adhoc

completed
2026-09-23T00:46:37.086101+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
491.4 s
total steps
312
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bottles lie on their sides in the middle of the table. I'm moving the left arm to hover ~20 cm above the leftmost bottle, yawed to align the jaws across its axis, so I can see it in the wrist camera before grasping its neck.
move_to
left_x0.3300left_y-0.1700left_z0.2200left_yaw-0.3800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.6083, -0.3763, -0.0193, -0.0288, 0.9986, -0.0158, 0.7883, 0.6029, -0.3874, -0.0238, -0.0353, 0.9983] state[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1829 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2933 right_y=0.0032 right_z=0.1795 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9983 state[joint_eff]: [-0.4444, -1.5248, 9.7573, 1.7558, -0.0415, 0.1148, -0.1636, -1.0325, -0.9504, 10.3043, 1.8291, 0.0171, 0.1978, -0.1929] 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": {"left_x": 0.33, "left_y": -0.17, "left_z": 0.22, "left_yaw": -0.38, "left_gripper": 1.0}, "note": "Three bottles lie on their sides in the middle of the table. I'm moving the left arm to hover ~20 cm above the leftmost bottle, yawed to align the jaws across its axis, so I can see it in the wrist camera before grasping its neck."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteWrist view shows the near bottle at lower-left of the jaws. Moving slightly forward-right and down to 14 cm to line the jaws up over that bottle's neck/cap end before grasping.
move_to
left_x0.3400left_y-0.2100left_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5507, 1.1408, 0.8639, -0.3534, -0.1513, -0.1131, 0.9986, -0.0193, 0.794, 0.6041, -0.4034, -0.0238, -0.036, 0.9982] state[eef_state]: left_x=0.3224 left_y=-0.1625 left_z=0.1986 left_yaw=-0.3739 left_pitch=-0.0609 left_roll=0.0105 left_gripper=0.9986 right_x=0.2916 right_y=0.0022 right_z=0.1752 right_yaw=-0.003 right_pitch=-0.0206 right_roll=-0.0003 right_gripper=0.9982 state[joint_eff]: [-0.1846, -3.7128, 9.8803, 1.7949, -0.0562, -0.0415, -0.1587, 0.253, -1.5111, 7.1043, 1.8632, -0.0269, -0.0269, -0.0171] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.21, "left_z": 0.14}, "note": "Wrist view shows the near bottle at lower-left of the jaws. Moving slightly forward-right and down to 14 cm to line the jaws up over that bottle's neck/cap end before grasping."})
tool
executing move_to over 5 steps (0.5s)
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 noteThe nearest bottle is ambiguous in the wrist view, so I'm switching to the clearly-visible middle bottle: hovering over its cap end (cap points forward) with jaws aligned across its neck.
move_to
left_x0.3700left_y-0.2700left_z0.1600left_yaw0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6647, 1.3415, 0.7261, -0.0486, -0.2279, -0.1665, 0.9985, -0.0193, 0.7898, 0.5861, -0.4034, -0.0238, -0.036, 0.9982] state[eef_state]: left_x=0.3303 left_y=-0.2036 left_z=0.1276 left_yaw=-0.3945 left_pitch=-0.0828 left_roll=0.02 left_gripper=0.9985 right_x=0.2891 right_y=0.0022 right_z=0.1681 right_yaw=-0.003 right_pitch=-0.0343 right_roll=-0.0001 right_gripper=0.9982 state[joint_eff]: [-0.4718, -5.5863, 5.8051, 1.9902, -0.3248, -0.1148, -0.0269, -0.3897, -2.0991, 6.7761, 2.0, -0.0513, -0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). 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": {"left_x": 0.37, "left_y": -0.27, "left_z": 0.16, "left_yaw": 0.15}, "note": "The nearest bottle is ambiguous in the wrist view, so I'm switching to the clearly-visible middle bottle: hovering over its cap end (cap points forward) with jaws aligned across its neck."})
tool
executing move_to over 6 steps (0.6s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteIn the wrist view the middle bottle is aligned with the jaw column but its neck/cap sits high in the frame, meaning it is several cm further forward than the fingertips; advancing 5 cm and lowering to 12 cm to get over the neck.
move_to
left_x0.4200left_y-0.2850left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9176, 1.7687, 1.2552, -0.3099, -0.7349, -0.6724, 0.9981, -0.0193, 0.7708, 0.5518, -0.3855, -0.0238, -0.036, 0.9982] state[eef_state]: left_x=0.3713 left_y=-0.2845 left_z=0.1554 left_yaw=0.0212 left_pitch=-0.0143 left_roll=-0.0246 left_gripper=0.9981 right_x=0.286 right_y=0.0023 right_z=0.1612 right_yaw=-0.003 right_pitch=-0.0317 right_roll=-0.0001 right_gripper=0.9982 state[joint_eff]: [-0.5402, -9.5111, 6.7077, 0.7399, -0.525, -0.0708, -0.0562, -0.3897, -1.5111, 7.0222, 1.956, -0.0415, -0.0562, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.285, "left_z": 0.12}, "note": "In the wrist view the middle bottle is aligned with the jaw column but its neck/cap sits high in the frame, meaning it is several cm further forward than the fingertips; advancing 5 cm and lowering to 12 cm to get over the neck."})
tool
executing move_to over 4 steps (0.4s)
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 middle bottle still sits high in the wrist frame and slightly left of the jaw column; advancing another 4-5 cm forward, 1.5 cm left and down to 9 cm to bring the neck under the jaws.
move_to
left_x0.4600left_y-0.2550left_z0.0900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.828, 1.9125, 1.2823, -0.2077, -0.7216, -0.6277, 0.998, -0.0193, 0.7563, 0.5236, -0.374, -0.0242, -0.036, 0.9982] state[eef_state]: left_x=0.4115 left_y=-0.2703 left_z=0.1143 left_yaw=0.0782 left_pitch=-0.0309 left_roll=0.0182 left_gripper=0.998 right_x=0.2831 right_y=0.0024 right_z=0.1546 right_yaw=-0.0027 right_pitch=-0.0339 right_roll=0.0001 right_gripper=0.9982 state[joint_eff]: [-0.8, -10.3179, 7.0359, 1.6581, -0.2369, 0.1832, -0.0171, -0.2256, -1.6752, 6.9128, 2.0147, -0.0757, -0.0513, -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": {"left_x": 0.46, "left_y": -0.255, "left_z": 0.09}, "note": "The middle bottle still sits high in the wrist frame and slightly left of the jaw column; advancing another 4-5 cm forward, 1.5 cm left and down to 9 cm to bring the neck under the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe arm stalled near x=0.42 (reach limit) and the top view suggests the bottle is actually further to the arm's right than the wrist view implied; shifting 5 cm right and back a little to test which reading is correct.
move_to
left_x0.4000left_y-0.3300left_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8249, 1.9354, 1.2823, -0.1528, -0.6952, -0.598, 0.998, -0.0193, 0.741, 0.4904, -0.3588, -0.0242, -0.036, 0.9982] state[eef_state]: left_x=0.4167 left_y=-0.279 left_z=0.1091 left_yaw=0.0464 left_pitch=-0.026 left_roll=0.0059 left_gripper=0.998 right_x=0.28 right_y=0.0025 right_z=0.1465 right_yaw=-0.0027 right_pitch=-0.0366 right_roll=0.0002 right_gripper=0.9982 state[joint_eff]: [-0.335, -11.0017, 7.0085, 1.6825, -0.2369, 0.3199, -0.0122, -0.1983, -1.7436, 7.159, 1.9658, -0.022, -0.0366, -0.0122] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.33, "left_z": 0.13}, "note": "The arm stalled near x=0.42 (reach limit) and the top view suggests the bottle is actually further to the arm's right than the wrist view implied; shifting 5 cm right and back a little to test which reading is correct."})
tool
executing move_to over 5 steps (0.5s)
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 noteThe left arm is stalled (state unchanged after the last command), so I'm retreating it up and back to a clean pose before re-approaching.
move_to
left_x0.3000left_y-0.2000left_z0.2800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8249, 1.9354, 1.2823, -0.1528, -0.6956, -0.5976, 0.998, -0.0193, 0.7223, 0.4557, -0.3431, -0.0242, -0.036, 0.9982] state[eef_state]: left_x=0.4167 left_y=-0.279 left_z=0.1092 left_yaw=0.0465 left_pitch=-0.0257 left_roll=0.0064 left_gripper=0.998 right_x=0.2765 right_y=0.0025 right_z=0.1388 right_yaw=-0.0027 right_pitch=-0.037 right_roll=0.0002 right_gripper=0.9982 state[joint_eff]: [-0.3624, -11.0838, 7.0359, 1.7021, -0.2564, 0.3297, -0.0122, -0.2803, -1.5521, 6.9402, 2.0147, -0.0708, -0.0757, -0.0073] 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": {"left_x": 0.3, "left_y": -0.2, "left_z": 0.28}, "note": "The left arm is stalled (state unchanged after the last command), so I'm retreating it up and back to a clean pose before re-approaching."})
tool
executing move_to over 12 steps (1.2s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteAll three bottles lie near the far edge, close to this arm's vertical-tool reach limit (~0.42 m), so I'll first grab the near (base) end of the middle bottle at table level and drag it closer before standing it up.
move_to
left_x0.3800left_y-0.2850left_z0.0400left_yaw0.4000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9489, 1.3926, 1.3083, -0.7601, -0.7692, -0.7078, 0.998, -0.0193, 0.6983, 0.421, -0.3237, -0.0238, -0.0364, 0.9982] state[eef_state]: left_x=0.3086 left_y=-0.2135 left_z=0.2638 left_yaw=0.0322 left_pitch=-0.0059 left_roll=-0.0227 left_gripper=0.998 right_x=0.2735 right_y=0.0025 right_z=0.133 right_yaw=-0.0028 right_pitch=-0.0282 right_roll=-0.0005 right_gripper=0.9982 state[joint_eff]: [-0.1983, -6.7487, 8.9778, 1.2039, -0.5153, 0.1685, -0.0171, 0.0615, -0.9231, 7.3504, 1.9707, -0.0464, -0.0513, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.285, "left_z": 0.04, "left_yaw": 0.4, "left_gripper": 1.0}, "note": "All three bottles lie near the far edge, close to this arm's vertical-tool reach limit (~0.42 m), so I'll first grab the near (base) end of the middle bottle at table level and drag it closer before standing it up."})
tool
executing move_to over 15 steps (1.5s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe middle bottle fills the wrist view centred on the jaw column at table level; closing the jaws on its body to grip it.
move_to
left_gripper0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9634, 2.1887, 1.4357, -0.4999, -0.9485, -1.177, 0.9986, -0.0193, 0.6807, 0.3935, -0.3134, -0.0277, -0.036, 0.9982] state[eef_state]: left_x=0.3758 left_y=-0.2829 left_z=0.0392 left_yaw=0.3704 left_pitch=-0.0258 left_roll=0.0214 left_gripper=0.9986 right_x=0.2705 right_y=0.0033 right_z=0.127 right_yaw=0.0002 right_pitch=-0.0278 right_roll=0.002 right_gripper=0.9982 state[joint_eff]: [-0.1436, -11.6308, 6.9265, 0.6032, -0.6813, 0.0708, -0.1587, -0.3214, -0.8684, 7.0496, 1.9414, -0.0317, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.25}, "note": "The middle bottle fills the wrist view centred on the jaw column at table level; closing the jaws on its body to grip it."})
tool
executing move_to over 8 steps (0.8s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteGripper settled at 0.555 (~5.3 cm) so the bottle body is held; dragging it ~10 cm back toward the base so its neck comes within comfortable reach for the stand-up lift.
move_to
left_x0.2700left_y-0.2700left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9638, 2.2143, 1.4078, -0.4492, -0.9524, -1.1793, 0.555, -0.0193, 0.6662, 0.371, -0.3058, -0.0277, -0.036, 0.9982] state[eef_state]: left_x=0.3748 left_y=-0.2811 left_z=0.024 left_yaw=0.3725 left_pitch=-0.0228 left_roll=0.0229 left_gripper=0.555 right_x=0.268 right_y=0.0033 right_z=0.122 right_yaw=0.0002 right_pitch=-0.0282 right_roll=0.002 right_gripper=0.9982 state[joint_eff]: [-0.4581, -14.188, 5.135, 0.779, -0.652, 0.0171, 0.8962, -0.0068, -1.1419, 6.694, 2.0, 0.0122, -0.0562, -0.0122] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.27, "left_y": -0.27, "left_z": 0.05}, "note": "Gripper settled at 0.555 (~5.3 cm) so the bottle body is held; dragging it ~10 cm back toward the base so its neck comes within comfortable reach for the stand-up lift."})
tool
executing move_to over 9 steps (0.9s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe bottle has been dragged closer; releasing it and rising to 14 cm so the wrist camera can show where its neck and cap now lie.
move_to
left_gripper1.0000left_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.1843, 2.0922, 1.2346, -0.6945, -0.9607, -1.5215, 0.5571, -0.0193, 0.6495, 0.3466, -0.2981, -0.0277, -0.036, 0.9982] state[eef_state]: left_x=0.2732 left_y=-0.2777 left_z=0.0238 left_yaw=0.3477 left_pitch=-0.0492 left_roll=0.0352 left_gripper=0.5571 right_x=0.2652 right_y=0.0034 right_z=0.1165 right_yaw=0.0002 right_pitch=-0.0282 right_roll=0.002 right_gripper=0.9982 state[joint_eff]: [-0.1846, -14.5846, 4.4923, 0.2271, -1.0623, -0.1099, 0.862, -0.2667, -0.6769, 6.8718, 2.0049, -0.0415, -0.0122, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.14}, "note": "The bottle has been dragged closer; releasing it and rising to 14 cm so the wrist camera can show where its neck and cap now lie."})
tool
executing move_to over 8 steps (0.8s)
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 noteWrist view shows the dragged bottle lying with its cap pointing away, on the jaw column; moving forward ~8 cm and down to neck height to place the open jaws around its neck.
move_to
left_x0.3500left_y-0.2750left_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.203, 1.9469, 1.401, -0.9874, -0.9825, -1.5684, 0.9971, -0.0193, 0.6334, 0.3222, -0.2905, -0.0277, -0.036, 0.9982] state[eef_state]: left_x=0.2712 left_y=-0.2852 left_z=0.1138 left_yaw=0.3539 left_pitch=-0.0267 left_roll=-0.0217 left_gripper=0.9971 right_x=0.2624 right_y=0.0034 right_z=0.1109 right_yaw=0.0002 right_pitch=-0.0289 right_roll=0.002 right_gripper=0.9982 state[joint_eff]: [0.2803, -12.4239, 7.5282, 0.0122, -0.7985, 0.2271, -0.149, 0.0342, -0.9231, 7.0085, 1.9609, -0.0122, -0.0806, -0.0073] 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": {"left_x": 0.35, "left_y": -0.275, "left_z": 0.04}, "note": "Wrist view shows the dragged bottle lying with its cap pointing away, on the jaw column; moving forward ~8 cm and down to neck height to place the open jaws around its neck."})
tool
executing move_to over 7 steps (0.7s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe bottle's neck sits slightly left of and beyond the jaw column; nudging 2 cm left and 3 cm forward so the open jaws straddle the neck just below the cap.
