adhoc

completed
2026-09-22T22:54:24.006350+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
546.1 s
total steps
294
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles lie on their sides in the middle of the table. I'm moving the right arm above the rightmost bottle to inspect it with the wrist camera and find its cap end.
move_to
right_x0.3200right_y0.2600right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0189, 0.7925, 0.6067, -0.3775, -0.0231, -0.0288, 0.9988, -0.0174, 0.7876, 0.6033, -0.3836, -0.0177, -0.025, 0.9986] state[eef_state]: left_x=0.2953 left_y=0.0021 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2938 right_y=0.0016 right_z=0.1807 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9986 state[joint_eff]: [-0.2393, -1.3607, 9.8256, 1.8046, 0.0269, 0.1099, -0.1392, -0.6496, -0.8957, 10.2222, 1.8144, -0.0464, 0.0757, -0.1636] 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": 0.32, "right_y": 0.26, "right_z": 0.15, "right_gripper": 1.0}, "note": "Three bottles lie on their sides in the middle of the table. I'm moving the right arm above the rightmost bottle to inspect it with the wrist camera and find its cap end."})
tool
executing move_to over 22 steps (2.2s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe right wrist camera shows two bottles lying with their caps pointing away from the base. I'm moving over the neck of the rightmost bottle to line up a grasp just below its cap.
move_to
right_x0.3300right_y0.2800right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6136, -0.387, -0.0231, -0.0292, 0.9985, 0.9691, 1.5711, 0.9871, -0.3054, 0.7334, 0.6106, 0.9986] state[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.0084 left_roll=-0.0002 left_gripper=0.9985 right_x=0.3121 right_y=0.252 right_z=0.1347 right_yaw=0.0402 right_pitch=-0.0481 right_roll=-0.054 right_gripper=0.9986 state[joint_eff]: [-0.2393, -1.7026, 6.5846, 1.8193, -0.0171, -0.0513, -0.0366, 0.0889, -6.8171, 8.9368, 1.4774, 0.6374, 0.2222, -0.1636] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.28, "right_z": 0.1}, "note": "The right wrist camera shows two bottles lying with their caps pointing away from the base. I'm moving over the neck of the rightmost bottle to line up a grasp just below its cap."})
tool
executing move_to over 3 steps (0.3s)
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 noteIn the right wrist view the target bottle sits to the right of the jaw column, so I'm shifting the gripper ~4 cm toward the arm's right (-y) and lowering slightly to line up over its neck.
move_to
right_x0.3300right_y0.2350right_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7979, 0.6136, -0.387, -0.0231, -0.0292, 0.9983, 0.9798, 1.6985, 0.9634, -0.1448, 0.7341, 0.6163, 0.9985] state[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1819 left_yaw=-0.0009 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3203 right_y=0.2714 right_z=0.0991 right_yaw=0.0476 right_pitch=-0.0418 right_roll=-0.042 right_gripper=0.9985 state[joint_eff]: [-0.335, -1.5521, 6.5162, 1.7998, -0.0708, -0.0611, -0.0317, -0.5265, -8.3077, 6.1607, 1.37, 0.4615, -0.0659, -0.0171] 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": 0.33, "right_y": 0.235, "right_z": 0.08}, "note": "In the right wrist view the target bottle sits to the right of the jaw column, so I'm shifting the gripper ~4 cm toward the arm's right (-y) and lowering slightly to line up over its 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 noteThe arm didn't track my sideways command (y read 0.279 vs 0.235 commanded), so I'm re-sending the shift toward the arm's right to centre the bottle neck under the jaws.
move_to
right_x0.3300right_y0.2300right_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0235, -0.0292, 0.9983, 0.9798, 1.7401, 0.9619, -0.0875, 0.7292, 0.6006, 0.9985] state[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1816 left_yaw=-0.0006 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.3243 right_y=0.2785 right_z=0.0894 right_yaw=0.0598 right_pitch=-0.0367 right_roll=-0.0413 right_gripper=0.9985 state[joint_eff]: [-0.3214, -1.7573, 6.3932, 1.8144, -0.0464, -0.0415, -0.022, -0.7453, -8.8547, 6.3385, 1.6386, 0.3541, 0.0366, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.23, "right_z": 0.08}, "note": "The arm didn't track my sideways command (y read 0.279 vs 0.235 commanded), so I'm re-sending the shift toward the arm's right to centre the bottle neck under the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe arm has stopped tracking sideways moves, so I'm lifting it up and over to the right to break out of the stuck pose before retrying the approach.
move_to
right_x0.3300right_y0.2200right_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.9798, 1.7401, 0.9619, -0.0875, 0.7296, 0.6006, 0.9985] state[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1817 left_yaw=-0.0009 left_pitch=-0.0084 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3243 right_y=0.2784 right_z=0.0894 right_yaw=0.0595 right_pitch=-0.0364 right_roll=-0.0415 right_gripper=0.9985 state[joint_eff]: [-0.3624, -1.7709, 6.3521, 1.8584, -0.0415, -0.0366, -0.0171, -0.7726, -8.8684, 6.1607, 1.6337, 0.3736, 0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.22, "right_z": 0.16}, "note": "The arm has stopped tracking sideways moves, so I'm lifting it up and over to the right to break out of the stuck pose before retrying the approach."})
tool
executing move_to over 5 steps (0.5s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteEstimates from the top and wrist views disagree, so I'm descending close to table height at the current spot to get an unambiguous close-range wrist view of where the jaws sit relative to the bottle.
move_to
right_x0.3300right_y0.2200right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7979, 0.6132, -0.3866, -0.0231, -0.0292, 0.9982, 0.8558, 1.4612, 0.8886, -0.1776, 0.6579, 0.5026, 0.9985] state[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3301 right_y=0.2209 right_z=0.1492 right_yaw=0.0403 right_pitch=-0.0021 right_roll=-0.0014 right_gripper=0.9985 state[joint_eff]: [-0.0889, -1.1419, 6.5573, 1.8584, -0.0269, -0.0464, -0.0171, -0.1573, -5.9145, 7.8427, 1.5507, 0.2662, 0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.22, "right_z": 0.03}, "note": "Estimates from the top and wrist views disagree, so I'm descending close to table height at the current spot to get an unambiguous close-range wrist view of where the jaws sit relative to the bottle."})
tool
executing move_to over 8 steps (0.8s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe wrist view now shows the bottle centred between the jaws with its cap pointing away from the base; I'm advancing ~4 cm so the jaws sit over the neck just below the cap.
move_to
right_x0.3700right_y0.2150right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7975, 0.6132, -0.387, -0.0227, -0.0292, 0.9982, 0.8516, 1.7443, 0.6392, 0.2939, 0.6498, 0.4889, 0.9985] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1818 left_yaw=-0.0013 left_pitch=-0.008 left_roll=-0.0004 left_gripper=0.9982 right_x=0.3243 right_y=0.2136 right_z=0.0274 right_yaw=0.0482 right_pitch=-0.0484 right_roll=-0.0531 right_gripper=0.9985 state[joint_eff]: [-0.3624, -1.6889, 6.4068, 1.7949, -0.0513, -0.0122, -0.0122, 0.1573, -7.1453, 4.7521, 1.7314, 0.2662, 0.0757, -0.0122] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.215, "right_z": 0.03}, "note": "The wrist view now shows the bottle centred between the jaws with its cap pointing away from the base; I'm advancing ~4 cm so the jaws sit over the neck just below the cap."})
tool
executing move_to over 4 steps (0.4s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe bottle is well centred on the jaw column but its cap/neck is still near the top of the wrist frame, so I'm advancing another 4 cm toward the cap end.
move_to
right_x0.4100right_y0.2100right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7975, 0.6132, -0.387, -0.0231, -0.0292, 0.9982, 0.7547, 1.8286, 0.6685, 0.3992, 0.5804, 0.4191, 0.9985] state[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3538 right_y=0.2047 right_z=0.0166 right_yaw=0.0413 right_pitch=-0.0472 right_roll=-0.0398 right_gripper=0.9985 state[joint_eff]: [-0.3487, -1.7162, 6.3932, 1.8095, -0.0415, -0.0122, -0.0122, -0.6496, -6.8855, 7.3504, 1.9072, 0.3053, 0.0659, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.21, "right_z": 0.03}, "note": "The bottle is well centred on the jaw column but its cap/neck is still near the top of the wrist frame, so I'm advancing another 4 cm toward the cap end."})
tool
executing move_to over 5 steps (0.5s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe arm stalled advancing at table level (x stuck near 0.36) and the wrist view shows the bottle still ahead of the fingertips, so I'm lifting to 8 cm and reaching further forward to test how far out I can actually get.
move_to
right_x0.4500right_y0.2100right_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6086, -0.3866, -0.0231, -0.0292, 0.9982, 0.7391, 1.8397, 0.6609, 0.4721, 0.5518, 0.3908, 0.9985] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.18 left_yaw=-0.0009 left_pitch=-0.0114 left_roll=-0.0001 left_gripper=0.9982 right_x=0.3608 right_y=0.2084 right_z=0.02 right_yaw=0.0637 right_pitch=-0.0182 right_roll=-0.0137 right_gripper=0.9985 state[joint_eff]: [-0.212, -1.6342, 6.7624, 1.8437, -0.022, -0.0317, -0.0122, -0.9504, -6.3932, 4.6154, 1.9365, 0.2857, 0.0415, -0.0122] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.21, "right_z": 0.08}, "note": "The arm stalled advancing at table level (x stuck near 0.36) and the wrist view shows the bottle still ahead of the fingertips, so I'm lifting to 8 cm and reaching further forward to test how far out I can actually get."})
tool
executing move_to over 7 steps (0.7s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe right arm is frozen (identical readback across two commands); I'm retreating up and back to a safe, easier pose to unstick the IK before trying again.
move_to
right_x0.3000right_y0.2000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6003, -0.3862, -0.0227, -0.0292, 0.9982, 0.7383, 1.8397, 0.6609, 0.4721, 0.5518, 0.3908, 0.9985] state[eef_state]: left_x=0.2936 left_y=0.0017 left_z=0.1763 left_yaw=-0.0013 left_pitch=-0.0191 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3609 right_y=0.2081 right_z=0.02 right_yaw=0.063 right_pitch=-0.0182 right_roll=-0.0137 right_gripper=0.9985 state[joint_eff]: [-0.3761, -1.5795, 6.9675, 1.8681, -0.022, -0.0464, -0.0122, -0.8957, -6.188, 4.6974, 1.9219, 0.2808, 0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.2, "right_z": 0.2}, "note": "The right arm is frozen (identical readback across two commands); I'm retreating up and back to a safe, easier pose to unstick the IK before trying again."})
tool
executing move_to over 12 steps (1.2s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteArm is free again. The bottles sit further forward than I first thought, so I'm reaching out to x=0.44 at 10 cm height (tool yaw explicitly zero) to hover over the rightmost bottle's body.
move_to
right_x0.4400right_y0.2150right_z0.1000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7895, 0.5823, -0.3744, -0.0231, -0.0292, 0.9982, 0.8776, 1.2945, 0.8894, -0.3634, 0.6285, 0.4713, 0.9985] state[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1724 left_yaw=-0.0009 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9982 right_x=0.3008 right_y=0.2052 right_z=0.1767 right_yaw=0.1002 right_pitch=-0.0295 right_roll=-0.0264 right_gripper=0.9985 state[joint_eff]: [-0.0479, -1.2239, 6.9675, 1.9316, -0.0415, -0.0757, -0.0122, 0.4444, -6.2838, 9.7026, 1.6484, 0.5495, 0.3394, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.215, "right_z": 0.1, "right_yaw": 0.0}, "note": "Arm is free again. The bottles sit further forward than I first thought, so I'm reaching out to x=0.44 at 10 cm height (tool yaw explicitly zero) to hover over the rightmost bottle's body."})
tool
executing move_to over 11 steps (1.1s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe wrist camera now shows the rightmost bottle nicely centred with its blue cap pointing away; I'm advancing 5 cm and lowering to bring the fingertips over the neck just behind the cap.
move_to
right_x0.4700right_y0.2150right_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7795, 0.5697, -0.3717, -0.0231, -0.0288, 0.9982, 0.6407, 1.8103, 1.0153, 0.0326, 0.5102, 0.3477, 0.9985] state[eef_state]: left_x=0.2907 left_y=0.0018 left_z=0.1699 left_yaw=-0.0011 left_pitch=-0.0183 left_roll=0.0003 left_gripper=0.9982 right_x=0.4176 right_y=0.2082 right_z=0.0809 right_yaw=0.0188 right_pitch=-0.0801 right_roll=-0.0603 right_gripper=0.9985 state[joint_eff]: [-0.1162, -1.3607, 6.5573, 1.8877, -0.0659, -0.0073, -0.0122, -0.9915, -8.4718, 8.8, 1.9853, 0.1538, 0.0855, -0.0122] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.215, "right_z": 0.06}, "note": "The wrist camera now shows the rightmost bottle nicely centred with its blue cap pointing away; I'm advancing 5 cm and lowering to bring the fingertips over the neck just behind the cap."})
tool
executing move_to over 5 steps (0.5s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteDescending to table level and closing the jaws to feel what is between them: the settled gripper reading will tell me whether I am on the thin neck (~0.3) or the wide body (~0.7) of the bottle.
move_to
right_z0.0150right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7727, 0.5632, -0.3717, -0.0227, -0.0292, 0.9982, 0.5861, 1.9816, 1.0435, 0.1917, 0.4587, 0.3042, 0.9985] state[eef_state]: left_x=0.2895 left_y=0.0018 left_z=0.1688 left_yaw=-0.0013 left_pitch=-0.0179 left_roll=-0.0002 left_gripper=0.9982 right_x=0.4466 right_y=0.2069 right_z=0.037 right_yaw=0.0285 right_pitch=-0.0877 right_roll=-0.0567 right_gripper=0.9985 state[joint_eff]: [-0.0615, -1.5521, 6.0923, 1.9219, -0.0317, -0.0366, -0.0122, -1.0598, -9.9214, 8.8684, 2.1563, 0.1636, 0.0904, -0.0122] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.015, "right_gripper": 0.0}, "note": "Descending to table level and closing the jaws to feel what is between them: the settled gripper reading will tell me whether I am on the thin neck (~0.3) or the wide body (~0.7) of the bottle."})
tool
executing move_to over 10 steps (1.0s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe jaws closed to 0.48 (~4.6 cm), i.e. they are gripping the bottle's tapered shoulder near the cap; lifting now to see whether the bottle swings down and hangs vertically from that grip.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7719, 0.5541, -0.371, -0.0231, -0.0292, 0.9982, 0.5812, 1.9945, 1.0576, 0.2203, 0.4404, 0.2893, 0.4818] state[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1649 left_yaw=-0.0009 left_pitch=-0.0256 left_roll=0.0002 left_gripper=0.9982 right_x=0.4535 right_y=0.2121 right_z=0.0399 right_yaw=0.0472 right_pitch=-0.0689 right_roll=-0.0426 right_gripper=0.4818 state[joint_eff]: [-0.2667, -2.0855, 6.3385, 1.9512, -0.0659, -0.0366, -0.0122, -0.7726, -9.894, 8.7043, 1.9853, 0.2662, 0.1099, 0.8669] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "The jaws closed to 0.48 (~4.6 cm), i.e. they are gripping the bottle's tapered shoulder near the cap; lifting now to see whether the bottle swings down and hangs vertically from that grip."})
tool
executing move_to over 12 steps (1.2s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe bottle has swung to hang vertically cap-up in the jaws exactly as hoped; lowering it so its base rests on the table before I release.
move_to
right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7628, 0.5323, -0.3519, -0.0231, -0.0292, 0.9982, 0.5831, 1.7515, 1.3621, -0.3046, 0.4175, 0.2783, 0.4832] state[eef_state]: left_x=0.2876 left_y=0.0019 left_z=0.1614 left_yaw=-0.0009 left_pitch=-0.0191 left_roll=0.0 left_gripper=0.9982 right_x=0.4507 right_y=0.2157 right_z=0.1862 right_yaw=0.074 right_pitch=-0.057 right_roll=-0.0274 right_gripper=0.4832 state[joint_eff]: [-0.3761, -1.4564, 6.7487, 1.873, -0.0659, -0.0317, -0.0122, -0.4855, -11.2068, 9.5385, 1.5946, 0.4225, 0.105, 0.1392] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15}, "note": "The bottle has swung to hang vertically cap-up in the jaws exactly as hoped; lowering it so its base rests on the table before I release."})
tool
executing move_to over 3 steps (0.3s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteBottle is hanging vertically with its base at or near the table; opening the jaws to release it standing upright.
move_to
right_gripper0.9500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7578, 0.5251, -0.345, -0.0231, -0.0292, 0.9982, 0.5827, 1.75, 1.198, -0.157, 0.4164, 0.2783, 0.4833] state[eef_state]: left_x=0.2874 left_y=0.0019 left_z=0.1608 left_yaw=-0.0009 left_pitch=-0.0145 left_roll=-0.0 left_gripper=0.9982 right_x=0.4407 right_y=0.2092 right_z=0.1437 right_yaw=0.0741 right_pitch=-0.0703 right_roll=-0.0341 right_gripper=0.4833 state[joint_eff]: [-0.253, -1.5795, 6.4889, 1.8974, -0.0611, -0.0855, -0.0122, -0.2256, -8.8957, 7.9795, 2.3028, 0.1343, -0.0464, 0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.95}, "note": "Bottle is hanging vertically with its base at or near the table; opening the jaws to release it standing upright."})
tool
executing move_to over 5 steps (0.5s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteReleased the bottle; retracting the right arm out of the way to confirm in the overhead view that it is standing upright.
move_to
right_x0.2800right_y0.1000right_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7559, 0.5163, -0.345, -0.0231, -0.0292, 0.9982, 0.5831, 1.7592, 1.1126, -0.0502, 0.4145, 0.2684, 0.9453] state[eef_state]: left_x=0.2861 left_y=0.0019 left_z=0.1573 left_yaw=-0.0009 left_pitch=-0.0214 left_roll=0.0001 left_gripper=0.9982 right_x=0.437 right_y=0.2073 right_z=0.123 right_yaw=0.0817 right_pitch=-0.0604 right_roll=-0.0351 right_gripper=0.9453 state[joint_eff]: [-0.0479, -1.7162, 6.7897, 1.8779, -0.0366, -0.0562, -0.0122, -0.1573, -11.2479, 6.4342, 1.9365, 0.188, 0.0757, -0.2662] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.1, "right_z": 0.25}, "note": "Released the bottle; retracting the right arm out of the way to confirm in the overhead view that it is standing upright."})
tool
executing move_to over 13 steps (1.3s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteMoving the right arm far to the side so the overhead camera has an unobstructed view of the bottle I just released, to check whether it is really standing.
move_to
right_x0.2000right_y0.3500right_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7456, 0.5018, -0.3298, -0.0235, -0.0292, 0.9982, 0.5678, 0.9382, 0.8875, -0.5743, 0.3916, 0.2562, 0.9452] state[eef_state]: left_x=0.2857 left_y=0.002 left_z=0.1565 left_yaw=-0.0006 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9982 right_x=0.2881 right_y=0.1081 right_z=0.236 right_yaw=0.0926 right_pitch=-0.0037 right_roll=0.0009 right_gripper=0.9452 state[joint_eff]: [-0.294, -1.1966, 6.6803, 1.8632, -0.0513, -0.0611, -0.0122, -0.7316, -2.6188, 10.4137, 1.8193, 0.1392, -0.0464, -0.0269] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.2, "right_y": 0.35, "right_z": 0.25}, "note": "Moving the right arm far to the side so the overhead camera has an unobstructed view of the bottle I just released, to check whether it is really standing."})
tool
executing move_to over 21 steps (2.1s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteAll three bottles are still lying down: my last grab was on the squeezable mid-body (4.6 cm), which held the bottle horizontal. I'm now reaching ~3 cm further out to put the jaws over the narrow neck just behind the cap of the rightmost bottle.
move_to
right_x0.4850right_y0.2000right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7456, 0.5014, -0.3298, -0.0231, -0.0292, 0.9982, 1.3983, 1.7176, 1.5944, -1.076, 0.9161, 1.042, 0.9452] state[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1563 left_yaw=-0.0009 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9982 right_x=0.1986 right_y=0.3446 right_z=0.2372 right_yaw=0.1271 right_pitch=-0.0361 right_roll=-0.0483 right_gripper=0.9452 state[joint_eff]: [-0.1709, -1.5658, 6.2838, 1.8339, -0.0464, -0.0513, -0.0122, 0.2667, -7.665, 8.8137, 0.8913, 0.7448, 0.1832, -0.0122] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.485, "right_y": 0.2, "right_z": 0.03, "right_gripper": 1.0}, "note": "All three bottles are still lying down: my last grab was on the squeezable mid-body (4.6 cm), which held the bottle horizontal. I'm now reaching ~3 cm further out to put the jaws over the narrow neck just behind the cap of the rightmost bottle."})
tool
executing move_to over 23 steps (2.3s)
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 noteThe neck is still out beyond my reach, so instead I'll grasp the bottle's upper body here, then carry it back closer to the base where its neck becomes reachable. Closing the jaws now.
move_to
right_z0.0200right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7452, 0.4988, -0.329, -0.0227, -0.0292, 0.9982, 0.5083, 2.022, 1.0149, 0.3866, 0.3264, 0.1837, 0.9985] state[eef_state]: left_x=0.2854 left_y=0.0019 left_z=0.1554 left_yaw=-0.0013 left_pitch=-0.0122 left_roll=-0.0003 left_gripper=0.9982 right_x=0.4714 right_y=0.2019 right_z=0.0367 right_yaw=0.1254 right_pitch=-0.0156 right_roll=-0.0233 right_gripper=0.9985 state[joint_eff]: [-0.1983, -1.4701, 6.4342, 1.8535, -0.0269, -0.0806, -0.0122, -1.7026, -7.0222, 6.6667, 1.5263, -0.0122, 0.1685, -0.1734] 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_z": 0.02, "right_gripper": 0.0}, "note": "The neck is still out beyond my reach, so instead I'll grasp the bottle's upper body here, then carry it back closer to the base where its neck becomes reachable. Closing the jaws now."})
tool
executing move_to over 10 steps (1.0s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThat close came up empty (0.017), so the jaws were past the bottle; returning to the pose where I successfully gripped its body to pick it up and drag it closer to the base.
move_to
right_x0.4550right_y0.2120right_z0.0400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7456, 0.4988, -0.3267, -0.0231, -0.0292, 0.9982, 0.5045, 2.0396, 1.0016, 0.5602, 0.3122, 0.1802, 0.0172] state[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1557 left_yaw=-0.0009 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9982 right_x=0.4859 right_y=0.2104 right_z=0.0576 right_yaw=0.1326 right_pitch=0.1144 right_roll=0.0332 right_gripper=0.0172 state[joint_eff]: [-0.1846, -1.6752, 6.2291, 1.8535, -0.0464, -0.0415, -0.0122, -0.1709, -7.6376, 4.1641, 1.0965, 0.0464, 0.0611, 1.0965] approver: 10 step(s) modified (delta_clamped ×10). 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_x": 0.455, "right_y": 0.212, "right_z": 0.04, "right_gripper": 1.0}, "note": "That close came up empty (0.017), so the jaws were past the bottle; returning to the pose where I successfully gripped its body to pick it up and drag it closer to the base."})
tool
executing move_to over 10 steps (1.0s)
step 198
top_cam
camera top_cam step 198
left_cam
camera left_cam step 198
right_cam
camera right_cam step 198
assistant
agent noteThe wrist view shows the bottle's near end sitting right between the open jaws; closing to grip it so I can carry and re-orient it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0231, -0.0288, 0.9982, 0.5446, 2.0071, 0.976, 0.4259, 0.337, 0.2028, 0.9949] state[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=-0.0011 left_pitch=-0.0099 left_roll=0.0002 left_gripper=0.9982 right_x=0.4593 right_y=0.2141 right_z=0.0374 right_yaw=0.1426 right_pitch=0.0009 right_roll=-0.0071 right_gripper=0.9949 state[joint_eff]: [-0.1983, -1.4838, 6.2974, 1.8535, -0.0415, -0.0317, -0.0122, 0.2803, -11.7675, 4.7932, 1.6386, 0.232, 0.1294, 0.0708] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The wrist view shows the bottle's near end sitting right between the open jaws; closing to grip it so I can carry and re-orient it."})
tool
executing move_to over 10 steps (1.0s)
step 208
top_cam
camera top_cam step 208
left_cam
camera left_cam step 208
right_cam
camera right_cam step 208
assistant
agent noteGripper settled at 0.52 (~5 cm) so the bottle's body is held; lifting it clear of the table and drawing it back before re-orienting.
move_to
right_z0.2200right_x0.4200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7456, 0.498, -0.326, -0.0227, -0.0292, 0.9982, 0.5484, 2.0071, 0.963, 0.4103, 0.334, 0.2043, 0.5223] state[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1555 left_yaw=-0.0013 left_pitch=-0.0103 left_roll=-0.0003 left_gripper=0.9982 right_x=0.453 right_y=0.2131 right_z=0.0295 right_yaw=0.148 right_pitch=-0.0261 right_roll=-0.0154 right_gripper=0.5223 state[joint_eff]: [-0.3761, -1.5795, 6.4205, 1.8339, -0.0317, -0.0708, -0.0122, -0.7316, -9.894, 6.3385, 1.8193, 0.0366, 0.022, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_x": 0.42}, "note": "Gripper settled at 0.52 (~5 cm) so the bottle's body is held; lifting it clear of the table and drawing it back before re-orienting."})
tool
executing move_to over 13 steps (1.3s)
step 221
top_cam
camera top_cam step 221
left_cam
camera left_cam step 221
right_cam
camera right_cam step 221
assistant
agent noteThe bottle is off the table in the jaws and appears to be hanging cap-up in the wrist view; moving it to a clear spot to the right before lowering and releasing.
move_to
right_x0.3600right_y0.2700right_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7456, 0.498, -0.326, -0.0231, -0.0292, 0.9982, 0.5968, 1.6588, 1.1763, -0.3519, 0.3325, 0.2123, 0.5258] state[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1555 left_yaw=-0.0009 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9982 right_x=0.4004 right_y=0.2067 right_z=0.1389 right_yaw=0.1839 right_pitch=-0.2107 right_roll=-0.088 right_gripper=0.5258 state[joint_eff]: [-0.1026, -1.4291, 6.2291, 1.8926, -0.0317, -0.0757, -0.0122, 0.335, -13.4906, 12.6427, 2.8205, 0.5104, 0.1929, 0.8669] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.27, "right_z": 0.16}, "note": "The bottle is off the table in the jaws and appears to be hanging cap-up in the wrist view; moving it to a clear spot to the right before lowering and releasing."})
tool
executing move_to over 6 steps (0.6s)
step 227
assistant
agent noteThe bottle is held horizontally pointing away from the base; raising it and yawing the tool -90° so the bottle ends up lying sideways, which brings its cap end within easy reach when I set it back down.
move_to
right_z0.2000right_yaw-1.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7456, 0.498, -0.3264, -0.0231, -0.0292, 0.9982, 0.8246, 1.6196, 0.9733, -0.2371, 0.4438, 0.329, 0.5276] state[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1555 left_yaw=-0.0009 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9982 right_x=0.3316 right_y=0.2522 right_z=0.0987 right_yaw=0.2541 right_pitch=-0.2082 right_roll=-0.1025 right_gripper=0.5276 state[joint_eff]: [-0.0479, -1.2376, 6.2838, 1.8486, -0.0317, -0.0659, -0.0122, 0.0889, -8.8137, 11.9726, 2.5763, 0.735, 0.1685, 0.7106] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_yaw": -1.5}, "note": "The bottle is held horizontally pointing away from the base; raising it and yawing the tool -90\u00b0 so the bottle ends up lying sideways, which brings its cap end within easy reach when I set it back down."})
tool
executing move_to over 12 steps (1.2s)
step 239
assistant
agent noteThe arm ignored the large yaw command (nothing moved), so I'm making a smaller combined step: lift a little and yaw 0.4 rad, to see whether the wrist will rotate incrementally.
move_to
right_z0.1400right_yaw-0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7456, 0.498, -0.3264, -0.0227, -0.0292, 0.9982, 0.8902, 1.6073, 0.8646, -0.1711, 0.5579, 0.4526, 0.5276] state[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1555 left_yaw=-0.0013 left_pitch=-0.0107 left_roll=-0.0003 left_gripper=0.9982 right_x=0.3122 right_y=0.2427 right_z=0.0803 right_yaw=0.1639 right_pitch=-0.1722 right_roll=-0.1022 right_gripper=0.5276 state[joint_eff]: [-0.1162, -1.4974, 6.2017, 1.8339, -0.022, -0.0611, -0.0122, -0.1983, -10.4137, 8.4991, 2.3956, 0.9402, 0.1734, 0.6764] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.14, "right_yaw": -0.4}, "note": "The arm ignored the large yaw command (nothing moved), so I'm making a smaller combined step: lift a little and yaw 0.4 rad, to see whether the wrist will rotate incrementally."})
tool
executing move_to over 4 steps (0.4s)
step 243
assistant
agent noteThe wrist is rotating now (yaw -0.2); continuing the rotation toward -1.2 rad so the held bottle swings around to lie across the table with its cap end near the base.
