adhoc

completed
2026-09-22T22:14:41.417434+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
477 s
total steps
272
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

done

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 water bottles lie on their sides in a row in front of the arms. I'm moving the right arm above the rightmost bottle to get a close wrist view before planning the grasp.
move_to
right_x0.4000right_y0.2500right_z0.2200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.794, 0.6079, -0.3775, -0.0257, -0.0288, 0.9986, -0.0158, 0.7895, 0.6037, -0.3855, -0.0132, -0.025, 0.9998] state[eef_state]: left_x=0.2956 left_y=0.0022 left_z=0.1823 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2937 right_y=0.0013 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.3624, -1.5521, 9.7846, 1.8339, -0.0171, 0.1245, -0.1587, -0.8684, -1.1145, 10.3043, 1.8535, -0.105, 0.0904, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.25, "right_z": 0.22, "right_gripper": 1.0}, "note": "Three water bottles lie on their sides in a row in front of the arms. I'm moving the right arm above the rightmost bottle to get a close wrist view before planning the grasp."})
tool
executing move_to over 21 steps (2.1s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteRight wrist view shows two bottles lying with their caps pointing away from the base; the nearer-right one is my target. Advancing and lowering to line the jaws up with its neck (just below the cap).
move_to
right_x0.4300right_y0.2350right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3874, -0.0261, -0.0292, 0.9984, 0.767, 1.6619, 1.3369, -0.4564, 0.5926, 0.4263, 0.9998] state[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1817 left_yaw=0.0008 left_pitch=-0.0088 left_roll=0.0003 left_gripper=0.9984 right_x=0.3894 right_y=0.2433 right_z=0.2011 right_yaw=0.0423 right_pitch=-0.0544 right_roll=-0.0513 right_gripper=0.9998 state[joint_eff]: [-0.0205, -1.5932, 6.5573, 1.8095, -0.0513, -0.0513, -0.0317, 0.2256, -7.788, 9.7573, 1.6044, 0.5299, 0.2613, -0.0317] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.235, "right_z": 0.15}, "note": "Right wrist view shows two bottles lying with their caps pointing away from the base; the nearer-right one is my target. Advancing and lowering to line the jaws up with its neck (just below the cap)."})
tool
executing move_to over 4 steps (0.4s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe target bottle now fills the right wrist view but sits right of the jaw column; shifting the gripper ~2 cm to the arm's right and a bit further out so the jaws straddle the bottle's neck/shoulder.
move_to
right_x0.4500right_y0.2000right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7979, 0.6136, -0.387, -0.0257, -0.0296, 0.9983, 0.6773, 1.7443, 1.1881, -0.218, 0.5377, 0.3756, 0.9998] state[eef_state]: left_x=0.2953 left_y=0.0022 left_z=0.1819 left_yaw=0.0007 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.416 right_y=0.2231 right_z=0.1387 right_yaw=0.0214 right_pitch=-0.0748 right_roll=-0.0579 right_gripper=0.9998 state[joint_eff]: [-0.335, -1.6068, 6.3658, 1.7851, -0.0171, -0.0708, -0.0171, 0.0615, -9.0325, 6.8034, 1.8828, 0.1538, 0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.2, "right_z": 0.12}, "note": "The target bottle now fills the right wrist view but sits right of the jaw column; shifting the gripper ~2 cm to the arm's right and a bit further out so the jaws straddle the bottle's neck/shoulder."})
tool
executing move_to over 3 steps (0.3s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe previous move was truncated (arm only crept a few mm), so I'm re-sending the same target to bring the jaws out over the bottle's neck.
move_to
right_x0.4500right_y0.2000right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0257, -0.0292, 0.9983, 0.6739, 1.7611, 1.1782, -0.1482, 0.5121, 0.3496, 0.9998] state[eef_state]: left_x=0.2952 left_y=0.0022 left_z=0.1816 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4225 right_y=0.2312 right_z=0.137 right_yaw=0.0532 right_pitch=-0.0513 right_roll=-0.039 right_gripper=0.9998 state[joint_eff]: [-0.212, -1.7299, 6.4068, 1.8242, -0.0317, -0.0317, -0.0073, -0.3761, -9.265, 7.3504, 1.9902, 0.2564, 0.022, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.2, "right_z": 0.12}, "note": "The previous move was truncated (arm only crept a few mm), so I'm re-sending the same target to bring the jaws out over the bottle's neck."})
tool
executing move_to over 3 steps (0.3s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe arm has stopped tracking at x=0.42,y=0.23 — likely an IK/limit stall — so I'm backing off upward and to the arm's right to re-approach the bottle from above.
move_to
right_x0.4000right_y0.1900right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0257, -0.0296, 0.9983, 0.6739, 1.7611, 1.1782, -0.1478, 0.5121, 0.3496, 0.9998] state[eef_state]: left_x=0.2952 left_y=0.0022 left_z=0.1816 left_yaw=0.0007 left_pitch=-0.0088 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4225 right_y=0.2312 right_z=0.1371 right_yaw=0.0532 right_pitch=-0.051 right_roll=-0.0388 right_gripper=0.9998 state[joint_eff]: [-0.2667, -1.5932, 6.3111, 1.8193, -0.0415, -0.0562, -0.0122, -0.0752, -9.2513, 7.1863, 2.0244, 0.2076, 0.0171, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.19, "right_z": 0.2}, "note": "The arm has stopped tracking at x=0.42,y=0.23 \u2014 likely an IK/limit stall \u2014 so I'm backing off upward and to the arm's right to re-approach the bottle from above."})
tool
executing move_to over 5 steps (0.5s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteArm still frozen; trying a small pure vertical lift to see whether any axis responds.
move_to
right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0257, -0.0292, 0.9983, 0.6739, 1.7611, 1.1782, -0.1474, 0.5121, 0.35, 0.9998] state[eef_state]: left_x=0.2952 left_y=0.0022 left_z=0.1816 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4226 right_y=0.2313 right_z=0.1371 right_yaw=0.053 right_pitch=-0.0507 right_roll=-0.0383 right_gripper=0.9998 state[joint_eff]: [-0.294, -1.7709, 6.5299, 1.8437, -0.0415, -0.0415, -0.0122, -0.3897, -9.1556, 7.5419, 2.0244, 0.2222, 0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.19}, "note": "Arm still frozen; trying a small pure vertical lift to see whether any axis responds."})
tool
executing move_to over 4 steps (0.4s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteZ responds but the earlier x/y target was at the arm's reach limit. Coming slightly back in x while shifting to the arm's right, to line up over the near bottle's body so I can first drag it closer to the base.
move_to
right_x0.4000right_y0.2000right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.6739, 1.7264, 1.2087, -0.2245, 0.4961, 0.3405, 0.9998] state[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1816 left_yaw=0.0008 left_pitch=-0.0088 left_roll=0.0003 left_gripper=0.9983 right_x=0.4173 right_y=0.2302 right_z=0.1515 right_yaw=0.0702 right_pitch=-0.0667 right_roll=-0.044 right_gripper=0.9998 state[joint_eff]: [-0.1026, -1.6205, 6.3248, 1.8144, -0.0366, -0.0073, -0.0122, -0.3487, -11.7812, 10.5641, 1.7363, 0.398, 0.1197, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.2, "right_z": 0.15}, "note": "Z responds but the earlier x/y target was at the arm's reach limit. Coming slightly back in x while shifting to the arm's right, to line up over the near bottle's body so I can first drag it closer to the base."})
tool
executing move_to over 3 steps (0.3s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe bottle is now centred between the jaws in the right wrist view; descending to body-centre height so I can grip its body and drag it closer to the base (its neck is currently beyond the arm's reach).
move_to
right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0261, -0.0292, 0.9983, 0.6453, 1.6272, 0.9989, -0.1375, 0.4751, 0.3229, 0.9998] state[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0069 left_roll=0.0002 left_gripper=0.9983 right_x=0.3917 right_y=0.1982 right_z=0.1228 right_yaw=0.0662 right_pitch=-0.0949 right_roll=-0.0592 right_gripper=0.9998 state[joint_eff]: [0.0479, -1.6342, 6.3385, 1.8535, -0.0171, -0.0269, -0.0171, -0.4444, -10.7419, 8.1162, 2.2882, 0.1392, -0.1099, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.035}, "note": "The bottle is now centred between the jaws in the right wrist view; descending to body-centre height so I can grip its body and drag it closer to the base (its neck is currently beyond the arm's reach)."})
tool
executing move_to over 6 steps (0.6s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteJaws are at body height straddling the bottle; closing them onto the bottle body to get a grip for dragging it closer.
move_to
right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0265, -0.0292, 0.9983, 0.6476, 1.8118, 0.7391, 0.3611, 0.4694, 0.313, 0.9998] state[eef_state]: left_x=0.2951 left_y=0.0024 left_z=0.1821 left_yaw=0.0012 left_pitch=-0.0068 left_roll=0.0004 left_gripper=0.9983 right_x=0.3852 right_y=0.1957 right_z=0.0333 right_yaw=0.0805 right_pitch=-0.0517 right_roll=-0.0345 right_gripper=0.9998 state[joint_eff]: [-0.1436, -1.6342, 6.4752, 1.8046, -0.0122, -0.0659, -0.0122, -0.2256, -7.5009, 4.6291, 1.7802, 0.2808, 0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.35}, "note": "Jaws are at body height straddling the bottle; closing them onto the bottle body to get a grip for dragging it closer."})
tool
executing move_to over 7 steps (0.7s)
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 noteGripper settled at 0.55 (~5 cm), so it has a firm hold on the bottle body. Dragging the bottle ~9 cm toward the base so its neck comes within reach.
move_to
right_x0.2900right_y0.1800right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0296, 0.9983, 0.6476, 1.8374, 0.6895, 0.4561, 0.4664, 0.3088, 0.5464] state[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0001 left_gripper=0.9983 right_x=0.381 right_y=0.1931 right_z=0.0227 right_yaw=0.0857 right_pitch=-0.036 right_roll=-0.0256 right_gripper=0.5464 state[joint_eff]: [-0.1846, -1.6205, 6.5162, 1.7949, -0.0269, -0.0708, -0.0122, -0.0615, -9.1145, 4.8342, 1.8681, 0.1148, -0.0171, 0.9548] 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": 0.29, "right_y": 0.18, "right_z": 0.03}, "note": "Gripper settled at 0.55 (~5 cm), so it has a firm hold on the bottle body. Dragging the bottle ~9 cm toward the base so its neck comes within reach."})
tool
executing move_to over 8 steps (0.8s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteReleasing the bottle and rising to 16 cm so the overhead camera can show me where the bottle now lies and where its neck/cap is.
move_to
right_gripper1.0000right_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3874, -0.0261, -0.0292, 0.9983, 0.8368, 1.6001, 0.3931, 0.4637, 0.5762, 0.4274, 0.5486] state[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.1819 left_yaw=0.0008 left_pitch=-0.0076 left_roll=0.0002 left_gripper=0.9983 right_x=0.291 right_y=0.1842 right_z=0.0208 right_yaw=0.1248 right_pitch=-0.0331 right_roll=-0.0167 right_gripper=0.5486 state[joint_eff]: [-0.1026, -1.1556, 6.4615, 1.8681, -0.0562, -0.0513, -0.0122, 0.2256, -6.7624, 4.9436, 1.8535, 0.4713, 0.1001, 0.6569] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.16}, "note": "Releasing the bottle and rising to 16 cm so the overhead camera can show me where the bottle now lies and where its neck/cap is."})
tool
executing move_to over 9 steps (0.9s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteBottle released; now moving the open gripper out over what should be the bottle's neck/cap end (~8 cm beyond where I held its middle) to check alignment in the wrist view.
move_to
right_x0.3700right_y0.1750right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.844, 1.2076, 0.6674, -0.1768, 0.5724, 0.4114, 0.997] state[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.2894 right_y=0.1869 right_z=0.1408 right_yaw=0.144 right_pitch=-0.0148 right_roll=-0.011 right_gripper=0.997 state[joint_eff]: [-0.1573, -1.3607, 6.4342, 1.8046, -0.0171, -0.0513, -0.0122, -0.6085, -5.4632, 9.3744, 1.6679, 0.3199, 0.1001, -0.1294] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.175, "right_z": 0.12}, "note": "Bottle released; now moving the open gripper out over what should be the bottle's neck/cap end (~8 cm beyond where I held its middle) to check alignment in the wrist view."})
tool
executing move_to over 7 steps (0.7s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteClear wrist view: the bottle's cap is near the jaw column but a few cm beyond the fingertips. Advancing ~4 cm radially (and 1.5 cm to the arm's left) while staying above the bottle, to put the jaws over the cap/neck.
move_to
right_x0.4000right_y0.1800right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3874, -0.0257, -0.0296, 0.9983, 0.6064, 1.4456, 0.6827, 0.0254, 0.3897, 0.2481, 0.9989] state[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.1819 left_yaw=0.0007 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3472 right_y=0.1635 right_z=0.0911 right_yaw=0.1367 right_pitch=-0.1019 right_roll=-0.0532 right_gripper=0.9989 state[joint_eff]: [-0.2256, -1.6205, 6.4479, 1.79, -0.0415, -0.0757, -0.0122, -0.4718, -5.8598, 9.935, 2.0733, 0.2027, 0.0562, 0.1978] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.18, "right_z": 0.1}, "note": "Clear wrist view: the bottle's cap is near the jaw column but a few cm beyond the fingertips. Advancing ~4 cm radially (and 1.5 cm to the arm's left) while staying above the bottle, to put the jaws over the cap/neck."})
tool
executing move_to over 5 steps (0.5s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteBy dead-reckoning from the earlier grasp+drag, the bottle's cap should be right under the jaws now. Descending to cap height (3 cm) with a small lateral correction to centre the cap between the jaws.
move_to
right_y0.1830right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0257, -0.0296, 0.9983, 0.5621, 1.6047, 0.73, 0.1684, 0.3454, 0.2115, 0.9993] state[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0007 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3785 right_y=0.172 right_z=0.0731 right_yaw=0.1493 right_pitch=-0.0871 right_roll=-0.0422 right_gripper=0.9993 state[joint_eff]: [-0.0752, -1.6615, 6.4752, 1.7949, -0.0513, -0.0757, -0.0122, -0.9915, -6.8171, 8.7453, 2.0586, 0.2076, 0.1587, 0.0269] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.183, "right_z": 0.03}, "note": "By dead-reckoning from the earlier grasp+drag, the bottle's cap should be right under the jaws now. Descending to cap height (3 cm) with a small lateral correction to centre the cap between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe descent was truncated by the step clamp (still at z=0.08); re-sending the descent to cap height.
move_to
right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.5606, 1.6119, 0.7567, 0.1814, 0.3355, 0.2043, 0.9993] state[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3865 right_y=0.1782 right_z=0.0826 right_yaw=0.1607 right_pitch=-0.06 right_roll=-0.0294 right_gripper=0.9993 state[joint_eff]: [-0.3761, -1.6205, 6.4479, 1.8388, -0.0659, -0.0562, -0.0122, -0.7453, -6.8308, 8.3761, 2.0049, 0.1832, 0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03}, "note": "The descent was truncated by the step clamp (still at z=0.08); re-sending the descent to cap height."})
tool
executing move_to over 4 steps (0.4s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe vertical move stalled again at z=0.08, likely an IK/limit issue at this stretch; pulling in 3 cm while descending to get the jaws down to cap height.
move_to
right_x0.3550right_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.5606, 1.6119, 0.757, 0.1814, 0.3355, 0.2043, 0.9993] state[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3866 right_y=0.1782 right_z=0.0827 right_yaw=0.1607 right_pitch=-0.0596 right_roll=-0.0292 right_gripper=0.9993 state[joint_eff]: [-0.2256, -1.5111, 6.4342, 1.8681, -0.0317, -0.0415, -0.0122, -1.0598, -6.8308, 8.3214, 1.9902, 0.1685, 0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.355, "right_z": 0.04}, "note": "The vertical move stalled again at z=0.08, likely an IK/limit issue at this stretch; pulling in 3 cm while descending to get the jaws down to cap height."})
tool
executing move_to over 3 steps (0.3s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteRight arm has gone completely unresponsive at this pose; commanding a clear upward move to see if it can escape.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0254, -0.0292, 0.9983, 0.5606, 1.6119, 0.757, 0.1814, 0.3355, 0.2043, 0.9994] state[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3866 right_y=0.1782 right_z=0.0827 right_yaw=0.1607 right_pitch=-0.0596 right_roll=-0.0292 right_gripper=0.9994 state[joint_eff]: [-0.1983, -1.6615, 6.4342, 1.8144, -0.0415, -0.0317, -0.0122, -1.0735, -6.8308, 8.3214, 2.0293, 0.1685, 0.0708, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Right arm has gone completely unresponsive at this pose; commanding a clear upward move to see if it can escape."})
tool
executing move_to over 8 steps (0.8s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe blocked descent was the open jaws landing on the bottle's shoulder, so the neck is ~3 cm further out. Moving out and down to just above the neck.
move_to
right_x0.4150right_y0.1850right_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.5617, 1.4437, 0.9668, -0.1818, 0.3279, 0.1955, 0.9996] state[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3835 right_y=0.1784 right_z=0.1696 right_yaw=0.1731 right_pitch=-0.0478 right_roll=-0.0263 right_gripper=0.9996 state[joint_eff]: [-0.3761, -1.4838, 6.8171, 1.8095, -0.0317, -0.0415, -0.0122, -0.4718, -8.6769, 10.0444, 1.8779, 0.105, 0.0806, 0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_y": 0.185, "right_z": 0.12}, "note": "The blocked descent was the open jaws landing on the bottle's shoulder, so the neck is ~3 cm further out. Moving out and down to just above the neck."})
tool
executing move_to over 4 steps (0.4s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe cap is now just below the jaw column in the wrist view. Descending to neck height to straddle the neck just behind the cap.
move_to
right_y0.1870right_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3878, -0.0257, -0.0292, 0.9983, 0.5293, 1.6093, 0.8776, 0.0231, 0.3008, 0.181, 0.9996] state[eef_state]: left_x=0.295 left_y=0.0022 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.3992 right_y=0.177 right_z=0.1015 right_yaw=0.1694 right_pitch=-0.1008 right_roll=-0.0402 right_gripper=0.9996 state[joint_eff]: [-0.1436, -1.6068, 6.4342, 1.8095, -0.0171, -0.0317, -0.0122, -0.6222, -8.2256, 6.8308, 2.1514, 0.0317, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.187, "right_z": 0.02}, "note": "The cap is now just below the jaw column in the wrist view. Descending to neck height to straddle the neck just behind the cap."})
tool
executing move_to over 6 steps (0.6s)
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 noteJaws are down at neck height beside the cap; closing to ~2 cm to grip the bottle's neck.
move_to
right_gripper0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0261, -0.0292, 0.9983, 0.5507, 1.8397, 0.6773, 0.5114, 0.3141, 0.1814, 0.9996] state[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3948 right_y=0.1826 right_z=0.0214 right_yaw=0.1811 right_pitch=-0.044 right_roll=-0.0272 right_gripper=0.9996 state[joint_eff]: [-0.0479, -1.6889, 6.4068, 1.79, -0.0415, -0.0611, -0.0122, 0.2667, -5.641, 4.3419, 1.5897, 0.1001, 0.1441, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.22}, "note": "Jaws are down at neck height beside the cap; closing to ~2 cm to grip the bottle's neck."})
tool
executing move_to over 8 steps (0.8s)
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 noteGripper settled at 0.33 (~3.1 cm), consistent with holding the cap/neck. Lifting so the bottle swings down to hang vertically, cap up, in the jaws.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0257, -0.0292, 0.9983, 0.5552, 1.8431, 0.6552, 0.6956, 0.3019, 0.181, 0.3269] state[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.4071 right_y=0.195 right_z=0.0488 right_yaw=0.1943 right_pitch=0.1019 right_roll=0.0353 right_gripper=0.3269 state[joint_eff]: [-0.0615, -1.6752, 6.5162, 1.8242, -0.0269, -0.0366, -0.0122, -0.841, -6.7897, 3.5897, 0.9353, 0.0904, 0.0366, 0.4274] 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_z": 0.22}, "note": "Gripper settled at 0.33 (~3.1 cm), consistent with holding the cap/neck. Lifting so the bottle swings down to hang vertically, cap up, in the jaws."})
tool
executing move_to over 12 steps (1.2s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe bottle is now hanging vertically cap-up in the jaws. Lowering slightly so its base sets down on the table before I release.
move_to
right_z0.1750
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0257, -0.0292, 0.9983, 0.5564, 1.536, 1.1172, -0.2504, 0.2859, 0.1699, 0.3257] state[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.404 right_y=0.1968 right_z=0.1825 right_yaw=0.2158 right_pitch=-0.0674 right_roll=-0.0266 right_gripper=0.3257 state[joint_eff]: [-0.2667, -1.6889, 6.4479, 1.8291, -0.0513, -0.0464, -0.0122, -0.2256, -9.9077, 10.359, 1.8584, 0.2418, 0.1148, -0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.175}, "note": "The bottle is now hanging vertically cap-up in the jaws. Lowering slightly so its base sets down on the table before I release."})
tool
executing move_to over 1 steps (0.1s)
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 noteSetting the hanging bottle's base down on the table; the descent should stop on contact.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0257, -0.0292, 0.9983, 0.556, 1.5143, 1.14, -0.2993, 0.2863, 0.1738, 0.3257] state[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.4002 right_y=0.1942 right_z=0.1926 right_yaw=0.213 right_pitch=-0.0712 right_roll=-0.0252 right_gripper=0.3257 state[joint_eff]: [-0.0752, -1.6889, 6.7214, 1.8339, -0.0317, -0.0366, -0.0171, 0.0068, -8.4034, 9.8256, 1.8242, 0.1978, 0.0366, -0.1441] approver: 1 step(s) modified (delta_clamped). 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_z": 0.16}, "note": "Setting the hanging bottle's base down on the table; the descent should stop on contact."})
tool
executing move_to over 3 steps (0.3s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
assistant
agent noteBottle base should be on the table; opening the jaws to release it standing upright.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3874, -0.0254, -0.0292, 0.9983, 0.556, 1.5097, 1.0176, -0.1635, 0.2829, 0.1665, 0.3256] state[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.1819 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3964 right_y=0.1925 right_z=0.1667 right_yaw=0.2201 right_pitch=-0.0551 right_roll=-0.023 right_gripper=0.3256 state[joint_eff]: [-0.3761, -1.5795, 6.5573, 1.7949, -0.0464, -0.0171, -0.0122, -0.0342, -8.2803, 6.9675, 2.044, 0.1197, 0.022, -0.022] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Bottle base should be on the table; opening the jaws to release it standing upright."})
tool
executing move_to over 7 steps (0.7s)
step 144
assistant
agent noteFirst bottle is standing upright. Raising the right arm clear of it and bringing the left arm over the middle bottle to inspect it in the left wrist camera.
move_to
right_z0.3000left_x0.4000left_y-0.2500left_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.556, 1.5097, 1.0157, -0.1566, 0.2829, 0.1665, 0.9957] state[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3969 right_y=0.1928 right_z=0.1671 right_yaw=0.2202 right_pitch=-0.0504 right_roll=-0.0214 right_gripper=0.9957 state[joint_eff]: [-0.0479, -1.6889, 6.4068, 1.7998, -0.0171, -0.022, -0.0122, -0.2393, -8.4718, 6.8855, 1.9853, 0.0611, 0.0024, -0.1148] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.3, "left_x": 0.4, "left_y": -0.25, "left_z": 0.15}, "note": "First bottle is standing upright. Raising the right arm clear of it and bringing the left arm over the middle bottle to inspect it in the left wrist camera."})
tool
executing move_to over 23 steps (2.3s)
step 167
assistant
agent noteThe middle bottle lies under the left jaws with its cap pointing away, same as the first one. Descending to body height to grab it and drag it closer, since its cap end is beyond reach.
move_to
left_y-0.2500left_z0.0330
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7876, 1.721, 1.1278, -0.1764, -0.6376, -0.5213, 0.9983, 0.5564, 1.4803, 1.425, -0.6071, 0.2749, 0.1509, 0.9955] state[eef_state]: left_x=0.3935 left_y=-0.2411 left_z=0.1384 left_yaw=-0.0044 left_pitch=-0.0305 left_roll=0.0119 left_gripper=0.9983 right_x=0.3916 right_y=0.1913 right_z=0.2738 right_yaw=0.2354 right_pitch=-0.0634 right_roll=-0.0333 right_gripper=0.9955 state[joint_eff]: [-0.6632, -8.3624, 8.9368, 1.4286, -0.4713, 0.1343, -0.0171, -0.2803, -6.9402, 10.5641, 1.7949, 0.0806, 0.1197, -0.0366] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.25, "left_z": 0.033}, "note": "The middle bottle lies under the left jaws with its cap pointing away, same as the first one. Descending to body height to grab it and drag it closer, since its cap end is beyond reach."})
tool
executing move_to over 7 steps (0.7s)
step 174
assistant
agent noteLeft jaws straddle the middle bottle's body; closing to grip it for the drag toward the base.
move_to
left_gripper0.3500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8066, 1.9358, 0.9527, 0.242, -0.6571, -0.5247, 0.9983, 0.556, 1.4536, 1.3273, -0.5362, 0.2596, 0.144, 0.9955] state[eef_state]: left_x=0.3953 left_y=-0.2513 left_z=0.0464 left_yaw=-0.0077 left_pitch=-0.0008 left_roll=-0.002 left_gripper=0.9983 right_x=0.387 right_y=0.1913 right_z=0.2549 right_yaw=0.2514 right_pitch=-0.0664 right_roll=-0.0298 right_gripper=0.9955 state[joint_eff]: [-0.3077, -8.2393, 4.0137, 1.4286, -0.2466, -0.1734, -0.0122, -0.6222, -7.8701, 7.3504, 2.127, 0.0952, 0.0806, -0.0122] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.35}, "note": "Left jaws straddle the middle bottle's body; closing to grip it for the drag toward the base."})
tool
executing move_to over 7 steps (0.7s)
step 181
assistant
agent noteGripper settled at 0.55 — bottle body held. Dragging it ~9 cm toward the base so its cap end comes within reach.
move_to
left_x0.3000left_y-0.2400left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8101, 1.9629, 0.9409, 0.2508, -0.6674, -0.5251, 0.5532, 0.556, 1.4307, 1.2312, -0.4622, 0.2558, 0.1436, 0.9955] state[eef_state]: left_x=0.3918 left_y=-0.2479 left_z=0.0328 left_yaw=-0.0032 left_pitch=-0.0167 left_roll=0.0243 left_gripper=0.5532 right_x=0.383 right_y=0.1896 right_z=0.2358 right_yaw=0.2547 right_pitch=-0.0664 right_roll=-0.0277 right_gripper=0.9955 state[joint_eff]: [0.0342, -11.6718, 6.3111, 1.3211, -0.2466, -0.0415, 0.9011, -0.5128, -7.9658, 7.3778, 2.127, 0.0415, -0.0024, -0.0171] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.24, "left_z": 0.03}, "note": "Gripper settled at 0.55 \u2014 bottle body held. Dragging it ~9 cm toward the base so its cap end comes within reach."})
tool
executing move_to over 8 steps (0.8s)
step 189
assistant
agent noteBottle dragged in by ~9 cm. Releasing and moving up and out along the bottle's axis to get above its cap end.
move_to
left_gripper1.0000left_x0.4000left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0088, 1.8091, 0.7013, 0.2611, -0.7841, -0.6979, 0.5552, 0.556, 1.4124, 1.1408, -0.387, 0.2485, 0.1436, 0.9955] state[eef_state]: left_x=0.3083 left_y=-0.2487 left_z=0.0301 left_yaw=-0.0282 left_pitch=0.0041 left_roll=-0.0095 left_gripper=0.5552 right_x=0.379 right_y=0.1886 right_z=0.2172 right_yaw=0.2608 right_pitch=-0.0648 right_roll=-0.0225 right_gripper=0.9955 state[joint_eff]: [-0.3761, -9.1009, 4.2872, 1.1453, -0.3736, -0.0513, 0.4713, -0.3624, -7.9111, 7.2821, 2.1123, 0.0562, -0.0073, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.4, "left_z": 0.1}, "note": "Bottle dragged in by ~9 cm. Releasing and moving up and out along the bottle's axis to get above its cap end."})
tool
executing move_to over 8 steps (0.8s)
step 197
assistant
agent noteThe bottle's cap sits on the jaw column but a few cm further out in the left wrist view; advancing 3 cm and descending to neck height to grip just behind the cap.
