e6234659d42bfd7ec308b826d1e039ba49c6e4f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2dee974b18b6d761a5b41797aa192b285431ae048993bcacfc16a0882096aee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af6cbba829027047adb8eee636fcbf4c96ff82c57ddfed215d773884f703862f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FLaVsHhzxzMggzhyNsQpQJ",
      "input": {
        "note": "The bottle's cap is visible just ahead of the jaws but offset ~2 cm to the arm's right; shifting right and forward and descending to neck height (~5 cm) to line the jaws up on the neck.",
        "targets": {
          "right_x": 0.455,
          "right_y": 0.178,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01FLaVsHhzxzMggzhyNsQpQJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7849, 0.5831, -0.3862, -0.0231, -0.0292, 0.9983, 0.5095, 1.9026, 0.9241, 0.2619, 0.3981, 0.2646, 0.9981]\nstate[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1716 left_yaw=0.0004 left_pitch=-0.0248 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4405 right_y=0.1717 right_z=0.039 right_yaw=0.0302 right_pitch=-0.0806 right_roll=-0.0414 right_gripper=0.9981\nstate[joint_eff]: [-0.0889, -1.6342, 6.8718, 1.8632, -0.0464, -0.0415, -0.0122, -0.0205, -9.6752, 5.8325, 2.0098, 0.1197, 0.0855, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9255a7ca384ed5cb084fe1bb96199184e6aa1b41c4a9a121040e3a4521526864",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee1fae7ca802bc603ce4919e88bd933132cc5be728a3baa0fe230f6441e7c23f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a932989768d009e981ff133783175120a4a3057280eb5655a962646f951288d",
        "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 · 8.193 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, 0.7967, 0.614, -0.3946, -0.0227, -0.0292, 0.9984, 0.7425, 1.5341, 1.2018, -0.44, 0.5747, 0.4191, 0.9982]\nstate[eef_state]: left_x=0.2942 left_y=0.0017 left_z=0.1808 left_yaw=0.0001 left_pitch=-0.0141 left_roll=-0.0006 left_gripper=0.9984 right_x=0.3704 right_y=0.2145 right_z=0.2004 right_yaw=0.0406 right_pitch=-0.0561 right_roll=-0.0477 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -1.4017, 6.612, 1.9121, -0.0415, -0.0513, -0.0317, 0.3077, -7.1043, 9.4017, 1.6239, 0.4957, 0.2906, -0.2027]",
      "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, 0.794, 0.6029, -0.3939, -0.0227, -0.0292, 0.9983, 0.6079, 1.7382, 1.0561, -0.0532, 0.4667, 0.3183, 0.9981]\nstate[eef_state]: left_x=0.2928 left_y=0.0017 left_z=0.1766 left_yaw=0.0001 left_pitch=-0.0217 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4218 right_y=0.201 right_z=0.1118 right_yaw=0.0444 right_pitch=-0.0727 right_roll=-0.0474 right_gripper=0.9981\nstate[joint_eff]: [-0.1162, -1.6068, 6.7897, 1.9121, -0.0415, -0.0269, -0.0171, -1.0735, -7.8838, 6.8308, 1.8681, 0.2027, 0.1685, -0.0171]\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, 0.7849, 0.5831, -0.3862, -0.0231, -0.0292, 0.9983, 0.5095, 1.9026, 0.9241, 0.2619, 0.3981, 0.2646, 0.9981]\nstate[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1716 left_yaw=0.0004 left_pitch=-0.0248 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4405 right_y=0.1717 right_z=0.039 right_yaw=0.0302 right_pitch=-0.0806 right_roll=-0.0414 right_gripper=0.9981\nstate[joint_eff]: [-0.0889, -1.6342, 6.8718, 1.8632, -0.0464, -0.0415, -0.0122, -0.0205, -9.6752, 5.8325, 2.0098, 0.1197, 0.0855, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9255a7ca384ed5cb084fe1bb96199184e6aa1b41c4a9a121040e3a4521526864",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee1fae7ca802bc603ce4919e88bd933132cc5be728a3baa0fe230f6441e7c23f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a932989768d009e981ff133783175120a4a3057280eb5655a962646f951288d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fk57arPY1A7gycbUFSpqrd",
      "input": {
        "note": "Cap is still slightly right of and ahead of the jaw column; nudging 2 cm forward and 1 cm to the arm's right to bracket the bottle neck.",
        "targets": {
          "right_x": 0.475,
          "right_y": 0.163,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Fk57arPY1A7gycbUFSpqrd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.775, 0.5659, -0.3725, -0.0231, -0.0292, 0.9983, 0.4664, 1.9652, 0.926, 0.3901, 0.3542, 0.2237, 0.9981]\nstate[eef_state]: left_x=0.2899 left_y=0.0019 left_z=0.1692 left_yaw=0.0004 left_pitch=-0.0183 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4594 right_y=0.1667 right_z=0.0326 right_yaw=0.0463 right_pitch=-0.0325 right_roll=-0.0202 right_gripper=0.9981\nstate[joint_eff]: [-0.1436, -1.6068, 6.612, 1.9121, -0.0562, -0.0611, -0.0122, -1.2103, -6.9538, 7.8427, 1.8535, 0.022, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc9fd82d8f2008382cfe1aafc1949e67eda28f3dec38bd5fb2e4e74c6c96d797",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:713aa6e0d5539046cf01ac4fd3ad9ad614af7527ba85d72e643858a8dd42ca4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d22eef074e38d193c2a9cc66b26fddec1c704da86b404b3c86a05d12e87f5fd7",
        "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 · 17.35 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, 0.794, 0.6029, -0.3939, -0.0227, -0.0292, 0.9983, 0.6079, 1.7382, 1.0561, -0.0532, 0.4667, 0.3183, 0.9981]\nstate[eef_state]: left_x=0.2928 left_y=0.0017 left_z=0.1766 left_yaw=0.0001 left_pitch=-0.0217 left_roll=-0.0004 left_gripper=0.9983 right_x=0.4218 right_y=0.201 right_z=0.1118 right_yaw=0.0444 right_pitch=-0.0727 right_roll=-0.0474 right_gripper=0.9981\nstate[joint_eff]: [-0.1162, -1.6068, 6.7897, 1.9121, -0.0415, -0.0269, -0.0171, -1.0735, -7.8838, 6.8308, 1.8681, 0.2027, 0.1685, -0.0171]\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, 0.7849, 0.5831, -0.3862, -0.0231, -0.0292, 0.9983, 0.5095, 1.9026, 0.9241, 0.2619, 0.3981, 0.2646, 0.9981]\nstate[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1716 left_yaw=0.0004 left_pitch=-0.0248 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4405 right_y=0.1717 right_z=0.039 right_yaw=0.0302 right_pitch=-0.0806 right_roll=-0.0414 right_gripper=0.9981\nstate[joint_eff]: [-0.0889, -1.6342, 6.8718, 1.8632, -0.0464, -0.0415, -0.0122, -0.0205, -9.6752, 5.8325, 2.0098, 0.1197, 0.0855, -0.0073]",
      "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, 0.775, 0.5659, -0.3725, -0.0231, -0.0292, 0.9983, 0.4664, 1.9652, 0.926, 0.3901, 0.3542, 0.2237, 0.9981]\nstate[eef_state]: left_x=0.2899 left_y=0.0019 left_z=0.1692 left_yaw=0.0004 left_pitch=-0.0183 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4594 right_y=0.1667 right_z=0.0326 right_yaw=0.0463 right_pitch=-0.0325 right_roll=-0.0202 right_gripper=0.9981\nstate[joint_eff]: [-0.1436, -1.6068, 6.612, 1.9121, -0.0562, -0.0611, -0.0122, -1.2103, -6.9538, 7.8427, 1.8535, 0.022, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc9fd82d8f2008382cfe1aafc1949e67eda28f3dec38bd5fb2e4e74c6c96d797",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:713aa6e0d5539046cf01ac4fd3ad9ad614af7527ba85d72e643858a8dd42ca4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d22eef074e38d193c2a9cc66b26fddec1c704da86b404b3c86a05d12e87f5fd7",
        "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/wcKjgEIEhgCKkAU7odnVqYhCSw/PvES1+lyAmoFYVpT4Al10ehUOj4WsJdfyPvit5xhzlRbo381pzTl/VMhgzbjPzIlqk2AhjRtMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcCFzNUGEgxDQvGM6tVKEWU2mh4aDK5+ZgktatZBp0hFbyIwNXycXP0B8h+p4tFnycAxMVOvqAjpxY7+s9r7y0WFgFMavNt4EGgwEtfWa1BrdQUMKp0GXusoXQ7Fgsmu6uKomRYoh99RlbcTFUw2CgvNjB8Wmi6DbN3A0c2sFQUSxicmRbO7Xni2hnbginCU+FWdMajbAFxXf16Kp9k2NQfYNoVCWCAL6JsvNPWe2UAM7ETgiRDNOPglEkKq3uoryId/6DIDkaS121yh9i8W5bBm+Y0xtswl9vjjqn3uWazQ60gBVLjxovprvEv2kWhCavYszjq7TO1P+YgTbUGyunDaZtsOvEcAqm54VeGf+JczD/fGuJrgVuSQ/wFEy8eZGn+6TIlYiD55BzbQP+HcjHCGG4Sj/cNO4pxFvXhnHikbFV/jsC2DIQJtjO3RPmhJSRp/XU9oUJDFl3U0+gjhrjAdRWf6vqWAW4SJgdZHwak1F7RXO77QSTuZF54W7QZk9jYV9ZAE3Ets96UldtKCKCTp/+cOLZ46O27c2FmtYPZH5uFTs6nf92XRCFqJOym1X87LoW/PjYI6gtMkhc8txIoIhPIfloiFoQrTiyAWnChyj7ktV9zp9RFjwCz8HEuzkvHS5Jl5oFgKglFsYZVSGD95MaMxExJee6PZ0lCCFrBEfzZX7/CJFWtGaN7D2Z6VX4OJtBH3A6iaxjapiajs9MFONjMbFJbzn1jj4LdMPQYfZtroIfX3CvEjToOS4UiWF5gcqW233oBG3pXcn9rPVyq2ruOTlzA/bTSofHAuCvAl2LE2GTF/AWx6UiNrQOH3DeZcAn5vAeNNEVzvqKIHdUDQIaoRDs1yF6WIY6+H7bdsIS+dZ4t8qIQfGKn5xy0sliobyrGgxJ45x+VRiiPeo0yeF67pFScezE6KOxzgNbTFNehIWU8rp6PmWu/Hg/nEpSlKjGa0BLs56pbdvK7kRMKd9bStdytTvh4frgOM+hJuwKtibcFux16fMX79VCR03x/Qt6cG9ZWY2ggUHOAn17rYscOaMx3yOO++GKiRpPz0NjDpuCwNXK7p2YZp/RCVUybyA07WNY2cuZIVWCQdjOCsMYv5r2NBpRLYy+JEOZXbO9VMGYsMi/Q127/ERNbPOoFpsJ/oKFG8OQ4GgjwGv+ahwZAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KDLSVDbk82owBu7kGWkvAf",
      "input": {
        "note": "Bottle is nearly centred between the jaws but the neck still sits ahead of the closing line; advancing 3 cm more so the jaws straddle the neck just below the cap.",
        "targets": {
          "right_x": 0.49,
          "right_y": 0.158,
          "right_z": 0.032
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KDLSVDbk82owBu7kGWkvAf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7719, 0.5598, -0.3706, -0.0231, -0.0292, 0.9983, 0.4465, 1.977, 0.936, 0.4343, 0.3351, 0.2073, 0.9981]\nstate[eef_state]: left_x=0.2892 left_y=0.0019 left_z=0.1676 left_yaw=0.0004 left_pitch=-0.0194 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4697 right_y=0.1644 right_z=0.0385 right_yaw=0.0512 right_pitch=0.0018 right_roll=-0.0068 right_gripper=0.9981\nstate[joint_eff]: [-0.253, -1.812, 6.3248, 1.9805, -0.0562, -0.0562, -0.0122, -0.3487, -8.2393, 4.9573, 1.8974, 0.022, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a435adf731ed02a100f8b4d02cca423a8a29c6f17e5b7b74d74c7ce6d443c66c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56d4351c392a4f8a1aac55767f84d85918632caaffc51eba211f6d4521440376",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:496f0559b5b344d0619d92844681399beead258897a6a0cca365220a6b506286",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 6.525 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, 0.7849, 0.5831, -0.3862, -0.0231, -0.0292, 0.9983, 0.5095, 1.9026, 0.9241, 0.2619, 0.3981, 0.2646, 0.9981]\nstate[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1716 left_yaw=0.0004 left_pitch=-0.0248 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4405 right_y=0.1717 right_z=0.039 right_yaw=0.0302 right_pitch=-0.0806 right_roll=-0.0414 right_gripper=0.9981\nstate[joint_eff]: [-0.0889, -1.6342, 6.8718, 1.8632, -0.0464, -0.0415, -0.0122, -0.0205, -9.6752, 5.8325, 2.0098, 0.1197, 0.0855, -0.0073]",
      "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, 0.775, 0.5659, -0.3725, -0.0231, -0.0292, 0.9983, 0.4664, 1.9652, 0.926, 0.3901, 0.3542, 0.2237, 0.9981]\nstate[eef_state]: left_x=0.2899 left_y=0.0019 left_z=0.1692 left_yaw=0.0004 left_pitch=-0.0183 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4594 right_y=0.1667 right_z=0.0326 right_yaw=0.0463 right_pitch=-0.0325 right_roll=-0.0202 right_gripper=0.9981\nstate[joint_eff]: [-0.1436, -1.6068, 6.612, 1.9121, -0.0562, -0.0611, -0.0122, -1.2103, -6.9538, 7.8427, 1.8535, 0.022, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7719, 0.5598, -0.3706, -0.0231, -0.0292, 0.9983, 0.4465, 1.977, 0.936, 0.4343, 0.3351, 0.2073, 0.9981]\nstate[eef_state]: left_x=0.2892 left_y=0.0019 left_z=0.1676 left_yaw=0.0004 left_pitch=-0.0194 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4697 right_y=0.1644 right_z=0.0385 right_yaw=0.0512 right_pitch=0.0018 right_roll=-0.0068 right_gripper=0.9981\nstate[joint_eff]: [-0.253, -1.812, 6.3248, 1.9805, -0.0562, -0.0562, -0.0122, -0.3487, -8.2393, 4.9573, 1.8974, 0.022, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a435adf731ed02a100f8b4d02cca423a8a29c6f17e5b7b74d74c7ce6d443c66c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56d4351c392a4f8a1aac55767f84d85918632caaffc51eba211f6d4521440376",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:496f0559b5b344d0619d92844681399beead258897a6a0cca365220a6b506286",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019f5MQ879qnDHoPev4VRfum",
      "input": {
        "note": "The arm has hit its forward reach (~0.47 m) with the bottle's neck still beyond the jaws, so I will instead grip the bottle's body here and drag the whole bottle back toward the base, bringing the neck into reach.",
        "targets": {
          "right_gripper": 0.45
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_019f5MQ879qnDHoPev4VRfum",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7719, 0.5484, -0.3714, -0.0231, -0.0288, 0.9983, 0.45, 1.9766, 0.9348, 0.4648, 0.3332, 0.2043, 0.4574]\nstate[eef_state]: left_x=0.2876 left_y=0.0019 left_z=0.1623 left_yaw=0.0002 left_pitch=-0.0317 left_roll=0.0003 left_gripper=0.9983 right_x=0.4724 right_y=0.168 right_z=0.0442 right_yaw=0.0576 right_pitch=0.0289 right_roll=0.003 right_gripper=0.4574\nstate[joint_eff]: [-0.1299, -1.8803, 6.3658, 1.9951, -0.0513, -0.0366, -0.0122, -0.253, -8.4308, 5.0393, 1.5116, 0.0904, 0.1001, 0.3834]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:716f171580336c7e582abad52d8c7ded0a9c18afa05acc16fc3a50f91a0953a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb510c19b2fdc4b13d327f8e0c2d7a60aeea0056db99b7315b2a8f68b2370d06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b2981b8e6cd4fa86576f9f0c111888e167dadade6cb4ded89391a648939895c",
        "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 · 25.47 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, 0.775, 0.5659, -0.3725, -0.0231, -0.0292, 0.9983, 0.4664, 1.9652, 0.926, 0.3901, 0.3542, 0.2237, 0.9981]\nstate[eef_state]: left_x=0.2899 left_y=0.0019 left_z=0.1692 left_yaw=0.0004 left_pitch=-0.0183 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4594 right_y=0.1667 right_z=0.0326 right_yaw=0.0463 right_pitch=-0.0325 right_roll=-0.0202 right_gripper=0.9981\nstate[joint_eff]: [-0.1436, -1.6068, 6.612, 1.9121, -0.0562, -0.0611, -0.0122, -1.2103, -6.9538, 7.8427, 1.8535, 0.022, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7719, 0.5598, -0.3706, -0.0231, -0.0292, 0.9983, 0.4465, 1.977, 0.936, 0.4343, 0.3351, 0.2073, 0.9981]\nstate[eef_state]: left_x=0.2892 left_y=0.0019 left_z=0.1676 left_yaw=0.0004 left_pitch=-0.0194 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4697 right_y=0.1644 right_z=0.0385 right_yaw=0.0512 right_pitch=0.0018 right_roll=-0.0068 right_gripper=0.9981\nstate[joint_eff]: [-0.253, -1.812, 6.3248, 1.9805, -0.0562, -0.0562, -0.0122, -0.3487, -8.2393, 4.9573, 1.8974, 0.022, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7719, 0.5484, -0.3714, -0.0231, -0.0288, 0.9983, 0.45, 1.9766, 0.9348, 0.4648, 0.3332, 0.2043, 0.4574]\nstate[eef_state]: left_x=0.2876 left_y=0.0019 left_z=0.1623 left_yaw=0.0002 left_pitch=-0.0317 left_roll=0.0003 left_gripper=0.9983 right_x=0.4724 right_y=0.168 right_z=0.0442 right_yaw=0.0576 right_pitch=0.0289 right_roll=0.003 right_gripper=0.4574\nstate[joint_eff]: [-0.1299, -1.8803, 6.3658, 1.9951, -0.0513, -0.0366, -0.0122, -0.253, -8.4308, 5.0393, 1.5116, 0.0904, 0.1001, 0.3834]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:716f171580336c7e582abad52d8c7ded0a9c18afa05acc16fc3a50f91a0953a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb510c19b2fdc4b13d327f8e0c2d7a60aeea0056db99b7315b2a8f68b2370d06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b2981b8e6cd4fa86576f9f0c111888e167dadade6cb4ded89391a648939895c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqwcKjgEIEhgCKkCgqVdnvhQVYBa2Pu4CGirJfd/aUevOqz47HQf5evNyvsGZstrL/QDyDZ2wJd2PqSPwVqN54HgxPHr7PZGw/DGNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdmFzNUGEgy9sQaaqBtdjkImXLEaDBU8JYsEKpSq6AwY7iIw1RObD3d/urwFDKGhZGp/Csxazj0BVJ/fVBYIyZPz3YU2kKFGkmnHfKYZWmAY+UJ3KskFcodj2Ia3x6L7Kd6fIbPM2VHkZ7V1+EWD9nNPdBU+wfarO7HrIRF9hJpP79bN6Qyw1KH2LqI7QFYvSZL9Iu9kuCGNajF16cqjVynsdEiNaOCWqNtIIEgEfHF+VI8jGlZS1laBySHa6mZPN7b5vQa52D1wnCQ1HFYgH+QXQcEeJh8wXB+cdtQolpKag5IR+h/WDyWu8nn5KI/KsIy7CSpGsDmKLO1DhdAXD8vFWfxPrNz5i/fslJZ/+e1xb+LwCKoa3fxpujn0AAIRyvAJ6ZgRzZANfNylMK3VnKtZ6PakjSvVwV7IWCXBK4tiQ22F2WTWIZog8PYWxxRh2azyG8i0KfEQ4c2GKDSldj72u88qz1hrM2QCjsQ7HYP83yqGCTVsL6OqhuiSfP3AMiAU/NZhbVRerKEkTAsaEO6HIejnJPhJbqS34ct/oQ+8gVMlI0MI394EqM0qJKQJ+MneYh4EQYTX+aXONF2Qfx6NklBC9L1YHWgDT8uMIce5DDjIvcXgT1oljkHaKd7pLYulSNRnIENZPkRwQlCAUixuQ38g9fuNI6uv8Cqt3/njohFcBueFkXMr2g1x4pWBaQW/Cf8L5OIW85z8yu3P6nngTBVuyhD/c8uhf/gu0MzgV8OkgC/5LC0ew3Laxbe7jX5WSdgGLvHxocigKUVlX0JYGMUf7K+WuoIEcE2JRK7EaBKu8SlQbIzX6+8+ZlmHQ77oFlZSY9EKepwA/lzlVYxUdETVKxSeyR91xUj4uLRRonSJlTrTwpYb5IJmwiK+7WzWssIKHiHb7FnI0Da0o/z+t7JD3+c7IR17aQjAUAMNYR8TSTbf9EBzLMI/PWN1all5iBHbkQufNw8ZgDjohYvuKy6CPbU5bCj786AAMtplsVOvffEeh4BgKM7JXB2zd20vZCe3nZ/tb1FzXr4HcH5PGwRr7WQ3uyStf+fSNBQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GxuaaW9Sx77hgzXKiVFBh9",