move_to
right_yaw-1.2000right_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7399, 0.498, -0.3214, -0.0235, -0.0292, 0.9982, 1.0294, 1.9923, 1.3582, -0.6155, 0.833, 1.0172, 0.5296] state[eef_state]: left_x=0.2861 left_y=0.002 left_z=0.158 left_yaw=-0.0006 left_pitch=0.0 left_roll=-0.0001 left_gripper=0.9982 right_x=0.3256 right_y=0.2948 right_z=0.077 right_yaw=-0.2021 right_pitch=-0.1271 right_roll=-0.0914 right_gripper=0.5296 state[joint_eff]: [-0.1436, -0.8957, 6.2291, 1.7656, -0.0513, -0.0757, -0.0122, -2.5368, -17.9077, 6.3932, 0.9841, 1.79, 0.1392, 0.5739] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": -1.2, "right_z": 0.14}, "note": "The wrist is rotating now (yaw -0.2); continuing the rotation toward -1.2 rad so the held bottle swings around to lie across the table with its cap end near the base."})
tool
executing move_to over 7 steps (0.7s)
step 250
assistant
agent noteThe bottle is dragging on the table (z sagged to 0.067), which is resisting the rotation; commanding a higher lift together with more yaw.
move_to
right_yaw-1.2000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7456, 0.498, -0.3267, -0.0231, -0.0292, 0.9982, 1.0725, 2.1391, 1.5009, -0.8719, 0.9688, 1.3838, 0.5283] state[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1554 left_yaw=-0.0009 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9982 right_x=0.3182 right_y=0.2877 right_z=0.0671 right_yaw=-0.4067 right_pitch=-0.035 right_roll=-0.0824 right_gripper=0.5283 state[joint_eff]: [-0.0752, -1.3197, 7.0632, 1.7753, -0.0171, -0.0513, -0.0122, -0.294, -12.7111, 6.7487, 0.3883, 0.7546, 0.1685, -0.1538] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": -1.2, "right_z": 0.2}, "note": "The bottle is dragging on the table (z sagged to 0.067), which is resisting the rotation; commanding a higher lift together with more yaw."})
tool
executing move_to over 9 steps (0.9s)
step 259
assistant
agent noteThe bottle has been rotated so its cap now points back toward the base (visible between the jaws in the wrist view); setting it down and releasing so I can re-grip it by the neck, which is now within reach.
move_to
right_z0.0500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.741, 0.498, -0.3229, -0.0231, -0.0292, 0.9982, 0.7761, 2.2669, 1.8038, -1.2388, 0.9009, 1.771, 0.5281] state[eef_state]: left_x=0.2859 left_y=0.0019 left_z=0.1574 left_yaw=-0.0009 left_pitch=-0.0027 left_roll=-0.0003 left_gripper=0.9982 right_x=0.3882 right_y=0.192 right_z=0.0808 right_yaw=-0.9271 right_pitch=-0.096 right_roll=0.037 right_gripper=0.5281 state[joint_eff]: [-0.212, -1.1966, 6.4752, 1.8828, -0.0464, -0.0757, -0.0122, 2.0308, -13.3402, 6.9265, 0.0855, 0.442, 0.149, -0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.05, "right_gripper": 1.0}, "note": "The bottle has been rotated so its cap now points back toward the base (visible between the jaws in the wrist view); setting it down and releasing so I can re-grip it by the neck, which is now within reach."})
tool
executing move_to over 5 steps (0.5s)
step 264
assistant
agent noteThe bottle now lies with its cap just short of the fingertips; backing up 3.5 cm and dropping to table level, with the jaws squared up a bit, to straddle the narrow neck behind the cap.
move_to
right_x0.3450right_y0.2150right_z0.0250right_yaw-0.6000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.741, 0.4976, -0.3264, -0.0231, -0.0292, 0.9982, 0.8497, 2.3959, 2.075, -1.5284, 0.9413, 1.8988, 0.9953] state[eef_state]: left_x=0.2854 left_y=0.0019 left_z=0.1565 left_yaw=-0.0009 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9982 right_x=0.38 right_y=0.2215 right_z=0.1037 right_yaw=-0.9233 right_pitch=-0.034 right_roll=0.0013 right_gripper=0.9953 state[joint_eff]: [-0.3214, -0.6632, 6.8855, 1.8339, -0.0708, -0.0806, -0.0122, -0.8684, -11.3983, 6.9538, -0.2466, 0.8376, -0.0171, -0.2564] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.345, "right_y": 0.215, "right_z": 0.025, "right_yaw": -0.6}, "note": "The bottle now lies with its cap just short of the fingertips; backing up 3.5 cm and dropping to table level, with the jaws squared up a bit, to straddle the narrow neck behind the cap."})
tool
executing move_to over 6 steps (0.6s)
step 270
assistant
agent noteThe arm froze again at that awkward wrist angle; unwinding the yaw toward -0.3 while pulling back and down, to get into a pose the IK accepts over the bottle's neck.
move_to
right_x0.3500right_y0.2150right_z0.0400right_yaw-0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.741, 0.4976, -0.3267, -0.0231, -0.0292, 0.9982, 0.8375, 2.3989, 2.075, -1.5452, 0.9421, 1.8946, 0.9971] state[eef_state]: left_x=0.2854 left_y=0.0019 left_z=0.1564 left_yaw=-0.0009 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3809 right_y=0.2147 right_z=0.1034 right_yaw=-0.9336 right_pitch=-0.0293 right_roll=-0.0214 right_gripper=0.9971 state[joint_eff]: [-0.1299, -1.2923, 6.8171, 1.7949, -0.0171, -0.0659, -0.0122, -0.4581, -11.8906, 6.7761, -0.1538, 0.7741, -0.0415, 0.1832] approver: 1 step(s) modified (delta_clamped). 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": 0.35, "right_y": 0.215, "right_z": 0.04, "right_yaw": -0.3}, "note": "The arm froze again at that awkward wrist angle; unwinding the yaw toward -0.3 while pulling back and down, to get into a pose the IK accepts over the bottle's neck."})
tool
executing move_to over 5 steps (0.5s)
step 275
assistant
agent noteThe arm will not descend below ~0.10 here, likely because its wrist is over the bottle body; pulling back 4 cm and trying to reach table level again just behind the cap.
move_to
right_x0.3100right_y0.2100right_z0.0300right_yaw-0.7000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7406, 0.4976, -0.3256, -0.0231, -0.0292, 0.9982, 0.8776, 2.1624, 1.7416, -1.3067, 0.9081, 1.6722, 0.9979] state[eef_state]: left_x=0.2855 left_y=0.0019 left_z=0.1568 left_yaw=-0.0009 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3518 right_y=0.2112 right_z=0.1095 right_yaw=-0.7735 right_pitch=-0.0867 right_roll=-0.0662 right_gripper=0.9979 state[joint_eff]: [-0.253, -0.8274, 6.7761, 1.8926, -0.0562, -0.0562, -0.0122, -0.1709, -16.4581, 8.5675, 0.9646, 0.6667, -0.2125, 0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.31, "right_y": 0.21, "right_z": 0.03, "right_yaw": -0.7}, "note": "The arm will not descend below ~0.10 here, likely because its wrist is over the bottle body; pulling back 4 cm and trying to reach table level again just behind the cap."})
tool
executing move_to over 6 steps (0.6s)
step 281
assistant
agent noteThe wrist view shows the bottle's blue cap centred just ahead of the jaws; advancing 3.5 cm so the jaws straddle the narrow neck right behind that cap.
move_to
right_x0.3450right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.741, 0.4976, -0.3271, -0.0231, -0.0292, 0.9982, 0.981, 2.1517, 1.3533, -0.9791, 0.9756, 1.7439, 0.998] state[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1563 left_yaw=-0.0009 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3098 right_y=0.2064 right_z=0.0338 right_yaw=-0.6987 right_pitch=-0.0138 right_roll=-0.0512 right_gripper=0.998 state[joint_eff]: [-0.212, -0.759, 6.6667, 1.8144, -0.0464, -0.0464, -0.0122, 0.3761, -10.4137, 4.6291, 0.0708, 0.5885, 0.0659, 0.0073] approver: 1 step(s) modified (delta_clamped). 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": 0.345, "right_z": 0.03}, "note": "The wrist view shows the bottle's blue cap centred just ahead of the jaws; advancing 3.5 cm so the jaws straddle the narrow neck right behind that cap."})
tool
executing move_to over 3 steps (0.3s)
step 284
assistant
agent noteStill short of the neck (the label fills the lower frame), so I'm creeping 4 cm further forward at a slightly higher hover to get the jaws over the neck.
move_to
right_x0.3700right_z0.0450right_y0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7403, 0.4976, -0.3267, -0.0227, -0.0292, 0.9982, 0.934, 2.1536, 1.3441, -0.8829, 0.9756, 1.6684, 0.998] state[eef_state]: left_x=0.2853 left_y=0.0019 left_z=0.1566 left_yaw=-0.0013 left_pitch=-0.0061 left_roll=-0.0004 left_gripper=0.9982 right_x=0.327 right_y=0.2022 right_z=0.0288 right_yaw=-0.7034 right_pitch=-0.0226 right_roll=-0.0294 right_gripper=0.998 state[joint_eff]: [-0.1026, -1.1966, 6.4752, 1.8193, -0.0269, -0.0708, -0.0122, -0.9641, -8.3077, 6.9812, 0.4127, 0.7009, -0.105, -0.0073] camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_z": 0.045, "right_y": 0.2}, "note": "Still short of the neck (the label fills the lower frame), so I'm creeping 4 cm further forward at a slightly higher hover to get the jaws over the neck."})
tool
executing move_to over 4 steps (0.4s)
step 288
assistant
agent noteThe arm stalls at x≈0.34 with the wrist yawed; squaring the wrist back to yaw 0 (jaws closing across the bottle axis anyway) and reaching to x=0.40 to get over the neck.
move_to
right_x0.4000right_z0.0400right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7403, 0.4976, -0.3267, -0.0231, -0.0292, 0.9982, 0.9092, 2.1544, 1.3514, -0.8402, 0.9764, 1.6176, 0.998] state[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1566 left_yaw=-0.0009 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3377 right_y=0.2014 right_z=0.0294 right_yaw=-0.6997 right_pitch=-0.025 right_roll=-0.0223 right_gripper=0.998 state[joint_eff]: [-0.2393, -1.2239, 6.5709, 1.7851, -0.022, -0.0659, -0.0122, -0.3897, -8.9504, 6.653, 0.3297, 0.6716, -0.0122, -0.0073] camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_z": 0.04, "right_yaw": 0.0}, "note": "The arm stalls at x\u22480.34 with the wrist yawed; squaring the wrist back to yaw 0 (jaws closing across the bottle axis anyway) and reaching to x=0.40 to get over the neck."})
tool
executing move_to over 5 steps (0.5s)
step 293
assistant
agent noteI could not stand any bottle upright within the call budget: the right arm repeatedly froze (identical readback across commands) whenever it was at low z out near x≈0.34–0.45, and the only grasp geometry that can right a bottle with pitch/roll pinned — a loose grip on the narrow neck so the bottle swings vertical — needed the cap end, which kept sitting a few centimetres beyond where the arm would advance.
give_up
hindsightKey things I wish I'd known: (1) With pitch and roll pinned at 0 the ONLY way to right a lying bottle is to grip it loosely near the neck/cap so it pivots and hangs cap-up under gravity; a grip on the body (settled reading ~0.45–0.55, i.e. 4.5–5 cm on a squeezable 500 ml bottle) is firm and keeps the bottle horizontal, and yaw cannot help. (2) The bottles in this scene lie along +x with their caps pointing AWAY from the bases, around x≈0.45–0.55 — right at/beyond the arm's practical low-z reach, so the cap must first be brought closer (pick up the body, carry back to x≈0.30 and yaw ~90° so the bottle lies across y, putting the neck at an easy spot). (3) This rig's IK stalls a lot: at low z (<0.05) beyond x≈0.34 with a non-zero yaw, and generally after several clamped steps, the arm returns byte-identical readbacks and ignores commands; recovery is to raise z and reduce x in one modest move. Never assume a commanded x was reached — readback often falls 3–8 cm short. (4) Top-camera x-estimates from row position were badly compressed: objects were ~10 cm further forward than the naive row→x mapping suggested; the wrist camera at z≈0.08–0.15 was more useful, and lateral alignment there is ~10 px/cm at 10–15 cm range. (5) Budget: each align/probe cycle costs 2–3 calls; a single bottle takes ~12–15 calls, so three bottles needs a very direct plan.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7403, 0.4976, -0.3267, -0.0227, -0.0292, 0.9982, 0.9092, 2.1548, 1.3514, -0.8402, 0.9764, 1.6173, 0.9981] state[eef_state]: left_x=0.2853 left_y=0.0019 left_z=0.1566 left_yaw=-0.0013 left_pitch=-0.0061 left_roll=-0.0004 left_gripper=0.9982 right_x=0.3377 right_y=0.2013 right_z=0.0292 right_yaw=-0.6995 right_pitch=-0.025 right_roll=-0.023 right_gripper=0.9981 state[joint_eff]: [-0.1162, -1.1692, 6.5983, 1.8095, -0.0269, -0.0757, -0.0122, -0.3624, -8.8274, 6.612, 0.3053, 0.6667, -0.0415, -0.0073] camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I could not stand any bottle upright within the call budget: the right arm repeatedly froze (identical readback across commands) whenever it was at low z out near x\u22480.34\u20130.45, and the only grasp geometry that can right a bottle with pitch/roll pinned \u2014 a loose grip on the narrow neck so the bottle swings vertical \u2014 needed the cap end, which kept sitting a few centimetres beyond where the arm would advance.", "hindsight": "Key things I wish I'd known: (1) With pitch and roll pinned at 0 the ONLY way to right a lying bottle is to grip it loosely near the neck/cap so it pivots and hangs cap-up under gravity; a grip on the body (settled reading ~0.45\u20130.55, i.e. 4.5\u20135 cm on a squeezable 500 ml bottle) is firm and keeps the bottle horizontal, and yaw cannot help. (2) The bottles in this scene lie along +x with their caps pointing AWAY from the bases, around x\u22480.45\u20130.55 \u2014 right at/beyond the arm's practical low-z reach, so the cap must first be brought closer (pick up the body, carry back to x\u22480.30 and yaw ~90\u00b0 so the bottle lies across y, putting the neck at an easy spot). (3) This rig's IK stalls a lot: at low z (<0.05) beyond x\u22480.34 with a non-zero yaw, and generally after several clamped steps, the arm returns byte-identical readbacks and ignores commands; recovery is to raise z and reduce x in one modest move. Never assume a commanded x was reached \u2014 readback often falls 3\u20138 cm short. (4) Top-camera x-estimates from row position were badly compressed: objects were ~10 cm further forward than the naive row\u2192x mapping suggested; the wrist camera at z\u22480.08\u20130.15 was more useful, and lateral alignment there is ~10 px/cm at 10\u201315 cm range. (5) Budget: each align/probe cycle costs 2\u20133 calls; a single bottle takes ~12\u201315 calls, so three bottles needs a very direct plan."})
tool
give_up: I could not stand any bottle upright within the call budget: the right arm repeatedly froze (identical readback across commands) whenever it was at low z out near x≈0.34–0.45, and the only grasp geometry that can right a bottle with pitch/roll pinned — a loose grip on the narrow neck so the bottle swings vertical — needed the cap end, which kept sitting a few centimetres beyond where the arm would advance.
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 · 26.8 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6067, -0.3775, -0.0231, -0.0288, 0.9988, -0.0174, 0.7876, 0.6033, -0.3836, -0.0177, -0.025, 0.9986]\nstate[eef_state]: left_x=0.2953 left_y=0.0021 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2938 right_y=0.0016 right_z=0.1807 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -1.3607, 9.8256, 1.8046, 0.0269, 0.1099, -0.1392, -0.6496, -0.8957, 10.2222, 1.8144, -0.0464, 0.0757, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2466b7ed533bbe87dbbd62b402ffe9276b74070b5144ddf942047cee3e2b1af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ad5de874150e5c1929316170fea6b474ed041a8c05be59a27e86e525dd178e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ff62183d1d68fd4a4e4d213ab994c5535e0a99dcbdf62a44f488a54f86ee33e",
        "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 · 15.4 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]: [-0.0189, 0.7925, 0.6067, -0.3775, -0.0231, -0.0288, 0.9988, -0.0174, 0.7876, 0.6033, -0.3836, -0.0177, -0.025, 0.9986]\nstate[eef_state]: left_x=0.2953 left_y=0.0021 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2938 right_y=0.0016 right_z=0.1807 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -1.3607, 9.8256, 1.8046, 0.0269, 0.1099, -0.1392, -0.6496, -0.8957, 10.2222, 1.8144, -0.0464, 0.0757, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2466b7ed533bbe87dbbd62b402ffe9276b74070b5144ddf942047cee3e2b1af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ad5de874150e5c1929316170fea6b474ed041a8c05be59a27e86e525dd178e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ff62183d1d68fd4a4e4d213ab994c5535e0a99dcbdf62a44f488a54f86ee33e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K7YmSq2RhFnrHobXLo3aWL",
      "input": {
        "note": "Three bottles lie on their sides in the middle of the table. I'm moving the right arm above the rightmost bottle to inspect it with the wrist camera and find its cap end.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.32,
          "right_y": 0.26,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01K7YmSq2RhFnrHobXLo3aWL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.387, -0.0231, -0.0292, 0.9985, 0.9691, 1.5711, 0.9871, -0.3054, 0.7334, 0.6106, 0.9986]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.0084 left_roll=-0.0002 left_gripper=0.9985 right_x=0.3121 right_y=0.252 right_z=0.1347 right_yaw=0.0402 right_pitch=-0.0481 right_roll=-0.054 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -1.7026, 6.5846, 1.8193, -0.0171, -0.0513, -0.0366, 0.0889, -6.8171, 8.9368, 1.4774, 0.6374, 0.2222, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a877a646e339ce6d248e4276d940df0a33fe3bf1b8b9f5fa78af5e3d9b0a14d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a03a26fa336b65e16f20ed3eab31016030096161b8b63a9dd4d43c5c49107520",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f5cc8bc2a65c8c5aa177f49be132db11418eb5818058f65bbd6394a5bf1249b",
        "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 · 17.77 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]: [-0.0189, 0.7925, 0.6067, -0.3775, -0.0231, -0.0288, 0.9988, -0.0174, 0.7876, 0.6033, -0.3836, -0.0177, -0.025, 0.9986]\nstate[eef_state]: left_x=0.2953 left_y=0.0021 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2938 right_y=0.0016 right_z=0.1807 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -1.3607, 9.8256, 1.8046, 0.0269, 0.1099, -0.1392, -0.6496, -0.8957, 10.2222, 1.8144, -0.0464, 0.0757, -0.1636]",
      "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, 0.7982, 0.6136, -0.387, -0.0231, -0.0292, 0.9985, 0.9691, 1.5711, 0.9871, -0.3054, 0.7334, 0.6106, 0.9986]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.0084 left_roll=-0.0002 left_gripper=0.9985 right_x=0.3121 right_y=0.252 right_z=0.1347 right_yaw=0.0402 right_pitch=-0.0481 right_roll=-0.054 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -1.7026, 6.5846, 1.8193, -0.0171, -0.0513, -0.0366, 0.0889, -6.8171, 8.9368, 1.4774, 0.6374, 0.2222, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a877a646e339ce6d248e4276d940df0a33fe3bf1b8b9f5fa78af5e3d9b0a14d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a03a26fa336b65e16f20ed3eab31016030096161b8b63a9dd4d43c5c49107520",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f5cc8bc2a65c8c5aa177f49be132db11418eb5818058f65bbd6394a5bf1249b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WWS8rwahqcc3x5CCXxN4rb",
      "input": {
        "note": "The right wrist camera shows two bottles lying with their caps pointing away from the base. I'm moving over the neck of the rightmost bottle to line up a grasp just below its cap.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.28,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WWS8rwahqcc3x5CCXxN4rb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7979, 0.6136, -0.387, -0.0231, -0.0292, 0.9983, 0.9798, 1.6985, 0.9634, -0.1448, 0.7341, 0.6163, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1819 left_yaw=-0.0009 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3203 right_y=0.2714 right_z=0.0991 right_yaw=0.0476 right_pitch=-0.0418 right_roll=-0.042 right_gripper=0.9985\nstate[joint_eff]: [-0.335, -1.5521, 6.5162, 1.7998, -0.0708, -0.0611, -0.0317, -0.5265, -8.3077, 6.1607, 1.37, 0.4615, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2536d23f53f829e4bad07155b34c1bcd787d467530173ba5989e612c9b2f1767",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc5de220a83b784db6d38f86ca5c30908f839cbdf8225bcdd12296b4ea881412",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49ffe7d91fa1738d64823967debc40bdac8b6ef07cb532cad6767f44051fa25d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 6.404 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]: [-0.0189, 0.7925, 0.6067, -0.3775, -0.0231, -0.0288, 0.9988, -0.0174, 0.7876, 0.6033, -0.3836, -0.0177, -0.025, 0.9986]\nstate[eef_state]: left_x=0.2953 left_y=0.0021 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2938 right_y=0.0016 right_z=0.1807 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -1.3607, 9.8256, 1.8046, 0.0269, 0.1099, -0.1392, -0.6496, -0.8957, 10.2222, 1.8144, -0.0464, 0.0757, -0.1636]",
      "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, 0.7982, 0.6136, -0.387, -0.0231, -0.0292, 0.9985, 0.9691, 1.5711, 0.9871, -0.3054, 0.7334, 0.6106, 0.9986]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.0084 left_roll=-0.0002 left_gripper=0.9985 right_x=0.3121 right_y=0.252 right_z=0.1347 right_yaw=0.0402 right_pitch=-0.0481 right_roll=-0.054 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -1.7026, 6.5846, 1.8193, -0.0171, -0.0513, -0.0366, 0.0889, -6.8171, 8.9368, 1.4774, 0.6374, 0.2222, -0.1636]",
      "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, 0.7979, 0.6136, -0.387, -0.0231, -0.0292, 0.9983, 0.9798, 1.6985, 0.9634, -0.1448, 0.7341, 0.6163, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1819 left_yaw=-0.0009 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3203 right_y=0.2714 right_z=0.0991 right_yaw=0.0476 right_pitch=-0.0418 right_roll=-0.042 right_gripper=0.9985\nstate[joint_eff]: [-0.335, -1.5521, 6.5162, 1.7998, -0.0708, -0.0611, -0.0317, -0.5265, -8.3077, 6.1607, 1.37, 0.4615, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2536d23f53f829e4bad07155b34c1bcd787d467530173ba5989e612c9b2f1767",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc5de220a83b784db6d38f86ca5c30908f839cbdf8225bcdd12296b4ea881412",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49ffe7d91fa1738d64823967debc40bdac8b6ef07cb532cad6767f44051fa25d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AZgPisK8MaQMTe4B3yaLNn",
      "input": {