move_to
left_x0.3700left_y-0.2530left_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0222, 2.0911, 1.3037, -0.535, -0.9749, -1.2892, 0.9973, -0.0193, 0.614, 0.2962, -0.2836, -0.0277, -0.036, 0.9982] state[eef_state]: left_x=0.3407 left_y=-0.2701 left_z=0.046 left_yaw=0.3802 left_pitch=-0.014 left_roll=0.0007 left_gripper=0.9973 right_x=0.2593 right_y=0.0035 right_z=0.1051 right_yaw=0.0002 right_pitch=-0.0286 right_roll=0.002 right_gripper=0.9982 state[joint_eff]: [0.3487, -9.6068, 4.7658, 0.7692, -0.4469, 0.1001, 0.0024, -0.2393, -0.6496, 6.9402, 1.9072, -0.0317, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.253, "left_z": 0.04}, "note": "The bottle's neck sits slightly left of and beyond the jaw column; nudging 2 cm left and 3 cm forward so the open jaws straddle the neck just below the cap."})
tool
executing move_to over 3 steps (0.3s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteNeck appears centred on the jaw column; closing the jaws to ~2.7 cm, a loose collar that should catch under the cap without clamping the neck rigidly.
move_to
left_gripper0.2800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9569, 2.109, 1.2675, -0.3943, -0.9653, -1.19, 0.9973, -0.0193, 0.5949, 0.2745, -0.2749, -0.0277, -0.036, 0.9982] state[eef_state]: left_x=0.3632 left_y=-0.257 left_z=0.035 left_yaw=0.389 left_pitch=-0.0063 left_roll=-0.0026 left_gripper=0.9973 right_x=0.2573 right_y=0.0035 right_z=0.1016 right_yaw=0.0002 right_pitch=-0.0225 right_roll=0.0019 right_gripper=0.9982 state[joint_eff]: [0.3897, -11.9043, 4.6701, 0.7595, -0.4664, 0.1441, -0.0122, -0.212, -0.4718, 6.6256, 1.9023, -0.0073, -0.0415, -0.0122] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.28}, "note": "Neck appears centred on the jaw column; closing the jaws to ~2.7 cm, a loose collar that should catch under the cap without clamping the neck rigidly."})
tool
executing move_to over 8 steps (0.8s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteJaws settled at 0.37 (~3.6 cm) around the bottle's neck/shoulder; lifting straight up so the bottle pivots on its base and hangs vertically from the neck.
move_to
left_z0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9363, 2.0892, 1.2579, -0.342, -1.0252, -1.1488, 0.3748, -0.0193, 0.5816, 0.2562, -0.2687, -0.028, -0.036, 0.9982] state[eef_state]: left_x=0.3751 left_y=-0.2489 left_z=0.0518 left_yaw=0.4105 left_pitch=0.0623 left_roll=-0.0156 left_gripper=0.3748 right_x=0.2554 right_y=0.0036 right_z=0.0976 right_yaw=0.0005 right_pitch=-0.0213 right_roll=0.0021 right_gripper=0.9982 state[joint_eff]: [-0.1573, -10.3453, 5.7778, 0.6667, 0.1587, 0.1197, 0.2466, -0.1573, -0.3214, 7.0222, 1.8535, -0.0415, -0.0562, -0.0122] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.3}, "note": "Jaws settled at 0.37 (~3.6 cm) around the bottle's neck/shoulder; lifting straight up so the bottle pivots on its base and hangs vertically from the neck."})
tool
executing move_to over 17 steps (1.7s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe wrist view shows the bottle now hanging vertically from the jaws; lowering to ~19 cm so its base touches the table before I release.
move_to
left_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.923, 2.0235, 2.2097, -1.3396, -0.9497, -1.1824, 0.374, -0.0193, 0.5682, 0.242, -0.2687, -0.028, -0.036, 0.9982] state[eef_state]: left_x=0.38 left_y=-0.2582 left_z=0.2958 left_yaw=0.4128 left_pitch=-0.0015 left_roll=-0.0797 left_gripper=0.374 right_x=0.2533 right_y=0.0037 right_z=0.0943 right_yaw=0.0005 right_pitch=-0.0221 right_roll=0.0021 right_gripper=0.9982 state[joint_eff]: [-0.2393, -9.3607, 6.735, 0.4176, -0.5739, 0.1245, -0.105, -0.1299, -0.212, 6.612, 1.8828, -0.0562, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.19}, "note": "The wrist view shows the bottle now hanging vertically from the jaws; lowering to ~19 cm so its base touches the table before I release."})
tool
executing move_to over 7 steps (0.7s)
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 noteBottle base should now be on the table with the bottle vertical; opening the jaws to release it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9234, 2.0151, 1.7458, -1.0412, -0.9508, -1.1816, 0.3738, -0.0193, 0.5549, 0.2253, -0.268, -0.028, -0.036, 0.9982] state[eef_state]: left_x=0.3769 left_y=-0.2541 left_z=0.1763 left_yaw=0.4153 left_pitch=-0.0369 left_roll=0.0741 left_gripper=0.3738 right_x=0.251 right_y=0.0037 right_z=0.0899 right_yaw=0.0005 right_pitch=-0.0247 right_roll=0.0021 right_gripper=0.9982 state[joint_eff]: [-0.5675, -13.4769, 6.4752, 0.8327, -0.6667, 0.0415, -0.0317, -0.1573, -0.3761, 6.8171, 1.8877, -0.0513, -0.0415, -0.0073] 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": {"left_gripper": 1.0}, "note": "Bottle base should now be on the table with the bottle vertical; opening the jaws to release it."})
tool
executing move_to over 7 steps (0.7s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteReleased the bottle; retracting the left arm out of the way to get an unobstructed top view and check whether it is standing.
move_to
left_x0.2200left_y-0.1000left_z0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9234, 1.9999, 1.6444, -0.9127, -0.9543, -1.182, 0.9967, -0.0193, 0.5362, 0.2081, -0.2676, -0.028, -0.036, 0.9982] state[eef_state]: left_x=0.3781 left_y=-0.2552 left_z=0.1588 left_yaw=0.4153 left_pitch=-0.0239 left_roll=0.0333 left_gripper=0.9967 right_x=0.2487 right_y=0.0037 right_z=0.0865 right_yaw=0.0005 right_pitch=-0.0228 right_roll=0.0021 right_gripper=0.9982 state[joint_eff]: [-0.5812, -13.5863, 6.2154, 0.7741, -0.6618, -0.0562, -0.0757, -0.253, -0.1573, 6.5983, 1.9414, -0.0464, -0.0659, -0.0122] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.22, "left_y": -0.1, "left_z": 0.3}, "note": "Released the bottle; retracting the left arm out of the way to get an unobstructed top view and check whether it is standing."})
tool
executing move_to over 14 steps (1.4s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteTop view confirms the middle bottle is now standing upright. Moving over the left-hand lying bottle, yawed to put the jaws across its axis, to inspect it in the wrist camera.
move_to
left_x0.3400left_y-0.1300left_z0.1200left_yaw-0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0721, 1.2964, 1.3888, -1.5013, -0.9806, -1.4204, 0.9971, -0.0193, 0.5167, 0.1902, -0.2672, -0.0277, -0.036, 0.9982] state[eef_state]: left_x=0.2343 left_y=-0.1159 left_z=0.2824 left_yaw=0.4028 left_pitch=-0.0204 left_roll=-0.0226 left_gripper=0.9971 right_x=0.2465 right_y=0.0037 right_z=0.0828 right_yaw=0.0002 right_pitch=-0.0209 right_roll=0.0018 right_gripper=0.9982 state[joint_eff]: [0.6085, -4.9709, 6.9128, 0.2466, -0.7399, 0.0562, 0.0366, -0.2256, 0.1026, 6.8034, 1.9316, -0.0122, -0.0855, -0.0073] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.13, "left_z": 0.12, "left_yaw": -0.4}, "note": "Top view confirms the middle bottle is now standing upright. Moving over the left-hand lying bottle, yawed to put the jaws across its axis, to inspect it in the wrist camera."})
tool
executing move_to over 11 steps (1.1s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteWrist view shows the left bottle lying with its cap pointing forward-left; moving forward and to the arm's left, down to neck height, with yaw set across its axis.
move_to
left_x0.3800left_y-0.0850left_z0.0500left_yaw0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3817, 1.1893, 0.54, -0.0277, -0.1135, -0.1078, 0.9972, -0.0193, 0.5007, 0.1764, -0.2684, -0.0273, -0.0364, 0.9982] state[eef_state]: left_x=0.3287 left_y=-0.1065 left_z=0.103 left_yaw=-0.239 left_pitch=-0.1105 left_roll=-0.0006 left_gripper=0.9972 right_x=0.2446 right_y=0.0037 right_z=0.0799 right_yaw=0.0001 right_pitch=-0.0198 right_roll=0.0013 right_gripper=0.9982 state[joint_eff]: [0.1573, -4.4513, 6.3658, 1.9121, 0.022, 0.0952, -0.0073, -0.2393, -0.1026, 6.7897, 1.8339, -0.0317, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.085, "left_z": 0.05, "left_yaw": 0.3}, "note": "Wrist view shows the left bottle lying with its cap pointing forward-left; moving forward and to the arm's left, down to neck height, with yaw set across its axis."})
tool
executing move_to over 4 steps (0.4s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe bottle's neck sits forward-left of the jaws in the wrist view; shifting 3 cm left and 3 cm forward along its axis to straddle the neck.
move_to
left_x0.4000left_y-0.0600left_z0.0450left_yaw0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5163, 1.6218, 0.5838, 0.3187, -0.4625, -0.4, 0.9972, -0.0193, 0.482, 0.1627, -0.2687, -0.0277, -0.036, 0.9982] state[eef_state]: left_x=0.3723 left_y=-0.1166 left_z=0.0449 left_yaw=0.072 left_pitch=-0.0694 left_roll=-0.0089 left_gripper=0.9972 right_x=0.243 right_y=0.0038 right_z=0.0778 right_yaw=0.0002 right_pitch=-0.0152 right_roll=0.0017 right_gripper=0.9982 state[joint_eff]: [0.253, -7.1179, 5.0256, 1.3065, -0.3101, -0.0366, -0.0122, -0.0205, 0.4034, 6.7897, 1.8291, -0.0317, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.06, "left_z": 0.045, "left_yaw": 0.3}, "note": "The bottle's neck sits forward-left of the jaws in the wrist view; shifting 3 cm left and 3 cm forward along its axis to straddle the neck."})
tool
executing move_to over 6 steps (0.6s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteBottle neck/shoulder is roughly on the jaw column; closing to a loose ~2.7 cm collar to catch it under the cap.
move_to
left_gripper0.2800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5156, 1.6676, 0.5503, 0.4507, -0.5312, -0.4179, 0.9972, -0.0193, 0.4702, 0.152, -0.2687, -0.028, -0.036, 0.9982] state[eef_state]: left_x=0.378 left_y=-0.1072 left_z=0.0435 left_yaw=0.1353 left_pitch=-0.0011 left_roll=-0.0186 left_gripper=0.9972 right_x=0.2418 right_y=0.0039 right_z=0.0755 right_yaw=0.0005 right_pitch=-0.0141 right_roll=0.0019 right_gripper=0.9982 state[joint_eff]: [0.294, -7.6239, 4.3829, 1.619, -0.0464, 0.3101, -0.0073, 0.0752, 0.0752, 6.8718, 1.8144, -0.0464, -0.0659, -0.0073] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.28}, "note": "Bottle neck/shoulder is roughly on the jaw column; closing to a loose ~2.7 cm collar to catch it under the cap."})
tool
executing move_to over 8 steps (0.8s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteJaws closed to 2.7 cm around the neck; lifting straight up so the bottle swings to hang vertically from its cap.
move_to
left_z0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5186, 1.66, 0.5552, 0.5018, -0.5598, -0.4011, 0.2854, -0.0193, 0.4625, 0.1448, -0.2691, -0.028, -0.036, 0.9982] state[eef_state]: left_x=0.3856 left_y=-0.1079 left_z=0.0586 left_yaw=0.1472 left_pitch=0.0598 left_roll=-0.0297 left_gripper=0.2854 right_x=0.2409 right_y=0.0039 right_z=0.0738 right_yaw=0.0005 right_pitch=-0.0141 right_roll=0.0019 right_gripper=0.9982 state[joint_eff]: [-0.1162, -5.7368, 5.5316, 0.9646, 0.0122, -0.0904, 0.2662, -0.2256, -0.1709, 6.8034, 1.7949, -0.0366, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.3}, "note": "Jaws closed to 2.7 cm around the neck; lifting straight up so the bottle swings to hang vertically from its cap."})
tool
executing move_to over 16 steps (1.6s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
assistant
agent noteBottle hangs vertically in the jaws; lowering it until its base reaches the table.
move_to
left_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5167, 1.3876, 1.3617, -0.6342, -0.5568, -0.4229, 0.2844, -0.0193, 0.453, 0.1333, -0.2691, -0.0277, -0.036, 0.9982] state[eef_state]: left_x=0.389 left_y=-0.1095 left_z=0.2904 left_yaw=0.1569 left_pitch=0.0136 left_roll=-0.0144 left_gripper=0.2844 right_x=0.2395 right_y=0.0039 right_z=0.0707 right_yaw=0.0002 right_pitch=-0.016 right_roll=0.0017 right_gripper=0.9982 state[joint_eff]: [0.0479, -5.0803, 8.6085, 1.4481, -0.1978, 0.0806, -0.1197, -0.1983, 0.0342, 6.9538, 1.8193, -0.0024, -0.0659, -0.0122] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.19}, "note": "Bottle hangs vertically in the jaws; lowering it until its base reaches the table."})
tool
executing move_to over 7 steps (0.7s)
step 207
assistant
agent noteBase should be on the table; opening the jaws to release this second bottle standing.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5167, 1.3895, 0.9947, -0.3435, -0.5575, -0.4221, 0.2842, -0.0193, 0.4419, 0.1242, -0.2691, -0.0277, -0.036, 0.9982] state[eef_state]: left_x=0.3822 left_y=-0.1055 left_z=0.1849 left_yaw=0.1579 left_pitch=-0.0472 left_roll=0.0355 left_gripper=0.2842 right_x=0.2385 right_y=0.0039 right_z=0.0689 right_yaw=0.0002 right_pitch=-0.0141 right_roll=0.0017 right_gripper=0.9982 state[joint_eff]: [-0.1162, -5.7368, 7.2957, 1.8046, -0.2662, -0.0171, -0.0269, -0.253, -0.0752, 6.6256, 1.7949, -0.0171, -0.0464, -0.0122] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Base should be on the table; opening the jaws to release this second bottle standing."})
tool
executing move_to over 8 steps (0.8s)
step 215
assistant
agent noteTwo bottles now appear upright; parking the left arm aside and bringing the right arm over the remaining lying bottle at the far right to inspect it.
move_to
left_x0.2500left_y-0.0500left_z0.2500left_yaw0.0000right_x0.3400right_y0.2600right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5167, 1.3834, 0.9401, -0.2649, -0.5579, -0.4229, 0.9956, -0.0193, 0.4313, 0.1131, -0.2691, -0.028, -0.036, 0.9982] state[eef_state]: left_x=0.3827 left_y=-0.1058 left_z=0.1776 left_yaw=0.158 left_pitch=-0.0235 left_roll=0.0162 left_gripper=0.9956 right_x=0.2372 right_y=0.004 right_z=0.0662 right_yaw=0.0005 right_pitch=-0.0144 right_roll=0.0019 right_gripper=0.9982 state[joint_eff]: [-0.1709, -7.2547, 6.2154, 1.6777, -0.2418, -0.0171, -0.0513, -0.2256, 0.1983, 7.0906, 1.7753, -0.0269, -0.0464, -0.0122] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.05, "left_z": 0.25, "left_yaw": 0.0, "right_x": 0.34, "right_y": 0.26, "right_z": 0.12, "right_gripper": 1.0}, "note": "Two bottles now appear upright; parking the left arm aside and bringing the right arm over the remaining lying bottle at the far right to inspect it."})
tool
executing move_to over 22 steps (2.2s)
step 237
assistant
agent noteThe right wrist camera shows the third bottle lying with its cap pointing away; moving the right arm forward and down to neck height over it.