move_to
left_x0.4250left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7952, 1.8008, 0.9855, 0.0807, -0.6559, -0.5377, 0.9971, 0.5564, 1.3975, 1.0554, -0.3157, 0.2409, 0.1398, 0.9955] state[eef_state]: left_x=0.393 left_y=-0.2418 left_z=0.0912 left_yaw=0.0099 left_pitch=0.0032 left_roll=-0.0181 left_gripper=0.9971 right_x=0.3742 right_y=0.1873 right_z=0.1988 right_yaw=0.2696 right_pitch=-0.0654 right_roll=-0.0209 right_gripper=0.9955 state[joint_eff]: [0.3761, -7.8974, 8.3761, 1.4872, -0.0269, 0.3004, -0.0659, -0.1436, -7.665, 7.3778, 2.0635, 0.0806, 0.0171, -0.0122] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.425, "left_z": 0.02}, "note": "The bottle's cap sits on the jaw column but a few cm further out in the left wrist view; advancing 3 cm and descending to neck height to grip just behind the cap."})
tool
executing move_to over 5 steps (0.5s)
step 202
assistant
agent noteCap is centred between the jaws at neck height; closing to ~2 cm to grip the neck.
move_to
left_gripper0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.746, 2.0136, 0.9981, 0.3046, -0.6342, -0.5144, 0.9975, 0.556, 1.3846, 0.9745, -0.244, 0.234, 0.1329, 0.9955] state[eef_state]: left_x=0.4218 left_y=-0.2424 left_z=0.0356 left_yaw=0.0305 left_pitch=0.0097 left_roll=-0.0253 left_gripper=0.9975 right_x=0.3695 right_y=0.1856 right_z=0.1818 right_yaw=0.2787 right_pitch=-0.063 right_roll=-0.0214 right_gripper=0.9955 state[joint_eff]: [0.8684, -6.735, 5.7231, 1.1941, -0.0708, 0.315, 0.0317, -0.3487, -7.3778, 7.2, 2.0879, 0.0708, 0.0366, -0.0171] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.22}, "note": "Cap is centred between the jaws at neck height; closing to ~2 cm to grip the neck."})
tool
executing move_to over 8 steps (0.8s)
step 210
assistant
agent noteGrip closed at 0.40 on the neck; lifting so the bottle swings to hang vertically, cap up.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.738, 2.0296, 1.0016, 0.4149, -0.6628, -0.4908, 0.4051, 0.5564, 1.3735, 0.8982, -0.1684, 0.2298, 0.1249, 0.9955] state[eef_state]: left_x=0.4352 left_y=-0.244 left_z=0.0496 left_yaw=0.0513 left_pitch=0.0917 left_roll=-0.0611 left_gripper=0.4051 right_x=0.3652 right_y=0.184 right_z=0.167 right_yaw=0.287 right_pitch=-0.0539 right_roll=-0.0226 right_gripper=0.9955 state[joint_eff]: [0.0752, -7.4462, 4.9983, 0.9353, 0.1685, 0.0757, 0.4713, -0.1573, -6.9402, 7.0632, 2.0635, 0.0269, 0.0317, -0.0122] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22}, "note": "Grip closed at 0.40 on the neck; lifting so the bottle swings to hang vertically, cap up."})
tool
executing move_to over 11 steps (1.1s)
step 221
assistant
agent noteBottle hangs vertically from the jaws; lowering to set its base on the table.
move_to
left_z0.1650
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.738, 1.8336, 1.4658, -0.3954, -0.6582, -0.5243, 0.4048, 0.556, 1.3666, 0.833, -0.1062, 0.223, 0.1246, 0.9955] state[eef_state]: left_x=0.438 left_y=-0.2474 left_z=0.19 left_yaw=0.0618 left_pitch=-0.0157 left_roll=0.0148 left_gripper=0.4048 right_x=0.3606 right_y=0.1823 right_z=0.153 right_yaw=0.2926 right_pitch=-0.0513 right_roll=-0.0179 right_gripper=0.9955 state[joint_eff]: [-0.0068, -12.9299, 9.1556, 1.3455, -0.1978, 0.0757, -0.0464, -0.3487, -6.8034, 7.3778, 2.0977, 0.022, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": {"left_z": 0.165}, "note": "Bottle hangs vertically from the jaws; lowering to set its base on the table."})
tool
executing move_to over 2 steps (0.2s)
step 223
assistant
agent noteDescent stopped — the bottle's base is on the table. Opening the jaws to leave it standing.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.738, 1.8114, 1.4181, -0.3489, -0.6548, -0.524, 0.4048, 0.556, 1.3651, 0.7982, -0.0616, 0.223, 0.1253, 0.9955] state[eef_state]: left_x=0.4352 left_y=-0.2455 left_z=0.188 left_yaw=0.0589 left_pitch=-0.0027 left_roll=-0.0016 left_gripper=0.4048 right_x=0.3595 right_y=0.1816 right_z=0.1472 right_yaw=0.2924 right_pitch=-0.0402 right_roll=-0.0143 right_gripper=0.9955 state[joint_eff]: [-0.1983, -7.4462, 5.9966, 1.4481, -0.3004, -0.0073, -0.0122, -0.4581, -6.8444, 6.5709, 1.8681, 0.0122, 0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Descent stopped \u2014 the bottle's base is on the table. Opening the jaws to leave it standing."})
tool
executing move_to over 6 steps (0.6s)
step 229
assistant
agent noteTwo bottles now stand upright. Moving the left arm over the third (leftmost) bottle, low, to check alignment before grabbing its body.
move_to
left_x0.4000left_y-0.1600left_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.738, 1.8496, 1.3811, -0.3416, -0.651, -0.5274, 0.9953, 0.556, 1.3655, 0.7593, -0.02, 0.2226, 0.1219, 0.9955] state[eef_state]: left_x=0.4322 left_y=-0.2435 left_z=0.1563 left_yaw=0.0593 left_pitch=-0.052 left_roll=0.0423 left_gripper=0.9953 right_x=0.3569 right_y=0.1801 right_z=0.1383 right_yaw=0.2946 right_pitch=-0.0381 right_roll=-0.0163 right_gripper=0.9955 state[joint_eff]: [-0.1846, -12.9846, 9.4291, 1.3553, -0.4029, 0.0317, -0.2173, -0.4034, -6.5026, 6.2701, 2.0342, -0.0269, 0.0073, -0.0122] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.16, "left_z": 0.06}, "note": "Two bottles now stand upright. Moving the left arm over the third (leftmost) bottle, low, to check alignment before grabbing its body."})
tool
executing move_to over 8 steps (0.8s)
step 237
assistant
agent noteThe third bottle is still lying, off to the arm's left at the edge of the wrist view; shifting ~7 cm left to get above it.
move_to
left_x0.3800left_y-0.0900left_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.622, 1.7626, 0.7792, 0.2424, -0.5831, -0.4377, 0.9962, 0.5552, 1.3655, 0.7177, 0.0246, 0.2222, 0.1215, 0.9955] state[eef_state]: left_x=0.3974 left_y=-0.1608 left_z=0.0538 left_yaw=0.0753 left_pitch=-0.0363 left_roll=0.0341 left_gripper=0.9962 right_x=0.3541 right_y=0.178 right_z=0.1292 right_yaw=0.2943 right_pitch=-0.0352 right_roll=-0.0157 right_gripper=0.9955 state[joint_eff]: [0.4718, -9.0325, 4.6838, 1.3016, 0.0122, 0.0122, 0.0904, -0.4444, -6.0923, 6.6256, 1.9658, -0.0366, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.09, "left_z": 0.08}, "note": "The third bottle is still lying, off to the arm's left at the edge of the wrist view; shifting ~7 cm left to get above it."})
tool
executing move_to over 7 steps (0.7s)
step 244
assistant
agent noteThe wrist view is empty, so the third bottle isn't where I expected; pulling the left arm back and up so the overhead camera can show the whole table.
move_to
left_x0.2500left_y-0.0200left_z0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4454, 1.5337, 0.5831, 0.3096, -0.4629, -0.3397, 0.9964, 0.5552, 1.3655, 0.6815, 0.0536, 0.2222, 0.1215, 0.9955] state[eef_state]: left_x=0.3824 left_y=-0.0912 left_z=0.075 left_yaw=0.1044 left_pitch=-0.0016 left_roll=-0.0045 left_gripper=0.9964 right_x=0.35 right_y=0.1755 right_z=0.1194 right_yaw=0.2943 right_pitch=-0.0422 right_roll=-0.0175 right_gripper=0.9955 state[joint_eff]: [0.1573, -7.0906, 5.6, 1.6093, -0.105, 0.105, 0.0024, -0.4171, -5.9419, 6.4752, 2.0733, -0.0464, -0.0415, -0.0122] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.02, "left_z": 0.3}, "note": "The wrist view is empty, so the third bottle isn't where I expected; pulling the left arm back and up so the overhead camera can show the whole table."})
tool
executing move_to over 15 steps (1.5s)
step 259
assistant
agent noteTwo bottles are standing; the third is not visible in the overhead view, likely hidden further to the left behind the arm. Swinging the left arm to its far-left limit to look for it.
move_to
left_x0.3500left_y0.0400left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3908, 0.8127, 1.071, -0.8593, -0.4229, -0.3141, 0.9964, 0.5552, 1.3659, 0.6357, 0.1059, 0.2111, 0.1215, 0.9955] state[eef_state]: left_x=0.2609 left_y=-0.0252 left_z=0.2937 left_yaw=0.1131 left_pitch=0.0213 left_roll=-0.023 left_gripper=0.9964 right_x=0.3456 right_y=0.1751 right_z=0.11 right_yaw=0.3035 right_pitch=-0.038 right_roll=-0.0097 right_gripper=0.9955 state[joint_eff]: [0.7726, -0.7726, 7.8974, 1.5214, -0.0806, 0.1685, -0.0122, -0.4034, -5.9282, 6.7214, 1.9512, 0.0513, -0.0464, -0.0122] 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": {"left_x": 0.35, "left_y": 0.04, "left_z": 0.12}, "note": "Two bottles are standing; the third is not visible in the overhead view, likely hidden further to the left behind the arm. Swinging the left arm to its far-left limit to look for it."})
tool
executing move_to over 12 steps (1.2s)
step 271
assistant
agent noteI stood two of the three bottles upright using a "grab the cap/neck and lift so the bottle hangs vertically" technique (pitch/roll are pinned, so the bottle must be pivoted by gravity): grip the body, drag the bottle ~9 cm toward the base to bring its cap within reach, release, move out over the cap, close to ~0.22 on the neck, lift to z≈0.2 so the bottle swings cap-up, lower until the base touches, open. The third (originally leftmost) bottle is no longer visible anywhere in the overhead or wrist views — it appears to have been displaced off the visible table area — and my call budget ran out before I could locate it.
done
hindsightKey facts for this rig/task: (1) pitch and roll are pinned, so the only way to stand a fallen bottle is to grip it near the cap/neck and lift — the body then swings down under gravity and hangs vertically cap-up; release when the base touches (grasp z ≈ 0.17-0.19 for a 21 cm bottle). (2) Bottles started at radius ~0.45-0.50 m, past the arm's practical reach; grab the body (close to ~0.35, settles ~0.55) and drag ~9 cm toward the base first, then the cap is reachable. (3) move_to often executes only a few steps before the approver's delta clamp truncates it — always compare the readback to the target and re-send; a completely unchanged joint_pos means either reach limit (radius >~0.48 with the tool near the table) or contact (open jaws landing on the bottle's shoulder), and the fix is to change x/z, not to re-send. (4) Overhead mapping that worked: left_y ≈ -(x_img-15)/285 m, right_y ≈ (200-x_img)/285 m; standing bottles appear as ~45 px vertical blobs. (5) Don't trust the wrist camera's apparent distance: the cap looking "far up the frame" can still be right at the fingertips.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0807, 1.1351, 0.5117, -0.0326, -0.0628, -0.0586, 0.9965, 0.556, 1.3659, 0.5968, 0.1524, 0.2047, 0.1211, 0.9955] state[eef_state]: left_x=0.3356 left_y=0.0418 left_z=0.1069 left_yaw=0.1485 left_pitch=-0.0914 left_roll=0.001 left_gripper=0.9965 right_x=0.3419 right_y=0.1744 right_z=0.1028 right_yaw=0.31 right_pitch=-0.0315 right_roll=-0.0045 right_gripper=0.9955 state[joint_eff]: [0.2803, -4.2872, 6.4205, 2.0293, 0.0855, 0.0171, -0.0073, -0.3897, -5.5453, 6.5162, 1.8974, 0.0952, -0.0513, -0.0122] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
done({"summary": "I stood two of the three bottles upright using a \"grab the cap/neck and lift so the bottle hangs vertically\" technique (pitch/roll are pinned, so the bottle must be pivoted by gravity): grip the body, drag the bottle ~9 cm toward the base to bring its cap within reach, release, move out over the cap, close to ~0.22 on the neck, lift to z\u22480.2 so the bottle swings cap-up, lower until the base touches, open. The third (originally leftmost) bottle is no longer visible anywhere in the overhead or wrist views \u2014 it appears to have been displaced off the visible table area \u2014 and my call budget ran out before I could locate it.", "hindsight": "Key facts for this rig/task: (1) pitch and roll are pinned, so the only way to stand a fallen bottle is to grip it near the cap/neck and lift \u2014 the body then swings down under gravity and hangs vertically cap-up; release when the base touches (grasp z \u2248 0.17-0.19 for a 21 cm bottle). (2) Bottles started at radius ~0.45-0.50 m, past the arm's practical reach; grab the body (close to ~0.35, settles ~0.55) and drag ~9 cm toward the base first, then the cap is reachable. (3) move_to often executes only a few steps before the approver's delta clamp truncates it \u2014 always compare the readback to the target and re-send; a completely unchanged joint_pos means either reach limit (radius >~0.48 with the tool near the table) or contact (open jaws landing on the bottle's shoulder), and the fix is to change x/z, not to re-send. (4) Overhead mapping that worked: left_y \u2248 -(x_img-15)/285 m, right_y \u2248 (200-x_img)/285 m; standing bottles appear as ~45 px vertical blobs. (5) Don't trust the wrist camera's apparent distance: the cap looking \"far up the frame\" can still be right at the fingertips."})
tool
done: I stood two of the three bottles upright using a "grab the cap/neck and lift so the bottle hangs vertically" technique (pitch/roll are pinned, so the bottle must be pivoted by gravity): grip the body, drag the bottle ~9 cm toward the base to bring its cap within reach, release, move out over the cap, close to ~0.22 on the neck, lift to z≈0.2 so the bottle swings cap-up, lower until the base touches, open. The third (originally leftmost) bottle is no longer visible anywhere in the overhead or wrist views — it appears to have been displaced off the visible table area — and my call budget ran out before I could locate it.
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 · 38.46 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.794, 0.6079, -0.3775, -0.0257, -0.0288, 0.9986, -0.0158, 0.7895, 0.6037, -0.3855, -0.0132, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0022 left_z=0.1823 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2937 right_y=0.0013 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.5521, 9.7846, 1.8339, -0.0171, 0.1245, -0.1587, -0.8684, -1.1145, 10.3043, 1.8535, -0.105, 0.0904, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:050b005038a51ef4f3cb38776f138e706682d713fbd5dbbc151d43dbc6932be6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3710ce5e2d01c8dcd46f666c301e46114fe641ba775a6ea67087b803d37a2ae3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:414f91b03a21b1359ff337fb86c28566d86e6d7500e3ac0e059d14334ac449c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 20.39 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.794, 0.6079, -0.3775, -0.0257, -0.0288, 0.9986, -0.0158, 0.7895, 0.6037, -0.3855, -0.0132, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0022 left_z=0.1823 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2937 right_y=0.0013 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.5521, 9.7846, 1.8339, -0.0171, 0.1245, -0.1587, -0.8684, -1.1145, 10.3043, 1.8535, -0.105, 0.0904, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:050b005038a51ef4f3cb38776f138e706682d713fbd5dbbc151d43dbc6932be6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3710ce5e2d01c8dcd46f666c301e46114fe641ba775a6ea67087b803d37a2ae3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:414f91b03a21b1359ff337fb86c28566d86e6d7500e3ac0e059d14334ac449c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0168cNULoA5GtEx9kbo94NPh",
      "input": {
        "note": "Three water bottles lie on their sides in a row in front of the arms. I'm moving the right arm above the rightmost bottle to get a close wrist view before planning the grasp.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.25,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_0168cNULoA5GtEx9kbo94NPh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3874, -0.0261, -0.0292, 0.9984, 0.767, 1.6619, 1.3369, -0.4564, 0.5926, 0.4263, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1817 left_yaw=0.0008 left_pitch=-0.0088 left_roll=0.0003 left_gripper=0.9984 right_x=0.3894 right_y=0.2433 right_z=0.2011 right_yaw=0.0423 right_pitch=-0.0544 right_roll=-0.0513 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -1.5932, 6.5573, 1.8095, -0.0513, -0.0513, -0.0317, 0.2256, -7.788, 9.7573, 1.6044, 0.5299, 0.2613, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae88f3146829f56b266b65ac8e4d9c7bd5a48438a773d76d17c9ad5e2f0ec946",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:502056b60e61d52d2dbbb161390cdfa4f8d186465c36514ad8ff1daa19d7d5a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:253990b73b195d67417653bb6907168ccce8071c39426113bbf3e4ceb507b89b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 12.42 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.794, 0.6079, -0.3775, -0.0257, -0.0288, 0.9986, -0.0158, 0.7895, 0.6037, -0.3855, -0.0132, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0022 left_z=0.1823 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2937 right_y=0.0013 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.5521, 9.7846, 1.8339, -0.0171, 0.1245, -0.1587, -0.8684, -1.1145, 10.3043, 1.8535, -0.105, 0.0904, -0.0317]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3874, -0.0261, -0.0292, 0.9984, 0.767, 1.6619, 1.3369, -0.4564, 0.5926, 0.4263, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1817 left_yaw=0.0008 left_pitch=-0.0088 left_roll=0.0003 left_gripper=0.9984 right_x=0.3894 right_y=0.2433 right_z=0.2011 right_yaw=0.0423 right_pitch=-0.0544 right_roll=-0.0513 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -1.5932, 6.5573, 1.8095, -0.0513, -0.0513, -0.0317, 0.2256, -7.788, 9.7573, 1.6044, 0.5299, 0.2613, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae88f3146829f56b266b65ac8e4d9c7bd5a48438a773d76d17c9ad5e2f0ec946",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:502056b60e61d52d2dbbb161390cdfa4f8d186465c36514ad8ff1daa19d7d5a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:253990b73b195d67417653bb6907168ccce8071c39426113bbf3e4ceb507b89b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RYCjBdCP8rEh6yFWtk7gre",
      "input": {
        "note": "Right wrist view shows two bottles lying with their caps pointing away from the base; the nearer-right one is my target. Advancing and lowering to line the jaws up with its neck (just below the cap).",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.235,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RYCjBdCP8rEh6yFWtk7gre",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7979, 0.6136, -0.387, -0.0257, -0.0296, 0.9983, 0.6773, 1.7443, 1.1881, -0.218, 0.5377, 0.3756, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0022 left_z=0.1819 left_yaw=0.0007 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.416 right_y=0.2231 right_z=0.1387 right_yaw=0.0214 right_pitch=-0.0748 right_roll=-0.0579 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -1.6068, 6.3658, 1.7851, -0.0171, -0.0708, -0.0171, 0.0615, -9.0325, 6.8034, 1.8828, 0.1538, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:622fa3283745d86580d413725a05ca530c1af0958b659826730d872b5e3be3ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59636f4084b60cd1e4ee6dbc69ea6f2893fa6889230afcbbae988e7fe1a5fd2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be1b942c65c4351aed81e7791a4739157a733aff0f28a04c57936aa3dd395c9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 7.964 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.794, 0.6079, -0.3775, -0.0257, -0.0288, 0.9986, -0.0158, 0.7895, 0.6037, -0.3855, -0.0132, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0022 left_z=0.1823 left_yaw=0.0003 left_pitch=-0.0004 left_roll=0.0002 left_gripper=0.9986 right_x=0.2937 right_y=0.0013 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -1.5521, 9.7846, 1.8339, -0.0171, 0.1245, -0.1587, -0.8684, -1.1145, 10.3043, 1.8535, -0.105, 0.0904, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6136, -0.3874, -0.0261, -0.0292, 0.9984, 0.767, 1.6619, 1.3369, -0.4564, 0.5926, 0.4263, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1817 left_yaw=0.0008 left_pitch=-0.0088 left_roll=0.0003 left_gripper=0.9984 right_x=0.3894 right_y=0.2433 right_z=0.2011 right_yaw=0.0423 right_pitch=-0.0544 right_roll=-0.0513 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -1.5932, 6.5573, 1.8095, -0.0513, -0.0513, -0.0317, 0.2256, -7.788, 9.7573, 1.6044, 0.5299, 0.2613, -0.0317]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7979, 0.6136, -0.387, -0.0257, -0.0296, 0.9983, 0.6773, 1.7443, 1.1881, -0.218, 0.5377, 0.3756, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0022 left_z=0.1819 left_yaw=0.0007 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.416 right_y=0.2231 right_z=0.1387 right_yaw=0.0214 right_pitch=-0.0748 right_roll=-0.0579 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -1.6068, 6.3658, 1.7851, -0.0171, -0.0708, -0.0171, 0.0615, -9.0325, 6.8034, 1.8828, 0.1538, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:622fa3283745d86580d413725a05ca530c1af0958b659826730d872b5e3be3ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59636f4084b60cd1e4ee6dbc69ea6f2893fa6889230afcbbae988e7fe1a5fd2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be1b942c65c4351aed81e7791a4739157a733aff0f28a04c57936aa3dd395c9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkQwKjgEIEhgCKkDv73zuccIZD4dN54drOHQkhYwpe01Z2yRD+NgLWxvwJCxz2ROWTL3L/12ZOwhr0wRNrFcpFRjAmXNFDHvyROx1Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAab8y9UGEgwvh4pm4WabhlOPscgaDGVpbqkdtGWu2PN2ICIwqXn2GPh7L4C5r7k1zHL3Z0vsIybpnENZjhW+uwz3KYuYTxS8tgMD+qAlfhkXzCk8Kq8K9waMvpFpvObWJYDkLtElvLrlXlNZDtRo881bHVtFbD8Y0id8dIyq6xt+2Ukha4ByPTzttPfzjRh9wfjb2c7sQIC/eqoixbQz9tEG2mxl9RoOQEoErVhDQXeVZFHTm4V6vmiTpVRJfq97Jc2Qu4vxEqjO0y4tDNLc670YNcbwqdo/aH7ULKWg7uAsVu0l/r57+0K3Ta5iAGdtUO6Txc/r39jLZoFXe9nXqnj6I4C138nxnfqTZhdABDDsNvy0zqzYQe5D9iWRzFTYMFEA5VwirHIFe4C10h+mc4cX+I3H6ZS5lIN0nynwjG/Gxw8UuetXpQagilAWfawMZwrz0/blKc6A6rIjzjXLebmOAU1/x1upp/wYW63JfaIplrLSyRUf5XiGiDX1W9Cx8xv1dtGLN/7Lj2hfqAr3jeYnvQzySESMzXgOSwMueV5vctgZl+eb3dM7UEn2ZCBo7jooi3fN+4C9baIo0uSP2w94F8Q1Lr7H1OfFCItT+W2cKoRpPCJD/W7dZu2oktc1kg+Ld1W2+4kYEfAT/bHhXNqkjSByk0YqYW41ZDgj4qcZrrAxHnoc7ZVVid5KMov/cxbD4J0oiVLMch0M1mRu6MD10Qsdsk0m16wIxHhUr3sKyiqlWHKYK/BdiY6jf1mswEs+j+qfrzel+5E9dj3Ry09eE2RbVYh/Ibyx/fp2+as6orPpWwsQ0OY1bKZrKYpNbcqOLAh9O6lifCDnDLWSZm+D76BdVoHsAg8FnIGpWMg+lK6s6yrj0qPvAdt1TPZKsSvgupFBGhI21aYl/d3aw1l0nlXCsV9WOgnmpMKLg/4ZpbqypqVSHijonGsojb/k8++NB6UBeo1yGeJ19kVgzdW45IQ6IlqK8bQu5z5VfmxrCrwsKLJMB0Ipn03mlxsnY1lM54o6xgsPvYbxhgzxfortRCRem+AS52qU0yPhcxbnF584i0JjsBJevl0365nEz0HMYyYZTyvyPI+e9wp7ARPAGo+ALig6xMrONoPOx11vg72UhFQDtq/+2q6/VycdZoSIk7USX4Q14eEhyIRRUe5Be2F0tvh3yxvEbV8u4K/nMCzTIEdewKqBWdY2cprkFH/4QmxWsrkYFb5l32PLJWQ9t8oOacu3Kwm1iOrU5Tr5aLyJOVveDU0ddn5Hyue4myANsxxvO6pe0XAWqD2ZvwGZW06eopsfkYo0s0+H07z9jsEwCARGO6qhkNNOQ25o1pAmw9YePwwspKChL4+FVjISB8UNeLTkGLuP4iEVXXPT3bx/NSZf0/TmyFtF/huriWvGtuntDT/uXeUk4rJH9V+5RE0eSovXpKKP+x60DqymIb17Qk9SvaHO7mAx2ZgGaCni+by8EL0R0mfWhw5AQk4vlFb7dXVQ5twj6c6+GVr1wv3c0mkkRbt+jhEf2WJIWcIqHZ0V8NCghABKhzS3CkguuOI5LgVuc5BmzvP+vznCzCr9KKGKIdcM7bIrVD7OOULF6sz/xBmNo+vgRc+tDvldFJdVNq+eBOyGXlBsO2J/E2IZzZMMEhfTS8yk+k7zh/VSmOfeJSNZuXzb7vt2/y6PiECacW36zZD15C84zCoOMbEpBnUg+TL7QmzCwsw2Vt+wkO80eiKtlZ103PrOaBHahJz/BkB8ewMJa22F5UrIEPXM2UiiHI0FpZ8216wRw+FxSpk/iQHV5a0I1JzoDmky5uJNcLgnUMzPOtLVTlTui0pB6VCDYo0/hG5zL8YLSoR4nG9VIg/PJFyY8uBWuI6+TF6eTRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SpU1ipJB9dwjGJMppLT4sV",