      "input": {
        "note": "Jaws at 4.3 cm gap still show no contact, so I am closing further to actually grip the bottle's shoulder before dragging it back.",
        "targets": {
          "right_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GxuaaW9Sx77hgzXKiVFBh9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.519, -0.3515, -0.0231, -0.0292, 0.9983, 0.4503, 1.9717, 0.9478, 0.4946, 0.3344, 0.2005, 0.1548]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1572 left_yaw=0.0004 left_pitch=-0.0252 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4796 right_y=0.1714 right_z=0.0575 right_yaw=0.0582 right_pitch=0.0732 right_roll=0.0174 right_gripper=0.1548\nstate[joint_eff]: [-0.0615, -1.6342, 6.9538, 1.8681, -0.0708, -0.0659, -0.0122, -0.4308, -9.8803, 6.3248, 1.0232, 0.0708, 0.1001, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:179a626d1a313a0265b4eb52a34be4f833eeba9711cf1b971ef783cbd44b53d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4bd35c6731f73024b9cfd60d5d1ba918b41622e8bf945616454760d6e543eea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d6d5013c6a95b435065c1ed6d13a44f84a156daa800c5a5f150f8aaff5894f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /messages · status 200 · 55.56 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, 0.7719, 0.5598, -0.3706, -0.0231, -0.0292, 0.9983, 0.4465, 1.977, 0.936, 0.4343, 0.3351, 0.2073, 0.9981]\nstate[eef_state]: left_x=0.2892 left_y=0.0019 left_z=0.1676 left_yaw=0.0004 left_pitch=-0.0194 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4697 right_y=0.1644 right_z=0.0385 right_yaw=0.0512 right_pitch=0.0018 right_roll=-0.0068 right_gripper=0.9981\nstate[joint_eff]: [-0.253, -1.812, 6.3248, 1.9805, -0.0562, -0.0562, -0.0122, -0.3487, -8.2393, 4.9573, 1.8974, 0.022, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7719, 0.5484, -0.3714, -0.0231, -0.0288, 0.9983, 0.45, 1.9766, 0.9348, 0.4648, 0.3332, 0.2043, 0.4574]\nstate[eef_state]: left_x=0.2876 left_y=0.0019 left_z=0.1623 left_yaw=0.0002 left_pitch=-0.0317 left_roll=0.0003 left_gripper=0.9983 right_x=0.4724 right_y=0.168 right_z=0.0442 right_yaw=0.0576 right_pitch=0.0289 right_roll=0.003 right_gripper=0.4574\nstate[joint_eff]: [-0.1299, -1.8803, 6.3658, 1.9951, -0.0513, -0.0366, -0.0122, -0.253, -8.4308, 5.0393, 1.5116, 0.0904, 0.1001, 0.3834]",
      "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, 0.7559, 0.519, -0.3515, -0.0231, -0.0292, 0.9983, 0.4503, 1.9717, 0.9478, 0.4946, 0.3344, 0.2005, 0.1548]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1572 left_yaw=0.0004 left_pitch=-0.0252 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4796 right_y=0.1714 right_z=0.0575 right_yaw=0.0582 right_pitch=0.0732 right_roll=0.0174 right_gripper=0.1548\nstate[joint_eff]: [-0.0615, -1.6342, 6.9538, 1.8681, -0.0708, -0.0659, -0.0122, -0.4308, -9.8803, 6.3248, 1.0232, 0.0708, 0.1001, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:179a626d1a313a0265b4eb52a34be4f833eeba9711cf1b971ef783cbd44b53d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4bd35c6731f73024b9cfd60d5d1ba918b41622e8bf945616454760d6e543eea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d6d5013c6a95b435065c1ed6d13a44f84a156daa800c5a5f150f8aaff5894f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BnC2xqvqTAECMkm6UN5vgB",
      "input": {
        "note": "The close was empty (jaws reached the commanded 1.5 cm gap), and the arm is at its forward reach limit, so I am retracting to get an unobstructed overhead view of all three bottles and re-plan.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.33,
          "right_y": 0.1,
          "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_01BnC2xqvqTAECMkm6UN5vgB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7452, 0.5007, -0.3325, -0.0231, -0.0292, 0.9983, 0.4503, 1.1076, 0.7788, -0.2531, 0.3279, 0.2043, 0.9963]\nstate[eef_state]: left_x=0.2852 left_y=0.002 left_z=0.1555 left_yaw=0.0004 left_pitch=-0.0137 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3398 right_y=0.1051 right_z=0.1956 right_yaw=0.0625 right_pitch=0.0232 right_roll=0.0038 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -1.1009, 6.5436, 1.9267, -0.0757, -0.0464, -0.0122, -0.3761, -3.8085, 8.7179, 1.8974, 0.0855, 0.0708, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97865605d7fc20f2834fce18a57cc321d91fcfb49f7cc55b4a69b422078cb98b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a4820bb5d81ca4de9c9a462163e8e596f002a9f460467822534b6980f3d16a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7222018de46130e8577e5a96825680463024ee0de098c5712b1f755611225d6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 16.14 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, 0.7719, 0.5484, -0.3714, -0.0231, -0.0288, 0.9983, 0.45, 1.9766, 0.9348, 0.4648, 0.3332, 0.2043, 0.4574]\nstate[eef_state]: left_x=0.2876 left_y=0.0019 left_z=0.1623 left_yaw=0.0002 left_pitch=-0.0317 left_roll=0.0003 left_gripper=0.9983 right_x=0.4724 right_y=0.168 right_z=0.0442 right_yaw=0.0576 right_pitch=0.0289 right_roll=0.003 right_gripper=0.4574\nstate[joint_eff]: [-0.1299, -1.8803, 6.3658, 1.9951, -0.0513, -0.0366, -0.0122, -0.253, -8.4308, 5.0393, 1.5116, 0.0904, 0.1001, 0.3834]",
      "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, 0.7559, 0.519, -0.3515, -0.0231, -0.0292, 0.9983, 0.4503, 1.9717, 0.9478, 0.4946, 0.3344, 0.2005, 0.1548]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1572 left_yaw=0.0004 left_pitch=-0.0252 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4796 right_y=0.1714 right_z=0.0575 right_yaw=0.0582 right_pitch=0.0732 right_roll=0.0174 right_gripper=0.1548\nstate[joint_eff]: [-0.0615, -1.6342, 6.9538, 1.8681, -0.0708, -0.0659, -0.0122, -0.4308, -9.8803, 6.3248, 1.0232, 0.0708, 0.1001, 0.0659]",
      "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, 0.7452, 0.5007, -0.3325, -0.0231, -0.0292, 0.9983, 0.4503, 1.1076, 0.7788, -0.2531, 0.3279, 0.2043, 0.9963]\nstate[eef_state]: left_x=0.2852 left_y=0.002 left_z=0.1555 left_yaw=0.0004 left_pitch=-0.0137 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3398 right_y=0.1051 right_z=0.1956 right_yaw=0.0625 right_pitch=0.0232 right_roll=0.0038 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -1.1009, 6.5436, 1.9267, -0.0757, -0.0464, -0.0122, -0.3761, -3.8085, 8.7179, 1.8974, 0.0855, 0.0708, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97865605d7fc20f2834fce18a57cc321d91fcfb49f7cc55b4a69b422078cb98b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a4820bb5d81ca4de9c9a462163e8e596f002a9f460467822534b6980f3d16a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7222018de46130e8577e5a96825680463024ee0de098c5712b1f755611225d6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012kxReggVmthVxspbQTV4HV",
      "input": {
        "note": "Re-measured from the overhead view: the rightmost bottle's cap end is near x≈0.49, y≈0.24 in the right arm's frame — my earlier attempt was ~7 cm too far to the right. Moving over its neck now.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.235,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_012kxReggVmthVxspbQTV4HV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7395, 0.498, -0.3283, -0.0231, -0.0292, 0.9983, 0.6315, 1.9266, 1.0199, 0.1955, 0.4721, 0.2867, 0.9976]\nstate[eef_state]: left_x=0.2852 left_y=0.002 left_z=0.1567 left_yaw=0.0004 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4348 right_y=0.223 right_z=0.0552 right_yaw=0.0817 right_pitch=-0.0514 right_roll=-0.0632 right_gripper=0.9976\nstate[joint_eff]: [-0.2393, -1.1282, 6.4205, 1.8046, -0.0366, -0.0171, -0.0122, 0.0479, -8.0068, 7.0632, 1.6044, 0.0073, 0.3297, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa339b55111019698cb3dadbf1c6163c1391b2138907787a30c62fa6a60b8d83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3408bfd71c5c370713a13c2d47f7759a9083171838eabe1526274f7f64b86f26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24dd1636cd339b21cbbcd178b195b760ead5886754492ce2c81075a2ccb277f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 9.377 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, 0.7559, 0.519, -0.3515, -0.0231, -0.0292, 0.9983, 0.4503, 1.9717, 0.9478, 0.4946, 0.3344, 0.2005, 0.1548]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1572 left_yaw=0.0004 left_pitch=-0.0252 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4796 right_y=0.1714 right_z=0.0575 right_yaw=0.0582 right_pitch=0.0732 right_roll=0.0174 right_gripper=0.1548\nstate[joint_eff]: [-0.0615, -1.6342, 6.9538, 1.8681, -0.0708, -0.0659, -0.0122, -0.4308, -9.8803, 6.3248, 1.0232, 0.0708, 0.1001, 0.0659]",
      "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, 0.7452, 0.5007, -0.3325, -0.0231, -0.0292, 0.9983, 0.4503, 1.1076, 0.7788, -0.2531, 0.3279, 0.2043, 0.9963]\nstate[eef_state]: left_x=0.2852 left_y=0.002 left_z=0.1555 left_yaw=0.0004 left_pitch=-0.0137 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3398 right_y=0.1051 right_z=0.1956 right_yaw=0.0625 right_pitch=0.0232 right_roll=0.0038 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -1.1009, 6.5436, 1.9267, -0.0757, -0.0464, -0.0122, -0.3761, -3.8085, 8.7179, 1.8974, 0.0855, 0.0708, -0.0269]",
      "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, 0.7395, 0.498, -0.3283, -0.0231, -0.0292, 0.9983, 0.6315, 1.9266, 1.0199, 0.1955, 0.4721, 0.2867, 0.9976]\nstate[eef_state]: left_x=0.2852 left_y=0.002 left_z=0.1567 left_yaw=0.0004 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4348 right_y=0.223 right_z=0.0552 right_yaw=0.0817 right_pitch=-0.0514 right_roll=-0.0632 right_gripper=0.9976\nstate[joint_eff]: [-0.2393, -1.1282, 6.4205, 1.8046, -0.0366, -0.0171, -0.0122, 0.0479, -8.0068, 7.0632, 1.6044, 0.0073, 0.3297, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa339b55111019698cb3dadbf1c6163c1391b2138907787a30c62fa6a60b8d83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3408bfd71c5c370713a13c2d47f7759a9083171838eabe1526274f7f64b86f26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24dd1636cd339b21cbbcd178b195b760ead5886754492ce2c81075a2ccb277f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UuGY95tTC1KS7Nowi6UVSh",
      "input": {
        "note": "Overhead view confirms the gripper is now over the rightmost bottle; the wrist view shows its cap slightly to the arm's right, so I shift 3 cm right and descend to neck height (3.5 cm) ready to grip.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.19,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01UuGY95tTC1KS7Nowi6UVSh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7403, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5499, 1.9343, 0.8932, 0.4088, 0.4278, 0.2558, 0.9978]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1562 left_yaw=0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.442 right_y=0.1892 right_z=0.0414 right_yaw=0.053 right_pitch=0.0025 right_roll=-0.0255 right_gripper=0.9978\nstate[joint_eff]: [-0.1436, -0.8684, 6.5573, 1.8339, -0.0513, -0.0513, -0.0122, 1.1966, -8.7179, 5.1487, 1.7705, -0.0659, -0.0611, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e07c3717183d400c7855fbca16efe08e4b4ff42a953bf960b02cabcaf567f3a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16f3d228cafb9c018b9fd495528127051f99c0c2485f4d00587eb39a82e3225d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e151e163923ff15670066dc0c64402a13e0aff0b666aa0768b9ec6709c85091",
        "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 · 31.51 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, 0.7452, 0.5007, -0.3325, -0.0231, -0.0292, 0.9983, 0.4503, 1.1076, 0.7788, -0.2531, 0.3279, 0.2043, 0.9963]\nstate[eef_state]: left_x=0.2852 left_y=0.002 left_z=0.1555 left_yaw=0.0004 left_pitch=-0.0137 left_roll=-0.0004 left_gripper=0.9983 right_x=0.3398 right_y=0.1051 right_z=0.1956 right_yaw=0.0625 right_pitch=0.0232 right_roll=0.0038 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -1.1009, 6.5436, 1.9267, -0.0757, -0.0464, -0.0122, -0.3761, -3.8085, 8.7179, 1.8974, 0.0855, 0.0708, -0.0269]",
      "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, 0.7395, 0.498, -0.3283, -0.0231, -0.0292, 0.9983, 0.6315, 1.9266, 1.0199, 0.1955, 0.4721, 0.2867, 0.9976]\nstate[eef_state]: left_x=0.2852 left_y=0.002 left_z=0.1567 left_yaw=0.0004 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4348 right_y=0.223 right_z=0.0552 right_yaw=0.0817 right_pitch=-0.0514 right_roll=-0.0632 right_gripper=0.9976\nstate[joint_eff]: [-0.2393, -1.1282, 6.4205, 1.8046, -0.0366, -0.0171, -0.0122, 0.0479, -8.0068, 7.0632, 1.6044, 0.0073, 0.3297, 0.1245]",
      "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, 0.7403, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5499, 1.9343, 0.8932, 0.4088, 0.4278, 0.2558, 0.9978]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1562 left_yaw=0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.442 right_y=0.1892 right_z=0.0414 right_yaw=0.053 right_pitch=0.0025 right_roll=-0.0255 right_gripper=0.9978\nstate[joint_eff]: [-0.1436, -0.8684, 6.5573, 1.8339, -0.0513, -0.0513, -0.0122, 1.1966, -8.7179, 5.1487, 1.7705, -0.0659, -0.0611, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e07c3717183d400c7855fbca16efe08e4b4ff42a953bf960b02cabcaf567f3a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16f3d228cafb9c018b9fd495528127051f99c0c2485f4d00587eb39a82e3225d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e151e163923ff15670066dc0c64402a13e0aff0b666aa0768b9ec6709c85091",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5QoKjgEIEhgCKkDk3xV68e1DT6XOtjb0+0z75/5bNp9AyG96d+1MHNNxUcfyOQcDsQ38i9fF9UEN/cSImu77UyI5u9wg9V2tewX6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcaGzNUGEgyCAD5HKBuclEQeyP0aDAcGSFfnPLA9OZ3V3yIwSlxvQ6nKvId3z08bAxAd9994CRbtzkZNR0TY2aQ+b2/lX8LL4tjEaGUwCHsvmJ1kKoMJVRoMt0ojE6fZO3j4o5ivLqCLNjJ4axVBL3i5EiZUXXUWxcJ10Hi/UFfqT95AXGN0dsx3HaRlQhqhiR41eQglRY/fi8HYzHynlHl+WUgq00kdG9xgoZd5uwQccHDoz+qFc9HSwsYjpgIoAvpSxlVaszcRSaWghhuoFvz75h2oXMDMeiYgeR8UQCU/wwGBetBncl+7mlC9pyDw2aU33NLyWjovZxOChIahANT6pPdFyhmlbMsPPVqGrFr6iumJWHtf8CRX6olYB1RcgDWZWwVHtMId1M7+FH9nr8kNRde2JnvXyQYI5g4QkJuvwgl7xhtPAhSQjJK+nqvELpcrZtLSpumI6YvXoLkq2jJ4Bq73OO98FHsd3fpRPbmprRKumtzOGFs5A5UkJWGukbcJbShdNamA8KqHz8jZvsQYGdlcafzIgYCgjtwTGSl5q2R80Ai4QnJ7bTHZRRrmLLVgmixelKouH0xsVIzVI8msY3QVehthkBUFC76aEHpkXRxkEgmNLXDl2wXgaTgd0NDaQJwOJq3/8hdc2/Wq2kxni+B7bLkxpbiVzqN6J8qQYdQAUbfK9Epkv0MTbDfGcnro041f1m0Y6nzoEE5q7SO+4RqSRr7JcWi3xAXoRHI963+7YCMeDloumE8eqGl9C7gwZL2PtMvfvmM5FrYuTxB6fU60Z0J/EE5gJ8U5hIrjIvPodJ3Z+n2ybT+UgPXh1Cjz9RKwp0BdO5KOtnrFqULQPDuK8UCfpmnm4++WUVsb25YLh6UpAVDCiXiiPoIdWHFA/LJT2SuqymlupWaDm2IihPFcucsxMGDsB9cSAaYKnda1cPrIjFLmwNGihpnu+taMXHSbK4ZJRonUMOX05vTBZF7uVV1IJ03u4R4DCvC/e8vN+uHMrsvwMqxhLIalVtcYa2h4M2iNxGXiCO6RT5BT68dxZlDKDe39EzOSEyGFVqW4O4xtqoOOMyBy4ZJrMJuIReBEGt/iuwpTObasSQZSTt9MO/lz85ZsVdljVcG87s0oexYfOKSDPGoXSRDHgsj3reuyqSSJj7j/UTnB1qQeGR49z1GASjqMSu+poPPUSNKGoPWZ8eOfrBkC7uU6+2ALVv6snyh/lMZz4TEHzoYtsFMeuk3mkeCdmm57sz8gmSBrEBveckCPKTNsivhKqYt5J6O1y4c7u8jiGip6J/jDFZDkwGat1nA5knscrk3HVN0blhVA0l2NnReVPJ7h+LIv9SNRSqImRmbc7vZMNxD16vSLint5cGr3Ly/3sUWgZ+KsS5gZRKBARn5q7BxkBszLY4gEwvc9XccJfo3jfJYI4QcbwAQqmy8uCB5BQ6z1oMr7znHWysdOCAtujb5n7cCcMVWIxgQ6KNoC8HjYQih/Wl+L0tz8phv9iOy4g/PlQaA/It5XVnr/WUAYlYqIzFBsAnDhyUuxIFLS6fGiOX9T6npW7oyjoA4ixcjjlbX8i4UavY51vjVBSdNPVTNLEZkXsz/i6HG/TH/rkLPb4t3bn8s5v/sT3P1Dn4S+luvBMfhgcrZpJL1hGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QX3SF75jMPm3RJ7R9Jhsow",