move_to
right_x0.3800right_y0.2450right_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.503, 0.7399, 0.8459, -0.7429, -0.4255, -0.3302, 0.9966, 0.9184, 1.6493, 0.9295, -0.1345, 0.6865, 0.5514, 0.9983] state[eef_state]: left_x=0.2543 left_y=-0.0526 left_z=0.2384 left_yaw=0.0167 left_pitch=-0.0112 left_roll=-0.0144 left_gripper=0.9966 right_x=0.3291 right_y=0.2523 right_z=0.103 right_yaw=0.042 right_pitch=-0.0503 right_roll=-0.0476 right_gripper=0.9983 state[joint_eff]: [0.3897, -0.5675, 9.7436, 1.619, -0.149, 0.2271, 0.0904, 0.0752, -7.2274, 8.6085, 1.6239, 0.6374, 0.2711, -0.1929] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.245, "right_z": 0.045}, "note": "The right wrist camera shows the third bottle lying with its cap pointing away; moving the right arm forward and down to neck height over it."})
tool
executing move_to over 4 steps (0.4s)
step 241
assistant
agent noteThe wrist view shows the jaws over the bottle's mid-body with the red label (neck end) further forward; advancing ~5 cm along the bottle toward its neck.
move_to
right_x0.4200right_y0.2350right_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5167, 0.7403, 0.8421, -0.7528, -0.4335, -0.318, 0.9966, 0.7937, 1.8595, 0.8471, 0.1677, 0.617, 0.4583, 0.9982] state[eef_state]: left_x=0.2524 left_y=-0.0539 left_z=0.2352 left_yaw=0.0031 left_pitch=-0.0211 left_roll=0.007 left_gripper=0.9966 right_x=0.3635 right_y=0.2289 right_z=0.0291 right_yaw=0.0165 right_pitch=-0.0845 right_roll=-0.08 right_gripper=0.9982 state[joint_eff]: [-0.2256, -0.6359, 6.106, 1.8242, -0.359, -0.0855, -0.0024, 0.0479, -9.4974, 5.8872, 1.9756, 0.2369, 0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.235, "right_z": 0.045}, "note": "The wrist view shows the jaws over the bottle's mid-body with the red label (neck end) further forward; advancing ~5 cm along the bottle toward its neck."})
tool
executing move_to over 5 steps (0.5s)
step 246
assistant
agent noteThe right arm has hit its reach limit at x≈0.37, so I'll grip the bottle's body here and drag it closer, as I did successfully with the first bottle.
move_to
right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5175, 0.7269, 0.8234, -0.7376, -0.4335, -0.3206, 0.9966, 0.7727, 1.8832, 0.7914, 0.3351, 0.5938, 0.4252, 0.9982] state[eef_state]: left_x=0.2519 left_y=-0.0539 left_z=0.2331 left_yaw=0.0037 left_pitch=-0.0125 left_roll=-0.0002 left_gripper=0.9966 right_x=0.3707 right_y=0.2283 right_z=0.025 right_yaw=0.0341 right_pitch=-0.0326 right_roll=-0.0341 right_gripper=0.9982 state[joint_eff]: [-0.294, -0.7316, 6.3521, 1.7509, -0.2711, 0.0171, -0.0073, -0.0068, -8.8137, 5.053, 1.7265, 0.315, 0.1392, -0.0122] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.25}, "note": "The right arm has hit its reach limit at x\u22480.37, so I'll grip the bottle's body here and drag it closer, as I did successfully with the first bottle."})
tool
executing move_to over 8 steps (0.8s)
step 254
assistant
agent noteBottle body gripped (jaws at 5.1 cm); dragging it 10 cm back toward the base so its neck comes within reach.
move_to
right_x0.2700right_y0.2400right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5175, 0.7231, 0.812, -0.7372, -0.4335, -0.321, 0.9966, 0.7727, 1.8832, 0.7708, 0.3756, 0.5907, 0.4324, 0.5351] state[eef_state]: left_x=0.251 left_y=-0.0534 left_z=0.2292 left_yaw=0.0039 left_pitch=-0.0187 left_roll=0.0031 left_gripper=0.9966 right_x=0.3698 right_y=0.2281 right_z=0.0245 right_yaw=0.0328 right_pitch=-0.0193 right_roll=-0.0132 right_gripper=0.5351 state[joint_eff]: [-0.6359, -0.8, 6.612, 1.7411, -0.3004, 0.0024, -0.0073, -0.253, -7.9658, 4.4103, 1.5165, 0.1783, -0.0806, 0.8571] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.27, "right_y": 0.24, "right_z": 0.03}, "note": "Bottle body gripped (jaws at 5.1 cm); dragging it 10 cm back toward the base so its neck comes within reach."})
tool
executing move_to over 8 steps (0.8s)
step 262
assistant
agent noteLoosening the jaws to ~6.7 cm (just wider than the bottle body) so the bottle can pivot inside the jaws, then I will lift and let it hang vertically from its shoulder.
move_to
right_gripper0.7000right_z0.0600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5175, 0.7128, 0.7971, -0.7303, -0.4335, -0.3206, 0.9966, 1.0542, 1.7397, 0.6086, 0.2577, 0.7559, 0.6559, 0.5377] state[eef_state]: left_x=0.25 left_y=-0.0528 left_z=0.2265 left_yaw=0.0037 left_pitch=-0.0168 left_roll=0.0023 left_gripper=0.9966 right_x=0.2754 right_y=0.2467 right_z=0.024 right_yaw=0.0744 right_pitch=-0.019 right_roll=-0.0087 right_gripper=0.5377 state[joint_eff]: [-0.4855, -0.4034, 6.3795, 1.8144, -0.2613, -0.0171, -0.0073, 0.3214, -8.5128, 4.5333, 1.453, 0.4908, 0.1538, 0.5739] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.7, "right_z": 0.06}, "note": "Loosening the jaws to ~6.7 cm (just wider than the bottle body) so the bottle can pivot inside the jaws, then I will lift and let it hang vertically from its shoulder."})
tool
executing move_to over 3 steps (0.3s)
step 265
assistant
agent noteLifting with the loose collar so the bottle swings to vertical and catches on its shoulder.
move_to
right_z0.3200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5175, 0.7055, 0.7898, -0.7303, -0.4335, -0.321, 0.9966, 1.0603, 1.6638, 0.606, 0.136, 0.7517, 0.664, 0.6971] state[eef_state]: left_x=0.249 left_y=-0.0522 left_z=0.2251 left_yaw=0.0039 left_pitch=-0.0168 left_roll=0.002 left_gripper=0.9966 right_x=0.267 right_y=0.2372 right_z=0.0323 right_yaw=0.0775 right_pitch=-0.0486 right_roll=-0.0406 right_gripper=0.6971 state[joint_eff]: [-0.4855, -0.7179, 5.8735, 1.8242, -0.3053, -0.0073, -0.0073, -0.3077, -8.4991, 8.6359, 1.5946, 0.442, -0.0024, -0.1538] camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.32}, "note": "Lifting with the loose collar so the bottle swings to vertical and catches on its shoulder."})
tool
executing move_to over 19 steps (1.9s)
step 284
assistant
agent noteLowering the hanging bottle until its base rests on the table.
move_to
right_z0.1850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5175, 0.6991, 0.7784, -0.7303, -0.4335, -0.321, 0.9966, 1.0714, 1.3972, 1.4769, -0.9497, 0.7555, 0.6456, 0.6984] state[eef_state]: left_x=0.2477 left_y=-0.0515 left_z=0.2217 left_yaw=0.004 left_pitch=-0.0211 left_roll=0.0044 left_gripper=0.9966 right_x=0.267 right_y=0.2439 right_z=0.2996 right_yaw=0.0975 right_pitch=-0.0173 right_roll=-0.0142 right_gripper=0.6984 state[joint_eff]: [-0.6632, -0.5265, 6.3521, 1.79, -0.2955, -0.0415, -0.0073, -0.335, -4.9846, 9.2923, 1.5116, 0.3932, 0.0952, 0.1245] camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.185}, "note": "Lowering the hanging bottle until its base rests on the table."})
tool
executing move_to over 8 steps (0.8s)
step 292
assistant
agent noteBase should be on the table; opening the jaws to leave the third bottle standing.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5175, 0.6857, 0.7624, -0.7219, -0.4335, -0.3206, 0.9966, 1.0733, 1.3518, 0.9794, -0.5507, 0.7547, 0.6388, 0.6986] state[eef_state]: left_x=0.2467 left_y=-0.0509 left_z=0.2194 left_yaw=0.0037 left_pitch=-0.0161 left_roll=0.0019 left_gripper=0.9966 right_x=0.2619 right_y=0.2363 right_z=0.1781 right_yaw=0.1022 right_pitch=-0.0477 right_roll=-0.0634 right_gripper=0.6986 state[joint_eff]: [-0.5538, -0.212, 6.3932, 1.7949, -0.2076, -0.0171, -0.0122, -0.1299, -5.5316, 7.0085, 1.5995, 0.3639, 0.022, 0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Base should be on the table; opening the jaws to leave the third bottle standing."})
tool
executing move_to over 4 steps (0.4s)
step 296
assistant
agent noteLifting the right arm straight up and back, away from the bottle, to get a clear overhead view of the result.
move_to
right_z0.4000right_x0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5175, 0.6773, 0.757, -0.7139, -0.4335, -0.3206, 0.9966, 1.0733, 1.3331, 0.9092, -0.4702, 0.7551, 0.6331, 0.9957] state[eef_state]: left_x=0.2466 left_y=-0.0508 left_z=0.2204 left_yaw=0.0036 left_pitch=-0.0065 left_roll=-0.0036 left_gripper=0.9966 right_x=0.2609 right_y=0.2342 right_z=0.1677 right_yaw=0.106 right_pitch=-0.0312 right_roll=-0.0443 right_gripper=0.9957 state[joint_eff]: [-0.4855, -0.3214, 5.9145, 1.7265, -0.2369, -0.0171, -0.0073, 0.0752, -6.9675, 6.3111, 1.5507, 0.3394, 0.0269, -0.2271] camera 'top_cam' (step 296): [image omitted: streamed camera frame] camera 'left_cam' (step 296): [image omitted: streamed camera frame] camera 'right_cam' (step 296): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.4, "right_x": 0.22}, "note": "Lifting the right arm straight up and back, away from the bottle, to get a clear overhead view of the result."})
tool
executing move_to over 15 steps (1.5s)
step 311
assistant
agent noteI ran out of LLM-call budget with all three bottles still lying down. The hanging-lift technique appeared to work in the wrist view (bottle swung vertical in a loose collar around its neck/shoulder), but after lowering to the table and opening the jaws, each bottle ended up lying flat again — the final overhead/wrist views show all three still on their sides.
give_up
hindsightKey facts learned: (1) pitch/roll are pinned, so the only way to stand a lying bottle is a "loose collar" lift — close the jaws to ~2.7-3.0 cm around the neck (or ~6.7 cm around the body) so the bottle can pivot, then raise z to 0.30; the wrist view then shows it hanging vertically. (2) Reach with the tool vertical is much shorter than the box suggests: both arms stall at x ≈ 0.37-0.42 at low z, so far objects must first be gripped on the body and dragged back ~10 cm (that works well: gripper settles ~0.53 = 5.1 cm on a squeezed bottle body). (3) Orientation reading: in both top_cam and the wrist cams, a STANDING bottle projects with its cap toward the BOTTOM of the image (top of the object is nearer the camera); a lying bottle with its cap away shows the cap at the TOP. I mis-read this twice and believed I had succeeded. (4) The release is the failure point: after lowering the hanging bottle to z≈0.18 and opening, it fell over. Next time lower until the readback clearly stops (contact), settle 1-2 cm more, open the jaws only partially/slowly, and retract straight UP before any lateral move — lateral retraction passes right through where the bottle was placed and can knock it. (5) Budget: each grasp cycle (approach, align, close, lift, lower, open, retract, verify) costs ~8 calls; plan ~10 per bottle.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5175, 0.6777, 0.7506, -0.7143, -0.4335, -0.321, 0.9966, 1.2247, 1.5166, 2.0087, -1.4345, 0.8173, 0.7784, 0.9975] state[eef_state]: left_x=0.2462 left_y=-0.0506 left_z=0.2175 left_yaw=0.0039 left_pitch=-0.0128 left_roll=-0.0003 left_gripper=0.9966 right_x=0.2215 right_y=0.2449 right_z=0.3899 right_yaw=0.1394 right_pitch=-0.0141 right_roll=0.009 right_gripper=0.9975 state[joint_eff]: [-0.6222, -0.1299, 6.8444, 1.707, -0.2515, -0.0171, -0.0122, 0.7043, -4.9162, 6.2701, 0.9304, 0.6422, 0.1783, 0.1734] camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I ran out of LLM-call budget with all three bottles still lying down. The hanging-lift technique appeared to work in the wrist view (bottle swung vertical in a loose collar around its neck/shoulder), but after lowering to the table and opening the jaws, each bottle ended up lying flat again \u2014 the final overhead/wrist views show all three still on their sides.", "hindsight": "Key facts learned: (1) pitch/roll are pinned, so the only way to stand a lying bottle is a \"loose collar\" lift \u2014 close the jaws to ~2.7-3.0 cm around the neck (or ~6.7 cm around the body) so the bottle can pivot, then raise z to 0.30; the wrist view then shows it hanging vertically. (2) Reach with the tool vertical is much shorter than the box suggests: both arms stall at x \u2248 0.37-0.42 at low z, so far objects must first be gripped on the body and dragged back ~10 cm (that works well: gripper settles ~0.53 = 5.1 cm on a squeezed bottle body). (3) Orientation reading: in both top_cam and the wrist cams, a STANDING bottle projects with its cap toward the BOTTOM of the image (top of the object is nearer the camera); a lying bottle with its cap away shows the cap at the TOP. I mis-read this twice and believed I had succeeded. (4) The release is the failure point: after lowering the hanging bottle to z\u22480.18 and opening, it fell over. Next time lower until the readback clearly stops (contact), settle 1-2 cm more, open the jaws only partially/slowly, and retract straight UP before any lateral move \u2014 lateral retraction passes right through where the bottle was placed and can knock it. (5) Budget: each grasp cycle (approach, align, close, lift, lower, open, retract, verify) costs ~8 calls; plan ~10 per bottle."})
tool
give_up: I ran out of LLM-call budget with all three bottles still lying down. The hanging-lift technique appeared to work in the wrist view (bottle swung vertical in a loose collar around its neck/shoulder), but after lowering to the table and opening the jaws, each bottle ended up lying flat again — the final overhead/wrist views show all three still on their sides.