      "input": {
        "note": "The target bottle now fills the right wrist view but sits right of the jaw column; shifting the gripper ~2 cm to the arm's right and a bit further out so the jaws straddle the bottle's neck/shoulder.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.2,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01SpU1ipJB9dwjGJMppLT4sV",
      "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, -0.0257, -0.0292, 0.9983, 0.6739, 1.7611, 1.1782, -0.1482, 0.5121, 0.3496, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0022 left_z=0.1816 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4225 right_y=0.2312 right_z=0.137 right_yaw=0.0532 right_pitch=-0.0513 right_roll=-0.039 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.7299, 6.4068, 1.8242, -0.0317, -0.0317, -0.0073, -0.3761, -9.265, 7.3504, 1.9902, 0.2564, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18baefa7382fb277a35511d866065e70c9c061a53e901f90872642304c68f7d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:362e593354a28879d2cf83e34b0729b33e666af3a659f4e605a0a0382e3fb519",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7ec36d853c2121bb9823236d7f2ee0c050b52f9e8f5edd9c0bfd484c3567ac17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 8.764 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, -0.3874, -0.0261, -0.0292, 0.9984, 0.767, 1.6619, 1.3369, -0.4564, 0.5926, 0.4263, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1817 left_yaw=0.0008 left_pitch=-0.0088 left_roll=0.0003 left_gripper=0.9984 right_x=0.3894 right_y=0.2433 right_z=0.2011 right_yaw=0.0423 right_pitch=-0.0544 right_roll=-0.0513 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -1.5932, 6.5573, 1.8095, -0.0513, -0.0513, -0.0317, 0.2256, -7.788, 9.7573, 1.6044, 0.5299, 0.2613, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7979, 0.6136, -0.387, -0.0257, -0.0296, 0.9983, 0.6773, 1.7443, 1.1881, -0.218, 0.5377, 0.3756, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0022 left_z=0.1819 left_yaw=0.0007 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.416 right_y=0.2231 right_z=0.1387 right_yaw=0.0214 right_pitch=-0.0748 right_roll=-0.0579 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -1.6068, 6.3658, 1.7851, -0.0171, -0.0708, -0.0171, 0.0615, -9.0325, 6.8034, 1.8828, 0.1538, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0257, -0.0292, 0.9983, 0.6739, 1.7611, 1.1782, -0.1482, 0.5121, 0.3496, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0022 left_z=0.1816 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4225 right_y=0.2312 right_z=0.137 right_yaw=0.0532 right_pitch=-0.0513 right_roll=-0.039 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.7299, 6.4068, 1.8242, -0.0317, -0.0317, -0.0073, -0.3761, -9.265, 7.3504, 1.9902, 0.2564, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18baefa7382fb277a35511d866065e70c9c061a53e901f90872642304c68f7d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:362e593354a28879d2cf83e34b0729b33e666af3a659f4e605a0a0382e3fb519",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ec36d853c2121bb9823236d7f2ee0c050b52f9e8f5edd9c0bfd484c3567ac17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStwcKjgEIEhgCKkAwX1khsY2QM/4NZJfJZ6Ui3QLbP91q/NKtEZNxvhFgEXXg4TibqG+RmVxOTUgYbOKJ82EpwHSt9pZh3TMJjbwzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa78y9UGEgxHhsqRdcj2/tcvhtcaDJm2wSzmvIW4IW5xciIwNGmSbHkxpnIqw2Fc6fbMyK25nfm6oKSj5cw1XKx+V/IJU3sI0rq3K31ef/5CzcTNKtUFzY70wZgIMWI2CE1KCF8rz8z3/p+dF2SKWwrF1MIvv4gSaRo1GTbYDCVkyfvvUs+66pnIvmJvRZKzusS4O/EkZUZ3Nv0vs02a/j2Amt404WMp4Uh9CzyeuovMaDSeB9fSchoW4dqTK6av891e5OGOemYAQ5cSU30esB/BDHWGKBmQ40aFy5vDbztQGTQ5V120plZqROq3GfuroPQ9K6txR1WF5qhDQZglN7LT3CSWHEn3tFDiFcW3YNCKeWY/liUuu6WkfeMP5qSPItXwjTF+OZqS14vrJpGBR2mce8fwuo6/K23BSNf+NpM9820phbA1FWDCR6hEDsh8B2zelbaUXSHzII7wa5/ltuzih/zVL5+MPfkny+rQI07uT6xgeri0R15Uti6DhKi9qTwN1wxgjM4zqyg8JsZzlph/1GbxTqKssVG5SIhaK/qyl/eucjAFCN52gmq8qtmZcl4WfKLc7Ku5qiQHq7m6B3ItOVCMSg5hNrc8z/YY+r9prsPmWB9+rU4rLhH6eRZ45sx3LJZiLT9sh8Tr3WV7GEMk13uwYcCaN2izgf2fflb1/Wwxk37FDmMJ3Nevz3sLnCJvsh7Pe8K0KPW41Rv5sX/j9sOK19yE8UXhGuH2fT10C+sv17+qnyp8n6yqoptvi9vgvluT2mRNlpRjgqr3eDfHRvj+CrvlbdZmVyg7F9sF1vw+YzBeGoj7itmzPBsnhpU2Jj+GzZQWtvUp90C0iz93HSHbMEQWk9DUlPTkJPoq1PCRGDsQ0MzH7L9ZkPolxASNRqVNWalwUVsWLzaFMKqswkBF8i8WLuSvCC/FLYs1SlQHDYNTWpHqJhhQAcI/WE5l8n8AUgtIUUW+TCoRNOPFiuiYP1jvEZolDhgITBCQJnmFc+BND8I1/yGLowWkmdqQ1jGtxwHdkgrom4kyPrtUjdhjj0aHblSCPlNaE2dvedFCQhdYMf5LkekYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012WXAvsFfyF2gTG2yU1wKCr",
      "input": {
        "note": "The previous move was truncated (arm only crept a few mm), so I'm re-sending the same target to bring the jaws out over the bottle's neck.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.2,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_012WXAvsFfyF2gTG2yU1wKCr",
      "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, -0.0257, -0.0296, 0.9983, 0.6739, 1.7611, 1.1782, -0.1478, 0.5121, 0.3496, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0022 left_z=0.1816 left_yaw=0.0007 left_pitch=-0.0088 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4225 right_y=0.2312 right_z=0.1371 right_yaw=0.0532 right_pitch=-0.051 right_roll=-0.0388 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.5932, 6.3111, 1.8193, -0.0415, -0.0562, -0.0122, -0.0752, -9.2513, 7.1863, 2.0244, 0.2076, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b43fe85d917150157925ada5c6c95169d23caf377c951cdec0f81849ed26b764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7f148cb55fc2837aa638c06e0beffd126cbc3ebfeac0b12c0355dbcee010b2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb0e3dfc7bee0594b7ad03839c1ecfe79ce0f59309880471918ec009e4020f4f",
        "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 · 6.325 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, -0.0257, -0.0296, 0.9983, 0.6773, 1.7443, 1.1881, -0.218, 0.5377, 0.3756, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.0022 left_z=0.1819 left_yaw=0.0007 left_pitch=-0.008 left_roll=-0.0003 left_gripper=0.9983 right_x=0.416 right_y=0.2231 right_z=0.1387 right_yaw=0.0214 right_pitch=-0.0748 right_roll=-0.0579 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -1.6068, 6.3658, 1.7851, -0.0171, -0.0708, -0.0171, 0.0615, -9.0325, 6.8034, 1.8828, 0.1538, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0257, -0.0292, 0.9983, 0.6739, 1.7611, 1.1782, -0.1482, 0.5121, 0.3496, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0022 left_z=0.1816 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4225 right_y=0.2312 right_z=0.137 right_yaw=0.0532 right_pitch=-0.0513 right_roll=-0.039 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.7299, 6.4068, 1.8242, -0.0317, -0.0317, -0.0073, -0.3761, -9.265, 7.3504, 1.9902, 0.2564, 0.022, -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, -0.387, -0.0257, -0.0296, 0.9983, 0.6739, 1.7611, 1.1782, -0.1478, 0.5121, 0.3496, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0022 left_z=0.1816 left_yaw=0.0007 left_pitch=-0.0088 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4225 right_y=0.2312 right_z=0.1371 right_yaw=0.0532 right_pitch=-0.051 right_roll=-0.0388 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.5932, 6.3111, 1.8193, -0.0415, -0.0562, -0.0122, -0.0752, -9.2513, 7.1863, 2.0244, 0.2076, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b43fe85d917150157925ada5c6c95169d23caf377c951cdec0f81849ed26b764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7f148cb55fc2837aa638c06e0beffd126cbc3ebfeac0b12c0355dbcee010b2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb0e3dfc7bee0594b7ad03839c1ecfe79ce0f59309880471918ec009e4020f4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9AYKjgEIEhgCKkCYTkus3VdotEdsQzCoEQUgqJF0o/ZhuTxv0OuPOXZqTwC65sciUeNiCBdeuSjuQOm2HiZqkxELL/Ce5AY6+CaRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbf8y9UGEgyb61Og8qz4TyqY/agaDBMW5GSHPIJ1RUoUoiIw1h75sEcR7rkyMQXq1pmnqRNHaGhk9DQaYR/rf2bGyEIDtbeWZyhTRnieCsLRaCgdKpIFCDzpbs3XEKORKpWEQr8IuUP+t2mpMd4bMu6AALo6Kb+r35dwe2Hv69e7Dpp3b9Ss4aYonIx7J42mnVUtBsXpdd/hszg8wYGJ+9iO8rdPryrcxk3fuVVzQYI5fksE1mNp1EiY934NRGVK+tokaSoyNLdehI/x0EfvhG8N4Yb9vsZQlKc9JORypfVvuixGeyIawFgV8hZgbb933RXyXrTv17YwyKTv2ITZqA8mygknKAU2vqKtTYRzdRYsNBlAEYB4kXi4Pb7PjRO18ubeDN7LQLG+qUT4mxDDiNnc9w6PERiPLrhRx8fn+y7pdgZar4Lny+zHxuIq1cjM54JadQurSMCc9jQxMviMgE2IvmxN/K9lcgNM/oi5b54qs1WbMiIThoh/IaacASt2t609J1/U4qTx061hEtaK1JSs9q/q7gnlvyQ84r2dSap6KfHYiK5pw1FW2gL/KehNmlu1BzyiTV1dxG7J3whrIUAwBNyIt8ktTUBYQD1OkiG7isa3UyAbm+EPuT9Q7P7MbySpdmbv0rdAOn9xP9OwD5r2QejQ+4dgdib0RT2l+Ci+Yt5yGz3Zy6cW8IXjp8x9ji4CSyI9Afeec6pJMNiPpGuhW8KPeHta4IxG4nkKBFvquRhr8ANX4G+9Jv9sOhESfRFrShj3jpP+8QRdumqBBbmTBhf26IdLPYmlTZwpLeX/Xj0HFTW9fPY0slLb3nh3SmZnkwk6gOQybL3MXLI34eMlNmmolcgn3RfZec8x8Rj23x5l0z4EObH+7PhmiA9rtTpqyL+n9AGS07xnM5o8+1yUVh0Y1RJ9BYpD5sDxW2md71Si+5dIY0tK3+CH+8Pbi3tQ8sQkF338QZHaLj9ej8hH84P711qVexgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014LM5CAHJ6ShSR3Xcy6Bj9N",
      "input": {
        "note": "The arm has stopped tracking at x=0.42,y=0.23 — likely an IK/limit stall — so I'm backing off upward and to the arm's right to re-approach the bottle from above.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.19,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014LM5CAHJ6ShSR3Xcy6Bj9N",
      "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, -0.0257, -0.0292, 0.9983, 0.6739, 1.7611, 1.1782, -0.1474, 0.5121, 0.35, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0022 left_z=0.1816 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4226 right_y=0.2313 right_z=0.1371 right_yaw=0.053 right_pitch=-0.0507 right_roll=-0.0383 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -1.7709, 6.5299, 1.8437, -0.0415, -0.0415, -0.0122, -0.3897, -9.1556, 7.5419, 2.0244, 0.2222, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52ec4e3292e281ec15a82cfec62bc055da5bf31f3095d5328db2e121ea8877d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21b9a0fd9aa20712f6d9b011e586bd76354312dc9b4f7892b05f73eb642e1f61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d41c791dbd820ea610ad0477bc0aa326b7e07ca6815ab9cfa833936779a6816e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 24.54 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, -0.0257, -0.0292, 0.9983, 0.6739, 1.7611, 1.1782, -0.1482, 0.5121, 0.3496, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0022 left_z=0.1816 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4225 right_y=0.2312 right_z=0.137 right_yaw=0.0532 right_pitch=-0.0513 right_roll=-0.039 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.7299, 6.4068, 1.8242, -0.0317, -0.0317, -0.0073, -0.3761, -9.265, 7.3504, 1.9902, 0.2564, 0.022, -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, -0.387, -0.0257, -0.0296, 0.9983, 0.6739, 1.7611, 1.1782, -0.1478, 0.5121, 0.3496, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0022 left_z=0.1816 left_yaw=0.0007 left_pitch=-0.0088 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4225 right_y=0.2312 right_z=0.1371 right_yaw=0.0532 right_pitch=-0.051 right_roll=-0.0388 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.5932, 6.3111, 1.8193, -0.0415, -0.0562, -0.0122, -0.0752, -9.2513, 7.1863, 2.0244, 0.2076, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0257, -0.0292, 0.9983, 0.6739, 1.7611, 1.1782, -0.1474, 0.5121, 0.35, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0022 left_z=0.1816 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4226 right_y=0.2313 right_z=0.1371 right_yaw=0.053 right_pitch=-0.0507 right_roll=-0.0383 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -1.7709, 6.5299, 1.8437, -0.0415, -0.0415, -0.0122, -0.3897, -9.1556, 7.5419, 2.0244, 0.2222, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52ec4e3292e281ec15a82cfec62bc055da5bf31f3095d5328db2e121ea8877d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21b9a0fd9aa20712f6d9b011e586bd76354312dc9b4f7892b05f73eb642e1f61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d41c791dbd820ea610ad0477bc0aa326b7e07ca6815ab9cfa833936779a6816e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISqgUKjgEIEhgCKkAFs807vJFSPgvjR6u881zMoTAG9QbR7Y8Xb6Y8NNPjAZC9WGL2Bn/TGBWGiObu3X9D6nVlYUhnfhbcA7U+NP6zMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb/8y9UGEgxWvfBtyXxgRNIAjmoaDCkn4LemkpGub2FDrSIw12C7e+Ms8N6Ak/cjT86p6afRkpIdvWeQMDOfiyWsfXN9qEFWksSXokL7+FjWruNkKsgDlEconu1Gd03WxiPnblaE4XJUYRZkU5V5teZ9A9vcHdhv9hxUhs+whPJ41dbzDVtsPHiI6qE+xqJcBZRrmlRUSeo8cyPbcztr1sp+//QZMwus24ymeNsxMpksl5wAi/8/hhZ76y5Tg15cpRI+6FD7vgNap0rRfgyO8OOj8pW9K6mNkfqM38CI05wNVsV3hjQyoqmQZPSW0CES9yObkzWgWOY4gRIMQ+Iv+4hZ91cUpPe77b6FUwyVnpOcoDdgRr807nYDlorwEYnqPCS7S5+sXIhqWbwInHk8YwKsN7ifani13qbRMWxEovBCCnYAhUvLwdcjHiY7dEvCI7Y7K1ixaBnZYRThrNuLt67mjZCP1PWrqKHiVF/XWXvqkBg15day2KouxhxgYU6A15NCZNRfpcvKI2VDY02GcvHAKIj1ItMXvAptvurixmENSH93KwZ1Wa0QGptQ6+NeMBiNrCzubg4HgI0jnvx17HzCHn2ir2WNHrxgPPEZio0fsi15DT2C+LGvHgjN4EQ7+eUmxfY14m1Slg07QG9T4KPqPZYvAua/cCljTDZTM/YS2WpgKzEnvG6frGe/W99EUB9Ddw4jJ3EDlwcmRL4oGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XPeQQHiNFE2DkUsgmbXZQL",
      "input": {
        "note": "Arm still frozen; trying a small pure vertical lift to see whether any axis responds.",
        "targets": {
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XPeQQHiNFE2DkUsgmbXZQL",
      "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, -0.0261, -0.0292, 0.9983, 0.6739, 1.7264, 1.2087, -0.2245, 0.4961, 0.3405, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1816 left_yaw=0.0008 left_pitch=-0.0088 left_roll=0.0003 left_gripper=0.9983 right_x=0.4173 right_y=0.2302 right_z=0.1515 right_yaw=0.0702 right_pitch=-0.0667 right_roll=-0.044 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.6205, 6.3248, 1.8144, -0.0366, -0.0073, -0.0122, -0.3487, -11.7812, 10.5641, 1.7363, 0.398, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea5d233502638def9f512f63a43b71354fc60f0ab4f9177215eaf63832fd5d74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5369414d3f10e3c648919e14825458a4f59865573dee6444d07ef286fd643dd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:329f7665ff7aa582349ec4a293402f3efba8ffe62b81cb096c7964c8485b944d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 11.56 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, -0.387, -0.0257, -0.0296, 0.9983, 0.6739, 1.7611, 1.1782, -0.1478, 0.5121, 0.3496, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0022 left_z=0.1816 left_yaw=0.0007 left_pitch=-0.0088 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4225 right_y=0.2312 right_z=0.1371 right_yaw=0.0532 right_pitch=-0.051 right_roll=-0.0388 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.5932, 6.3111, 1.8193, -0.0415, -0.0562, -0.0122, -0.0752, -9.2513, 7.1863, 2.0244, 0.2076, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6132, -0.387, -0.0257, -0.0292, 0.9983, 0.6739, 1.7611, 1.1782, -0.1474, 0.5121, 0.35, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0022 left_z=0.1816 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4226 right_y=0.2313 right_z=0.1371 right_yaw=0.053 right_pitch=-0.0507 right_roll=-0.0383 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -1.7709, 6.5299, 1.8437, -0.0415, -0.0415, -0.0122, -0.3897, -9.1556, 7.5419, 2.0244, 0.2222, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 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, -0.0261, -0.0292, 0.9983, 0.6739, 1.7264, 1.2087, -0.2245, 0.4961, 0.3405, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1816 left_yaw=0.0008 left_pitch=-0.0088 left_roll=0.0003 left_gripper=0.9983 right_x=0.4173 right_y=0.2302 right_z=0.1515 right_yaw=0.0702 right_pitch=-0.0667 right_roll=-0.044 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.6205, 6.3248, 1.8144, -0.0366, -0.0073, -0.0122, -0.3487, -11.7812, 10.5641, 1.7363, 0.398, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea5d233502638def9f512f63a43b71354fc60f0ab4f9177215eaf63832fd5d74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5369414d3f10e3c648919e14825458a4f59865573dee6444d07ef286fd643dd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:329f7665ff7aa582349ec4a293402f3efba8ffe62b81cb096c7964c8485b944d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FwERFc3aYAhsJZYWpQXFps",
      "input": {
        "note": "Z responds but the earlier x/y target was at the arm's reach limit. Coming slightly back in x while shifting to the arm's right, to line up over the near bottle's body so I can first drag it closer to the base.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.2,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FwERFc3aYAhsJZYWpQXFps",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0261, -0.0292, 0.9983, 0.6453, 1.6272, 0.9989, -0.1375, 0.4751, 0.3229, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0069 left_roll=0.0002 left_gripper=0.9983 right_x=0.3917 right_y=0.1982 right_z=0.1228 right_yaw=0.0662 right_pitch=-0.0949 right_roll=-0.0592 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -1.6342, 6.3385, 1.8535, -0.0171, -0.0269, -0.0171, -0.4444, -10.7419, 8.1162, 2.2882, 0.1392, -0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21b516f97905f22499e41d54480d84cc986e411ff8ab4591f87d3b5495f46265",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38fc55418df184cb0024d5bbd58866e06b239b6f85b060392a54f11be9181434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4ca1419a063bfb822e7f01b6f39c8d498e86da45bb0b4efc787ddadd195994b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 6.82 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, 0.7982, 0.6132, -0.387, -0.0257, -0.0292, 0.9983, 0.6739, 1.7611, 1.1782, -0.1474, 0.5121, 0.35, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0022 left_z=0.1816 left_yaw=0.0005 left_pitch=-0.0088 left_roll=0.0001 left_gripper=0.9983 right_x=0.4226 right_y=0.2313 right_z=0.1371 right_yaw=0.053 right_pitch=-0.0507 right_roll=-0.0383 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -1.7709, 6.5299, 1.8437, -0.0415, -0.0415, -0.0122, -0.3897, -9.1556, 7.5419, 2.0244, 0.2222, 0.0415, -0.0122]\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, 0.7982, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.6739, 1.7264, 1.2087, -0.2245, 0.4961, 0.3405, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1816 left_yaw=0.0008 left_pitch=-0.0088 left_roll=0.0003 left_gripper=0.9983 right_x=0.4173 right_y=0.2302 right_z=0.1515 right_yaw=0.0702 right_pitch=-0.0667 right_roll=-0.044 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.6205, 6.3248, 1.8144, -0.0366, -0.0073, -0.0122, -0.3487, -11.7812, 10.5641, 1.7363, 0.398, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0261, -0.0292, 0.9983, 0.6453, 1.6272, 0.9989, -0.1375, 0.4751, 0.3229, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0069 left_roll=0.0002 left_gripper=0.9983 right_x=0.3917 right_y=0.1982 right_z=0.1228 right_yaw=0.0662 right_pitch=-0.0949 right_roll=-0.0592 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -1.6342, 6.3385, 1.8535, -0.0171, -0.0269, -0.0171, -0.4444, -10.7419, 8.1162, 2.2882, 0.1392, -0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21b516f97905f22499e41d54480d84cc986e411ff8ab4591f87d3b5495f46265",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38fc55418df184cb0024d5bbd58866e06b239b6f85b060392a54f11be9181434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ca1419a063bfb822e7f01b6f39c8d498e86da45bb0b4efc787ddadd195994b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KJGnVyW43nnnjpc1BCaais",
      "input": {
        "note": "The bottle is now centred between the jaws in the right wrist view; descending to body-centre height so I can grip its body and drag it closer to the base (its neck is currently beyond the arm's reach).",
        "targets": {
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01KJGnVyW43nnnjpc1BCaais",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0265, -0.0292, 0.9983, 0.6476, 1.8118, 0.7391, 0.3611, 0.4694, 0.313, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.0024 left_z=0.1821 left_yaw=0.0012 left_pitch=-0.0068 left_roll=0.0004 left_gripper=0.9983 right_x=0.3852 right_y=0.1957 right_z=0.0333 right_yaw=0.0805 right_pitch=-0.0517 right_roll=-0.0345 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.6342, 6.4752, 1.8046, -0.0122, -0.0659, -0.0122, -0.2256, -7.5009, 4.6291, 1.7802, 0.2808, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52778081d19d2f28a6178f3b35225d38ff0556fa80c959ba0e3d56c010e5203e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd8f9d595c84da1e01477cbcca474ca08ade2cd6c51c6562058399962d404cfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2a5aa0cb05651dec8420b7230b77f57db898307072f81d58fadef7f42ef916f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 8.597 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, 0.7982, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.6739, 1.7264, 1.2087, -0.2245, 0.4961, 0.3405, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1816 left_yaw=0.0008 left_pitch=-0.0088 left_roll=0.0003 left_gripper=0.9983 right_x=0.4173 right_y=0.2302 right_z=0.1515 right_yaw=0.0702 right_pitch=-0.0667 right_roll=-0.044 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -1.6205, 6.3248, 1.8144, -0.0366, -0.0073, -0.0122, -0.3487, -11.7812, 10.5641, 1.7363, 0.398, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3866, -0.0261, -0.0292, 0.9983, 0.6453, 1.6272, 0.9989, -0.1375, 0.4751, 0.3229, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0069 left_roll=0.0002 left_gripper=0.9983 right_x=0.3917 right_y=0.1982 right_z=0.1228 right_yaw=0.0662 right_pitch=-0.0949 right_roll=-0.0592 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -1.6342, 6.3385, 1.8535, -0.0171, -0.0269, -0.0171, -0.4444, -10.7419, 8.1162, 2.2882, 0.1392, -0.1099, -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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.387, -0.0265, -0.0292, 0.9983, 0.6476, 1.8118, 0.7391, 0.3611, 0.4694, 0.313, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.0024 left_z=0.1821 left_yaw=0.0012 left_pitch=-0.0068 left_roll=0.0004 left_gripper=0.9983 right_x=0.3852 right_y=0.1957 right_z=0.0333 right_yaw=0.0805 right_pitch=-0.0517 right_roll=-0.0345 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.6342, 6.4752, 1.8046, -0.0122, -0.0659, -0.0122, -0.2256, -7.5009, 4.6291, 1.7802, 0.2808, 0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52778081d19d2f28a6178f3b35225d38ff0556fa80c959ba0e3d56c010e5203e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd8f9d595c84da1e01477cbcca474ca08ade2cd6c51c6562058399962d404cfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a5aa0cb05651dec8420b7230b77f57db898307072f81d58fadef7f42ef916f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmwYKjgEIEhgCKkAco8TuqBUKDbkmDfaIsKDDGGCslPCSd0xvSHxa1fcLzuL+R/tOukRNdpWbw0f5QxSN5+Vyd3Dn+jgRTQ8kqqcRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAer8y9UGEgyIW1DS1ZgnZHq6BnUaDOVB3NSAzDgTsoKXQyIwZM8sJrkaEzAYAH2QvmyW44ZApf6XgbrL4ymQHt0MXlCI4gmXBhVI6dUhWe85aFL6KrkEcNl2MdhlX8UXBrwDnkjn22mUX+CwU2+8jAa82NikNXh6v8cwqlJnrw12kkE6ffHn9yNN9AdwWI807PqMGtVvyd3fmc5eXBAoSGUR4JeFN4V4YP8f2/uSKV+CqVzA40glsja8sIsZZew8VUJA9wSAXuYLM7mOoKk8qWEbcSjB3Y3D3fiqKzK+4/xQtnU+k6prpqjmEePCc7MHj2IzfdB9oV0W/H5D3SBfYWX4mkc5JjVKYMUgqQ9G63yoLJbIOhKQnRY87p7DAX04vl9SfPZVcxFzcxiC56A/vQWU2g93vsggVn1EYZg9HDAluNugS6CWeFoPQ5KbfSpRmXi1Q3FMbfTSBMh04cSbW2MkbT6VlM97I8rAVNabK6EI7x0M47PhvwVjt3l5tnenyekZsN9H/fTbf05+On2PdGAVR9FfRfLldprJ8RbwO+URso5d1v+2x9fEXaOMHMzcnSi0nIq0JtPZZfZdLCndYCwYFxF7mbJvOfLwBPrNdNEJYq2gc0lcXh0Ng2ITOdvAF+cWDYf3lefR9yYabl6EnmukPUpazywz1Jewe/RxjLOH1xtIpaP+z5qTbzKISPhjwFmUdqqvqjG7wV27ZBq2pLctekxqhwpvxe5Eg8mnBZrGGbsjhhrVbeR2Ghjrx9a4DnssNlmzCNJ4n11+j/G3UN7ot73Dh2jp3xx5sba3ylVu47ssNNI/JBf3xFidh7mNWYMgSUvSGMkaBA4/qDFM3piTsp5RngmL2FTSIjTldt0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016y5kqdFfZBVHi7qbzPTkta",