      "input": {
        "note": "The bottle's neck now sits between the jaws in the wrist view; closing the gripper on the neck to measure what I have (a neck grip should settle near 0.25).",
        "targets": {
          "right_gripper": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01QX3SF75jMPm3RJ7R9Jhsow",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0288, 0.9983, 0.5423, 1.9293, 0.8734, 0.5262, 0.3828, 0.2344, 0.1061]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4498 right_y=0.1982 right_z=0.0575 right_yaw=0.0917 right_pitch=0.0825 right_roll=0.0249 right_gripper=0.1061\nstate[joint_eff]: [-0.2393, -1.306, 6.4068, 1.8339, -0.0464, -0.0415, -0.0122, -0.2256, -8.3077, 4.7658, 1.0818, 0.0855, 0.1148, 0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:394d3cbf86739e1805d91f57d55e76429480f3eb5c818d5a00bf3b10060f6734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9deacd975633532d698c00dd81ab8bad77f5953695ad8a72a8e3a6e00246cd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ac3fe6a18ee3b194c04cef067dd1d933d55b4b439e0bbaebdbebfd38f94e7b0",
        "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 · 14.92 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, 0.7395, 0.498, -0.3283, -0.0231, -0.0292, 0.9983, 0.6315, 1.9266, 1.0199, 0.1955, 0.4721, 0.2867, 0.9976]\nstate[eef_state]: left_x=0.2852 left_y=0.002 left_z=0.1567 left_yaw=0.0004 left_pitch=-0.0065 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4348 right_y=0.223 right_z=0.0552 right_yaw=0.0817 right_pitch=-0.0514 right_roll=-0.0632 right_gripper=0.9976\nstate[joint_eff]: [-0.2393, -1.1282, 6.4205, 1.8046, -0.0366, -0.0171, -0.0122, 0.0479, -8.0068, 7.0632, 1.6044, 0.0073, 0.3297, 0.1245]",
      "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, 0.7403, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5499, 1.9343, 0.8932, 0.4088, 0.4278, 0.2558, 0.9978]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1562 left_yaw=0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.442 right_y=0.1892 right_z=0.0414 right_yaw=0.053 right_pitch=0.0025 right_roll=-0.0255 right_gripper=0.9978\nstate[joint_eff]: [-0.1436, -0.8684, 6.5573, 1.8339, -0.0513, -0.0513, -0.0122, 1.1966, -8.7179, 5.1487, 1.7705, -0.0659, -0.0611, 0.0073]",
      "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, 0.7399, 0.498, -0.3294, -0.0231, -0.0288, 0.9983, 0.5423, 1.9293, 0.8734, 0.5262, 0.3828, 0.2344, 0.1061]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4498 right_y=0.1982 right_z=0.0575 right_yaw=0.0917 right_pitch=0.0825 right_roll=0.0249 right_gripper=0.1061\nstate[joint_eff]: [-0.2393, -1.306, 6.4068, 1.8339, -0.0464, -0.0415, -0.0122, -0.2256, -8.3077, 4.7658, 1.0818, 0.0855, 0.1148, 0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:394d3cbf86739e1805d91f57d55e76429480f3eb5c818d5a00bf3b10060f6734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9deacd975633532d698c00dd81ab8bad77f5953695ad8a72a8e3a6e00246cd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ac3fe6a18ee3b194c04cef067dd1d933d55b4b439e0bbaebdbebfd38f94e7b0",
        "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_01CPAZ5SVocrDUNN7wmi7tcd",
      "input": {
        "note": "Another empty close: the bottle only looks centred in the wrist view but is actually still a few cm forward of the fingertips. Opening the jaws and pushing out to near-maximum reach at table level so the fingers straddle the bottle's neck.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.485,
          "right_y": 0.19,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01CPAZ5SVocrDUNN7wmi7tcd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4911, 2.0365, 1.0134, 0.445, 0.3157, 0.1928, 0.9946]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4799 right_y=0.1986 right_z=0.0401 right_yaw=0.1195 right_pitch=0.0242 right_roll=0.0017 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -1.3744, 6.4342, 1.8242, -0.0366, -0.0464, -0.0122, -1.6068, -7.0496, 6.8034, 1.5116, 0.1734, 0.1001, -0.1685]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b99c2325ba77f22e87d38c95a90fcbf626a0439dbed2bcccdd5ca8d1935e238b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eb53d6c87880bd795c2eba6f76f8969e88393eb8aa754635a0178749a3f8ff0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4005f199c0367da9168ea1d19537547b9ffc137e8beea0e95b14d5c738f9248f",
        "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 · 3.938 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, 0.7403, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5499, 1.9343, 0.8932, 0.4088, 0.4278, 0.2558, 0.9978]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1562 left_yaw=0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.442 right_y=0.1892 right_z=0.0414 right_yaw=0.053 right_pitch=0.0025 right_roll=-0.0255 right_gripper=0.9978\nstate[joint_eff]: [-0.1436, -0.8684, 6.5573, 1.8339, -0.0513, -0.0513, -0.0122, 1.1966, -8.7179, 5.1487, 1.7705, -0.0659, -0.0611, 0.0073]",
      "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, 0.7399, 0.498, -0.3294, -0.0231, -0.0288, 0.9983, 0.5423, 1.9293, 0.8734, 0.5262, 0.3828, 0.2344, 0.1061]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4498 right_y=0.1982 right_z=0.0575 right_yaw=0.0917 right_pitch=0.0825 right_roll=0.0249 right_gripper=0.1061\nstate[joint_eff]: [-0.2393, -1.306, 6.4068, 1.8339, -0.0464, -0.0415, -0.0122, -0.2256, -8.3077, 4.7658, 1.0818, 0.0855, 0.1148, 0.1783]",
      "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, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4911, 2.0365, 1.0134, 0.445, 0.3157, 0.1928, 0.9946]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4799 right_y=0.1986 right_z=0.0401 right_yaw=0.1195 right_pitch=0.0242 right_roll=0.0017 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -1.3744, 6.4342, 1.8242, -0.0366, -0.0464, -0.0122, -1.6068, -7.0496, 6.8034, 1.5116, 0.1734, 0.1001, -0.1685]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b99c2325ba77f22e87d38c95a90fcbf626a0439dbed2bcccdd5ca8d1935e238b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eb53d6c87880bd795c2eba6f76f8969e88393eb8aa754635a0178749a3f8ff0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4005f199c0367da9168ea1d19537547b9ffc137e8beea0e95b14d5c738f9248f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlBEKjgEIEhgCKkBW15tU3T3isbzdUE839ydVwpG4X/KBD/cKXO/dfsoYzKTU431zF5Iu/v+cNT10hTEI8z3c77BWncnbt+xADwq2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfaGzNUGEgwceu+FhZMLj5U9AnMaDAt0X0419qM/JsGxIyIwPwpPezbfz/i+lFPJg5um9oCJDXXDN0TVxJA72KU161eP6hG00olcfSK6NBjSs/03KrIP4BzFdHBkrzO5jcWpJW16pWthRlfmPuWY401ZODo50AlJJnQii3bA68HjZWgNgYBp3r3o10HxKtjsZYmrMUR3IWvBUNrSkVe1sK0WJgGIHE7O06fW+zPRAimrnyEXbVua9xA9GanMI6Z5SDKuueX3A2cwc9ruIgxzetL2nAAdcA8+xTK4gAVPAEB5CdPTqGxA9HYjhGpbnnG7WW68zwbPEfG+GgqCAsiQpHfZI/DUnv00GdaJK8ucbX9ZLYp7IC1Smj25lwsAkfzQC6zj2fq2GggqS2y54Z7tslR3NZxvi4RFbrtzONrOqnCs6zoXUNbJMf/Zn+Vtks2gs+gAPPselVPg/MROuAUNKPoZfFuO9TrozA7MmESNGTsmvhDNsOWPWxTrsOF3Et/FMn7bYPjsTNkroYPCUB5AdacoMtM84brWJwruQJcpgCzF7wrLluvEgK4qYIC9iwYsE8dpsdReor53npTxd6MPIOMf1+GivvUvCWT7ACuJLJRYHTQgnZr/snn2Lp4sJszPYEwByss5LcPMAHFWLBUdrCHoUEHr94Ey2S2sBf284JBjCuqNI+LYFgx6b+02qOjYIpbotuUQDpb0PwqkcS93s6faGl43o6BDntvOYRYsVcu3Xvww7nOC/rWB4KNxMKUlW4pEA6qW4dIbJPv4Cf8lHlOszSZVda1/M8CN+DHrwIalTVIBx325QZVcw6ElHKg8mpK3VAAePFo++Q/QQnjhowrpWeyKKZe+7+BSHr4o/N2PHHzMRAbEn5pIfXy0vZ1SKmvdW6tNfY9em2xex60s2+Isf23VTIE9TxUk7DfrNu5qytCT4QmDxTotVXuoS7y3OYh2ZpPxACp+JWoYbeXi5wtefHbre80ERd+Xnd9HxH/sfQFg3+uBgHlls+eevxhKPXlYLZiNvscPOOXUAgs51kowfWzEQjZ5cYJIbENqAlArFbnxspbw1I+BAJL1fP2d7jDKYQcH1VP8qFNNPajWHMTudxSObcm2lAKMCOkZTqcdFTbTjZRjf13mh1erVX/GD2QaapCzdfRWev37Ri+idyvg16jQXsPUGQsCk9rhETqRX+IIfWAgGn8U5iYbwHLsST7X6tHSl8hwysA0k0c1Xsy2aj+2PHN09y6U1LmT6xuGzFkQ/nQjeCrXOBGhHLHHICZ2nVmPVRT0HZATyK+nH0CJfS8SwoQdH5mEeb5NQ658Mv967QeMQFuA9ojbDeD5Vl2TtLFjPCIiB69s2Zd69j/LCSrz7KFjlY2LGzv478aslKaB7YsIODUswrPXad7rDT9zFPBe/Z31IYTrJU8jzf7e6tJKf7+E5V6gdYVYuqCOVmSObHghWzSO0FKg+r42dyIs5wUhQP9rVpd4MVtaMvzOPjcSwbMBkKTj4kaAW3W7+4AYYJvPgxcIf3az3fIr88WKcub+P5hGn+2PGnmENfrqYYyH+KV/1/oJOmZ+NS6MH4enIoXwuZCKXX14cUnz4FN9PL+ahGRZRh5ERG1RxfMywTrjDzWtzRnRBBsjfMrjH4eZh9jQDZg0YYn2JK0FNXqGRl72DgvBSnMKZYg4BLx14xlSoyGXsCeE16+2Q16wVzHniaGDYZ9CmX/3b/jYGR43Wcgd/Wj32didrbGDy0lhfW9sQTmKdd2zGuxCHVNOFu7nssJeXno/NSoXYdDyMadWNCICaZXkZs5rfnfqxxPL3jYkK2KwI8VYqaqKqDJgYYDKWVnhWKhL+4nbbsw0MUqNc8WRrlj4F7za2HUvJJ53J7wvEixzEwP8Ca1PwN1C3kgRzUhQPVGnV8mAS1bB1EfIgx3m8X9ppUNLmIQEyEuDHLCidnqIMT+i6oCw/Qq4hKV66rTrChzaHK0THPI0swzPYUQUAjDBp/LsFsMAbInevZsHl+iyEQ0CisQdz3Y84ZPjyFVKC/+R4/eG97OzPdaFEOXDaUSISiu8IHM8636eW4IxAr7T8x5H/YNga4ZZlwMHTxlaPZcLsy9s+56Qw7vl+tPR1lgbb9B9pKi23iKYlak207Fhdk2Z52eb7RfnpUVo3ALzA2K6YA6HTA0+UOa4Rkji+F0GmNOfitpthWZzlr4ugc/jlZFRKfw5YJYiPSVgjjVMjWOKSI8gWNEEZcC/lsnsel34t78jtWBc5m0MByz8dKSIqYPxJlOGC2o7PBjqJ0lD1nN1ie/Lt/FdlHWydAHjFwT6t8NoIFfkNCiukAcpgUHKd10sXnNuEJ+jW8UsIEGHqArdzhPDDgte2peQZIMD8NMhS8qXaXHKJB1ur9WFwWrfpELIbuaQ9EIWYvVJwnhipoSNJbzjbXAlSEIBaXqXbhhu6nD1ZpxNeHcAssApnDkzHI/S8EFn+hR496eFwDHm3YpNOjOetWKxlxtpELOgpmH8JzuOL0eSQrsY7Vr22loRcDD8yyeiyjdqMbzVzukDE6KYtvIUOsX/tw1iU8x0or9Mzp4q/2qvLftmOgc/vJbAvACOhSFNFTBqdu/mPZxEOc/8hCtwEu5MRxsw8nhAfdtKB/ExHXSN8T7dSyJtn3/+onSUN15tAshTCTQ8AksXCC8Pwh9t5mXAaqZMiROn6mVFPmaRyaxuEYet6jPEqh/b7U6/jesgVQwRGg0lSQwftwYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0173PypwTUfS7VCvULx9ARVt",
      "input": {
        "note": "The jaws now clearly straddle the bottle's labelled body in the wrist view; closing to grip the body so I can lift it, turn it 180° and set it back down closer with the cap pointing toward the base, where the neck is easy to grasp.",
        "targets": {
          "right_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0173PypwTUfS7VCvULx9ARVt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0288, 0.9983, 0.4908, 2.0354, 1.0245, 0.4366, 0.308, 0.1814, 0.4339]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4818 right_y=0.2008 right_z=0.0429 right_yaw=0.1316 right_pitch=0.0263 right_roll=-0.0028 right_gripper=0.4339\nstate[joint_eff]: [-0.2256, -1.4017, 6.5846, 1.8339, -0.0366, -0.0171, -0.0122, -0.3214, -10.7282, 6.2427, 1.2821, 0.0464, 0.1197, 0.7204]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5ba067d4f575e40b92b6a5e8803ab6bf075e410a8e099b9b2715c1aa758efdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c086ecc902ff262cc6385ddd331af10319a243b67a8ffd65f8ea641a7c65c3ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:79962785e596e958a3b784a57b872dedb9e902fdbf2542b389c9a39bb4d4d2e6",
        "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 · 19.43 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, 0.7399, 0.498, -0.3294, -0.0231, -0.0288, 0.9983, 0.5423, 1.9293, 0.8734, 0.5262, 0.3828, 0.2344, 0.1061]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4498 right_y=0.1982 right_z=0.0575 right_yaw=0.0917 right_pitch=0.0825 right_roll=0.0249 right_gripper=0.1061\nstate[joint_eff]: [-0.2393, -1.306, 6.4068, 1.8339, -0.0464, -0.0415, -0.0122, -0.2256, -8.3077, 4.7658, 1.0818, 0.0855, 0.1148, 0.1783]",
      "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, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4911, 2.0365, 1.0134, 0.445, 0.3157, 0.1928, 0.9946]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4799 right_y=0.1986 right_z=0.0401 right_yaw=0.1195 right_pitch=0.0242 right_roll=0.0017 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -1.3744, 6.4342, 1.8242, -0.0366, -0.0464, -0.0122, -1.6068, -7.0496, 6.8034, 1.5116, 0.1734, 0.1001, -0.1685]\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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0288, 0.9983, 0.4908, 2.0354, 1.0245, 0.4366, 0.308, 0.1814, 0.4339]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4818 right_y=0.2008 right_z=0.0429 right_yaw=0.1316 right_pitch=0.0263 right_roll=-0.0028 right_gripper=0.4339\nstate[joint_eff]: [-0.2256, -1.4017, 6.5846, 1.8339, -0.0366, -0.0171, -0.0122, -0.3214, -10.7282, 6.2427, 1.2821, 0.0464, 0.1197, 0.7204]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5ba067d4f575e40b92b6a5e8803ab6bf075e410a8e099b9b2715c1aa758efdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c086ecc902ff262cc6385ddd331af10319a243b67a8ffd65f8ea641a7c65c3ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79962785e596e958a3b784a57b872dedb9e902fdbf2542b389c9a39bb4d4d2e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrgMKjgEIEhgCKkBxt1wXagCDIY4Oge4dYKCDEQ4iAIa13I0d5xw8MwxAcVR9RRBr5ls060Cy62x6gdh/em48k2/7WKtfNIkNOUIiMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfuGzNUGEgweUoNWOluI7P4j2EwaDJYXyGW8k+jtltg+7yIwJNoMGHtjqngTILK9dhpmb1pNkItzMoAcf/idaUm7n/UjXWGdIznF76WzJSFLIjAmKswBJDev5uKpfQnIXJrf5cni72J7FXx7GYvNf60HdkksPShny7qluXuarQCadrhwQK0sWOPFnFCZzo4yPWcnzugDkaHbHFpTEWnHFo8xfN96bOli5c2+G8HUrdZoPP4Q4UR1EpBr+veBZw8PlsQuethw8ANjrjeAtF6rUU968Pb8SNYPj8REpb0W3ZpFap+Gq4qsXA/+79VYUABO5RyY/M5HBKQUR//Dh3FLacwhFJnofk7VbNB9QwkovBqidT85yMaOAjPGc9FTGfeYMABbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WwsBiVL1EuS3tm9VQmCHF1",
      "input": {
        "note": "Gripper stalled at 0.43 (≈4 cm thickness) — I have hold of the bottle's shoulder. Lifting it up and back to confirm the grasp in the overhead view.",
        "targets": {
          "right_x": 0.42,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01WwsBiVL1EuS3tm9VQmCHF1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5762, 1.6115, 1.1934, -0.2623, 0.3397, 0.2123, 0.4338]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4184 right_y=0.206 right_z=0.1824 right_yaw=0.1735 right_pitch=-0.0649 right_roll=-0.0338 right_gripper=0.4338\nstate[joint_eff]: [-0.0889, -1.388, 6.4342, 1.8437, -0.022, -0.0562, -0.0122, 0.0889, -10.8376, 10.6051, 1.8339, 0.3883, 0.3004, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d95c2ac0e53cbf162d38ec08a414f0cbc9412690fed6c8a683be6ef050259214",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b850003db991f84f686c1f511f2a678cd52a86efc417925a9060a46b6fef9d9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29ba6de22aea9829c042184450575679db11cef6746d969ea65611138342dca7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 13.84 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, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4911, 2.0365, 1.0134, 0.445, 0.3157, 0.1928, 0.9946]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4799 right_y=0.1986 right_z=0.0401 right_yaw=0.1195 right_pitch=0.0242 right_roll=0.0017 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -1.3744, 6.4342, 1.8242, -0.0366, -0.0464, -0.0122, -1.6068, -7.0496, 6.8034, 1.5116, 0.1734, 0.1001, -0.1685]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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, 0.7399, 0.498, -0.3294, -0.0231, -0.0288, 0.9983, 0.4908, 2.0354, 1.0245, 0.4366, 0.308, 0.1814, 0.4339]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4818 right_y=0.2008 right_z=0.0429 right_yaw=0.1316 right_pitch=0.0263 right_roll=-0.0028 right_gripper=0.4339\nstate[joint_eff]: [-0.2256, -1.4017, 6.5846, 1.8339, -0.0366, -0.0171, -0.0122, -0.3214, -10.7282, 6.2427, 1.2821, 0.0464, 0.1197, 0.7204]",