        "note": "In the right wrist view the target bottle sits to the right of the jaw column, so I'm shifting the gripper ~4 cm toward the arm's right (-y) and lowering slightly to line up over its neck.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.235,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01AZgPisK8MaQMTe4B3yaLNn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0235, -0.0292, 0.9983, 0.9798, 1.7401, 0.9619, -0.0875, 0.7292, 0.6006, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1816 left_yaw=-0.0006 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.3243 right_y=0.2785 right_z=0.0894 right_yaw=0.0598 right_pitch=-0.0367 right_roll=-0.0413 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -1.7573, 6.3932, 1.8144, -0.0464, -0.0415, -0.022, -0.7453, -8.8547, 6.3385, 1.6386, 0.3541, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbfe8f86a07afba57e65d3028f8f511fb60245d88f79aedea84570f6cd6333e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1b740cfe0e8c81a8a5dd0c2e0754542d4c8e5691c735bb1d3fb383ee5500990",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75b3ef85451a2cef30276b419f70d57b594b79971c68f6d7056184d5c51961ed",
        "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 · 7.387 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, 0.7982, 0.6136, -0.387, -0.0231, -0.0292, 0.9985, 0.9691, 1.5711, 0.9871, -0.3054, 0.7334, 0.6106, 0.9986]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.0084 left_roll=-0.0002 left_gripper=0.9985 right_x=0.3121 right_y=0.252 right_z=0.1347 right_yaw=0.0402 right_pitch=-0.0481 right_roll=-0.054 right_gripper=0.9986\nstate[joint_eff]: [-0.2393, -1.7026, 6.5846, 1.8193, -0.0171, -0.0513, -0.0366, 0.0889, -6.8171, 8.9368, 1.4774, 0.6374, 0.2222, -0.1636]",
      "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, 0.7979, 0.6136, -0.387, -0.0231, -0.0292, 0.9983, 0.9798, 1.6985, 0.9634, -0.1448, 0.7341, 0.6163, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1819 left_yaw=-0.0009 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3203 right_y=0.2714 right_z=0.0991 right_yaw=0.0476 right_pitch=-0.0418 right_roll=-0.042 right_gripper=0.9985\nstate[joint_eff]: [-0.335, -1.5521, 6.5162, 1.7998, -0.0708, -0.0611, -0.0317, -0.5265, -8.3077, 6.1607, 1.37, 0.4615, -0.0659, -0.0171]",
      "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, 0.7982, 0.6132, -0.387, -0.0235, -0.0292, 0.9983, 0.9798, 1.7401, 0.9619, -0.0875, 0.7292, 0.6006, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1816 left_yaw=-0.0006 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.3243 right_y=0.2785 right_z=0.0894 right_yaw=0.0598 right_pitch=-0.0367 right_roll=-0.0413 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -1.7573, 6.3932, 1.8144, -0.0464, -0.0415, -0.022, -0.7453, -8.8547, 6.3385, 1.6386, 0.3541, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbfe8f86a07afba57e65d3028f8f511fb60245d88f79aedea84570f6cd6333e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1b740cfe0e8c81a8a5dd0c2e0754542d4c8e5691c735bb1d3fb383ee5500990",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75b3ef85451a2cef30276b419f70d57b594b79971c68f6d7056184d5c51961ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5AUKjgEIEhgCKkDqKV0wPATeuKx5kO+eob91yVCiDBw/zFvLDJPWXq5KktQhkM7a6WX2uZrDm3HxApM6JtRE2aEfxnxGpjyiuVn7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfCOzNUGEgyna2+Ze9w3yHPGhBoaDPkOYmX2MJYFT5jaiyIwHCdEGDDXyoiBiqh/4VNdm5+6U8Dya8mILnMBLFvQswognJEuN7ZuX+OEiaYxn4jsKoIElpwxgvtZx1nNhvDdse4W8b8uPV7bRSxiR0K5LShCp9PVSpoKJI7ZA65Kk4WRRj7aqfqP9EAv2wBXvksSmJ5qtmTh9jyd2zYKc9h5D2CsG/d/rDScp1ClXo7sJ54aEvOpb9XOZ5WDrUNCDzkOTd57zdlMN2OY3C4q676UJPexud7JkICYceGptfJz96DpeFpjEvZ7EOihF+ea+nqTljc1+2a9XhJjV+V5jLXP1uGYcyuL/w3+OhecPp1eF96/dmMfpVQLIxJT3pXDoF2ICRkgLAg2ZE4il78YUgbJ1lgEx7G4P/lZfK972cHALdHVvM3ghPiY+0GPMSnq4PHxoo4f/OOCwjZvUd3NnoCH7Q3U/k8f4T2ZYUO99HFoDG3YVqUTIRgQgF7mKBu6CH6YHAH1nesIpVkUQ7IZcVkHPaovHbYhy48mFsYg3/STyCJA05/0jwIDZzY8ijmVwFGbmgphwLaXb1WzBJDflKcrt2gFR7EQ1GhvL0wX0Ka4KkK6pt2h8P+nbkUz1swOmhqDeokcsZKIGqxG13j0bjNH/h66BETAmL+9asw1YHP5sc9yDda1iBmzxKg9ylEDOnFopa/WXUXWDPAs0dEiHWpnP3gpaa72MwfefzQwMEa28k3a16laUyyGehXSlvCVZvbdlGd9kd347vqUeUREsSlOplWQgB/yDxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F6Znd73h79uYyY8VWwarNZ",
      "input": {
        "note": "The arm didn't track my sideways command (y read 0.279 vs 0.235 commanded), so I'm re-sending the shift toward the arm's right to centre the bottle neck under the jaws.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.23,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01F6Znd73h79uYyY8VWwarNZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.9798, 1.7401, 0.9619, -0.0875, 0.7296, 0.6006, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1817 left_yaw=-0.0009 left_pitch=-0.0084 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3243 right_y=0.2784 right_z=0.0894 right_yaw=0.0595 right_pitch=-0.0364 right_roll=-0.0415 right_gripper=0.9985\nstate[joint_eff]: [-0.3624, -1.7709, 6.3521, 1.8584, -0.0415, -0.0366, -0.0171, -0.7726, -8.8684, 6.1607, 1.6337, 0.3736, 0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7316db1174dafd36e47a85ba320155153d009de103a2900e238253ab25b67dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48a9409da343f40e16c6711c71bff2492090a418d1e437c57b36e900cb106fb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5efa8ad48b4cec64ff73263e1a0e0ed5e4e72412592c24ce643a9c971a85ec5b",
        "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 · 23.76 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, 0.7979, 0.6136, -0.387, -0.0231, -0.0292, 0.9983, 0.9798, 1.6985, 0.9634, -0.1448, 0.7341, 0.6163, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1819 left_yaw=-0.0009 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3203 right_y=0.2714 right_z=0.0991 right_yaw=0.0476 right_pitch=-0.0418 right_roll=-0.042 right_gripper=0.9985\nstate[joint_eff]: [-0.335, -1.5521, 6.5162, 1.7998, -0.0708, -0.0611, -0.0317, -0.5265, -8.3077, 6.1607, 1.37, 0.4615, -0.0659, -0.0171]",
      "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, 0.7982, 0.6132, -0.387, -0.0235, -0.0292, 0.9983, 0.9798, 1.7401, 0.9619, -0.0875, 0.7292, 0.6006, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1816 left_yaw=-0.0006 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.3243 right_y=0.2785 right_z=0.0894 right_yaw=0.0598 right_pitch=-0.0367 right_roll=-0.0413 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -1.7573, 6.3932, 1.8144, -0.0464, -0.0415, -0.022, -0.7453, -8.8547, 6.3385, 1.6386, 0.3541, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.9798, 1.7401, 0.9619, -0.0875, 0.7296, 0.6006, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1817 left_yaw=-0.0009 left_pitch=-0.0084 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3243 right_y=0.2784 right_z=0.0894 right_yaw=0.0595 right_pitch=-0.0364 right_roll=-0.0415 right_gripper=0.9985\nstate[joint_eff]: [-0.3624, -1.7709, 6.3521, 1.8584, -0.0415, -0.0366, -0.0171, -0.7726, -8.8684, 6.1607, 1.6337, 0.3736, 0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7316db1174dafd36e47a85ba320155153d009de103a2900e238253ab25b67dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48a9409da343f40e16c6711c71bff2492090a418d1e437c57b36e900cb106fb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5efa8ad48b4cec64ff73263e1a0e0ed5e4e72412592c24ce643a9c971a85ec5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS7wYKjgEIEhgCKkAoEr351pKyKl9dSpACBj6uAheUXkVLH07s0G+zdv6/UtCit+/H4QmddjCZyAUs5knW1YsTZmZc4oAda7yuyGWeMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfiOzNUGEgxqbB2TbZtPCeprHnUaDCAeyLLssUgvgkEfuSIwi0gMz9p2Bubzy5NElSL2LoyTFEPA1TjBURqm4oW+7KHZ8SA5fUkR9VKgijddq+PrKo0FwVNQv8MHpyL0cwqEXNiNwAnOvpMqQMgIBJ5YEUJZ6utQcP6gg6E2yqUi9d/GHmjKQrHqf40TSBMb6B0WKJCjLSu2DxZyOcQh0wFihO8FF5gNoQeynwzbNsoHbOoZwso+hBGgLJLyxnOVuh3wfTtWgG22M/JbLtX/x5199Pzgv4YI5+sRjjZZU++P7asjLR+QIo6uXv0uKhfKUf+CRwV0U2p7lJztSWjvQmp2F9C5NNPaBW7xigRmwIR5EgqOUTN1zKeasBWes3An4EyJQejwxD7F+Bwt83WR3wKEM26qbadA2q1aXFtJCxeXPKM+Yl2Jf+vw+WIZkx8DZH5txfv6ltZ3P7oSGLEWZUm8/hGyFPiOcve02CD07Yjz813h+QXIP3dc0nSfisvJI7gUblaVd0c4p73IsEbyWybiPM3ldBg2RbFQ6Je8gZafq85zI72Cla5kmZ58x43KK6KV4ffn6JlEHPniIJkBTphKguLbZO0DDMlq/38wKl26xVwQmsP4aT4+NzTSEGk0+Xk2BJeSMGvV4MSIM6+fd08iWEP6nPKSSi5a6R5uSvRKgYO+6WPgWPm501KPtMX1YwzOElMM904qLajLKbgmy9uWVjkroTRzzq5bJzLK3nYGevcKBSNGoYYB8B8oAmD0wjuIepSIsDlH1WQJBueQRoUGbPAjcYhISKtugdEW/clr5a1wwwjzyzOOt4q0AP7t+w1sBWPZKPrOaYnYvRcLm582C6isEk85XrNLBoPTiXz5XohQGMApJjmYwsDWHSSenyKqa5hlYzRm0UZTbsMtfd+S+Fm/6IfoenGFv7DK2QmzWXZ8RFUVCze9GxUlOSB/CSAJOfZXXbumMdYeIYQfscK2gkcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012nyzmNrYD4A2keaPhQGqoL",
      "input": {
        "note": "The arm has stopped tracking sideways moves, so I'm lifting it up and over to the right to break out of the stuck pose before retrying the approach.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.22,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_012nyzmNrYD4A2keaPhQGqoL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7979, 0.6132, -0.3866, -0.0231, -0.0292, 0.9982, 0.8558, 1.4612, 0.8886, -0.1776, 0.6579, 0.5026, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3301 right_y=0.2209 right_z=0.1492 right_yaw=0.0403 right_pitch=-0.0021 right_roll=-0.0014 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -1.1419, 6.5573, 1.8584, -0.0269, -0.0464, -0.0171, -0.1573, -5.9145, 7.8427, 1.5507, 0.2662, 0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04085ecf7df366a97cd3b70f1c4b1c90c254898a9f4f2ae736b9724962a8cfe0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce52c450609222157b585b75eaf5db1ce5708ec35718c7a0815e9b570f1b83c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7887a6711f17d36387a80d021a621d5708b4f663e514246db36bf6e773bf7f81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 14.97 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, 0.7982, 0.6132, -0.387, -0.0235, -0.0292, 0.9983, 0.9798, 1.7401, 0.9619, -0.0875, 0.7292, 0.6006, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1816 left_yaw=-0.0006 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.3243 right_y=0.2785 right_z=0.0894 right_yaw=0.0598 right_pitch=-0.0367 right_roll=-0.0413 right_gripper=0.9985\nstate[joint_eff]: [-0.3214, -1.7573, 6.3932, 1.8144, -0.0464, -0.0415, -0.022, -0.7453, -8.8547, 6.3385, 1.6386, 0.3541, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.9798, 1.7401, 0.9619, -0.0875, 0.7296, 0.6006, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1817 left_yaw=-0.0009 left_pitch=-0.0084 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3243 right_y=0.2784 right_z=0.0894 right_yaw=0.0595 right_pitch=-0.0364 right_roll=-0.0415 right_gripper=0.9985\nstate[joint_eff]: [-0.3624, -1.7709, 6.3521, 1.8584, -0.0415, -0.0366, -0.0171, -0.7726, -8.8684, 6.1607, 1.6337, 0.3736, 0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7979, 0.6132, -0.3866, -0.0231, -0.0292, 0.9982, 0.8558, 1.4612, 0.8886, -0.1776, 0.6579, 0.5026, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3301 right_y=0.2209 right_z=0.1492 right_yaw=0.0403 right_pitch=-0.0021 right_roll=-0.0014 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -1.1419, 6.5573, 1.8584, -0.0269, -0.0464, -0.0171, -0.1573, -5.9145, 7.8427, 1.5507, 0.2662, 0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04085ecf7df366a97cd3b70f1c4b1c90c254898a9f4f2ae736b9724962a8cfe0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce52c450609222157b585b75eaf5db1ce5708ec35718c7a0815e9b570f1b83c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7887a6711f17d36387a80d021a621d5708b4f663e514246db36bf6e773bf7f81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J1fy1jfcFVC13EY4QRmLQR",
      "input": {
        "note": "Estimates from the top and wrist views disagree, so I'm descending close to table height at the current spot to get an unambiguous close-range wrist view of where the jaws sit relative to the bottle.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.22,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01J1fy1jfcFVC13EY4QRmLQR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6132, -0.387, -0.0227, -0.0292, 0.9982, 0.8516, 1.7443, 0.6392, 0.2939, 0.6498, 0.4889, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1818 left_yaw=-0.0013 left_pitch=-0.008 left_roll=-0.0004 left_gripper=0.9982 right_x=0.3243 right_y=0.2136 right_z=0.0274 right_yaw=0.0482 right_pitch=-0.0484 right_roll=-0.0531 right_gripper=0.9985\nstate[joint_eff]: [-0.3624, -1.6889, 6.4068, 1.7949, -0.0513, -0.0122, -0.0122, 0.1573, -7.1453, 4.7521, 1.7314, 0.2662, 0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e35484508d87c5d75961cb19e415edcde4f6a2ec16400c8530ed80d6b77e17c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cfa8eea5517ab9d6b20aef34d4e7e11312cec91e1866fd795b65a838367bc3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be1d06fe87fd0e7d807621fa8ca0022ce2c0b3b36c5562fdc81eec33b40fb5a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 11.35 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, 0.7982, 0.6132, -0.3866, -0.0231, -0.0292, 0.9983, 0.9798, 1.7401, 0.9619, -0.0875, 0.7296, 0.6006, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1817 left_yaw=-0.0009 left_pitch=-0.0084 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3243 right_y=0.2784 right_z=0.0894 right_yaw=0.0595 right_pitch=-0.0364 right_roll=-0.0415 right_gripper=0.9985\nstate[joint_eff]: [-0.3624, -1.7709, 6.3521, 1.8584, -0.0415, -0.0366, -0.0171, -0.7726, -8.8684, 6.1607, 1.6337, 0.3736, 0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7979, 0.6132, -0.3866, -0.0231, -0.0292, 0.9982, 0.8558, 1.4612, 0.8886, -0.1776, 0.6579, 0.5026, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3301 right_y=0.2209 right_z=0.1492 right_yaw=0.0403 right_pitch=-0.0021 right_roll=-0.0014 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -1.1419, 6.5573, 1.8584, -0.0269, -0.0464, -0.0171, -0.1573, -5.9145, 7.8427, 1.5507, 0.2662, 0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6132, -0.387, -0.0227, -0.0292, 0.9982, 0.8516, 1.7443, 0.6392, 0.2939, 0.6498, 0.4889, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1818 left_yaw=-0.0013 left_pitch=-0.008 left_roll=-0.0004 left_gripper=0.9982 right_x=0.3243 right_y=0.2136 right_z=0.0274 right_yaw=0.0482 right_pitch=-0.0484 right_roll=-0.0531 right_gripper=0.9985\nstate[joint_eff]: [-0.3624, -1.6889, 6.4068, 1.7949, -0.0513, -0.0122, -0.0122, 0.1573, -7.1453, 4.7521, 1.7314, 0.2662, 0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e35484508d87c5d75961cb19e415edcde4f6a2ec16400c8530ed80d6b77e17c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cfa8eea5517ab9d6b20aef34d4e7e11312cec91e1866fd795b65a838367bc3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be1d06fe87fd0e7d807621fa8ca0022ce2c0b3b36c5562fdc81eec33b40fb5a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VD8zyyXTzpK5uUFXhp1Cct",
      "input": {
        "note": "The wrist view now shows the bottle centred between the jaws with its cap pointing away from the base; I'm advancing ~4 cm so the jaws sit over the neck just below the cap.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.215,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01VD8zyyXTzpK5uUFXhp1Cct",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6132, -0.387, -0.0231, -0.0292, 0.9982, 0.7547, 1.8286, 0.6685, 0.3992, 0.5804, 0.4191, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3538 right_y=0.2047 right_z=0.0166 right_yaw=0.0413 right_pitch=-0.0472 right_roll=-0.0398 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -1.7162, 6.3932, 1.8095, -0.0415, -0.0122, -0.0122, -0.6496, -6.8855, 7.3504, 1.9072, 0.3053, 0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0030366e8b5f01cf9d28d9f6fa2ceae744172989105919b152ca8a28798008c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:908742c3cd7f9fca8380d9db47b33dd2ecde25d13a228176305621878cae1a14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bafa6c6bbad199b9eee08288c45e6b5f0135b50d317787d50e411c5a1527621e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 38.34 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, 0.7979, 0.6132, -0.3866, -0.0231, -0.0292, 0.9982, 0.8558, 1.4612, 0.8886, -0.1776, 0.6579, 0.5026, 0.9985]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3301 right_y=0.2209 right_z=0.1492 right_yaw=0.0403 right_pitch=-0.0021 right_roll=-0.0014 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -1.1419, 6.5573, 1.8584, -0.0269, -0.0464, -0.0171, -0.1573, -5.9145, 7.8427, 1.5507, 0.2662, 0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6132, -0.387, -0.0227, -0.0292, 0.9982, 0.8516, 1.7443, 0.6392, 0.2939, 0.6498, 0.4889, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1818 left_yaw=-0.0013 left_pitch=-0.008 left_roll=-0.0004 left_gripper=0.9982 right_x=0.3243 right_y=0.2136 right_z=0.0274 right_yaw=0.0482 right_pitch=-0.0484 right_roll=-0.0531 right_gripper=0.9985\nstate[joint_eff]: [-0.3624, -1.6889, 6.4068, 1.7949, -0.0513, -0.0122, -0.0122, 0.1573, -7.1453, 4.7521, 1.7314, 0.2662, 0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6132, -0.387, -0.0231, -0.0292, 0.9982, 0.7547, 1.8286, 0.6685, 0.3992, 0.5804, 0.4191, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3538 right_y=0.2047 right_z=0.0166 right_yaw=0.0413 right_pitch=-0.0472 right_roll=-0.0398 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -1.7162, 6.3932, 1.8095, -0.0415, -0.0122, -0.0122, -0.6496, -6.8855, 7.3504, 1.9072, 0.3053, 0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0030366e8b5f01cf9d28d9f6fa2ceae744172989105919b152ca8a28798008c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:908742c3cd7f9fca8380d9db47b33dd2ecde25d13a228176305621878cae1a14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bafa6c6bbad199b9eee08288c45e6b5f0135b50d317787d50e411c5a1527621e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SWdoQQBporMcrALoxbxchy",
      "input": {
        "note": "The bottle is well centred on the jaw column but its cap/neck is still near the top of the wrist frame, so I'm advancing another 4 cm toward the cap end.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.21,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01SWdoQQBporMcrALoxbxchy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6086, -0.3866, -0.0231, -0.0292, 0.9982, 0.7391, 1.8397, 0.6609, 0.4721, 0.5518, 0.3908, 0.9985]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.18 left_yaw=-0.0009 left_pitch=-0.0114 left_roll=-0.0001 left_gripper=0.9982 right_x=0.3608 right_y=0.2084 right_z=0.02 right_yaw=0.0637 right_pitch=-0.0182 right_roll=-0.0137 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -1.6342, 6.7624, 1.8437, -0.022, -0.0317, -0.0122, -0.9504, -6.3932, 4.6154, 1.9365, 0.2857, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0112ebfefdcda2107992436106729a44ee95046011a155840b4d8de72146e82f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bba23e01478fa8bc73a887247608ea79ab4d486a181ee38d5c52318005c5755f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0df23b9f40d902ebefc7b7f8470e7ac9665765e4a45a175ea29e4adb265e87a",
        "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 · 6.477 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, 0.7975, 0.6132, -0.387, -0.0227, -0.0292, 0.9982, 0.8516, 1.7443, 0.6392, 0.2939, 0.6498, 0.4889, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1818 left_yaw=-0.0013 left_pitch=-0.008 left_roll=-0.0004 left_gripper=0.9982 right_x=0.3243 right_y=0.2136 right_z=0.0274 right_yaw=0.0482 right_pitch=-0.0484 right_roll=-0.0531 right_gripper=0.9985\nstate[joint_eff]: [-0.3624, -1.6889, 6.4068, 1.7949, -0.0513, -0.0122, -0.0122, 0.1573, -7.1453, 4.7521, 1.7314, 0.2662, 0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7975, 0.6132, -0.387, -0.0231, -0.0292, 0.9982, 0.7547, 1.8286, 0.6685, 0.3992, 0.5804, 0.4191, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3538 right_y=0.2047 right_z=0.0166 right_yaw=0.0413 right_pitch=-0.0472 right_roll=-0.0398 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -1.7162, 6.3932, 1.8095, -0.0415, -0.0122, -0.0122, -0.6496, -6.8855, 7.3504, 1.9072, 0.3053, 0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6086, -0.3866, -0.0231, -0.0292, 0.9982, 0.7391, 1.8397, 0.6609, 0.4721, 0.5518, 0.3908, 0.9985]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.18 left_yaw=-0.0009 left_pitch=-0.0114 left_roll=-0.0001 left_gripper=0.9982 right_x=0.3608 right_y=0.2084 right_z=0.02 right_yaw=0.0637 right_pitch=-0.0182 right_roll=-0.0137 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -1.6342, 6.7624, 1.8437, -0.022, -0.0317, -0.0122, -0.9504, -6.3932, 4.6154, 1.9365, 0.2857, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0112ebfefdcda2107992436106729a44ee95046011a155840b4d8de72146e82f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bba23e01478fa8bc73a887247608ea79ab4d486a181ee38d5c52318005c5755f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0df23b9f40d902ebefc7b7f8470e7ac9665765e4a45a175ea29e4adb265e87a",
        "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_01KcA9Ahs2ygKJDZ1roJDEJu",
      "input": {