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 · 36.77 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6083, -0.3763, -0.0193, -0.0288, 0.9986, -0.0158, 0.7883, 0.6029, -0.3874, -0.0238, -0.0353, 0.9983]\nstate[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1829 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2933 right_y=0.0032 right_z=0.1795 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.4444, -1.5248, 9.7573, 1.7558, -0.0415, 0.1148, -0.1636, -1.0325, -0.9504, 10.3043, 1.8291, 0.0171, 0.1978, -0.1929]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a1d2cb52270b8ed4ad49ab061829fe0d29e4583753d3fcb5b3896b284acbbbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f605b94b95ea212bfb4ec6fb2fe31181ea41189be04ddc49c96f1507077c300",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a77eba2ddf9321fe0e651ba902541667fa1ccc20a92a89caa4e576f7708f2a5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 16.69 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6083, -0.3763, -0.0193, -0.0288, 0.9986, -0.0158, 0.7883, 0.6029, -0.3874, -0.0238, -0.0353, 0.9983]\nstate[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1829 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2933 right_y=0.0032 right_z=0.1795 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.4444, -1.5248, 9.7573, 1.7558, -0.0415, 0.1148, -0.1636, -1.0325, -0.9504, 10.3043, 1.8291, 0.0171, 0.1978, -0.1929]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a1d2cb52270b8ed4ad49ab061829fe0d29e4583753d3fcb5b3896b284acbbbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f605b94b95ea212bfb4ec6fb2fe31181ea41189be04ddc49c96f1507077c300",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a77eba2ddf9321fe0e651ba902541667fa1ccc20a92a89caa4e576f7708f2a5b",
        "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_01FHC6rnrRwuk3jBpjV26HVx",
      "input": {
        "note": "Three bottles lie on their sides in the middle of the table. I'm moving the left arm to hover ~20 cm above the leftmost bottle, yawed to align the jaws across its axis, so I can see it in the wrist camera before grasping its neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.33,
          "left_y": -0.17,
          "left_yaw": -0.38,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01FHC6rnrRwuk3jBpjV26HVx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5507, 1.1408, 0.8639, -0.3534, -0.1513, -0.1131, 0.9986, -0.0193, 0.794, 0.6041, -0.4034, -0.0238, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3224 left_y=-0.1625 left_z=0.1986 left_yaw=-0.3739 left_pitch=-0.0609 left_roll=0.0105 left_gripper=0.9986 right_x=0.2916 right_y=0.0022 right_z=0.1752 right_yaw=-0.003 right_pitch=-0.0206 right_roll=-0.0003 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -3.7128, 9.8803, 1.7949, -0.0562, -0.0415, -0.1587, 0.253, -1.5111, 7.1043, 1.8632, -0.0269, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56c026eaa482285037bb52ab65c72e06a8eaae168040ffa7e4c69cf1d3ed5618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e20b5ab1c9bb9144633fa0620a8605d470f8a49de14e9ac1f5fa4d17c3633f9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1734efae683a9bd8e0bd6690f33775a85c5667006453864a3d446c6de6de7a9d",
        "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 · 20.78 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6083, -0.3763, -0.0193, -0.0288, 0.9986, -0.0158, 0.7883, 0.6029, -0.3874, -0.0238, -0.0353, 0.9983]\nstate[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1829 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2933 right_y=0.0032 right_z=0.1795 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.4444, -1.5248, 9.7573, 1.7558, -0.0415, 0.1148, -0.1636, -1.0325, -0.9504, 10.3043, 1.8291, 0.0171, 0.1978, -0.1929]",
      "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]: [-0.5507, 1.1408, 0.8639, -0.3534, -0.1513, -0.1131, 0.9986, -0.0193, 0.794, 0.6041, -0.4034, -0.0238, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3224 left_y=-0.1625 left_z=0.1986 left_yaw=-0.3739 left_pitch=-0.0609 left_roll=0.0105 left_gripper=0.9986 right_x=0.2916 right_y=0.0022 right_z=0.1752 right_yaw=-0.003 right_pitch=-0.0206 right_roll=-0.0003 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -3.7128, 9.8803, 1.7949, -0.0562, -0.0415, -0.1587, 0.253, -1.5111, 7.1043, 1.8632, -0.0269, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56c026eaa482285037bb52ab65c72e06a8eaae168040ffa7e4c69cf1d3ed5618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e20b5ab1c9bb9144633fa0620a8605d470f8a49de14e9ac1f5fa4d17c3633f9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1734efae683a9bd8e0bd6690f33775a85c5667006453864a3d446c6de6de7a9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XFGmQc3pfas17LkVkytkGS",
      "input": {
        "note": "Wrist view shows the near bottle at lower-left of the jaws. Moving slightly forward-right and down to 14 cm to line the jaws up over that bottle's neck/cap end before grasping.",
        "targets": {
          "left_x": 0.34,
          "left_y": -0.21,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XFGmQc3pfas17LkVkytkGS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6647, 1.3415, 0.7261, -0.0486, -0.2279, -0.1665, 0.9985, -0.0193, 0.7898, 0.5861, -0.4034, -0.0238, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3303 left_y=-0.2036 left_z=0.1276 left_yaw=-0.3945 left_pitch=-0.0828 left_roll=0.02 left_gripper=0.9985 right_x=0.2891 right_y=0.0022 right_z=0.1681 right_yaw=-0.003 right_pitch=-0.0343 right_roll=-0.0001 right_gripper=0.9982\nstate[joint_eff]: [-0.4718, -5.5863, 5.8051, 1.9902, -0.3248, -0.1148, -0.0269, -0.3897, -2.0991, 6.7761, 2.0, -0.0513, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:826d83a07c0658fec8b83c31a174a76161688c189a6de6173ea02ae1199a4885",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a429a7cd9feca04c3680fee6ba2254c540634dda711c9a8e4cb4dc8aca484adc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8a55503074b13f3709ef9da67e30e516d8e32750ca507654357bec25d6fcc03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 20.86 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6083, -0.3763, -0.0193, -0.0288, 0.9986, -0.0158, 0.7883, 0.6029, -0.3874, -0.0238, -0.0353, 0.9983]\nstate[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1829 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2933 right_y=0.0032 right_z=0.1795 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.4444, -1.5248, 9.7573, 1.7558, -0.0415, 0.1148, -0.1636, -1.0325, -0.9504, 10.3043, 1.8291, 0.0171, 0.1978, -0.1929]",
      "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]: [-0.5507, 1.1408, 0.8639, -0.3534, -0.1513, -0.1131, 0.9986, -0.0193, 0.794, 0.6041, -0.4034, -0.0238, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3224 left_y=-0.1625 left_z=0.1986 left_yaw=-0.3739 left_pitch=-0.0609 left_roll=0.0105 left_gripper=0.9986 right_x=0.2916 right_y=0.0022 right_z=0.1752 right_yaw=-0.003 right_pitch=-0.0206 right_roll=-0.0003 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -3.7128, 9.8803, 1.7949, -0.0562, -0.0415, -0.1587, 0.253, -1.5111, 7.1043, 1.8632, -0.0269, -0.0269, -0.0171]",
      "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]: [-0.6647, 1.3415, 0.7261, -0.0486, -0.2279, -0.1665, 0.9985, -0.0193, 0.7898, 0.5861, -0.4034, -0.0238, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3303 left_y=-0.2036 left_z=0.1276 left_yaw=-0.3945 left_pitch=-0.0828 left_roll=0.02 left_gripper=0.9985 right_x=0.2891 right_y=0.0022 right_z=0.1681 right_yaw=-0.003 right_pitch=-0.0343 right_roll=-0.0001 right_gripper=0.9982\nstate[joint_eff]: [-0.4718, -5.5863, 5.8051, 1.9902, -0.3248, -0.1148, -0.0269, -0.3897, -2.0991, 6.7761, 2.0, -0.0513, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:826d83a07c0658fec8b83c31a174a76161688c189a6de6173ea02ae1199a4885",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a429a7cd9feca04c3680fee6ba2254c540634dda711c9a8e4cb4dc8aca484adc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8a55503074b13f3709ef9da67e30e516d8e32750ca507654357bec25d6fcc03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CDEMzge8hFajCBP3uXZrWA",
      "input": {
        "note": "The nearest bottle is ambiguous in the wrist view, so I'm switching to the clearly-visible middle bottle: hovering over its cap end (cap points forward) with jaws aligned across its neck.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.27,
          "left_yaw": 0.15,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01CDEMzge8hFajCBP3uXZrWA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9176, 1.7687, 1.2552, -0.3099, -0.7349, -0.6724, 0.9981, -0.0193, 0.7708, 0.5518, -0.3855, -0.0238, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3713 left_y=-0.2845 left_z=0.1554 left_yaw=0.0212 left_pitch=-0.0143 left_roll=-0.0246 left_gripper=0.9981 right_x=0.286 right_y=0.0023 right_z=0.1612 right_yaw=-0.003 right_pitch=-0.0317 right_roll=-0.0001 right_gripper=0.9982\nstate[joint_eff]: [-0.5402, -9.5111, 6.7077, 0.7399, -0.525, -0.0708, -0.0562, -0.3897, -1.5111, 7.0222, 1.956, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac2a27e436839bf76dc6ae2acf477aecf7366b051e0f1381e29c09cce2da604f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18a3d14ddf2768a40ef21d32932a88dd12b755ae5797887d9008150ec3371507",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f968bef92240bf622b481afef3d3d2ba36ef31a2d25962202e9fc108e71d3b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 9.393 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]: [-0.5507, 1.1408, 0.8639, -0.3534, -0.1513, -0.1131, 0.9986, -0.0193, 0.794, 0.6041, -0.4034, -0.0238, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3224 left_y=-0.1625 left_z=0.1986 left_yaw=-0.3739 left_pitch=-0.0609 left_roll=0.0105 left_gripper=0.9986 right_x=0.2916 right_y=0.0022 right_z=0.1752 right_yaw=-0.003 right_pitch=-0.0206 right_roll=-0.0003 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -3.7128, 9.8803, 1.7949, -0.0562, -0.0415, -0.1587, 0.253, -1.5111, 7.1043, 1.8632, -0.0269, -0.0269, -0.0171]",
      "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]: [-0.6647, 1.3415, 0.7261, -0.0486, -0.2279, -0.1665, 0.9985, -0.0193, 0.7898, 0.5861, -0.4034, -0.0238, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3303 left_y=-0.2036 left_z=0.1276 left_yaw=-0.3945 left_pitch=-0.0828 left_roll=0.02 left_gripper=0.9985 right_x=0.2891 right_y=0.0022 right_z=0.1681 right_yaw=-0.003 right_pitch=-0.0343 right_roll=-0.0001 right_gripper=0.9982\nstate[joint_eff]: [-0.4718, -5.5863, 5.8051, 1.9902, -0.3248, -0.1148, -0.0269, -0.3897, -2.0991, 6.7761, 2.0, -0.0513, -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 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9176, 1.7687, 1.2552, -0.3099, -0.7349, -0.6724, 0.9981, -0.0193, 0.7708, 0.5518, -0.3855, -0.0238, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3713 left_y=-0.2845 left_z=0.1554 left_yaw=0.0212 left_pitch=-0.0143 left_roll=-0.0246 left_gripper=0.9981 right_x=0.286 right_y=0.0023 right_z=0.1612 right_yaw=-0.003 right_pitch=-0.0317 right_roll=-0.0001 right_gripper=0.9982\nstate[joint_eff]: [-0.5402, -9.5111, 6.7077, 0.7399, -0.525, -0.0708, -0.0562, -0.3897, -1.5111, 7.0222, 1.956, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac2a27e436839bf76dc6ae2acf477aecf7366b051e0f1381e29c09cce2da604f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18a3d14ddf2768a40ef21d32932a88dd12b755ae5797887d9008150ec3371507",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f968bef92240bf622b481afef3d3d2ba36ef31a2d25962202e9fc108e71d3b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011zEvk8zQeYAGZZuyaENQrZ",
      "input": {