      "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, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5762, 1.6115, 1.1934, -0.2623, 0.3397, 0.2123, 0.4338]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4184 right_y=0.206 right_z=0.1824 right_yaw=0.1735 right_pitch=-0.0649 right_roll=-0.0338 right_gripper=0.4338\nstate[joint_eff]: [-0.0889, -1.388, 6.4342, 1.8437, -0.022, -0.0562, -0.0122, 0.0889, -10.8376, 10.6051, 1.8339, 0.3883, 0.3004, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d95c2ac0e53cbf162d38ec08a414f0cbc9412690fed6c8a683be6ef050259214",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b850003db991f84f686c1f511f2a678cd52a86efc417925a9060a46b6fef9d9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29ba6de22aea9829c042184450575679db11cef6746d969ea65611138342dca7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013AvgELW6nKQ9N39ufzirCW",
      "input": {
        "note": "I am holding the bottle by its shoulder just below the cap at 18 cm height; loosening the jaws slightly so the heavy base end can swing down and the bottle hangs cap-up before I set it down.",
        "targets": {
          "right_gripper": 0.5
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_013AvgELW6nKQ9N39ufzirCW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5793, 1.5829, 1.2095, -0.3153, 0.3473, 0.2272, 0.4338]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4123 right_y=0.2021 right_z=0.1925 right_yaw=0.1621 right_pitch=-0.0704 right_roll=-0.0296 right_gripper=0.4338\nstate[joint_eff]: [-0.253, -1.388, 6.6667, 1.8242, -0.0415, -0.0611, -0.0122, -0.5949, -9.0872, 9.8393, 1.7363, 0.3053, 0.0952, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:755132fd525b9dc21fef6675b1cdd35c39dda343ad7fd259f66d5c9737d8a343",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b19535e50f17774082d02b7b476ef7ed7f36ee20654f30e3bb04dc71eda6b7e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d378ab9ced4179f89db76c65eab573aa8770e3f51818a7cd94bfc6d6cd0d226b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 33.48 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, 0.7399, 0.498, -0.3294, -0.0231, -0.0288, 0.9983, 0.4908, 2.0354, 1.0245, 0.4366, 0.308, 0.1814, 0.4339]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0002 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4818 right_y=0.2008 right_z=0.0429 right_yaw=0.1316 right_pitch=0.0263 right_roll=-0.0028 right_gripper=0.4339\nstate[joint_eff]: [-0.2256, -1.4017, 6.5846, 1.8339, -0.0366, -0.0171, -0.0122, -0.3214, -10.7282, 6.2427, 1.2821, 0.0464, 0.1197, 0.7204]",
      "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, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5762, 1.6115, 1.1934, -0.2623, 0.3397, 0.2123, 0.4338]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4184 right_y=0.206 right_z=0.1824 right_yaw=0.1735 right_pitch=-0.0649 right_roll=-0.0338 right_gripper=0.4338\nstate[joint_eff]: [-0.0889, -1.388, 6.4342, 1.8437, -0.022, -0.0562, -0.0122, 0.0889, -10.8376, 10.6051, 1.8339, 0.3883, 0.3004, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5793, 1.5829, 1.2095, -0.3153, 0.3473, 0.2272, 0.4338]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4123 right_y=0.2021 right_z=0.1925 right_yaw=0.1621 right_pitch=-0.0704 right_roll=-0.0296 right_gripper=0.4338\nstate[joint_eff]: [-0.253, -1.388, 6.6667, 1.8242, -0.0415, -0.0611, -0.0122, -0.5949, -9.0872, 9.8393, 1.7363, 0.3053, 0.0952, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:755132fd525b9dc21fef6675b1cdd35c39dda343ad7fd259f66d5c9737d8a343",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b19535e50f17774082d02b7b476ef7ed7f36ee20654f30e3bb04dc71eda6b7e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d378ab9ced4179f89db76c65eab573aa8770e3f51818a7cd94bfc6d6cd0d226b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K86bCCtECNYVP1n85j2VNE",
      "input": {
        "note": "It is ambiguous from the images whether the bottle is actually in the jaws; raising the gripper to 32 cm to see whether a bottle comes up with it.",
        "targets": {
          "right_gripper": 0.44,
          "right_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01K86bCCtECNYVP1n85j2VNE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5831, 1.5749, 1.6032, -0.6651, 0.3359, 0.2073, 0.4386]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4098 right_y=0.2048 right_z=0.3022 right_yaw=0.187 right_pitch=-0.0258 right_roll=-0.0188 right_gripper=0.4386\nstate[joint_eff]: [-0.2803, -1.3744, 6.8855, 1.873, -0.0269, -0.0659, -0.0122, -0.5675, -6.4479, 9.265, 1.873, 0.2759, 0.1734, -0.1685]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c369b8c243c03cbd5bdaa52cc570b4f835d3bd1989d29e5f1d3ca32c1ce6fa6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6822a084f987a4ec4830a77ea9ead38d2c6f3f8eaf9e89c29ca7a10dad631baa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3370a14db14c2739ad25b7b70122aab6de7e9fbbe9fd558a57a3b8daa027903e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 4.102 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, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5762, 1.6115, 1.1934, -0.2623, 0.3397, 0.2123, 0.4338]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4184 right_y=0.206 right_z=0.1824 right_yaw=0.1735 right_pitch=-0.0649 right_roll=-0.0338 right_gripper=0.4338\nstate[joint_eff]: [-0.0889, -1.388, 6.4342, 1.8437, -0.022, -0.0562, -0.0122, 0.0889, -10.8376, 10.6051, 1.8339, 0.3883, 0.3004, -0.0317]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5793, 1.5829, 1.2095, -0.3153, 0.3473, 0.2272, 0.4338]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4123 right_y=0.2021 right_z=0.1925 right_yaw=0.1621 right_pitch=-0.0704 right_roll=-0.0296 right_gripper=0.4338\nstate[joint_eff]: [-0.253, -1.388, 6.6667, 1.8242, -0.0415, -0.0611, -0.0122, -0.5949, -9.0872, 9.8393, 1.7363, 0.3053, 0.0952, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5831, 1.5749, 1.6032, -0.6651, 0.3359, 0.2073, 0.4386]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4098 right_y=0.2048 right_z=0.3022 right_yaw=0.187 right_pitch=-0.0258 right_roll=-0.0188 right_gripper=0.4386\nstate[joint_eff]: [-0.2803, -1.3744, 6.8855, 1.873, -0.0269, -0.0659, -0.0122, -0.5675, -6.4479, 9.265, 1.873, 0.2759, 0.1734, -0.1685]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c369b8c243c03cbd5bdaa52cc570b4f835d3bd1989d29e5f1d3ca32c1ce6fa6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6822a084f987a4ec4830a77ea9ead38d2c6f3f8eaf9e89c29ca7a10dad631baa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3370a14db14c2739ad25b7b70122aab6de7e9fbbe9fd558a57a3b8daa027903e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012knyRwFAMiq4Unnr53Qmv1",
      "input": {
        "note": "The bottle fell out when I opened the jaws to 0.5 — it is lying on the table again. Returning to the pose that successfully gripped its shoulder (x≈0.48, y=0.19, table level) with jaws open.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.475,
          "right_y": 0.19,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_012knyRwFAMiq4Unnr53Qmv1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4564, 1.9984, 0.9741, 0.3866, 0.2276, 0.136, 0.9979]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0001 left_pitch=-0.0072 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4673 right_y=0.189 right_z=0.0301 right_yaw=0.1882 right_pitch=-0.0483 right_roll=-0.0167 right_gripper=0.9979\nstate[joint_eff]: [-0.2256, -1.2376, 6.4889, 1.8193, -0.0269, -0.0757, -0.0122, -0.7863, -8.8137, 4.9162, 1.8828, 0.0317, -0.0415, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87347e02ceddbaa62f561b92a1ae085ac872396b7e3a4fdc2c00d0ec6d1bcbfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75d06721eb02ac62f00c1bdcb107177296e079b225dbb08c22f3df72825d9e41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75b8d7b9c958c6da9f079b34b349323384317e03e198ddadd9755156903597cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 9.314 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, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5793, 1.5829, 1.2095, -0.3153, 0.3473, 0.2272, 0.4338]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4123 right_y=0.2021 right_z=0.1925 right_yaw=0.1621 right_pitch=-0.0704 right_roll=-0.0296 right_gripper=0.4338\nstate[joint_eff]: [-0.253, -1.388, 6.6667, 1.8242, -0.0415, -0.0611, -0.0122, -0.5949, -9.0872, 9.8393, 1.7363, 0.3053, 0.0952, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5831, 1.5749, 1.6032, -0.6651, 0.3359, 0.2073, 0.4386]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4098 right_y=0.2048 right_z=0.3022 right_yaw=0.187 right_pitch=-0.0258 right_roll=-0.0188 right_gripper=0.4386\nstate[joint_eff]: [-0.2803, -1.3744, 6.8855, 1.873, -0.0269, -0.0659, -0.0122, -0.5675, -6.4479, 9.265, 1.873, 0.2759, 0.1734, -0.1685]",
      "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, 0.7391, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4564, 1.9984, 0.9741, 0.3866, 0.2276, 0.136, 0.9979]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0001 left_pitch=-0.0072 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4673 right_y=0.189 right_z=0.0301 right_yaw=0.1882 right_pitch=-0.0483 right_roll=-0.0167 right_gripper=0.9979\nstate[joint_eff]: [-0.2256, -1.2376, 6.4889, 1.8193, -0.0269, -0.0757, -0.0122, -0.7863, -8.8137, 4.9162, 1.8828, 0.0317, -0.0415, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87347e02ceddbaa62f561b92a1ae085ac872396b7e3a4fdc2c00d0ec6d1bcbfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75d06721eb02ac62f00c1bdcb107177296e079b225dbb08c22f3df72825d9e41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75b8d7b9c958c6da9f079b34b349323384317e03e198ddadd9755156903597cc",
        "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+wMKjgEIEhgCKkDs16ZDfAuRC4Cy6ATxNQCAmCzpaqRmtNk8ApPeFXuJOODiMXPmcq/v8PDL0Y1EWeK1rN+z63pSjR0uDVGQc31sMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcaHzNUGEgwYpUETAFg5NL9JNgQaDDpk5LcB5+1ImoBBEyIwQKD5a2hBs4163qmE2chz9McZclu4c3+5Reobc5FScgvwnVgV586L+UBm1F0uQwXdKpkCRDBqNo4aJGtsW0kQjtDivcsqGNa1GPJx+Tk/3RXqa05fiWxx0mhtOzFDA15j2vFrz/5RveGIc6Tr+uRUsRn6q+rWoeh2cb+xcgk4ZhvpVWBmJUCxYeM2xuV9ehAN7rtkqUvJWNIIYzId7mKCYqZa5LADDQk+Pl+JWYS9FzRZXO0UHv4EtdO1M32hWjv+D3bVzBiSghNg/+9DAPK32uxZL9ks7KEmvKrUtausZTbdLHc0PXCvb2NK7APct7dk8MoNvJRwIkqi7/mttCOBGDwWadvj6iL0qmvS0tSKnAEnheoV4Bp6k1HiUfXCqM5v0EHVBmeINU6l1LD0X4Ie+dpiy3Cin8tLDBidaOGfgsQkmW26xFhwUpUpXiAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DxePDx2vCG1M8YvaRS3rTc",
      "input": {
        "note": "The bottle fills the wrist view right in front of the jaws; closing to grip its shoulder firmly.",
        "targets": {
          "right_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01DxePDx2vCG1M8YvaRS3rTc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4576, 2.001, 0.9489, 0.572, 0.2165, 0.1284, 0.1565]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4808 right_y=0.1985 right_z=0.057 right_yaw=0.2017 right_pitch=0.1023 right_roll=0.0232 right_gripper=0.1565\nstate[joint_eff]: [-0.3897, -1.2786, 6.4889, 1.8291, -0.0269, -0.0659, -0.0122, -0.3214, -9.347, 4.3419, 1.0037, 0.1294, 0.0806, 0.315]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ff95d256207b7fd58fb7cf2c0cc43202542d82e03d2801350becb3e166713d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:114f1c5a743df4122d5da37cb2688b6e9bf1cb021f0a57af4607f4d7896bb5cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a3411f85e1975d391214cd05821836119c9226cbcc5a8ffb05b4307c1772b57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 3.89 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, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5831, 1.5749, 1.6032, -0.6651, 0.3359, 0.2073, 0.4386]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4098 right_y=0.2048 right_z=0.3022 right_yaw=0.187 right_pitch=-0.0258 right_roll=-0.0188 right_gripper=0.4386\nstate[joint_eff]: [-0.2803, -1.3744, 6.8855, 1.873, -0.0269, -0.0659, -0.0122, -0.5675, -6.4479, 9.265, 1.873, 0.2759, 0.1734, -0.1685]",
      "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, 0.7391, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4564, 1.9984, 0.9741, 0.3866, 0.2276, 0.136, 0.9979]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0001 left_pitch=-0.0072 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4673 right_y=0.189 right_z=0.0301 right_yaw=0.1882 right_pitch=-0.0483 right_roll=-0.0167 right_gripper=0.9979\nstate[joint_eff]: [-0.2256, -1.2376, 6.4889, 1.8193, -0.0269, -0.0757, -0.0122, -0.7863, -8.8137, 4.9162, 1.8828, 0.0317, -0.0415, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4576, 2.001, 0.9489, 0.572, 0.2165, 0.1284, 0.1565]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4808 right_y=0.1985 right_z=0.057 right_yaw=0.2017 right_pitch=0.1023 right_roll=0.0232 right_gripper=0.1565\nstate[joint_eff]: [-0.3897, -1.2786, 6.4889, 1.8291, -0.0269, -0.0659, -0.0122, -0.3214, -9.347, 4.3419, 1.0037, 0.1294, 0.0806, 0.315]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ff95d256207b7fd58fb7cf2c0cc43202542d82e03d2801350becb3e166713d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:114f1c5a743df4122d5da37cb2688b6e9bf1cb021f0a57af4607f4d7896bb5cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a3411f85e1975d391214cd05821836119c9226cbcc5a8ffb05b4307c1772b57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS1AkKjgEIEhgCKkCp7wojCIhQmEP169/8GRCS1vWeS3LbCqH3fBQdZKfQLqiynI7Ur/epTffK3PwzLCnzC5EdXX1IJWtnyohnwyWkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdCHzNUGEgz9E12+XiPCJmoJ+Q4aDFn29Pr7HDMs7b75FSIwQx+1kv9I6/UNTGOe0ncjLJ7iiZLXMqnzsiPy9T/eko90wv0IX7teE9D6Krs3oD1QKvIHd321qGzMnw2mTn1ZkUVraU3AQGjxBFan2MthHwMVm6oQX30xd/2xEw1PSDTyG2yNPtaMqyLsYB/Pgh1E1X7X0nIkLwBDvju69y02gEvJ4mJHHcXiBp5nfLQvuG0aaMNF55X5cs/d0rohyJokUKVRwmqJR53+m0OtFoM2TNTHgE+XVC4Wu+lZ7G3BZ7GExgexXjVIMyLrqyGWMY2wufdlO85uE1ejUWEWGLuCjd5KV31+eAzK/vvNwzU80WXjYSgl/1rlopDveB+U+o9GR114hohNlA2s5E3vsZEuQOY25lECsdWVMcTObBMZf8EJLQVQu4asqvD1pntNg+cYpjOSMO/EqPcboqRFYt4ZfG2eLPrGu07F/vSUDj970u3GL673eZ2Typib+S7IWtn9sxj5DxVCzxu8RPC2J7jNp2P6vQvc3xw6kLz4ZA1BGWnB17OsI/gmnaaWiOTNXJ9ry2zA3uT6YUENpumWPP1cS5sdJUOGQwrle7UENX/YtU9KlJf7R7T8aj89H8OMdHnDNWcDR9bL2ocEw/X7aIluHiR6vr51ZUc13ujaWxvME5P1B7uSSkH3iK/A6TRodP9QE3E4mWNTCQFElpqQGFjc6yUlkhBuOxn8QVhA91XH0c12DOSMMIQixTSDSAEE17eAqM+0em3ETE0dYTv1pFlm1FfG2bDfIB2fceNbe2UYgDIVVUvDDR+ejzdiOpyI0frdFCP0356hfrxEYQtJFHJ3A3mqzmaM2tXdc1Wj6nh9ztZ67gb2K0j3LErA8twwy+8/YuZ8iwuEVjsQ3CeXEprIhxZmzIzVlpSz0P0Csut03KOeD4HejbOG2JJEezD9HDBad3Wdo/B2lvsmkUcfgpj05U8HW+jOHlAZB56FryK/n1tZpDDDZPc0S+kKQhUpZrfHqXVGH8t0dzOXwXnwo+pS40bAMMS5YmifreA2RrGsDzagnVAsmI6S/vNz2vDLUAORwcMLnNIOobvrFPF6pfAMXZIUit1kIldEB/iDMWTauacdAA8t3j7TURi81v7sQwp+KDmES1b+qx1hbCPY09rIEaRSjSmwd2Otq0mYD0NYnhFTS2f0QVowo6lyMDsTNDmg2FZ6ukmpfvo5yiwANni77jLN7aLePinlOL07m2afysvFQyu5lpUmqplBMqdTkEseRVMGjHNVJ5Gw/kLRIy9ZaGAsO2eAwWk/h6l+xL2NdSbNr0VCAeS/NSTS4viNqd6UF8lp5w043VtNGzr74RZdYi8NsEUqV3JCc7UTFXQINkVyI//dCfrMIyEviRP8GFvVx/qzATddMtJKMD8s056INamMNVcs8XSAviMSglcMU82dS1DlZecYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DoUKo9xmWHgQ4zCsMvpqZL",
      "input": {
        "note": "Empty close again — I was ~1.5 cm short of the pose that worked before. Pushing out to the full reach (readback should land near x=0.48) before closing.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.49,