        "note": "The arm stalled advancing at table level (x stuck near 0.36) and the wrist view shows the bottle still ahead of the fingertips, so I'm lifting to 8 cm and reaching further forward to test how far out I can actually get.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.21,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01KcA9Ahs2ygKJDZ1roJDEJu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6003, -0.3862, -0.0227, -0.0292, 0.9982, 0.7383, 1.8397, 0.6609, 0.4721, 0.5518, 0.3908, 0.9985]\nstate[eef_state]: left_x=0.2936 left_y=0.0017 left_z=0.1763 left_yaw=-0.0013 left_pitch=-0.0191 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3609 right_y=0.2081 right_z=0.02 right_yaw=0.063 right_pitch=-0.0182 right_roll=-0.0137 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -1.5795, 6.9675, 1.8681, -0.022, -0.0464, -0.0122, -0.8957, -6.188, 4.6974, 1.9219, 0.2808, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:feef577c2e937139b82a443ce7b0b55ab8c7d0e59efabd830fd3496ba2c35569",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dfbce567ea91f4c6af8f1d64ab5f07db342cb0c5fd67a04862a9f8180d3187c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f7185f40eb5091d9e1e5fe4410bf9cf1184539be1607cddad79ccea49170df71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 39.8 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, 0.7975, 0.6132, -0.387, -0.0231, -0.0292, 0.9982, 0.7547, 1.8286, 0.6685, 0.3992, 0.5804, 0.4191, 0.9985]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1818 left_yaw=-0.0009 left_pitch=-0.008 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3538 right_y=0.2047 right_z=0.0166 right_yaw=0.0413 right_pitch=-0.0472 right_roll=-0.0398 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -1.7162, 6.3932, 1.8095, -0.0415, -0.0122, -0.0122, -0.6496, -6.8855, 7.3504, 1.9072, 0.3053, 0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6086, -0.3866, -0.0231, -0.0292, 0.9982, 0.7391, 1.8397, 0.6609, 0.4721, 0.5518, 0.3908, 0.9985]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.18 left_yaw=-0.0009 left_pitch=-0.0114 left_roll=-0.0001 left_gripper=0.9982 right_x=0.3608 right_y=0.2084 right_z=0.02 right_yaw=0.0637 right_pitch=-0.0182 right_roll=-0.0137 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -1.6342, 6.7624, 1.8437, -0.022, -0.0317, -0.0122, -0.9504, -6.3932, 4.6154, 1.9365, 0.2857, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6003, -0.3862, -0.0227, -0.0292, 0.9982, 0.7383, 1.8397, 0.6609, 0.4721, 0.5518, 0.3908, 0.9985]\nstate[eef_state]: left_x=0.2936 left_y=0.0017 left_z=0.1763 left_yaw=-0.0013 left_pitch=-0.0191 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3609 right_y=0.2081 right_z=0.02 right_yaw=0.063 right_pitch=-0.0182 right_roll=-0.0137 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -1.5795, 6.9675, 1.8681, -0.022, -0.0464, -0.0122, -0.8957, -6.188, 4.6974, 1.9219, 0.2808, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:feef577c2e937139b82a443ce7b0b55ab8c7d0e59efabd830fd3496ba2c35569",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dfbce567ea91f4c6af8f1d64ab5f07db342cb0c5fd67a04862a9f8180d3187c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7185f40eb5091d9e1e5fe4410bf9cf1184539be1607cddad79ccea49170df71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwwUKjgEIEhgCKkAyz3jJXuXCtl76sLkaGjPZm206mcEQcl5OBGskrsY/zJCXDtlJY0XUifV3iAxk7cubYKG9cD/Ob+I1DwpWsEHsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdmPzNUGEgxoL/fyVoU6R5k/zFwaDLalsnuHsXFx9CPAliIw7nW/GhQEsTd83447ncmHkUqgo7g4QB8u+ps8RgZpkkHIa96s0FVObI3OGGGEE0+gKuEDwQYCKB65UDqFlvPo+s4DIfTp+u33xqHJ3wDonvbobHZ0vEISojEp2d3IpEabmcd3bT8hlMAwzeDQ7OFTxLte1BJEgZIXoc7bI2kTi/jKDrAnCecg+ZJ8EUVekDCyzA2Nxkt2eqXsmc5zxkrDof6BpylcxXvAqR+LiMjvSmKxs73+5x4G8QE5HphWZDaQMu1u4Ij2HEdDOjjkME35O9hTd9r4XlG/NeW/PlSuN6CgTvVykV3rvHFEaf0sSEnZ53Yhy+PUpo5klz3YlL9DFySTVjAzvZ34zPwY9+3v/tGyd0p28QQWc7MOW7vdKtK6BSGqKMsfnp4gl6xPIKdm+n1CvONvx46Zqidd8Km5ddBnpTF6IcJNrAkazpHSWbbZF/jAmQhnqDIZmdOYmNaRzEpD8H9AGBx5ilhbT0ccBgJS3rszgWeXKD7y4GWclWGtU8ff0kgUeWQGlWGuKYMCnVsibOhXZIt9Yi+0N8OIh9suxA6dolnDGV8motZEGMwFzhhWy0iY3HCXWGDKdNHlBXe7PbnJRsAqv0yRKsZ/pcV4kQj0KTWyAM+FvMaebADUasWFOaOFrA6Ma8x2ILl3p3uxZ1i7TR5pr70TZEY/bqG3kwtRtK/lZYPxOIDEhxDO7fagNBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HrkP1HkTKpxGrRvvQJeJBo",
      "input": {
        "note": "The right arm is frozen (identical readback across two commands); I'm retreating up and back to a safe, easier pose to unstick the IK before trying again.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.2,
          "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_01HrkP1HkTKpxGrRvvQJeJBo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7895, 0.5823, -0.3744, -0.0231, -0.0292, 0.9982, 0.8776, 1.2945, 0.8894, -0.3634, 0.6285, 0.4713, 0.9985]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1724 left_yaw=-0.0009 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9982 right_x=0.3008 right_y=0.2052 right_z=0.1767 right_yaw=0.1002 right_pitch=-0.0295 right_roll=-0.0264 right_gripper=0.9985\nstate[joint_eff]: [-0.0479, -1.2239, 6.9675, 1.9316, -0.0415, -0.0757, -0.0122, 0.4444, -6.2838, 9.7026, 1.6484, 0.5495, 0.3394, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a75098c19ad31dcc2e429038734a763aa9ddbdc129138d06ec35235a9f6769ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7b5239a5c7da343000cc9b79225a8f9d9515e9198158e965e6e79f540440bbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3728f25a5ad70c53cdbaa08f812160183923814d03e04cc26b44f586212f29b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 9.829 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, 0.7967, 0.6086, -0.3866, -0.0231, -0.0292, 0.9982, 0.7391, 1.8397, 0.6609, 0.4721, 0.5518, 0.3908, 0.9985]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.18 left_yaw=-0.0009 left_pitch=-0.0114 left_roll=-0.0001 left_gripper=0.9982 right_x=0.3608 right_y=0.2084 right_z=0.02 right_yaw=0.0637 right_pitch=-0.0182 right_roll=-0.0137 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -1.6342, 6.7624, 1.8437, -0.022, -0.0317, -0.0122, -0.9504, -6.3932, 4.6154, 1.9365, 0.2857, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6003, -0.3862, -0.0227, -0.0292, 0.9982, 0.7383, 1.8397, 0.6609, 0.4721, 0.5518, 0.3908, 0.9985]\nstate[eef_state]: left_x=0.2936 left_y=0.0017 left_z=0.1763 left_yaw=-0.0013 left_pitch=-0.0191 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3609 right_y=0.2081 right_z=0.02 right_yaw=0.063 right_pitch=-0.0182 right_roll=-0.0137 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -1.5795, 6.9675, 1.8681, -0.022, -0.0464, -0.0122, -0.8957, -6.188, 4.6974, 1.9219, 0.2808, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7895, 0.5823, -0.3744, -0.0231, -0.0292, 0.9982, 0.8776, 1.2945, 0.8894, -0.3634, 0.6285, 0.4713, 0.9985]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1724 left_yaw=-0.0009 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9982 right_x=0.3008 right_y=0.2052 right_z=0.1767 right_yaw=0.1002 right_pitch=-0.0295 right_roll=-0.0264 right_gripper=0.9985\nstate[joint_eff]: [-0.0479, -1.2239, 6.9675, 1.9316, -0.0415, -0.0757, -0.0122, 0.4444, -6.2838, 9.7026, 1.6484, 0.5495, 0.3394, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a75098c19ad31dcc2e429038734a763aa9ddbdc129138d06ec35235a9f6769ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7b5239a5c7da343000cc9b79225a8f9d9515e9198158e965e6e79f540440bbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3728f25a5ad70c53cdbaa08f812160183923814d03e04cc26b44f586212f29b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SRB4LR11HoDFD3xSaeD7SC",
      "input": {
        "note": "Arm is free again. The bottles sit further forward than I first thought, so I'm reaching out to x=0.44 at 10 cm height (tool yaw explicitly zero) to hover over the rightmost bottle's body.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.215,
          "right_yaw": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01SRB4LR11HoDFD3xSaeD7SC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7795, 0.5697, -0.3717, -0.0231, -0.0288, 0.9982, 0.6407, 1.8103, 1.0153, 0.0326, 0.5102, 0.3477, 0.9985]\nstate[eef_state]: left_x=0.2907 left_y=0.0018 left_z=0.1699 left_yaw=-0.0011 left_pitch=-0.0183 left_roll=0.0003 left_gripper=0.9982 right_x=0.4176 right_y=0.2082 right_z=0.0809 right_yaw=0.0188 right_pitch=-0.0801 right_roll=-0.0603 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -1.3607, 6.5573, 1.8877, -0.0659, -0.0073, -0.0122, -0.9915, -8.4718, 8.8, 1.9853, 0.1538, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62b982db585325dc96717bfafe43dc137b41bd00a05c40e12437c776789f6a01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3ad29467406ac815b0f66ae24f096b7fb5ccdcc53590ff0fae10e2993461b01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b4b8b413478c2adc2a173e1cf01918a7de2c53f643c7e2c121c0ba22ba5e3a7",
        "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 · 12.9 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, 0.7963, 0.6003, -0.3862, -0.0227, -0.0292, 0.9982, 0.7383, 1.8397, 0.6609, 0.4721, 0.5518, 0.3908, 0.9985]\nstate[eef_state]: left_x=0.2936 left_y=0.0017 left_z=0.1763 left_yaw=-0.0013 left_pitch=-0.0191 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3609 right_y=0.2081 right_z=0.02 right_yaw=0.063 right_pitch=-0.0182 right_roll=-0.0137 right_gripper=0.9985\nstate[joint_eff]: [-0.3761, -1.5795, 6.9675, 1.8681, -0.022, -0.0464, -0.0122, -0.8957, -6.188, 4.6974, 1.9219, 0.2808, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7895, 0.5823, -0.3744, -0.0231, -0.0292, 0.9982, 0.8776, 1.2945, 0.8894, -0.3634, 0.6285, 0.4713, 0.9985]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1724 left_yaw=-0.0009 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9982 right_x=0.3008 right_y=0.2052 right_z=0.1767 right_yaw=0.1002 right_pitch=-0.0295 right_roll=-0.0264 right_gripper=0.9985\nstate[joint_eff]: [-0.0479, -1.2239, 6.9675, 1.9316, -0.0415, -0.0757, -0.0122, 0.4444, -6.2838, 9.7026, 1.6484, 0.5495, 0.3394, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7795, 0.5697, -0.3717, -0.0231, -0.0288, 0.9982, 0.6407, 1.8103, 1.0153, 0.0326, 0.5102, 0.3477, 0.9985]\nstate[eef_state]: left_x=0.2907 left_y=0.0018 left_z=0.1699 left_yaw=-0.0011 left_pitch=-0.0183 left_roll=0.0003 left_gripper=0.9982 right_x=0.4176 right_y=0.2082 right_z=0.0809 right_yaw=0.0188 right_pitch=-0.0801 right_roll=-0.0603 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -1.3607, 6.5573, 1.8877, -0.0659, -0.0073, -0.0122, -0.9915, -8.4718, 8.8, 1.9853, 0.1538, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62b982db585325dc96717bfafe43dc137b41bd00a05c40e12437c776789f6a01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3ad29467406ac815b0f66ae24f096b7fb5ccdcc53590ff0fae10e2993461b01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b4b8b413478c2adc2a173e1cf01918a7de2c53f643c7e2c121c0ba22ba5e3a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlAoKjgEIEhgCKkB+FyXY3MshuFyHG/3lZ+RIOYjWL/Brtre/B4P3kMwS70NNEl/1U9csbaLomtWjlVbUfNuwbDCDe3mD9IMYeMFnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY2QzNUGEgzC2GX3Sc165/biNskaDPkYI7viKrrtGChz/yIwJfpkiY9NHFFbCHuoTqoNFdt2U5vcQuup8XvXbHjhg3kksHiSPqgHhs1GgpDglUI5KrIIO7G+hxrh+/Hj18h6YOPQHtUOm3zvojslX96snDG/P2LbrI5tkeTF+DNfubzXdyFv/dwL437MJXhV8TPHVX/OKXKN8WNwRWckOGh8N0myFcNKKRCQW5eEpkubYAoXHIKiCCVGx8lUNJfiKIDlxpin+SfaZENR8AwdlBw9I3XcriqYF5HfNcpiZnPN1qYc34u2+0imIuIiJxZqCrnnOcwq2kvLDqSOoDDVXdcJDNM+iajoRoOfSFljqqcRAb9tkDnixZePuW3TyZQVHqYhHXskoIt7z03Ely8+1bZVCGRIJbtb+iMQU5JCvcAqKZAXJjqbXeLX+dYGjMbEyksigihieBsGNLObqAltyTKx/5cQGESoQ0xQhMFkE+fqBKtktiHXvkOQaFrS6tc2jOfLchvOhhd6T6hmpYQrtnhI6jaCcbnxMyCNMtnRs2U23QrnQKSedQG4CpN+oaQsAgQ/WXaplM2G5zZNPMEpMl3hBGOCcFIIgnCESidHBPgla8sxRfONEqkpHwosr2LqaEpHIKZ7OKI32T9+n5WaoBi28ybXU/ZVMD1pevg86dsinC7xMeEgBMfCJkPw3XB2gJn1m+GXzhZJhzmKKhdKKihgLcaoqyHhHEw4JQQGbiSwoQyzRB17Kb+0LXixHO3bL9FCaRbbsQVujAINv0O29C5WRyzOga3HKmmFMP8OuJ0iMo72/LHMESeg1nQZcQM6yaXY9ZDELElYY7mOLrhh3kw4+fFGjvPyt8GevdcnoH1T9aRQaGqSnLygvKTpui4M5gHc3ZpyUeBvxlnGP+ZlW93oKAHpjKk9XeE8DX8NrqCfS0Gz//IiSMdLX/ttVEsv/xnRiHY4+pKfjP3vIbmvk+TwQiwd2K3zjYdAKQVccdJBrJmkjeItrBQGh4UBQMwWjrrDYaoM2w2f8uI3HOpjLz3JuvijPNRWWC6Yo83TBawpg2BV8T119hIdzUp6bxY5S4fgfL8w8Gw8GCqtnHL59t7s0dntdk1gp9WheEp4NywzYo5mDcVsLnmR4CAzEG8LUGU73FMWl5w4PMmoAbIb1/ExHUAZe1R+SYQwArJl9aDAOBc9rbIpszs/a9KRpHsjzIs9tqUiZAU/kcUVjIYBSf76WLny+g70Ck7m8/4m75FVPGOMkxHORNA81ojibTHtqyaOzOltJnxTUP05KAoz/RM0AVL3Rv7sF2+o6xq2rl4yvk9G+4BHQ/UaPsfBkPFU3GzdySHP05hkiDG8iK+asZWArzapq56Dipos9hQlRXKJg0rXWitMdBvAxYjJY0uVgoxAqRW27cbi4rTj2cGiNxLjdWGGmQyxuJHE1cdSVMKQRlryGwOWOCU3tnDKv2RDfXw86bPFXdJgV4YzDhXxDdDk2y1JbSw4KW8NqCjCy1iP6M9TrV/6ANo4+cNZSqdG3Hf3C9BtexaHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LwAwTFrSwwiRjUCLqC5u1h",
      "input": {
        "note": "The wrist camera now shows the rightmost bottle nicely centred with its blue cap pointing away; I'm advancing 5 cm and lowering to bring the fingertips over the neck just behind the cap.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.215,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LwAwTFrSwwiRjUCLqC5u1h",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7727, 0.5632, -0.3717, -0.0227, -0.0292, 0.9982, 0.5861, 1.9816, 1.0435, 0.1917, 0.4587, 0.3042, 0.9985]\nstate[eef_state]: left_x=0.2895 left_y=0.0018 left_z=0.1688 left_yaw=-0.0013 left_pitch=-0.0179 left_roll=-0.0002 left_gripper=0.9982 right_x=0.4466 right_y=0.2069 right_z=0.037 right_yaw=0.0285 right_pitch=-0.0877 right_roll=-0.0567 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.5521, 6.0923, 1.9219, -0.0317, -0.0366, -0.0122, -1.0598, -9.9214, 8.8684, 2.1563, 0.1636, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51bdbbd798da8f907d27a610f859afadf3f0808cc680c1d016a08d09e49f8546",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:399e1957f5326b1f5844f05f3538ea6ae663f10df306f8c9714677fdafabde9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f5c15d5208f27a1734d61be8229151b20acebade9f1a0cf092cc458c35953b0",
        "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 · 8.072 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, 0.7895, 0.5823, -0.3744, -0.0231, -0.0292, 0.9982, 0.8776, 1.2945, 0.8894, -0.3634, 0.6285, 0.4713, 0.9985]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1724 left_yaw=-0.0009 left_pitch=-0.0183 left_roll=0.0 left_gripper=0.9982 right_x=0.3008 right_y=0.2052 right_z=0.1767 right_yaw=0.1002 right_pitch=-0.0295 right_roll=-0.0264 right_gripper=0.9985\nstate[joint_eff]: [-0.0479, -1.2239, 6.9675, 1.9316, -0.0415, -0.0757, -0.0122, 0.4444, -6.2838, 9.7026, 1.6484, 0.5495, 0.3394, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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, 0.7795, 0.5697, -0.3717, -0.0231, -0.0288, 0.9982, 0.6407, 1.8103, 1.0153, 0.0326, 0.5102, 0.3477, 0.9985]\nstate[eef_state]: left_x=0.2907 left_y=0.0018 left_z=0.1699 left_yaw=-0.0011 left_pitch=-0.0183 left_roll=0.0003 left_gripper=0.9982 right_x=0.4176 right_y=0.2082 right_z=0.0809 right_yaw=0.0188 right_pitch=-0.0801 right_roll=-0.0603 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -1.3607, 6.5573, 1.8877, -0.0659, -0.0073, -0.0122, -0.9915, -8.4718, 8.8, 1.9853, 0.1538, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7727, 0.5632, -0.3717, -0.0227, -0.0292, 0.9982, 0.5861, 1.9816, 1.0435, 0.1917, 0.4587, 0.3042, 0.9985]\nstate[eef_state]: left_x=0.2895 left_y=0.0018 left_z=0.1688 left_yaw=-0.0013 left_pitch=-0.0179 left_roll=-0.0002 left_gripper=0.9982 right_x=0.4466 right_y=0.2069 right_z=0.037 right_yaw=0.0285 right_pitch=-0.0877 right_roll=-0.0567 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.5521, 6.0923, 1.9219, -0.0317, -0.0366, -0.0122, -1.0598, -9.9214, 8.8684, 2.1563, 0.1636, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51bdbbd798da8f907d27a610f859afadf3f0808cc680c1d016a08d09e49f8546",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:399e1957f5326b1f5844f05f3538ea6ae663f10df306f8c9714677fdafabde9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f5c15d5208f27a1734d61be8229151b20acebade9f1a0cf092cc458c35953b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WnPehJtAQtb3qqd7dLxDao",
      "input": {
        "note": "Descending to table level and closing the jaws to feel what is between them: the settled gripper reading will tell me whether I am on the thin neck (~0.3) or the wide body (~0.7) of the bottle.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WnPehJtAQtb3qqd7dLxDao",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7719, 0.5541, -0.371, -0.0231, -0.0292, 0.9982, 0.5812, 1.9945, 1.0576, 0.2203, 0.4404, 0.2893, 0.4818]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1649 left_yaw=-0.0009 left_pitch=-0.0256 left_roll=0.0002 left_gripper=0.9982 right_x=0.4535 right_y=0.2121 right_z=0.0399 right_yaw=0.0472 right_pitch=-0.0689 right_roll=-0.0426 right_gripper=0.4818\nstate[joint_eff]: [-0.2667, -2.0855, 6.3385, 1.9512, -0.0659, -0.0366, -0.0122, -0.7726, -9.894, 8.7043, 1.9853, 0.2662, 0.1099, 0.8669]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:358c46b5dbbb331c723778e4e219bd5b795f191c832d51e28017331944386d84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:918b2e6cb6a225b790f08bf961febf5aa54923c3680e21b00f8d7a5bc910a9ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f21589ac7c6e8eb2df3c9302985d6b5715c6638255527baec80e0cf847c8e491",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /messages · status 200 · 11.16 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, 0.7795, 0.5697, -0.3717, -0.0231, -0.0288, 0.9982, 0.6407, 1.8103, 1.0153, 0.0326, 0.5102, 0.3477, 0.9985]\nstate[eef_state]: left_x=0.2907 left_y=0.0018 left_z=0.1699 left_yaw=-0.0011 left_pitch=-0.0183 left_roll=0.0003 left_gripper=0.9982 right_x=0.4176 right_y=0.2082 right_z=0.0809 right_yaw=0.0188 right_pitch=-0.0801 right_roll=-0.0603 right_gripper=0.9985\nstate[joint_eff]: [-0.1162, -1.3607, 6.5573, 1.8877, -0.0659, -0.0073, -0.0122, -0.9915, -8.4718, 8.8, 1.9853, 0.1538, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7727, 0.5632, -0.3717, -0.0227, -0.0292, 0.9982, 0.5861, 1.9816, 1.0435, 0.1917, 0.4587, 0.3042, 0.9985]\nstate[eef_state]: left_x=0.2895 left_y=0.0018 left_z=0.1688 left_yaw=-0.0013 left_pitch=-0.0179 left_roll=-0.0002 left_gripper=0.9982 right_x=0.4466 right_y=0.2069 right_z=0.037 right_yaw=0.0285 right_pitch=-0.0877 right_roll=-0.0567 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.5521, 6.0923, 1.9219, -0.0317, -0.0366, -0.0122, -1.0598, -9.9214, 8.8684, 2.1563, 0.1636, 0.0904, -0.0122]",
      "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, 0.7719, 0.5541, -0.371, -0.0231, -0.0292, 0.9982, 0.5812, 1.9945, 1.0576, 0.2203, 0.4404, 0.2893, 0.4818]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1649 left_yaw=-0.0009 left_pitch=-0.0256 left_roll=0.0002 left_gripper=0.9982 right_x=0.4535 right_y=0.2121 right_z=0.0399 right_yaw=0.0472 right_pitch=-0.0689 right_roll=-0.0426 right_gripper=0.4818\nstate[joint_eff]: [-0.2667, -2.0855, 6.3385, 1.9512, -0.0659, -0.0366, -0.0122, -0.7726, -9.894, 8.7043, 1.9853, 0.2662, 0.1099, 0.8669]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:358c46b5dbbb331c723778e4e219bd5b795f191c832d51e28017331944386d84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:918b2e6cb6a225b790f08bf961febf5aa54923c3680e21b00f8d7a5bc910a9ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f21589ac7c6e8eb2df3c9302985d6b5715c6638255527baec80e0cf847c8e491",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2gcKjgEIEhgCKkB6zCUd0WpQoeCN6iLW0dVH81ebXyoB4ePuKj6oCipObDuyPB91VS4oNY/gVOZ9ckHJYI2yE/U0LOwCFJ5mN2XrMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaSQzNUGEgxz6pLGT56DUUHROxAaDItjgS9i0GF5STProyIwlEHuJcpxNKavzzf6Mdaz1+p/ng6dodVLZOo8l/PBR8PsFWjU+5ctWoUoxsT9H1BmKvgFR+n1beFukIcPi/rbXUdqfru9fgdXJJc14mXvBVbGQE13PMIIYMA6Gmu9FomoUWUTHjFfBnCT1Ex9IB2xuSgs0yRuLheQ2W1KlfkrjtFh1jAAOem5uTwgCM2OYOdWXo8jJCK6wlvbI2YTHJ7Gw+/Q++6dpaTR2uGniX7BPPRi8G/6hobmbF93s9iRhwGJstpTf9QcC83FhYn2/9lRT2uHcu6pJIBdy9j9tUHC5ULThza3x7Tuunw1NWdX1AEplTG0PDfvTDkjQnD7+9LwBd/MV1FUXua4R6bA4JmCMNH4HsSrUn8Tp06JtnuQFkRylVETjWoqmIaFfY5vaJgHoADehSpJJs1bpvsSuFxQXLQZPsMj1siPOQrm8tJFZIOD+++dTo3hOpgCSBZDSCiy2BuehgpyxHdTbVZNzqIvzwMePnjRUYYdZ33q2uak1lJfd+uE+7me4cOIuqXNB89P4e3EiF9b6jZqFt4tE4LfSy/JhGdyQADKa29G78pt6s6ph1h6pbdN1yJEcWWHfZ8c+YVnODDKfSRi6UMgswUXwuyyXpGAAnIJxhduoLIy5Bh4zJhyhk277PIPX906DugLeXfdb2U7+1ASRgUWgn7gn5zkhntVIfTWrV7UmpwqABXm86mpq2g5rqBN2vCH8lncAKMQDwhEBm+9Hb8lVOeq89wSXUmeLtfPLH/kRUKfg4kyM9OD12OUa8tV1WSOqBAuzopXqc7o3pZSq15U7TgM3TlwKCGVkldNe9yiyYzgA5++wOP8ONPA2h/kDKHStoiwIaDp9EU+3B48UEaMpZCyQoqM2D7A32fjQ0koY4O5N6GKWUFRscIpUEzsP44ZrhKmFoakFeEGfVNfx83zCU+QJStRTFY7kwiauZSSCkkf41AGt3espDQ1kn4Z3JS+cBxsZlmPPtH9WqhwZhUWHUMJLLEHGaeIFdpSfKCzD0djlNuRF9BZF7Wy+aqkaCnuGhtqAFgOrLjiFINXhSxDxFvwpeXH4PV4zKXRW/wWqxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LzgTGWyzZ94Noq2SY9v5zK",
      "input": {
        "note": "The jaws closed to 0.48 (~4.6 cm), i.e. they are gripping the bottle's tapered shoulder near the cap; lifting now to see whether the bottle swings down and hangs vertically from that grip.",
        "targets": {
          "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_01LzgTGWyzZ94Noq2SY9v5zK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7628, 0.5323, -0.3519, -0.0231, -0.0292, 0.9982, 0.5831, 1.7515, 1.3621, -0.3046, 0.4175, 0.2783, 0.4832]\nstate[eef_state]: left_x=0.2876 left_y=0.0019 left_z=0.1614 left_yaw=-0.0009 left_pitch=-0.0191 left_roll=0.0 left_gripper=0.9982 right_x=0.4507 right_y=0.2157 right_z=0.1862 right_yaw=0.074 right_pitch=-0.057 right_roll=-0.0274 right_gripper=0.4832\nstate[joint_eff]: [-0.3761, -1.4564, 6.7487, 1.873, -0.0659, -0.0317, -0.0122, -0.4855, -11.2068, 9.5385, 1.5946, 0.4225, 0.105, 0.1392]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80a93c154cc7068858722aea17e878155e9658ab061be8213b7b3fec9afa0b1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd696d483e8aa35d726f6d96a5f49116add6ab470aa242b822777b30e9b5ce9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aa1611a3b9e3854d65a66065600a658a2fe85b6c35c3217e3204ea9d0823f039",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 3.187 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, 0.7727, 0.5632, -0.3717, -0.0227, -0.0292, 0.9982, 0.5861, 1.9816, 1.0435, 0.1917, 0.4587, 0.3042, 0.9985]\nstate[eef_state]: left_x=0.2895 left_y=0.0018 left_z=0.1688 left_yaw=-0.0013 left_pitch=-0.0179 left_roll=-0.0002 left_gripper=0.9982 right_x=0.4466 right_y=0.2069 right_z=0.037 right_yaw=0.0285 right_pitch=-0.0877 right_roll=-0.0567 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.5521, 6.0923, 1.9219, -0.0317, -0.0366, -0.0122, -1.0598, -9.9214, 8.8684, 2.1563, 0.1636, 0.0904, -0.0122]",
      "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, 0.7719, 0.5541, -0.371, -0.0231, -0.0292, 0.9982, 0.5812, 1.9945, 1.0576, 0.2203, 0.4404, 0.2893, 0.4818]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1649 left_yaw=-0.0009 left_pitch=-0.0256 left_roll=0.0002 left_gripper=0.9982 right_x=0.4535 right_y=0.2121 right_z=0.0399 right_yaw=0.0472 right_pitch=-0.0689 right_roll=-0.0426 right_gripper=0.4818\nstate[joint_eff]: [-0.2667, -2.0855, 6.3385, 1.9512, -0.0659, -0.0366, -0.0122, -0.7726, -9.894, 8.7043, 1.9853, 0.2662, 0.1099, 0.8669]",