        "note": "In the wrist view the middle bottle is aligned with the jaw column but its neck/cap sits high in the frame, meaning it is several cm further forward than the fingertips; advancing 5 cm and lowering to 12 cm to get over the neck.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.285,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011zEvk8zQeYAGZZuyaENQrZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.828, 1.9125, 1.2823, -0.2077, -0.7216, -0.6277, 0.998, -0.0193, 0.7563, 0.5236, -0.374, -0.0242, -0.036, 0.9982]\nstate[eef_state]: left_x=0.4115 left_y=-0.2703 left_z=0.1143 left_yaw=0.0782 left_pitch=-0.0309 left_roll=0.0182 left_gripper=0.998 right_x=0.2831 right_y=0.0024 right_z=0.1546 right_yaw=-0.0027 right_pitch=-0.0339 right_roll=0.0001 right_gripper=0.9982\nstate[joint_eff]: [-0.8, -10.3179, 7.0359, 1.6581, -0.2369, 0.1832, -0.0171, -0.2256, -1.6752, 6.9128, 2.0147, -0.0757, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:027996bf077563a9264d26d9728591a25a41cc982588a99bdfe91e743619ca77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:380469a37d75ac4ad7a817cc930b9c5d57e670b3b385d098c4af66f82158de09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8e1694f708191536e973caff84650915857120fd89ecc4a39710e2c41391c54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 20.03 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]: [-0.6647, 1.3415, 0.7261, -0.0486, -0.2279, -0.1665, 0.9985, -0.0193, 0.7898, 0.5861, -0.4034, -0.0238, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3303 left_y=-0.2036 left_z=0.1276 left_yaw=-0.3945 left_pitch=-0.0828 left_roll=0.02 left_gripper=0.9985 right_x=0.2891 right_y=0.0022 right_z=0.1681 right_yaw=-0.003 right_pitch=-0.0343 right_roll=-0.0001 right_gripper=0.9982\nstate[joint_eff]: [-0.4718, -5.5863, 5.8051, 1.9902, -0.3248, -0.1148, -0.0269, -0.3897, -2.0991, 6.7761, 2.0, -0.0513, -0.0659, -0.0073]\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]: [-0.9176, 1.7687, 1.2552, -0.3099, -0.7349, -0.6724, 0.9981, -0.0193, 0.7708, 0.5518, -0.3855, -0.0238, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3713 left_y=-0.2845 left_z=0.1554 left_yaw=0.0212 left_pitch=-0.0143 left_roll=-0.0246 left_gripper=0.9981 right_x=0.286 right_y=0.0023 right_z=0.1612 right_yaw=-0.003 right_pitch=-0.0317 right_roll=-0.0001 right_gripper=0.9982\nstate[joint_eff]: [-0.5402, -9.5111, 6.7077, 0.7399, -0.525, -0.0708, -0.0562, -0.3897, -1.5111, 7.0222, 1.956, -0.0415, -0.0562, -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]: [-0.828, 1.9125, 1.2823, -0.2077, -0.7216, -0.6277, 0.998, -0.0193, 0.7563, 0.5236, -0.374, -0.0242, -0.036, 0.9982]\nstate[eef_state]: left_x=0.4115 left_y=-0.2703 left_z=0.1143 left_yaw=0.0782 left_pitch=-0.0309 left_roll=0.0182 left_gripper=0.998 right_x=0.2831 right_y=0.0024 right_z=0.1546 right_yaw=-0.0027 right_pitch=-0.0339 right_roll=0.0001 right_gripper=0.9982\nstate[joint_eff]: [-0.8, -10.3179, 7.0359, 1.6581, -0.2369, 0.1832, -0.0171, -0.2256, -1.6752, 6.9128, 2.0147, -0.0757, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:027996bf077563a9264d26d9728591a25a41cc982588a99bdfe91e743619ca77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:380469a37d75ac4ad7a817cc930b9c5d57e670b3b385d098c4af66f82158de09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8e1694f708191536e973caff84650915857120fd89ecc4a39710e2c41391c54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9wgKjgEIEhgCKkCLbXNcnpdA1wjMFZiV0GJGtajLQoZXwEq7DjRYRI6kMH6OyL+vnJ+FrPGWXqGtdnl0JDdouphvtSkU/R5BPHbxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAePDzNUGEgysIXx5hsAlD+ucK4YaDOmuAluq82Fw8l5ATSIw4eXXPXIHS5GORBbAS5K8MDmFGE7G7Ev/otdOGmVDK9cjLjuv+NCT5Ih9VyIgjRFQKpUHUSKINVKpz7foecQE9hKrlX0Xe35xo39vuR5AfKJVRKBSpCisw/m6jPbwFFzUKLxhm83nQKyVjMFGuFMHalLmsJHlr/rtuArktjeC1VNJSs6msvUVDdC9WA4jRfNQ1LFxqPQ8EUsRTSxriUJurCuxeI2ksyQGLXRRITo1De61m1BuCSbDB94ytzT3FrQcADTK6xAVoJM55Plroah/P61Zx+R72dakP2cPShF4LialeMoCJVVEkdWSjevr9KTFvUVr5Y9iLK+WNlOrb6aw9gzU+ZGefNUxfUYRk4PZm5N0N0O/EzCYR3+vVpGxIcQRmChAitKUN1omFXWUrtnrYGkDt/6WZtJR5DPMisVu5mwxjyqKxzJHDhiCXHhB+y3U0Y/OUqRa9JXjhrVWmpkjARbQ04ol7B87zl8mhECC4NLC8ZS2u5XItzhMsxXGh4g17zRfer+rvVrFVUusjTampdyW+E5Zfnl/ioGgppEF2h8YJ++dxDmgf+soNn1Lud+0/tQ/h7V/+r8C3CglHcEZsTIbpu7p0onQuqPfZuAnKQ+MPxYfrVsX4nlZ9f0+C7NUBI8sr0OXXCSmfZ7Ng30EONSvSUTu3CVYU+1+Blal9aqxxBFqVpT1oPPMDzJqhVKH2wijUKECArFdDY/lHn5eSkzNhfutE3cMP8v5hGml4Z6Hgq4L+hZ4rjIJ09hJr00UevgocUzMC2zT9MCIYiyh8UpvttuCQ2rWv12nu0BKncV12s0vjDc+LTK5yQRBE9PixlkDEOgXAbASvCWbaEiQVtcNgC1aVfI/s9StIwoXd+thqHn84h/Od/QLTmf42mzz2avJ2NkhvQ8V/geCPGaggPgkbrelwy13T2mcDpXqj13BN7cbc0j54prC/3Ns0EKOXitZGeatY3q32s43v7+uyg4pxHzyUQxMqA6Ea+TiohJgb7kMhxWM/nuLrcnGOiMVKz/CGmiTUJCqsVg/HLoYbS0KXo18OPvWPPow1xCI/oURWQOJmNsn0Yb/5R6ElBgeQUaBPusB3uzIH0Rklw5xS1tQVd1zTpI2wLrESzifZLaro+iVq0equicM2oA3r2NXPGvUvXelMVaqZqBYczLVaWfEjdn2rWX6fweEsPqBHdkTZaoGYRNXAXlEYSjVAJ5e7WZAcSGpuOtmN0JRj5IEdM5dc5fZxi0FFcuFFVNehXDFJnkQRBv60qSpvXlgZ1enAhQ9kmKTLzQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UmyTwa9pSsy2zCJ5uVAGU9",
      "input": {
        "note": "The middle bottle still sits high in the wrist frame and slightly left of the jaw column; advancing another 4-5 cm forward, 1.5 cm left and down to 9 cm to bring the neck under the jaws.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.255,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01UmyTwa9pSsy2zCJ5uVAGU9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8249, 1.9354, 1.2823, -0.1528, -0.6952, -0.598, 0.998, -0.0193, 0.741, 0.4904, -0.3588, -0.0242, -0.036, 0.9982]\nstate[eef_state]: left_x=0.4167 left_y=-0.279 left_z=0.1091 left_yaw=0.0464 left_pitch=-0.026 left_roll=0.0059 left_gripper=0.998 right_x=0.28 right_y=0.0025 right_z=0.1465 right_yaw=-0.0027 right_pitch=-0.0366 right_roll=0.0002 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -11.0017, 7.0085, 1.6825, -0.2369, 0.3199, -0.0122, -0.1983, -1.7436, 7.159, 1.9658, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b750d73f97c89d5dd7d86443abc5c6baa335d009439f0e8727656cdac2eb1ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf4af8d0b0d1a140adcefd5a4bc6ff8bbd28cdd7aa0ef9d2f2678d145b7ac78b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0ec65e3a181f5677093464d5fa9afdbc7a6b45d80a022ef000d48583a3e1dfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 6.443 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]: [-0.9176, 1.7687, 1.2552, -0.3099, -0.7349, -0.6724, 0.9981, -0.0193, 0.7708, 0.5518, -0.3855, -0.0238, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3713 left_y=-0.2845 left_z=0.1554 left_yaw=0.0212 left_pitch=-0.0143 left_roll=-0.0246 left_gripper=0.9981 right_x=0.286 right_y=0.0023 right_z=0.1612 right_yaw=-0.003 right_pitch=-0.0317 right_roll=-0.0001 right_gripper=0.9982\nstate[joint_eff]: [-0.5402, -9.5111, 6.7077, 0.7399, -0.525, -0.0708, -0.0562, -0.3897, -1.5111, 7.0222, 1.956, -0.0415, -0.0562, -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]: [-0.828, 1.9125, 1.2823, -0.2077, -0.7216, -0.6277, 0.998, -0.0193, 0.7563, 0.5236, -0.374, -0.0242, -0.036, 0.9982]\nstate[eef_state]: left_x=0.4115 left_y=-0.2703 left_z=0.1143 left_yaw=0.0782 left_pitch=-0.0309 left_roll=0.0182 left_gripper=0.998 right_x=0.2831 right_y=0.0024 right_z=0.1546 right_yaw=-0.0027 right_pitch=-0.0339 right_roll=0.0001 right_gripper=0.9982\nstate[joint_eff]: [-0.8, -10.3179, 7.0359, 1.6581, -0.2369, 0.1832, -0.0171, -0.2256, -1.6752, 6.9128, 2.0147, -0.0757, -0.0513, -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]: [-0.8249, 1.9354, 1.2823, -0.1528, -0.6952, -0.598, 0.998, -0.0193, 0.741, 0.4904, -0.3588, -0.0242, -0.036, 0.9982]\nstate[eef_state]: left_x=0.4167 left_y=-0.279 left_z=0.1091 left_yaw=0.0464 left_pitch=-0.026 left_roll=0.0059 left_gripper=0.998 right_x=0.28 right_y=0.0025 right_z=0.1465 right_yaw=-0.0027 right_pitch=-0.0366 right_roll=0.0002 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -11.0017, 7.0085, 1.6825, -0.2369, 0.3199, -0.0122, -0.1983, -1.7436, 7.159, 1.9658, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b750d73f97c89d5dd7d86443abc5c6baa335d009439f0e8727656cdac2eb1ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf4af8d0b0d1a140adcefd5a4bc6ff8bbd28cdd7aa0ef9d2f2678d145b7ac78b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0ec65e3a181f5677093464d5fa9afdbc7a6b45d80a022ef000d48583a3e1dfe",
        "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_01SDHM7vhXcv5YAw8PwQym51",
      "input": {
        "note": "The arm stalled near x=0.42 (reach limit) and the top view suggests the bottle is actually further to the arm's right than the wrist view implied; shifting 5 cm right and back a little to test which reading is correct.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.33,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01SDHM7vhXcv5YAw8PwQym51",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8249, 1.9354, 1.2823, -0.1528, -0.6956, -0.5976, 0.998, -0.0193, 0.7223, 0.4557, -0.3431, -0.0242, -0.036, 0.9982]\nstate[eef_state]: left_x=0.4167 left_y=-0.279 left_z=0.1092 left_yaw=0.0465 left_pitch=-0.0257 left_roll=0.0064 left_gripper=0.998 right_x=0.2765 right_y=0.0025 right_z=0.1388 right_yaw=-0.0027 right_pitch=-0.037 right_roll=0.0002 right_gripper=0.9982\nstate[joint_eff]: [-0.3624, -11.0838, 7.0359, 1.7021, -0.2564, 0.3297, -0.0122, -0.2803, -1.5521, 6.9402, 2.0147, -0.0708, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22763b3a573a101fc4daceb5e1b4fb76c1a25421e015d3a708653a9a7bd4d174",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de4e936fcd6e81d7ae9f023286f6e3da5b6ff7e084f643048412996708fe9466",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7bcf01e5cca78bcd8ccbe04aebf81658efb0f74b33a3dbea32b2473b017e85e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 32.42 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]: [-0.828, 1.9125, 1.2823, -0.2077, -0.7216, -0.6277, 0.998, -0.0193, 0.7563, 0.5236, -0.374, -0.0242, -0.036, 0.9982]\nstate[eef_state]: left_x=0.4115 left_y=-0.2703 left_z=0.1143 left_yaw=0.0782 left_pitch=-0.0309 left_roll=0.0182 left_gripper=0.998 right_x=0.2831 right_y=0.0024 right_z=0.1546 right_yaw=-0.0027 right_pitch=-0.0339 right_roll=0.0001 right_gripper=0.9982\nstate[joint_eff]: [-0.8, -10.3179, 7.0359, 1.6581, -0.2369, 0.1832, -0.0171, -0.2256, -1.6752, 6.9128, 2.0147, -0.0757, -0.0513, -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]: [-0.8249, 1.9354, 1.2823, -0.1528, -0.6952, -0.598, 0.998, -0.0193, 0.741, 0.4904, -0.3588, -0.0242, -0.036, 0.9982]\nstate[eef_state]: left_x=0.4167 left_y=-0.279 left_z=0.1091 left_yaw=0.0464 left_pitch=-0.026 left_roll=0.0059 left_gripper=0.998 right_x=0.28 right_y=0.0025 right_z=0.1465 right_yaw=-0.0027 right_pitch=-0.0366 right_roll=0.0002 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -11.0017, 7.0085, 1.6825, -0.2369, 0.3199, -0.0122, -0.1983, -1.7436, 7.159, 1.9658, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8249, 1.9354, 1.2823, -0.1528, -0.6956, -0.5976, 0.998, -0.0193, 0.7223, 0.4557, -0.3431, -0.0242, -0.036, 0.9982]\nstate[eef_state]: left_x=0.4167 left_y=-0.279 left_z=0.1092 left_yaw=0.0465 left_pitch=-0.0257 left_roll=0.0064 left_gripper=0.998 right_x=0.2765 right_y=0.0025 right_z=0.1388 right_yaw=-0.0027 right_pitch=-0.037 right_roll=0.0002 right_gripper=0.9982\nstate[joint_eff]: [-0.3624, -11.0838, 7.0359, 1.7021, -0.2564, 0.3297, -0.0122, -0.2803, -1.5521, 6.9402, 2.0147, -0.0708, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22763b3a573a101fc4daceb5e1b4fb76c1a25421e015d3a708653a9a7bd4d174",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de4e936fcd6e81d7ae9f023286f6e3da5b6ff7e084f643048412996708fe9466",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bcf01e5cca78bcd8ccbe04aebf81658efb0f74b33a3dbea32b2473b017e85e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS3gYKjgEIEhgCKkAp/4cHsFWg9UeZf8bhWDHxVLRYYVQLuRRAOtX+kxDUglkuoCANk6VABw6qp/tk/2AHw2OjEbvqTBetbNiLqVSoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf/DzNUGEgwSwx2XuhnKWNl2uDIaDHIQ+ZdKe97k2PIeciIwkI2amDOElx+AsDwqcCsDuA1R1ol7gQWUj3ZUUBDAqgNBO6b9YKOKWVYHOZG9OE3RKvwEInVvVAvgsSQQj3DyAhyuImRqQZteExl9GV5YzJL3+mKmXAdwblPJuxn5+gE4CIXqppvQEEkyzFwfArBY6ayDz5dgJZZz5mxRkpJAfl1qhbL/2TlBOBTPBDd8LvTTYq67EE6dGzO0LtKsHZgnJIe+upJJml46v73H00iC2l/C7bSTG6EpQo4jODFUqOzYrEXfsWkGAwgfk8gK7fmU4kScG/Q6p0Rlw64vMy708dGwYfHGo1bIZ1bcyU1e0wZ49U+2NYqrNIyf8gZfFAlOokh8K8b7UGIWau8z/uTXv7UUb84sTpeBlFks8E/riEX8Atyk0K3Aw/WD/Q/KxjRcNa5zO/HlZo7YqgFs8AbW510/sUo09tvXhLpmOQG9Ec93R2vfbk0fpKTrsFonEgZQWyHrEYpdu7TNvB9gME4HJw1HFScKmUqTYAzvzJE7QEE/R3P0IZs6Qf5Jfu+qHWBTxfatOm1rVwG18mmqCZTLmOOz8bPj3Cp2Uwj18OQdwCtIueQOjwMmYbZh6RYyRYjif+m1YQ/xLP3Y2z9bUsGh8pCDUPt6UbxFNDAzbzy7K/1FqbDg1NX4gih7G2qbqAxd1iYqrGu8nqWNVd3C2SUvDOGsM+0+gkYex2WMYk5CIl7mBZiB6YGShGGhaQyQ9paoN3GBJ9QxT7KHiZn0iNpYYVh66GkopZO02KaOARmJ5oZkHCJMBWD8hBCZqBcbXMOF3vQDmT7BdUWV9kazSulA4wDNjGAlX+zBzYm/1CQXCBq6DFG99lkCsVFA/rvSO40euqcQ/BApokfB24/TK6VhnSgC4G0jzaP1uEDdTFLP9SWzIvSLKVbbsOtfRZaac4QMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RjbfLypsA3x6TYRagpuY5P",
      "input": {