          "right_y": 0.2,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01DoUKo9xmWHgQ4zCsMvpqZL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4576, 2.0556, 1.0317, 0.469, 0.2047, 0.1196, 0.9948]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4883 right_y=0.2045 right_z=0.0397 right_yaw=0.2175 right_pitch=0.0285 right_roll=0.0028 right_gripper=0.9948\nstate[joint_eff]: [-0.2393, -1.265, 6.4615, 1.8339, -0.0317, -0.0415, -0.0122, -0.7726, -7.5556, 6.9538, 1.6288, 0.0366, 0.1245, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cab4ae9d9026ba6bd8da81d825ee04590ed9329961b4b17697e8ce3cf5adb56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0baf2d5eb88933f24de6139d78c8122a6e4185f27b6eb2c3dd93e9c44c3050b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f24a138fb1017d10ddeb80472677725131347af9660a81b5dc2e65b26d9f325",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 5.16 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, 0.7391, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4564, 1.9984, 0.9741, 0.3866, 0.2276, 0.136, 0.9979]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1566 left_yaw=0.0001 left_pitch=-0.0072 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4673 right_y=0.189 right_z=0.0301 right_yaw=0.1882 right_pitch=-0.0483 right_roll=-0.0167 right_gripper=0.9979\nstate[joint_eff]: [-0.2256, -1.2376, 6.4889, 1.8193, -0.0269, -0.0757, -0.0122, -0.7863, -8.8137, 4.9162, 1.8828, 0.0317, -0.0415, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4576, 2.001, 0.9489, 0.572, 0.2165, 0.1284, 0.1565]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4808 right_y=0.1985 right_z=0.057 right_yaw=0.2017 right_pitch=0.1023 right_roll=0.0232 right_gripper=0.1565\nstate[joint_eff]: [-0.3897, -1.2786, 6.4889, 1.8291, -0.0269, -0.0659, -0.0122, -0.3214, -9.347, 4.3419, 1.0037, 0.1294, 0.0806, 0.315]",
      "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, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4576, 2.0556, 1.0317, 0.469, 0.2047, 0.1196, 0.9948]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4883 right_y=0.2045 right_z=0.0397 right_yaw=0.2175 right_pitch=0.0285 right_roll=0.0028 right_gripper=0.9948\nstate[joint_eff]: [-0.2393, -1.265, 6.4615, 1.8339, -0.0317, -0.0415, -0.0122, -0.7726, -7.5556, 6.9538, 1.6288, 0.0366, 0.1245, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cab4ae9d9026ba6bd8da81d825ee04590ed9329961b4b17697e8ce3cf5adb56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0baf2d5eb88933f24de6139d78c8122a6e4185f27b6eb2c3dd93e9c44c3050b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f24a138fb1017d10ddeb80472677725131347af9660a81b5dc2e65b26d9f325",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISwgIKjgEIEhgCKkANJgABMtRBrgecV/fCu+sW9SEOgBsTNqWVdYHb6OQJMEUJWzx+QT5J5GQPStNc8SUVNIReWjr6/4NyyYgau2hzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdWHzNUGEgx2em1RtAj3ZZ2LlaMaDPxt7femTu/j4wbtRCIwwWi1aC1tDklBbZdFdsYgdau5K3N8F/u1vdraO47CUIPqc/z0/wSPt8eXpGEdjvmgKmG0UL3Da1V9x2ZRZKV5pHZXDevVrMKt2YSiQnRwz+mhjwAcrCC2yJuikYe8IKmJtLifN4A3Qkgj6ZhaJIy0h/8b50z8lt1V8ICCXPYIur93b5eAlj4qL2GGqqxrSmVXidWIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0126EYZ7aYdE18c2wFynQz3u",
      "input": {
        "note": "Now at x=0.488, z=0.04 — the pose that gripped before. Closing on the bottle's shoulder.",
        "targets": {
          "right_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0126EYZ7aYdE18c2wFynQz3u",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.4587, 2.0483, 1.0451, 0.4526, 0.2039, 0.1024, 0.4245]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4903 right_y=0.2062 right_z=0.0451 right_yaw=0.2286 right_pitch=0.0324 right_roll=-0.0105 right_gripper=0.4245\nstate[joint_eff]: [-0.0205, -1.2103, 6.4342, 1.8388, -0.0366, -0.0611, -0.0122, -0.2256, -10.3726, 6.4752, 1.3065, -0.0122, 0.1441, 0.5788]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c81ab0997591f8efa799cda9e578669888df708cc9b04d2c91eb1f4540821a40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f0dcb0a0842f7389df6cc9c2feaf4ac56b7a331d61915e382ea3a097cc9008c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:93f5d3c81abe47a9245aa054b4544d57548d66a1147f822521394e1297fa6a05",
        "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 · 11.43 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, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4576, 2.001, 0.9489, 0.572, 0.2165, 0.1284, 0.1565]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4808 right_y=0.1985 right_z=0.057 right_yaw=0.2017 right_pitch=0.1023 right_roll=0.0232 right_gripper=0.1565\nstate[joint_eff]: [-0.3897, -1.2786, 6.4889, 1.8291, -0.0269, -0.0659, -0.0122, -0.3214, -9.347, 4.3419, 1.0037, 0.1294, 0.0806, 0.315]",
      "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, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4576, 2.0556, 1.0317, 0.469, 0.2047, 0.1196, 0.9948]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4883 right_y=0.2045 right_z=0.0397 right_yaw=0.2175 right_pitch=0.0285 right_roll=0.0028 right_gripper=0.9948\nstate[joint_eff]: [-0.2393, -1.265, 6.4615, 1.8339, -0.0317, -0.0415, -0.0122, -0.7726, -7.5556, 6.9538, 1.6288, 0.0366, 0.1245, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.4587, 2.0483, 1.0451, 0.4526, 0.2039, 0.1024, 0.4245]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4903 right_y=0.2062 right_z=0.0451 right_yaw=0.2286 right_pitch=0.0324 right_roll=-0.0105 right_gripper=0.4245\nstate[joint_eff]: [-0.0205, -1.2103, 6.4342, 1.8388, -0.0366, -0.0611, -0.0122, -0.2256, -10.3726, 6.4752, 1.3065, -0.0122, 0.1441, 0.5788]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c81ab0997591f8efa799cda9e578669888df708cc9b04d2c91eb1f4540821a40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f0dcb0a0842f7389df6cc9c2feaf4ac56b7a331d61915e382ea3a097cc9008c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93f5d3c81abe47a9245aa054b4544d57548d66a1147f822521394e1297fa6a05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISswQKjgEIEhgCKkDRrJzlBtcym6+Ba1bCu1TwB/5WeyR0BDPRRfPOwRFbU3BEAn7TA/79XBoCIElZXJmoHxZuF66HaaxFl1S/yOfhMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdqHzNUGEgzVlTENVh92vwCaz7EaDE5qpbujq99kVGBVNiIwhyKCa7C4k3en6KhciKx8U6ixd/IDFL+HO0pwRwpa3NmFIEzGo8Bsc5w5S5xi6H/VKtECzM3XXQcvvfjn4iivPkl2mMqdZwjHEjEH9sOG9UhV+KZziipHbyspB1ZugJj1YkAVcKrhn/j6fSmtnhLLLAKBrd7BbfXrwyY1Z9865lWOWFmW3nKVi4beIPaqx8XsFwjwfTv1VL/MkE8EKtKHfHZdHbQuxIpdMiH5j5Q3GuDM+U+sAMAW40Fi0o5WPk8ed1eAEpn6o/FpHZ4w6pt4LavEi9ll45pRPEdXlBBtYAuq1atxEWamBFCNiX9sU2XSiPhOZP/7GRpbIrSRPuxMAtQy6znaQUOhu6QUSyV038X1zM+SWzxSNGbLH2PHv9GN2WK2/QyxVVOAMMoUnyMWg8yU2QUF+yzFOaXZEwW+Q+NfOEFGQQWZ0av2Mtf/XnIVMTXretYM5wuSNf/OMWJj/pPUWH15tZMtPinHO299ix8N5jtcz7geExyxjxSBd8POdAJxLRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YNq6jgA6VxLSokC8MqqjAS",
      "input": {
        "note": "Gripping the bottle's shoulder (jaws stalled at 4.0 cm). Lifting to 24 cm so there is room for the bottle to swing cap-up when I loosen the jaws slightly.",
        "targets": {
          "right_x": 0.44,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01YNq6jgA6VxLSokC8MqqjAS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.519, 1.6531, 1.3132, -0.3141, 0.2127, 0.1188, 0.424]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4383 right_y=0.2115 right_z=0.2025 right_yaw=0.2722 right_pitch=-0.0667 right_roll=-0.0261 right_gripper=0.424\nstate[joint_eff]: [-0.3214, -1.2103, 6.6256, 1.8193, -0.0269, -0.0708, -0.0122, -0.0205, -11.0427, 10.0855, 1.9805, 0.359, 0.2027, -0.0513]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e460bf7ffe342dc665c91095ac26d648a38539cec5a09ea1a4ac2ec6c30e8f71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd92d7592387d165255023a1489218fe70e47702af296df15062cee31186401e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d90dded9b04331f62e23cf27a2aac61d7d5c7b49e39151a7b690cf4c58d25859",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 6.355 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, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4576, 2.0556, 1.0317, 0.469, 0.2047, 0.1196, 0.9948]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4883 right_y=0.2045 right_z=0.0397 right_yaw=0.2175 right_pitch=0.0285 right_roll=0.0028 right_gripper=0.9948\nstate[joint_eff]: [-0.2393, -1.265, 6.4615, 1.8339, -0.0317, -0.0415, -0.0122, -0.7726, -7.5556, 6.9538, 1.6288, 0.0366, 0.1245, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.4587, 2.0483, 1.0451, 0.4526, 0.2039, 0.1024, 0.4245]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4903 right_y=0.2062 right_z=0.0451 right_yaw=0.2286 right_pitch=0.0324 right_roll=-0.0105 right_gripper=0.4245\nstate[joint_eff]: [-0.0205, -1.2103, 6.4342, 1.8388, -0.0366, -0.0611, -0.0122, -0.2256, -10.3726, 6.4752, 1.3065, -0.0122, 0.1441, 0.5788]",
      "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, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.519, 1.6531, 1.3132, -0.3141, 0.2127, 0.1188, 0.424]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4383 right_y=0.2115 right_z=0.2025 right_yaw=0.2722 right_pitch=-0.0667 right_roll=-0.0261 right_gripper=0.424\nstate[joint_eff]: [-0.3214, -1.2103, 6.6256, 1.8193, -0.0269, -0.0708, -0.0122, -0.0205, -11.0427, 10.0855, 1.9805, 0.359, 0.2027, -0.0513]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e460bf7ffe342dc665c91095ac26d648a38539cec5a09ea1a4ac2ec6c30e8f71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd92d7592387d165255023a1489218fe70e47702af296df15062cee31186401e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d90dded9b04331f62e23cf27a2aac61d7d5c7b49e39151a7b690cf4c58d25859",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9A4KjgEIEhgCKkCgJVHeqam8v+aEtrpV6K8szpj86L5oBrZrS2NJpzU+Eo3oMl1HtvnYcdeG29c46LSd5KHWTkO95fEDi9oJttc+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeeHzNUGEgzyW9+ijtaa977Ze9saDFiDPfWtLNgpNlO3HSIwBjShPtG8saR7Gc0ErKDOUUO7pBQg5FP9/ur2zfz+8g6I2ZLOWxS/CyiPkoW0krNYKpINJ6umu7/7YW4m+t5E5Z0OmJlg61FU9i7RcGu1qbkphZTvthGtxqRwmlzoyFqbuvFL3y2IMzlX0cue3gnJX2cPlSDMMZiFSDoK0SMtNipC57+Zvm5oNOUpXGc7TzGXm/fxxkRO2zjv16OAcSR5vMLequ/Z8Rq/yo0lLBQAtwKl0ONFm74w9tsk9fJ+pwtnVQIDMOjIVlrtSHWbHoBh9sCzVAPwL3Qq9Gk9Rk3k/aUvXp2r3Ztk8P8VCUUL1OaDfoF7L3o7q+Q4BF83V5TMfVc1lP1h+orh2n+xV7mjTwHBBV3e6cfISUmO4FAWOaXvzwGOGCPRmzp2MANuV3/TBN21P1hIcDDQT7K0u7KFEvOrN3+o6j3EcIsQswOa5fcVDL33+eHkt8ci0qMD0po4IK/ygYxG5eNs4rij59nUlKpkivCt4PQJmhnknuEAPXzke5oOP0XM6WrRTk7WIc3A8wA7wygm6fAD3RMhGX8LWqnImr71SXDuLamc8fWgYwgwxbZAlLLQM7w8oNRDVw5oZxdA2lu9Taf3g5/bwh9gVQCwSb/uGcQY2Ry4TbDY1pB/DVKFYO+a0LwIdfnwvUXMzl7lc9xCXAuaNsp0iMDoThTL9UZfVMOwxLuVSnAnGM7YsPb8onC2ezlwE2dQO7QkXslDkfqzZcdXd1oQ9t/Tu6PFucrGT6NrXz8gY9UJiD79P2kJ1t9vjSb5n5pGSsIuTV9FzPVQ/6cS1UQYlcOwYvRfbWCdNz04eSUF1gKkDoU3+7JUlBC3eFggVS+aRcARtElf5SaoFTFBpKDZnvEElsvz5iaAlQoWh/4HTu1+I8P8P0bfVWZdilyGD2ha+wOOxLjKsgWoJWJnHEHOzURZl8Lvq20r8eZTbWr0FSkl8sruALe9eX6ePOZBZSCQjvA5t0zkbCqxuWVXBXleVSMtn2RBtjSERPP5BeVn94rYdwRJYWlBKH8g4PBzIFia/HSu4a1UJkfUMTHPP20UFykRI/BRjzqur1mMHe7lzGqEveZfiWsdzCfozzjhe6gweymgD0OAxdanOn0AoiB394n4lPyGOIVujGprXViL1D9TiIZt6fAgacC7R+QFw/GKHzbCQEzCcM/pjyn0YmH6+4lSe1UdYtrHzX7njiYQ6voItWKadF0wHmGMgFoSUj1nGFuAS22cUpfjp+5CMKqntb/0v+yGklVgZok5b7Olvrp8pbM3ByBdIt2sxc03e4YqHZRoD1KLvGRlQo/Hqcs5RufwksnnfpQaWt6LQS8rBGLGLOy5VVQJPbLsELwbeHYP3MRr53WpHnhkDJuhd8dYTypbcG00Lfe8HPiHISYXKKh38vFGBbL3P/UV/F2boH+X1LiY4r6m61EDzvh+yreQQTd0lWzVo9m3c9He0L+29JiJ2Pls1hxuQEhZXAShCLFPaVQoLnmPicIy857VAD5aP+sv8qE0hSI0Ov6Uvtr/0BQ5EfADcsMeNcebAFtRhqGTOFjc3nczXa+GIH2VVnK7z0/JkGINCs0iMzQaJSQAkqN/Pbe6CMDptZVzl0hknG7feO66Vx3iLkPHzsc2FM2QMuJpTON6HuNVRzqJbp0pcRr32zheHXHSoAiN4UAeMVVPlV/AVYrOqUcy5wxuxGTgwPxjGumg1Je83DRwNhH6HFOi4H4YXSgUxO6snZYm12uXSJmhS4UiRlrAI84dotTYlVO0xoMrjfXo7V0vXIAb+9Dqzg85OQNfTr48MI0o2YH8vNmrOPqGlla50tg80BHMqcOda90HvU+zQWLlhdhxTskYqfKJ+nTiwIjTr1pYpEayNVyjqd1BJwg3A1w6uRBMaEeUqj1AZq3enrsW8iWgLAQLXy9BUrj993WlD2UX67BPu3X4/PKqsrl8J5dofNiPiBCzBxDCLLti14VpDhekuPSRVP57uYTFQYzhzLeznT0b+hBKutqRvHLWMdwtsa+PFXgxUZ5JlTWsFcKcqWtcTU41o9AapuplbLk9RHU1VYh2fRKa9pXaLjCIWNoLuk7/sfD2k1I6zgRuHycJPosqpwUUPfVAnbpxNWY5bIUeUQvwKmiKHxgGkgkoOV/5SvEjazfgwXKck4cTRmmgZzuft52AxwGxXjO/43GgW0cIeoi+Qd28AALTz/TaGz29NtHewiRqni0rrwjaU4PwLEJKgqtkXVkFGkyaqaVk1BjIYtYqsIKKq9GkgdaMqqrkv0iZ2btfoRzRAUrADe60Ja4aLl5fjURGty0udEQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LveA7Mu1oXrNVka15SVYrv",
      "input": {
        "note": "Still holding the bottle (jaws at 0.42) at 20 cm height. Loosening the jaws by just 3 mm so the bottle can pivot in the jaws and hang cap-up, without letting it fall out.",
        "targets": {
          "right_gripper": 0.46
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_01LveA7Mu1oXrNVka15SVYrv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.5224, 1.6382, 1.338, -0.3626, 0.231, 0.1299, 0.424]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4348 right_y=0.2078 right_z=0.2115 right_yaw=0.2543 right_pitch=-0.0722 right_roll=-0.0303 right_gripper=0.424\nstate[joint_eff]: [-0.1436, -1.388, 6.7214, 1.8095, -0.0366, -0.0708, -0.0122, -0.6222, -10.2906, 9.3607, 1.8339, 0.149, 0.188, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b756024a40b407466b88deee0e99aad26a99cd26f65a1d0d7b3062fc9f52c23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1f51120890335b81d099e7978a87670b6503b8351a3818a053e78e90830cd94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e7a02876eeaf9c87013181dd2242078da61e4c03f692b3484fc307d212eea14a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 11.82 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, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.4587, 2.0483, 1.0451, 0.4526, 0.2039, 0.1024, 0.4245]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4903 right_y=0.2062 right_z=0.0451 right_yaw=0.2286 right_pitch=0.0324 right_roll=-0.0105 right_gripper=0.4245\nstate[joint_eff]: [-0.0205, -1.2103, 6.4342, 1.8388, -0.0366, -0.0611, -0.0122, -0.2256, -10.3726, 6.4752, 1.3065, -0.0122, 0.1441, 0.5788]",
      "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, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.519, 1.6531, 1.3132, -0.3141, 0.2127, 0.1188, 0.424]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4383 right_y=0.2115 right_z=0.2025 right_yaw=0.2722 right_pitch=-0.0667 right_roll=-0.0261 right_gripper=0.424\nstate[joint_eff]: [-0.3214, -1.2103, 6.6256, 1.8193, -0.0269, -0.0708, -0.0122, -0.0205, -11.0427, 10.0855, 1.9805, 0.359, 0.2027, -0.0513]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.5224, 1.6382, 1.338, -0.3626, 0.231, 0.1299, 0.424]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4348 right_y=0.2078 right_z=0.2115 right_yaw=0.2543 right_pitch=-0.0722 right_roll=-0.0303 right_gripper=0.424\nstate[joint_eff]: [-0.1436, -1.388, 6.7214, 1.8095, -0.0366, -0.0708, -0.0122, -0.6222, -10.2906, 9.3607, 1.8339, 0.149, 0.188, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b756024a40b407466b88deee0e99aad26a99cd26f65a1d0d7b3062fc9f52c23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1f51120890335b81d099e7978a87670b6503b8351a3818a053e78e90830cd94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7a02876eeaf9c87013181dd2242078da61e4c03f692b3484fc307d212eea14a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoQcKjgEIEhgCKkB8ZZ57Cce9bgazdeICwQwmx2abfOHvQ9+BEFLrr089Y9vaLsszCoUGLDWvMcMU7x+D8sQY5+R14Dh9HDB6n/5PMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe6HzNUGEgyKDwgwmAvtQMY9ZTMaDE4rCj+GjCuElaKehiIwfCd7NkeAmJwbkK1NwYiF4xKnfg+ayx5aS2AtUBVTWuU0v2IbKNk0Zx1fL9ttownjKr8F30RLt0H+bP29vOHI978hDOsrDDWw1+eGuS/7c5SkQZFGcM51W5OH8+mArPDOvzg9wgoD7MApX05cBwtc5uoA9jeVMDbip1WkQNPMHZq94mBgx9gAeSHtOZ1/QLUrjdXEzkXtRODU6b1xwbJnNf/e8lVUPC+qzfyYYbETHV9+mQQ0fbmmUmu/kGmPAEUWJidVEvCm6m3QE+wRMSS9BTq7h+e3rhpKKbnfFSATlIzkU2H0s36WF/ogyCVRqpeFh03Pfja4GcWBuDmT+DdZf+llqYeXMedVEwzxi+k/ODWf/vNHixiHyKPK1TABnT71t6U06NHovP2+XEPwLwdEIJU4GmjCakIrxbst+z3iD4OvYI+vkAXSyBx8fw1kIu+tUrK7V4OeOp3HqgP2jDmxOcU4hQkVYv1xTt2rHIhM3xc1DgpxJet/5e1TViDWPzj+ONbAJpOh1ZsYR97YBqFBVvNnZDsvpZG6VsM/XwjcYNmSyPj4IC2udBS7dhgpKYygWyLK6NStkTTHf0RDoH9ixg8AV15jpiJMkKtz65acb64biE686yLQ0YMUNStHvFqEWNP5nOFl7TQtPHktysZxHbIS9YODUcn039LuefGRUx5eJeQ3jWcmgEqwTMtJQPFpXVUWiAy/i15wMvjKI6Tj9lFVuJ3w7lXeVv/fZ3k1p6lqobtm7NxQmoLiOg7vbz6dhky5iQDGmbCjAl2WSl6h///doz48TKPvs0X431zsHeavwZ7anh6m0nh7CJ/qUSY73COEGkTszp5XFru7o0kn4T0ZtqFTsln6kVnY6T0Y6fAma50ZgZi0vlSHA3T9ltRAA2vHmo8xktMYB96iGFGwfAguwmhx3gqLtMKQN+dnZmtqabhF3O10Ed5zLfl+QHtreqaexceIX5wk5dB28qpGgvsNPouCdUwbL/WUj9NpGWGfwRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018fth3KXFgt3KPtoabMzwrr",