      "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, 0.7628, 0.5323, -0.3519, -0.0231, -0.0292, 0.9982, 0.5831, 1.7515, 1.3621, -0.3046, 0.4175, 0.2783, 0.4832]\nstate[eef_state]: left_x=0.2876 left_y=0.0019 left_z=0.1614 left_yaw=-0.0009 left_pitch=-0.0191 left_roll=0.0 left_gripper=0.9982 right_x=0.4507 right_y=0.2157 right_z=0.1862 right_yaw=0.074 right_pitch=-0.057 right_roll=-0.0274 right_gripper=0.4832\nstate[joint_eff]: [-0.3761, -1.4564, 6.7487, 1.873, -0.0659, -0.0317, -0.0122, -0.4855, -11.2068, 9.5385, 1.5946, 0.4225, 0.105, 0.1392]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80a93c154cc7068858722aea17e878155e9658ab061be8213b7b3fec9afa0b1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd696d483e8aa35d726f6d96a5f49116add6ab470aa242b822777b30e9b5ce9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa1611a3b9e3854d65a66065600a658a2fe85b6c35c3217e3204ea9d0823f039",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISogwKjgEIEhgCKkB3Apdjrdg/ROtThRhKF9b8cde61EHImpFhgY9oYoqIVUMSi0T6CROmVLbg554fapprj+8wx8kDdut/9ZPqxjGoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbCQzNUGEgzZOOZygLV//K5LOwsaDPSJttVOTV0WYZynSyIwwVydtvXBlqR7mupgsP/Rw7jrr+jKo+8Gts7pRh8w7WIq8hOdhlHVQ4HpoMYwY7WwKsAKIaSfSd6bkvmjlrC2mbCK9Ku4qKZ9SM7Eo1D6/SE6PtbF/2pJWnxhApVegO7kM4Py/oNmzBOxXXGzu+2k+fj7IIDziFH7q6+eUnwiPYt+PRI0o2gZTMkxH20LyHsMZvPbnAPcHLmS/FvnuotxWz555Ez6w+HsA6hQrLFeYlVNPZXjv7EtwuknTRHwvuvA/5nG5f5Dx3ZzTT1cMNsq6anID70x+prbMe3Yo4OPwTdsRDKh0ByV+676nrHtpNTmRlcxw5r6Szm+V5W0MzV3Me9Ck1cYeawW09agJMEchhtYYhnawxqnThmsIINIfMaX+epfdLiIsyW9ZFIK+ptsNPJjXa27CbwONuuz76afffIcNWlvmQnfuHJoVQn2XOBVx2QpRGMnOSf+hT8SkVzEyN9mXvVmJdjZA8eh/zPbAw6WsK7TUaYn/o8r40cQkBl0SeRqL//A7SQlGMJsjQ1FouaIyoyS6B0rfrhao3kEE4aL7u7bT/Xw3enY3FtnHagT8/D9AKf6S70GT3kJi6Flstoat38LfhOieR9EB+4fybArpV5XZX8/iirF8hwGOkwTBjSLVqmgLWuk5vixwyQh6y73QrxkvTdqCgKPgXJIQPjNBkf41k78bRIxPFSgXKYNGIuOL8s/xXoMmDwGb6mS6RZukMkiy7N9RttbWU/fF63KzWhfUSqeqYg5OdVlbj7P0SWBBL91Hd3G2UpQIhVHr7p8BUDDVfxEyftWi3mytpXZX9E3vAwtIKbN3XYjbo8TivUfmOA586s2HNYyTGsWUipaPbeA5Re9vQnqOP7g+wdwQn56/cYSCjxo7C6qhrJ+4czL3r7uTAm0k0Iujwi8LMzL6ztIqND5ra/WhL9G6cL2rNbGfclCCgBrwZwDoU+TVMLV4aJX1SPNHmVDad7CfMdoeEoWz9Kyx98gLX+HVjRMJhcNZJlRFOsDjXdp64pUGdlK2I2HX91/xzumDJ7NGjxYHHCYZyzr80I5PbBW6zJp6IbeJbXvly96A5afQmpCk9IagyilLZVC1HC2NpAXlfMKOxP54f38QR5VCUKKNl77lfeQcZamtixI+7L8aMHMibG5Z3Gyk1aiW1vbBPXCHjiKwi3npao3gsoVga5EQ/1PlEQ62x/QCWPUCcZX0agZ5uMpFte9XQ+Tdnf1h4Rt/xHvewwPzO+giog0v4l6dJ3+rKE2AdagHuLvA+nZ3B1V3ipY34kxfyu3awzJwfO+N2u2kGvvUSWkd9k9bXefCkqmkbdIdQBbn2TRagsqehHRdRGtkTGeBCLQ9y0/07aL4CtKLZDkq7klu17v3r0VnWMTL1xDWxyu9g6Lf+2oDC7hchmE3NG9IzUA6R1jhNkJNtPdS5vv7BGyoWZzjreoHlOxfEnlYV1OX/eaLBL1ABOHjsBLQhsBlqD1y6sIH+BuItcXN65Rl4aUsVlQbJh+2iUZh/Qy7D8JePu6mOudzbMHKBP4vCJbYWkq8dQmZnpVXmosGVj9cPhN8EkZ4Xj5KcO8662cIxpzFknkhIfFDIF8+AOmYvRvy9LaPnH+TVH03S19PiGWIHhz3R5UzCMrBEwx7oMEM3Zfyuwf45l84WFI7n80Df+XqBrpR04yqnV1KfuFWdGl+8991fiooAsZ4OMGhUVnL5D0DZDCQ4fzO7XQO9PvAuRU3cjBYcNoiPeayk3RhfyFBl6YjEO7Fh9P+CMKltKqVlI83SqZMS2Psd6s6ia36Fupgl0cGgUTfZJ0UkLEkscn0X8iUQoMM2HF69Un15dAamwdCgX2zndnwgZzp4buGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EStnf81TNFknLMMFZjCPK9",
      "input": {
        "note": "The bottle has swung to hang vertically cap-up in the jaws exactly as hoped; lowering it so its base rests on the table before I release.",
        "targets": {
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01EStnf81TNFknLMMFZjCPK9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7578, 0.5251, -0.345, -0.0231, -0.0292, 0.9982, 0.5827, 1.75, 1.198, -0.157, 0.4164, 0.2783, 0.4833]\nstate[eef_state]: left_x=0.2874 left_y=0.0019 left_z=0.1608 left_yaw=-0.0009 left_pitch=-0.0145 left_roll=-0.0 left_gripper=0.9982 right_x=0.4407 right_y=0.2092 right_z=0.1437 right_yaw=0.0741 right_pitch=-0.0703 right_roll=-0.0341 right_gripper=0.4833\nstate[joint_eff]: [-0.253, -1.5795, 6.4889, 1.8974, -0.0611, -0.0855, -0.0122, -0.2256, -8.8957, 7.9795, 2.3028, 0.1343, -0.0464, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ae3087b292f00c304676d7a4c1372b9013efba3293bb98983d8c294ddc5d816",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:892b41a4af69c7873022de3e3383ea7e9c193fc7516b9b5d154253bda75c886a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bbb142f5ff0dde024a02b426e952d3b10cbfc513912e0c33302377d90c17db34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 3.944 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, 0.7719, 0.5541, -0.371, -0.0231, -0.0292, 0.9982, 0.5812, 1.9945, 1.0576, 0.2203, 0.4404, 0.2893, 0.4818]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1649 left_yaw=-0.0009 left_pitch=-0.0256 left_roll=0.0002 left_gripper=0.9982 right_x=0.4535 right_y=0.2121 right_z=0.0399 right_yaw=0.0472 right_pitch=-0.0689 right_roll=-0.0426 right_gripper=0.4818\nstate[joint_eff]: [-0.2667, -2.0855, 6.3385, 1.9512, -0.0659, -0.0366, -0.0122, -0.7726, -9.894, 8.7043, 1.9853, 0.2662, 0.1099, 0.8669]",
      "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, 0.7628, 0.5323, -0.3519, -0.0231, -0.0292, 0.9982, 0.5831, 1.7515, 1.3621, -0.3046, 0.4175, 0.2783, 0.4832]\nstate[eef_state]: left_x=0.2876 left_y=0.0019 left_z=0.1614 left_yaw=-0.0009 left_pitch=-0.0191 left_roll=0.0 left_gripper=0.9982 right_x=0.4507 right_y=0.2157 right_z=0.1862 right_yaw=0.074 right_pitch=-0.057 right_roll=-0.0274 right_gripper=0.4832\nstate[joint_eff]: [-0.3761, -1.4564, 6.7487, 1.873, -0.0659, -0.0317, -0.0122, -0.4855, -11.2068, 9.5385, 1.5946, 0.4225, 0.105, 0.1392]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7578, 0.5251, -0.345, -0.0231, -0.0292, 0.9982, 0.5827, 1.75, 1.198, -0.157, 0.4164, 0.2783, 0.4833]\nstate[eef_state]: left_x=0.2874 left_y=0.0019 left_z=0.1608 left_yaw=-0.0009 left_pitch=-0.0145 left_roll=-0.0 left_gripper=0.9982 right_x=0.4407 right_y=0.2092 right_z=0.1437 right_yaw=0.0741 right_pitch=-0.0703 right_roll=-0.0341 right_gripper=0.4833\nstate[joint_eff]: [-0.253, -1.5795, 6.4889, 1.8974, -0.0611, -0.0855, -0.0122, -0.2256, -8.8957, 7.9795, 2.3028, 0.1343, -0.0464, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ae3087b292f00c304676d7a4c1372b9013efba3293bb98983d8c294ddc5d816",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:892b41a4af69c7873022de3e3383ea7e9c193fc7516b9b5d154253bda75c886a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbb142f5ff0dde024a02b426e952d3b10cbfc513912e0c33302377d90c17db34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqAIKjgEIEhgCKkD9MRd0SO1gg8SnpQmOfGD4UDZu/JnFnme1yskWztG3HYAJqdGO7CLixEMZC8thfI7poItUW/G0Ao+Hu0GAv+mmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbSQzNUGEgzfJBizTzG1h6VucjkaDCeN7oqzdSvieQmdvCIwN37c4NnNtDOsYiaSMXhKhWCVF8bR99nbo2rRYqOWOgac86E3XavJVhRen46U32x8KkcKMxJ+Aj0YwVdYKavQXdA2MMMwLaeItlY3kFUVBQgnp0xtvwAiwkdzViUh0K5pyfND296j4432hj6ej9xpGT2Y4gNROCXVwBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H8YZAJQXwHMWiph7baxfnr",
      "input": {
        "note": "Bottle is hanging vertically with its base at or near the table; opening the jaws to release it standing upright.",
        "targets": {
          "right_gripper": 0.95
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01H8YZAJQXwHMWiph7baxfnr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.5163, -0.345, -0.0231, -0.0292, 0.9982, 0.5831, 1.7592, 1.1126, -0.0502, 0.4145, 0.2684, 0.9453]\nstate[eef_state]: left_x=0.2861 left_y=0.0019 left_z=0.1573 left_yaw=-0.0009 left_pitch=-0.0214 left_roll=0.0001 left_gripper=0.9982 right_x=0.437 right_y=0.2073 right_z=0.123 right_yaw=0.0817 right_pitch=-0.0604 right_roll=-0.0351 right_gripper=0.9453\nstate[joint_eff]: [-0.0479, -1.7162, 6.7897, 1.8779, -0.0366, -0.0562, -0.0122, -0.1573, -11.2479, 6.4342, 1.9365, 0.188, 0.0757, -0.2662]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6cfbe8c2164265f3feab8bb87be7d61699f88759dc44da503e6a1f9ccf6e677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d14050f4de375eaa629a39daae93e1bd0a933dcf462a3abef99913869bba7953",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:65e0900a2db1076963142104e00288440372875a84c1fe85f2dcf31fb15118b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 21.65 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, 0.7628, 0.5323, -0.3519, -0.0231, -0.0292, 0.9982, 0.5831, 1.7515, 1.3621, -0.3046, 0.4175, 0.2783, 0.4832]\nstate[eef_state]: left_x=0.2876 left_y=0.0019 left_z=0.1614 left_yaw=-0.0009 left_pitch=-0.0191 left_roll=0.0 left_gripper=0.9982 right_x=0.4507 right_y=0.2157 right_z=0.1862 right_yaw=0.074 right_pitch=-0.057 right_roll=-0.0274 right_gripper=0.4832\nstate[joint_eff]: [-0.3761, -1.4564, 6.7487, 1.873, -0.0659, -0.0317, -0.0122, -0.4855, -11.2068, 9.5385, 1.5946, 0.4225, 0.105, 0.1392]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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, 0.7578, 0.5251, -0.345, -0.0231, -0.0292, 0.9982, 0.5827, 1.75, 1.198, -0.157, 0.4164, 0.2783, 0.4833]\nstate[eef_state]: left_x=0.2874 left_y=0.0019 left_z=0.1608 left_yaw=-0.0009 left_pitch=-0.0145 left_roll=-0.0 left_gripper=0.9982 right_x=0.4407 right_y=0.2092 right_z=0.1437 right_yaw=0.0741 right_pitch=-0.0703 right_roll=-0.0341 right_gripper=0.4833\nstate[joint_eff]: [-0.253, -1.5795, 6.4889, 1.8974, -0.0611, -0.0855, -0.0122, -0.2256, -8.8957, 7.9795, 2.3028, 0.1343, -0.0464, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.5163, -0.345, -0.0231, -0.0292, 0.9982, 0.5831, 1.7592, 1.1126, -0.0502, 0.4145, 0.2684, 0.9453]\nstate[eef_state]: left_x=0.2861 left_y=0.0019 left_z=0.1573 left_yaw=-0.0009 left_pitch=-0.0214 left_roll=0.0001 left_gripper=0.9982 right_x=0.437 right_y=0.2073 right_z=0.123 right_yaw=0.0817 right_pitch=-0.0604 right_roll=-0.0351 right_gripper=0.9453\nstate[joint_eff]: [-0.0479, -1.7162, 6.7897, 1.8779, -0.0366, -0.0562, -0.0122, -0.1573, -11.2479, 6.4342, 1.9365, 0.188, 0.0757, -0.2662]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6cfbe8c2164265f3feab8bb87be7d61699f88759dc44da503e6a1f9ccf6e677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d14050f4de375eaa629a39daae93e1bd0a933dcf462a3abef99913869bba7953",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65e0900a2db1076963142104e00288440372875a84c1fe85f2dcf31fb15118b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnwMKjgEIEhgCKkCbuuHkcubX2ZSKfqrAv1w7Bn2jTlN0Fk8BCtSfxIGwmQp9B8vKLXpySRr8J3SBvDy7zACaAXtcRpV9AjPIM3hPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbiQzNUGEgxWaaybwSnZsUsaPAQaDHWvpt+0lLeYPIkaLiIwawmkAAz/pZexHctY+OC6RqZ1T+3In0G4zAqPaptA1uOwqTgNBEgebtHcDD+TbbE6Kr0BsRDGB4nHkNwj1fKiNRBmBYqB0qO3XBJafP07b7isXeL29NjchHo3P5Y2P/TOc7WmQLM/gZOFFVL6mKpfxPvnkcVYKK08kmCNjZflv6CT33OEZ1p9R5K6hSYiZgp7yp2tduRp9MkxYmaQnyjtL6sWDSrJRHTYUOj54ZxTx/WQyRTVietNR4K7iHM9tAFjXdwtdKsQzYE+IHJpB9oSRGONPjpB1SJ6VPeI/Z4SAvSaH5VNKn1LTmAHu4PJo/LkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GiQrDa1yQApHDCi84WXmXj",
      "input": {
        "note": "Released the bottle; retracting the right arm out of the way to confirm in the overhead view that it is standing upright.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.1,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01GiQrDa1yQApHDCi84WXmXj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7456, 0.5018, -0.3298, -0.0235, -0.0292, 0.9982, 0.5678, 0.9382, 0.8875, -0.5743, 0.3916, 0.2562, 0.9452]\nstate[eef_state]: left_x=0.2857 left_y=0.002 left_z=0.1565 left_yaw=-0.0006 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9982 right_x=0.2881 right_y=0.1081 right_z=0.236 right_yaw=0.0926 right_pitch=-0.0037 right_roll=0.0009 right_gripper=0.9452\nstate[joint_eff]: [-0.294, -1.1966, 6.6803, 1.8632, -0.0513, -0.0611, -0.0122, -0.7316, -2.6188, 10.4137, 1.8193, 0.1392, -0.0464, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30ba2179a12ba2cc632272d8eed7cd5c79d89c6f4457f8140ef10386eeb48b1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7aae1f47e03e986bb3e52c98eef0e6047679c1a6da6cee8f199876fe506090e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c5b13c78e0726c964709ef25508b0ec372e9fe1c56977edf565e5ba4b2069c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 29.08 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, 0.7578, 0.5251, -0.345, -0.0231, -0.0292, 0.9982, 0.5827, 1.75, 1.198, -0.157, 0.4164, 0.2783, 0.4833]\nstate[eef_state]: left_x=0.2874 left_y=0.0019 left_z=0.1608 left_yaw=-0.0009 left_pitch=-0.0145 left_roll=-0.0 left_gripper=0.9982 right_x=0.4407 right_y=0.2092 right_z=0.1437 right_yaw=0.0741 right_pitch=-0.0703 right_roll=-0.0341 right_gripper=0.4833\nstate[joint_eff]: [-0.253, -1.5795, 6.4889, 1.8974, -0.0611, -0.0855, -0.0122, -0.2256, -8.8957, 7.9795, 2.3028, 0.1343, -0.0464, 0.0122]\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, 0.7559, 0.5163, -0.345, -0.0231, -0.0292, 0.9982, 0.5831, 1.7592, 1.1126, -0.0502, 0.4145, 0.2684, 0.9453]\nstate[eef_state]: left_x=0.2861 left_y=0.0019 left_z=0.1573 left_yaw=-0.0009 left_pitch=-0.0214 left_roll=0.0001 left_gripper=0.9982 right_x=0.437 right_y=0.2073 right_z=0.123 right_yaw=0.0817 right_pitch=-0.0604 right_roll=-0.0351 right_gripper=0.9453\nstate[joint_eff]: [-0.0479, -1.7162, 6.7897, 1.8779, -0.0366, -0.0562, -0.0122, -0.1573, -11.2479, 6.4342, 1.9365, 0.188, 0.0757, -0.2662]",
      "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, 0.7456, 0.5018, -0.3298, -0.0235, -0.0292, 0.9982, 0.5678, 0.9382, 0.8875, -0.5743, 0.3916, 0.2562, 0.9452]\nstate[eef_state]: left_x=0.2857 left_y=0.002 left_z=0.1565 left_yaw=-0.0006 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9982 right_x=0.2881 right_y=0.1081 right_z=0.236 right_yaw=0.0926 right_pitch=-0.0037 right_roll=0.0009 right_gripper=0.9452\nstate[joint_eff]: [-0.294, -1.1966, 6.6803, 1.8632, -0.0513, -0.0611, -0.0122, -0.7316, -2.6188, 10.4137, 1.8193, 0.1392, -0.0464, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30ba2179a12ba2cc632272d8eed7cd5c79d89c6f4457f8140ef10386eeb48b1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7aae1f47e03e986bb3e52c98eef0e6047679c1a6da6cee8f199876fe506090e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c5b13c78e0726c964709ef25508b0ec372e9fe1c56977edf565e5ba4b2069c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DPvPBd9eas6k3CVyLGM7r3",
      "input": {
        "note": "Moving the right arm far to the side so the overhead camera has an unobstructed view of the bottle I just released, to check whether it is really standing.",
        "targets": {
          "right_x": 0.2,
          "right_y": 0.35,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01DPvPBd9eas6k3CVyLGM7r3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7456, 0.5014, -0.3298, -0.0231, -0.0292, 0.9982, 1.3983, 1.7176, 1.5944, -1.076, 0.9161, 1.042, 0.9452]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1563 left_yaw=-0.0009 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9982 right_x=0.1986 right_y=0.3446 right_z=0.2372 right_yaw=0.1271 right_pitch=-0.0361 right_roll=-0.0483 right_gripper=0.9452\nstate[joint_eff]: [-0.1709, -1.5658, 6.2838, 1.8339, -0.0464, -0.0513, -0.0122, 0.2667, -7.665, 8.8137, 0.8913, 0.7448, 0.1832, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:381b63ae30be9110384777e89476ee4b6e7a7709ecc01e62452ca0aecaa3acd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51d812f85b358a8bf7c63733cb83a4f6ec723aaeb577fe4a293dda35d87dcff1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:181ee4c034dc787747b26380c2c517d48e3b5086ede60f5d07fc2db072292fe9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 12.56 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7559, 0.5163, -0.345, -0.0231, -0.0292, 0.9982, 0.5831, 1.7592, 1.1126, -0.0502, 0.4145, 0.2684, 0.9453]\nstate[eef_state]: left_x=0.2861 left_y=0.0019 left_z=0.1573 left_yaw=-0.0009 left_pitch=-0.0214 left_roll=0.0001 left_gripper=0.9982 right_x=0.437 right_y=0.2073 right_z=0.123 right_yaw=0.0817 right_pitch=-0.0604 right_roll=-0.0351 right_gripper=0.9453\nstate[joint_eff]: [-0.0479, -1.7162, 6.7897, 1.8779, -0.0366, -0.0562, -0.0122, -0.1573, -11.2479, 6.4342, 1.9365, 0.188, 0.0757, -0.2662]",
      "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, 0.7456, 0.5018, -0.3298, -0.0235, -0.0292, 0.9982, 0.5678, 0.9382, 0.8875, -0.5743, 0.3916, 0.2562, 0.9452]\nstate[eef_state]: left_x=0.2857 left_y=0.002 left_z=0.1565 left_yaw=-0.0006 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9982 right_x=0.2881 right_y=0.1081 right_z=0.236 right_yaw=0.0926 right_pitch=-0.0037 right_roll=0.0009 right_gripper=0.9452\nstate[joint_eff]: [-0.294, -1.1966, 6.6803, 1.8632, -0.0513, -0.0611, -0.0122, -0.7316, -2.6188, 10.4137, 1.8193, 0.1392, -0.0464, -0.0269]",
      "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, 0.7456, 0.5014, -0.3298, -0.0231, -0.0292, 0.9982, 1.3983, 1.7176, 1.5944, -1.076, 0.9161, 1.042, 0.9452]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1563 left_yaw=-0.0009 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9982 right_x=0.1986 right_y=0.3446 right_z=0.2372 right_yaw=0.1271 right_pitch=-0.0361 right_roll=-0.0483 right_gripper=0.9452\nstate[joint_eff]: [-0.1709, -1.5658, 6.2838, 1.8339, -0.0464, -0.0513, -0.0122, 0.2667, -7.665, 8.8137, 0.8913, 0.7448, 0.1832, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:381b63ae30be9110384777e89476ee4b6e7a7709ecc01e62452ca0aecaa3acd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51d812f85b358a8bf7c63733cb83a4f6ec723aaeb577fe4a293dda35d87dcff1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:181ee4c034dc787747b26380c2c517d48e3b5086ede60f5d07fc2db072292fe9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISliIKjgEIEhgCKkCwg3WsMsjc4PcDl4lOoSbObpZ294tUllq4Hmes9dTYFLL4NZEeuysgxeZE8sjb48rl9ZpU4iaBDhWviPIuEOYJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe2QzNUGEgxMR5hS3n/7XXuSX5MaDNdRdJG5lC0VFHGwwCIwI9F1/QTnr4OrgiKQNzmFtNvLCf//xWVnUczGp0MaXl0FbswJP+uHdW4q4bJ0j+BgKrQg8GPw3UI4GK3m4sp4gEYEy/eDNnSZt311EEPZMPlGZIdaYzS6BBfNKJC6TIShxj4Afpu7P2vZnD7eJGEdUL5jrZYWJOJtSJ6J3IeoBbeGmQEKyeP8CDtGy9ckpxyEU2rSZhLjlz8WJlF9a4ewMP5f89WYygCB6ca2ENAOXW9+NhKOHQdbg+fn0LGzpJ0IXp/3OMrwx3QZsDp009i24B4Mhw/EPilGOgO0JzOx5luGqGboz2EYp7C8yU/kZDMvFnRJD8k6AFAPg6PWqsKCY7bL2BMmTkV6reAFc1qmu2pP+Fus6FF++3+A7MD+cmTliMIcF56rntUJ51gA5C32KUSDSOuCgUJXZ75KevoLtz6HqHoQ09gsdsl85bTTS9GPgEZz5o5vF++CTbf+qJwJMkC4CR53Fv+u0ni77s72yK+8032ylvKqk60rraW7uk3JtY1W01+nKuwwzQ/EtnkWQU6a2u21M9DR9RfbrqDmQNy3DTAlgY9pP+jphVO/KQzM9FSAyxp5/fJF02Lh0qdKvpOmoZXXePcj4Pz1tIqf3FY0gzVi2/WCkx7IPB5PTqAefCSCMScyXpp4ZxIlvPBUrYmk9+fSiCiL0xqQowP/RnOldlvnDTml3tNvNmvbRPCTx394qVowdLSuO/R+RmFS5eITsjBuMRZzKlEgb5Flots213oTD0jYxCndiUrn3YTkq2eJyh2TDPjTrlCxR4w4TlUwQt1g6xtqQHAIUVjJSxt7nlUuVhE25iyuaAqc5RseGD31hOtCUk0/bQYO1PQ+Q5RlVN4mxNtbC1cB7kDuXL3svZqutsLj5l4zYwqR+J6RD/qXyM3VZwvxkiJ5QuQ1iC33ygIrztOQJx4rAoRAFR4EPY18dy0pfyz3k6cKMF49Xuzpwj77TH2BDSXCSFG4EIJIcgjlUqndWNAVlqDBZGlX9lht9/a6nz5kPOqCVXMvcJtNkDbX0XcnwcYLsBsRHefsYRJ5VkVM4Jvh9oUn4TuNHCHnh6UoVUdBBL+hZlOKDUWqfMOaMBeY/NOIy0pWA0Ulv+Me2rQ1YK5IAr+cgvUFC4ZxahLDEM+PBV1yPMaIEe/6IDIK3SuIbbG9UL8SfR1rEWzSNTA4N8B1womdwAUJ4gnMevvypFm+T004ioURzshm5SbQlFNJemPa5bqiRE3PkFEls+Q17koITWJie1aTeHG27yvUzD8TPhtkGZH3Rqn4zBP6G0bqGBYm12Tj6Ik9S4qJ9MiCit7l+l8lmxZ2bWJUe4jTFsQb5Dk8aSxaIwuTz3Iu2e2IJAlDMRKqlGxOgs01iK5uIuTGuEt4/UqZMHo1V2qWA59oZY+Ddi6LNiQo7vo0ZoCCFQhOu4BqNkt8doaETMgPTDuX5HFglnaaoVKkObsUsmHVm8nU0gtHZHRJAEIiQXtJpbWjE+HYWa14kmA4LR3lR9hsP1j1s8rHvHCrCva7jmwdBBXAlgYtG6CJZZkT2fpn9kfNLsLiWfL0i5Bm7wjlS+mlMcHgRo3EIGJe+pCgcZkh/wczskEgdBPDYJR2fGKiilxt/9O8H5NjfRMXj6QEltGkJ0oT35mnGJYW/b6Frd+noRVOJ3MxoTaZ39bK5o0iIm5EyYOlVCCaDu6s5MQSJjNBICfJOPaGtkTgNF+N833akD9ytHH2g3OA6l0/Jd6AcUAzeL9dKMYyv6ryoSQvaAZvvRw6kdygQ9x//38y7UtuxCEdNcJipBMi2tbW0hqK7rDLpwUQcrHlbk22/fpgodpIzYQ+t19uffWw4lJwtL/G1DwAxs5QCNSJOJ462dfDb5+DFr79j4Z0HEcte62k7yH72me2KXOj1CYtXwBaEpJ4geqAiYdPB2+Cyo2R/j0egc3xA5xpkVu38ZlWJjudNlTBpIyJin0rRfvploGokjbyYkSFWVsGxOvZB1T/k+opR8cFcjZUZux+FaxdgWrjAkJl8ZXWVAUSUqSekUnEtjTCkkQBEWL4XQL2pYe7Jkm8opDv7K/UJ9+/RXWEzg1/wUHaM/N1DxSqGH5PsLo3o/jaRtN53Fbeadd7UeKTeNbLqIOLEZyYe7uOc0U9u7/XFt7/is78BnymZ3tasVes1vjyS9J2i9M+XN8VlAsf2jUUlYRB8pQSXWuClpZqRUgQwcU8fc44QR2uE21Jm0YM4mehzk1To2wrHTeXdl+wpt9oLhaAzUYMW7h15DEbaXe1sJKZY125Ahv/cB+Gv1tWndQnJNM7Ki0kToLOZVrpkNeBxmFbCW0L0M3FW9PACb8itTKsgroqMRrK3inal6YhtM12BfaA9lwsvFfjNYrWE7oq+NLwtblLi2jj1jBs9Qfuf2L+ylktXWN3myKTlF7cj6Bl3yV0DmnSJErg7/wdzIgxnV0i7NML0igf6MC44djP8CcWbvHK+rGMcoOQkPENnSH8D1VBEqGmyUD1gO3FcSGdZtfoJckW/KpODRnAUTK11RmAhl+qWS3LoAVfIKXQAKjqfHZv5wHVhw5Rf8gOry8UzRX2CGT741+3eELvIUla88Xs/tJqjwDHCcx9ESFOocyP3dho17zMFbIPtCUDCzuVbRU2+Yr2la6jN7IPLl1ooVO5S3faz9dIRG/jRG5j+JanBeF3UQQV/bKD8fd/GYks1rIcLQxKDYtImd+c9EHv2vJ0XdPXApkabyA91X2KRujmpSxG/kdI5p+YWKM1ZuICCKxtSBOFXxxvWulUZrNpFBUyE5OQs/fBzLn8Mi/qmdFYxEAGVToYpyj1GVH1MvuRY5hB0pb4Ou8e4hJF7gX28SWOJQ/i/PHcr5xKLOr5JytgMoq+OVmE8hbO5ITwJWpfxptjOrkONPMxwxRGpfDoj2N3EsUDNsyK12R0ok9nL/SUCo9YS2xFTpCTx2vr8nh7facNhuEdfRSheLZUAJm17XIy29AdFaxJsv+9NtXeSpEQmhl6lFQtXZfj9OK7rYUBJSTxVD44StBsGYTiGX74Ppfp2j9mmuBmQPx1UWKQwnnj6iloR7RL50XQhM2gLVWKRD1qbh3iv9YxulSx9KoUP7jqNDPwhaP0/Kj8JLbpEaoQHV1gIkAAhtNwkcKFJMXSP3ofz6RhCY7DMSTz6nzY1t7Twfogl58lYfGhjaUI8L+5+elIpVc5Kk+B9iCFEleZ/Vn93GXn0qugOONeo8CzZIlZf8vimYqfqe+c6gHD11YJFp3CVfqIW/uk+8vZarG1ziK75P4EbDlhjB5clgJIto0Sv6Z4ONCyWoMF3UBbVziahCRhxoH/U0l3iX1L4ypxrfnqX/9/CmMs63JjMGTjyOss4x+nvuSHNgbKcWpNTNKre6OdXDYg7xL1sEMakJQxXqEaRv9OiPPwyCpJUPJf6ulaY+xJoXAHEzeOdBrUXAbR8rHU3Vaq+t7oa3HhDuZLTSs3bGslPC6tFntqR+1I1nF2Q5oYLsOn7KHP6s4wIOShlZHR3iy4+pwZhdYuh+Kv/AuDBfKZtttI8PtnZbvX2ZQJBFWOoriieBlVKMSBDBaRiYoZoy485uDuahIQt6dYGQ1NIuyTH6Lad+dLL+HYIrHPPw4xmZV7U1YqIFhzus7XL2VW750dd6+bvzoqMjFlfXNq8ehoWWuFKV8imxIK08hWXdT9PajSHG5PGdqJ5JXTZ+rbcqD/MPNVUVf5lJjNvtiTuwz/E5pteUtEqeLUde+HZf8cXxE8QZSzc9pB2CiqoURCzUqzOAZA2yWvD89TG1aIY4NJ4HeRv3/MctHkLFOg6sHcKUCE004AG7SHn5Y6IFmKs627B68/vVJXz58JezTr8pOED9rX2bbdOcew8eZqG9ss7eqbLuiN0YpzSPkELkHn4VfuPsksQo6M6kZqnJGhKb+PIn0SEdDlZEaIsre74xMsjZ+FobU9vJFoYZVmbPKRLUwH2koEuZbeZGgslwFwSnp1bmMXe63T9/BLpc9Qfpw13LBUdR3SpPaScEBhtyYYuwx06ogp9Vbf7rG45DXENs/t+H/+YI11kcXllVpttphDK53nYDilDn6YnA0L1EkGUXxnF39QqxgeGQTAqFFWATapdQ96PmUQ29RI1Ry7viOFttMOO1fKbDj2oIYpqyYYpLy/c3PBCiktE7RFvI38ngVUI0wfelS7Rr8J3FRWdElctfJdHo3vz8bXnJtO3IhGHbrd/HQK4I2C8CYC8O/TiDG/a9lfLf65fAr8E8JtbTPUZdjOT2o/Cqth+a5AymosEG1oeBluhO91NBSBnyhSrHJGUJrf67fJJvsZvIYtYPIIBqnW0smC8hqX7n+OjR4slxg5DexATKt6+9MwB8PjfQV0Z5QzZkXiV8U+Zzf/WvphDDUV6PgDNXOUVxnCQirzX/RfVw63KM7ZK5hQ1RGnymzUYaCFf5IsC7AsmQv75uambi2Dq4x4Kk43j47X3froadXfB1dK6CMFMfYXhGZA9KstyyGOVTEqsqZCf34eIcLGzqSwfAoFoXs7SuYMuQJdqpD81vojHUXXGo6JRTuXew23XaWZ9j1iIhwypGz9X0LJUZk3Vbk3Vb5a8BkdloqcI7EL9WYayyzq8EsNrs4BqCzMqKsc1RHjHgTLbuGDeIjrM+xWETLkOfPsFtQ4Bpwicq/d/u2c6rgTf+FTnyUyfgSVQkbpQL4ltTIGoaNODi93uwJS9YlI7YA5YUwvMPa6SCyNqBkH/59gvRughKFqCH8skTrc+tTjHH1B9txuYNLXdlEVSTxbfOYvPaKaeaxcZBaFNCTMCDuLtQ2FHVQiQoBICgoJjhaRKsip27dCpt3Z/OE6RUtOrK4A8Ri+eBodTQ6xlZP6cwyLiT6/L8+AfMiXBN/3DsQE55koZFKBZ5OpaQxVybV2SR0ORYsgel9GKPaWNdZ/NOaXIFpzldQsLqEe5F/LE15aoiMfZaZp1OSvcuW8RdZBOxUOgEO6pNntrrSXd6WwGOZqS+OUzznwvEj1dRIkEOQIizcwIh0ehZQCbQDxuHbiXPHTfgl7yylFkoFbiu0u6rQyE+1pxJLkq0RV/YYwjPOr5Y6ZdQMJcjMwHxNrhdkksS+BjdBUEMHPLB6DXk3oge4jSPcQbbbCYDBsG3gx2EchXg7OQrynfqgM2JnYiYjhN5x/1CjLbEmUrK9yTyCJSvzjNcLzG9B0G+7pkj0c9Bk+HxkN1ue8MYhakyJBjf3RdJE88UwBY0vQJmzPe10IiGuCx7WBTHytJAHJtkHIpfh9WH0xixTC8T+c04nES4yIjQPsCqkEljW5S+omvf3mQmE6Bmn8cUdVJRZHBT7tIrKzWZ3YYQE99/T5Xk7jmleHQZAo1O2VfYnpmUh1PmrbFH9SbW6t0Kc9E7NPFB/sIUxV7Ul+fk303dWmcttO3R6ggZ7pJhvHJrei4vRG1g/7RH+3CKOeQLQJmxWz8btcxTZzuEjdwlSqJtBIwfrRl1LHjfpp03kHUHDmJoaspERWpWDSqieKfWk5MVFATFtq4hZhxPC/ucrC8YPSuentYsDWawDYcbJhdbNgihFohtxQdKS7OPRtjkzRtAQF5xqiHAKpeGsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QKfdY7Y7Px77WNQD7Yc5MB",
      "input": {
        "note": "All three bottles are still lying down: my last grab was on the squeezable mid-body (4.6 cm), which held the bottle horizontal. I'm now reaching ~3 cm further out to put the jaws over the narrow neck just behind the cap of the rightmost bottle.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.485,