        "note": "The left arm is stalled (state unchanged after the last command), so I'm retreating it up and back to a clean pose before re-approaching.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.2,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01RjbfLypsA3x6TYRagpuY5P",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9489, 1.3926, 1.3083, -0.7601, -0.7692, -0.7078, 0.998, -0.0193, 0.6983, 0.421, -0.3237, -0.0238, -0.0364, 0.9982]\nstate[eef_state]: left_x=0.3086 left_y=-0.2135 left_z=0.2638 left_yaw=0.0322 left_pitch=-0.0059 left_roll=-0.0227 left_gripper=0.998 right_x=0.2735 right_y=0.0025 right_z=0.133 right_yaw=-0.0028 right_pitch=-0.0282 right_roll=-0.0005 right_gripper=0.9982\nstate[joint_eff]: [-0.1983, -6.7487, 8.9778, 1.2039, -0.5153, 0.1685, -0.0171, 0.0615, -0.9231, 7.3504, 1.9707, -0.0464, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:534a47a366bd26eb22bf2852263749e50ad2b0cef0d1654cb3b84074408d989e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97c8274816d86069aaf8b9fb3594757fa824ec351d215714cbda7a4db3748d68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f28c0541b602dc46117eb36ee15a0900c71012578ba064d728a09ed34bb55b7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 5.881 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]: [-0.8249, 1.9354, 1.2823, -0.1528, -0.6952, -0.598, 0.998, -0.0193, 0.741, 0.4904, -0.3588, -0.0242, -0.036, 0.9982]\nstate[eef_state]: left_x=0.4167 left_y=-0.279 left_z=0.1091 left_yaw=0.0464 left_pitch=-0.026 left_roll=0.0059 left_gripper=0.998 right_x=0.28 right_y=0.0025 right_z=0.1465 right_yaw=-0.0027 right_pitch=-0.0366 right_roll=0.0002 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -11.0017, 7.0085, 1.6825, -0.2369, 0.3199, -0.0122, -0.1983, -1.7436, 7.159, 1.9658, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8249, 1.9354, 1.2823, -0.1528, -0.6956, -0.5976, 0.998, -0.0193, 0.7223, 0.4557, -0.3431, -0.0242, -0.036, 0.9982]\nstate[eef_state]: left_x=0.4167 left_y=-0.279 left_z=0.1092 left_yaw=0.0465 left_pitch=-0.0257 left_roll=0.0064 left_gripper=0.998 right_x=0.2765 right_y=0.0025 right_z=0.1388 right_yaw=-0.0027 right_pitch=-0.037 right_roll=0.0002 right_gripper=0.9982\nstate[joint_eff]: [-0.3624, -11.0838, 7.0359, 1.7021, -0.2564, 0.3297, -0.0122, -0.2803, -1.5521, 6.9402, 2.0147, -0.0708, -0.0757, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9489, 1.3926, 1.3083, -0.7601, -0.7692, -0.7078, 0.998, -0.0193, 0.6983, 0.421, -0.3237, -0.0238, -0.0364, 0.9982]\nstate[eef_state]: left_x=0.3086 left_y=-0.2135 left_z=0.2638 left_yaw=0.0322 left_pitch=-0.0059 left_roll=-0.0227 left_gripper=0.998 right_x=0.2735 right_y=0.0025 right_z=0.133 right_yaw=-0.0028 right_pitch=-0.0282 right_roll=-0.0005 right_gripper=0.9982\nstate[joint_eff]: [-0.1983, -6.7487, 8.9778, 1.2039, -0.5153, 0.1685, -0.0171, 0.0615, -0.9231, 7.3504, 1.9707, -0.0464, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:534a47a366bd26eb22bf2852263749e50ad2b0cef0d1654cb3b84074408d989e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97c8274816d86069aaf8b9fb3594757fa824ec351d215714cbda7a4db3748d68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f28c0541b602dc46117eb36ee15a0900c71012578ba064d728a09ed34bb55b7f",
        "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_01M2mcNDwMhGwNWKharpwP49",
      "input": {
        "note": "All three bottles lie near the far edge, close to this arm's vertical-tool reach limit (~0.42 m), so I'll first grab the near (base) end of the middle bottle at table level and drag it closer before standing it up.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.38,
          "left_y": -0.285,
          "left_yaw": 0.4,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01M2mcNDwMhGwNWKharpwP49",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9634, 2.1887, 1.4357, -0.4999, -0.9485, -1.177, 0.9986, -0.0193, 0.6807, 0.3935, -0.3134, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3758 left_y=-0.2829 left_z=0.0392 left_yaw=0.3704 left_pitch=-0.0258 left_roll=0.0214 left_gripper=0.9986 right_x=0.2705 right_y=0.0033 right_z=0.127 right_yaw=0.0002 right_pitch=-0.0278 right_roll=0.002 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -11.6308, 6.9265, 0.6032, -0.6813, 0.0708, -0.1587, -0.3214, -0.8684, 7.0496, 1.9414, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa9549ae4d8582d3ac581a8f23c0298d654c06e1ad78eb76cf8943311724291d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1615b7939c668a3513e4ee5be139d3b5928054ea20d24b59b71b8f149db71359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25e5dca9a7067d70b3cceb1a86787020dc4c12abcb8c89a2cedfb7271c83872d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 10.61 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]: [-0.8249, 1.9354, 1.2823, -0.1528, -0.6956, -0.5976, 0.998, -0.0193, 0.7223, 0.4557, -0.3431, -0.0242, -0.036, 0.9982]\nstate[eef_state]: left_x=0.4167 left_y=-0.279 left_z=0.1092 left_yaw=0.0465 left_pitch=-0.0257 left_roll=0.0064 left_gripper=0.998 right_x=0.2765 right_y=0.0025 right_z=0.1388 right_yaw=-0.0027 right_pitch=-0.037 right_roll=0.0002 right_gripper=0.9982\nstate[joint_eff]: [-0.3624, -11.0838, 7.0359, 1.7021, -0.2564, 0.3297, -0.0122, -0.2803, -1.5521, 6.9402, 2.0147, -0.0708, -0.0757, -0.0073]\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]: [-0.9489, 1.3926, 1.3083, -0.7601, -0.7692, -0.7078, 0.998, -0.0193, 0.6983, 0.421, -0.3237, -0.0238, -0.0364, 0.9982]\nstate[eef_state]: left_x=0.3086 left_y=-0.2135 left_z=0.2638 left_yaw=0.0322 left_pitch=-0.0059 left_roll=-0.0227 left_gripper=0.998 right_x=0.2735 right_y=0.0025 right_z=0.133 right_yaw=-0.0028 right_pitch=-0.0282 right_roll=-0.0005 right_gripper=0.9982\nstate[joint_eff]: [-0.1983, -6.7487, 8.9778, 1.2039, -0.5153, 0.1685, -0.0171, 0.0615, -0.9231, 7.3504, 1.9707, -0.0464, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9634, 2.1887, 1.4357, -0.4999, -0.9485, -1.177, 0.9986, -0.0193, 0.6807, 0.3935, -0.3134, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3758 left_y=-0.2829 left_z=0.0392 left_yaw=0.3704 left_pitch=-0.0258 left_roll=0.0214 left_gripper=0.9986 right_x=0.2705 right_y=0.0033 right_z=0.127 right_yaw=0.0002 right_pitch=-0.0278 right_roll=0.002 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -11.6308, 6.9265, 0.6032, -0.6813, 0.0708, -0.1587, -0.3214, -0.8684, 7.0496, 1.9414, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa9549ae4d8582d3ac581a8f23c0298d654c06e1ad78eb76cf8943311724291d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1615b7939c668a3513e4ee5be139d3b5928054ea20d24b59b71b8f149db71359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25e5dca9a7067d70b3cceb1a86787020dc4c12abcb8c89a2cedfb7271c83872d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS4AYKjgEIEhgCKkBGoFpecUrtgLpHlrUliU3Yi80zln/KjvxVEvA54Euv7rD/xc4Mx0842UY8qMtDayAV0MRJiW+gkiFda2PnLzG8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAajEzNUGEgxNdXDoQbladgmR9+UaDPv4cP73/9PI6R/iwSIwAjbUU0VO3ARqlSa8UVxe4VpQ9TtlJigovxwbDDqbtyEGEqmNxpRGlsR0kZ5Kma3PKv4EADF1pS5AhXuJH0FNIFZ7M6mEKuyiNvT3RQ6IiojbsjWeZnw7zKo3eU/Me8VZm2W6/443ib8DfnjfijBGJ5vXovpEB7QfBCWHh2OWURCtaVpfYFzajp5rhNxUkU8WgTLaMNVIzvDto91Ain0pM1U5Xx6SZWiu4GX6TGbgHkencVmUkQRSDUzccg2wbovXN5yUOmfZ36EqNVIeD8Xw6MgEcjjz7jjDbWq92DrCJRfPMIBAydjjulnfqWmXS7UkCK4XAOtKtB0taYkLrtviUvb/dT/GZW/b9b+CYQ5YThNUvL2TB6E0OQsx9zRTBoQaXTGa0LdLgb/XwOA7iFh9nc2XN8VbrKUJNoCfcl/94e0VPl1nkQGqzhyHP+7YIZMqxsTq/vfNOebebCe2DtkhJw9X+QvoB7CZ8l4nbJmlcVNxKSv53Pjxq9LZW7L7BvapibvgMnUuXNBnwtOnEiunH1n1YULkh2IM6VLzeoVVvfJ5tp3O9Mg9JgSo2SsYu/BoHVLEXEyQpjao23wpn5aKYfutpwkBEl582KQahCERv/Rwl6ODpX6AYoOSWTTetfi0v33RfS1tL+PiYlZ7g0S5Wi0aFwCaSLxCY69Qz8HrOoTSYnFGF/F5SloL9YywFMBOZSOvHR9NTgApFi+KOyazXYXvV/7RPNWKLSqlx7k2AhJjXsqJPCVkxsSt6XdU5PGKXi8xEz7lxeNq9211Drrmlfv8fVVDI+fDDW/s2pq55BfurlSK54j17EO0Cejeg2j/AQUaB7c3ZLg66rHgeqo18D99JmkH6cmRs+Hx9EWlmsPZPmGD3ba1D8dcHlsQ/E8w0GuKYMFUNEynSOEWnTmE0akYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VegtvdSo9WYp8AYKoEUd5J",
      "input": {
        "note": "The middle bottle fills the wrist view centred on the jaw column at table level; closing the jaws on its body to grip it.",
        "targets": {
          "left_gripper": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01VegtvdSo9WYp8AYKoEUd5J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9638, 2.2143, 1.4078, -0.4492, -0.9524, -1.1793, 0.555, -0.0193, 0.6662, 0.371, -0.3058, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3748 left_y=-0.2811 left_z=0.024 left_yaw=0.3725 left_pitch=-0.0228 left_roll=0.0229 left_gripper=0.555 right_x=0.268 right_y=0.0033 right_z=0.122 right_yaw=0.0002 right_pitch=-0.0282 right_roll=0.002 right_gripper=0.9982\nstate[joint_eff]: [-0.4581, -14.188, 5.135, 0.779, -0.652, 0.0171, 0.8962, -0.0068, -1.1419, 6.694, 2.0, 0.0122, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13a2f4483ed72055a1458e5c97b338855c0167ad5a142d5070cb7d6b2440fdc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4644bc47e2f79997255f11aecfc5492dd9c7d2983a2c460581a2215cbaaff88a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:582afba5855d9f72840ef73feb095dac5b69192a2920de1a78eb862a64ec878b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 19.84 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]: [-0.9489, 1.3926, 1.3083, -0.7601, -0.7692, -0.7078, 0.998, -0.0193, 0.6983, 0.421, -0.3237, -0.0238, -0.0364, 0.9982]\nstate[eef_state]: left_x=0.3086 left_y=-0.2135 left_z=0.2638 left_yaw=0.0322 left_pitch=-0.0059 left_roll=-0.0227 left_gripper=0.998 right_x=0.2735 right_y=0.0025 right_z=0.133 right_yaw=-0.0028 right_pitch=-0.0282 right_roll=-0.0005 right_gripper=0.9982\nstate[joint_eff]: [-0.1983, -6.7487, 8.9778, 1.2039, -0.5153, 0.1685, -0.0171, 0.0615, -0.9231, 7.3504, 1.9707, -0.0464, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.9634, 2.1887, 1.4357, -0.4999, -0.9485, -1.177, 0.9986, -0.0193, 0.6807, 0.3935, -0.3134, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3758 left_y=-0.2829 left_z=0.0392 left_yaw=0.3704 left_pitch=-0.0258 left_roll=0.0214 left_gripper=0.9986 right_x=0.2705 right_y=0.0033 right_z=0.127 right_yaw=0.0002 right_pitch=-0.0278 right_roll=0.002 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -11.6308, 6.9265, 0.6032, -0.6813, 0.0708, -0.1587, -0.3214, -0.8684, 7.0496, 1.9414, -0.0317, -0.0513, -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]: [-0.9638, 2.2143, 1.4078, -0.4492, -0.9524, -1.1793, 0.555, -0.0193, 0.6662, 0.371, -0.3058, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3748 left_y=-0.2811 left_z=0.024 left_yaw=0.3725 left_pitch=-0.0228 left_roll=0.0229 left_gripper=0.555 right_x=0.268 right_y=0.0033 right_z=0.122 right_yaw=0.0002 right_pitch=-0.0282 right_roll=0.002 right_gripper=0.9982\nstate[joint_eff]: [-0.4581, -14.188, 5.135, 0.779, -0.652, 0.0171, 0.8962, -0.0068, -1.1419, 6.694, 2.0, 0.0122, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13a2f4483ed72055a1458e5c97b338855c0167ad5a142d5070cb7d6b2440fdc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4644bc47e2f79997255f11aecfc5492dd9c7d2983a2c460581a2215cbaaff88a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:582afba5855d9f72840ef73feb095dac5b69192a2920de1a78eb862a64ec878b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShAsKjgEIEhgCKkB1maexR+kOK39O/6e379PpXAOFqq4VCtjlyHNW0cY01MVv0CaAPoz6bicejBMQa4Nxt10ERM2BGm/9iir94OoEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbTEzNUGEgyZHQH6IDSMIy8PwSwaDO7ZrVpDcG8LXnWbDSIw/QML/6lgx98lMVJgsWVACOYbUFMxliDcsOSfvmIsLpk5m/DUALADKlYdDv14iFLnKqIJfo+xbRjzNy0SLJhcG0TziqEzt29m4lU7qdTRJrdnj+rSzkY9oc1tz4F4oUaU+1y1mFN2mKSGBbu7o8wW9oP/fHHSzyYMnU89yIsueuRtB3FxbI0CE2dh/K6EgV+sYOLPG9LgBoxfQjMZgVURRe4AwuAnTfyFEo5DP09K/ZNt0gAV6uRK0LzHix7uQErEZPpZGdPtJ2/0NT80zFWTiDQOMAzQ17q0zSnFg72m1kQuo2j5quSV7FOE6FTqwZxS29errgpUQdtO0CAUwbH2W+PXJKDaM/Wy2cVUFYrwz05qGAJylERHk25LpyHnUDHKplpdgEUlxqXozG1NvuHDktxuQjXGjaSXowgt/C7lJ12GHe7iZnUnrjtOx6jzX1HGlol29D+ZhXPfrl3ab/X96o6YW5laNXEjZLiQH4KiRVWRUOsBuT36TDOUMb4+2V5Ihw8JRdRr57BZyBx/fb/Wu1zDLWJqwb2XPBySnZo7ic2X/ap4iR1AwRe+v3GWB1AbTpeT9gKQjMjGTDATblPsvlh/EY7XEnPj+XGp1lP4RTmOOOFteBwJ1KvZuGOYwBVFLapBt22y/amJvGN1cZf3x6N4TkqVA/8HesmSzLH/NIBi/52R3tTZSzho1koEJTstLNwrP47HW6Z05oMqDB/VSkNeCkvk/Fp3vcVGrzwkdXsN9CRrZJQHpX6nGhHTsA7POEtu9gKlJJJ3tjQ//dP85WMZwajthlpyv85f6+f8wB5flPYvQM9jde1FPKYZyL1XISkgDcZANVtZaUM+tzSlU05rktjZDRX6I2NVDO40jYh+7krvFl8UlQmXdsG9+jQyoYlAcodANDlhn1O0bfk+wighs5RoyaLSUPwNkAZu3erGV5KUKML1STZxoAroDI/VWySJ5cj0cgxLhGGcj8w03Ni/w8e/G0kFZOznCFSEkZoM2YrfhB+o8Kp3hiB1D+HCEs8cK1mvqaP08ZylcGVwHcbDha1cWMDYzCe15sckhr5YAjK5teYGC7hwMtXNHCbV2yrljbrDVdbBZgu4EcdSGHSXpBamgw3ROPpVwux89dpmyRFn8asLTSgiL8AP9Gsfpm7QUDXtSISZIuaHqhgx9E1qNd+HMlWRiyd11nG+Y3REkHmQxeWqnmQEMH2+ZCC+Hv+NnFTptqm+NSNEf8VGjbwRFpbFvDVcp9LA0he0TRwmSI8S+JgGSpteK0u1epTVjcWSRvYrYZ6nHTep/g/O0jQ+Ifeat36vP+3MtoxQKFrhzYwFxj7Z9n70uA+vtHci2qBwFZajqmOih3ObUi4k42sz+tFASDP/n88enscKuQEAyf4RawzcQIY7q84++Yld8+fkTHojotQp/FQr98Q6BgxGzFQ8t2+hgkwku/x8+Nv29FdFxp/xIAkHKqbIvoVQXFv6BVmxrHz+XPUxStxygU8ChBrqa50tMW2tb/q2r74vi4D9V+8NBVHcfiv549PVmkJhoZBfODXdK/xjmCuAznRWm6Cy6YdMPCWXTTN9QrW9aR89Qt2Uuhrg2OtQ2En2RpgBjDBuGcZa3EzKcsovlKnC33I56KKAD3cphiEvNnhsCujoHBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EPJgJM4gxmgaWJ5qKcjkCn",