      "input": {
        "note": "The jaws did not actually move on the 3 mm request; asking for a slightly larger opening (0.48) while holding height, to let the bottle swing cap-up.",
        "targets": {
          "right_gripper": 0.48,
          "right_z": 0.225
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_018fth3KXFgt3KPtoabMzwrr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.3283, -0.0231, -0.0288, 0.9983, 0.5217, 1.6314, 1.2423, -0.2615, 0.2039, 0.1181, 0.4587]\nstate[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1568 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4313 right_y=0.2108 right_z=0.191 right_yaw=0.2827 right_pitch=-0.0647 right_roll=-0.0207 right_gripper=0.4587\nstate[joint_eff]: [-0.3897, -1.1966, 6.7624, 1.873, -0.022, -0.0073, -0.0122, -0.5538, -9.0598, 7.6239, 2.127, 0.0122, 0.0171, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60bdd4e171b6825030b30c9b2441fcdae4a33a5a43776781cec6256d69dfbb63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad497f8563a19a033d581b1b3885af624a8d436e784eaecefc9a1a4654f9f8ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f578c6c6c23063b639479a3db24b5fada84d85e47973a5e0207ddce72b7f852",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 14.24 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, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.519, 1.6531, 1.3132, -0.3141, 0.2127, 0.1188, 0.424]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4383 right_y=0.2115 right_z=0.2025 right_yaw=0.2722 right_pitch=-0.0667 right_roll=-0.0261 right_gripper=0.424\nstate[joint_eff]: [-0.3214, -1.2103, 6.6256, 1.8193, -0.0269, -0.0708, -0.0122, -0.0205, -11.0427, 10.0855, 1.9805, 0.359, 0.2027, -0.0513]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.5224, 1.6382, 1.338, -0.3626, 0.231, 0.1299, 0.424]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4348 right_y=0.2078 right_z=0.2115 right_yaw=0.2543 right_pitch=-0.0722 right_roll=-0.0303 right_gripper=0.424\nstate[joint_eff]: [-0.1436, -1.388, 6.7214, 1.8095, -0.0366, -0.0708, -0.0122, -0.6222, -10.2906, 9.3607, 1.8339, 0.149, 0.188, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.7391, 0.498, -0.3283, -0.0231, -0.0288, 0.9983, 0.5217, 1.6314, 1.2423, -0.2615, 0.2039, 0.1181, 0.4587]\nstate[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1568 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4313 right_y=0.2108 right_z=0.191 right_yaw=0.2827 right_pitch=-0.0647 right_roll=-0.0207 right_gripper=0.4587\nstate[joint_eff]: [-0.3897, -1.1966, 6.7624, 1.873, -0.022, -0.0073, -0.0122, -0.5538, -9.0598, 7.6239, 2.127, 0.0122, 0.0171, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60bdd4e171b6825030b30c9b2441fcdae4a33a5a43776781cec6256d69dfbb63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad497f8563a19a033d581b1b3885af624a8d436e784eaecefc9a1a4654f9f8ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f578c6c6c23063b639479a3db24b5fada84d85e47973a5e0207ddce72b7f852",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Etf1To55tpgZo21ddi3NSB",
      "input": {
        "note": "Re-tightening the jaws and carrying the presumed bottle back toward the base; if the third bottle moves with the gripper in the overhead view, the grasp is real.",
        "targets": {
          "right_gripper": 0.3,
          "right_x": 0.34,
          "right_y": 0.26,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Etf1To55tpgZo21ddi3NSB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7395, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.5224, 1.631, 1.2541, -0.2985, 0.2077, 0.1253, 0.3008]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1565 left_yaw=0.0001 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4284 right_y=0.2088 right_z=0.1894 right_yaw=0.2759 right_pitch=-0.0881 right_roll=-0.0232 right_gripper=0.3008\nstate[joint_eff]: [-0.1026, -1.0735, 6.7487, 1.79, -0.0317, -0.0757, -0.0122, -0.4308, -10.9197, 10.0444, 1.8535, 0.1587, 0.0659, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:667330b462321129e6f3051be6c515583d58072f3cc21c28d55a6bb9ec806031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66641eaaf4ac2bcff370625b528c7645ae056325cfc0016cce9b7d1bafff8fe7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd0c4516138c9f0d1e523beae442429cb0e79c53c00f7f75fe9f257de5a07c15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /messages · status 200 · 35.06 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, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.5224, 1.6382, 1.338, -0.3626, 0.231, 0.1299, 0.424]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4348 right_y=0.2078 right_z=0.2115 right_yaw=0.2543 right_pitch=-0.0722 right_roll=-0.0303 right_gripper=0.424\nstate[joint_eff]: [-0.1436, -1.388, 6.7214, 1.8095, -0.0366, -0.0708, -0.0122, -0.6222, -10.2906, 9.3607, 1.8339, 0.149, 0.188, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.7391, 0.498, -0.3283, -0.0231, -0.0288, 0.9983, 0.5217, 1.6314, 1.2423, -0.2615, 0.2039, 0.1181, 0.4587]\nstate[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1568 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4313 right_y=0.2108 right_z=0.191 right_yaw=0.2827 right_pitch=-0.0647 right_roll=-0.0207 right_gripper=0.4587\nstate[joint_eff]: [-0.3897, -1.1966, 6.7624, 1.873, -0.022, -0.0073, -0.0122, -0.5538, -9.0598, 7.6239, 2.127, 0.0122, 0.0171, -0.1587]",
      "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, 0.7395, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.5224, 1.631, 1.2541, -0.2985, 0.2077, 0.1253, 0.3008]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1565 left_yaw=0.0001 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4284 right_y=0.2088 right_z=0.1894 right_yaw=0.2759 right_pitch=-0.0881 right_roll=-0.0232 right_gripper=0.3008\nstate[joint_eff]: [-0.1026, -1.0735, 6.7487, 1.79, -0.0317, -0.0757, -0.0122, -0.4308, -10.9197, 10.0444, 1.8535, 0.1587, 0.0659, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:667330b462321129e6f3051be6c515583d58072f3cc21c28d55a6bb9ec806031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66641eaaf4ac2bcff370625b528c7645ae056325cfc0016cce9b7d1bafff8fe7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd0c4516138c9f0d1e523beae442429cb0e79c53c00f7f75fe9f257de5a07c15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FGdhk9a1rhGnRV6JsWDdZv",
      "input": {
        "note": "The right arm has stopped tracking commands for several moves (readback stuck near x=0.43, z=0.19) and the jaws are empty; raising straight up with the jaws open to free whatever is blocking it.",
        "targets": {
          "right_gripper": 1,
          "right_z": 0.35
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01FGdhk9a1rhGnRV6JsWDdZv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5243, 1.644, 1.8061, -0.7574, 0.2008, 0.0998, 0.9966]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1566 left_yaw=0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4252 right_y=0.2093 right_z=0.3379 right_yaw=0.2983 right_pitch=-0.0115 right_roll=-0.0213 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -1.3197, 6.5846, 1.7998, -0.0171, -0.0171, -0.0122, -0.0342, -6.3111, 9.0188, 1.8144, 0.1245, 0.2125, 0.1099]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c3bf2336a238386a4ce2d041a9f59548aee577caf80278ec53d19e6c2276b54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfe5abbe275a9db22d8820409922cdd130501eb07d402fc1d161e4fb97eea05f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:df96b4c2ade2bee5782623ac6ddfb738745615d5d005e039f97107659189b998",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 3.952 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, 0.7391, 0.498, -0.3283, -0.0231, -0.0288, 0.9983, 0.5217, 1.6314, 1.2423, -0.2615, 0.2039, 0.1181, 0.4587]\nstate[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1568 left_yaw=0.0002 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4313 right_y=0.2108 right_z=0.191 right_yaw=0.2827 right_pitch=-0.0647 right_roll=-0.0207 right_gripper=0.4587\nstate[joint_eff]: [-0.3897, -1.1966, 6.7624, 1.873, -0.022, -0.0073, -0.0122, -0.5538, -9.0598, 7.6239, 2.127, 0.0122, 0.0171, -0.1587]",
      "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, 0.7395, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.5224, 1.631, 1.2541, -0.2985, 0.2077, 0.1253, 0.3008]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1565 left_yaw=0.0001 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4284 right_y=0.2088 right_z=0.1894 right_yaw=0.2759 right_pitch=-0.0881 right_roll=-0.0232 right_gripper=0.3008\nstate[joint_eff]: [-0.1026, -1.0735, 6.7487, 1.79, -0.0317, -0.0757, -0.0122, -0.4308, -10.9197, 10.0444, 1.8535, 0.1587, 0.0659, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5243, 1.644, 1.8061, -0.7574, 0.2008, 0.0998, 0.9966]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1566 left_yaw=0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4252 right_y=0.2093 right_z=0.3379 right_yaw=0.2983 right_pitch=-0.0115 right_roll=-0.0213 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -1.3197, 6.5846, 1.7998, -0.0171, -0.0171, -0.0122, -0.0342, -6.3111, 9.0188, 1.8144, 0.1245, 0.2125, 0.1099]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c3bf2336a238386a4ce2d041a9f59548aee577caf80278ec53d19e6c2276b54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfe5abbe275a9db22d8820409922cdd130501eb07d402fc1d161e4fb97eea05f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df96b4c2ade2bee5782623ac6ddfb738745615d5d005e039f97107659189b998",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS/CoKjgEIEhgCKkCzncADE7P7e+6TQvu588j4p8FA1uknAG7GHAvJukIebyF1oMzxQXa8CuxCuAXtnakXfksh5CFcZsyFEQnkWj9LMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAayIzNUGEgy49JQGKO15pw9MgdEaDNydSaAkg0vHHbETtSIw3jcJDifzKFXlCNDtpnn+bKPAsRvbNc41ZonzG5N05zy5aOn+Nq10IbBXuXruQOTNKpopdojFMeAE/B/c3rFiNISg/p/IGoOCwGyajLFOuR38k2gec6vVX3F3fwS/LRcDcN0kjKKyaOk3Gj6IHyqQI1uB34S2R7nqFFsAfAydkJNQM0gs9d+06Jnq+Ir5zX3OAzQ2eyA/jTRoZMZj2FCxY0IDGPAv+dbcP8Rfhgqg++6c2rUazFu4NRUEx9PoXyhGxxC2EXLp4IFRHSfdr+w3DS1CpHn4gUmT00rr2HBaZ7FIl0cX+xKKfYjY/M6U4zkCQAw6cKnSKWQQzIDoOMtKaRCJcR4G8J1sJGGIEksBR4G9W5cGouJZAA7WprRd9SqKbU+euzMmGbfazrJ97RvAGe3bJvUzlZxRRayNySxl9megvVF/MYHn4blg1v4goIkmpp3/8DW/udhXk3k1Yc677dmRpxHmRMBop+YRVbqWfQ9lNgVSH4tZfjTn8/+c9T+RrssRlij9zuc/q2AhZB2X25y2TWylp31ZA0BxgDDtR3AT0+PoiN0V3pzJzz+AI8rsheMvAe16ur8xqknz17av7XL27fiPfG2pp9BmgQxw/rxOUP1uIRh95ha4QttSqDr12/B88Af2Bt+mpzY//8u0wZEzONxOmZ8xomgLTst9Vi0PiXgnzkzH5BBNeea6t77HN2OR7eGxsBWd22w2nsKJUE8CZgjIELv5PcQO8da+8mtDFYVO6vQoFIeYycrYrkEGN1qvFh+pEl/tCKt3ZvaWcC/Hk8/6lR992ek25bCfdvO8PndBe0z8Oqzsqg9EYw3A++oUz8NhzMnYWnBZaYBTEAuKW8i43zSRRY53e00Pa2LUURuAZ2FiqyEFD0JEPw32Srfz02PZy4szrNnJ8BF9DBHgxa64jdjRKZjccFnvQSTfG/Z31WxxolG85ekWteo8MyZk1+phtTYxVzDsE/xLViNJvUqp9GdpOYKeKaM/OgP04Qn2fUPvoe5baOCGHJaAxBSM4K6A9M/iYj96BoGNaObSdYWXQVuS3E8Sx/Zx1GriS9/f/gk2aitCqmudgxuh6VADnhRBulRvERdb4e2ag8r9TX53WwUBt/6Kw1CYyV9wDe+tx3rfmYqxmmBfg3Ac47JhLqPsmSCwUtp3hdOArQu0m8c9JfIWF+M23Cm5fXhTIbNXnHqaO4T77DHCXTZsMiPfKi9OKJyHNOmeR9Ou989YTvmjhJoA+p5GuV6jtoTtbkRjgXf6bvSF/FkEiBajpoep/recyFZKpSJk6SZDul6pAkWBeGRNmWkP8D4xbe3SSewFItwv9L+FUB3n9hX+ZiZo2AUXqOAw1fK82TFXmT4XQK+U/gb968t8Xlx6TC/h0fEjlmL2Zvi+gSudbOBWGWZfegfZUyfl4/2ui7e2MN3Alel1WDxldO7FsFP2sI7NYsvG1wX/K9LyzU8/I0mUD0Fx8PoQ1K4xCwEE+X8YyUMgHWbB05WTowIVDUpCRaE4bjarYwb6tbDjfi4cWgWBzLmmsCLA0NS1GgnmcagT2EEKCWLg6D2eHaJlV0Y6+CPbZMfOoBr/8BpyMrSewB2gzTuyXiPD0P/K6LK7HNylghwXFF0xLIU3txzzzpfj9JnRxXDMYv0Q5wpwUBI7DzYgXMH3vofsj27GdTFUWGfB0MhIG92HkHDpSjbpQIFqFYBlZUvJmIvNEEwAhYPXiw4Fj9Pc5HxJ+xB5olDDLb1lMqN7rr5/Zb1EZMM19IgeOFPReq5QSRyCotYGRZitC3Kx92uwlepcGt9p6pT9c1/f2dL/Ah4Nh+x3Q31b7356EGUc5iwyJ0pLCkG/Qdb7pzXmil2EQcQDc5YCipgMh/qNsWmOaD5bfYVaQ+jAlgQicxNlmP3Jp3w8d9cUzIoL4ZN0UvKLntTI4UZtcKApq0cILam5ZhE6blEdNOLGG4UAuOU/bunZwr2CUDnhzVcHe0R43a/pvS7ANNc/esRL2tAokRjN8cZ9T7EaiOlzahPddY7AlP8v2kPGUst2YhxxMwc5vSRpBF92qJMBu+W/aINSzuMcNuW3iED8+pWrIRW3654BhmfVnXc93q1fiMEH/zEACyT1TWvq7QL7ZMByUAlLobTttTH85s4Cd0HnBU7EBSMp3Otb6XDySu+mYkatGHHcQQ6/CSMNtGXHm4Z1mKDnq7cG+Jk5UPfKdRnlLwJ9GKC0Sv6JOrrhlQBJv5Fna01NpwOtjGf9ZPG2xV7+mJOtyKQBm8GP88Aq7L0OlH2ePaTShhbifXmux+Ph1zklsl9Jg0sTTNgETHOfKZfBosfz1xKI9RFFfJKiNmZiWs5gGvm5/O5CKbHSVChg8LgAPbwoTErHDhiN60UuiV2F/iGZIu9zriOkKLw7GELJmdyqiP76vBxbT1Z3B831981nlSF+QBsgxPbNN47yXZhpLcnhYeaWBlBgZhPoG/lrktLrw2hGXuixxtDB8ZVAtPIFe0HWAIZ4U/coxGFmaX7nkezOT7K2i19HCpB4bWftu56PMqHSkkgR9H1FmXK59wrqBPiRQT1JjUpObmAwIVqFAa8kJkzDG+KnRORREk2k8IS/Npu1fnHeD9yVRcPbl68lCTaD+kNfdp33yp6jetJ9HTZc9VeyOyeZgh10dk1F8DCMQtvRfzDHxKO0Hs5lDHnWO8XrCOg7y5tEmTK9jXcUOUl5ys1Si7PNCt/3yQ9++xhsTfQRcAgBU8w68pBJzRr+zWpaXiCigNAad5K2Bp5MfscW1YWSfJG/+3ep5fHvUDoG11qm3sbMh7pS8mL9cdbwq6CQKb6ynh2zbfZKIqr9r4F6EgHfg1DQcwP4UAHmUoFErW1qnsoWpK2Dk8RBvEda53jTFYT1HEFK1ygJm+bNAuSrovcDbJrQu6/9rthBlmv+9fuvFcmO5w70Q1NSwlxBQE+wB37Y8u7FSYmT1jgyBrIs++x6dOYjVB+9GUmDHVmYhyXDxpeiQh8eJ9D4k4Nh7BRyfvVbHyfNdiD9pPWEqm03/X2vW9Zq0QsRXXvFkcFI5rnx7gzFLhq+kOZ3yykCE3MA9+7uWyIF3rCppVB1wY+lhQE6aIXSivGcQz5uwI6IegWhuRPQvxwCVkhmDf8DsTDyqpIZhFGdQt4ZPIpmGKSSXBvSANrK+rd8RTFN3bhGnBAvx2+2glO3voJrkSXRJ66oN/3z+JXkt1KpQBc2Fdog3OEx0hy/Y91Q0vDlVhjFwbtqk7gy739DeKpSqRxMCCt+hRK2rRv5hPtiQXVEqxrJl3c60467gMatF4+R7AoKE7LcZ/6wrt4XQHGaenLtFsXR9FogiJhvWVKdgYYKz90+TTxf/IXpXqkwQT5jeJCPGXfebpQb2T6/ZNKmzXI/mdfOrbI/fyHw0mWYWz+KrdD5ZZWUTDZeNqUsh0My0shQC98AfJLisp+gdbN+Hqlk7mmmbs38zBiTmJn0E/tfahhziuZJIsG35+/56/dlwFUYxSqxo975c9a2LRKORYFbHU9Ii5uhdhhMOtUUT/yMOcfWqje0Cl/o2JOQBGT1vmlcwd0RRyCL8OYuInwKTWUkaHCVlzELixrlwWAcklOfhHZmXgR8Y0cvqQWPmyvLOY5e/N/3s2Uy4vTggvCs4clpyuhK689VnfOie4gENbF7mT+2RvRqE7DUwcBbr7NVqGGvJGASRzDjYNoC+yCSu8RKwCkdM3Jq2ZdC2r2fVTpC0VT6UbvxUaLQ4NMpeBVWDQjqH4F2Mym0cP+czOls1aOh8gXzy6M3uYV7TlVTU6jwA7cp6z+EH3d6Wj3AWKcqrywwlVrGBirvDbJQECcbsPPirL9ApqhCIkg9Noq2Xsm66WKD47v7eQBBxtpHlUYcDyertiCJzsP2BjkkgUoiMYxAhxZ1WXs3YbIDg3+uowlOWxGukkYxfRtv3jlVKV9Z6urIpPWORJAdKVl43y1thhXUP4moXBJAF6VrGExZccAxDMoPrhhKU7tsyqhSpSKDnYK167PAD/TtxRJ0rrjMdwhXkHTMrSfaaiE5w2y+/7k+bSU3st5BfuQJHo/nPwkU/4P4Z5Deht0Yq5gh0iLhH6VkmAFNRdxSiSVRdrztG/QwF07uzLdh7RMOmcQHqNwlLKnTrttnZdwvUDtAw/AkBN/RIaLLBlHgBr7Z4QfLDHZm9NatJxwmjSekfwpR8xmg8lbFJxzFSnXfgke+Xfh/Wdz6quGfw1xiRhfG7p0izKAy7vWqj4Li1V2hXFmSqqO7sUueSGGSCPFsdb2Dee/4aDpv/FRZmDzJiowUMnwwJ/3knMR5pcq4TrJb8JCt4bHnj3pTY7+ZdyLO8YPpFPEXWkOLkM2vTuZA1JNTKwJLvArl5oXJSWLtk5j2WqZuo3v4PFvXCwDsibki+nis2L54JUuIAuG9vZ0vgNmHlLpkPa0wcwf/W2rfKFpwiAG6NGeRma2LhoTXKukBl8cdIvQ8FlTXWEku4FxVMpLhjM8CaU3M9Vx5yr+N/lYWe0eeSZaH+dsCf6FqRttlgEHRw1DcyH4BC8persCNp1bLVGAx+39HKCAlQLluVjzadr3Z2a8CpkRtWkg0wanUNz5yb8HM32Oa0Vkz4t3tFd3aN6VOZTo518ZFzO+8c5mQ1z32sUv/51uHs23kt7yFpiMBS3oIC6HQVuKYZOhjwjKyQHi+oX3IV/86A/z2BqOzuQZ4gXlF/Xy5iVjAYR5n2TNqyfvpMqb4Pv5WGw5YNBVUV6qsQC1mPCI8bP5kRukv4Sl0qkpicHgiLmwSqKThEV0Kz//N8wOebYHR62rYqTuTo8X7HUhEgMGR3Vx4LprV5Rwewiazi6NaXjiLX//of+SQi6ePbh/z6pnGubaTt6BehAp1E44GotenfPo1yExFonNSzLxETWncRDh3ZVimV50cKN0TS2VqsJLGcmWKroBiRholmz8nVzt0tknCDXIHxje7Xa5gFfJxrUr/wng4qIkFZWRydzjVhzYTQyp/0ux3WM76ZyF3X7icI9qqPpKfjV5hmMk7w0OkIym6IwhXq9CNy04OnW0X3coIHiGwxTXfLyEsWAe0AfjOfarYWJIUwiH02tduzIwN7PU976+0y4Bm7pbrsdgmHTyLxPbTdfF12ciAAE99zIOEyhQtwRRIBEbaHWQG6De6NdW8k+jUVFpINHz/Qy2A9nl6MA4Vs4NqnlmEAEv0EaBOOnX+sGsvfHPTmypQFPty7s1PQEDGThhJD4Ll96Ox0zbu0g00VwvOtSgXk/I0jiqWZ1PfUZSlJuYNjFZExCw2zyL0XeJRHuNHMXuocZAyaRh2sxZIbmEuOtl6ZOh95r1f0mp+bCIVDVFQFG75MyE8+OR7oP1htoMc93eoaCZP3MBcdhjM+5MaKGSzzy6WIk3SkiqtRRsiKdWJd9aqz/lD7F/ZYyPCy56v4mUBSowuJM92V9xSOXQ2G+uzUU+1a2t1X/FG5opVoiwKyV48BJJGPpjsn9GE99lD+VETVgUGPbU1VfyiwyYLYBCk4rLe8CQQDuLSmEf8K+ACzDJ8pjfGxx4k1eIEZx2dLflnG7BgmQ8HPs/fwo9YnmveDsMep0vsXW0ULpM0sR6iB/niE5/7HKZd/Zclj+kwNKMS/uQdnkEcSWtI00/9A4GovdQNasrVK7fH+8u5VbDPF5cUZ9ARLPGh/xROGV2irbKOYzpMs0R/5CxO/9ozx9iWynygaAcC/S7AQX4Pvs5ehH/eIzUCz60EuP2RUyMWYQQVWmYx9Wq+DOczjE8hQ3g+yD+XLchVT4xNl03SCcsEyLKe6E3tlwT0nWmEloDbPTCD33np/JRhDnAJe2nsmn+3y/99zc/SQwvSdLoYT8dpEPGLQR1TZS+PG3ppZktPcLM5UjMGIXrYVGBEauNeOR6QCvZod0mqfGgM5g1n6w3k7vOr1VlLzqdNxIu6KF0iEPuQ5wB4qTqnpuuXG5FDgm+Cq1plQj+1EB0hWIogP52w0iIwL+vkYb39AwIklKnGYikckdaCfebn50ruqCptI1ETNfBsJ27lbKgNlpl6TKF3JIDbTIKbju1W94+j8RbQDbHfFX/XfIG7jqAsJw+BBUJ2NQYTBzgC9GwMkhSTxK1W+A7cS44TVMUUNuxa9kWD65k3JKCJwJWlEI7dmus3sNcbIfjsH31lA8cyN0xILCy0nstBcCPYTERwxYUFt+/5S1sxcMCTIAnMS9iL1xHBwLKTPHYIoOrEnnZArva8+eJQ8NCvwzM+s/Pjzyk+R0nI/29NFUyxytVzZw45O3B9jY0mKoJhfpEV7RrP/wHUkLyomzujciEEwIPCcrm/FNXYO6pCIes7o3htOasM8+YuYqIwgqD24akY5H6zlIbe2WGDEp2GgfIsJg1xsa8wzvrql3Ybg77aAUVYiu/Agl6OKXs609c3C6lNOzJCiFzeIERrVcAIc7fL0H2bll14k5gYFDQddACcHfUnUo53j9bRJPTR6oxyvPgE6nt08zWYoM73h4UHLPbkfmjYa/g7sbue4gqG478tj+MEjU0Nh8wrOd7OZi3lW/pKDOx6iLqTyI0R460wJSm+okOIG0Ia1U+FlNVYiw7bwQg987VFQZc8gN6ZZimOhxFVmQGyl8G6iSQp+DYvlGd9vG76T1fy2r0ul4YHXsBsPJdKGtAWdtA2+zUSqtZ513vII0GLtKxQsYKkjOfl0oM1JeqmUHuiN1N2qQcGieju1vea3OKozTBIE5xaOZGQVV7Flt0vzMPPwh0AQ7PJfu9lNeiLET8cFBldo2Jj4D41Ma2F83GVtYVK6RMpE9sFbHebCPMJRPkz+U89vJHvefJlkfB0vtncXRLK9dW0QPzKfTrqe+abGqImUvXZMVvwk+u/IeEbN4+AUYyL4tKla7CbwTVR2DaB5QVvPqErSaLUe6qIhmiBNSis//xEl3QhnG+wSGqwGUDwXHjD5mXhCy86f+w8mPLLHj0eM7L6l6toR+e4zuYpDCJijUTInGnvikyq5715b3HL7dugSmftGqXppLFw4N3+hve3+GJwzRKdc9FBZbVmdPwfua76IB7Yx52H2DGlAGfZ5IyEsJ/TFOK4on9X18Lim3BltcDHqN4aGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MgKFK7nzLWKWbGypv8xVUu",