          "right_y": 0.2,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01QKfdY7Y7Px77WNQD7Yc5MB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7452, 0.4988, -0.329, -0.0227, -0.0292, 0.9982, 0.5083, 2.022, 1.0149, 0.3866, 0.3264, 0.1837, 0.9985]\nstate[eef_state]: left_x=0.2854 left_y=0.0019 left_z=0.1554 left_yaw=-0.0013 left_pitch=-0.0122 left_roll=-0.0003 left_gripper=0.9982 right_x=0.4714 right_y=0.2019 right_z=0.0367 right_yaw=0.1254 right_pitch=-0.0156 right_roll=-0.0233 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -1.4701, 6.4342, 1.8535, -0.0269, -0.0806, -0.0122, -1.7026, -7.0222, 6.6667, 1.5263, -0.0122, 0.1685, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:089a5abd611940b97c49b086d2eea7626579d9201465bd562521fb932a03f06d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f497ba48525cb5e4ef9cb567f179e0e4fb8724c36b975b5ef2bb0e0260dbcfe3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1494097291c878cce6554b80d8a54f677a8480b2d28cbece234a16c6af4d9ac2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 22.33 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, 0.7456, 0.5018, -0.3298, -0.0235, -0.0292, 0.9982, 0.5678, 0.9382, 0.8875, -0.5743, 0.3916, 0.2562, 0.9452]\nstate[eef_state]: left_x=0.2857 left_y=0.002 left_z=0.1565 left_yaw=-0.0006 left_pitch=-0.0103 left_roll=0.0001 left_gripper=0.9982 right_x=0.2881 right_y=0.1081 right_z=0.236 right_yaw=0.0926 right_pitch=-0.0037 right_roll=0.0009 right_gripper=0.9452\nstate[joint_eff]: [-0.294, -1.1966, 6.6803, 1.8632, -0.0513, -0.0611, -0.0122, -0.7316, -2.6188, 10.4137, 1.8193, 0.1392, -0.0464, -0.0269]",
      "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, 0.7456, 0.5014, -0.3298, -0.0231, -0.0292, 0.9982, 1.3983, 1.7176, 1.5944, -1.076, 0.9161, 1.042, 0.9452]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1563 left_yaw=-0.0009 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9982 right_x=0.1986 right_y=0.3446 right_z=0.2372 right_yaw=0.1271 right_pitch=-0.0361 right_roll=-0.0483 right_gripper=0.9452\nstate[joint_eff]: [-0.1709, -1.5658, 6.2838, 1.8339, -0.0464, -0.0513, -0.0122, 0.2667, -7.665, 8.8137, 0.8913, 0.7448, 0.1832, -0.0122]",
      "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, 0.7452, 0.4988, -0.329, -0.0227, -0.0292, 0.9982, 0.5083, 2.022, 1.0149, 0.3866, 0.3264, 0.1837, 0.9985]\nstate[eef_state]: left_x=0.2854 left_y=0.0019 left_z=0.1554 left_yaw=-0.0013 left_pitch=-0.0122 left_roll=-0.0003 left_gripper=0.9982 right_x=0.4714 right_y=0.2019 right_z=0.0367 right_yaw=0.1254 right_pitch=-0.0156 right_roll=-0.0233 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -1.4701, 6.4342, 1.8535, -0.0269, -0.0806, -0.0122, -1.7026, -7.0222, 6.6667, 1.5263, -0.0122, 0.1685, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:089a5abd611940b97c49b086d2eea7626579d9201465bd562521fb932a03f06d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f497ba48525cb5e4ef9cb567f179e0e4fb8724c36b975b5ef2bb0e0260dbcfe3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1494097291c878cce6554b80d8a54f677a8480b2d28cbece234a16c6af4d9ac2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y1zz5J6hE3JRwy7SuyZFaW",
      "input": {
        "note": "The neck is still out beyond my reach, so instead I'll grasp the bottle's upper body here, then carry it back closer to the base where its neck becomes reachable. Closing the jaws now.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Y1zz5J6hE3JRwy7SuyZFaW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7456, 0.4988, -0.3267, -0.0231, -0.0292, 0.9982, 0.5045, 2.0396, 1.0016, 0.5602, 0.3122, 0.1802, 0.0172]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1557 left_yaw=-0.0009 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9982 right_x=0.4859 right_y=0.2104 right_z=0.0576 right_yaw=0.1326 right_pitch=0.1144 right_roll=0.0332 right_gripper=0.0172\nstate[joint_eff]: [-0.1846, -1.6752, 6.2291, 1.8535, -0.0464, -0.0415, -0.0122, -0.1709, -7.6376, 4.1641, 1.0965, 0.0464, 0.0611, 1.0965]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e83c595d8407dd7c2c0cb3de274bf615087fb8b43f54f733bc031d7d6ca91a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fa4391035cf286ebcd752266c5e147e12a639667e261f9595ebf965fbbe9d19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec7413842f27fc4ce0d32e072994e3fc5f92e1fe42c5c4abd5249b7c9fa178d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 10.32 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, 0.7456, 0.5014, -0.3298, -0.0231, -0.0292, 0.9982, 1.3983, 1.7176, 1.5944, -1.076, 0.9161, 1.042, 0.9452]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1563 left_yaw=-0.0009 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9982 right_x=0.1986 right_y=0.3446 right_z=0.2372 right_yaw=0.1271 right_pitch=-0.0361 right_roll=-0.0483 right_gripper=0.9452\nstate[joint_eff]: [-0.1709, -1.5658, 6.2838, 1.8339, -0.0464, -0.0513, -0.0122, 0.2667, -7.665, 8.8137, 0.8913, 0.7448, 0.1832, -0.0122]",
      "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, 0.7452, 0.4988, -0.329, -0.0227, -0.0292, 0.9982, 0.5083, 2.022, 1.0149, 0.3866, 0.3264, 0.1837, 0.9985]\nstate[eef_state]: left_x=0.2854 left_y=0.0019 left_z=0.1554 left_yaw=-0.0013 left_pitch=-0.0122 left_roll=-0.0003 left_gripper=0.9982 right_x=0.4714 right_y=0.2019 right_z=0.0367 right_yaw=0.1254 right_pitch=-0.0156 right_roll=-0.0233 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -1.4701, 6.4342, 1.8535, -0.0269, -0.0806, -0.0122, -1.7026, -7.0222, 6.6667, 1.5263, -0.0122, 0.1685, -0.1734]",
      "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, 0.7456, 0.4988, -0.3267, -0.0231, -0.0292, 0.9982, 0.5045, 2.0396, 1.0016, 0.5602, 0.3122, 0.1802, 0.0172]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1557 left_yaw=-0.0009 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9982 right_x=0.4859 right_y=0.2104 right_z=0.0576 right_yaw=0.1326 right_pitch=0.1144 right_roll=0.0332 right_gripper=0.0172\nstate[joint_eff]: [-0.1846, -1.6752, 6.2291, 1.8535, -0.0464, -0.0415, -0.0122, -0.1709, -7.6376, 4.1641, 1.0965, 0.0464, 0.0611, 1.0965]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e83c595d8407dd7c2c0cb3de274bf615087fb8b43f54f733bc031d7d6ca91a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fa4391035cf286ebcd752266c5e147e12a639667e261f9595ebf965fbbe9d19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec7413842f27fc4ce0d32e072994e3fc5f92e1fe42c5c4abd5249b7c9fa178d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KQkZ2PA8ayGK9EuCavir93",
      "input": {
        "note": "That close came up empty (0.017), so the jaws were past the bottle; returning to the pose where I successfully gripped its body to pick it up and drag it closer to the base.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.455,
          "right_y": 0.212,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KQkZ2PA8ayGK9EuCavir93",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0231, -0.0288, 0.9982, 0.5446, 2.0071, 0.976, 0.4259, 0.337, 0.2028, 0.9949]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=-0.0011 left_pitch=-0.0099 left_roll=0.0002 left_gripper=0.9982 right_x=0.4593 right_y=0.2141 right_z=0.0374 right_yaw=0.1426 right_pitch=0.0009 right_roll=-0.0071 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -1.4838, 6.2974, 1.8535, -0.0415, -0.0317, -0.0122, 0.2803, -11.7675, 4.7932, 1.6386, 0.232, 0.1294, 0.0708]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acd3deaaf28ca242a4dd86841b3c022c7fee6a35aa0f7ed5cf07e6aef3941ca2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c0beb214e96d080e4fa28f496f35d9bfe9c2e53114d612f66a6e540619d2df3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:863da529e12a7c2e77100796a4095415ecb101091daadfbe0cbcad6e02b1f5b2",
        "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 · 9.079 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, 0.7452, 0.4988, -0.329, -0.0227, -0.0292, 0.9982, 0.5083, 2.022, 1.0149, 0.3866, 0.3264, 0.1837, 0.9985]\nstate[eef_state]: left_x=0.2854 left_y=0.0019 left_z=0.1554 left_yaw=-0.0013 left_pitch=-0.0122 left_roll=-0.0003 left_gripper=0.9982 right_x=0.4714 right_y=0.2019 right_z=0.0367 right_yaw=0.1254 right_pitch=-0.0156 right_roll=-0.0233 right_gripper=0.9985\nstate[joint_eff]: [-0.1983, -1.4701, 6.4342, 1.8535, -0.0269, -0.0806, -0.0122, -1.7026, -7.0222, 6.6667, 1.5263, -0.0122, 0.1685, -0.1734]",
      "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, 0.7456, 0.4988, -0.3267, -0.0231, -0.0292, 0.9982, 0.5045, 2.0396, 1.0016, 0.5602, 0.3122, 0.1802, 0.0172]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1557 left_yaw=-0.0009 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9982 right_x=0.4859 right_y=0.2104 right_z=0.0576 right_yaw=0.1326 right_pitch=0.1144 right_roll=0.0332 right_gripper=0.0172\nstate[joint_eff]: [-0.1846, -1.6752, 6.2291, 1.8535, -0.0464, -0.0415, -0.0122, -0.1709, -7.6376, 4.1641, 1.0965, 0.0464, 0.0611, 1.0965]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7448, 0.498, -0.3264, -0.0231, -0.0288, 0.9982, 0.5446, 2.0071, 0.976, 0.4259, 0.337, 0.2028, 0.9949]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=-0.0011 left_pitch=-0.0099 left_roll=0.0002 left_gripper=0.9982 right_x=0.4593 right_y=0.2141 right_z=0.0374 right_yaw=0.1426 right_pitch=0.0009 right_roll=-0.0071 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -1.4838, 6.2974, 1.8535, -0.0415, -0.0317, -0.0122, 0.2803, -11.7675, 4.7932, 1.6386, 0.232, 0.1294, 0.0708]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acd3deaaf28ca242a4dd86841b3c022c7fee6a35aa0f7ed5cf07e6aef3941ca2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c0beb214e96d080e4fa28f496f35d9bfe9c2e53114d612f66a6e540619d2df3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:863da529e12a7c2e77100796a4095415ecb101091daadfbe0cbcad6e02b1f5b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAsKjgEIEhgCKkBPerjFCcluJVuUDcN2g23GCCXpcJw3Os62Zb+u4/jDHw+J5lZK41m6tQ9FYurBlYaA45+76CDtloPmUlTX5sNqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ+RzNUGEgx7xExI0IZgX9cksjUaDPQ/aAq0PCjUIgdYViIwIxdYcaEg3QjLOcqzTPb0DbYckg/UMs4edVAYFVD8ExVlSnbY0Etn/wEyplW+SO6aKtIJ3gm8c7ffwXIIOIqRRypa0gLsa1JNGIh3D3TMKHR9raBbXND+LtQPFe37TL9mcoiyY9GtFD4bIFLnMUyEVG5sK36f9b4vvbqfkm1HwVhm7GTvsGnJkkGL85bMTShK68OXkFNrjjQOVhAfL90HnO5oT7F3xf6TflUZmPKzg6QmreKM2iQF46o2zyirg1/BEgqUUygZbIoaMQHYgKzqg0akm+yPjWL42/C/v8Hb0gvpcP9oxB7eOuN1VlkI71C8XLMhfXugLd2TGoMODbcMXm8jRIgA5aiZEGzjFvgAS33nZC0znC9wEJNh3zRYO3n5QU4LI7QwBMLvaBbXcF1jvKSJA8NXlv+Oz61XlNNMbiDGJ1/AnB1jMuycQfPWgiTxvs0sfP4V3F5PEZdsXsSOPXptODUFpD+FH4/5vlXsLKDGQMwZsWspBQT02dtKQEcJkzXS4qHzu7iFO0tp7iWMSx3bf/RJBdmYkUpGbgAqf1m2yMYpiYIS6b3+BmIc3tbG+UdErpGusNRIc1qZjd5ROmjGVELgma7zGCdaCD23tvGPcf9GlKaP9KJEj3WYutW0obPgWLXQjEofWn4Awkj8/8A+2gKN38UIxDwXXi8NLrNf79orOLfM46b/+w4+PIYQbDFZo1DeUVH/zV+QeoFGXz8g55p44a2DzETE40l0uYuBlCGqdXbeG6lYcCrpSHH5iBzIhUvIde7V5F7M2NlwutjasxaOrIRo7BORgaCm28ucziaZgLix85Nni1Jllc5mcMSfkFi/ybEVBqLcyRVYWdAsbVlyBjZ5j8r75vBBJat+4vTif9HSkfvxYESDfKX3V/QcixWOQHNgYs6ug0Ygunz0gswu2ADmno37lW55lLK5OD36RipRZtbzPvsK9QrsGzv9ymk7aMJNEnvcsDa4Rb1Ilri9tbaETIDqos453iZFQLBAudV4tkiBwQwe3mrxk51XcMCLPyJ1WHPw7NXg3/MxQh4+R2WFttxF4pHpcvGn4WTJk2mDCrqWdm+UIYY6vG/xtGVB+l4n/yq6I3SNkxn856yDtocXWypgoZZVxSxNOx5Ux1zHrzUFio2viX2EK7rWVg6oO8cuJOesTiNNOyPsmS3E6xrM5YUwgrU1NEUgfNm/RehTCDCl/TtLcXbfEPHTAni/e9tx9o3xH/5xEJelyeg1iu8oV2Z8k8vcDo2eSebE+FcVX7y0Q74pmrzBvVKXcJ6Yxrqwd+PHC27i05uXXfzI41JdaoGrSg9gTafnOxtmn2u8J2ZdMofPau2BVJHiyRxocfw83drv6hUDrZo4M50vI6ASy54tI07ODFfPueAD9GT1YjMxB6FhiYpI7Iiqe4ORGmzhceMIi/rknlml63Clvz3yfb/3G7s/LG1lAhwDXQK5oVFlezD/lT5GSnEXmCPrzWM0Z89FlG5plRWD2uvvRhGStDG0Lhyz9MXUQRCY1VWL/ZoMPtajWDVB4g7WeSt5CYm7gAva0sA8UugLGpvUZjjjw0ecISBYlf2NfeJ7ETr8X/0wdVSEnX3U6rMP6oISCHM9y+7kBfQn9QPKcMIyPsbgnVu+rT5pEoZwLezNy6Qf669J9g9tPZ2rfwcr4gNEYpbjXJP+Pc+zWD5wDSRxm1zgqx+OtLWmEzBbtVWE6RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019VdkfWCuy6V9qm6dNNxGWy",
      "input": {
        "note": "The wrist view shows the bottle's near end sitting right between the open jaws; closing to grip it so I can carry and re-orient it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019VdkfWCuy6V9qm6dNNxGWy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7456, 0.498, -0.326, -0.0227, -0.0292, 0.9982, 0.5484, 2.0071, 0.963, 0.4103, 0.334, 0.2043, 0.5223]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1555 left_yaw=-0.0013 left_pitch=-0.0103 left_roll=-0.0003 left_gripper=0.9982 right_x=0.453 right_y=0.2131 right_z=0.0295 right_yaw=0.148 right_pitch=-0.0261 right_roll=-0.0154 right_gripper=0.5223\nstate[joint_eff]: [-0.3761, -1.5795, 6.4205, 1.8339, -0.0317, -0.0708, -0.0122, -0.7316, -9.894, 6.3385, 1.8193, 0.0366, 0.022, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bb22ebcdc5b5d4e5e44fde33fb1138bc5928c054665df55159f2d249a32dbff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:662b8995f8d6e5f1112efd2262dbc070e96c48293a81cc6ffdbbcee8286b88ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6706d718b55343f085ae54ca4b9c1cee5aa9f44cf247d28b63588964178eedd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 10.86 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, 0.7456, 0.4988, -0.3267, -0.0231, -0.0292, 0.9982, 0.5045, 2.0396, 1.0016, 0.5602, 0.3122, 0.1802, 0.0172]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1557 left_yaw=-0.0009 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9982 right_x=0.4859 right_y=0.2104 right_z=0.0576 right_yaw=0.1326 right_pitch=0.1144 right_roll=0.0332 right_gripper=0.0172\nstate[joint_eff]: [-0.1846, -1.6752, 6.2291, 1.8535, -0.0464, -0.0415, -0.0122, -0.1709, -7.6376, 4.1641, 1.0965, 0.0464, 0.0611, 1.0965]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.7448, 0.498, -0.3264, -0.0231, -0.0288, 0.9982, 0.5446, 2.0071, 0.976, 0.4259, 0.337, 0.2028, 0.9949]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=-0.0011 left_pitch=-0.0099 left_roll=0.0002 left_gripper=0.9982 right_x=0.4593 right_y=0.2141 right_z=0.0374 right_yaw=0.1426 right_pitch=0.0009 right_roll=-0.0071 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -1.4838, 6.2974, 1.8535, -0.0415, -0.0317, -0.0122, 0.2803, -11.7675, 4.7932, 1.6386, 0.232, 0.1294, 0.0708]\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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7456, 0.498, -0.326, -0.0227, -0.0292, 0.9982, 0.5484, 2.0071, 0.963, 0.4103, 0.334, 0.2043, 0.5223]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1555 left_yaw=-0.0013 left_pitch=-0.0103 left_roll=-0.0003 left_gripper=0.9982 right_x=0.453 right_y=0.2131 right_z=0.0295 right_yaw=0.148 right_pitch=-0.0261 right_roll=-0.0154 right_gripper=0.5223\nstate[joint_eff]: [-0.3761, -1.5795, 6.4205, 1.8339, -0.0317, -0.0708, -0.0122, -0.7316, -9.894, 6.3385, 1.8193, 0.0366, 0.022, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bb22ebcdc5b5d4e5e44fde33fb1138bc5928c054665df55159f2d249a32dbff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:662b8995f8d6e5f1112efd2262dbc070e96c48293a81cc6ffdbbcee8286b88ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6706d718b55343f085ae54ca4b9c1cee5aa9f44cf247d28b63588964178eedd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmAkKjgEIEhgCKkAAX9mWEC/tIWtptWmMcQVJyfnNfmw9ggtzvGhkY0MJbTD+JEIyvBtokLS5YeShnzhuPwCIoGdadzPNsY93QEoJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAamRzNUGEgyrjMAQCkoF/tsdiK4aDPiao6KilQ8XxHHIpCIwJpxwL3w7GtiMcWreUrmC2DO7kE4Zcc5O5OUBZRjOkSEsI+/go0jIg6l9+yyqbSU1KrYHUYKhx5aXBS4JG8fhqmk35luE4igkcNFG0eIh9xNh434Hq08MrM0QGB3rcAACTH7G+og17PH04058vOGKEpTPU8jyHT/Q0CqT/mE3ToFYoWeXGZOnvop71q4UXpQ9q9CN5ioClTb9atIU+PEXAHCQBuX+4sTBnt5hKKt11Hn+jR1JeE1/nQ1v9fkUG5LQl9d1fH3e4wdb54YFCc85Srb4a2/2Tb6GLV3NhvP76300CxRvbPfbvgi7mUszkgvnnQXpZB83QeSCb7dh92YVa6LnTZrz917s+uRiyFMYKszZg3gG7Zt0vdk2a+zm+ofAmKH4ZZjxmCQm8+KeLH9JJCAOTAmFQ42sb3b3MUhHOfU5x79Q7BxfNCbIWoV3LnbyLPskVUTS0XMKqx/UlHXFObIk9DdMWPAvIJn91XBSDok8Q3zBSkX1x6LbexWFTpUtW35ItpwXcjqgwffZdYwggHM61Ce9uUUN/33K/IobNa+sOwSDJiF3045FQVxW5DjBUfRS2nRPkuEQ8Ta3hHZdcbDuKAt3H91/Q9o7HNT9ZDyPzdfj54KsXHZ7nyJvCU9G82/pNRri5Z+09ZQlqHrLtjR4GPAez41VZLLQtpaSc+D3QTtBhkZinMDuXhMkCmjJzAiD6oJtVonGTzN/EPscuWT/hJdqmdDIzdBiMiE+bRC31HKt+szkgW80Qaho7bWzn5n0pUHhpFEQv8nvuTrQuqarkcizP0HR/OQs1fuPDcEVBLsO+LivlhgWMbB12KAsWzCUvIB4U+ge7OeTnG1zf5nY09wMsnnSGRenwJcfWpZKL9E9BEkrp9tGKeDPT+ksB3Er5mKRJwbpXUA8y97VntAfxBg6zxGVHgvROhxVAzE6OPZ7vVWLaMWltBv9syE1P1MDGc3SLmwjUsSPpUEZaSCg1nftob0nYeGJZrcU9nB3PE2IsuNTiixgymWm8XU1eFm/5F+seYD83Wphx3kdxH0aYb+EY2sVudaeQ26wQJDT87HJiAaO4LfVKcym4SqWB3Ugd01n0abSVJchhZeOwNSDpIYLeZpKbLBNMFShnQZI4TsvH5UnEwy+VZ2ZHp4c92/n9X5pVPbnXzn5a9DwPiyLIrFPcHaA++fCLFlDgOF5a7T3XZHxZMIo0qu1J2ws8DV5JcrnhYiA5bPArMfW9lM73CsKGIeOZzFtWEAq2wEh80CiHJIMINSfyAD4x8XR4QzqwxxnEcPKh/45Gu3CYi129EChm6sZ1BYMblJrmNHycmf7Y0PKBlQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016qT9tars1BxTdRdgY57pMd",
      "input": {
        "note": "Gripper settled at 0.52 (~5 cm) so the bottle's body is held; lifting it clear of the table and drawing it back before re-orienting.",
        "targets": {
          "right_x": 0.42,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_016qT9tars1BxTdRdgY57pMd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7456, 0.498, -0.326, -0.0231, -0.0292, 0.9982, 0.5968, 1.6588, 1.1763, -0.3519, 0.3325, 0.2123, 0.5258]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1555 left_yaw=-0.0009 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9982 right_x=0.4004 right_y=0.2067 right_z=0.1389 right_yaw=0.1839 right_pitch=-0.2107 right_roll=-0.088 right_gripper=0.5258\nstate[joint_eff]: [-0.1026, -1.4291, 6.2291, 1.8926, -0.0317, -0.0757, -0.0122, 0.335, -13.4906, 12.6427, 2.8205, 0.5104, 0.1929, 0.8669]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f64e01ada636e93ca46c4bfb0e0f71760abb5dc9708f5dcf9d4fd338ba10c795",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:661ae9df260a21ba00152e1bde3ea73e30ef397df0dbce163a583fc210e0a296",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91e192329fcc1f8791cdf27e8257294ab523e645905b58249e6eba908ef378da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 16.77 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, 0.7448, 0.498, -0.3264, -0.0231, -0.0288, 0.9982, 0.5446, 2.0071, 0.976, 0.4259, 0.337, 0.2028, 0.9949]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1557 left_yaw=-0.0011 left_pitch=-0.0099 left_roll=0.0002 left_gripper=0.9982 right_x=0.4593 right_y=0.2141 right_z=0.0374 right_yaw=0.1426 right_pitch=0.0009 right_roll=-0.0071 right_gripper=0.9949\nstate[joint_eff]: [-0.1983, -1.4838, 6.2974, 1.8535, -0.0415, -0.0317, -0.0122, 0.2803, -11.7675, 4.7932, 1.6386, 0.232, 0.1294, 0.0708]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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, 0.7456, 0.498, -0.326, -0.0227, -0.0292, 0.9982, 0.5484, 2.0071, 0.963, 0.4103, 0.334, 0.2043, 0.5223]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1555 left_yaw=-0.0013 left_pitch=-0.0103 left_roll=-0.0003 left_gripper=0.9982 right_x=0.453 right_y=0.2131 right_z=0.0295 right_yaw=0.148 right_pitch=-0.0261 right_roll=-0.0154 right_gripper=0.5223\nstate[joint_eff]: [-0.3761, -1.5795, 6.4205, 1.8339, -0.0317, -0.0708, -0.0122, -0.7316, -9.894, 6.3385, 1.8193, 0.0366, 0.022, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7456, 0.498, -0.326, -0.0231, -0.0292, 0.9982, 0.5968, 1.6588, 1.1763, -0.3519, 0.3325, 0.2123, 0.5258]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1555 left_yaw=-0.0009 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9982 right_x=0.4004 right_y=0.2067 right_z=0.1389 right_yaw=0.1839 right_pitch=-0.2107 right_roll=-0.088 right_gripper=0.5258\nstate[joint_eff]: [-0.1026, -1.4291, 6.2291, 1.8926, -0.0317, -0.0757, -0.0122, 0.335, -13.4906, 12.6427, 2.8205, 0.5104, 0.1929, 0.8669]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f64e01ada636e93ca46c4bfb0e0f71760abb5dc9708f5dcf9d4fd338ba10c795",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:661ae9df260a21ba00152e1bde3ea73e30ef397df0dbce163a583fc210e0a296",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91e192329fcc1f8791cdf27e8257294ab523e645905b58249e6eba908ef378da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AqH45tQbZCXs2XmYVfk86L",
      "input": {
        "note": "The bottle is off the table in the jaws and appears to be hanging cap-up in the wrist view; moving it to a clear spot to the right before lowering and releasing.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.27,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01AqH45tQbZCXs2XmYVfk86L",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7456, 0.498, -0.3264, -0.0231, -0.0292, 0.9982, 0.8246, 1.6196, 0.9733, -0.2371, 0.4438, 0.329, 0.5276]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1555 left_yaw=-0.0009 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9982 right_x=0.3316 right_y=0.2522 right_z=0.0987 right_yaw=0.2541 right_pitch=-0.2082 right_roll=-0.1025 right_gripper=0.5276\nstate[joint_eff]: [-0.0479, -1.2376, 6.2838, 1.8486, -0.0317, -0.0659, -0.0122, 0.0889, -8.8137, 11.9726, 2.5763, 0.735, 0.1685, 0.7106]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8b99fc36f2c8ab484536128db8d150c7f52b21ff1279861f327abaa2edd360c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec2858ae06b3242a92013c5067b0d6c584a8e19f6bfed30277598da8b5311f5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e355f99b78490c64ba5982de3fe4faab148d017e6df5f5774b394faf33b56e3b",
        "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 · 7.468 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, 0.7456, 0.498, -0.326, -0.0227, -0.0292, 0.9982, 0.5484, 2.0071, 0.963, 0.4103, 0.334, 0.2043, 0.5223]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1555 left_yaw=-0.0013 left_pitch=-0.0103 left_roll=-0.0003 left_gripper=0.9982 right_x=0.453 right_y=0.2131 right_z=0.0295 right_yaw=0.148 right_pitch=-0.0261 right_roll=-0.0154 right_gripper=0.5223\nstate[joint_eff]: [-0.3761, -1.5795, 6.4205, 1.8339, -0.0317, -0.0708, -0.0122, -0.7316, -9.894, 6.3385, 1.8193, 0.0366, 0.022, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.7456, 0.498, -0.326, -0.0231, -0.0292, 0.9982, 0.5968, 1.6588, 1.1763, -0.3519, 0.3325, 0.2123, 0.5258]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1555 left_yaw=-0.0009 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9982 right_x=0.4004 right_y=0.2067 right_z=0.1389 right_yaw=0.1839 right_pitch=-0.2107 right_roll=-0.088 right_gripper=0.5258\nstate[joint_eff]: [-0.1026, -1.4291, 6.2291, 1.8926, -0.0317, -0.0757, -0.0122, 0.335, -13.4906, 12.6427, 2.8205, 0.5104, 0.1929, 0.8669]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7456, 0.498, -0.3264, -0.0231, -0.0292, 0.9982, 0.8246, 1.6196, 0.9733, -0.2371, 0.4438, 0.329, 0.5276]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1555 left_yaw=-0.0009 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9982 right_x=0.3316 right_y=0.2522 right_z=0.0987 right_yaw=0.2541 right_pitch=-0.2082 right_roll=-0.1025 right_gripper=0.5276\nstate[joint_eff]: [-0.0479, -1.2376, 6.2838, 1.8486, -0.0317, -0.0659, -0.0122, 0.0889, -8.8137, 11.9726, 2.5763, 0.735, 0.1685, 0.7106]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8b99fc36f2c8ab484536128db8d150c7f52b21ff1279861f327abaa2edd360c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec2858ae06b3242a92013c5067b0d6c584a8e19f6bfed30277598da8b5311f5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e355f99b78490c64ba5982de3fe4faab148d017e6df5f5774b394faf33b56e3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YTwVQBBscLzxuy89wBQgQH",