      "input": {
        "note": "Jaws are at body height straddling the bottle; closing them onto the bottle body to get a grip for dragging it closer.",
        "targets": {
          "right_gripper": 0.35
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_016y5kqdFfZBVHi7qbzPTkta",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0296, 0.9983, 0.6476, 1.8374, 0.6895, 0.4561, 0.4664, 0.3088, 0.5464]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0001 left_gripper=0.9983 right_x=0.381 right_y=0.1931 right_z=0.0227 right_yaw=0.0857 right_pitch=-0.036 right_roll=-0.0256 right_gripper=0.5464\nstate[joint_eff]: [-0.1846, -1.6205, 6.5162, 1.7949, -0.0269, -0.0708, -0.0122, -0.0615, -9.1145, 4.8342, 1.8681, 0.1148, -0.0171, 0.9548]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd52c1cd4a37a64326f3e9f73af096fba6d4de8546a6d827ad094eef471bd15c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afbe098920d22107261d35d712181560165323b7e0090b53f0d9273539ec7dbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30c685e194a67f691c54390669782d9801741935389898221ea4cbaa4ba392f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 13.29 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, 0.7967, 0.6132, -0.3866, -0.0261, -0.0292, 0.9983, 0.6453, 1.6272, 0.9989, -0.1375, 0.4751, 0.3229, 0.9998]\nstate[eef_state]: left_x=0.2952 left_y=0.0023 left_z=0.1821 left_yaw=0.0008 left_pitch=-0.0069 left_roll=0.0002 left_gripper=0.9983 right_x=0.3917 right_y=0.1982 right_z=0.1228 right_yaw=0.0662 right_pitch=-0.0949 right_roll=-0.0592 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -1.6342, 6.3385, 1.8535, -0.0171, -0.0269, -0.0171, -0.4444, -10.7419, 8.1162, 2.2882, 0.1392, -0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.7963, 0.6132, -0.387, -0.0265, -0.0292, 0.9983, 0.6476, 1.8118, 0.7391, 0.3611, 0.4694, 0.313, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.0024 left_z=0.1821 left_yaw=0.0012 left_pitch=-0.0068 left_roll=0.0004 left_gripper=0.9983 right_x=0.3852 right_y=0.1957 right_z=0.0333 right_yaw=0.0805 right_pitch=-0.0517 right_roll=-0.0345 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.6342, 6.4752, 1.8046, -0.0122, -0.0659, -0.0122, -0.2256, -7.5009, 4.6291, 1.7802, 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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0296, 0.9983, 0.6476, 1.8374, 0.6895, 0.4561, 0.4664, 0.3088, 0.5464]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0001 left_gripper=0.9983 right_x=0.381 right_y=0.1931 right_z=0.0227 right_yaw=0.0857 right_pitch=-0.036 right_roll=-0.0256 right_gripper=0.5464\nstate[joint_eff]: [-0.1846, -1.6205, 6.5162, 1.7949, -0.0269, -0.0708, -0.0122, -0.0615, -9.1145, 4.8342, 1.8681, 0.1148, -0.0171, 0.9548]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd52c1cd4a37a64326f3e9f73af096fba6d4de8546a6d827ad094eef471bd15c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afbe098920d22107261d35d712181560165323b7e0090b53f0d9273539ec7dbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30c685e194a67f691c54390669782d9801741935389898221ea4cbaa4ba392f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7QYKjgEIEhgCKkAGGMifxLVWDvjJY929nFEU6SQOM8+V7syDyo/VhuT7ho7+qqwkkWkmgaGeNj6vKURiA+Gndvn2NY0NmG6p0j2yMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfP8y9UGEgwmzyBhszL8MbKuPxkaDDNnYbsMP+UzAplhRyIw9Fapfw/sB5Zr9/hVeG6iXR2BOOTBomWDAE+VMt9f4vgmi2ShyX93L5bgmPkllKkeKosFGvaW1gCztjlSeTUQpha3TvSxeJwEH5reLbdxA2q+yP8hzLqWXv+jICvK/APLxYPE7OSHpk2c2v0+7rguTgFGYP3Z/JH+mjbaEQ4C8xgP2LuQR/MfARYTE1hwpKhrkBuLhO/nvGSVOpejtQXtCPnZa2VSf2i2Cak4s5Dc350ksJJlLxwQwtpYzqz4iyVRNt+93A1MY0OwOtNiiO0LTwSo0SVhJi7i+tn30FpdLS22K6IbD/NAbzXqQMs+ie2yEYxiAN8NGq91J1dU9vjoH7/zwltbo1Wx4m7s96kaYkmprSvMYT76MNMysmJ1OmSK+n9cTpLGzUH+v5Fv2QrokMKO1dvKgQwi+qYsS8VF5lYIFsrylYzpSJ5U7w9HfQcBNIoaVg+qfnUWMd18XZHfdzIuj4K7b0EdOpO01nYRmU2x5RnDnSk7mZPQdbQXMeDfKttuc2U5+c9iNW2FGQzNwfgYsI4A6Oqd5sTq3HyDLGmfcOnDOaxR8T0RyPeLBi7YglWdytmn/UaM1H7xuAAtT191WaRkVEO9+PaYBzEP+mPwbaaHQng2/M8rkl4IsebaADe8lWZj7xVQflrspvs2WDzcjjh2sWiU2ss/GvahsfT3q9LE3o/WABQY1/OSApFSLUOoycZu4wBJiqYqQJ+i5Ma3MM75nYmhxtWKmkZmNGTgjuyOHh4SiUBSm5X8R67apbmCxxFvCACPXRURXqL0RrxQ88Jua9GcGcRD6DUH3hkRcMdlc7hCpCANNqZlHgWxMxZr4tmOOi/hAtg+vbhrxCm/jOMTcWA3lN5B/w8oUHYdtFNJngolqHLeEfwE1ErkKbFw6gC4auOQ7R4txVOFYh/HTbd4RXS7MKwPML0rGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WHBPwmtqtPDXZ4gWoTRqXH",
      "input": {
        "note": "Gripper settled at 0.55 (~5 cm), so it has a firm hold on the bottle body. Dragging the bottle ~9 cm toward the base so its neck comes within reach.",
        "targets": {
          "right_x": 0.29,
          "right_y": 0.18,
          "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_01WHBPwmtqtPDXZ4gWoTRqXH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3874, -0.0261, -0.0292, 0.9983, 0.8368, 1.6001, 0.3931, 0.4637, 0.5762, 0.4274, 0.5486]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.1819 left_yaw=0.0008 left_pitch=-0.0076 left_roll=0.0002 left_gripper=0.9983 right_x=0.291 right_y=0.1842 right_z=0.0208 right_yaw=0.1248 right_pitch=-0.0331 right_roll=-0.0167 right_gripper=0.5486\nstate[joint_eff]: [-0.1026, -1.1556, 6.4615, 1.8681, -0.0562, -0.0513, -0.0122, 0.2256, -6.7624, 4.9436, 1.8535, 0.4713, 0.1001, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bd543c949ea9dc96d7c207f70a49efa6700ee7a870b3c743f53a07eadb48870",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:735615e95e2efb59116cf2fa91f7de3983cdeb1a76d08c4de2d9fb1ddfca47de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:48fd3e0d593c77eec7723cf48a16b87dec8ddbe64ae9ce3000cb7d70b70be415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 13.05 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, 0.7963, 0.6132, -0.387, -0.0265, -0.0292, 0.9983, 0.6476, 1.8118, 0.7391, 0.3611, 0.4694, 0.313, 0.9998]\nstate[eef_state]: left_x=0.2951 left_y=0.0024 left_z=0.1821 left_yaw=0.0012 left_pitch=-0.0068 left_roll=0.0004 left_gripper=0.9983 right_x=0.3852 right_y=0.1957 right_z=0.0333 right_yaw=0.0805 right_pitch=-0.0517 right_roll=-0.0345 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.6342, 6.4752, 1.8046, -0.0122, -0.0659, -0.0122, -0.2256, -7.5009, 4.6291, 1.7802, 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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0296, 0.9983, 0.6476, 1.8374, 0.6895, 0.4561, 0.4664, 0.3088, 0.5464]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0001 left_gripper=0.9983 right_x=0.381 right_y=0.1931 right_z=0.0227 right_yaw=0.0857 right_pitch=-0.036 right_roll=-0.0256 right_gripper=0.5464\nstate[joint_eff]: [-0.1846, -1.6205, 6.5162, 1.7949, -0.0269, -0.0708, -0.0122, -0.0615, -9.1145, 4.8342, 1.8681, 0.1148, -0.0171, 0.9548]",
      "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, 0.7967, 0.6132, -0.3874, -0.0261, -0.0292, 0.9983, 0.8368, 1.6001, 0.3931, 0.4637, 0.5762, 0.4274, 0.5486]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.1819 left_yaw=0.0008 left_pitch=-0.0076 left_roll=0.0002 left_gripper=0.9983 right_x=0.291 right_y=0.1842 right_z=0.0208 right_yaw=0.1248 right_pitch=-0.0331 right_roll=-0.0167 right_gripper=0.5486\nstate[joint_eff]: [-0.1026, -1.1556, 6.4615, 1.8681, -0.0562, -0.0513, -0.0122, 0.2256, -6.7624, 4.9436, 1.8535, 0.4713, 0.1001, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bd543c949ea9dc96d7c207f70a49efa6700ee7a870b3c743f53a07eadb48870",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:735615e95e2efb59116cf2fa91f7de3983cdeb1a76d08c4de2d9fb1ddfca47de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48fd3e0d593c77eec7723cf48a16b87dec8ddbe64ae9ce3000cb7d70b70be415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EufNHFjfeibgHH41abtHcp",
      "input": {
        "note": "Releasing the bottle and rising to 16 cm so the overhead camera can show me where the bottle now lies and where its neck/cap is.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01EufNHFjfeibgHH41abtHcp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.844, 1.2076, 0.6674, -0.1768, 0.5724, 0.4114, 0.997]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.2894 right_y=0.1869 right_z=0.1408 right_yaw=0.144 right_pitch=-0.0148 right_roll=-0.011 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.3607, 6.4342, 1.8046, -0.0171, -0.0513, -0.0122, -0.6085, -5.4632, 9.3744, 1.6679, 0.3199, 0.1001, -0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:308865e0dfbd68b51978517bd763afe79489b40ed17dc6604fd1b8b4a19aad9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2b40b6958d24d64b89b58567fb6eeb1848e228204b4ea8e544ac37a54e43f61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0dd78a0c65e1e27cd00c7056548cb94c47ee2b3b0d420424c79edcc0931f153b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 10.12 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, 0.7967, 0.6132, -0.387, -0.0261, -0.0296, 0.9983, 0.6476, 1.8374, 0.6895, 0.4561, 0.4664, 0.3088, 0.5464]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0011 left_pitch=-0.0072 left_roll=-0.0001 left_gripper=0.9983 right_x=0.381 right_y=0.1931 right_z=0.0227 right_yaw=0.0857 right_pitch=-0.036 right_roll=-0.0256 right_gripper=0.5464\nstate[joint_eff]: [-0.1846, -1.6205, 6.5162, 1.7949, -0.0269, -0.0708, -0.0122, -0.0615, -9.1145, 4.8342, 1.8681, 0.1148, -0.0171, 0.9548]",
      "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, 0.7967, 0.6132, -0.3874, -0.0261, -0.0292, 0.9983, 0.8368, 1.6001, 0.3931, 0.4637, 0.5762, 0.4274, 0.5486]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.1819 left_yaw=0.0008 left_pitch=-0.0076 left_roll=0.0002 left_gripper=0.9983 right_x=0.291 right_y=0.1842 right_z=0.0208 right_yaw=0.1248 right_pitch=-0.0331 right_roll=-0.0167 right_gripper=0.5486\nstate[joint_eff]: [-0.1026, -1.1556, 6.4615, 1.8681, -0.0562, -0.0513, -0.0122, 0.2256, -6.7624, 4.9436, 1.8535, 0.4713, 0.1001, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.844, 1.2076, 0.6674, -0.1768, 0.5724, 0.4114, 0.997]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.2894 right_y=0.1869 right_z=0.1408 right_yaw=0.144 right_pitch=-0.0148 right_roll=-0.011 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.3607, 6.4342, 1.8046, -0.0171, -0.0513, -0.0122, -0.6085, -5.4632, 9.3744, 1.6679, 0.3199, 0.1001, -0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:308865e0dfbd68b51978517bd763afe79489b40ed17dc6604fd1b8b4a19aad9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2b40b6958d24d64b89b58567fb6eeb1848e228204b4ea8e544ac37a54e43f61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dd78a0c65e1e27cd00c7056548cb94c47ee2b3b0d420424c79edcc0931f153b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HQX9sbrCgXRX3EDdu86CUt",
      "input": {
        "note": "Bottle released; now moving the open gripper out over what should be the bottle's neck/cap end (~8 cm beyond where I held its middle) to check alignment in the wrist view.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.175,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01HQX9sbrCgXRX3EDdu86CUt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3874, -0.0257, -0.0296, 0.9983, 0.6064, 1.4456, 0.6827, 0.0254, 0.3897, 0.2481, 0.9989]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.1819 left_yaw=0.0007 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3472 right_y=0.1635 right_z=0.0911 right_yaw=0.1367 right_pitch=-0.1019 right_roll=-0.0532 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -1.6205, 6.4479, 1.79, -0.0415, -0.0757, -0.0122, -0.4718, -5.8598, 9.935, 2.0733, 0.2027, 0.0562, 0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc8cc5199c4967014f3ffa2036737968e7d3f3552bfdb88b6441dd82ef3699b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8906166b3d6d2067368b1bd96ed5a1ca13685b181a2cbd39ee41e9fe6b7da4e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a009924d9ab97b91c34ba15d7e83e2f6c11f3e211368496e32441128450a735b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 19.14 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3874, -0.0261, -0.0292, 0.9983, 0.8368, 1.6001, 0.3931, 0.4637, 0.5762, 0.4274, 0.5486]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.1819 left_yaw=0.0008 left_pitch=-0.0076 left_roll=0.0002 left_gripper=0.9983 right_x=0.291 right_y=0.1842 right_z=0.0208 right_yaw=0.1248 right_pitch=-0.0331 right_roll=-0.0167 right_gripper=0.5486\nstate[joint_eff]: [-0.1026, -1.1556, 6.4615, 1.8681, -0.0562, -0.0513, -0.0122, 0.2256, -6.7624, 4.9436, 1.8535, 0.4713, 0.1001, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.844, 1.2076, 0.6674, -0.1768, 0.5724, 0.4114, 0.997]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.2894 right_y=0.1869 right_z=0.1408 right_yaw=0.144 right_pitch=-0.0148 right_roll=-0.011 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.3607, 6.4342, 1.8046, -0.0171, -0.0513, -0.0122, -0.6085, -5.4632, 9.3744, 1.6679, 0.3199, 0.1001, -0.1294]",
      "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, 0.7967, 0.6132, -0.3874, -0.0257, -0.0296, 0.9983, 0.6064, 1.4456, 0.6827, 0.0254, 0.3897, 0.2481, 0.9989]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.1819 left_yaw=0.0007 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3472 right_y=0.1635 right_z=0.0911 right_yaw=0.1367 right_pitch=-0.1019 right_roll=-0.0532 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -1.6205, 6.4479, 1.79, -0.0415, -0.0757, -0.0122, -0.4718, -5.8598, 9.935, 2.0733, 0.2027, 0.0562, 0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc8cc5199c4967014f3ffa2036737968e7d3f3552bfdb88b6441dd82ef3699b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8906166b3d6d2067368b1bd96ed5a1ca13685b181a2cbd39ee41e9fe6b7da4e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a009924d9ab97b91c34ba15d7e83e2f6c11f3e211368496e32441128450a735b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvggKjgEIEhgCKkAjSdN6/emqrNYB/9GZIeAkf8MUdDnclOB0vIzP+sDiX59dYU5k9Q4eWNcdU7GaMs3+KP2FnNPHbo+IhhmYemlxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZn9y9UGEgwZYG0KS9/fHbDlynUaDPkDE6IrHfMLhRVnbiIw35T+a0Q+dOUpRq+hqfraaojhOo3w2phwJFTQccGnrLXvTQ8l5Lp9zLQLQIABNWdDKtwGHOJYfwopOgwn8/qrrnU7TDiTZogVs0ZUlJL8nDfBNGfaY7z5NuFVPX2nl+J9LPuN4VSiJvKUqeIAZPO6ZrCmxqRq2Ig9eYr9RQtiv9ghXIZfjV8JN/JiSJukXh8sDdW5HBT5j59DVL9mPmQMPJ82jabn5fwnQ2I7CJ4fkEefjU4aLnSmuhV7AauJjBnATmrwyx57hzBzB5Q7xFwe2xhbIP+r1Lt6tki1Zp4l9ZDuq5XWsB0jb9EX9luEkPOpVEIavYhcTdki4o8tFz5QgANE5MNy+Bx7XFhUUR7MlQcN/u25HdVojeyHRryYTyiGHa72aUM7cBCkWe/fUpVs1oim8yhllunsXug3yl/aX+xBl/yDDhO5uPm4BKIisl1aVXfWDyuv3NaA3xnA+MKxJ0TgMXjXeqkwbDjdMUXVbCVDgt3DeI0PnON7iMLkBTsZ3xclnr6UjpkJW4T7fbiDOnZgbSseeXtZAfQ3irtnjadNAjAzkDXAnJlgtrku0Kdc+ftaRBQZZRku5q+02SHda+L56d5pr0jTZ/ZMO95U4d5oNXekorq3Zq3YghxlW0paySMcubLlkX6A6ictKXrctr69XLyIvMcGaxh1v3W8/sQ/wpWUTEO3t7iqsoiYU2I/yrI4lLBDXrrDCzix5FoGmIbz9QKEM/WSRsrxQjUGIxm+mJgrvdjJXXKIX2wDPrLQqFmjFj2VPJ4bhLdYut6+Ju4IKxONM8iQ3v58a8QoVdDtwxSa3oQ8LIANSN5astXRfWVfDAFSdQRuwYWMSLux71/a1VdR6oHMiLqKgU/QsqxnC99aWECNdcoOVuTOxLSOpN30F2t4U59pkITuJXX2HuP/jlSAQQAKyd9sO3NY4AoJ3/89N7CM/YY1lIIYobYtTHDzo9HNKM8fnfkU4zFDDQ3wmXY+guvg/VzuAhl+BxKvmYhyo2iKwRc78Ti9SzfXkAWD0yJQwLaC7gcpgDulUevvhNHkH9/G8bKkqaf2FXhfoEdiozPEHk6wg7WkbJ4z534fzxcKaieSX4pQ6id0i5Tv1PYcww7oetvnmXzETbxMff7mKFpfuhhkp+RegWqqbyeLI6Av28lNbwumwXdmJNmbf9duVXiu+mD6Ai5O2+QiT8cufIgR/sPzt1sDJYQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Py8pvMWMt3noTaX8Ec78jE",
      "input": {
        "note": "Clear wrist view: the bottle's cap is near the jaw column but a few cm beyond the fingertips. Advancing ~4 cm radially (and 1.5 cm to the arm's left) while staying above the bottle, to put the jaws over the cap/neck.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.18,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Py8pvMWMt3noTaX8Ec78jE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0257, -0.0296, 0.9983, 0.5621, 1.6047, 0.73, 0.1684, 0.3454, 0.2115, 0.9993]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0007 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3785 right_y=0.172 right_z=0.0731 right_yaw=0.1493 right_pitch=-0.0871 right_roll=-0.0422 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.6615, 6.4752, 1.7949, -0.0513, -0.0757, -0.0122, -0.9915, -6.8171, 8.7453, 2.0586, 0.2076, 0.1587, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dd24b7dc364edc378d1b57d306357a68c920588de7c6701ed29f4c20a29551e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf14b64ceb846119850b530ac2fa6b2f1f5186ddfcfa1b4992d73ccb48ea5e3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a9967c8c4bf5d4609a15e583be9467f9e523adc87eb4c7eb39059e010a1e0341",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 3.984 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, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.844, 1.2076, 0.6674, -0.1768, 0.5724, 0.4114, 0.997]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.2894 right_y=0.1869 right_z=0.1408 right_yaw=0.144 right_pitch=-0.0148 right_roll=-0.011 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.3607, 6.4342, 1.8046, -0.0171, -0.0513, -0.0122, -0.6085, -5.4632, 9.3744, 1.6679, 0.3199, 0.1001, -0.1294]",
      "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, 0.7967, 0.6132, -0.3874, -0.0257, -0.0296, 0.9983, 0.6064, 1.4456, 0.6827, 0.0254, 0.3897, 0.2481, 0.9989]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.1819 left_yaw=0.0007 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3472 right_y=0.1635 right_z=0.0911 right_yaw=0.1367 right_pitch=-0.1019 right_roll=-0.0532 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -1.6205, 6.4479, 1.79, -0.0415, -0.0757, -0.0122, -0.4718, -5.8598, 9.935, 2.0733, 0.2027, 0.0562, 0.1978]",
      "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, 0.7963, 0.6132, -0.3874, -0.0257, -0.0296, 0.9983, 0.5621, 1.6047, 0.73, 0.1684, 0.3454, 0.2115, 0.9993]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0007 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3785 right_y=0.172 right_z=0.0731 right_yaw=0.1493 right_pitch=-0.0871 right_roll=-0.0422 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.6615, 6.4752, 1.7949, -0.0513, -0.0757, -0.0122, -0.9915, -6.8171, 8.7453, 2.0586, 0.2076, 0.1587, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dd24b7dc364edc378d1b57d306357a68c920588de7c6701ed29f4c20a29551e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf14b64ceb846119850b530ac2fa6b2f1f5186ddfcfa1b4992d73ccb48ea5e3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9967c8c4bf5d4609a15e583be9467f9e523adc87eb4c7eb39059e010a1e0341",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X1FTWRXBdHHh2ZGLGnKXoS",
      "input": {
        "note": "By dead-reckoning from the earlier grasp+drag, the bottle's cap should be right under the jaws now. Descending to cap height (3 cm) with a small lateral correction to centre the cap between the jaws.",
        "targets": {
          "right_y": 0.183,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01X1FTWRXBdHHh2ZGLGnKXoS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.5606, 1.6119, 0.7567, 0.1814, 0.3355, 0.2043, 0.9993]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3865 right_y=0.1782 right_z=0.0826 right_yaw=0.1607 right_pitch=-0.06 right_roll=-0.0294 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.6205, 6.4479, 1.8388, -0.0659, -0.0562, -0.0122, -0.7453, -6.8308, 8.3761, 2.0049, 0.1832, 0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f2bf2efa4362567185a765182e56eecef4a653e1a847d8c18af8f356526cd87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c428d6528207c4e03a349ff2f08e941c5ddd44ba6bdfc05f5b7d696bee1afd77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5365e3ad01759827f8d1a7a20bca19ccaa37b4fe7738d8e60599d3b4b9e04dfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 8.937 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, 0.7967, 0.6132, -0.3874, -0.0257, -0.0296, 0.9983, 0.6064, 1.4456, 0.6827, 0.0254, 0.3897, 0.2481, 0.9989]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.1819 left_yaw=0.0007 left_pitch=-0.0076 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3472 right_y=0.1635 right_z=0.0911 right_yaw=0.1367 right_pitch=-0.1019 right_roll=-0.0532 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -1.6205, 6.4479, 1.79, -0.0415, -0.0757, -0.0122, -0.4718, -5.8598, 9.935, 2.0733, 0.2027, 0.0562, 0.1978]",
      "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, 0.7963, 0.6132, -0.3874, -0.0257, -0.0296, 0.9983, 0.5621, 1.6047, 0.73, 0.1684, 0.3454, 0.2115, 0.9993]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0007 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3785 right_y=0.172 right_z=0.0731 right_yaw=0.1493 right_pitch=-0.0871 right_roll=-0.0422 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.6615, 6.4752, 1.7949, -0.0513, -0.0757, -0.0122, -0.9915, -6.8171, 8.7453, 2.0586, 0.2076, 0.1587, 0.0269]",
      "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, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.5606, 1.6119, 0.7567, 0.1814, 0.3355, 0.2043, 0.9993]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3865 right_y=0.1782 right_z=0.0826 right_yaw=0.1607 right_pitch=-0.06 right_roll=-0.0294 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.6205, 6.4479, 1.8388, -0.0659, -0.0562, -0.0122, -0.7453, -6.8308, 8.3761, 2.0049, 0.1832, 0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f2bf2efa4362567185a765182e56eecef4a653e1a847d8c18af8f356526cd87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c428d6528207c4e03a349ff2f08e941c5ddd44ba6bdfc05f5b7d696bee1afd77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5365e3ad01759827f8d1a7a20bca19ccaa37b4fe7738d8e60599d3b4b9e04dfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5AIKjgEIEhgCKkAN5cvUXU6gUo76bwXvdcnPTmkMiZwU/0KLqY4BOZgvzgD6ZUaKfMNiIeObpXjNWERB1Yl0fGXP2LTVA5nTxdmLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbL9y9UGEgxKyTC4T/P2iTX0lQoaDA4m2x+Lh2t+4+AqeCIwAe15i8iliqkXVkQftgmLDwA6APfQBloTkXwdNc3oW/biIpi861QuPaJv8SE9k1WSKoIB6Qpx4BdD9jhJXB30T1QS5oBMU/8ypBW/6MQXriT7U9bp7NgIzIGKLNrH9wW746cojA3C3Ch71cFLcZO0OC6/+s6czgBPq1lK7eBgspmImWYwfFT1mqfBuc9VY7MzUeWh/8/SAySUlrlSNUq27Xxh0Qfo8QiWCdlTJDvSyIGhCrUgXRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AFVmPY7rdeDpwMze48ry6U",