      "input": {
        "note": "New plan: first drag the far bottle closer so its neck is within reach. Descending to the grasp pose on its shoulder at x≈0.49, table level.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.49,
          "right_y": 0.2,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01MgKFK7nzLWKWbGypv8xVUu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.4198, 2.0354, 1.0397, 0.3809, 0.104, 0.057, 0.9982]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4834 right_y=0.1996 right_z=0.0335 right_yaw=0.2979 right_pitch=-0.0405 right_roll=-0.0057 right_gripper=0.9982\nstate[joint_eff]: [-0.1983, -1.347, 6.6393, 1.8193, -0.0611, -0.0415, -0.0122, -0.5538, -8.7453, 5.1624, 1.7558, -0.0708, 0.1343, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fa01bed46d5d4e0e85029d04d882f524faa1d74a01a4dd78238ba0eed3e3d65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f78783b378adad292ddafabda226793b8e2cc91114e0a2fcc763c9c0701aaa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7fb710909b31cd7266b7c8c3c6a455deed955190004b67aa60b47da8c638f90a",
        "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 · 13.79 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, 0.7395, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.5224, 1.631, 1.2541, -0.2985, 0.2077, 0.1253, 0.3008]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1565 left_yaw=0.0001 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4284 right_y=0.2088 right_z=0.1894 right_yaw=0.2759 right_pitch=-0.0881 right_roll=-0.0232 right_gripper=0.3008\nstate[joint_eff]: [-0.1026, -1.0735, 6.7487, 1.79, -0.0317, -0.0757, -0.0122, -0.4308, -10.9197, 10.0444, 1.8535, 0.1587, 0.0659, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7391, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5243, 1.644, 1.8061, -0.7574, 0.2008, 0.0998, 0.9966]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1566 left_yaw=0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4252 right_y=0.2093 right_z=0.3379 right_yaw=0.2983 right_pitch=-0.0115 right_roll=-0.0213 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -1.3197, 6.5846, 1.7998, -0.0171, -0.0171, -0.0122, -0.0342, -6.3111, 9.0188, 1.8144, 0.1245, 0.2125, 0.1099]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.4198, 2.0354, 1.0397, 0.3809, 0.104, 0.057, 0.9982]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4834 right_y=0.1996 right_z=0.0335 right_yaw=0.2979 right_pitch=-0.0405 right_roll=-0.0057 right_gripper=0.9982\nstate[joint_eff]: [-0.1983, -1.347, 6.6393, 1.8193, -0.0611, -0.0415, -0.0122, -0.5538, -8.7453, 5.1624, 1.7558, -0.0708, 0.1343, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fa01bed46d5d4e0e85029d04d882f524faa1d74a01a4dd78238ba0eed3e3d65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f78783b378adad292ddafabda226793b8e2cc91114e0a2fcc763c9c0701aaa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fb710909b31cd7266b7c8c3c6a455deed955190004b67aa60b47da8c638f90a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwwMKjgEIEhgCKkBFXuh4fVfV2vgkxYwSJYfJH7TNPCsk4qTfr4XkglScQ3/TqrPFPPDNTZJBUh/O4mu7S6a1VA3XPNayaMFo7AyoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbOIzNUGEgwhqmKUCNzinSv5coQaDNbm0bGEhmnfJEz1EiIw3DyJVKE2+5CUvDGHf/qYNiZ4NQ1JfidQONODkm4w4Aul6YDfzW3MTC7MfcbgZfsIKuEBmPwDpJo2BiR5UC66/oIX6JhzsB3bIlb9NnlG1pxBt7unVcWXoaEVxQe/UjrH1OByKyR1zQyvUtQELSPsl3cjJtBLLU017lB5WIP2IqWD7F0M71Gz7W7amdVGkj+m3BehjYqyvVWEW0gtMgRrCmRCLsAo6OvgboFW8PqO3pSCgpWsQmsI8V2oMq7a5CkPHE5OycjRPyHMaHLHY28ZHCYVKbJhrsU0xFJCUlXzS4Z7uX9bSC0X2cxc5lFXpp0CPnlHQElOevgvZeNQneSvA1J4//7K/Pt3BUTvT5nNBhZ4fyGoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CR4M6rFbJVRFLa7KijkqFo",
      "input": {
        "note": "Bottle body fills the wrist view between the jaws; closing to grip it for the drag back toward the base.",
        "targets": {
          "right_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01CR4M6rFbJVRFLa7KijkqFo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3298, -0.0231, -0.0292, 0.9983, 0.4202, 2.0354, 1.0199, 0.5407, 0.0925, 0.0463, 0.1563]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1563 left_yaw=0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4958 right_y=0.2076 right_z=0.0592 right_yaw=0.3132 right_pitch=0.0979 right_roll=0.007 right_gripper=0.1563\nstate[joint_eff]: [-0.1299, -1.388, 6.5983, 1.8291, -0.0562, -0.0757, -0.0122, -0.1846, -9.7026, 4.4923, 1.1013, 0.188, 0.0659, 0.2515]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:533f4619c369feea538f73095bea7b52fb3f229f4f446cdba2149782bcac7caa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43bb708e840ce04656118fd156d9065bde8d96c56952ebbb15abef16d4007703",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:922cd976f12a0c356808cadd21291b4ea748813ad7245e30b506f88f5e5f7da2",
        "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 · 4.217 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, 0.7391, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.5243, 1.644, 1.8061, -0.7574, 0.2008, 0.0998, 0.9966]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1566 left_yaw=0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4252 right_y=0.2093 right_z=0.3379 right_yaw=0.2983 right_pitch=-0.0115 right_roll=-0.0213 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -1.3197, 6.5846, 1.7998, -0.0171, -0.0171, -0.0122, -0.0342, -6.3111, 9.0188, 1.8144, 0.1245, 0.2125, 0.1099]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.4198, 2.0354, 1.0397, 0.3809, 0.104, 0.057, 0.9982]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4834 right_y=0.1996 right_z=0.0335 right_yaw=0.2979 right_pitch=-0.0405 right_roll=-0.0057 right_gripper=0.9982\nstate[joint_eff]: [-0.1983, -1.347, 6.6393, 1.8193, -0.0611, -0.0415, -0.0122, -0.5538, -8.7453, 5.1624, 1.7558, -0.0708, 0.1343, -0.2027]",
      "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, 0.7399, 0.498, -0.3298, -0.0231, -0.0292, 0.9983, 0.4202, 2.0354, 1.0199, 0.5407, 0.0925, 0.0463, 0.1563]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1563 left_yaw=0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4958 right_y=0.2076 right_z=0.0592 right_yaw=0.3132 right_pitch=0.0979 right_roll=0.007 right_gripper=0.1563\nstate[joint_eff]: [-0.1299, -1.388, 6.5983, 1.8291, -0.0562, -0.0757, -0.0122, -0.1846, -9.7026, 4.4923, 1.1013, 0.188, 0.0659, 0.2515]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:533f4619c369feea538f73095bea7b52fb3f229f4f446cdba2149782bcac7caa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43bb708e840ce04656118fd156d9065bde8d96c56952ebbb15abef16d4007703",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:922cd976f12a0c356808cadd21291b4ea748813ad7245e30b506f88f5e5f7da2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013kzkYs37NXRYiMb9zpPL19",
      "input": {
        "note": "Pattern spotted: the arm rises ~2 cm while the jaws close, so closes started at z≈0.06 grab air above the bottle. Opening and pressing down to z≈0 first so the jaws end up at bottle-axis height.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.49,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_013kzkYs37NXRYiMb9zpPL19",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0288, 0.9983, 0.4278, 2.0998, 1.0534, 0.5652, 0.0959, 0.0433, 0.995]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=-0.0001 left_pitch=-0.008 left_roll=-0.0004 left_gripper=0.9983 right_x=0.5023 right_y=0.2144 right_z=0.0442 right_yaw=0.3197 right_pitch=0.0916 right_roll=0.002 right_gripper=0.995\nstate[joint_eff]: [-0.335, -1.4154, 6.4068, 1.8291, -0.0513, -0.022, -0.0122, -0.3214, -6.5573, 3.6308, 1.3114, -0.0366, -0.0024, -0.2466]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e86fd255d3dd16750bebc3349c58be4f55236c935baa22e193445dff247f2ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a979eddbfcbe9b921b6c04eca4f42eab7c81973f8738be9e16242782adb5b4f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3fbb16587160e0d976445b0a42c90e2844e02ce895f6b232d04546e88da6cb20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 5.686 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, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.4198, 2.0354, 1.0397, 0.3809, 0.104, 0.057, 0.9982]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4834 right_y=0.1996 right_z=0.0335 right_yaw=0.2979 right_pitch=-0.0405 right_roll=-0.0057 right_gripper=0.9982\nstate[joint_eff]: [-0.1983, -1.347, 6.6393, 1.8193, -0.0611, -0.0415, -0.0122, -0.5538, -8.7453, 5.1624, 1.7558, -0.0708, 0.1343, -0.2027]",
      "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, 0.7399, 0.498, -0.3298, -0.0231, -0.0292, 0.9983, 0.4202, 2.0354, 1.0199, 0.5407, 0.0925, 0.0463, 0.1563]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1563 left_yaw=0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4958 right_y=0.2076 right_z=0.0592 right_yaw=0.3132 right_pitch=0.0979 right_roll=0.007 right_gripper=0.1563\nstate[joint_eff]: [-0.1299, -1.388, 6.5983, 1.8291, -0.0562, -0.0757, -0.0122, -0.1846, -9.7026, 4.4923, 1.1013, 0.188, 0.0659, 0.2515]",
      "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, 0.7399, 0.498, -0.3294, -0.0227, -0.0288, 0.9983, 0.4278, 2.0998, 1.0534, 0.5652, 0.0959, 0.0433, 0.995]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=-0.0001 left_pitch=-0.008 left_roll=-0.0004 left_gripper=0.9983 right_x=0.5023 right_y=0.2144 right_z=0.0442 right_yaw=0.3197 right_pitch=0.0916 right_roll=0.002 right_gripper=0.995\nstate[joint_eff]: [-0.335, -1.4154, 6.4068, 1.8291, -0.0513, -0.022, -0.0122, -0.3214, -6.5573, 3.6308, 1.3114, -0.0366, -0.0024, -0.2466]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e86fd255d3dd16750bebc3349c58be4f55236c935baa22e193445dff247f2ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a979eddbfcbe9b921b6c04eca4f42eab7c81973f8738be9e16242782adb5b4f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fbb16587160e0d976445b0a42c90e2844e02ce895f6b232d04546e88da6cb20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISvwMKjgEIEhgCKkC7+XmWzNicRipF6ghDO98nFv5uqbQfQxz16I8hrgks9sPZnTmsn8gbQjKg01rAqrZEkzn2JvNxL+tdVhLHtGVOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcaIzNUGEgx3vzUkARfxustC0EcaDECG33M1UWFG48VY9SIwCaXDnwAmKqCBF/HQmgdouk4S8wVF+Q9OiNbfjAkLXH56461DkiiHct0Qp+xo6GjuKt0BJIDnuX0KnbS/bO7x1nAwu4GsGSRHS4yj1Ml3rbpnNetw4rxWtg4xPe5t+WLvmBybpIi7UUwXeQxw+cR2WlNBablsXiWJasxMPQQEcHgUHF43rG6Ruze3WXd8vHH2cUbR9Ap57vG2gr3kO6ZDqOP0tv8jVRnAGTc2kdxC4L/WcBt2dGMmmnpuKC9RvuZCgCXJrTH5rTWbvF0RASm0lqiMdsEMUE0VQPMAPrzsAVfIkjuU/PRplGG2b2YVdgPX3tSymJTYlIFOogc6K5JiC9e3N0lzZCBq+lXi+fA0aHgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S7N72iAEk1ktnp1sJY4ff2",
      "input": {
        "note": "Jaws are now at 4.4 cm height with the bottle between them; closing to grip.",
        "targets": {
          "right_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01S7N72iAEk1ktnp1sJY4ff2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4263, 2.0861, 1.1156, 0.437, 0.0879, 0.0357, 0.4117]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.5057 right_y=0.2166 right_z=0.0485 right_yaw=0.3294 right_pitch=0.0392 right_roll=-0.0062 right_gripper=0.4117\nstate[joint_eff]: [-0.1846, -1.388, 6.6256, 1.8535, -0.0415, -0.0464, -0.0122, -0.335, -11.5214, 6.5299, 1.243, -0.0073, 0.1245, 0.5153]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1413a399007c3c179d40d330bde08bc53c98a563b7a89c26d20b7ea87294a924",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c65e003dd1e5e62be89a674c1be6e250b4aac05b8e7864e5be5ffe87984682a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:640fcdd5290fc5fcc064a751db4353d1df81bf901215cbf5bf95c1a102fc4f90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 26.23 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, 0.7399, 0.498, -0.3298, -0.0231, -0.0292, 0.9983, 0.4202, 2.0354, 1.0199, 0.5407, 0.0925, 0.0463, 0.1563]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1563 left_yaw=0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4958 right_y=0.2076 right_z=0.0592 right_yaw=0.3132 right_pitch=0.0979 right_roll=0.007 right_gripper=0.1563\nstate[joint_eff]: [-0.1299, -1.388, 6.5983, 1.8291, -0.0562, -0.0757, -0.0122, -0.1846, -9.7026, 4.4923, 1.1013, 0.188, 0.0659, 0.2515]",
      "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, 0.7399, 0.498, -0.3294, -0.0227, -0.0288, 0.9983, 0.4278, 2.0998, 1.0534, 0.5652, 0.0959, 0.0433, 0.995]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=-0.0001 left_pitch=-0.008 left_roll=-0.0004 left_gripper=0.9983 right_x=0.5023 right_y=0.2144 right_z=0.0442 right_yaw=0.3197 right_pitch=0.0916 right_roll=0.002 right_gripper=0.995\nstate[joint_eff]: [-0.335, -1.4154, 6.4068, 1.8291, -0.0513, -0.022, -0.0122, -0.3214, -6.5573, 3.6308, 1.3114, -0.0366, -0.0024, -0.2466]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4263, 2.0861, 1.1156, 0.437, 0.0879, 0.0357, 0.4117]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.5057 right_y=0.2166 right_z=0.0485 right_yaw=0.3294 right_pitch=0.0392 right_roll=-0.0062 right_gripper=0.4117\nstate[joint_eff]: [-0.1846, -1.388, 6.6256, 1.8535, -0.0415, -0.0464, -0.0122, -0.335, -11.5214, 6.5299, 1.243, -0.0073, 0.1245, 0.5153]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1413a399007c3c179d40d330bde08bc53c98a563b7a89c26d20b7ea87294a924",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c65e003dd1e5e62be89a674c1be6e250b4aac05b8e7864e5be5ffe87984682a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:640fcdd5290fc5fcc064a751db4353d1df81bf901215cbf5bf95c1a102fc4f90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISnQUKjgEIEhgCKkARiDt1ISOhmP+ocvRQWE1eJu4JmL3gRhEoyrlMlPJKXpHo5O7iSGgrGXNVxPn7vWoFtlJoB6NeyHZw/194WTSoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc2IzNUGEgzTQnW1BFjY4Y+SXx8aDCl1ebb7+m1uIx7Y5SIwmXBXyup+UygX666iFdLFGOijCiJIrF6fEaKYHhke58S47PknMiLMZjH58VSZszumKrsDJaobSLEsDJ9B1xsSm8Nj0LQYXKWzZo5Tzpskpsjbti80KydyL2xhnYdAOA8siy0hE6n75m78Flk+tyzB2VH3un477N73z0b0/XNlCjUm+OGpoLF5TXUoHUDB+vcyoHyWj8NqgD+vn+kI/UEx9YtLwLViE94IxJ/gGEPMEUD16mkZnfEFCrHizTY5WjRoR36qVfH1eaT7Hq6nPjKO5Wlf2J3KOE6o0cTIYKrJ4wrP+Ote7EYkEC8vog7hQ/aQFbNVQNsyFD61Mc1uSGF+mfVsEOMJ/pEfSGs6bqC8lg98E9eGxOqbVCJuzh1VL53S74xDc8phkzsNWvAHZnw+J3jLN9kuq8mSesiFPvXvOI1kdZFpAWvKay/sBaI3OHYdfbMmSs+BIbB3hmrPqtZFHXILQ8veK7quJ4Ht9N9QD9Nh/cs2dmBIMNyjlhRGyS5xe6d+Qdd8jAPa2wP5dhTW3kxC78P2NKgCVJj+sNTMcWCYAFOkCT17qKFDUV5mC5q2b92Fte4jw9lxzSc6ikzeglbMHuLqf/nSyoAtbdxtdqOnVnJH3lKLt6NRTNAB+o309z40z+pPKEF2e/KnYAQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0195mD4gQUNWKzW6Xi4zZEyk",