      "input": {
        "note": "The bottle is held horizontally pointing away from the base; raising it and yawing the tool -90° so the bottle ends up lying sideways, which brings its cap end within easy reach when I set it back down.",
        "targets": {
          "right_yaw": -1.5,
          "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_01YTwVQBBscLzxuy89wBQgQH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7456, 0.498, -0.3264, -0.0227, -0.0292, 0.9982, 0.8902, 1.6073, 0.8646, -0.1711, 0.5579, 0.4526, 0.5276]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1555 left_yaw=-0.0013 left_pitch=-0.0107 left_roll=-0.0003 left_gripper=0.9982 right_x=0.3122 right_y=0.2427 right_z=0.0803 right_yaw=0.1639 right_pitch=-0.1722 right_roll=-0.1022 right_gripper=0.5276\nstate[joint_eff]: [-0.1162, -1.4974, 6.2017, 1.8339, -0.022, -0.0611, -0.0122, -0.1983, -10.4137, 8.4991, 2.3956, 0.9402, 0.1734, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53306b8b42618e681f98bc8b416c809c29e1e49272ebb28369794fc5640e123c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:283a397f9783aedaeaccfd5f79d8bbc05928784909f4626bd74cde1b6f802cf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab9e9cb2aa1e4982a5ade986adbfb0b545a00c3151b95c0f00b17d2e40f0d9cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 10.69 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, 0.7456, 0.498, -0.326, -0.0231, -0.0292, 0.9982, 0.5968, 1.6588, 1.1763, -0.3519, 0.3325, 0.2123, 0.5258]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1555 left_yaw=-0.0009 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9982 right_x=0.4004 right_y=0.2067 right_z=0.1389 right_yaw=0.1839 right_pitch=-0.2107 right_roll=-0.088 right_gripper=0.5258\nstate[joint_eff]: [-0.1026, -1.4291, 6.2291, 1.8926, -0.0317, -0.0757, -0.0122, 0.335, -13.4906, 12.6427, 2.8205, 0.5104, 0.1929, 0.8669]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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, 0.7456, 0.498, -0.3264, -0.0231, -0.0292, 0.9982, 0.8246, 1.6196, 0.9733, -0.2371, 0.4438, 0.329, 0.5276]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1555 left_yaw=-0.0009 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9982 right_x=0.3316 right_y=0.2522 right_z=0.0987 right_yaw=0.2541 right_pitch=-0.2082 right_roll=-0.1025 right_gripper=0.5276\nstate[joint_eff]: [-0.0479, -1.2376, 6.2838, 1.8486, -0.0317, -0.0659, -0.0122, 0.0889, -8.8137, 11.9726, 2.5763, 0.735, 0.1685, 0.7106]\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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7456, 0.498, -0.3264, -0.0227, -0.0292, 0.9982, 0.8902, 1.6073, 0.8646, -0.1711, 0.5579, 0.4526, 0.5276]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1555 left_yaw=-0.0013 left_pitch=-0.0107 left_roll=-0.0003 left_gripper=0.9982 right_x=0.3122 right_y=0.2427 right_z=0.0803 right_yaw=0.1639 right_pitch=-0.1722 right_roll=-0.1022 right_gripper=0.5276\nstate[joint_eff]: [-0.1162, -1.4974, 6.2017, 1.8339, -0.022, -0.0611, -0.0122, -0.1983, -10.4137, 8.4991, 2.3956, 0.9402, 0.1734, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53306b8b42618e681f98bc8b416c809c29e1e49272ebb28369794fc5640e123c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:283a397f9783aedaeaccfd5f79d8bbc05928784909f4626bd74cde1b6f802cf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab9e9cb2aa1e4982a5ade986adbfb0b545a00c3151b95c0f00b17d2e40f0d9cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0wYKjgEIEhgCKkDdbdprEGFCebmOL+WUWhBLBq0jxp2C1SK0NNq2prNhck6NSF0sp97ja6rsMzqw73AMalUyHInzQkr29lEZx0xAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc+RzNUGEgygHnUBrwD+0FaJ+BsaDHj7KEnwQ6AX0hu1OyIwFHMgGP+TwsvWrGsmMhNrrsud43F8fnKC2iemHrQJBFVxEKieQYTBm7PSzmWgVO9lKvEEDr5tFJuqZGn9esyfETL4tFVuT9frxXIs52cUS94UsSTZC9hupG0sX0XMxm0yk30dnAzn69kTRhaZxbgxiUQWNTATpiURhGhUff32nUmCqlrkW3v+e1k+jBTOsa46OpEXS6U+5prGHrgFS/H9flbspAe+iDkjh2LWEcUBuRugYetiOZqxETa3yLSeGHBvscJkFl6oLyjsKHJvXDlmCfQVUhYZxyIzCEchWqpp6fasU9s9mCLUCtoBJJQZLxFbnIyY6Mu2T+E8r4w/rdqnvp/gpmNfuBkpV3u3uHmbl2WSNDAyQPdz2UnFHWwQk0XQrBxosuXZ50HA9Ve+9ZG89Ccmc8+5A+E0Fd5IFMgSkZRfM7dBnc1JDQ7KZU/eEA/RdoODrjiOq74m68lEvqeLo2srvq3zYdmumllq1t5HBiqASHY0MhlKiKvILf+CHeDVexS9v5rBVFgO1MN6AynkKKvUx8sOU82EuDSyN/76mz8ulbaoMoChUGT3Te+uN28fdZw0jw9xteoIg7U5GkT3Wqp1pmFX1DO/K3VBv+IBExdfV1TqFy/iZnYriDTWQ6pJGfcGRdRBOndZEHPX1RaRcLgDSmRsx9tvWeNiNU+sAzFGrC2MFw0caDfDu/gZRdPIBHyD+PhLTc59bA17f/EVuAw7nSTdorTYybJXsO/fGb+pk2p8knYNPo9+/l2IW7PpVw6W4efr/11xGyXLSAzMheoXK/0QKj1ryBrT73mjmn26CSgVHbp4w8cPF1bufqxT92VYeNG4x+78PU5Ky3V+uc2KmGcrPpUbLNit1ddgj/qcQVVKRVyaZ3/cao/LWVAZRrY6WhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T4kG9uLHwwquMbYjt1pPgG",
      "input": {
        "note": "The arm ignored the large yaw command (nothing moved), so I'm making a smaller combined step: lift a little and yaw 0.4 rad, to see whether the wrist will rotate incrementally.",
        "targets": {
          "right_yaw": -0.4,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01T4kG9uLHwwquMbYjt1pPgG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3214, -0.0235, -0.0292, 0.9982, 1.0294, 1.9923, 1.3582, -0.6155, 0.833, 1.0172, 0.5296]\nstate[eef_state]: left_x=0.2861 left_y=0.002 left_z=0.158 left_yaw=-0.0006 left_pitch=0.0 left_roll=-0.0001 left_gripper=0.9982 right_x=0.3256 right_y=0.2948 right_z=0.077 right_yaw=-0.2021 right_pitch=-0.1271 right_roll=-0.0914 right_gripper=0.5296\nstate[joint_eff]: [-0.1436, -0.8957, 6.2291, 1.7656, -0.0513, -0.0757, -0.0122, -2.5368, -17.9077, 6.3932, 0.9841, 1.79, 0.1392, 0.5739]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0aa4a3f9505d9464fe622f1b5a236e65af406413bbdf20de70534d39952f4525",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:565bde0cab0645ac0d29f85bc8acd8c08508c77ab764acc6789ebe56afa655b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0fdcc34cbd6b7d2eef294f6a4179670d03d27d3340d58cd80d13c5099de089f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 10.69 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, 0.7456, 0.498, -0.3264, -0.0231, -0.0292, 0.9982, 0.8246, 1.6196, 0.9733, -0.2371, 0.4438, 0.329, 0.5276]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1555 left_yaw=-0.0009 left_pitch=-0.0107 left_roll=-0.0001 left_gripper=0.9982 right_x=0.3316 right_y=0.2522 right_z=0.0987 right_yaw=0.2541 right_pitch=-0.2082 right_roll=-0.1025 right_gripper=0.5276\nstate[joint_eff]: [-0.0479, -1.2376, 6.2838, 1.8486, -0.0317, -0.0659, -0.0122, 0.0889, -8.8137, 11.9726, 2.5763, 0.735, 0.1685, 0.7106]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.7456, 0.498, -0.3264, -0.0227, -0.0292, 0.9982, 0.8902, 1.6073, 0.8646, -0.1711, 0.5579, 0.4526, 0.5276]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1555 left_yaw=-0.0013 left_pitch=-0.0107 left_roll=-0.0003 left_gripper=0.9982 right_x=0.3122 right_y=0.2427 right_z=0.0803 right_yaw=0.1639 right_pitch=-0.1722 right_roll=-0.1022 right_gripper=0.5276\nstate[joint_eff]: [-0.1162, -1.4974, 6.2017, 1.8339, -0.022, -0.0611, -0.0122, -0.1983, -10.4137, 8.4991, 2.3956, 0.9402, 0.1734, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3214, -0.0235, -0.0292, 0.9982, 1.0294, 1.9923, 1.3582, -0.6155, 0.833, 1.0172, 0.5296]\nstate[eef_state]: left_x=0.2861 left_y=0.002 left_z=0.158 left_yaw=-0.0006 left_pitch=0.0 left_roll=-0.0001 left_gripper=0.9982 right_x=0.3256 right_y=0.2948 right_z=0.077 right_yaw=-0.2021 right_pitch=-0.1271 right_roll=-0.0914 right_gripper=0.5296\nstate[joint_eff]: [-0.1436, -0.8957, 6.2291, 1.7656, -0.0513, -0.0757, -0.0122, -2.5368, -17.9077, 6.3932, 0.9841, 1.79, 0.1392, 0.5739]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0aa4a3f9505d9464fe622f1b5a236e65af406413bbdf20de70534d39952f4525",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:565bde0cab0645ac0d29f85bc8acd8c08508c77ab764acc6789ebe56afa655b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fdcc34cbd6b7d2eef294f6a4179670d03d27d3340d58cd80d13c5099de089f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018L1pDwLsaXpNz3Y1mfzkpd",
      "input": {
        "note": "The wrist is rotating now (yaw -0.2); continuing the rotation toward -1.2 rad so the held bottle swings around to lie across the table with its cap end near the base.",
        "targets": {
          "right_yaw": -1.2,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_018L1pDwLsaXpNz3Y1mfzkpd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7456, 0.498, -0.3267, -0.0231, -0.0292, 0.9982, 1.0725, 2.1391, 1.5009, -0.8719, 0.9688, 1.3838, 0.5283]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1554 left_yaw=-0.0009 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9982 right_x=0.3182 right_y=0.2877 right_z=0.0671 right_yaw=-0.4067 right_pitch=-0.035 right_roll=-0.0824 right_gripper=0.5283\nstate[joint_eff]: [-0.0752, -1.3197, 7.0632, 1.7753, -0.0171, -0.0513, -0.0122, -0.294, -12.7111, 6.7487, 0.3883, 0.7546, 0.1685, -0.1538]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11e5d81050f2eb39a0bc45d9a17cf173a2785db6ce5c2038f4fc6efa2853696a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:457ced360222c84ffc235b5f8fdbf61fe4fdb65b4241476caff2d40e301871ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d0aa380a9c5af0634180e74eabc866d003edd1863877689fa78349969e52e82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 9.036 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, 0.7456, 0.498, -0.3264, -0.0227, -0.0292, 0.9982, 0.8902, 1.6073, 0.8646, -0.1711, 0.5579, 0.4526, 0.5276]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.1555 left_yaw=-0.0013 left_pitch=-0.0107 left_roll=-0.0003 left_gripper=0.9982 right_x=0.3122 right_y=0.2427 right_z=0.0803 right_yaw=0.1639 right_pitch=-0.1722 right_roll=-0.1022 right_gripper=0.5276\nstate[joint_eff]: [-0.1162, -1.4974, 6.2017, 1.8339, -0.022, -0.0611, -0.0122, -0.1983, -10.4137, 8.4991, 2.3956, 0.9402, 0.1734, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7399, 0.498, -0.3214, -0.0235, -0.0292, 0.9982, 1.0294, 1.9923, 1.3582, -0.6155, 0.833, 1.0172, 0.5296]\nstate[eef_state]: left_x=0.2861 left_y=0.002 left_z=0.158 left_yaw=-0.0006 left_pitch=0.0 left_roll=-0.0001 left_gripper=0.9982 right_x=0.3256 right_y=0.2948 right_z=0.077 right_yaw=-0.2021 right_pitch=-0.1271 right_roll=-0.0914 right_gripper=0.5296\nstate[joint_eff]: [-0.1436, -0.8957, 6.2291, 1.7656, -0.0513, -0.0757, -0.0122, -2.5368, -17.9077, 6.3932, 0.9841, 1.79, 0.1392, 0.5739]\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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7456, 0.498, -0.3267, -0.0231, -0.0292, 0.9982, 1.0725, 2.1391, 1.5009, -0.8719, 0.9688, 1.3838, 0.5283]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1554 left_yaw=-0.0009 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9982 right_x=0.3182 right_y=0.2877 right_z=0.0671 right_yaw=-0.4067 right_pitch=-0.035 right_roll=-0.0824 right_gripper=0.5283\nstate[joint_eff]: [-0.0752, -1.3197, 7.0632, 1.7753, -0.0171, -0.0513, -0.0122, -0.294, -12.7111, 6.7487, 0.3883, 0.7546, 0.1685, -0.1538]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11e5d81050f2eb39a0bc45d9a17cf173a2785db6ce5c2038f4fc6efa2853696a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:457ced360222c84ffc235b5f8fdbf61fe4fdb65b4241476caff2d40e301871ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d0aa380a9c5af0634180e74eabc866d003edd1863877689fa78349969e52e82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyAkKjgEIEhgCKkBENAmdAJxM0DVJZhSm7kZwpcZSlDWFe9uNY6IjDMOk7SQI+acZZEV22wdvjT9cVr4LNN4pw69UmaRrohbJ8ByEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeWRzNUGEgzOgaJJqaqgyojos1YaDIOrrQfE3ykm4le2DyIwsO6+s0E+lo3N0gI44coFD0dzZKCgJk7hMwAlOErgubuYihQvQ0AQoUPYjLHjTpIMKuYHTDP8Kmi1IRzFZi1uqqs1/WxRzN0iMoebLYe0UJNCNlAqBL+oPqsKfsdZxZlORl4isnhP/HbqDfPLj+p8367ar80fYyZxSD/+1twyDrzxTLTa46VPlCgO/ue5IYwecsoEtwihd0+D41ieMf4t1eycdaBCaPN3YaFGHmI+ZfjMaH4spsvxQCypMzsBdGFvsMgCNjbTkSGg8EnVZdgHW+S8HG98CEwgb1JYQJhIS5/sic5R1A2YaVsH+Y2UftmIIRnJSO5rk3K2brOCim7yTPqJ3bEvueCwrSUVrn+awYYnsFNeM+WUhyUbRLbCsYfQOfClXjY2gRBtjEhATtH9wDL7zkqe/koL38T2VuUSH67sVTWzXK1It90PuE2i5UERYPlfCieYDU1VS8/8AXvkU5E+ZiZvyxeUNJItEZrS0zNj9+9Zo2SjCh+dfiCVJnh9E1nc9ExgQH0hM9LIphf4Vu+j7dCGXcOUQcCttMJJWPXE6KJ/AL+GsvTe7zUmw/+MU+F1Gokzhf23QNgDPExxH7IZrPiV5gca15pzTOKlZmvJWpJ/XGrxIQrZPZDCgF6H4ZvjlrT7vJXDNJzknI5C/QntdJ0mmluwoO1UikxymVYj5t5VsQSEPvolZc4b5S3aCP/jja10akYJvzrswMcLFBndLZvWWI4tMLEbdFoMhGJFjt+F0OskLfofE+jDP5C4qzNlWJqM5X518PoNytrDbRG4Zl7FtvawwqRh51L4ofFCztGD5JUPKybS30NoTwqPSgxtYMm3MFLlLN5jYjAcOLRKTrkx1xNMPmwNIcqJ96Ksv2fDxssn4fHSCfYIrKkeCyo7sCRsF7xysfHlwEBV4uMZv0f6rRNx1teFwbFLBdv6nGPKP4KtcAKlBH1lllVyQt3cYw4b1t5szPuH/pfF0K59FwFdNjJYhuVuv8KXkt4RgUC2iX450/Uv+e+b9GKfrpOnrZcbjq+PWhMPLWnfSa5f8rC/qx/Uzs40jObrtArZSSORDVsTIr9WeI4sjkFXz0wxqoJ6nWQUZWerNYvNBlMenTUxtXVi0HRPhZdL1TSfreL4oAOK3FILnlBDkdglQZRyc43DQXV4Hz4oGkSV5wPYQT/IRmT6ChkloJ/F5zu2DkB+8/U8cYrQAmxXP1qZNnv8//lyrpginpsuArez52NoAqrYgaFuS/BinHuI7Pisqxkl78GVZoqptE8AR0A5dfxz72f3QEYct/NNKz1izegpF8fiv1KKzvg1MF4jX4QYbOHNvzaa6SF0ChM/itZCC0yrJOBKfJaqjuEn9eucllz/m4E7aiUSz67tGVLwCxVRmKF7+3iXAS8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0118VXfmXdLWp7ETw81KBPoN",
      "input": {
        "note": "The bottle is dragging on the table (z sagged to 0.067), which is resisting the rotation; commanding a higher lift together with more yaw.",
        "targets": {
          "right_yaw": -1.2,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0118VXfmXdLWp7ETw81KBPoN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.741, 0.498, -0.3229, -0.0231, -0.0292, 0.9982, 0.7761, 2.2669, 1.8038, -1.2388, 0.9009, 1.771, 0.5281]\nstate[eef_state]: left_x=0.2859 left_y=0.0019 left_z=0.1574 left_yaw=-0.0009 left_pitch=-0.0027 left_roll=-0.0003 left_gripper=0.9982 right_x=0.3882 right_y=0.192 right_z=0.0808 right_yaw=-0.9271 right_pitch=-0.096 right_roll=0.037 right_gripper=0.5281\nstate[joint_eff]: [-0.212, -1.1966, 6.4752, 1.8828, -0.0464, -0.0757, -0.0122, 2.0308, -13.3402, 6.9265, 0.0855, 0.442, 0.149, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dd42a87654bedf64c7c335bb99da3e8dcbb7682a5927ca28d548d2a30324e1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c88cc8dada0c2c8426966770600f542831e07d946cb54f57c8160342468bf9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ed440e5433e588b6dcbdcd181e4bc91459277d2e913c2ffc52dab85d83ce671e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 15.01 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, -0.3214, -0.0235, -0.0292, 0.9982, 1.0294, 1.9923, 1.3582, -0.6155, 0.833, 1.0172, 0.5296]\nstate[eef_state]: left_x=0.2861 left_y=0.002 left_z=0.158 left_yaw=-0.0006 left_pitch=0.0 left_roll=-0.0001 left_gripper=0.9982 right_x=0.3256 right_y=0.2948 right_z=0.077 right_yaw=-0.2021 right_pitch=-0.1271 right_roll=-0.0914 right_gripper=0.5296\nstate[joint_eff]: [-0.1436, -0.8957, 6.2291, 1.7656, -0.0513, -0.0757, -0.0122, -2.5368, -17.9077, 6.3932, 0.9841, 1.79, 0.1392, 0.5739]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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, 0.7456, 0.498, -0.3267, -0.0231, -0.0292, 0.9982, 1.0725, 2.1391, 1.5009, -0.8719, 0.9688, 1.3838, 0.5283]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1554 left_yaw=-0.0009 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9982 right_x=0.3182 right_y=0.2877 right_z=0.0671 right_yaw=-0.4067 right_pitch=-0.035 right_roll=-0.0824 right_gripper=0.5283\nstate[joint_eff]: [-0.0752, -1.3197, 7.0632, 1.7753, -0.0171, -0.0513, -0.0122, -0.294, -12.7111, 6.7487, 0.3883, 0.7546, 0.1685, -0.1538]\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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.741, 0.498, -0.3229, -0.0231, -0.0292, 0.9982, 0.7761, 2.2669, 1.8038, -1.2388, 0.9009, 1.771, 0.5281]\nstate[eef_state]: left_x=0.2859 left_y=0.0019 left_z=0.1574 left_yaw=-0.0009 left_pitch=-0.0027 left_roll=-0.0003 left_gripper=0.9982 right_x=0.3882 right_y=0.192 right_z=0.0808 right_yaw=-0.9271 right_pitch=-0.096 right_roll=0.037 right_gripper=0.5281\nstate[joint_eff]: [-0.212, -1.1966, 6.4752, 1.8828, -0.0464, -0.0757, -0.0122, 2.0308, -13.3402, 6.9265, 0.0855, 0.442, 0.149, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dd42a87654bedf64c7c335bb99da3e8dcbb7682a5927ca28d548d2a30324e1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c88cc8dada0c2c8426966770600f542831e07d946cb54f57c8160342468bf9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed440e5433e588b6dcbdcd181e4bc91459277d2e913c2ffc52dab85d83ce671e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzAkKjgEIEhgCKkDf1VlfA3JIMj997+QwexGdWnKL55Q5Jos6QkuYfa9RenOxnGCMnlqMdvIVH3i0hvjaLTKHNQfXH8Aifcy12rq8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe+RzNUGEgy7psJ8XxVm54sEWQ8aDI4HbBADay7zGypPeSIwkrzNY37eXQx1NMqdPw2V197rFE490WeZ4oiP2Tz5iII/OH9WwAFOcJIH1NFszPraKuoHtKgX7gc3AxoiP2z4WpkOfCWSYpjRU1nFQHnLAao9RMlEgfl2lh7xS9y9wuvht5p1m1Tch2tEEaavESDwPlO8qUBDWfhXmtX/GY9zcL0gj16h6RO/tNAHm5p78cIVQ5hEqNy5YpcuGFM4JfZc17yY2un8mLMTZl1GM6ZlEA4kq1Ak7DGJJmVfUBwUVJWoe4YBy/4OefWsXbEieKlOXrkAmWBSM5W3VftowiBELmliFOA2XYd0HdvMeXTACpLkrjM9VamAXg3qcSR68DdVTU7wkKsQu6UICd5I+qHMj04f2fNE+vpdzAw0Q8vDe3UB+TvM1/Mnc3FgSv65sok/Ea3GEdFfoG/2rAxsExNRukPPcLh3AdhmhhgntmdmJ+e0hYsN8X3lXu8BSZeMeYJ/ztQiUh7piM+VzZnLgJMTC0wSCx5t+SjXJ0mXu1bRdAr4vyAbuNKgTtnmCLMw4cHFxDCecC45HLQ5y66UsmsHzTrT6tWUPjk+zaS33NtIWpxhcYoaeyH1M8chOxcfC2fe+c1HW3659P7TuJdanKDuja4IpEOFqdFzudLIO4OkiLtn6GaDrRwQfp4xcvItitem+FogubOltadvsY35VACvuZ+2ikOdWf0/6ivz5veF91aUQIP8MrqJztB2Gw4J89jQ4GFoSEgL2F4V2CsWbBLuDG6oS9GiBDT4xnPVO5GHy/tH6NusbC7QS/fNH0Sclb59h0mGcLKpJzKUlH4mNuJUjCzblZQLa1Zx5RPfT1R+mJXEFnpd8T1hXbin8KIiOx8cq/o+hlwjrM0GCjUBMsZHgCbd+O8jbD6aj6u0poHixhWB6RkYx+HFDm5kLrPp8Acd2wP7U1RZhRSvTTfqtSezRXTXsMgf2UYMnVLYfWuCygGEQmQ6jbmVVXCPu6a5ZNdsv1AHOMUGWWkZAv27eotxhjXT8LZm0rYtjWAmHptwxdkn2ds2WvX+b38/XtG+7bXbziXMoOdtEQX1MibGLbcAdpfGlt7Sw+gY0uwYa+LLFJ9Jt3Kv8VEyV8YnKlL91uYQaTIbYZnbt9uj4IZrb+wDQIkWeP9PjM9lexDbfLzC7Q1upvk2Ajf4G7AjY11Yv4ygzWvfnObJbsS5ihIEbV+BoahhnjTdf3YBQWgJWHnv7UALH1njx6WRr9mDE32xYrAw+8R0Xxyqy19pQmlocz3u8SQUXYRkYH8e624Wgq72DtBmDsezsjx0LrrXxjYP/VdRw4V43suvupR33dREh9QQrhtyqZpJ3dpKOT/MYu19okOS09iMFc/A8j8A53KPW/f8Tl3SMzqlaBDPVuUJHmwawgDaeE2JUvesXFN1CguHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011GSfG48sGHywwhRsLZRUtY",
      "input": {
        "note": "The bottle has been rotated so its cap now points back toward the base (visible between the jaws in the wrist view); setting it down and releasing so I can re-grip it by the neck, which is now within reach.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_011GSfG48sGHywwhRsLZRUtY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.741, 0.4976, -0.3264, -0.0231, -0.0292, 0.9982, 0.8497, 2.3959, 2.075, -1.5284, 0.9413, 1.8988, 0.9953]\nstate[eef_state]: left_x=0.2854 left_y=0.0019 left_z=0.1565 left_yaw=-0.0009 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9982 right_x=0.38 right_y=0.2215 right_z=0.1037 right_yaw=-0.9233 right_pitch=-0.034 right_roll=0.0013 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -0.6632, 6.8855, 1.8339, -0.0708, -0.0806, -0.0122, -0.8684, -11.3983, 6.9538, -0.2466, 0.8376, -0.0171, -0.2564]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7a1ad8d832f6a4f31efd38832312a5f8850210f7a28b3fb040e62dc064de504",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85c7ff2f840d089b603b3ea73daa5daac6716dc2d90384a0f93b02a1f9746e3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dd290ccc29f8f0b24f3ad7b06fb1d65bb4e8ba935d2c90c098495fd7ca6f2e6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 6.557 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, 0.7456, 0.498, -0.3267, -0.0231, -0.0292, 0.9982, 1.0725, 2.1391, 1.5009, -0.8719, 0.9688, 1.3838, 0.5283]\nstate[eef_state]: left_x=0.2856 left_y=0.0019 left_z=0.1554 left_yaw=-0.0009 left_pitch=-0.0111 left_roll=-0.0001 left_gripper=0.9982 right_x=0.3182 right_y=0.2877 right_z=0.0671 right_yaw=-0.4067 right_pitch=-0.035 right_roll=-0.0824 right_gripper=0.5283\nstate[joint_eff]: [-0.0752, -1.3197, 7.0632, 1.7753, -0.0171, -0.0513, -0.0122, -0.294, -12.7111, 6.7487, 0.3883, 0.7546, 0.1685, -0.1538]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.741, 0.498, -0.3229, -0.0231, -0.0292, 0.9982, 0.7761, 2.2669, 1.8038, -1.2388, 0.9009, 1.771, 0.5281]\nstate[eef_state]: left_x=0.2859 left_y=0.0019 left_z=0.1574 left_yaw=-0.0009 left_pitch=-0.0027 left_roll=-0.0003 left_gripper=0.9982 right_x=0.3882 right_y=0.192 right_z=0.0808 right_yaw=-0.9271 right_pitch=-0.096 right_roll=0.037 right_gripper=0.5281\nstate[joint_eff]: [-0.212, -1.1966, 6.4752, 1.8828, -0.0464, -0.0757, -0.0122, 2.0308, -13.3402, 6.9265, 0.0855, 0.442, 0.149, -0.0366]\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, 0.741, 0.4976, -0.3264, -0.0231, -0.0292, 0.9982, 0.8497, 2.3959, 2.075, -1.5284, 0.9413, 1.8988, 0.9953]\nstate[eef_state]: left_x=0.2854 left_y=0.0019 left_z=0.1565 left_yaw=-0.0009 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9982 right_x=0.38 right_y=0.2215 right_z=0.1037 right_yaw=-0.9233 right_pitch=-0.034 right_roll=0.0013 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -0.6632, 6.8855, 1.8339, -0.0708, -0.0806, -0.0122, -0.8684, -11.3983, 6.9538, -0.2466, 0.8376, -0.0171, -0.2564]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7a1ad8d832f6a4f31efd38832312a5f8850210f7a28b3fb040e62dc064de504",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85c7ff2f840d089b603b3ea73daa5daac6716dc2d90384a0f93b02a1f9746e3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd290ccc29f8f0b24f3ad7b06fb1d65bb4e8ba935d2c90c098495fd7ca6f2e6a",
        "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_01SC4ofyjh8g4PfsXEJAveE1",
      "input": {
        "note": "The bottle now lies with its cap just short of the fingertips; backing up 3.5 cm and dropping to table level, with the jaws squared up a bit, to straddle the narrow neck behind the cap.",
        "targets": {
          "right_x": 0.345,
          "right_y": 0.215,