      "input": {
        "note": "Gripper settled at 0.555 (~5.3 cm) so the bottle body is held; dragging it ~10 cm back toward the base so its neck comes within comfortable reach for the stand-up lift.",
        "targets": {
          "left_x": 0.27,
          "left_y": -0.27,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01EPJgJM4gxmgaWJ5qKcjkCn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.1843, 2.0922, 1.2346, -0.6945, -0.9607, -1.5215, 0.5571, -0.0193, 0.6495, 0.3466, -0.2981, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.2732 left_y=-0.2777 left_z=0.0238 left_yaw=0.3477 left_pitch=-0.0492 left_roll=0.0352 left_gripper=0.5571 right_x=0.2652 right_y=0.0034 right_z=0.1165 right_yaw=0.0002 right_pitch=-0.0282 right_roll=0.002 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -14.5846, 4.4923, 0.2271, -1.0623, -0.1099, 0.862, -0.2667, -0.6769, 6.8718, 2.0049, -0.0415, -0.0122, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:573b88ad62fd28bfea8fabcfd5c244228194538edc0c1967b7cf8dc94b852dff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b71abcd730645e1a7212e88b99e9375c993b78e3ca4c75d23abc54a8520698d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c25c5faf0e5e1ed24623560f47549f5334b7daa7d570d85efe1b4f2d05adb98e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 8.913 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]: [-0.9634, 2.1887, 1.4357, -0.4999, -0.9485, -1.177, 0.9986, -0.0193, 0.6807, 0.3935, -0.3134, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3758 left_y=-0.2829 left_z=0.0392 left_yaw=0.3704 left_pitch=-0.0258 left_roll=0.0214 left_gripper=0.9986 right_x=0.2705 right_y=0.0033 right_z=0.127 right_yaw=0.0002 right_pitch=-0.0278 right_roll=0.002 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -11.6308, 6.9265, 0.6032, -0.6813, 0.0708, -0.1587, -0.3214, -0.8684, 7.0496, 1.9414, -0.0317, -0.0513, -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]: [-0.9638, 2.2143, 1.4078, -0.4492, -0.9524, -1.1793, 0.555, -0.0193, 0.6662, 0.371, -0.3058, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3748 left_y=-0.2811 left_z=0.024 left_yaw=0.3725 left_pitch=-0.0228 left_roll=0.0229 left_gripper=0.555 right_x=0.268 right_y=0.0033 right_z=0.122 right_yaw=0.0002 right_pitch=-0.0282 right_roll=0.002 right_gripper=0.9982\nstate[joint_eff]: [-0.4581, -14.188, 5.135, 0.779, -0.652, 0.0171, 0.8962, -0.0068, -1.1419, 6.694, 2.0, 0.0122, -0.0562, -0.0122]",
      "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]: [-1.1843, 2.0922, 1.2346, -0.6945, -0.9607, -1.5215, 0.5571, -0.0193, 0.6495, 0.3466, -0.2981, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.2732 left_y=-0.2777 left_z=0.0238 left_yaw=0.3477 left_pitch=-0.0492 left_roll=0.0352 left_gripper=0.5571 right_x=0.2652 right_y=0.0034 right_z=0.1165 right_yaw=0.0002 right_pitch=-0.0282 right_roll=0.002 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -14.5846, 4.4923, 0.2271, -1.0623, -0.1099, 0.862, -0.2667, -0.6769, 6.8718, 2.0049, -0.0415, -0.0122, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:573b88ad62fd28bfea8fabcfd5c244228194538edc0c1967b7cf8dc94b852dff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b71abcd730645e1a7212e88b99e9375c993b78e3ca4c75d23abc54a8520698d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c25c5faf0e5e1ed24623560f47549f5334b7daa7d570d85efe1b4f2d05adb98e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mb3wnMxF3r4ym5ez3M2Wpy",
      "input": {
        "note": "The bottle has been dragged closer; releasing it and rising to 14 cm so the wrist camera can show where its neck and cap now lie.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Mb3wnMxF3r4ym5ez3M2Wpy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.203, 1.9469, 1.401, -0.9874, -0.9825, -1.5684, 0.9971, -0.0193, 0.6334, 0.3222, -0.2905, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.2712 left_y=-0.2852 left_z=0.1138 left_yaw=0.3539 left_pitch=-0.0267 left_roll=-0.0217 left_gripper=0.9971 right_x=0.2624 right_y=0.0034 right_z=0.1109 right_yaw=0.0002 right_pitch=-0.0289 right_roll=0.002 right_gripper=0.9982\nstate[joint_eff]: [0.2803, -12.4239, 7.5282, 0.0122, -0.7985, 0.2271, -0.149, 0.0342, -0.9231, 7.0085, 1.9609, -0.0122, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5f889ecac84019f2d4f26fb1640450b7b6ad43217b5fd01e9b7d1b38940aaf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dac5eb1440ea65819ad7b9a4c0a2b2d21fe02b9e0e448e1ff8ea23c60e6ab6aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b40e0e54a5d3efd079e0c9fd43f78f96eaa52cd2e0fa6fd372915be457bdc3fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 7.262 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]: [-0.9638, 2.2143, 1.4078, -0.4492, -0.9524, -1.1793, 0.555, -0.0193, 0.6662, 0.371, -0.3058, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3748 left_y=-0.2811 left_z=0.024 left_yaw=0.3725 left_pitch=-0.0228 left_roll=0.0229 left_gripper=0.555 right_x=0.268 right_y=0.0033 right_z=0.122 right_yaw=0.0002 right_pitch=-0.0282 right_roll=0.002 right_gripper=0.9982\nstate[joint_eff]: [-0.4581, -14.188, 5.135, 0.779, -0.652, 0.0171, 0.8962, -0.0068, -1.1419, 6.694, 2.0, 0.0122, -0.0562, -0.0122]",
      "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]: [-1.1843, 2.0922, 1.2346, -0.6945, -0.9607, -1.5215, 0.5571, -0.0193, 0.6495, 0.3466, -0.2981, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.2732 left_y=-0.2777 left_z=0.0238 left_yaw=0.3477 left_pitch=-0.0492 left_roll=0.0352 left_gripper=0.5571 right_x=0.2652 right_y=0.0034 right_z=0.1165 right_yaw=0.0002 right_pitch=-0.0282 right_roll=0.002 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -14.5846, 4.4923, 0.2271, -1.0623, -0.1099, 0.862, -0.2667, -0.6769, 6.8718, 2.0049, -0.0415, -0.0122, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.203, 1.9469, 1.401, -0.9874, -0.9825, -1.5684, 0.9971, -0.0193, 0.6334, 0.3222, -0.2905, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.2712 left_y=-0.2852 left_z=0.1138 left_yaw=0.3539 left_pitch=-0.0267 left_roll=-0.0217 left_gripper=0.9971 right_x=0.2624 right_y=0.0034 right_z=0.1109 right_yaw=0.0002 right_pitch=-0.0289 right_roll=0.002 right_gripper=0.9982\nstate[joint_eff]: [0.2803, -12.4239, 7.5282, 0.0122, -0.7985, 0.2271, -0.149, 0.0342, -0.9231, 7.0085, 1.9609, -0.0122, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5f889ecac84019f2d4f26fb1640450b7b6ad43217b5fd01e9b7d1b38940aaf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dac5eb1440ea65819ad7b9a4c0a2b2d21fe02b9e0e448e1ff8ea23c60e6ab6aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b40e0e54a5d3efd079e0c9fd43f78f96eaa52cd2e0fa6fd372915be457bdc3fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqQgKjgEIEhgCKkCQc9N9a967yb0NT1qUpWm5Vp0tHBVelA1BDkf5TFvw91itny6qyIBpsv+g3aLPGri4jlCsI5jej1HksYrCVlScMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdHEzNUGEgxEeOpT5kJFaWqQe+oaDDpr5QfLQha3f0nZliIwgvipJZSXYulCXXn+eNWMNi9ThpVDAot5ruaLzOa5nVDbIo62lebdng/j+Ee/dJgIKscGCE8qThkwvNAP1NS/c99wRfmIYM8YDWizv0tROuxHv1sVWuZBLTysb48sr4VsooVaAY5S2wwIlbPZkxgK9hRW1coC4Z8Kg8shwyygJhTO6MAwrpoqPXU6q7u+eYqnGAK1D7tSIOtulBl1UKr4G2JOFVkvM9q7WF9gDJF/A6eXCweGqcM5JPh/cc9qC7DYMI/S6MAPgxivxGEAU+KFtmRXkteCFT+IgJcxt2h2+dCu9SwkAiXqoXsMrRP+sr17BeKA8neWEjQskF4Fyjp4sI/gDU7AiaynI/Qonsa7nVivVFXfvD/MiZ5sZ50LP0yGj9wNl1ESAoC6BC+i4RGOVq4XI7Ff0JosJY1HYdrlWpcglPK2wRfP2cdEh/Uj+CsV8AG3PM23+hmb2OPqLpVEYolBno+v+g75PZNbSzsV2o5vbG33mVStfavFEAXaxY4+A7sQW9hc5JvwZOEYGKTBOvRhqc7nwvPaKj7D7nS1nFKLlxq81ectquXK7DLNDZkpJ6hkegiyyvcn423ZL1/1XQhCnwnZ9vnyUn7ulbxHuQxgBU7lXEZzUjskPozRVnGom/ahosCFM4UI8iW+fbvkNN8qKh5JYCPaosFseiBqo/vQoo/k6mqtJPKj3W7NLsMzv5ZCJaDz3jptBaq8a6trLFnEUk8I18JVTNxMLZC0zjmEd1OU2KIFdQ1cjknLCEbkc3uoXHJyMSZAE8CmGvAkuAu/A2Me5a+guz8eu+Hx6UCtl6opGiBcApBBXV3IwXRINH5mD1smvsKj42bltaTzG6SijlnM8hoeJoSup5kGMsz7jmJAMyhN737aWba8yIFfqt6shR2FgAguzScz0qWpoIrkXPU7mUhZRgxzxmzsAapngbAlOfFpVQ9e119McF+2XWYAkjkVeoaqaGDj4KcM//nieQFkpLX4a1E/SoTkaHjwgkjAaHaF428KQcRupLbViekbHYVj4FA0Emh2UxrGUYNZMBfPAVONt+/GtN2vlXDCMek8e/jl8RgqZIMp+uC2r7g4i/lvfk7Vb+RNGJekiOqMmuReAybVBNLnlRYNNTETWD0qe318wmpMskk8vkxyzduVI+k4fAj55hAE86QbveNMvYKVjsd27ScYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013ak6yyqRfN5RBJHgcPADG6",
      "input": {
        "note": "Wrist view shows the dragged bottle lying with its cap pointing away, on the jaw column; moving forward ~8 cm and down to neck height to place the open jaws around its neck.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.275,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013ak6yyqRfN5RBJHgcPADG6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0222, 2.0911, 1.3037, -0.535, -0.9749, -1.2892, 0.9973, -0.0193, 0.614, 0.2962, -0.2836, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3407 left_y=-0.2701 left_z=0.046 left_yaw=0.3802 left_pitch=-0.014 left_roll=0.0007 left_gripper=0.9973 right_x=0.2593 right_y=0.0035 right_z=0.1051 right_yaw=0.0002 right_pitch=-0.0286 right_roll=0.002 right_gripper=0.9982\nstate[joint_eff]: [0.3487, -9.6068, 4.7658, 0.7692, -0.4469, 0.1001, 0.0024, -0.2393, -0.6496, 6.9402, 1.9072, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61d8b5df3e02eb19bd822117bd6a7bde883ce36cecaa330b2c82a9d82a660a8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02b4c8730c639fcb9f4ce94df4bbe930bd18e46b83e0f63f8b458999ca20e948",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91217318a3be52878b47fb13008a9e52c07cdbbb3eda6be821aa0f92d8fe9095",
        "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 · 11.46 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]: [-1.1843, 2.0922, 1.2346, -0.6945, -0.9607, -1.5215, 0.5571, -0.0193, 0.6495, 0.3466, -0.2981, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.2732 left_y=-0.2777 left_z=0.0238 left_yaw=0.3477 left_pitch=-0.0492 left_roll=0.0352 left_gripper=0.5571 right_x=0.2652 right_y=0.0034 right_z=0.1165 right_yaw=0.0002 right_pitch=-0.0282 right_roll=0.002 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -14.5846, 4.4923, 0.2271, -1.0623, -0.1099, 0.862, -0.2667, -0.6769, 6.8718, 2.0049, -0.0415, -0.0122, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-1.203, 1.9469, 1.401, -0.9874, -0.9825, -1.5684, 0.9971, -0.0193, 0.6334, 0.3222, -0.2905, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.2712 left_y=-0.2852 left_z=0.1138 left_yaw=0.3539 left_pitch=-0.0267 left_roll=-0.0217 left_gripper=0.9971 right_x=0.2624 right_y=0.0034 right_z=0.1109 right_yaw=0.0002 right_pitch=-0.0289 right_roll=0.002 right_gripper=0.9982\nstate[joint_eff]: [0.2803, -12.4239, 7.5282, 0.0122, -0.7985, 0.2271, -0.149, 0.0342, -0.9231, 7.0085, 1.9609, -0.0122, -0.0806, -0.0073]",
      "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]: [-1.0222, 2.0911, 1.3037, -0.535, -0.9749, -1.2892, 0.9973, -0.0193, 0.614, 0.2962, -0.2836, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3407 left_y=-0.2701 left_z=0.046 left_yaw=0.3802 left_pitch=-0.014 left_roll=0.0007 left_gripper=0.9973 right_x=0.2593 right_y=0.0035 right_z=0.1051 right_yaw=0.0002 right_pitch=-0.0286 right_roll=0.002 right_gripper=0.9982\nstate[joint_eff]: [0.3487, -9.6068, 4.7658, 0.7692, -0.4469, 0.1001, 0.0024, -0.2393, -0.6496, 6.9402, 1.9072, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61d8b5df3e02eb19bd822117bd6a7bde883ce36cecaa330b2c82a9d82a660a8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02b4c8730c639fcb9f4ce94df4bbe930bd18e46b83e0f63f8b458999ca20e948",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91217318a3be52878b47fb13008a9e52c07cdbbb3eda6be821aa0f92d8fe9095",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnQYKjgEIEhgCKkCcEAN3T0hosq6tvbwWbjloIBKcHvUtfV8RZpyBzRIGFBe6q5rmS/YPTRpRgz4Opw2xdJmCDX5ryqUleokgx6hLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdnEzNUGEgxOCNAXHIvxtP6y9I4aDDLoGuFni4XFVu35JCIwS8ElcLrGQsCqTA8j1Eejp0FB2tYcqE5c3Lo5EBkMOHEseUAjlDheHt2JIr4ny35wKrsEgfLFv5br4h4IBRiCoH1hmStMq0iKlpLaZEaeiDJrxbeDrxP4ACZice1Hu3nvPJ6FlpMKRB6mU5gig+fYoIH7F6jd0/e707/V84vnEmsznr2uSTAPEvqu8dlewPRA5bcwouL3v1LK7AsYeXzwdXED3ZKmnwO4zLPSi6oH790F05ZGg7junlZ73teGWL7heJe4eb1HJHUgNYW/D/jjRbASx3r9PqzzUWOlzYqi0BrWZkdXVFiAaQsWLNZ4b/MV3F4VtC7jD/e+YqF4tN4r9E8MFXBAIN0xCXbfC2K5XWFRv5ehO3esUqWFzfUgqA1jpe+YfsJS0nWq//nYjh2kTyTZK2j4WtuIjtm4Z/w7njlppQkx3ZidfdYiYZaNsqmwWAqQF313VSqzRAz94fIP+fyZBDAogHZGu8SHZwl1u4F8cGku3A5y8h7RSe9nfidsqw445gQRWTLYa3VQ3enAhfwNJxDPgBDeOpVD2Bb98RQWK85mmfwpqDH/3jZF6mU3md/rzxZrcqhZe6k0UgaO6FE68Zco7CYUbrEl/gwtxricO3i5dXdaxP55t76Z69UWxZ4CfUtOHVHXqzv411u1bYTbGmMAb3zX5cYjNiwTas4Ygie9f0v16diU5fuXD/446FYfBv6dm5PoaGfBqULlaiGqiDmQMscA6L0+QWaV93f1TBKO/60VSQJoTorbrojpjGGatvBrPukPZ3Fg5rQ9YtSF2zB/Km9zqt4KuZinNPAVPrPQbWXz0VOAZPWAdhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016Lq36JXECA8wGNfh7uX7ar",