      "input": {
        "note": "Gripped the bottle (jaws stalled at 3.9 cm). Dragging it 14 cm back toward the base along the table so its neck comes into comfortable reach.",
        "targets": {
          "right_x": 0.36,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_0195mD4gQUNWKzW6Xi4zZEyk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.6296, 1.7332, 0.6205, 0.5472, 0.2432, 0.1387, 0.4102]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.3696 right_y=0.2211 right_z=0.05 right_yaw=0.3472 right_pitch=0.0235 right_roll=-0.0034 right_gripper=0.4102\nstate[joint_eff]: [-0.2256, -1.0325, 6.4342, 1.8535, -0.0317, -0.0415, -0.0122, 0.3214, -7.7333, 4.7111, 1.5067, 0.1099, 0.1538, -0.1734]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d1f0f36f5e41a4649d3aa007412f86b72e5a6be1029741990c84e700f15bbbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d93db11fa4e627660bca3ed9c145537f6b5d56074027e253ea7e591ce3c958f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9829120b376e1f4c53c908c4a4fac9c69ff723320b36ce7b7b6dd63df4ddc847",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 9.729 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, 0.7399, 0.498, -0.3294, -0.0227, -0.0288, 0.9983, 0.4278, 2.0998, 1.0534, 0.5652, 0.0959, 0.0433, 0.995]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=-0.0001 left_pitch=-0.008 left_roll=-0.0004 left_gripper=0.9983 right_x=0.5023 right_y=0.2144 right_z=0.0442 right_yaw=0.3197 right_pitch=0.0916 right_roll=0.002 right_gripper=0.995\nstate[joint_eff]: [-0.335, -1.4154, 6.4068, 1.8291, -0.0513, -0.022, -0.0122, -0.3214, -6.5573, 3.6308, 1.3114, -0.0366, -0.0024, -0.2466]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4263, 2.0861, 1.1156, 0.437, 0.0879, 0.0357, 0.4117]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.5057 right_y=0.2166 right_z=0.0485 right_yaw=0.3294 right_pitch=0.0392 right_roll=-0.0062 right_gripper=0.4117\nstate[joint_eff]: [-0.1846, -1.388, 6.6256, 1.8535, -0.0415, -0.0464, -0.0122, -0.335, -11.5214, 6.5299, 1.243, -0.0073, 0.1245, 0.5153]\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]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.6296, 1.7332, 0.6205, 0.5472, 0.2432, 0.1387, 0.4102]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.3696 right_y=0.2211 right_z=0.05 right_yaw=0.3472 right_pitch=0.0235 right_roll=-0.0034 right_gripper=0.4102\nstate[joint_eff]: [-0.2256, -1.0325, 6.4342, 1.8535, -0.0317, -0.0415, -0.0122, 0.3214, -7.7333, 4.7111, 1.5067, 0.1099, 0.1538, -0.1734]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d1f0f36f5e41a4649d3aa007412f86b72e5a6be1029741990c84e700f15bbbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d93db11fa4e627660bca3ed9c145537f6b5d56074027e253ea7e591ce3c958f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9829120b376e1f4c53c908c4a4fac9c69ff723320b36ce7b7b6dd63df4ddc847",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YL9GLwfsLWAx8YnbJVHFWb",
      "input": {
        "note": "The overhead view confirms the bottle moved with the jaws. Squeezing a bit tighter and lifting it to 22 cm, ready to let it pivot cap-up.",
        "targets": {
          "right_gripper": 0.25,
          "right_x": 0.34,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01YL9GLwfsLWAx8YnbJVHFWb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.6876, 1.3457, 0.9699, -0.2554, 0.2634, 0.1566, 0.2515]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3402 right_y=0.2245 right_z=0.1934 right_yaw=0.3786 right_pitch=-0.0359 right_roll=-0.0184 right_gripper=0.2515\nstate[joint_eff]: [-0.2256, -1.388, 6.4342, 1.8242, -0.0464, -0.0464, -0.0122, 0.4718, -7.6239, 9.8667, 1.7851, 0.3199, 0.2564, 0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e06efb0760a51316d60fbdb4c31740e3b6efc595f6c7e5daf1907451ee1ffb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:349d75b9dc9412945c1848dea3ba7be93c76dc964df8bd628432d8f2615598d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57525122155bd8622f36855a5a89d1bf1ef551e76d003b29bbe8b3053e0da23d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 14.44 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, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.4263, 2.0861, 1.1156, 0.437, 0.0879, 0.0357, 0.4117]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.5057 right_y=0.2166 right_z=0.0485 right_yaw=0.3294 right_pitch=0.0392 right_roll=-0.0062 right_gripper=0.4117\nstate[joint_eff]: [-0.1846, -1.388, 6.6256, 1.8535, -0.0415, -0.0464, -0.0122, -0.335, -11.5214, 6.5299, 1.243, -0.0073, 0.1245, 0.5153]\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]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.6296, 1.7332, 0.6205, 0.5472, 0.2432, 0.1387, 0.4102]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.3696 right_y=0.2211 right_z=0.05 right_yaw=0.3472 right_pitch=0.0235 right_roll=-0.0034 right_gripper=0.4102\nstate[joint_eff]: [-0.2256, -1.0325, 6.4342, 1.8535, -0.0317, -0.0415, -0.0122, 0.3214, -7.7333, 4.7111, 1.5067, 0.1099, 0.1538, -0.1734]\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]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.6876, 1.3457, 0.9699, -0.2554, 0.2634, 0.1566, 0.2515]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3402 right_y=0.2245 right_z=0.1934 right_yaw=0.3786 right_pitch=-0.0359 right_roll=-0.0184 right_gripper=0.2515\nstate[joint_eff]: [-0.2256, -1.388, 6.4342, 1.8242, -0.0464, -0.0464, -0.0122, 0.4718, -7.6239, 9.8667, 1.7851, 0.3199, 0.2564, 0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e06efb0760a51316d60fbdb4c31740e3b6efc595f6c7e5daf1907451ee1ffb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:349d75b9dc9412945c1848dea3ba7be93c76dc964df8bd628432d8f2615598d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57525122155bd8622f36855a5a89d1bf1ef551e76d003b29bbe8b3053e0da23d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISiQsKjgEIEhgCKkABCucdzW2s3V7C/25P2ziI2/IaPs24XbyTjlIwz7G5uWQo54+G0GjmaauDndR/A/2031cH/g0Dhs4m1Cxe7ZThMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfKIzNUGEgyVfEiUWGhC1aib8+QaDJy1q9TWSzk5VVbfPSIwavpVII84nNl/VsPykH7KCUpRVXOZkuPT02BVmypwdDM/7FaEmRWLk1NNqwukvbG9KqcJ3FuEFxTQQm7Fi6TG9keZuzemqjw/m8Jefi0gNFSQ0tgFtwfQKlA7C3Z+jsl42zzFW4NqdCf18yOAu7RZmq1qSaEnNBMNPAg2Tg8ZpqkS/L1ysMhXexpe/TZbWa0E71T7uOnBde4hL4fq8cu4vCoNPT6TebfbzgGg6ZhNsgX3JEJAEGgY2g+sORa/hvo26n0l9fNBYEn8GM6KbROZ6tNflLe7J4uNDFKZaSD9NHXYWlLLbI9JYRY3C3AyK3iYFrccV4TImsKqWa7b9cXuTXS/OBUUrJkMCOB0boXtSbl7+SjpBGUyzWGddp/LL/EftfqQuMBur3kkdQwc3milMhC07ZQq4sKq4aBJcmZg3SqMNfPzFGLVb3/NWPyx6lgTr11f/EmH6gtaLK3r7I8I8l23QpxE2zl+QiwwcQJ3nLcTtABSJP+s+jGM5hcoHjlLuOzD0xdYpzYHIDPWyOeeIqXrWKiDmkvb+Y3u0CY1TlgTfsGXc+4teMzJk+Eitzp2zQmzP2RO4lgXgpPQ8utjFFowwuzQLw4U0R1kyDklIEuooo0TRscMbWOfxgTGW4+s1nsFGr10n7GbuOVSY1sQo2P8e12T32Cg439Ox1m6ik6f9Nl7W0prXsoPJKTBWXxA9VS4V2/GQD5J+6rIJ0FP/CQ2wIYu4KdstgZdwB98mtg2Qwkm+zpMhwR4+C24QPVT4j9IC6eFYf13z4I6p6RnIIUl5q77oBKdHPWXOrWmeWjSDylPWS4vXVCHZB85bJtKK+jnCMX6wAjhYe4NIcf52Cj7tHu6wIzNlRA12x1XF8s+89l6tj02NqniLeIn768JpvSLSoL20ms5vBnbxY+Bhn73P0cYyyDxajBjpHDIddw/wsk+mrHsPGHsbbBZlGWEZ1GptRzWydUv32CfCYZJBgNNztPykZzKB7He440gU0VJ6Rl6hZzoyh5xBxj+gPyj+v1CoBVcD9axYEp0/NCjMVljEEZgH57YGb64ivyB73R6sDJZeTA0fU+mMJS0r+i84wNbLy6jaBUQ0QIllBhtGCZ0QtSkezyO+baTRb4bQPaceEtRDrP2+4VpL3YP9zSZguk311JymEPEly/iTK3FhYGZWVKj3dVzEUnUt/Sqetzm8pMSR7rLcn/h69DwMBhZ9Hmt20v0jOWSW0Qg88y7/EBftZ0eM0+AWs3EiDKp1pPQ2YYK9C6ZYGPjTejODikAF0b89u4xJpTWBRp34dhcEfmUMrJnmXZL9TfQ34R6L74WWyT5sKcoYOzZ+Gaw5n6mwNUOWS8FvHNuN8xngi+/I9+lrqLaOSnzi2flIP8XIVBRHCRGDZX+ac1euat1UaJDpKFSdAqwBXR7EQS7AEe1NbYYDiJVcUcUE0IbcWzIQBwCeBKkWAtvuQ/gCCCnpo1V4fzEj44ufqjqEpmFV8BpCmiNJwure0YEymXh+6WX9SdcDOTI2qQgShzJ+NJiLixM4Qe7+AkLLNAB/CoMZBuxdEA7dWwNmTc08csIK7Xeqq4tgXgdayjvPLWIt1Iejnt7f/3xRArJyoYlOJZb9Vb7XyRjV0OJoZ+e1NGFW0nSF9mjK1WUWvsgvUlRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H59Cib34PBvHJuf9LZhZva",
      "input": {
        "note": "Holding the bottle at 22 cm with a tight grip on its tapered shoulder; opening the jaws to a 3.1 cm gap so the bottle slides down to its narrow neck, catches under the cap and swings cap-up.",
        "targets": {
          "right_gripper": 0.33
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_01H59Cib34PBvHJuf9LZhZva",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.6937, 1.3323, 0.9943, -0.318, 0.2691, 0.1719, 0.2512]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3347 right_y=0.2219 right_z=0.1974 right_yaw=0.3714 right_pitch=-0.0582 right_roll=-0.0169 right_gripper=0.2512\nstate[joint_eff]: [-0.1299, -1.388, 6.4479, 1.8046, -0.0317, -0.0513, -0.0122, -0.1709, -6.7487, 9.4974, 1.746, 0.2515, 0.0611, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1d27fef3e762f1b23001f4612f4e2e1439ba76ad5ef7ce5eeac8c85b9c0b569",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:108c258b1b068778422c3e689a014f5bbea6e86f3c7217f53af9a93e1a81586d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0392a404f335b6d12d330e5ca6353247993dcd4bacaf5097bf466a3d53cebe8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 9.938 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]: [-0.02, 0.7399, 0.498, -0.3294, -0.0227, -0.0292, 0.9983, 0.6296, 1.7332, 0.6205, 0.5472, 0.2432, 0.1387, 0.4102]\nstate[eef_state]: left_x=0.285 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.008 left_roll=-0.0007 left_gripper=0.9983 right_x=0.3696 right_y=0.2211 right_z=0.05 right_yaw=0.3472 right_pitch=0.0235 right_roll=-0.0034 right_gripper=0.4102\nstate[joint_eff]: [-0.2256, -1.0325, 6.4342, 1.8535, -0.0317, -0.0415, -0.0122, 0.3214, -7.7333, 4.7111, 1.5067, 0.1099, 0.1538, -0.1734]\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]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.6876, 1.3457, 0.9699, -0.2554, 0.2634, 0.1566, 0.2515]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3402 right_y=0.2245 right_z=0.1934 right_yaw=0.3786 right_pitch=-0.0359 right_roll=-0.0184 right_gripper=0.2515\nstate[joint_eff]: [-0.2256, -1.388, 6.4342, 1.8242, -0.0464, -0.0464, -0.0122, 0.4718, -7.6239, 9.8667, 1.7851, 0.3199, 0.2564, 0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.6937, 1.3323, 0.9943, -0.318, 0.2691, 0.1719, 0.2512]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3347 right_y=0.2219 right_z=0.1974 right_yaw=0.3714 right_pitch=-0.0582 right_roll=-0.0169 right_gripper=0.2512\nstate[joint_eff]: [-0.1299, -1.388, 6.4479, 1.8046, -0.0317, -0.0513, -0.0122, -0.1709, -6.7487, 9.4974, 1.746, 0.2515, 0.0611, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1d27fef3e762f1b23001f4612f4e2e1439ba76ad5ef7ce5eeac8c85b9c0b569",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:108c258b1b068778422c3e689a014f5bbea6e86f3c7217f53af9a93e1a81586d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0392a404f335b6d12d330e5ca6353247993dcd4bacaf5097bf466a3d53cebe8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014BCfX7hKd1FKUALG2RYyEX",
      "input": {
        "note": "The bottle slipped out when I over-squeezed. Last attempt: with the jaws preset to a 2.8 cm gap I descend onto the bottle's narrow neck so the jaws can capture it under the cap and let it swing upright when lifted.",
        "targets": {
          "right_gripper": 0.3,
          "right_x": 0.42,
          "right_y": 0.225,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_014BCfX7hKd1FKUALG2RYyEX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3298, -0.0231, -0.0292, 0.9983, 0.5514, 1.8469, 0.791, 0.4942, 0.1448, 0.0818, 0.3]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1563 left_yaw=0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4137 right_y=0.2288 right_z=0.052 right_yaw=0.3819 right_pitch=0.0153 right_roll=0.0003 right_gripper=0.3\nstate[joint_eff]: [-0.3897, -1.347, 6.4342, 1.8095, -0.022, -0.0806, -0.0122, -1.1419, -5.7368, 5.9145, 0.7937, 0.0269, 0.0659, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ab72915bb1a33799a64c2469bec12e9f79120246e8c232bf524361f1d6590c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4e7d8ce2226e28c2a959dbbfa3f9ae2a199c107225e2b63492456b726c79ff5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f46d6d66d65c9874ab8b254a19335253350b14c8d68f7bc4757ce1152081ddf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 15.95 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.6876, 1.3457, 0.9699, -0.2554, 0.2634, 0.1566, 0.2515]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3402 right_y=0.2245 right_z=0.1934 right_yaw=0.3786 right_pitch=-0.0359 right_roll=-0.0184 right_gripper=0.2515\nstate[joint_eff]: [-0.2256, -1.388, 6.4342, 1.8242, -0.0464, -0.0464, -0.0122, 0.4718, -7.6239, 9.8667, 1.7851, 0.3199, 0.2564, 0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3294, -0.0231, -0.0292, 0.9983, 0.6937, 1.3323, 0.9943, -0.318, 0.2691, 0.1719, 0.2512]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1564 left_yaw=0.0004 left_pitch=-0.008 left_roll=-0.0005 left_gripper=0.9983 right_x=0.3347 right_y=0.2219 right_z=0.1974 right_yaw=0.3714 right_pitch=-0.0582 right_roll=-0.0169 right_gripper=0.2512\nstate[joint_eff]: [-0.1299, -1.388, 6.4479, 1.8046, -0.0317, -0.0513, -0.0122, -0.1709, -6.7487, 9.4974, 1.746, 0.2515, 0.0611, 0.1099]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3298, -0.0231, -0.0292, 0.9983, 0.5514, 1.8469, 0.791, 0.4942, 0.1448, 0.0818, 0.3]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.1563 left_yaw=0.0004 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4137 right_y=0.2288 right_z=0.052 right_yaw=0.3819 right_pitch=0.0153 right_roll=0.0003 right_gripper=0.3\nstate[joint_eff]: [-0.3897, -1.347, 6.4342, 1.8095, -0.022, -0.0806, -0.0122, -1.1419, -5.7368, 5.9145, 0.7937, 0.0269, 0.0659, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ab72915bb1a33799a64c2469bec12e9f79120246e8c232bf524361f1d6590c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4e7d8ce2226e28c2a959dbbfa3f9ae2a199c107225e2b63492456b726c79ff5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f46d6d66d65c9874ab8b254a19335253350b14c8d68f7bc4757ce1152081ddf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LcX5TnXGLvNiHaDwLfEvzi",
      "input": {
        "note": "Final attempt with the remaining budget: sliding the 2.8 cm jaw gap forward onto the bottle's neck while rising, hoping to hook it under the cap so it swings upright.",
        "targets": {
          "right_x": 0.47,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01LcX5TnXGLvNiHaDwLfEvzi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.329, -0.0227, -0.0292, 0.9983, 0.4839, 1.7386, 1.433, -0.3035, 0.0731, 0.0242, 0.3001]\nstate[eef_state]: left_x=0.2851 left_y=0.0019 left_z=0.1564 left_yaw=0.0001 left_pitch=-0.0076 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4628 right_y=0.2327 right_z=0.2151 right_yaw=0.4057 right_pitch=-0.0368 right_roll=-0.0144 right_gripper=0.3001\nstate[joint_eff]: [-0.1299, -1.4154, 6.6256, 1.8681, -0.0269, -0.0464, -0.0122, -1.0051, -8.9641, 10.4821, 1.8144, 0.0757, 0.1392, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b38fc6922074d0738bf1ceea276215e85bfeb20b45552e04a38a99e031bdc152",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f9926bf764a0f7133f780d61dbbfd04216ffcf1ba7b1132fc482531974f5b25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c639b9b14f1435270d10f3dace9761f2aca024edc5f15f1babc3897c578ec65a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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