      "input": {
        "note": "The descent was truncated by the step clamp (still at z=0.08); re-sending the descent to cap height.",
        "targets": {
          "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_01AFVmPY7rdeDpwMze48ry6U",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.5606, 1.6119, 0.757, 0.1814, 0.3355, 0.2043, 0.9993]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3866 right_y=0.1782 right_z=0.0827 right_yaw=0.1607 right_pitch=-0.0596 right_roll=-0.0292 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.5111, 6.4342, 1.8681, -0.0317, -0.0415, -0.0122, -1.0598, -6.8308, 8.3214, 1.9902, 0.1685, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9668cf3c188ec5ae1f15214c365246e1d5310e9b471f4a6028c63c4145039151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c6b7c0870f47cf07e0f339bc4bec9365bf9766c26aa39f77b23aabbb3109deb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6daab53a87a2fea1282db997d0807f79e58f5721198415f76757cdc468f8a3d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 4.939 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, 0.7963, 0.6132, -0.3874, -0.0257, -0.0296, 0.9983, 0.5621, 1.6047, 0.73, 0.1684, 0.3454, 0.2115, 0.9993]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0007 left_pitch=-0.0072 left_roll=-0.0003 left_gripper=0.9983 right_x=0.3785 right_y=0.172 right_z=0.0731 right_yaw=0.1493 right_pitch=-0.0871 right_roll=-0.0422 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.6615, 6.4752, 1.7949, -0.0513, -0.0757, -0.0122, -0.9915, -6.8171, 8.7453, 2.0586, 0.2076, 0.1587, 0.0269]",
      "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, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.5606, 1.6119, 0.7567, 0.1814, 0.3355, 0.2043, 0.9993]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3865 right_y=0.1782 right_z=0.0826 right_yaw=0.1607 right_pitch=-0.06 right_roll=-0.0294 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.6205, 6.4479, 1.8388, -0.0659, -0.0562, -0.0122, -0.7453, -6.8308, 8.3761, 2.0049, 0.1832, 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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.5606, 1.6119, 0.757, 0.1814, 0.3355, 0.2043, 0.9993]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3866 right_y=0.1782 right_z=0.0827 right_yaw=0.1607 right_pitch=-0.0596 right_roll=-0.0292 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.5111, 6.4342, 1.8681, -0.0317, -0.0415, -0.0122, -1.0598, -6.8308, 8.3214, 1.9902, 0.1685, 0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9668cf3c188ec5ae1f15214c365246e1d5310e9b471f4a6028c63c4145039151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c6b7c0870f47cf07e0f339bc4bec9365bf9766c26aa39f77b23aabbb3109deb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6daab53a87a2fea1282db997d0807f79e58f5721198415f76757cdc468f8a3d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgwkKjgEIEhgCKkDVJx4aeaX9lYNy5+6mC1IxDhbVQFdfulgmfurO6OLKhgpUdEi7QHNKb4VqMgF+doji0+TC34YHk2+BGVd1bHQQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbv9y9UGEgwLMlweOr4fzSJLlLIaDOApMUGqaEX6f20dqyIw/lKL3FWRQVwPdfIEa0R0pcTnOPujBE3uJjF7nQxELTIsfNi3SnCTdhiFi0eoaftbKqEH7OJiRbtDE7mRrTzNFnlbEZmjprbXVwiHMoxKzEDoU6r8vW06Rvy18rljO4vIkVBEVTD99xSqdqidnmbTef8lOBwFdaWPg4t8KNVnci5IikMqGC+xl9nDiBPv+MbqBYhUA1BfAHWJNCGnPEa356MeHOuexVVqDS4GGC2YyPbPU0dl1w4FAvlc4t52ZbyRexwCUYCmBxTWJ+s2p3VgQmSHm0QqIISz+4CHU6cei9MrJxcx0izPJwk57GPCRurc5wkAGJGol6JANeeNlc7j+fOk0NLaPxTrn8z+4hOgvRUHgL8SV3dEBBMk8N53HujYpdSceCNeuV0z+FJ0bNPZyLXMxYpHrqjZ2FeonLZdTfuzfBavaavHmivkJMjk6obRd4H0LWs95WGheM8VPDkqYwvU0mj8Ndgn0+XH7exg+/xsVTGAf7vbeh0dAKK0NINkPOtsHdto+yyVXp/FVSVYMK47F/gcibCivlS1lNJHrcvf0WOhHjVlnNsh1N4Pex0GMLqg389zS4sYtq8caBnJrxPakhlwXd5BjsB44eioxQyMEjkh0Lt4ufGL7EfIzO1F0xaaiyH5qrb+yGpDDuYdEqBLSPCL8w0AYG4M466M1tFrPt8+HSGSZJJJ8F1l3UpQM33zsau+nc4acSEhNIZFIK6KZ2YXLwiY0vVBz4VKm917dLoSfduxXfF6Du+LYG1VTY+kTJPEGBWi+oUbI4ycYxHnYhv/8pH+PUZoH/YqKl7PXEEPETuBtuiz94t7gydcZVvtHSyYvsqELzzTojP+4Nbm1/46i9Y0YnB5IdPLIofob+ToQJDuJ07XBEkPzQ4C35DcXFYWsmAxF0fFdsGDKZyxTYGDLeutjS5sxt/ym33EkHiKikqHb976rJuRzXKoTteIbtjYRyvF71HcBHhAQK+9zcJdf9FxSVwCKdd99QeX9E1Urz6bPfxHWcV+5Oh1lXOKGbY8/UyZx2eIYMJwB45Tk6LvE+IHx54InLKYl1XoTmA9+vTOzOIiR0L+jgE88fvFrUMnje0u3mAXNSVoho5km/HyuNQhbQUAWXaCeoBASIdU8JXmwy/wHzJhGUMpb9q3VeYV+dUW9Vo1ZvaP+W2Fz7ZooVjhEGLL0L5G/UFAsKBYG85kFejM3beA6PI8NKsBfguiyyqFhxAnFFjKb9b4YPLRKLvaGAyZq9XbQqLhxwvEX/5pNAVtdxHGW9RG/+HovuLxmfK31UbxSCpuv4847+sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kby96nmDzN7CBCecTGD2uZ",
      "input": {
        "note": "The vertical move stalled again at z=0.08, likely an IK/limit issue at this stretch; pulling in 3 cm while descending to get the jaws down to cap height.",
        "targets": {
          "right_x": 0.355,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Kby96nmDzN7CBCecTGD2uZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0254, -0.0292, 0.9983, 0.5606, 1.6119, 0.757, 0.1814, 0.3355, 0.2043, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3866 right_y=0.1782 right_z=0.0827 right_yaw=0.1607 right_pitch=-0.0596 right_roll=-0.0292 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.6615, 6.4342, 1.8144, -0.0415, -0.0317, -0.0122, -1.0735, -6.8308, 8.3214, 2.0293, 0.1685, 0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf3b598338026c8d97531d6ba4374a9b734f7c4d6149383bcd0fe54c4818e7e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5dbb334924d69f1ae6fe2a23b9c6d4bb32db720191e38b5ae74badc9ebe1917",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e73b4233d68e43f6632f63fe2f98b673d60c3aab30914fd7aaa994da29d92093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 15.63 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, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.5606, 1.6119, 0.7567, 0.1814, 0.3355, 0.2043, 0.9993]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3865 right_y=0.1782 right_z=0.0826 right_yaw=0.1607 right_pitch=-0.06 right_roll=-0.0294 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.6205, 6.4479, 1.8388, -0.0659, -0.0562, -0.0122, -0.7453, -6.8308, 8.3761, 2.0049, 0.1832, 0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.5606, 1.6119, 0.757, 0.1814, 0.3355, 0.2043, 0.9993]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3866 right_y=0.1782 right_z=0.0827 right_yaw=0.1607 right_pitch=-0.0596 right_roll=-0.0292 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.5111, 6.4342, 1.8681, -0.0317, -0.0415, -0.0122, -1.0598, -6.8308, 8.3214, 1.9902, 0.1685, 0.0757, -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, 0.7967, 0.6132, -0.387, -0.0254, -0.0292, 0.9983, 0.5606, 1.6119, 0.757, 0.1814, 0.3355, 0.2043, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3866 right_y=0.1782 right_z=0.0827 right_yaw=0.1607 right_pitch=-0.0596 right_roll=-0.0292 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.6615, 6.4342, 1.8144, -0.0415, -0.0317, -0.0122, -1.0735, -6.8308, 8.3214, 2.0293, 0.1685, 0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf3b598338026c8d97531d6ba4374a9b734f7c4d6149383bcd0fe54c4818e7e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5dbb334924d69f1ae6fe2a23b9c6d4bb32db720191e38b5ae74badc9ebe1917",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e73b4233d68e43f6632f63fe2f98b673d60c3aab30914fd7aaa994da29d92093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsQQKjgEIEhgCKkDxJcTwNsXsBq/eP/E4JBiIBauQsvuxqgmS4fsRAet2SM7oZGqs1rZCWTzYEWTjFMoNQ4Mb7wODhM4gKCol0WlKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcD9y9UGEgwKV70Tc11AngYNCtsaDFpdPdjxpEcQ9pK2WiIwlP3xtpIWiYV1O/Qe3qZb5e23FDR87VfpxznqalYNFxbJXa7SahDtAq1L2OqdulsRKs8C5m6j7W2wbOzvhBvFhqVRUknluA/IEzOasBzKpX8h+rQdPdGll/DnjgHdsl+eSn1rrNSOjW2RAliiYU7ll/JtzpFdHuA39c1ToyKlHWYyWa71U30O/cDz98d9LniySoykZx30NliFSK7T+sa9XgRo6Q4C0srG16cO5rD3ThBlGLmlhUDFZyFeetII/9oADaXZrKay9MZICiQ37uL+++CSnpiFDB4Q8Egytu5Tbp9Uiwo5QUbB4SFk/N9sHVCjZntY2ezwl8nqD7ymZhmMCjS3qBTrybXCNmFvkWNFeDNaxU9QuLUPyNflD5gBB0LQYy4l0s1C9EBxnYkVMXNOcNauFffWYl7qLcTShlmM0rAUo+HNcOpbxZDP5+zWqaVxK+7u3VcxFiwk80yPvs0BQSGSAF40J9PXkPq/Rt/8I0DizOGYsaFcR9+ROQYtqzoQ/dkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X88EDFq3fhaKvP1vkJMNqa",
      "input": {
        "note": "Right arm has gone completely unresponsive at this pose; commanding a clear upward move to see if it can escape.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01X88EDFq3fhaKvP1vkJMNqa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.5617, 1.4437, 0.9668, -0.1818, 0.3279, 0.1955, 0.9996]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3835 right_y=0.1784 right_z=0.1696 right_yaw=0.1731 right_pitch=-0.0478 right_roll=-0.0263 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -1.4838, 6.8171, 1.8095, -0.0317, -0.0415, -0.0122, -0.4718, -8.6769, 10.0444, 1.8779, 0.105, 0.0806, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f8e02c41ec2109c4646ad9cb6ea5153e770f07e1f3d1acaa726b793eb3adf57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f18a3286228e5cd1693909ab28ec3da668f44386518522b966dda7d8f3b646cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b96db2979389722b4573e029a3135650f451ffd03f3ebc48242254d3d565e68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 8.232 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, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.5606, 1.6119, 0.757, 0.1814, 0.3355, 0.2043, 0.9993]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3866 right_y=0.1782 right_z=0.0827 right_yaw=0.1607 right_pitch=-0.0596 right_roll=-0.0292 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.5111, 6.4342, 1.8681, -0.0317, -0.0415, -0.0122, -1.0598, -6.8308, 8.3214, 1.9902, 0.1685, 0.0757, -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, 0.7967, 0.6132, -0.387, -0.0254, -0.0292, 0.9983, 0.5606, 1.6119, 0.757, 0.1814, 0.3355, 0.2043, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3866 right_y=0.1782 right_z=0.0827 right_yaw=0.1607 right_pitch=-0.0596 right_roll=-0.0292 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.6615, 6.4342, 1.8144, -0.0415, -0.0317, -0.0122, -1.0735, -6.8308, 8.3214, 2.0293, 0.1685, 0.0708, -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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.5617, 1.4437, 0.9668, -0.1818, 0.3279, 0.1955, 0.9996]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3835 right_y=0.1784 right_z=0.1696 right_yaw=0.1731 right_pitch=-0.0478 right_roll=-0.0263 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -1.4838, 6.8171, 1.8095, -0.0317, -0.0415, -0.0122, -0.4718, -8.6769, 10.0444, 1.8779, 0.105, 0.0806, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f8e02c41ec2109c4646ad9cb6ea5153e770f07e1f3d1acaa726b793eb3adf57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f18a3286228e5cd1693909ab28ec3da668f44386518522b966dda7d8f3b646cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b96db2979389722b4573e029a3135650f451ffd03f3ebc48242254d3d565e68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019edSzbVK6itadHyG7RD87F",
      "input": {
        "note": "The blocked descent was the open jaws landing on the bottle's shoulder, so the neck is ~3 cm further out. Moving out and down to just above the neck.",
        "targets": {
          "right_x": 0.415,
          "right_y": 0.185,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019edSzbVK6itadHyG7RD87F",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3878, -0.0257, -0.0292, 0.9983, 0.5293, 1.6093, 0.8776, 0.0231, 0.3008, 0.181, 0.9996]\nstate[eef_state]: left_x=0.295 left_y=0.0022 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.3992 right_y=0.177 right_z=0.1015 right_yaw=0.1694 right_pitch=-0.1008 right_roll=-0.0402 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.6068, 6.4342, 1.8095, -0.0171, -0.0317, -0.0122, -0.6222, -8.2256, 6.8308, 2.1514, 0.0317, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38827797ffaa0c2496a1438463c8f4541e4be7e8868d7f13ef3eb0d889383544",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:027b8afb91c77500a0a47bd2a003bfa3df2ee1cda22ab88dd5481a0d7e9029c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cadeb1c6cf30b00c0aceaab6e6d46adacde0e2a583faff56753468e42fa615c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 5.635 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, 0.7967, 0.6132, -0.387, -0.0254, -0.0292, 0.9983, 0.5606, 1.6119, 0.757, 0.1814, 0.3355, 0.2043, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0002 left_pitch=-0.0072 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3866 right_y=0.1782 right_z=0.0827 right_yaw=0.1607 right_pitch=-0.0596 right_roll=-0.0292 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.6615, 6.4342, 1.8144, -0.0415, -0.0317, -0.0122, -1.0735, -6.8308, 8.3214, 2.0293, 0.1685, 0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.5617, 1.4437, 0.9668, -0.1818, 0.3279, 0.1955, 0.9996]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3835 right_y=0.1784 right_z=0.1696 right_yaw=0.1731 right_pitch=-0.0478 right_roll=-0.0263 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -1.4838, 6.8171, 1.8095, -0.0317, -0.0415, -0.0122, -0.4718, -8.6769, 10.0444, 1.8779, 0.105, 0.0806, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3878, -0.0257, -0.0292, 0.9983, 0.5293, 1.6093, 0.8776, 0.0231, 0.3008, 0.181, 0.9996]\nstate[eef_state]: left_x=0.295 left_y=0.0022 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.3992 right_y=0.177 right_z=0.1015 right_yaw=0.1694 right_pitch=-0.1008 right_roll=-0.0402 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.6068, 6.4342, 1.8095, -0.0171, -0.0317, -0.0122, -0.6222, -8.2256, 6.8308, 2.1514, 0.0317, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38827797ffaa0c2496a1438463c8f4541e4be7e8868d7f13ef3eb0d889383544",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:027b8afb91c77500a0a47bd2a003bfa3df2ee1cda22ab88dd5481a0d7e9029c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cadeb1c6cf30b00c0aceaab6e6d46adacde0e2a583faff56753468e42fa615c8",
        "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+AcKjgEIEhgCKkCJdcbCtGj+1SQauwqVWJYjycJXi4Wf7VRgfRx/9NWTDIZNvY7/71VkNbGeVNj+D7SM0yShWmURsa9EBznO63EDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdn9y9UGEgw/Yw67TyOj44yAfuwaDKF2FMtHL7mUgDFfjCIw+pCP1T3wGdekR1Cg/vJC92wu0VOceN6OzvH4Gb9qYdqcpVSNW8SPHE9hdlcKEPQRKpYGuVJ6W8QBYhrPocuvYh1NzSfF8y09Cc9fw+JQgkT2nPhelD0Mhei8fFQdEDeLZx0kWmbYOrZ0SuWY0+xcdy9VINPdNmCdC/2VRG+dYedVBn191ybzAiT85Ylmkmp01kAjjpGMnGxm9a7xSn75GpsabmU+T8ZyxyjM2QaafYBRdo3SlPCXMylBrRM9fOUgO/A0H8ubxCwiEWIKdQHuDA2b4IkpoCVlGpf/KQw9+5HxY5l+5Vf0AWTekW+sigH52/2XlZ14lMdzqCcDDa3TbRLtgF3sdaaYGmAbvq5S5IwHy1c6J15L5bD3gcOgi3gNy4n1KeqRzcTQXVeMj0NUJK7ntk8BBde/jDd9IhQ6Egha4EkOZRo1anMnoa+ovpAJWbykP1TuKxqlkqRlE7+JiXOUhg0PNUc+C9sfKF2hkvJKCJ789sHc0OtqnehywBw2bonmqpz0zJeCAKO6o8ZThQQVFBHF+yRmZxpAl8gYgPuCVULHsxujx49/itfT2lP57vh4EzmoywI3SbiOM8Mqc5vn15PojdSC83grdulSBZQSx9m4vaBmQ6NjAjRGEvhCv0xnXOtzsmrMxpkP4J5/buQ/Ob6BCcdWFYdmnJ41Zy7E1ynjNOhK8hHHEAFd+Fuvkp+TWsjmRWtWlvycWmlRehxEDw4N6ZoUbZy6UnZoaU8JTdQGp5CIvI3krE9rDbHBnSeaQdWE71cXI8lQFiTF39lr+Gd8PDFftH40VlP38+jL230vMXX8O2gfmMOKtmxxFN8cxSjmtWg8H6nnU43bPyJTGba04sf3XNUx4WlF9qHiS4xqrUYqz1zY6MrZF2yf8aK9NRvIjPvNtV7Otr4mhfeEBlAoifWeDEQO97Lmy+E0n8GYIxIx5xFyjQe/ahiaA04Zh8OFxrN37jKXVpzlYuhveyMtTd36XXjiMVads1eJv6oFJ5tRCYbkuDEYNGyEU501xNBJ1kR+RyzvOEmcKxfFW1y0zxMEw1itokG0yX36HaWMwfB8vHV4lf9hk6c6H0EpQ3ZgK+aU4JSHpPp01Qn/U0AvedG9FRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R3YEgWLtDA6DCtYyS4zEZD",
      "input": {
        "note": "The cap is now just below the jaw column in the wrist view. Descending to neck height to straddle the neck just behind the cap.",
        "targets": {
          "right_y": 0.187,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01R3YEgWLtDA6DCtYyS4zEZD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0261, -0.0292, 0.9983, 0.5507, 1.8397, 0.6773, 0.5114, 0.3141, 0.1814, 0.9996]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3948 right_y=0.1826 right_z=0.0214 right_yaw=0.1811 right_pitch=-0.044 right_roll=-0.0272 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.6889, 6.4068, 1.79, -0.0415, -0.0611, -0.0122, 0.2667, -5.641, 4.3419, 1.5897, 0.1001, 0.1441, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c1fcc4e232272913f8b4f1e99afb4e10b92144179b2d05181d2940f2a5cb2a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:899be250323f00a8d5e178f152c047753936bd0a8482b9ae1eba0966e1b1e977",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:887884b22f93ca259dc1291a589f1785df1877373f0a38be70a86be2edbca36b",
        "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 · 5.48 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, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.5617, 1.4437, 0.9668, -0.1818, 0.3279, 0.1955, 0.9996]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3835 right_y=0.1784 right_z=0.1696 right_yaw=0.1731 right_pitch=-0.0478 right_roll=-0.0263 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -1.4838, 6.8171, 1.8095, -0.0317, -0.0415, -0.0122, -0.4718, -8.6769, 10.0444, 1.8779, 0.105, 0.0806, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.7963, 0.6132, -0.3878, -0.0257, -0.0292, 0.9983, 0.5293, 1.6093, 0.8776, 0.0231, 0.3008, 0.181, 0.9996]\nstate[eef_state]: left_x=0.295 left_y=0.0022 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.3992 right_y=0.177 right_z=0.1015 right_yaw=0.1694 right_pitch=-0.1008 right_roll=-0.0402 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.6068, 6.4342, 1.8095, -0.0171, -0.0317, -0.0122, -0.6222, -8.2256, 6.8308, 2.1514, 0.0317, -0.0513, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0261, -0.0292, 0.9983, 0.5507, 1.8397, 0.6773, 0.5114, 0.3141, 0.1814, 0.9996]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3948 right_y=0.1826 right_z=0.0214 right_yaw=0.1811 right_pitch=-0.044 right_roll=-0.0272 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.6889, 6.4068, 1.79, -0.0415, -0.0611, -0.0122, 0.2667, -5.641, 4.3419, 1.5897, 0.1001, 0.1441, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c1fcc4e232272913f8b4f1e99afb4e10b92144179b2d05181d2940f2a5cb2a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:899be250323f00a8d5e178f152c047753936bd0a8482b9ae1eba0966e1b1e977",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:887884b22f93ca259dc1291a589f1785df1877373f0a38be70a86be2edbca36b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2gQKjgEIEhgCKkBO67p2jL5tZJCudvh4zXJuC3DKxFZ8hca6k7ahaPjX1UhqayF4nyA6r76KmB/3Xo8PSYBbq0MTHVay2fKaAeroMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeD9y9UGEgwssGxvpKBQKd3MrUcaDHkWlspdlJBTPwkaPSIwEcRYik49B9MohS/NjdkMKRaO4uMTzR4JmPCW/ATvWogrg3Q0+US9pwH8qyRS4jYNKvgC0pcKdgvjieMfQHRq1PoMjqeLvcuM4jtXKr9gQXXiEH3jka4Sx70Te9fsVVUtE+SpqBUy5YxN52k3QvQbSaHSUID0muPgDGOKMow6CuEzGNI8DfcUd7I3up0W0gmd/8eACRIN6G43wcPNAfq6adB6H3FgFgb1L0w4xE2DjEPclU6wujevrRiZbUyXzp2GC5rZ0A6iQraWcUoSqJ5luaZg/p3gR7p2T+Wl3fcyWO1HqmRQrcmm3OxtmeE0n6BImhCau+0lMXpDdbruIHDFRLfj428iu3T5dSIHTtO9w00mUjjT408Ur5cqNNRr5uueRnBiDmnNpYhxQLfr7X1onEnJG03vBYxx3YY1UiIDEOfBArdtXwdQF3J5qEe7wcxm2tL/B2kd1QoVW8SGlCNfSnSnS5W7ZmDTgNvb51ew5J8FonUpqOXffaoY/nZGd6IymMYOsZjzF9buV8ZrxVtCwEFrv/hm+Sex0R7BBi9Aep2GVLQOhW0KuQPwhRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016Jy9zBnaXpcgjG7t1AycqR",
      "input": {
        "note": "Jaws are down at neck height beside the cap; closing to ~2 cm to grip the bottle's neck.",
        "targets": {
          "right_gripper": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_016Jy9zBnaXpcgjG7t1AycqR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0257, -0.0292, 0.9983, 0.5552, 1.8431, 0.6552, 0.6956, 0.3019, 0.181, 0.3269]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.4071 right_y=0.195 right_z=0.0488 right_yaw=0.1943 right_pitch=0.1019 right_roll=0.0353 right_gripper=0.3269\nstate[joint_eff]: [-0.0615, -1.6752, 6.5162, 1.8242, -0.0269, -0.0366, -0.0122, -0.841, -6.7897, 3.5897, 0.9353, 0.0904, 0.0366, 0.4274]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64be871a145f99ea1d3d3d943cd45f84f5c310fcb71c6c66f2a6865dbca58466",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c95a9c2f41a728e67cf0bb9fceb4fa81037f449c636c2b399eb2468f42620d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5fe16ef92a0bda5d3f84935802b7240cb8c7818512be23a32eb5a87369eec7e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 6.404 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, 0.7963, 0.6132, -0.3878, -0.0257, -0.0292, 0.9983, 0.5293, 1.6093, 0.8776, 0.0231, 0.3008, 0.181, 0.9996]\nstate[eef_state]: left_x=0.295 left_y=0.0022 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9983 right_x=0.3992 right_y=0.177 right_z=0.1015 right_yaw=0.1694 right_pitch=-0.1008 right_roll=-0.0402 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.6068, 6.4342, 1.8095, -0.0171, -0.0317, -0.0122, -0.6222, -8.2256, 6.8308, 2.1514, 0.0317, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0261, -0.0292, 0.9983, 0.5507, 1.8397, 0.6773, 0.5114, 0.3141, 0.1814, 0.9996]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3948 right_y=0.1826 right_z=0.0214 right_yaw=0.1811 right_pitch=-0.044 right_roll=-0.0272 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.6889, 6.4068, 1.79, -0.0415, -0.0611, -0.0122, 0.2667, -5.641, 4.3419, 1.5897, 0.1001, 0.1441, -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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0257, -0.0292, 0.9983, 0.5552, 1.8431, 0.6552, 0.6956, 0.3019, 0.181, 0.3269]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.4071 right_y=0.195 right_z=0.0488 right_yaw=0.1943 right_pitch=0.1019 right_roll=0.0353 right_gripper=0.3269\nstate[joint_eff]: [-0.0615, -1.6752, 6.5162, 1.8242, -0.0269, -0.0366, -0.0122, -0.841, -6.7897, 3.5897, 0.9353, 0.0904, 0.0366, 0.4274]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64be871a145f99ea1d3d3d943cd45f84f5c310fcb71c6c66f2a6865dbca58466",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c95a9c2f41a728e67cf0bb9fceb4fa81037f449c636c2b399eb2468f42620d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fe16ef92a0bda5d3f84935802b7240cb8c7818512be23a32eb5a87369eec7e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyAQKjgEIEhgCKkALiULzUbxT+GHPLUvg5BF0TQsJwPbzwNENuF7uA8R2uCdxwQIUfEb2lqs1uFwFLgkGaod1WQ09EUeYMaPlBO7TMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeb9y9UGEgwYPxpjXJ5ibHIhKOYaDCZoWdCIZOIDNYWE7iIwxiM4ki8kSRQkFqnlBE7Qq9Aio6xI/UEAjQ8dWefOJ1NbNLoT2dXdhp3epvX1uxorKuYCeBBjcOkioMEUlxOh/D7J3gYKLMuW9qONQPQB3vfn/h/lUNoe8vpGIGofEABDNhjKA75Yw4x19amYigbDm3DZhbVWa9ij4f2NshthUAPL7x5uuc7nMuMq65SOdf6B1C6NgNR5bFCJonLBUO+27TS3tY++MOkorJzUSxCYrpxSV0cIHc1Beh/oCMdi10oVvffESWv7USkGI9EoImXq6Bf6C0EONGMo2QqmHmndvmD8SIpoMAwdFJzLXVqCER7izx2rWa3Mo9pmNDCgar7oUIRCBvX3j69+9jXGA5jHwKOat8BBpW/4On8wNGeYAOXwUvM4fEd10f53ytQaZVwDb2HEx5J8g9yQ5pTZuwEnss5dQhbCQgWuAGObgqs7P1OdDPzmmI5qIF+3pUUqJ3RT0a6L6zd+kwFrcngeWo2Rl14GTm9GCyj7b1l0sU4GVri35AGtU3ntkoZ/KeqFzkz7PIGn0YtxrItttxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K21aVkY2Cg4XWHnmMz6iTs",