          "right_yaw": -0.6,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01SC4ofyjh8g4PfsXEJAveE1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.741, 0.4976, -0.3267, -0.0231, -0.0292, 0.9982, 0.8375, 2.3989, 2.075, -1.5452, 0.9421, 1.8946, 0.9971]\nstate[eef_state]: left_x=0.2854 left_y=0.0019 left_z=0.1564 left_yaw=-0.0009 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3809 right_y=0.2147 right_z=0.1034 right_yaw=-0.9336 right_pitch=-0.0293 right_roll=-0.0214 right_gripper=0.9971\nstate[joint_eff]: [-0.1299, -1.2923, 6.8171, 1.7949, -0.0171, -0.0659, -0.0122, -0.4581, -11.8906, 6.7761, -0.1538, 0.7741, -0.0415, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee73c15779ceb75bddf626308ed14867d73ff4b772f4907dc7e7eb0f7cd5d065",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f26a65931ae82d48cd5d570c893ad1a5be51bc1ef9c3f5bf7660ee3b530a8b16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8db37f436fe7246a83df93ce3b2604aa6ef91943c03596d85ddd0471f3dd0569",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 9.456 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, 0.741, 0.498, -0.3229, -0.0231, -0.0292, 0.9982, 0.7761, 2.2669, 1.8038, -1.2388, 0.9009, 1.771, 0.5281]\nstate[eef_state]: left_x=0.2859 left_y=0.0019 left_z=0.1574 left_yaw=-0.0009 left_pitch=-0.0027 left_roll=-0.0003 left_gripper=0.9982 right_x=0.3882 right_y=0.192 right_z=0.0808 right_yaw=-0.9271 right_pitch=-0.096 right_roll=0.037 right_gripper=0.5281\nstate[joint_eff]: [-0.212, -1.1966, 6.4752, 1.8828, -0.0464, -0.0757, -0.0122, 2.0308, -13.3402, 6.9265, 0.0855, 0.442, 0.149, -0.0366]\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, 0.741, 0.4976, -0.3264, -0.0231, -0.0292, 0.9982, 0.8497, 2.3959, 2.075, -1.5284, 0.9413, 1.8988, 0.9953]\nstate[eef_state]: left_x=0.2854 left_y=0.0019 left_z=0.1565 left_yaw=-0.0009 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9982 right_x=0.38 right_y=0.2215 right_z=0.1037 right_yaw=-0.9233 right_pitch=-0.034 right_roll=0.0013 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -0.6632, 6.8855, 1.8339, -0.0708, -0.0806, -0.0122, -0.8684, -11.3983, 6.9538, -0.2466, 0.8376, -0.0171, -0.2564]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.741, 0.4976, -0.3267, -0.0231, -0.0292, 0.9982, 0.8375, 2.3989, 2.075, -1.5452, 0.9421, 1.8946, 0.9971]\nstate[eef_state]: left_x=0.2854 left_y=0.0019 left_z=0.1564 left_yaw=-0.0009 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3809 right_y=0.2147 right_z=0.1034 right_yaw=-0.9336 right_pitch=-0.0293 right_roll=-0.0214 right_gripper=0.9971\nstate[joint_eff]: [-0.1299, -1.2923, 6.8171, 1.7949, -0.0171, -0.0659, -0.0122, -0.4581, -11.8906, 6.7761, -0.1538, 0.7741, -0.0415, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee73c15779ceb75bddf626308ed14867d73ff4b772f4907dc7e7eb0f7cd5d065",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f26a65931ae82d48cd5d570c893ad1a5be51bc1ef9c3f5bf7660ee3b530a8b16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8db37f436fe7246a83df93ce3b2604aa6ef91943c03596d85ddd0471f3dd0569",
        "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+QQKjgEIEhgCKkCCpBGouc3ACTeq0Iw1bKg1shuk4ZipfxkAnUwniLum70haI/+AEqqOYSBlS7wXkoA3fBYfvUWdqyEebIEdjK5tMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYWSzNUGEgwwTxugyc/U7a3vE6saDItCGWQuepPqjYiJZiIwGPuseEG1/x7up3VLaq/bFpjNRhfMcOKOUgskvVmLIsOd5hdBXOA25YSoYzxC7ZiIKpcDQqwXwSvN2PGrIFcub2L/ONrTAuaOCqjY3xpsBYN7tMIQoq4/VWgwwnXTb8v/83HAbXdCrGRmmDJ9w5E0N0T6aca97n3GxO/xlR3enlUUw395JIknCedL9eGndGqJrRZeRwX2CB4p9xl3psf47W7m8r1w/R6PohL6TTUOR04bU/VihPfTvv1X7ubbg93pxUu5k+4fCmXqu+ijcFVfpGbacMjU3TRr5VM9Hez4Lkz5xEyJLwyrpE3A3EubIskN3vBqbTR4ADNt94MqRwCVDmh6RS/GVZXvRweHRaeDr02VU2U3WyB2kTjYDoWRtoingQaRhCPyjNZBsl1hy51jNocrymK0o3GVIaonWvdK1Wk1T3TaUApJ/HCiWlpF7ZM0TNNgwDGwCPyUlWo2TGj6WWRoLCGlwe/U6XMxuZnnIPQDcRGsqvQi16iB+cnQnVh/l8zj0GgBkn+ZFCP0qnixDCtXR2K5G6HomMJJ/X5fJeMJ69+VQ9F36yCMFu/gZQ6yBxRr6yuB+9Quto4pK41Bw64Ljb+bg9XnO8wYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RFyiaBmYogSt86ZYmkePfu",
      "input": {
        "note": "The arm froze again at that awkward wrist angle; unwinding the yaw toward -0.3 while pulling back and down, to get into a pose the IK accepts over the bottle's neck.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.215,
          "right_yaw": -0.3,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01RFyiaBmYogSt86ZYmkePfu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7406, 0.4976, -0.3256, -0.0231, -0.0292, 0.9982, 0.8776, 2.1624, 1.7416, -1.3067, 0.9081, 1.6722, 0.9979]\nstate[eef_state]: left_x=0.2855 left_y=0.0019 left_z=0.1568 left_yaw=-0.0009 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3518 right_y=0.2112 right_z=0.1095 right_yaw=-0.7735 right_pitch=-0.0867 right_roll=-0.0662 right_gripper=0.9979\nstate[joint_eff]: [-0.253, -0.8274, 6.7761, 1.8926, -0.0562, -0.0562, -0.0122, -0.1709, -16.4581, 8.5675, 0.9646, 0.6667, -0.2125, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13d1c30907aab809b0aa19d8b90a7f5875d5f7235fdc8978d9cadb4ac5d40eab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8c48d1e901a15e4b3cfe2824340af6d37c52063b355b1dd1509e184603151c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94520a22000044067bbd01628e7ba677f939222f2d786ed8b872e996cf3a1501",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 16.75 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, 0.741, 0.4976, -0.3264, -0.0231, -0.0292, 0.9982, 0.8497, 2.3959, 2.075, -1.5284, 0.9413, 1.8988, 0.9953]\nstate[eef_state]: left_x=0.2854 left_y=0.0019 left_z=0.1565 left_yaw=-0.0009 left_pitch=-0.0065 left_roll=-0.0002 left_gripper=0.9982 right_x=0.38 right_y=0.2215 right_z=0.1037 right_yaw=-0.9233 right_pitch=-0.034 right_roll=0.0013 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -0.6632, 6.8855, 1.8339, -0.0708, -0.0806, -0.0122, -0.8684, -11.3983, 6.9538, -0.2466, 0.8376, -0.0171, -0.2564]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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, 0.741, 0.4976, -0.3267, -0.0231, -0.0292, 0.9982, 0.8375, 2.3989, 2.075, -1.5452, 0.9421, 1.8946, 0.9971]\nstate[eef_state]: left_x=0.2854 left_y=0.0019 left_z=0.1564 left_yaw=-0.0009 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3809 right_y=0.2147 right_z=0.1034 right_yaw=-0.9336 right_pitch=-0.0293 right_roll=-0.0214 right_gripper=0.9971\nstate[joint_eff]: [-0.1299, -1.2923, 6.8171, 1.7949, -0.0171, -0.0659, -0.0122, -0.4581, -11.8906, 6.7761, -0.1538, 0.7741, -0.0415, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7406, 0.4976, -0.3256, -0.0231, -0.0292, 0.9982, 0.8776, 2.1624, 1.7416, -1.3067, 0.9081, 1.6722, 0.9979]\nstate[eef_state]: left_x=0.2855 left_y=0.0019 left_z=0.1568 left_yaw=-0.0009 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3518 right_y=0.2112 right_z=0.1095 right_yaw=-0.7735 right_pitch=-0.0867 right_roll=-0.0662 right_gripper=0.9979\nstate[joint_eff]: [-0.253, -0.8274, 6.7761, 1.8926, -0.0562, -0.0562, -0.0122, -0.1709, -16.4581, 8.5675, 0.9646, 0.6667, -0.2125, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13d1c30907aab809b0aa19d8b90a7f5875d5f7235fdc8978d9cadb4ac5d40eab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8c48d1e901a15e4b3cfe2824340af6d37c52063b355b1dd1509e184603151c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94520a22000044067bbd01628e7ba677f939222f2d786ed8b872e996cf3a1501",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS3AgKjgEIEhgCKkDOe0VV+3OYnNhIH/AH7LlcsRaeBd7F2Aiin2bsOi8xEQsQnx/Fcn8TAzXGuSJFjy8+ZF0rfX2JtiP9xPequVonMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY+SzNUGEgwGjDpswtA+RP+iMcoaDP8+Lje3/OBG+5hNSiIwgzMdVTZ9Ncc3V8ZcTMdBl874fm5oTPObuR9xjUuoBigZxr7eYUH1GC0bx9GsshhtKvoGY1DLl5P/iIRdhTlrLkjPQ6nNk9zSWPjWV+kanHCi9OYTOprFieMPOmUCbQwPBujZ7EcfxoOAhpr2rY7YnHWzE4j+37KoUtnJkUUzOhglh98Ktwee0Tjf3xpGYJIH6WN5KxuQRTyTEiZVyK9Drc0crWy9NTdD3jmL8Vm1BBrkcjl4iRrhBiH2LEUVnO5WYGjafjIGgZSOz3R7DIWest3IYQee0XRvY1xMxRmJ4cLLMt3oezBLKdSoIu3+AcddVkjz0JEfpliKRdP4K/hLlgeYrsDVnxKvtGp7EjSxJ3xAeu+LupJjVSYMcKRGxkNrlS7gjTnB84UyT6HyHcpAfKchYN2UHkUprv0NcNjpL8WZ9MmTIkMtCPXbkpK097bdkxT1ZUlnRNik+I4y9HAhUE1nRrnp4dPzQTXP4zAMSetpZfQyT//GzNiHZV0vAvKJm3xuxwaSBUn6AJmaTl3kaCb8XX0lEQBlqS8O+m1JtjwUJv/nk05zB0Jnu+bIZhcXoeameOeN7NRL7UTtze/hQ+oPZ1TOImQ+TW02BI9b/+XxnwKWH5Zr9zc86Xzj04elkKKVWKySvSsbKbwBeegbP1JV7MfzYVSmNaVLXy+s6eEWsva75jMjmZW46m29GEv13Rd9lP2ttuCSL95WAwSrdBQQonEupo+ZruYHO1cjExq6Ak4/K9SyQrwhj3wUbpgn+CGkC0aYpg3jqhJ0xhur3fiObRKq/pUvA6WjHstRvniijK6LWBqxHuWZTUcrm79UcPG2IiCZscY81Lv4GaJ4yQ8zzm6mui7iiLPnMoRQNe2uvPUtwVIKAgGp7IW3sg6PxRzN4rJnEnnGXROxMGh33ZGhlVMOYAjourWqIHLCYh3lJ068IArNLFztF4NIR3DdrJKDeG0CMZp47K3wyy8D28HpWT3YcndhGu+ufLD45/yl6TbVzfwHHbhyUN8oHb5NJNRxPCCgGJvWZr6ZZ6Wc3ZgsK7PhP0m4nqJHJ1q8tdeQuJj1Qy5Qc1XcnW5ysn/jJjvX3YT96mnR4AW2HkbKHjRKYntL99Qu0/oW60tZ7sju0gO2BojOsMsgEIi/O+oQfPmt5/YIETCJl63J/C4gR8NLMYGT9uQ6sVUGBrB1kl7oiLJAY0Z1gGNy0eNJ7lfCyzfZk4BOVleRglVjmrV9coGiCJJS9gc5LmqvNGIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GDMYeEUxcqoLp4nR6Y7cbQ",
      "input": {
        "note": "The arm will not descend below ~0.10 here, likely because its wrist is over the bottle body; pulling back 4 cm and trying to reach table level again just behind the cap.",
        "targets": {
          "right_x": 0.31,
          "right_y": 0.21,
          "right_yaw": -0.7,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01GDMYeEUxcqoLp4nR6Y7cbQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.741, 0.4976, -0.3271, -0.0231, -0.0292, 0.9982, 0.981, 2.1517, 1.3533, -0.9791, 0.9756, 1.7439, 0.998]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1563 left_yaw=-0.0009 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3098 right_y=0.2064 right_z=0.0338 right_yaw=-0.6987 right_pitch=-0.0138 right_roll=-0.0512 right_gripper=0.998\nstate[joint_eff]: [-0.212, -0.759, 6.6667, 1.8144, -0.0464, -0.0464, -0.0122, 0.3761, -10.4137, 4.6291, 0.0708, 0.5885, 0.0659, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7cf5832dbfc13557af631d4146b5802db43be1ee5b32d3adbcad58911c2f879",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca7741c88f8c686dc1441036d1ee77cc9982685eaff3e0280d3819db0437d7be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea17ebe77509728ad253b8f7d459d6dcf5585e66650111e0b6a06664da6ef4dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 8.906 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, 0.741, 0.4976, -0.3267, -0.0231, -0.0292, 0.9982, 0.8375, 2.3989, 2.075, -1.5452, 0.9421, 1.8946, 0.9971]\nstate[eef_state]: left_x=0.2854 left_y=0.0019 left_z=0.1564 left_yaw=-0.0009 left_pitch=-0.0069 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3809 right_y=0.2147 right_z=0.1034 right_yaw=-0.9336 right_pitch=-0.0293 right_roll=-0.0214 right_gripper=0.9971\nstate[joint_eff]: [-0.1299, -1.2923, 6.8171, 1.7949, -0.0171, -0.0659, -0.0122, -0.4581, -11.8906, 6.7761, -0.1538, 0.7741, -0.0415, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7406, 0.4976, -0.3256, -0.0231, -0.0292, 0.9982, 0.8776, 2.1624, 1.7416, -1.3067, 0.9081, 1.6722, 0.9979]\nstate[eef_state]: left_x=0.2855 left_y=0.0019 left_z=0.1568 left_yaw=-0.0009 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3518 right_y=0.2112 right_z=0.1095 right_yaw=-0.7735 right_pitch=-0.0867 right_roll=-0.0662 right_gripper=0.9979\nstate[joint_eff]: [-0.253, -0.8274, 6.7761, 1.8926, -0.0562, -0.0562, -0.0122, -0.1709, -16.4581, 8.5675, 0.9646, 0.6667, -0.2125, 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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.741, 0.4976, -0.3271, -0.0231, -0.0292, 0.9982, 0.981, 2.1517, 1.3533, -0.9791, 0.9756, 1.7439, 0.998]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1563 left_yaw=-0.0009 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3098 right_y=0.2064 right_z=0.0338 right_yaw=-0.6987 right_pitch=-0.0138 right_roll=-0.0512 right_gripper=0.998\nstate[joint_eff]: [-0.212, -0.759, 6.6667, 1.8144, -0.0464, -0.0464, -0.0122, 0.3761, -10.4137, 4.6291, 0.0708, 0.5885, 0.0659, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7cf5832dbfc13557af631d4146b5802db43be1ee5b32d3adbcad58911c2f879",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca7741c88f8c686dc1441036d1ee77cc9982685eaff3e0280d3819db0437d7be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea17ebe77509728ad253b8f7d459d6dcf5585e66650111e0b6a06664da6ef4dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012Txi8spTfQUpNWrXVMmwhn",
      "input": {
        "note": "The wrist view shows the bottle's blue cap centred just ahead of the jaws; advancing 3.5 cm so the jaws straddle the narrow neck right behind that cap.",
        "targets": {
          "right_x": 0.345,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_012Txi8spTfQUpNWrXVMmwhn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7403, 0.4976, -0.3267, -0.0227, -0.0292, 0.9982, 0.934, 2.1536, 1.3441, -0.8829, 0.9756, 1.6684, 0.998]\nstate[eef_state]: left_x=0.2853 left_y=0.0019 left_z=0.1566 left_yaw=-0.0013 left_pitch=-0.0061 left_roll=-0.0004 left_gripper=0.9982 right_x=0.327 right_y=0.2022 right_z=0.0288 right_yaw=-0.7034 right_pitch=-0.0226 right_roll=-0.0294 right_gripper=0.998\nstate[joint_eff]: [-0.1026, -1.1966, 6.4752, 1.8193, -0.0269, -0.0708, -0.0122, -0.9641, -8.3077, 6.9812, 0.4127, 0.7009, -0.105, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3312fb6f87d96e1d79926b8e5480483fdaa8553b81d4b5f286a506a9645899b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2a023998a205ce111e2c4b07b7281213b6eb30dda0a812e75da9376e94a106f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b06a5bcc05e04c503fa9384cd5c125dc7a60582ebea998a8b88f29f3b52038c3",
        "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 · 9.934 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, 0.7406, 0.4976, -0.3256, -0.0231, -0.0292, 0.9982, 0.8776, 2.1624, 1.7416, -1.3067, 0.9081, 1.6722, 0.9979]\nstate[eef_state]: left_x=0.2855 left_y=0.0019 left_z=0.1568 left_yaw=-0.0009 left_pitch=-0.0053 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3518 right_y=0.2112 right_z=0.1095 right_yaw=-0.7735 right_pitch=-0.0867 right_roll=-0.0662 right_gripper=0.9979\nstate[joint_eff]: [-0.253, -0.8274, 6.7761, 1.8926, -0.0562, -0.0562, -0.0122, -0.1709, -16.4581, 8.5675, 0.9646, 0.6667, -0.2125, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.741, 0.4976, -0.3271, -0.0231, -0.0292, 0.9982, 0.981, 2.1517, 1.3533, -0.9791, 0.9756, 1.7439, 0.998]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1563 left_yaw=-0.0009 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3098 right_y=0.2064 right_z=0.0338 right_yaw=-0.6987 right_pitch=-0.0138 right_roll=-0.0512 right_gripper=0.998\nstate[joint_eff]: [-0.212, -0.759, 6.6667, 1.8144, -0.0464, -0.0464, -0.0122, 0.3761, -10.4137, 4.6291, 0.0708, 0.5885, 0.0659, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7403, 0.4976, -0.3267, -0.0227, -0.0292, 0.9982, 0.934, 2.1536, 1.3441, -0.8829, 0.9756, 1.6684, 0.998]\nstate[eef_state]: left_x=0.2853 left_y=0.0019 left_z=0.1566 left_yaw=-0.0013 left_pitch=-0.0061 left_roll=-0.0004 left_gripper=0.9982 right_x=0.327 right_y=0.2022 right_z=0.0288 right_yaw=-0.7034 right_pitch=-0.0226 right_roll=-0.0294 right_gripper=0.998\nstate[joint_eff]: [-0.1026, -1.1966, 6.4752, 1.8193, -0.0269, -0.0708, -0.0122, -0.9641, -8.3077, 6.9812, 0.4127, 0.7009, -0.105, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3312fb6f87d96e1d79926b8e5480483fdaa8553b81d4b5f286a506a9645899b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2a023998a205ce111e2c4b07b7281213b6eb30dda0a812e75da9376e94a106f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b06a5bcc05e04c503fa9384cd5c125dc7a60582ebea998a8b88f29f3b52038c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwQgKjgEIEhgCKkBhiTLzB68e+UK34FEH3CCvUHVKvDIcLo4OfbPcdtgcV68u8aI4oT2ud17IFkmhwmh6eLWVDBDEm3wS8qsRkcTZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAamSzNUGEgww6NQycuhXP1CukP8aDECA+let3CfTnTmyBiIw5vteHqy7gjrVQl1j1dh0kEXrEaiVnJTqNLZSP69oRvvTRyT9i2DKK3X6OChKcWW+Kt8GWS2vVuUR1gjPJTQg+DUjGYvaa8Yif/69Tc+IvVZr80kIUO9Z8N7ZAvd0wPEuyzKJupC8hfPoAg/npint69CWt+Ju9ca7Izi/TGDXqpKRRo7QgoBmyXvabCOJyGAYWldj/c1LFyVJxaImTzTCCan/ZtqAVU+KjczAkTROO/joXmb3X7uAoVO5VShJhRtDgWBdi+YafJri7UCE7eE/EJV33a63QvL21HZEcgGHSt2OEvxtCNseJW8S647xXbf6sTo6DjOuN07bVcCj16djNanr5cNIhyaXiroG/j5iqmI15zFc3DLExll2T86LQnIQYxfbcEu6Xh6YzWLfA1b+XNNlGnY6NZIJnEsLibQojTexpxs5yh8Q/cvMZ7hIjd2e1CJAA08zCswhS2u/fzZwROC/5SFgQ/QicN47d6CjvJUjOiNCZL/pM4Ns8N5G0kGcg62zMhULv5aRJGT0z2mby+c3WC5OukZsGgAE97Zsk7It9KIryqBiGLVf5gWP32t4PW/+EuPJDw3us2y//SQmrWWdYk4Sr84NAUHaMFkaSSfhoBJikaL+IUKHQ76/YGJIyyyfd3qCqEB3ICW2Pyv2HwkdG1PWPuUEDK5UgEkQ2aYB95bcWAvAMZm9d+DDVYn6AHq7ECqG3afBlhrxpaIZvmKvAStZcpLyywkdL05OQyZRg2l4BQC/wwatDiIh10Ko6v6N+2FMhNg0afkwgxb+/L/sRVMbwZ7XIn6njJUrI+TpM+8Mh/X0CmE+q2mlkQgFETTDoIGyyj9M21OVjvIpYV1M7KJqXaScfXl16ar17rz1xmHsqNCkJ3uAHG+A266Yk+hzws3GiNew2I+CeOgWI3YbNMTT68RkpfJcwqfJNBZpAUB5qot0YI/k48BSDOh/JG95ILl2/zxQ0YQgp4DnpiNp+CcyDxd+K1P7gAnyIkuQtVDvR9H5hHWlJbjb+ZtPz/bXu8H2FFWG6noFaKi9jVZVNSavuy4w7zDUCfq9mjz7c+UmU/Hwdbke1l+9loeQiOrH0L8yyH70OfeIH8NN1rFl8Jw8Ji84bMNP+Qf/Ex+fxdnqc1CKSupvc2zzbhtgMMOO9WRptqlyzqn73lSHY0UBg1y/Js4rLCg3RjwXGMaT6HmxH6w2lEDUr8wiDMaZb7sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0119S7foCUisPKeh354RF3wC",
      "input": {
        "note": "Still short of the neck (the label fills the lower frame), so I'm creeping 4 cm further forward at a slightly higher hover to get the jaws over the neck.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.2,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0119S7foCUisPKeh354RF3wC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7403, 0.4976, -0.3267, -0.0231, -0.0292, 0.9982, 0.9092, 2.1544, 1.3514, -0.8402, 0.9764, 1.6176, 0.998]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1566 left_yaw=-0.0009 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3377 right_y=0.2014 right_z=0.0294 right_yaw=-0.6997 right_pitch=-0.025 right_roll=-0.0223 right_gripper=0.998\nstate[joint_eff]: [-0.2393, -1.2239, 6.5709, 1.7851, -0.022, -0.0659, -0.0122, -0.3897, -8.9504, 6.653, 0.3297, 0.6716, -0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e03c26cf2db3387b918ce758da9a7ae6c008d6bc8650813d4ba85ac16f72079",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ec8b7aab095f77628e3b0ae6d0b30582c91d5d81e4c87cdeee285eb80db2f0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57efdd89cf8a1dd206201ac36c6fa8096f3bbb5cefc9ecdad768f6d62ff838b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 16.69 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.741, 0.4976, -0.3271, -0.0231, -0.0292, 0.9982, 0.981, 2.1517, 1.3533, -0.9791, 0.9756, 1.7439, 0.998]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1563 left_yaw=-0.0009 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3098 right_y=0.2064 right_z=0.0338 right_yaw=-0.6987 right_pitch=-0.0138 right_roll=-0.0512 right_gripper=0.998\nstate[joint_eff]: [-0.212, -0.759, 6.6667, 1.8144, -0.0464, -0.0464, -0.0122, 0.3761, -10.4137, 4.6291, 0.0708, 0.5885, 0.0659, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7403, 0.4976, -0.3267, -0.0227, -0.0292, 0.9982, 0.934, 2.1536, 1.3441, -0.8829, 0.9756, 1.6684, 0.998]\nstate[eef_state]: left_x=0.2853 left_y=0.0019 left_z=0.1566 left_yaw=-0.0013 left_pitch=-0.0061 left_roll=-0.0004 left_gripper=0.9982 right_x=0.327 right_y=0.2022 right_z=0.0288 right_yaw=-0.7034 right_pitch=-0.0226 right_roll=-0.0294 right_gripper=0.998\nstate[joint_eff]: [-0.1026, -1.1966, 6.4752, 1.8193, -0.0269, -0.0708, -0.0122, -0.9641, -8.3077, 6.9812, 0.4127, 0.7009, -0.105, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7403, 0.4976, -0.3267, -0.0231, -0.0292, 0.9982, 0.9092, 2.1544, 1.3514, -0.8402, 0.9764, 1.6176, 0.998]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1566 left_yaw=-0.0009 left_pitch=-0.0061 left_roll=-0.0002 left_gripper=0.9982 right_x=0.3377 right_y=0.2014 right_z=0.0294 right_yaw=-0.6997 right_pitch=-0.025 right_roll=-0.0223 right_gripper=0.998\nstate[joint_eff]: [-0.2393, -1.2239, 6.5709, 1.7851, -0.022, -0.0659, -0.0122, -0.3897, -8.9504, 6.653, 0.3297, 0.6716, -0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e03c26cf2db3387b918ce758da9a7ae6c008d6bc8650813d4ba85ac16f72079",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ec8b7aab095f77628e3b0ae6d0b30582c91d5d81e4c87cdeee285eb80db2f0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57efdd89cf8a1dd206201ac36c6fa8096f3bbb5cefc9ecdad768f6d62ff838b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISugkKjgEIEhgCKkCeRIo+9mO0/G6sFnJQKfG3Zpfxi9YkFrZZiJYjWYAitozai6d84tUifvIAjjpVgZXq1mHXo1Rd+u9LPNvfPgRxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbSSzNUGEgxaCDy/FLtZWAmcbv4aDDXBAK5EcmGOIMoITyIwkIi64oXw3W/I15GciniygrZaISILzDNnnjO2Ps5iQ0BSnXWkZESXIXw1w+feT4BWKtgHDLS/P+TLVDX0db/zCG7AVNcHvUHJCby+felwO2w44VQmRIr2GcG5LCmKKGBQ3yLoM0+/24/l1W8L6i+U59rnYEKIa5R7ZYTd71JP7IdK+nCxBlrYVYKzaR1CrytPv4Q7QK7udA85fSp9SJPC8XpFj9yZpHSCCLY8AyYWexiXH3ZTRVdUzYziRIbFZDZQ/5KhXrNWRO/dDZyt+bmoy6Kcil69zeEJR2z2rEEYVzEiA+/cQIH3t5mLY/OVHdvoX8G9D9ZwUccKjCu9uB4cindRu3rH7K//CoTCkaSzPjIdWuRWF0U3Pzb6oVN0T1/aExqiEcnVpik7xbUxmLo8VjUPpuSG+NdDjbwa9AMsqGD+/gKYpfiwC+L0GKTKo9duanp2mhV4xD3ejRhsxwp9v8xPFxQoFovcn3FPi+fIcWbXfmxSFY/zalpPnOAY1AlThSJkQUCzxWhhnDvdFvJkP0etL28vVi2+Ch0q9Z9oZiPVLcFzOdZhLgAaZcorwD16+ScDJuGlv3ZFrAkZv4lRwhbXtsa3+dFfK/mS+pBe53mhrXUV7/Mp2tWqRzoNIZKjLJpuoLyoFEUhRfMsunklxsZWlj5ZP8DsXYUyHRBA322f8ri24ib8ul6zC68Cs3SvdVZ1dMGcrb3/GtboQhc2M01m563LNJso1d23kLdnS/akCKk7yXz4nBZDoYyKjBT7D5P6EWEIX76PjyDpWaZsqUer25hZpOk9A+47FhXZAWUz88Lf+D7rdopKyXfcz2Z/ytGissFpPmnwPZnuaeH4U++zFJkGY4U2hPdo4QCd4Gbr3r9HxR8YNCa2yUUpKCUE033O0k33u3NAHJEnz06gEXdatygO65K3TGQ+I6PdHo1USGZcGPcqcxVVC/5ZJZcuhIVhA9NyB7Zksnz2NXFGG0f7oiNEeHuzujKbbOksd7nLUNZcuLcmiHN3I1+nk53ePCYCkMcOM87UWEICriaAxbb/1UIghLQztUJkEYue6WXKOP8/WbjW/tJf/Nfb4y1GLJ0bpjXsfxl8jJwWa2YeMssYuNEhy8wRqJh2TSdfUs3F/Xym9Zn9yfCpmkdds68U/htinfbU71cDKSyWDrcS0CPmudIZn+jTBDEdIdCMzL3OP4ZXFPAeg1+S7b9AAaqPUH/3hknyzjfyqHUZyu5cpZ4iewezh9zmTRa7iFpnyC4MJSSGTC5YZaVIDO9AIMZQ9TRt1xmDGaE0L03jI1xk4uCYeMOXtbLoWYG3jH/bdk8lrplNL5ZGCKXbGqvRXR3r7ENadGgzE7fZmZfmX55i9t743l0HO0jDxQh8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PgAEGpJQhVN1ZGU5MiGQE8",
      "input": {
        "note": "The arm stalls at x≈0.34 with the wrist yawed; squaring the wrist back to yaw 0 (jaws closing across the bottle axis anyway) and reaching to x=0.40 to get over the neck.",
        "targets": {
          "right_x": 0.4,
          "right_yaw": 0.0,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01PgAEGpJQhVN1ZGU5MiGQE8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7403, 0.4976, -0.3267, -0.0227, -0.0292, 0.9982, 0.9092, 2.1548, 1.3514, -0.8402, 0.9764, 1.6173, 0.9981]\nstate[eef_state]: left_x=0.2853 left_y=0.0019 left_z=0.1566 left_yaw=-0.0013 left_pitch=-0.0061 left_roll=-0.0004 left_gripper=0.9982 right_x=0.3377 right_y=0.2013 right_z=0.0292 right_yaw=-0.6995 right_pitch=-0.025 right_roll=-0.023 right_gripper=0.9981\nstate[joint_eff]: [-0.1162, -1.1692, 6.5983, 1.8095, -0.0269, -0.0757, -0.0122, -0.3624, -8.8274, 6.612, 0.3053, 0.6667, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4147eb846df5f7b2effaee61639a313f8b828ba04de2b5afd3799c78e951ab70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d06cde20f8f80aca0e9ee5f313901a1da76f4158fa67404eca70b2edf91e5ed3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00c56d87555dc28b15d114eb06044545add328bc0ed0e52096c5d39f02574112",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]