      "input": {
        "note": "Gripper settled at 0.33 (~3.1 cm), consistent with holding the cap/neck. Lifting so the bottle swings down to hang vertically, cap up, in the jaws.",
        "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_01K21aVkY2Cg4XWHnmMz6iTs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0257, -0.0292, 0.9983, 0.5564, 1.536, 1.1172, -0.2504, 0.2859, 0.1699, 0.3257]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.404 right_y=0.1968 right_z=0.1825 right_yaw=0.2158 right_pitch=-0.0674 right_roll=-0.0266 right_gripper=0.3257\nstate[joint_eff]: [-0.2667, -1.6889, 6.4479, 1.8291, -0.0513, -0.0464, -0.0122, -0.2256, -9.9077, 10.359, 1.8584, 0.2418, 0.1148, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f35c41d1f7d51b03966741770cb42bce7a8092551e486026d86ca3d41df0b4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6113f0086419ea7d00ea0abfe609ded81f8c2ad7fbb86a4bcae0b52ae0b2178",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:426889034f84e7afcc5ba07aae8168a4103102f63dbd1a3d496e545bdd600581",
        "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 · 3.972 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, 0.7963, 0.6132, -0.3874, -0.0261, -0.0292, 0.9983, 0.5507, 1.8397, 0.6773, 0.5114, 0.3141, 0.1814, 0.9996]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3948 right_y=0.1826 right_z=0.0214 right_yaw=0.1811 right_pitch=-0.044 right_roll=-0.0272 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.6889, 6.4068, 1.79, -0.0415, -0.0611, -0.0122, 0.2667, -5.641, 4.3419, 1.5897, 0.1001, 0.1441, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7963, 0.6132, -0.3874, -0.0257, -0.0292, 0.9983, 0.5552, 1.8431, 0.6552, 0.6956, 0.3019, 0.181, 0.3269]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.4071 right_y=0.195 right_z=0.0488 right_yaw=0.1943 right_pitch=0.1019 right_roll=0.0353 right_gripper=0.3269\nstate[joint_eff]: [-0.0615, -1.6752, 6.5162, 1.8242, -0.0269, -0.0366, -0.0122, -0.841, -6.7897, 3.5897, 0.9353, 0.0904, 0.0366, 0.4274]",
      "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, 0.7967, 0.6132, -0.387, -0.0257, -0.0292, 0.9983, 0.5564, 1.536, 1.1172, -0.2504, 0.2859, 0.1699, 0.3257]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.404 right_y=0.1968 right_z=0.1825 right_yaw=0.2158 right_pitch=-0.0674 right_roll=-0.0266 right_gripper=0.3257\nstate[joint_eff]: [-0.2667, -1.6889, 6.4479, 1.8291, -0.0513, -0.0464, -0.0122, -0.2256, -9.9077, 10.359, 1.8584, 0.2418, 0.1148, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f35c41d1f7d51b03966741770cb42bce7a8092551e486026d86ca3d41df0b4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6113f0086419ea7d00ea0abfe609ded81f8c2ad7fbb86a4bcae0b52ae0b2178",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:426889034f84e7afcc5ba07aae8168a4103102f63dbd1a3d496e545bdd600581",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnAcKjgEIEhgCKkDi8M39FM67LIEakkDUgXYIiyyjDBBOcB2hqyySyrOcnDWSMVQF+b9kAOnefXgguWXIFl89J5qxf74sbTJ5zyLfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe39y9UGEgwvWL1/kD6DDlzm42AaDDEqSl1728TIVs7+ISIwlnN6r7Lh/sYoC5Z2qTNvl/NFRi7fUESGEltnn7m82e4uryS20qy4gX+zrx4ZiF/iKroFy8L3488p8mpG8SYL4AuOZk55HMxh9FFtX3g3cINaCL2WydloicciBTi8PVra7N8eFpGXxwcVZYeBAIlOEJRSLiCz7R2PUgE1YOcb2Aq8U7HAP4vxLtGkuPrlzrvFd3R3gPn8hWkiK5LA0cxatKAqhKrP/amNtazQ95RIEXCsfP4wX0unxpQ2PKK4xyArfXbHtcyB43yBlk0CVy9ZPJr3aRA0g6O7TaXP3EuuEhmU42xOrSrvM3dBQBli4Qgi/svIYj0K0qPST9SiEEyX70sttnjfiW8AYk/LupPdibaSaawCuZgLqP0ltdJM6Jo+k4wClNXqjejGHQXkNde7sZmaRTUKpx7ZipHwd+d3hPB1O4ytsJerw5dk7fDF5obXo94b8qUQEvTlSjgz1GBC3M52HecV1tOD4lcPIoM0lnd9wCNSrfrKX3uAxrL6jeH2EldXI28NN6cRCNKUbGqShwz0WVqtXnV4Bz9v+m7Fv4SBUYLH3MAI+AwekFQWtsvrEBUqmHCNLVFsXJiqxisl51Bhe/bu8o8ktvq/eOk/7v306FOxHWM+3uFhGqDNByG8stBinvxK3EFk6Zcbkd77ohVKP3+rWSgSBM8HrslGUVLXYaNaRH70X4XtmA9jBtRxiK+GECgsWHPZ55LflOiubt0THo/POl0SW6KbH0aH6znd7vHRKvig5aYlhqpCGi6UKy8putsnsrfC3YTxPLOjDJ55ylg6yMfVKYiIN27aGlnrzBA8japiBlxU5V5x7vESACr2hfiI2rkFxN0ca3uCmNBOYSTC/+8wElDHtuQsuynV4y6fcA24HFs7FM8UTxkoLtDASBcmNgatzE4s71VnQ9NzgQkv226S1zqiora0pxAPnYcFrPciHoxm6MCYXO1xM3eeZHDS0mVTVdGfw/pfsTR+qkQii7NaJdIFjSMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UMqpKab73CcGiwoz3SXdbY",
      "input": {
        "note": "The bottle is now hanging vertically cap-up in the jaws. Lowering slightly so its base sets down on the table before I release.",
        "targets": {
          "right_z": 0.175
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_01UMqpKab73CcGiwoz3SXdbY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0257, -0.0292, 0.9983, 0.556, 1.5143, 1.14, -0.2993, 0.2863, 0.1738, 0.3257]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.4002 right_y=0.1942 right_z=0.1926 right_yaw=0.213 right_pitch=-0.0712 right_roll=-0.0252 right_gripper=0.3257\nstate[joint_eff]: [-0.0752, -1.6889, 6.7214, 1.8339, -0.0317, -0.0366, -0.0171, 0.0068, -8.4034, 9.8256, 1.8242, 0.1978, 0.0366, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51f4eef26c17117dc97c101038ff3c3362f372061a2d9dc91488cbee2f82fab3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c23699b55cb1fba0f47661df3a07231fb4fdb823a33d02b29aa87e412c074ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e144ed872f02dac6f6e4dff5cc1883637b73030d7412ca8b4a2fb9bd5c2b9dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 2.881 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, 0.7963, 0.6132, -0.3874, -0.0257, -0.0292, 0.9983, 0.5552, 1.8431, 0.6552, 0.6956, 0.3019, 0.181, 0.3269]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.4071 right_y=0.195 right_z=0.0488 right_yaw=0.1943 right_pitch=0.1019 right_roll=0.0353 right_gripper=0.3269\nstate[joint_eff]: [-0.0615, -1.6752, 6.5162, 1.8242, -0.0269, -0.0366, -0.0122, -0.841, -6.7897, 3.5897, 0.9353, 0.0904, 0.0366, 0.4274]",
      "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, 0.7967, 0.6132, -0.387, -0.0257, -0.0292, 0.9983, 0.5564, 1.536, 1.1172, -0.2504, 0.2859, 0.1699, 0.3257]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.404 right_y=0.1968 right_z=0.1825 right_yaw=0.2158 right_pitch=-0.0674 right_roll=-0.0266 right_gripper=0.3257\nstate[joint_eff]: [-0.2667, -1.6889, 6.4479, 1.8291, -0.0513, -0.0464, -0.0122, -0.2256, -9.9077, 10.359, 1.8584, 0.2418, 0.1148, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0257, -0.0292, 0.9983, 0.556, 1.5143, 1.14, -0.2993, 0.2863, 0.1738, 0.3257]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.4002 right_y=0.1942 right_z=0.1926 right_yaw=0.213 right_pitch=-0.0712 right_roll=-0.0252 right_gripper=0.3257\nstate[joint_eff]: [-0.0752, -1.6889, 6.7214, 1.8339, -0.0317, -0.0366, -0.0171, 0.0068, -8.4034, 9.8256, 1.8242, 0.1978, 0.0366, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51f4eef26c17117dc97c101038ff3c3362f372061a2d9dc91488cbee2f82fab3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c23699b55cb1fba0f47661df3a07231fb4fdb823a33d02b29aa87e412c074ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e144ed872f02dac6f6e4dff5cc1883637b73030d7412ca8b4a2fb9bd5c2b9dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjgQKjgEIEhgCKkAxkD5tgR3pBrzPG6lOy1ztn/muT1t9d+SEhYYjgQ3DY99FzCY9Ap7qOBaQxFFELiymDrFuYdletLY7cipMgATgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfL9y9UGEgwQX6zEAarUPHkCZ0UaDERXMZ/A+0ILQA1XgSIwpeCl2D2SRyzCGwlShMVvsZYREocMx+N2FKllm7ncEdGAes6dVJcukSFIG6n4GMyPKqwClLILnApfsEceZ+LcgO0dwuq7pLCDS95mu58lROzvYLXlyZ3aj7lzkj3oM+Zb2yX/9fB5XZmwgzswuY2b6Ci6c1wCpOtP7c4+560J0rbKeQyD4jM9xUMTjQN76y8/5FpLM+iIVK0AY4MWYqx11fg4Un4JKulI39snQLLcaC4YYmUKrg8noGmJu+65fncR2W9zIUP9ZSc7Dh6SrltCvkjjg7hYPbE1VZVKoN3vgnfZAa+q15OhCf2n/WX9Mv9ER0If1WBueCe6ylKA34WoIofl8VBFfnlag5bjMpTRUFWY/6/PQ0h3N3yklfTB5dDxuBJ6IlL85UeiFhoqVnykZ3KlzHDxv1tsBlOfZzZsm6NvGIc0wrzRWmxHEaaM5MlkEta0b4rOBBQefY0z6+i1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BjDbx4QsCrbkn66YMia9pw",
      "input": {
        "note": "Setting the hanging bottle's base down on the table; the descent should stop on contact.",
        "targets": {
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01BjDbx4QsCrbkn66YMia9pw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3874, -0.0254, -0.0292, 0.9983, 0.556, 1.5097, 1.0176, -0.1635, 0.2829, 0.1665, 0.3256]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.1819 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3964 right_y=0.1925 right_z=0.1667 right_yaw=0.2201 right_pitch=-0.0551 right_roll=-0.023 right_gripper=0.3256\nstate[joint_eff]: [-0.3761, -1.5795, 6.5573, 1.7949, -0.0464, -0.0171, -0.0122, -0.0342, -8.2803, 6.9675, 2.044, 0.1197, 0.022, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4541dd219af011126b5d59bd75bb82c5096f20cace729973bc9bbe420da72448",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd1b6feface374b6f6c577f3529979c5be033158b5969ec3da016cddfd8cc7fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a7853203603fbb6e378378a6c00be26161b13d4f8f1eb47d2d5e6455eff4f30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 32.23 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, 0.7967, 0.6132, -0.387, -0.0257, -0.0292, 0.9983, 0.5564, 1.536, 1.1172, -0.2504, 0.2859, 0.1699, 0.3257]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.404 right_y=0.1968 right_z=0.1825 right_yaw=0.2158 right_pitch=-0.0674 right_roll=-0.0266 right_gripper=0.3257\nstate[joint_eff]: [-0.2667, -1.6889, 6.4479, 1.8291, -0.0513, -0.0464, -0.0122, -0.2256, -9.9077, 10.359, 1.8584, 0.2418, 0.1148, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0257, -0.0292, 0.9983, 0.556, 1.5143, 1.14, -0.2993, 0.2863, 0.1738, 0.3257]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.4002 right_y=0.1942 right_z=0.1926 right_yaw=0.213 right_pitch=-0.0712 right_roll=-0.0252 right_gripper=0.3257\nstate[joint_eff]: [-0.0752, -1.6889, 6.7214, 1.8339, -0.0317, -0.0366, -0.0171, 0.0068, -8.4034, 9.8256, 1.8242, 0.1978, 0.0366, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3874, -0.0254, -0.0292, 0.9983, 0.556, 1.5097, 1.0176, -0.1635, 0.2829, 0.1665, 0.3256]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.1819 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3964 right_y=0.1925 right_z=0.1667 right_yaw=0.2201 right_pitch=-0.0551 right_roll=-0.023 right_gripper=0.3256\nstate[joint_eff]: [-0.3761, -1.5795, 6.5573, 1.7949, -0.0464, -0.0171, -0.0122, -0.0342, -8.2803, 6.9675, 2.044, 0.1197, 0.022, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4541dd219af011126b5d59bd75bb82c5096f20cace729973bc9bbe420da72448",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd1b6feface374b6f6c577f3529979c5be033158b5969ec3da016cddfd8cc7fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a7853203603fbb6e378378a6c00be26161b13d4f8f1eb47d2d5e6455eff4f30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlAIKjgEIEhgCKkAXtvF/XAA+EJBQ2N/6orAc0xouSafu8PPIxE2xoI/3FiLPQh38qAb2G2o/SaPLCFJIFFNUZaB1KIPbp8+4+N7gMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfX9y9UGEgwGZV0QuuPmYdOgc+saDJiXPhcgjJyhotCO4CIwPPm55fgVDq3JYZVfb94dnc+t3a/QOJmb2Z8gbiJK9L0+04UYcBlaQSWJHag4ACp3KjOjbEbL1+iOhYY3bzb4GB/xKZG4yr8qq7OarPCFOeaPFM3782tiv2/xjIB56+Z/C3PluewYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nt5s8hiboyczN6raB5kdmq",
      "input": {
        "note": "Bottle base should be on the table; opening the jaws to release it standing upright.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Nt5s8hiboyczN6raB5kdmq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.556, 1.5097, 1.0157, -0.1566, 0.2829, 0.1665, 0.9957]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3969 right_y=0.1928 right_z=0.1671 right_yaw=0.2202 right_pitch=-0.0504 right_roll=-0.0214 right_gripper=0.9957\nstate[joint_eff]: [-0.0479, -1.6889, 6.4068, 1.7998, -0.0171, -0.022, -0.0122, -0.2393, -8.4718, 6.8855, 1.9853, 0.0611, 0.0024, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc5c2423f7ed00451fdd66a262b17da42f1c9f955e8f456771821c1a8160e511",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9282e499fb274c2b30aded8f2b22da26bf9f6af65c4955f9afa88e35601799ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c2bda9ec73335bb0441f3e0ecd40ce06268e04eea1eacf4ab206600b07e02d32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 11.66 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, 0.7967, 0.6132, -0.387, -0.0257, -0.0292, 0.9983, 0.556, 1.5143, 1.14, -0.2993, 0.2863, 0.1738, 0.3257]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.182 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9983 right_x=0.4002 right_y=0.1942 right_z=0.1926 right_yaw=0.213 right_pitch=-0.0712 right_roll=-0.0252 right_gripper=0.3257\nstate[joint_eff]: [-0.0752, -1.6889, 6.7214, 1.8339, -0.0317, -0.0366, -0.0171, 0.0068, -8.4034, 9.8256, 1.8242, 0.1978, 0.0366, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7967, 0.6132, -0.3874, -0.0254, -0.0292, 0.9983, 0.556, 1.5097, 1.0176, -0.1635, 0.2829, 0.1665, 0.3256]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.1819 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3964 right_y=0.1925 right_z=0.1667 right_yaw=0.2201 right_pitch=-0.0551 right_roll=-0.023 right_gripper=0.3256\nstate[joint_eff]: [-0.3761, -1.5795, 6.5573, 1.7949, -0.0464, -0.0171, -0.0122, -0.0342, -8.2803, 6.9675, 2.044, 0.1197, 0.022, -0.022]",
      "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, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.556, 1.5097, 1.0157, -0.1566, 0.2829, 0.1665, 0.9957]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3969 right_y=0.1928 right_z=0.1671 right_yaw=0.2202 right_pitch=-0.0504 right_roll=-0.0214 right_gripper=0.9957\nstate[joint_eff]: [-0.0479, -1.6889, 6.4068, 1.7998, -0.0171, -0.022, -0.0122, -0.2393, -8.4718, 6.8855, 1.9853, 0.0611, 0.0024, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc5c2423f7ed00451fdd66a262b17da42f1c9f955e8f456771821c1a8160e511",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9282e499fb274c2b30aded8f2b22da26bf9f6af65c4955f9afa88e35601799ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2bda9ec73335bb0441f3e0ecd40ce06268e04eea1eacf4ab206600b07e02d32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0161KZPAv5tToRSpsXrGGRvM",
      "input": {
        "note": "First bottle is standing upright. Raising the right arm clear of it and bringing the left arm over the middle bottle to inspect it in the left wrist camera.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.25,
          "left_z": 0.15,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_0161KZPAv5tToRSpsXrGGRvM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7876, 1.721, 1.1278, -0.1764, -0.6376, -0.5213, 0.9983, 0.5564, 1.4803, 1.425, -0.6071, 0.2749, 0.1509, 0.9955]\nstate[eef_state]: left_x=0.3935 left_y=-0.2411 left_z=0.1384 left_yaw=-0.0044 left_pitch=-0.0305 left_roll=0.0119 left_gripper=0.9983 right_x=0.3916 right_y=0.1913 right_z=0.2738 right_yaw=0.2354 right_pitch=-0.0634 right_roll=-0.0333 right_gripper=0.9955\nstate[joint_eff]: [-0.6632, -8.3624, 8.9368, 1.4286, -0.4713, 0.1343, -0.0171, -0.2803, -6.9402, 10.5641, 1.7949, 0.0806, 0.1197, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b64752fbbb88742898e5dc40b53387d95081a8730caae9b1c5a73fae9256ef41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f4fb2d0e02e75a22d2d56d41f4df236b8620b2cc17fe6c41d0cc380288746c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c4efdcd4c389a251e5be4a2c9acb48c7e3e0274e38131420db5352976d7d1ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 4.65 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, 0.7967, 0.6132, -0.3874, -0.0254, -0.0292, 0.9983, 0.556, 1.5097, 1.0176, -0.1635, 0.2829, 0.1665, 0.3256]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.1819 left_yaw=0.0002 left_pitch=-0.0076 left_roll=-0.0002 left_gripper=0.9983 right_x=0.3964 right_y=0.1925 right_z=0.1667 right_yaw=0.2201 right_pitch=-0.0551 right_roll=-0.023 right_gripper=0.3256\nstate[joint_eff]: [-0.3761, -1.5795, 6.5573, 1.7949, -0.0464, -0.0171, -0.0122, -0.0342, -8.2803, 6.9675, 2.044, 0.1197, 0.022, -0.022]",
      "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, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.556, 1.5097, 1.0157, -0.1566, 0.2829, 0.1665, 0.9957]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3969 right_y=0.1928 right_z=0.1671 right_yaw=0.2202 right_pitch=-0.0504 right_roll=-0.0214 right_gripper=0.9957\nstate[joint_eff]: [-0.0479, -1.6889, 6.4068, 1.7998, -0.0171, -0.022, -0.0122, -0.2393, -8.4718, 6.8855, 1.9853, 0.0611, 0.0024, -0.1148]",
      "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]: [-0.7876, 1.721, 1.1278, -0.1764, -0.6376, -0.5213, 0.9983, 0.5564, 1.4803, 1.425, -0.6071, 0.2749, 0.1509, 0.9955]\nstate[eef_state]: left_x=0.3935 left_y=-0.2411 left_z=0.1384 left_yaw=-0.0044 left_pitch=-0.0305 left_roll=0.0119 left_gripper=0.9983 right_x=0.3916 right_y=0.1913 right_z=0.2738 right_yaw=0.2354 right_pitch=-0.0634 right_roll=-0.0333 right_gripper=0.9955\nstate[joint_eff]: [-0.6632, -8.3624, 8.9368, 1.4286, -0.4713, 0.1343, -0.0171, -0.2803, -6.9402, 10.5641, 1.7949, 0.0806, 0.1197, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b64752fbbb88742898e5dc40b53387d95081a8730caae9b1c5a73fae9256ef41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f4fb2d0e02e75a22d2d56d41f4df236b8620b2cc17fe6c41d0cc380288746c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c4efdcd4c389a251e5be4a2c9acb48c7e3e0274e38131420db5352976d7d1ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012H6TwgbMqiTLSBeTVCJPUr",
      "input": {
        "note": "The middle bottle lies under the left jaws with its cap pointing away, same as the first one. Descending to body height to grab it and drag it closer, since its cap end is beyond reach.",
        "targets": {
          "left_y": -0.25,
          "left_z": 0.033
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_012H6TwgbMqiTLSBeTVCJPUr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8066, 1.9358, 0.9527, 0.242, -0.6571, -0.5247, 0.9983, 0.556, 1.4536, 1.3273, -0.5362, 0.2596, 0.144, 0.9955]\nstate[eef_state]: left_x=0.3953 left_y=-0.2513 left_z=0.0464 left_yaw=-0.0077 left_pitch=-0.0008 left_roll=-0.002 left_gripper=0.9983 right_x=0.387 right_y=0.1913 right_z=0.2549 right_yaw=0.2514 right_pitch=-0.0664 right_roll=-0.0298 right_gripper=0.9955\nstate[joint_eff]: [-0.3077, -8.2393, 4.0137, 1.4286, -0.2466, -0.1734, -0.0122, -0.6222, -7.8701, 7.3504, 2.127, 0.0952, 0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9113c0e35ad89d20686a32de59dd67ada49db044be012ae93d5e52398f7ff1e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:607cfcd61b223f7bf7895762262a1641d6b34b93e78408956a436e52776caa8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf1752d4777aa491b7ea6cc7766f5c13511da1c55515d20a917b642b0aadc607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 5.789 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, 0.7967, 0.6132, -0.387, -0.0261, -0.0292, 0.9983, 0.556, 1.5097, 1.0157, -0.1566, 0.2829, 0.1665, 0.9957]\nstate[eef_state]: left_x=0.2951 left_y=0.0023 left_z=0.182 left_yaw=0.0008 left_pitch=-0.0072 left_roll=0.0002 left_gripper=0.9983 right_x=0.3969 right_y=0.1928 right_z=0.1671 right_yaw=0.2202 right_pitch=-0.0504 right_roll=-0.0214 right_gripper=0.9957\nstate[joint_eff]: [-0.0479, -1.6889, 6.4068, 1.7998, -0.0171, -0.022, -0.0122, -0.2393, -8.4718, 6.8855, 1.9853, 0.0611, 0.0024, -0.1148]",
      "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]: [-0.7876, 1.721, 1.1278, -0.1764, -0.6376, -0.5213, 0.9983, 0.5564, 1.4803, 1.425, -0.6071, 0.2749, 0.1509, 0.9955]\nstate[eef_state]: left_x=0.3935 left_y=-0.2411 left_z=0.1384 left_yaw=-0.0044 left_pitch=-0.0305 left_roll=0.0119 left_gripper=0.9983 right_x=0.3916 right_y=0.1913 right_z=0.2738 right_yaw=0.2354 right_pitch=-0.0634 right_roll=-0.0333 right_gripper=0.9955\nstate[joint_eff]: [-0.6632, -8.3624, 8.9368, 1.4286, -0.4713, 0.1343, -0.0171, -0.2803, -6.9402, 10.5641, 1.7949, 0.0806, 0.1197, -0.0366]",
      "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]: [-0.8066, 1.9358, 0.9527, 0.242, -0.6571, -0.5247, 0.9983, 0.556, 1.4536, 1.3273, -0.5362, 0.2596, 0.144, 0.9955]\nstate[eef_state]: left_x=0.3953 left_y=-0.2513 left_z=0.0464 left_yaw=-0.0077 left_pitch=-0.0008 left_roll=-0.002 left_gripper=0.9983 right_x=0.387 right_y=0.1913 right_z=0.2549 right_yaw=0.2514 right_pitch=-0.0664 right_roll=-0.0298 right_gripper=0.9955\nstate[joint_eff]: [-0.3077, -8.2393, 4.0137, 1.4286, -0.2466, -0.1734, -0.0122, -0.6222, -7.8701, 7.3504, 2.127, 0.0952, 0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9113c0e35ad89d20686a32de59dd67ada49db044be012ae93d5e52398f7ff1e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:607cfcd61b223f7bf7895762262a1641d6b34b93e78408956a436e52776caa8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf1752d4777aa491b7ea6cc7766f5c13511da1c55515d20a917b642b0aadc607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIStgQKjgEIEhgCKkC+QsGuKbQCoxnM+5pKXF24ECA4H6+urfuv1kv3v+n9Fg0CeUEn8gJ2jVzBXGbs+dfenUHMH/0WjHJ2wivXS3DLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaj+y9UGEgx79ql1gnmzkPZtk3gaDMepskiV6vlbFV48+SIwg2SQj5RlWpel/7QgOMdAo8PpL9shA/CBkPxTCsEix+JvSyC/m+Xd6/O1gN7+TqnNKtQCCwAhh/J6SIA9jQOOiZNamh7PC9OABvkWQogV6I7qADP8HMmffd+UU8tFxlrcFxQgNsaDRsUW0LYenutICM/F7/lDrZxNB1dM0SIIVZpOM8PUou1b8fcnjT7F5rJpyx2nta9hweeZAfIf2yxzXCwKt1AzJIrAxxK81WmCZyUpK9COijSq8i+bBS1KCvuoLFn5IbTBLtjf0T9Bl0NQlaKk+a+2kK3yhpujnh+kBNQR/wB/eF6gUXbpWMnK0BivK9sQLB9GWEajEhjnxUTTZEaqugAbdJeBuDQ6EBAVu9RY4YfzuIeRBeXDiv4Q4Dc0FhckhOC2MT4z1AkuvqwuoBQ9f2/M360RbM978ugANaOldV4ZtT0yny/SSsj26VUvGL59zowTg+O1r4mC5ZnFjQRGCPFpOnFIZlZTs1119MuAcDxMs9xRVwtqqWmlWPh75i09rjJj8BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FAghp1wXF2jYDGqpeBn5f4",
      "input": {
        "note": "Left jaws straddle the middle bottle's body; closing to grip it for the drag toward the base.",
        "targets": {
          "left_gripper": 0.35
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01FAghp1wXF2jYDGqpeBn5f4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8101, 1.9629, 0.9409, 0.2508, -0.6674, -0.5251, 0.5532, 0.556, 1.4307, 1.2312, -0.4622, 0.2558, 0.1436, 0.9955]\nstate[eef_state]: left_x=0.3918 left_y=-0.2479 left_z=0.0328 left_yaw=-0.0032 left_pitch=-0.0167 left_roll=0.0243 left_gripper=0.5532 right_x=0.383 right_y=0.1896 right_z=0.2358 right_yaw=0.2547 right_pitch=-0.0664 right_roll=-0.0277 right_gripper=0.9955\nstate[joint_eff]: [0.0342, -11.6718, 6.3111, 1.3211, -0.2466, -0.0415, 0.9011, -0.5128, -7.9658, 7.3778, 2.127, 0.0415, -0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b0e4f7a90c88e385d1700228f1929e0b86c6509b181e4e36dab7e716f08a2c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:997aa4edb084a9fc1e6809b407cf1ffa6b7bae7af65427b55f4486040e232f3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d28e5ebc953be1321436e91e14accf3e76e36d9dd2e468bfa6dcbfca7029969",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 12.21 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]: [-0.7876, 1.721, 1.1278, -0.1764, -0.6376, -0.5213, 0.9983, 0.5564, 1.4803, 1.425, -0.6071, 0.2749, 0.1509, 0.9955]\nstate[eef_state]: left_x=0.3935 left_y=-0.2411 left_z=0.1384 left_yaw=-0.0044 left_pitch=-0.0305 left_roll=0.0119 left_gripper=0.9983 right_x=0.3916 right_y=0.1913 right_z=0.2738 right_yaw=0.2354 right_pitch=-0.0634 right_roll=-0.0333 right_gripper=0.9955\nstate[joint_eff]: [-0.6632, -8.3624, 8.9368, 1.4286, -0.4713, 0.1343, -0.0171, -0.2803, -6.9402, 10.5641, 1.7949, 0.0806, 0.1197, -0.0366]",
      "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]: [-0.8066, 1.9358, 0.9527, 0.242, -0.6571, -0.5247, 0.9983, 0.556, 1.4536, 1.3273, -0.5362, 0.2596, 0.144, 0.9955]\nstate[eef_state]: left_x=0.3953 left_y=-0.2513 left_z=0.0464 left_yaw=-0.0077 left_pitch=-0.0008 left_roll=-0.002 left_gripper=0.9983 right_x=0.387 right_y=0.1913 right_z=0.2549 right_yaw=0.2514 right_pitch=-0.0664 right_roll=-0.0298 right_gripper=0.9955\nstate[joint_eff]: [-0.3077, -8.2393, 4.0137, 1.4286, -0.2466, -0.1734, -0.0122, -0.6222, -7.8701, 7.3504, 2.127, 0.0952, 0.0806, -0.0122]",
      "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]: [-0.8101, 1.9629, 0.9409, 0.2508, -0.6674, -0.5251, 0.5532, 0.556, 1.4307, 1.2312, -0.4622, 0.2558, 0.1436, 0.9955]\nstate[eef_state]: left_x=0.3918 left_y=-0.2479 left_z=0.0328 left_yaw=-0.0032 left_pitch=-0.0167 left_roll=0.0243 left_gripper=0.5532 right_x=0.383 right_y=0.1896 right_z=0.2358 right_yaw=0.2547 right_pitch=-0.0664 right_roll=-0.0277 right_gripper=0.9955\nstate[joint_eff]: [0.0342, -11.6718, 6.3111, 1.3211, -0.2466, -0.0415, 0.9011, -0.5128, -7.9658, 7.3778, 2.127, 0.0415, -0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b0e4f7a90c88e385d1700228f1929e0b86c6509b181e4e36dab7e716f08a2c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:997aa4edb084a9fc1e6809b407cf1ffa6b7bae7af65427b55f4486040e232f3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d28e5ebc953be1321436e91e14accf3e76e36d9dd2e468bfa6dcbfca7029969",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShAUKjgEIEhgCKkCEhHDM3eWsloXTHIZPt/MzWGqhzr/+8G+5yLrM1uaRLJ3WVvjv+SRe3GLtZkoP8SAoTwr6pGqe4/1Fn0cfexaSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa/+y9UGEgzD8tUkOjDFZ7k60UkaDPICsc5i+YjnczMqgiIw6iT7be/0E5xIgTGKtwNUNAVNFxI6AX3cyW2THRKac2egB44ISTFPKyu+huKrr6K9KqID0Teso3AR+1KtytgDfKlmJmuGSAT8Ut+eOjdgkE1cMuHXtwuS+w2cI9I6xhuv4RsbQUHX2ISPOaZLRjhYHYx9S47gCvBdRou5Jwxk+ddjNQeOP41KSCHnY/DSZhOilTDwzZwhCsHrpcwbFSyXJw065T39UP0wz2Yax6WqF/EogFR2JKHz/Y3SIOiNUFk2q32P+EmOEJY7kQNbwIsoDoxq+J7AI+7T+goIsuTrSKB6ByOEbHaKJKBkU1nJSdpt44sp1oJeBfvu6WQvFNDOsZVSjskcLnZ2z9D3e2Rd3jLq8fFXolHqyqAT6ABpBPIeT13Rk63H9kJ77OlqCeo69i9Qb3TI5ZYNHkb0gF1BTw/pQZYFWGOLafs773HdxgmGr74s+4Xz62MwwHwWHH0LUnG2BxCOF/NxAJTH0RLQf7E5tD1DVOjQ/aSEiA7gPDuV9IQkKmcBpf2J9zkY5xadzTkeSe9xNyD3Sc1maYuXkF6WUwzXOIa6362Zfq6Q9BBrlof+kJAIn2979+t8bF2l5IzySPLr6taTf2Si6GZmioHmSOUnCRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N7wdMMZ6cy2c8PqYxHk6VW",
      "input": {
        "note": "Gripper settled at 0.55 — bottle body held. Dragging it ~9 cm toward the base so its cap end comes within reach.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.24,
          "left_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_01N7wdMMZ6cy2c8PqYxHk6VW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0088, 1.8091, 0.7013, 0.2611, -0.7841, -0.6979, 0.5552, 0.556, 1.4124, 1.1408, -0.387, 0.2485, 0.1436, 0.9955]\nstate[eef_state]: left_x=0.3083 left_y=-0.2487 left_z=0.0301 left_yaw=-0.0282 left_pitch=0.0041 left_roll=-0.0095 left_gripper=0.5552 right_x=0.379 right_y=0.1886 right_z=0.2172 right_yaw=0.2608 right_pitch=-0.0648 right_roll=-0.0225 right_gripper=0.9955\nstate[joint_eff]: [-0.3761, -9.1009, 4.2872, 1.1453, -0.3736, -0.0513, 0.4713, -0.3624, -7.9111, 7.2821, 2.1123, 0.0562, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9aeb3e598149daee55841a18cdae41bdc740d2636476b61a91bbdcd9a67987a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb3b64911a7891dddebc759ceaef55039395f124d6086ac71954d6138275c63b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:58ccfcd6e69789d4eb6af475d05de195a18d8f578477b9bfb53b4706688b7a3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 18.01 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]: [-0.8066, 1.9358, 0.9527, 0.242, -0.6571, -0.5247, 0.9983, 0.556, 1.4536, 1.3273, -0.5362, 0.2596, 0.144, 0.9955]\nstate[eef_state]: left_x=0.3953 left_y=-0.2513 left_z=0.0464 left_yaw=-0.0077 left_pitch=-0.0008 left_roll=-0.002 left_gripper=0.9983 right_x=0.387 right_y=0.1913 right_z=0.2549 right_yaw=0.2514 right_pitch=-0.0664 right_roll=-0.0298 right_gripper=0.9955\nstate[joint_eff]: [-0.3077, -8.2393, 4.0137, 1.4286, -0.2466, -0.1734, -0.0122, -0.6222, -7.8701, 7.3504, 2.127, 0.0952, 0.0806, -0.0122]",
      "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]: [-0.8101, 1.9629, 0.9409, 0.2508, -0.6674, -0.5251, 0.5532, 0.556, 1.4307, 1.2312, -0.4622, 0.2558, 0.1436, 0.9955]\nstate[eef_state]: left_x=0.3918 left_y=-0.2479 left_z=0.0328 left_yaw=-0.0032 left_pitch=-0.0167 left_roll=0.0243 left_gripper=0.5532 right_x=0.383 right_y=0.1896 right_z=0.2358 right_yaw=0.2547 right_pitch=-0.0664 right_roll=-0.0277 right_gripper=0.9955\nstate[joint_eff]: [0.0342, -11.6718, 6.3111, 1.3211, -0.2466, -0.0415, 0.9011, -0.5128, -7.9658, 7.3778, 2.127, 0.0415, -0.0024, -0.0171]",
      "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]: [-1.0088, 1.8091, 0.7013, 0.2611, -0.7841, -0.6979, 0.5552, 0.556, 1.4124, 1.1408, -0.387, 0.2485, 0.1436, 0.9955]\nstate[eef_state]: left_x=0.3083 left_y=-0.2487 left_z=0.0301 left_yaw=-0.0282 left_pitch=0.0041 left_roll=-0.0095 left_gripper=0.5552 right_x=0.379 right_y=0.1886 right_z=0.2172 right_yaw=0.2608 right_pitch=-0.0648 right_roll=-0.0225 right_gripper=0.9955\nstate[joint_eff]: [-0.3761, -9.1009, 4.2872, 1.1453, -0.3736, -0.0513, 0.4713, -0.3624, -7.9111, 7.2821, 2.1123, 0.0562, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9aeb3e598149daee55841a18cdae41bdc740d2636476b61a91bbdcd9a67987a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb3b64911a7891dddebc759ceaef55039395f124d6086ac71954d6138275c63b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58ccfcd6e69789d4eb6af475d05de195a18d8f578477b9bfb53b4706688b7a3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ly3ZFqThgXdf4QBQx6TnhU",
      "input": {
        "note": "Bottle dragged in by ~9 cm. Releasing and moving up and out along the bottle's axis to get above its cap end.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.4,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Ly3ZFqThgXdf4QBQx6TnhU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7952, 1.8008, 0.9855, 0.0807, -0.6559, -0.5377, 0.9971, 0.5564, 1.3975, 1.0554, -0.3157, 0.2409, 0.1398, 0.9955]\nstate[eef_state]: left_x=0.393 left_y=-0.2418 left_z=0.0912 left_yaw=0.0099 left_pitch=0.0032 left_roll=-0.0181 left_gripper=0.9971 right_x=0.3742 right_y=0.1873 right_z=0.1988 right_yaw=0.2696 right_pitch=-0.0654 right_roll=-0.0209 right_gripper=0.9955\nstate[joint_eff]: [0.3761, -7.8974, 8.3761, 1.4872, -0.0269, 0.3004, -0.0659, -0.1436, -7.665, 7.3778, 2.0635, 0.0806, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cd98818cab6c527032457870982fbfdda085006d4a6914ee52013cf371806a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea3419d45c5649465ac13a1ac4c01aa6eaccda83394a92c6725f29e44afdebf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:782b196a3160ca7d011973e468cc76a6076b908d79134dbe63b7d8efc4d636df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 4.999 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]: [-0.8101, 1.9629, 0.9409, 0.2508, -0.6674, -0.5251, 0.5532, 0.556, 1.4307, 1.2312, -0.4622, 0.2558, 0.1436, 0.9955]\nstate[eef_state]: left_x=0.3918 left_y=-0.2479 left_z=0.0328 left_yaw=-0.0032 left_pitch=-0.0167 left_roll=0.0243 left_gripper=0.5532 right_x=0.383 right_y=0.1896 right_z=0.2358 right_yaw=0.2547 right_pitch=-0.0664 right_roll=-0.0277 right_gripper=0.9955\nstate[joint_eff]: [0.0342, -11.6718, 6.3111, 1.3211, -0.2466, -0.0415, 0.9011, -0.5128, -7.9658, 7.3778, 2.127, 0.0415, -0.0024, -0.0171]",
      "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]: [-1.0088, 1.8091, 0.7013, 0.2611, -0.7841, -0.6979, 0.5552, 0.556, 1.4124, 1.1408, -0.387, 0.2485, 0.1436, 0.9955]\nstate[eef_state]: left_x=0.3083 left_y=-0.2487 left_z=0.0301 left_yaw=-0.0282 left_pitch=0.0041 left_roll=-0.0095 left_gripper=0.5552 right_x=0.379 right_y=0.1886 right_z=0.2172 right_yaw=0.2608 right_pitch=-0.0648 right_roll=-0.0225 right_gripper=0.9955\nstate[joint_eff]: [-0.3761, -9.1009, 4.2872, 1.1453, -0.3736, -0.0513, 0.4713, -0.3624, -7.9111, 7.2821, 2.1123, 0.0562, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7952, 1.8008, 0.9855, 0.0807, -0.6559, -0.5377, 0.9971, 0.5564, 1.3975, 1.0554, -0.3157, 0.2409, 0.1398, 0.9955]\nstate[eef_state]: left_x=0.393 left_y=-0.2418 left_z=0.0912 left_yaw=0.0099 left_pitch=0.0032 left_roll=-0.0181 left_gripper=0.9971 right_x=0.3742 right_y=0.1873 right_z=0.1988 right_yaw=0.2696 right_pitch=-0.0654 right_roll=-0.0209 right_gripper=0.9955\nstate[joint_eff]: [0.3761, -7.8974, 8.3761, 1.4872, -0.0269, 0.3004, -0.0659, -0.1436, -7.665, 7.3778, 2.0635, 0.0806, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cd98818cab6c527032457870982fbfdda085006d4a6914ee52013cf371806a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea3419d45c5649465ac13a1ac4c01aa6eaccda83394a92c6725f29e44afdebf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:782b196a3160ca7d011973e468cc76a6076b908d79134dbe63b7d8efc4d636df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X6p96vPDvnEywrQPNAcHMv",
      "input": {
        "note": "The bottle's cap sits on the jaw column but a few cm further out in the left wrist view; advancing 3 cm and descending to neck height to grip just behind the cap.",
        "targets": {
          "left_x": 0.425,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01X6p96vPDvnEywrQPNAcHMv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.746, 2.0136, 0.9981, 0.3046, -0.6342, -0.5144, 0.9975, 0.556, 1.3846, 0.9745, -0.244, 0.234, 0.1329, 0.9955]\nstate[eef_state]: left_x=0.4218 left_y=-0.2424 left_z=0.0356 left_yaw=0.0305 left_pitch=0.0097 left_roll=-0.0253 left_gripper=0.9975 right_x=0.3695 right_y=0.1856 right_z=0.1818 right_yaw=0.2787 right_pitch=-0.063 right_roll=-0.0214 right_gripper=0.9955\nstate[joint_eff]: [0.8684, -6.735, 5.7231, 1.1941, -0.0708, 0.315, 0.0317, -0.3487, -7.3778, 7.2, 2.0879, 0.0708, 0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24b8b0434d270710d4bfe3415d4ceb851b83ec5ee83a8fdaa2e7fe9669507de4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78eeccce063d692cc4d0b4e3293453d9c3b722ec74ca20dc849c583af18bb60c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0cf3f79ae334dc81bd5cdc068a9f3cdb36c903050cd1ed283ca968feb835a966",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 5.503 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]: [-1.0088, 1.8091, 0.7013, 0.2611, -0.7841, -0.6979, 0.5552, 0.556, 1.4124, 1.1408, -0.387, 0.2485, 0.1436, 0.9955]\nstate[eef_state]: left_x=0.3083 left_y=-0.2487 left_z=0.0301 left_yaw=-0.0282 left_pitch=0.0041 left_roll=-0.0095 left_gripper=0.5552 right_x=0.379 right_y=0.1886 right_z=0.2172 right_yaw=0.2608 right_pitch=-0.0648 right_roll=-0.0225 right_gripper=0.9955\nstate[joint_eff]: [-0.3761, -9.1009, 4.2872, 1.1453, -0.3736, -0.0513, 0.4713, -0.3624, -7.9111, 7.2821, 2.1123, 0.0562, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7952, 1.8008, 0.9855, 0.0807, -0.6559, -0.5377, 0.9971, 0.5564, 1.3975, 1.0554, -0.3157, 0.2409, 0.1398, 0.9955]\nstate[eef_state]: left_x=0.393 left_y=-0.2418 left_z=0.0912 left_yaw=0.0099 left_pitch=0.0032 left_roll=-0.0181 left_gripper=0.9971 right_x=0.3742 right_y=0.1873 right_z=0.1988 right_yaw=0.2696 right_pitch=-0.0654 right_roll=-0.0209 right_gripper=0.9955\nstate[joint_eff]: [0.3761, -7.8974, 8.3761, 1.4872, -0.0269, 0.3004, -0.0659, -0.1436, -7.665, 7.3778, 2.0635, 0.0806, 0.0171, -0.0122]",
      "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]: [-0.746, 2.0136, 0.9981, 0.3046, -0.6342, -0.5144, 0.9975, 0.556, 1.3846, 0.9745, -0.244, 0.234, 0.1329, 0.9955]\nstate[eef_state]: left_x=0.4218 left_y=-0.2424 left_z=0.0356 left_yaw=0.0305 left_pitch=0.0097 left_roll=-0.0253 left_gripper=0.9975 right_x=0.3695 right_y=0.1856 right_z=0.1818 right_yaw=0.2787 right_pitch=-0.063 right_roll=-0.0214 right_gripper=0.9955\nstate[joint_eff]: [0.8684, -6.735, 5.7231, 1.1941, -0.0708, 0.315, 0.0317, -0.3487, -7.3778, 7.2, 2.0879, 0.0708, 0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24b8b0434d270710d4bfe3415d4ceb851b83ec5ee83a8fdaa2e7fe9669507de4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78eeccce063d692cc4d0b4e3293453d9c3b722ec74ca20dc849c583af18bb60c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cf3f79ae334dc81bd5cdc068a9f3cdb36c903050cd1ed283ca968feb835a966",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4wMKjgEIEhgCKkCMlclhqpqdrYe1wLei3l2mw1pED3WybIpPNxZmIVTr/RhGvudi9SP2yYJe9Fg/HZ3CkC7+Y0Wd4c4J6QmK7xKWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdT+y9UGEgzxXuUuc+e11CgPfE4aDOHVQdK5z15yp6PPWiIwLeGeE6zrxL7oH6W4qYCYoG0bTV9NTZBAqPwqSsGuCqJBCVUCx4FrH+EVr74QFTt4KoECyCKr98oKK/9gQI6XyiY+cE4wDIz8e7rVCQfD3In6aHrS3cJoe00skOCAa3jZPhbwqvn1k0LFf7nUxDxJMYRVn/NfcGThljztyLXYLlLIxQPK06CIvfKyzhxz1DS+qznURnORfRf2q9B1VfmsiALPKj1sNaL4TPSW3RVJIdvbtEnML9F8e4G8DisnrttR3shGqSIDzcc33MLpH9zlefYQbIabnkugBX8kdmShG8Ci0cKzPWV+kupgAwuhSOOwTpkWA9xsVswaSvuxx99RJVYJmO3tNZ76nIpdQo+eRCdHdGl6gvkL3X+BPNzgwE5UcsehsuvRgv799ukC8C+zOpvQrocYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EkLSF6ZEarYEgM2Ka4sVYU",
      "input": {
        "note": "Cap is centred between the jaws at neck height; closing to ~2 cm to grip the neck.",
        "targets": {
          "left_gripper": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01EkLSF6ZEarYEgM2Ka4sVYU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.738, 2.0296, 1.0016, 0.4149, -0.6628, -0.4908, 0.4051, 0.5564, 1.3735, 0.8982, -0.1684, 0.2298, 0.1249, 0.9955]\nstate[eef_state]: left_x=0.4352 left_y=-0.244 left_z=0.0496 left_yaw=0.0513 left_pitch=0.0917 left_roll=-0.0611 left_gripper=0.4051 right_x=0.3652 right_y=0.184 right_z=0.167 right_yaw=0.287 right_pitch=-0.0539 right_roll=-0.0226 right_gripper=0.9955\nstate[joint_eff]: [0.0752, -7.4462, 4.9983, 0.9353, 0.1685, 0.0757, 0.4713, -0.1573, -6.9402, 7.0632, 2.0635, 0.0269, 0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d03a873be844f930bd32cfdf15d42237a0fdb155b8bd3361357e9345694cc440",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4a9c0b87701db722844b8e01d0099f322e9a279f534de40a8cf1c0d01f6f634",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e4fd7127248631c206832b0bf38e474cd20077ede2035a1796f6493f4325617",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 7.351 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]: [-0.7952, 1.8008, 0.9855, 0.0807, -0.6559, -0.5377, 0.9971, 0.5564, 1.3975, 1.0554, -0.3157, 0.2409, 0.1398, 0.9955]\nstate[eef_state]: left_x=0.393 left_y=-0.2418 left_z=0.0912 left_yaw=0.0099 left_pitch=0.0032 left_roll=-0.0181 left_gripper=0.9971 right_x=0.3742 right_y=0.1873 right_z=0.1988 right_yaw=0.2696 right_pitch=-0.0654 right_roll=-0.0209 right_gripper=0.9955\nstate[joint_eff]: [0.3761, -7.8974, 8.3761, 1.4872, -0.0269, 0.3004, -0.0659, -0.1436, -7.665, 7.3778, 2.0635, 0.0806, 0.0171, -0.0122]",
      "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]: [-0.746, 2.0136, 0.9981, 0.3046, -0.6342, -0.5144, 0.9975, 0.556, 1.3846, 0.9745, -0.244, 0.234, 0.1329, 0.9955]\nstate[eef_state]: left_x=0.4218 left_y=-0.2424 left_z=0.0356 left_yaw=0.0305 left_pitch=0.0097 left_roll=-0.0253 left_gripper=0.9975 right_x=0.3695 right_y=0.1856 right_z=0.1818 right_yaw=0.2787 right_pitch=-0.063 right_roll=-0.0214 right_gripper=0.9955\nstate[joint_eff]: [0.8684, -6.735, 5.7231, 1.1941, -0.0708, 0.315, 0.0317, -0.3487, -7.3778, 7.2, 2.0879, 0.0708, 0.0366, -0.0171]",
      "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]: [-0.738, 2.0296, 1.0016, 0.4149, -0.6628, -0.4908, 0.4051, 0.5564, 1.3735, 0.8982, -0.1684, 0.2298, 0.1249, 0.9955]\nstate[eef_state]: left_x=0.4352 left_y=-0.244 left_z=0.0496 left_yaw=0.0513 left_pitch=0.0917 left_roll=-0.0611 left_gripper=0.4051 right_x=0.3652 right_y=0.184 right_z=0.167 right_yaw=0.287 right_pitch=-0.0539 right_roll=-0.0226 right_gripper=0.9955\nstate[joint_eff]: [0.0752, -7.4462, 4.9983, 0.9353, 0.1685, 0.0757, 0.4713, -0.1573, -6.9402, 7.0632, 2.0635, 0.0269, 0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d03a873be844f930bd32cfdf15d42237a0fdb155b8bd3361357e9345694cc440",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4a9c0b87701db722844b8e01d0099f322e9a279f534de40a8cf1c0d01f6f634",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e4fd7127248631c206832b0bf38e474cd20077ede2035a1796f6493f4325617",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0QQKjgEIEhgCKkBTes9ZTycwysp7akdGyprfskewsPQhFWop2AuSFUaCauiwMB3nx+3As8el+9Y+LrQyPBarPZQPXQYP4Y8J9ppqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdr+y9UGEgzkmVr86WXcKMF6TPAaDHEHH95+cPOwlR7Y6CIwvW9ukCCuRpsW7xSJB1wKHIXjCTgpM1DAV8bxr8NoBKtUB30fPL3P+dbA6eLxGeubKu8CIQVo5C+0Fo0woZrtjNbHNdrTeBVoU/6CicB37x+CVUGp5W4xG+2MRVDNT1WEDc0dByRK+BrUOje0etovwtUYRWdg1jRRrj/1nkgECryM9nL7prS7T9ON5obXw872Wy0pxUmisgbbZ3Gbn2K0DyuShF1eQI3g9a5WKKu+n2HJXQrb/z8hLBWJcOyqgPe06aUe5+uxZ123YPNG4SZ3DkaLKQ0xrsiB9+Ikw8wJ/liLOk3P7otsxFnOBeMn6BiRCikLUukoyAuf5hTwXk0cx4ns2pftkKu0TIcPVzspJLQDdkZijwPdl2OFqBQN8yt2hvy5YxQjSlLu3u//cqC7Us/sdFIdJYdss/ahOVuD/yKfiQZkeSJFZDPnyf0rZUHZsqCTMkQG0QN9CD9JvChl5nz6mrrZKkqyJ1EZ+cj9ts+akY3/mIUIAoKO4IHbWWlj3VAlFd19nfp7G+S2QWKwa+PAHBd+NX0AWzHdu6Zuuf2MnxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AHN93b2odJc54LdU65ggjH",
      "input": {
        "note": "Grip closed at 0.40 on the neck; lifting so the bottle swings to hang vertically, cap up.",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01AHN93b2odJc54LdU65ggjH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.738, 1.8336, 1.4658, -0.3954, -0.6582, -0.5243, 0.4048, 0.556, 1.3666, 0.833, -0.1062, 0.223, 0.1246, 0.9955]\nstate[eef_state]: left_x=0.438 left_y=-0.2474 left_z=0.19 left_yaw=0.0618 left_pitch=-0.0157 left_roll=0.0148 left_gripper=0.4048 right_x=0.3606 right_y=0.1823 right_z=0.153 right_yaw=0.2926 right_pitch=-0.0513 right_roll=-0.0179 right_gripper=0.9955\nstate[joint_eff]: [-0.0068, -12.9299, 9.1556, 1.3455, -0.1978, 0.0757, -0.0464, -0.3487, -6.8034, 7.3778, 2.0977, 0.022, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4175eccdaa53bd6d6e33df8bc795145162e24897fd2aced6c1ffab6dd81a2bcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3d8e16edb06f8cdf65271c66431ef38a5bf8cc3b194fb8074bd48301348f26e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f498c69b779e18533444ed6a9bafadbe85ef607d0598dde692a04d5f02cb702",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 5.054 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]: [-0.746, 2.0136, 0.9981, 0.3046, -0.6342, -0.5144, 0.9975, 0.556, 1.3846, 0.9745, -0.244, 0.234, 0.1329, 0.9955]\nstate[eef_state]: left_x=0.4218 left_y=-0.2424 left_z=0.0356 left_yaw=0.0305 left_pitch=0.0097 left_roll=-0.0253 left_gripper=0.9975 right_x=0.3695 right_y=0.1856 right_z=0.1818 right_yaw=0.2787 right_pitch=-0.063 right_roll=-0.0214 right_gripper=0.9955\nstate[joint_eff]: [0.8684, -6.735, 5.7231, 1.1941, -0.0708, 0.315, 0.0317, -0.3487, -7.3778, 7.2, 2.0879, 0.0708, 0.0366, -0.0171]",
      "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]: [-0.738, 2.0296, 1.0016, 0.4149, -0.6628, -0.4908, 0.4051, 0.5564, 1.3735, 0.8982, -0.1684, 0.2298, 0.1249, 0.9955]\nstate[eef_state]: left_x=0.4352 left_y=-0.244 left_z=0.0496 left_yaw=0.0513 left_pitch=0.0917 left_roll=-0.0611 left_gripper=0.4051 right_x=0.3652 right_y=0.184 right_z=0.167 right_yaw=0.287 right_pitch=-0.0539 right_roll=-0.0226 right_gripper=0.9955\nstate[joint_eff]: [0.0752, -7.4462, 4.9983, 0.9353, 0.1685, 0.0757, 0.4713, -0.1573, -6.9402, 7.0632, 2.0635, 0.0269, 0.0317, -0.0122]",
      "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]: [-0.738, 1.8336, 1.4658, -0.3954, -0.6582, -0.5243, 0.4048, 0.556, 1.3666, 0.833, -0.1062, 0.223, 0.1246, 0.9955]\nstate[eef_state]: left_x=0.438 left_y=-0.2474 left_z=0.19 left_yaw=0.0618 left_pitch=-0.0157 left_roll=0.0148 left_gripper=0.4048 right_x=0.3606 right_y=0.1823 right_z=0.153 right_yaw=0.2926 right_pitch=-0.0513 right_roll=-0.0179 right_gripper=0.9955\nstate[joint_eff]: [-0.0068, -12.9299, 9.1556, 1.3455, -0.1978, 0.0757, -0.0464, -0.3487, -6.8034, 7.3778, 2.0977, 0.022, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4175eccdaa53bd6d6e33df8bc795145162e24897fd2aced6c1ffab6dd81a2bcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3d8e16edb06f8cdf65271c66431ef38a5bf8cc3b194fb8074bd48301348f26e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f498c69b779e18533444ed6a9bafadbe85ef607d0598dde692a04d5f02cb702",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0wgKjgEIEhgCKkCjcARmKJ8g8whWXhggRY3Rm+9ZgVv2W2EE/c+IRY8SAty9WkU2HX5mBE2ud2olElCap+t7fwzuyfmj5g4dvuCtMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeP+y9UGEgwInhh7+L+T4bofT68aDHJHAyuSiZuEO9yO/CIw591op/bHmwj2c9tiC0x0/Dk2GL7Btx/y18bWHEY4aUipCGpI8aN7wwUxbUFm5PGeKvEGRt+H7nzAQtlYyHF6PQ8GhAk5Co6w/4W9KyDS79hciMOdRUf/4fDY8inAKBXwHFCTsUB5Cxu+h45sY0nXV2TO+vq4XJwm0Fixx7I84YP/W7XjWBpZNVnZukHE5uoy454J0i1WVB8BY+K49O+ndmhZJvSsnw0xAdjMyNta12wHEAaYhz8UIR6PKUVnfy2a065unYw6PsE2qYnr9v73U5go7qpvbMxOJp9gUbSk+CWAlCKdpXhHycdFWqEaKwMgCh7HCXDQ/zcHMGwLKXldh+mrxXitRqzaVLSvUNSe6BdVa8FjM7NJasZ+mFOEbIG+/Wr58DLm8KjQkBFXYLt2aIXIYbH8UrJBlhG9K3I/ORf4kY48cIZvyFolevUn+hMikpQ17r2GnGXNFro6Nogl4zyDxRU033+RdfQgmPodRIy45O7yDhZ8kGF0XRj3JiEOOQhzc534LB/MqTLx9Y3bSxbCKSiKGHLFy0IbjM6ICoaQWv/HxcaMMN/7qtaH/bKoBiJQPBZLGM8lOHHWXrCZtcjpDDCaUE2TeqcSDoNee9+yHuOKqVZYkbqfXA6WRWHQbAeTgma2zEpRHqkDTLwtdHP8S07w0nbYsCfwnVht8DD+YbJSAdYeknP7H1dI1MybDeavJ28pZHR8S6nNcUsmh6HJr+B60lRfJSCt4/cayBdL5ABZkarT32N+96Sk7+LzkyFaGGIvNc3t+hBAb0qqYB0MVFqK6/gtlxkzIAoYcV5yHZks9RfzMSB05bvcTwlqnKKfpQZbTvfGCkYWGfysi6v7mF+p1lUZRFXdD1dMiz6yy1dQF2udE3qrMWnLyWUio6c4UteNRNAr9XTcTJX4EaUAi2R4MA2p6ZYhGAsnMZfzEMLo2KeJdIhWAV4lSZytoZ1rbz2R2kVCDczhCuxscPEOgYYMAqKRDxtvgxhrlxMHuVKklL+w/NuQAKY9o8s+wRDmG192DcbzsI+6nN/wLGiBfMEBPxzW+28ZWu2B9AqmpWo4Ouqbj7+Koqp36u38QYlImUKh0wVvpTtkQxxqRuuYGcZDe6i8ghzJ5Qp7akUx3oQ28VaLrJETis5NuKPBLXAzMOnCHlMCSf3+IW0M9pmt5LJwmtux62Ih8GwGmORokueTmLrjWeafnfTi3gB/jyt9XqyjNNPG71LSWd8lR4Le3k4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D9f41XCA1RfMebdxhsKWTr",
      "input": {
        "note": "Bottle hangs vertically from the jaws; lowering to set its base on the table.",
        "targets": {
          "left_z": 0.165
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01D9f41XCA1RfMebdxhsKWTr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.738, 1.8114, 1.4181, -0.3489, -0.6548, -0.524, 0.4048, 0.556, 1.3651, 0.7982, -0.0616, 0.223, 0.1253, 0.9955]\nstate[eef_state]: left_x=0.4352 left_y=-0.2455 left_z=0.188 left_yaw=0.0589 left_pitch=-0.0027 left_roll=-0.0016 left_gripper=0.4048 right_x=0.3595 right_y=0.1816 right_z=0.1472 right_yaw=0.2924 right_pitch=-0.0402 right_roll=-0.0143 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -7.4462, 5.9966, 1.4481, -0.3004, -0.0073, -0.0122, -0.4581, -6.8444, 6.5709, 1.8681, 0.0122, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2623386f7f04ab5bd775b36eaae313eccb3811b15255a932f95f50338c54338d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a0869a92d96705ddbb9551f14fb3c7c3f75a7ab0785e07c1da1be05f89d9c07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a71b23954d14e93c82bc7a40aaa7f377227f39f2f2487307b335c936f697804",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 9.392 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]: [-0.738, 2.0296, 1.0016, 0.4149, -0.6628, -0.4908, 0.4051, 0.5564, 1.3735, 0.8982, -0.1684, 0.2298, 0.1249, 0.9955]\nstate[eef_state]: left_x=0.4352 left_y=-0.244 left_z=0.0496 left_yaw=0.0513 left_pitch=0.0917 left_roll=-0.0611 left_gripper=0.4051 right_x=0.3652 right_y=0.184 right_z=0.167 right_yaw=0.287 right_pitch=-0.0539 right_roll=-0.0226 right_gripper=0.9955\nstate[joint_eff]: [0.0752, -7.4462, 4.9983, 0.9353, 0.1685, 0.0757, 0.4713, -0.1573, -6.9402, 7.0632, 2.0635, 0.0269, 0.0317, -0.0122]",
      "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]: [-0.738, 1.8336, 1.4658, -0.3954, -0.6582, -0.5243, 0.4048, 0.556, 1.3666, 0.833, -0.1062, 0.223, 0.1246, 0.9955]\nstate[eef_state]: left_x=0.438 left_y=-0.2474 left_z=0.19 left_yaw=0.0618 left_pitch=-0.0157 left_roll=0.0148 left_gripper=0.4048 right_x=0.3606 right_y=0.1823 right_z=0.153 right_yaw=0.2926 right_pitch=-0.0513 right_roll=-0.0179 right_gripper=0.9955\nstate[joint_eff]: [-0.0068, -12.9299, 9.1556, 1.3455, -0.1978, 0.0757, -0.0464, -0.3487, -6.8034, 7.3778, 2.0977, 0.022, -0.0171, -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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.738, 1.8114, 1.4181, -0.3489, -0.6548, -0.524, 0.4048, 0.556, 1.3651, 0.7982, -0.0616, 0.223, 0.1253, 0.9955]\nstate[eef_state]: left_x=0.4352 left_y=-0.2455 left_z=0.188 left_yaw=0.0589 left_pitch=-0.0027 left_roll=-0.0016 left_gripper=0.4048 right_x=0.3595 right_y=0.1816 right_z=0.1472 right_yaw=0.2924 right_pitch=-0.0402 right_roll=-0.0143 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -7.4462, 5.9966, 1.4481, -0.3004, -0.0073, -0.0122, -0.4581, -6.8444, 6.5709, 1.8681, 0.0122, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2623386f7f04ab5bd775b36eaae313eccb3811b15255a932f95f50338c54338d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a0869a92d96705ddbb9551f14fb3c7c3f75a7ab0785e07c1da1be05f89d9c07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a71b23954d14e93c82bc7a40aaa7f377227f39f2f2487307b335c936f697804",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzAQKjgEIEhgCKkDhmOUNKJzXY+flBdSxdQlbl83X2nGu1h5jy4dlKY/l+mZmtNiBoDLJ/Ot+GP+1pm1bBmuIx78FH57kttiDeKxFMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAej+y9UGEgwBYh5+Q2aPyRoHpm8aDM50FIwhuYzOjzK/xiIw2jNUh37MJIA4mKHiBec7eh85Z9TN7h59TWEK+cjXKR1w53zxsHHelUa5Tu1GInO2KuoCzaUn9MSq//pKw1555z/pYNNIDMS5wkp5FWQ+mrPyyPHX3al7ljGtD24NPLDRnVeIqJ39ooGcUDoX3ubOfMexagkddtF34N2OEBKSGL2NQ4/4DzFHSB//ynxSkAkBkjgNvgGlwJzhAUw5qHG9wXnRk3RBdr3GYQ/nFkM5FcAcoOX/hFqmKd4j5qxIt62fL+jXdgDJ/oyvbJFpIwAsvhJXQv5+v+KPnovRFwIVLDOi8X7Ou8h2oqUMYVkZNJfntGQgKbvWKpPu6tHzd15cJ6r9GTrVLY+tewb/gXnLa5krwCESS9cekz38WCeif08dCrioExhVwGq4I7D6Vqj4hiYepiXtFexsM24I32ezDYG9NPcUf4GyqoxyaV01MZs8jiiEsTQVSuFUnxSgfunf4oFiaC2t8P3+/4JvEZFpBq6eq08L2Yu/fCIug5zqc1f/WwSTaaRavk5K3fqA1+A5buJRSN2w1arYxC4PIDgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018xN7mkhVfNpHxNgJUuzpbo",
      "input": {
        "note": "Descent stopped — the bottle's base is on the table. Opening the jaws to leave it standing.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_018xN7mkhVfNpHxNgJUuzpbo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.738, 1.8496, 1.3811, -0.3416, -0.651, -0.5274, 0.9953, 0.556, 1.3655, 0.7593, -0.02, 0.2226, 0.1219, 0.9955]\nstate[eef_state]: left_x=0.4322 left_y=-0.2435 left_z=0.1563 left_yaw=0.0593 left_pitch=-0.052 left_roll=0.0423 left_gripper=0.9953 right_x=0.3569 right_y=0.1801 right_z=0.1383 right_yaw=0.2946 right_pitch=-0.0381 right_roll=-0.0163 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -12.9846, 9.4291, 1.3553, -0.4029, 0.0317, -0.2173, -0.4034, -6.5026, 6.2701, 2.0342, -0.0269, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea00282d2e0457d13793e2b6345cfde0b2720b7de8cb87aaf43681ee56315942",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:441da2412ee3bf6ad39528d6b346a61bc5e97c7eeaf87fc24c531e481945cc33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:97d48623c4d721f8f847a47604fdabc7942006ac703cec2e97cd06133bc07bdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /messages · status 200 · 13.9 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]: [-0.738, 1.8336, 1.4658, -0.3954, -0.6582, -0.5243, 0.4048, 0.556, 1.3666, 0.833, -0.1062, 0.223, 0.1246, 0.9955]\nstate[eef_state]: left_x=0.438 left_y=-0.2474 left_z=0.19 left_yaw=0.0618 left_pitch=-0.0157 left_roll=0.0148 left_gripper=0.4048 right_x=0.3606 right_y=0.1823 right_z=0.153 right_yaw=0.2926 right_pitch=-0.0513 right_roll=-0.0179 right_gripper=0.9955\nstate[joint_eff]: [-0.0068, -12.9299, 9.1556, 1.3455, -0.1978, 0.0757, -0.0464, -0.3487, -6.8034, 7.3778, 2.0977, 0.022, -0.0171, -0.0122]\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]: [-0.738, 1.8114, 1.4181, -0.3489, -0.6548, -0.524, 0.4048, 0.556, 1.3651, 0.7982, -0.0616, 0.223, 0.1253, 0.9955]\nstate[eef_state]: left_x=0.4352 left_y=-0.2455 left_z=0.188 left_yaw=0.0589 left_pitch=-0.0027 left_roll=-0.0016 left_gripper=0.4048 right_x=0.3595 right_y=0.1816 right_z=0.1472 right_yaw=0.2924 right_pitch=-0.0402 right_roll=-0.0143 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -7.4462, 5.9966, 1.4481, -0.3004, -0.0073, -0.0122, -0.4581, -6.8444, 6.5709, 1.8681, 0.0122, 0.0171, -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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.738, 1.8496, 1.3811, -0.3416, -0.651, -0.5274, 0.9953, 0.556, 1.3655, 0.7593, -0.02, 0.2226, 0.1219, 0.9955]\nstate[eef_state]: left_x=0.4322 left_y=-0.2435 left_z=0.1563 left_yaw=0.0593 left_pitch=-0.052 left_roll=0.0423 left_gripper=0.9953 right_x=0.3569 right_y=0.1801 right_z=0.1383 right_yaw=0.2946 right_pitch=-0.0381 right_roll=-0.0163 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -12.9846, 9.4291, 1.3553, -0.4029, 0.0317, -0.2173, -0.4034, -6.5026, 6.2701, 2.0342, -0.0269, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea00282d2e0457d13793e2b6345cfde0b2720b7de8cb87aaf43681ee56315942",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:441da2412ee3bf6ad39528d6b346a61bc5e97c7eeaf87fc24c531e481945cc33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97d48623c4d721f8f847a47604fdabc7942006ac703cec2e97cd06133bc07bdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoAgKjgEIEhgCKkC+KdqvWD7+pvBL1qOtjloh2iDEruYH0l8OZP1/NZFuwTxdheAhwjxsJexb2JwwEJkff3oDD/itVV+gq1DJxcTAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfH+y9UGEgx0qkddDIrFvtx7KB8aDJ5J/IiCX2DAKoCAPyIwCgBK12wq/3VDaiRy6WQWf6uVhc8MrJ75X4mVG2ckguKMqbgyP18lAx37Iqh2CCcZKr4G6CVNcf9fsHlNPIYwD4jZ0OfSdMcKSfdG5Ho/Sua3niiq35MetJCbNlgGE5qqcuScHUJGtvt8ofd/xhvCZDibN3hs79PZb0pLnV5WdVCex7HvhjlQU1Co5y+9jFzwRWusn0bB7aO6BzVgKfApNY9/9exAa6i1YSLLqw4BOzbnhAAQe7ngtOLUOQ/o6sk7jtwTLkJzC2OQOmqBidjEESrno7Zhd5+qkBAzmBtd5nLTdPdvu3BO1qy05IJnMlSZGUYbEVoYgtJO3lj6IuAL7+cp8Vso8z1jW5UbnXJO//9Qb3P6EzbKCLaIttJRX2BFWc0C4KBeSgpTfW3mWcv6xIJgM6VDWj2p3OMWezuE7bpwD3uDG6m9NY5w4Zmo2Lh7C5lKtpmbqCOFOr55YUE39sCreLv/9muHMEqso9dJpR3T2InyEZvwuQWW9Ru5QHnA5KCFfvP8dWSUDrW5xdIx8aifWgwWGHzh58WJZ4cegF9MQT5bJx8WsEqE9Jw8Xm876kqAvI+NGD8plIXg+bCjR7+44ZBnXgYR5+gtZa63Orv8Neszpda2vL907APz5dQ+iBHLt+h9h8Th1Ody4oeHLvxvL4qpgTzGWU5C/1rewfiP97UFo1e43ZMqgQpM6ekOHko870GwjCj1D9N3Z4RgYPtTzOfJvz62zdA0f8Bc2FduTWtBdynAyvQLBbeaFBMdVvBlg/zuy5n/hjA+AZKUvdSp8/ig+GaMdZQEybw1TiWoWXkbADEc13OHgDJnCYatXJlrONTp7fE9ImhUkIFU5bL4oXQFaKBit9Ipf5HGmQnKvo3IriI0bZJz20PY55nzhHXmGY7agvFkeERWM0KsYzv2FDgpLjQ4p367jp6YXKGvVZUWNLHeuQFzph5Sr9c7cX1QPKTY5WLo0qhwWWN3lpqEqhT5S9wYfQ+owve+BvGcsii0iWU93vWldx4AM/gkIs5vuAGPH6W1fj1fQYfOKcFKZ6c0O+jHWAdLTHdCdnRAeEdjLJiWIKRsMhxw7rN6Mwkn8GswIuiUJvzEPYup4rwuOkZbvuCKYGvSVxMFSx3No884rad4P5+HIMSMvgaK3GXaAchDVYj/NN8gBq/yrV8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0192FkrkY95hzkq5aSynvWD1",
      "input": {
        "note": "Two bottles now stand upright. Moving the left arm over the third (leftmost) bottle, low, to check alignment before grabbing its body.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.16,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_0192FkrkY95hzkq5aSynvWD1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.622, 1.7626, 0.7792, 0.2424, -0.5831, -0.4377, 0.9962, 0.5552, 1.3655, 0.7177, 0.0246, 0.2222, 0.1215, 0.9955]\nstate[eef_state]: left_x=0.3974 left_y=-0.1608 left_z=0.0538 left_yaw=0.0753 left_pitch=-0.0363 left_roll=0.0341 left_gripper=0.9962 right_x=0.3541 right_y=0.178 right_z=0.1292 right_yaw=0.2943 right_pitch=-0.0352 right_roll=-0.0157 right_gripper=0.9955\nstate[joint_eff]: [0.4718, -9.0325, 4.6838, 1.3016, 0.0122, 0.0122, 0.0904, -0.4444, -6.0923, 6.6256, 1.9658, -0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75a0a030b64b5a93da4fe08f2acaa710897e7f80e384aabc8dfcdd8a84805a3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f45eb739928605e186abc78c6d068d390d8ae7104f1624cfda4dfa6e7431c30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a6d803fef2df2435fea51902f59cc115a2f68da9ee9560bb8908cae76202c0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 36 attempt 0 · /messages · status 200 · 11.55 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.738, 1.8114, 1.4181, -0.3489, -0.6548, -0.524, 0.4048, 0.556, 1.3651, 0.7982, -0.0616, 0.223, 0.1253, 0.9955]\nstate[eef_state]: left_x=0.4352 left_y=-0.2455 left_z=0.188 left_yaw=0.0589 left_pitch=-0.0027 left_roll=-0.0016 left_gripper=0.4048 right_x=0.3595 right_y=0.1816 right_z=0.1472 right_yaw=0.2924 right_pitch=-0.0402 right_roll=-0.0143 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -7.4462, 5.9966, 1.4481, -0.3004, -0.0073, -0.0122, -0.4581, -6.8444, 6.5709, 1.8681, 0.0122, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.738, 1.8496, 1.3811, -0.3416, -0.651, -0.5274, 0.9953, 0.556, 1.3655, 0.7593, -0.02, 0.2226, 0.1219, 0.9955]\nstate[eef_state]: left_x=0.4322 left_y=-0.2435 left_z=0.1563 left_yaw=0.0593 left_pitch=-0.052 left_roll=0.0423 left_gripper=0.9953 right_x=0.3569 right_y=0.1801 right_z=0.1383 right_yaw=0.2946 right_pitch=-0.0381 right_roll=-0.0163 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -12.9846, 9.4291, 1.3553, -0.4029, 0.0317, -0.2173, -0.4034, -6.5026, 6.2701, 2.0342, -0.0269, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.622, 1.7626, 0.7792, 0.2424, -0.5831, -0.4377, 0.9962, 0.5552, 1.3655, 0.7177, 0.0246, 0.2222, 0.1215, 0.9955]\nstate[eef_state]: left_x=0.3974 left_y=-0.1608 left_z=0.0538 left_yaw=0.0753 left_pitch=-0.0363 left_roll=0.0341 left_gripper=0.9962 right_x=0.3541 right_y=0.178 right_z=0.1292 right_yaw=0.2943 right_pitch=-0.0352 right_roll=-0.0157 right_gripper=0.9955\nstate[joint_eff]: [0.4718, -9.0325, 4.6838, 1.3016, 0.0122, 0.0122, 0.0904, -0.4444, -6.0923, 6.6256, 1.9658, -0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75a0a030b64b5a93da4fe08f2acaa710897e7f80e384aabc8dfcdd8a84805a3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f45eb739928605e186abc78c6d068d390d8ae7104f1624cfda4dfa6e7431c30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a6d803fef2df2435fea51902f59cc115a2f68da9ee9560bb8908cae76202c0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyBAKjgEIEhgCKkCe7TLmKRgQytsFC9LQEnMAkbP5yMwlBJusRI/9g1D2hQ5E6elMzELSbCZPCieoEhdYyMAY6ObRmRsEtoTZiOPDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYD/y9UGEgzAxYvkSrr9Ws0fL3AaDD7SvPjEGZmlGjPHdiIwmUOvtt3IjfIPRGh3aCk8S1IX4eMVVwT+FAcr0OzGQefv37O9Lrr+X4v/2QQtEogtKuYOjIBYkZ1iiFRugv0DzubrUvyhEzM5eGPtW/3kTFA3DBrSVMqjcGNGidp8kTIo99i4aaVKUIZzM0V7QRsNGhu0H2IgTjdDrXaIPM/vQiI9kOvnXYUOjsA7/ffrBhjuw7XatPZ27vkP0AKEyZ7pdhBVQGSF26UYiR+bB7eZrnETWGk8zhNkKB3KDH4eC6/yxbg9P6acOwer9E1gfobDimXEehv3G80PEofpSQza9XLPNPSTxrqNbQ3V6HPuLbwxE8RKUT1oel5SW93d2vqduHmE4sGEExewjlcKjsJoNL9yx6ddGw5JZvBJGpxU8Wcz+EPF2lRMhJ3ql60ICxBmxI7NBuGVRzWOzwaHDPHpS4fuvdl51EMc+QNvjqV9E/7t6r/kF/GuVgSFDFkIX+OVS6APF5Lz2Mu1M2FoU6G2KHhEnbi8no6DFXZwOEu5zv9CSy9SQ/wV07lJVHwbrl32ppray9UK73ZQ1yX/M0pLdGQ8xXsUh4uKuySemjWBz39zRF3knsC6xPQN0dQqY4+YmyFs9vUXpfcXGvv/4CEDyZEGB5TS1+6eAPwQjN5oHhLphiyp/KPU/hWP7ZG1Tw5fOtzRYUDTpuUDiiC2Tg8KRP4yUNj29MRsoIJ4W7++dUg6pnY/W3rpbtTGF4dCD1H9WutTzn08DOWtKme3ax2873Eiz/PdVr1Yi5DU1t208k/IxP4B7rwta+31Wc8R1MPyt277EYNeQDO3lg2MzoCg3k9mgXl6urpeRPSLwZEj/eAcAo5FkE135cOMxJ6dx5KYQZzYX8RE/jiDvDSVPL5JuylKVU4/Lalsm+PK01LU/EiT8S4iCj6ektqptORtMY+kIkb/ipNmZ6z53qg7auWRym9HbX3fIT6lemoMiiMkzmpI8TS4IWuzOc2y+bZoYzlX1zgQvAcyPZ7bVUzA98EwsXaNhHcKkFgO7UW7KkeJxi7XZmTnP/WWHnP9kystJwFXYt3JsLXIGb2QDGlaFAKAH7JrJfmcS7ecWNwHw3L+PhLU6dXwB3mibSq7jzB54Oy22zxumfTSv20COR7MMq8pAowZpaaPxcwEe15c5FQcgEsr8jZYucWeDJXkdGkDLBLh011tH3sfjcCcsdlb47jv/n/3ASJA4VWYlmvUCieZRf2hX4ig/nd5cFr/GH4TZzmKZE/FCbz3syb2ltypq3yrrwvB+0SwsEwquT6v5SI5NJ7MCiUi0rUZNebJSZS5tR2BpjShgCkUDxWUvTpM8AeEGSk+4vUJNcPO8v6LrBsNhPlKwCA7SkJ0Ddrh3lFmOX0D4DCSPQtxD12E/o9n2mi8gA5K+C/QsYai4KA3u+jNy8bDk+gi5M4/58GhvE6SbU/y8ceI8tHzEEiVjCt4US7PJXFzlw9o34bO1WiCwtx7wuxatOpoQrLju1OVnCPm8IEkyM/8yMgKGwP8vLkUFJZkKTKWHzbCMan//WuqbdZA2nH0MXfBnQbFGqJ6sU4YyWRE3B61fIDGOz4TaJo4uV/EgLpEAWIlBMw70yzSQscuwKCeogiWHqsI1cQIsfilgl8xq/Ehua+jW5tbBP/euT+Az9zfoGy4OfmPoCKY/DUQHa9vOctNTlGln3Et4rXWqD5e8Hf924Fr+8neC7j3LAxBBaKxh3J/Tuo2HlSRyZFmjiO7W6Q4BJO8nSIIO2afQSry5aXV4sfg0VqLjhRXFu6XAaQthAd7wwEVeCR/SBGycTj/8WjFAWq7dpCmn0Zx0Ma4lg09ULLkmJjrl/Fpokyi0M5d85bng8lN88A/aOW/DlDgQwJjEZwDBQuDR4mQM8cmO5VkCPzNqU6mm7c4NcCqOWvSqGO2ZATvHtdqGBqL5VDMBMHdVVsfER72fLEcFcMkEtzHJVbBuEd4ReBDtAXT3Y3yPaLd2rUdB0GFyG1qMnIPFeE9NNY1p8KPoaY77YDC9MY911BRwEVQSYmGJD73skeU5j+4XVCqNlhSrYXG19eOz349JjHPgLbIwjKvw5HBi4SzChDI2h920GweQo1Md2mIJD3SE2yDwSemabd+1v/ROGG7VxINAN5l4Cg3j8EY21WopL312xSzHgf6c5X8EL2tHNdQEwJHr2PQdWqTjLnJSv04tgdBpXfhIzmhdGuDCVV1DtdaNWZ38Xb9Lhtzr1V8yxJupMgDEUMV3SgpT/batBGVscDaQ1BUylccSRjNx6hZHmeVOLLI2yQPe82tSLhLbId8IduwFer0K4lfdtNLIVmhfcCksGF12qv/8M4bxI3Kb+d5LnkTAVf7zxdPoXFQLLBzOhEfUQeqbwnXZUvv55My5ZjZBEfM1AfKS6MLycZ4yu/UmmPzhidENU49UEeRq42WG7L/VhKoTDiNZGVob8eARy0jeO7XqGEAjmaN1CBlWJnsPioarqERWLeXwdmODZa2ZDIGEZqVe273d3ctIv+zkPT3FXGBSPABDhcisNz/25/Yu+cuIEORsaUnrV2XhIB6mO4J3xpkm34B+F0kw6joGi+iHEvH38MLTbVwCzbcHBytIut7DBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SXcqjrgBrm8t1yxzNxsraD",
      "input": {
        "note": "The third bottle is still lying, off to the arm's left at the edge of the wrist view; shifting ~7 cm left to get above it.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.09,
          "left_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_01SXcqjrgBrm8t1yxzNxsraD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4454, 1.5337, 0.5831, 0.3096, -0.4629, -0.3397, 0.9964, 0.5552, 1.3655, 0.6815, 0.0536, 0.2222, 0.1215, 0.9955]\nstate[eef_state]: left_x=0.3824 left_y=-0.0912 left_z=0.075 left_yaw=0.1044 left_pitch=-0.0016 left_roll=-0.0045 left_gripper=0.9964 right_x=0.35 right_y=0.1755 right_z=0.1194 right_yaw=0.2943 right_pitch=-0.0422 right_roll=-0.0175 right_gripper=0.9955\nstate[joint_eff]: [0.1573, -7.0906, 5.6, 1.6093, -0.105, 0.105, 0.0024, -0.4171, -5.9419, 6.4752, 2.0733, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccd3ea1d26095e4352bee59e766651f9059fc2c7692a934aa29b018de340127e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:089fcb441b7168833dc0ceec584a14efff2b8612f04c62716ad6a517773afaff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0cc2537f97ca959af3ddd5f6f8a0cdb46c166c3d2d6929f37c12bea6d512f147",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 18.24 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.738, 1.8496, 1.3811, -0.3416, -0.651, -0.5274, 0.9953, 0.556, 1.3655, 0.7593, -0.02, 0.2226, 0.1219, 0.9955]\nstate[eef_state]: left_x=0.4322 left_y=-0.2435 left_z=0.1563 left_yaw=0.0593 left_pitch=-0.052 left_roll=0.0423 left_gripper=0.9953 right_x=0.3569 right_y=0.1801 right_z=0.1383 right_yaw=0.2946 right_pitch=-0.0381 right_roll=-0.0163 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -12.9846, 9.4291, 1.3553, -0.4029, 0.0317, -0.2173, -0.4034, -6.5026, 6.2701, 2.0342, -0.0269, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.622, 1.7626, 0.7792, 0.2424, -0.5831, -0.4377, 0.9962, 0.5552, 1.3655, 0.7177, 0.0246, 0.2222, 0.1215, 0.9955]\nstate[eef_state]: left_x=0.3974 left_y=-0.1608 left_z=0.0538 left_yaw=0.0753 left_pitch=-0.0363 left_roll=0.0341 left_gripper=0.9962 right_x=0.3541 right_y=0.178 right_z=0.1292 right_yaw=0.2943 right_pitch=-0.0352 right_roll=-0.0157 right_gripper=0.9955\nstate[joint_eff]: [0.4718, -9.0325, 4.6838, 1.3016, 0.0122, 0.0122, 0.0904, -0.4444, -6.0923, 6.6256, 1.9658, -0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4454, 1.5337, 0.5831, 0.3096, -0.4629, -0.3397, 0.9964, 0.5552, 1.3655, 0.6815, 0.0536, 0.2222, 0.1215, 0.9955]\nstate[eef_state]: left_x=0.3824 left_y=-0.0912 left_z=0.075 left_yaw=0.1044 left_pitch=-0.0016 left_roll=-0.0045 left_gripper=0.9964 right_x=0.35 right_y=0.1755 right_z=0.1194 right_yaw=0.2943 right_pitch=-0.0422 right_roll=-0.0175 right_gripper=0.9955\nstate[joint_eff]: [0.1573, -7.0906, 5.6, 1.6093, -0.105, 0.105, 0.0024, -0.4171, -5.9419, 6.4752, 2.0733, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccd3ea1d26095e4352bee59e766651f9059fc2c7692a934aa29b018de340127e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:089fcb441b7168833dc0ceec584a14efff2b8612f04c62716ad6a517773afaff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cc2537f97ca959af3ddd5f6f8a0cdb46c166c3d2d6929f37c12bea6d512f147",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KYei7AEHAPPDDZ8nnt7X6L",
      "input": {
        "note": "The wrist view is empty, so the third bottle isn't where I expected; pulling the left arm back and up so the overhead camera can show the whole table.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.02,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01KYei7AEHAPPDDZ8nnt7X6L",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3908, 0.8127, 1.071, -0.8593, -0.4229, -0.3141, 0.9964, 0.5552, 1.3659, 0.6357, 0.1059, 0.2111, 0.1215, 0.9955]\nstate[eef_state]: left_x=0.2609 left_y=-0.0252 left_z=0.2937 left_yaw=0.1131 left_pitch=0.0213 left_roll=-0.023 left_gripper=0.9964 right_x=0.3456 right_y=0.1751 right_z=0.11 right_yaw=0.3035 right_pitch=-0.038 right_roll=-0.0097 right_gripper=0.9955\nstate[joint_eff]: [0.7726, -0.7726, 7.8974, 1.5214, -0.0806, 0.1685, -0.0122, -0.4034, -5.9282, 6.7214, 1.9512, 0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e7aac5b0d0e7d4f611557c78d92baa4e062bd6e8db54157c7bf16e59700e928",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a51837b8ae6c878914ac81e281927c2f5f41b0e5b3fd3587e79b0e499e8181f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8336ba721e6eb280203c9fc0856e794ae8ba5f79b4e77a126802b471a2c28c58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /messages · status 200 · 16.71 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.622, 1.7626, 0.7792, 0.2424, -0.5831, -0.4377, 0.9962, 0.5552, 1.3655, 0.7177, 0.0246, 0.2222, 0.1215, 0.9955]\nstate[eef_state]: left_x=0.3974 left_y=-0.1608 left_z=0.0538 left_yaw=0.0753 left_pitch=-0.0363 left_roll=0.0341 left_gripper=0.9962 right_x=0.3541 right_y=0.178 right_z=0.1292 right_yaw=0.2943 right_pitch=-0.0352 right_roll=-0.0157 right_gripper=0.9955\nstate[joint_eff]: [0.4718, -9.0325, 4.6838, 1.3016, 0.0122, 0.0122, 0.0904, -0.4444, -6.0923, 6.6256, 1.9658, -0.0366, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4454, 1.5337, 0.5831, 0.3096, -0.4629, -0.3397, 0.9964, 0.5552, 1.3655, 0.6815, 0.0536, 0.2222, 0.1215, 0.9955]\nstate[eef_state]: left_x=0.3824 left_y=-0.0912 left_z=0.075 left_yaw=0.1044 left_pitch=-0.0016 left_roll=-0.0045 left_gripper=0.9964 right_x=0.35 right_y=0.1755 right_z=0.1194 right_yaw=0.2943 right_pitch=-0.0422 right_roll=-0.0175 right_gripper=0.9955\nstate[joint_eff]: [0.1573, -7.0906, 5.6, 1.6093, -0.105, 0.105, 0.0024, -0.4171, -5.9419, 6.4752, 2.0733, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3908, 0.8127, 1.071, -0.8593, -0.4229, -0.3141, 0.9964, 0.5552, 1.3659, 0.6357, 0.1059, 0.2111, 0.1215, 0.9955]\nstate[eef_state]: left_x=0.2609 left_y=-0.0252 left_z=0.2937 left_yaw=0.1131 left_pitch=0.0213 left_roll=-0.023 left_gripper=0.9964 right_x=0.3456 right_y=0.1751 right_z=0.11 right_yaw=0.3035 right_pitch=-0.038 right_roll=-0.0097 right_gripper=0.9955\nstate[joint_eff]: [0.7726, -0.7726, 7.8974, 1.5214, -0.0806, 0.1685, -0.0122, -0.4034, -5.9282, 6.7214, 1.9512, 0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e7aac5b0d0e7d4f611557c78d92baa4e062bd6e8db54157c7bf16e59700e928",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a51837b8ae6c878914ac81e281927c2f5f41b0e5b3fd3587e79b0e499e8181f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8336ba721e6eb280203c9fc0856e794ae8ba5f79b4e77a126802b471a2c28c58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WzwRyEJdCHSYPdV4jtHbM4",
      "input": {
        "note": "Two bottles are standing; the third is not visible in the overhead view, likely hidden further to the left behind the arm. Swinging the left arm to its far-left limit to look for it.",
        "targets": {
          "left_x": 0.35,
          "left_y": 0.04,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01WzwRyEJdCHSYPdV4jtHbM4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0807, 1.1351, 0.5117, -0.0326, -0.0628, -0.0586, 0.9965, 0.556, 1.3659, 0.5968, 0.1524, 0.2047, 0.1211, 0.9955]\nstate[eef_state]: left_x=0.3356 left_y=0.0418 left_z=0.1069 left_yaw=0.1485 left_pitch=-0.0914 left_roll=0.001 left_gripper=0.9965 right_x=0.3419 right_y=0.1744 right_z=0.1028 right_yaw=0.31 right_pitch=-0.0315 right_roll=-0.0045 right_gripper=0.9955\nstate[joint_eff]: [0.2803, -4.2872, 6.4205, 2.0293, 0.0855, 0.0171, -0.0073, -0.3897, -5.5453, 6.5162, 1.8974, 0.0952, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc0c5ba59570667069418ff1f06a3766f4f25c418e3a211e6d2c3cb285ae5fb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d522813ecbaf14603f3953c4c562d6aabfff8180e9d1deb27cad9d09ef16a363",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7d2c93e88a506485a760e03a660e8e69ea7576cefbfc93e5860438e37196854",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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