      "input": {
        "note": "The bottle's neck sits slightly left of and beyond the jaw column; nudging 2 cm left and 3 cm forward so the open jaws straddle the neck just below the cap.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.253,
          "left_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_016Lq36JXECA8wGNfh7uX7ar",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9569, 2.109, 1.2675, -0.3943, -0.9653, -1.19, 0.9973, -0.0193, 0.5949, 0.2745, -0.2749, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3632 left_y=-0.257 left_z=0.035 left_yaw=0.389 left_pitch=-0.0063 left_roll=-0.0026 left_gripper=0.9973 right_x=0.2573 right_y=0.0035 right_z=0.1016 right_yaw=0.0002 right_pitch=-0.0225 right_roll=0.0019 right_gripper=0.9982\nstate[joint_eff]: [0.3897, -11.9043, 4.6701, 0.7595, -0.4664, 0.1441, -0.0122, -0.212, -0.4718, 6.6256, 1.9023, -0.0073, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cedf8b71a34792de0437ea79dea1ce341f8269115f42d64841ccbf7411c7b1e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e24705cde71860e0e35a021a41a905cd73b026c9297158b1b5a4d22c1d889bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f24375e6461e84134dac1eae091fd6f7c2613150f730864ec3a5284779c3fa3",
        "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 · 5.974 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]: [-1.203, 1.9469, 1.401, -0.9874, -0.9825, -1.5684, 0.9971, -0.0193, 0.6334, 0.3222, -0.2905, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.2712 left_y=-0.2852 left_z=0.1138 left_yaw=0.3539 left_pitch=-0.0267 left_roll=-0.0217 left_gripper=0.9971 right_x=0.2624 right_y=0.0034 right_z=0.1109 right_yaw=0.0002 right_pitch=-0.0289 right_roll=0.002 right_gripper=0.9982\nstate[joint_eff]: [0.2803, -12.4239, 7.5282, 0.0122, -0.7985, 0.2271, -0.149, 0.0342, -0.9231, 7.0085, 1.9609, -0.0122, -0.0806, -0.0073]",
      "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]: [-1.0222, 2.0911, 1.3037, -0.535, -0.9749, -1.2892, 0.9973, -0.0193, 0.614, 0.2962, -0.2836, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3407 left_y=-0.2701 left_z=0.046 left_yaw=0.3802 left_pitch=-0.014 left_roll=0.0007 left_gripper=0.9973 right_x=0.2593 right_y=0.0035 right_z=0.1051 right_yaw=0.0002 right_pitch=-0.0286 right_roll=0.002 right_gripper=0.9982\nstate[joint_eff]: [0.3487, -9.6068, 4.7658, 0.7692, -0.4469, 0.1001, 0.0024, -0.2393, -0.6496, 6.9402, 1.9072, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9569, 2.109, 1.2675, -0.3943, -0.9653, -1.19, 0.9973, -0.0193, 0.5949, 0.2745, -0.2749, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3632 left_y=-0.257 left_z=0.035 left_yaw=0.389 left_pitch=-0.0063 left_roll=-0.0026 left_gripper=0.9973 right_x=0.2573 right_y=0.0035 right_z=0.1016 right_yaw=0.0002 right_pitch=-0.0225 right_roll=0.0019 right_gripper=0.9982\nstate[joint_eff]: [0.3897, -11.9043, 4.6701, 0.7595, -0.4664, 0.1441, -0.0122, -0.212, -0.4718, 6.6256, 1.9023, -0.0073, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cedf8b71a34792de0437ea79dea1ce341f8269115f42d64841ccbf7411c7b1e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e24705cde71860e0e35a021a41a905cd73b026c9297158b1b5a4d22c1d889bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f24375e6461e84134dac1eae091fd6f7c2613150f730864ec3a5284779c3fa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LrtFUQQ27HXWGWM9pxorNR",
      "input": {
        "note": "Neck appears centred on the jaw column; closing the jaws to ~2.7 cm, a loose collar that should catch under the cap without clamping the neck rigidly.",
        "targets": {
          "left_gripper": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01LrtFUQQ27HXWGWM9pxorNR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9363, 2.0892, 1.2579, -0.342, -1.0252, -1.1488, 0.3748, -0.0193, 0.5816, 0.2562, -0.2687, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3751 left_y=-0.2489 left_z=0.0518 left_yaw=0.4105 left_pitch=0.0623 left_roll=-0.0156 left_gripper=0.3748 right_x=0.2554 right_y=0.0036 right_z=0.0976 right_yaw=0.0005 right_pitch=-0.0213 right_roll=0.0021 right_gripper=0.9982\nstate[joint_eff]: [-0.1573, -10.3453, 5.7778, 0.6667, 0.1587, 0.1197, 0.2466, -0.1573, -0.3214, 7.0222, 1.8535, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9b7e4ade7ba7f82e2f0c7402201b5126e7b405e6bb1cd1f8c445125b082cc00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39c41de1d7a580ab24838c8841b72d111dd8ada811554c272fd848f69bd10af4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:90a9564dc3b5b354bc1d9968a7938a9bfeb7fa0254647147ded28fc9fc128454",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 9.752 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]: [-1.0222, 2.0911, 1.3037, -0.535, -0.9749, -1.2892, 0.9973, -0.0193, 0.614, 0.2962, -0.2836, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3407 left_y=-0.2701 left_z=0.046 left_yaw=0.3802 left_pitch=-0.014 left_roll=0.0007 left_gripper=0.9973 right_x=0.2593 right_y=0.0035 right_z=0.1051 right_yaw=0.0002 right_pitch=-0.0286 right_roll=0.002 right_gripper=0.9982\nstate[joint_eff]: [0.3487, -9.6068, 4.7658, 0.7692, -0.4469, 0.1001, 0.0024, -0.2393, -0.6496, 6.9402, 1.9072, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.9569, 2.109, 1.2675, -0.3943, -0.9653, -1.19, 0.9973, -0.0193, 0.5949, 0.2745, -0.2749, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3632 left_y=-0.257 left_z=0.035 left_yaw=0.389 left_pitch=-0.0063 left_roll=-0.0026 left_gripper=0.9973 right_x=0.2573 right_y=0.0035 right_z=0.1016 right_yaw=0.0002 right_pitch=-0.0225 right_roll=0.0019 right_gripper=0.9982\nstate[joint_eff]: [0.3897, -11.9043, 4.6701, 0.7595, -0.4664, 0.1441, -0.0122, -0.212, -0.4718, 6.6256, 1.9023, -0.0073, -0.0415, -0.0122]",
      "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]: [-0.9363, 2.0892, 1.2579, -0.342, -1.0252, -1.1488, 0.3748, -0.0193, 0.5816, 0.2562, -0.2687, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3751 left_y=-0.2489 left_z=0.0518 left_yaw=0.4105 left_pitch=0.0623 left_roll=-0.0156 left_gripper=0.3748 right_x=0.2554 right_y=0.0036 right_z=0.0976 right_yaw=0.0005 right_pitch=-0.0213 right_roll=0.0021 right_gripper=0.9982\nstate[joint_eff]: [-0.1573, -10.3453, 5.7778, 0.6667, 0.1587, 0.1197, 0.2466, -0.1573, -0.3214, 7.0222, 1.8535, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9b7e4ade7ba7f82e2f0c7402201b5126e7b405e6bb1cd1f8c445125b082cc00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39c41de1d7a580ab24838c8841b72d111dd8ada811554c272fd848f69bd10af4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90a9564dc3b5b354bc1d9968a7938a9bfeb7fa0254647147ded28fc9fc128454",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStwUKjgEIEhgCKkCnn4oHkJXy4VhZWKsDFfPZzAi5Osx1UbQKkKqwh16Im6D0IMmx4Dc7YMHb3XWfIe+r8VucOD8b0bERVHQhUJhBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAezEzNUGEgyRNWYGFjxUK4W7BeUaDPD1k595yoLcsmHapCIwjZ8Kr2C2/zJ1B1Pgkw8YSm2+ggydeHDhoBUl0k/RFLRlwQSKnEvJN/VOUbjwLZTtKtUD3LiXVbkqgJ99ePEcO3wTyagVtxMJijRMkTDgE5NZxFpO6Yt6FxJQR7+xD4u3ZH+lYEZDVEgEcclF/2l6HzYfiNQYcOztD5sfABF8+tWrOvowkC97WWoUCUzYumxx/ujRRAEqrNZl5tPsS8wsRxvooW92hsLLibyLBegxRsr8fV7HwXTdREBN7dF26xTIryGC9Jzw2fz0VHAJ1I/mQnXlZ12/Akq9McM/eijhRYbZzcH7DJI1l7hr0qfFehn/BOinhP9pwg1BFhSmbCC+YeYi+HVz/vzmnsYVWafCOTnPWzyCxwKEV4snfdQRdYOvyMQqisBVEIP7sxX0oCD5hiD0iT06KZLpOxT3voIO2ZTBnsUZksEPZu7tn7IwIgwbz8Uidw4rKGnKLBVcC4M5M5PuJnkwnxj7cM5pvIjTImW+YfROwuKowZn0wheQ/fntz38wOEfW3tBWUWN8UFuwqIgZkHB+ZT5Ir9vGDlRhr4i/ViDB/38jvYL/7A3+dPDiUmZLLSkscx1gFZ2OUgDKGccyTmX7DMQAFq7NezB4vVs2t1K+/sem2V+1FEGZBfEoz22BcJYvL6mMaOy6mbLGgYhfRSNBFCow2mZnZ+Uwp+1UOPnZ2j2t9hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YaHJk751GVwK95v5bCFK56",
      "input": {
        "note": "Jaws settled at 0.37 (~3.6 cm) around the bottle's neck/shoulder; lifting straight up so the bottle pivots on its base and hangs vertically from the neck.",
        "targets": {
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01YaHJk751GVwK95v5bCFK56",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.923, 2.0235, 2.2097, -1.3396, -0.9497, -1.1824, 0.374, -0.0193, 0.5682, 0.242, -0.2687, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.38 left_y=-0.2582 left_z=0.2958 left_yaw=0.4128 left_pitch=-0.0015 left_roll=-0.0797 left_gripper=0.374 right_x=0.2533 right_y=0.0037 right_z=0.0943 right_yaw=0.0005 right_pitch=-0.0221 right_roll=0.0021 right_gripper=0.9982\nstate[joint_eff]: [-0.2393, -9.3607, 6.735, 0.4176, -0.5739, 0.1245, -0.105, -0.1299, -0.212, 6.612, 1.8828, -0.0562, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b95eec95d43c005b814619858fe82dad51e2bf24a820d9f1d1fc048ed7cd199a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ecefa01d5c83209ff407df5de7e6360e883d800c5a7f8309f2ffdfda37e93ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2e5823db37d2b9a06dd7764f195f7388eca4fc31690c3c38a613ad288359092",
        "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 · 3.338 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]: [-0.9569, 2.109, 1.2675, -0.3943, -0.9653, -1.19, 0.9973, -0.0193, 0.5949, 0.2745, -0.2749, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3632 left_y=-0.257 left_z=0.035 left_yaw=0.389 left_pitch=-0.0063 left_roll=-0.0026 left_gripper=0.9973 right_x=0.2573 right_y=0.0035 right_z=0.1016 right_yaw=0.0002 right_pitch=-0.0225 right_roll=0.0019 right_gripper=0.9982\nstate[joint_eff]: [0.3897, -11.9043, 4.6701, 0.7595, -0.4664, 0.1441, -0.0122, -0.212, -0.4718, 6.6256, 1.9023, -0.0073, -0.0415, -0.0122]",
      "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]: [-0.9363, 2.0892, 1.2579, -0.342, -1.0252, -1.1488, 0.3748, -0.0193, 0.5816, 0.2562, -0.2687, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3751 left_y=-0.2489 left_z=0.0518 left_yaw=0.4105 left_pitch=0.0623 left_roll=-0.0156 left_gripper=0.3748 right_x=0.2554 right_y=0.0036 right_z=0.0976 right_yaw=0.0005 right_pitch=-0.0213 right_roll=0.0021 right_gripper=0.9982\nstate[joint_eff]: [-0.1573, -10.3453, 5.7778, 0.6667, 0.1587, 0.1197, 0.2466, -0.1573, -0.3214, 7.0222, 1.8535, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.923, 2.0235, 2.2097, -1.3396, -0.9497, -1.1824, 0.374, -0.0193, 0.5682, 0.242, -0.2687, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.38 left_y=-0.2582 left_z=0.2958 left_yaw=0.4128 left_pitch=-0.0015 left_roll=-0.0797 left_gripper=0.374 right_x=0.2533 right_y=0.0037 right_z=0.0943 right_yaw=0.0005 right_pitch=-0.0221 right_roll=0.0021 right_gripper=0.9982\nstate[joint_eff]: [-0.2393, -9.3607, 6.735, 0.4176, -0.5739, 0.1245, -0.105, -0.1299, -0.212, 6.612, 1.8828, -0.0562, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b95eec95d43c005b814619858fe82dad51e2bf24a820d9f1d1fc048ed7cd199a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ecefa01d5c83209ff407df5de7e6360e883d800c5a7f8309f2ffdfda37e93ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2e5823db37d2b9a06dd7764f195f7388eca4fc31690c3c38a613ad288359092",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlgsKjgEIEhgCKkD5ev2lVehVCe/zYS6JV+wtq7GyqiSFvABtPldlHBUVEzl8piPn+me6GOCNf4TGIe6FMNkNd8jhmSvTJXZl3PaQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAffEzNUGEgzbgPzZioH4IVN5PkQaDLmTQIKcXKUoq5WM+SIwpqUQNoW3jcqAI5DTCvqpGGVEQt/IVg1juBvk8PEvDjkHDVz5z8JEFjwqLz7auMXbKrQJp2aBsgrRiStRIVJhO5u+Xfx8N7LOvMYXB1k/SdNMlFBwaNV4pqQvznk10dDoK6ryzX5sC5eBvP2VTTfmKn0OSSSQ7TQHrxhi4584eWQu4tYQ9gfyVD+K+Tp5cwWI5/7hfuHZ7cKIsz5mRB1ZONdpJLdbORJsWvSNFj1YALTb/qLMowXt8iKXXB4W6MKCnEYzo3V93X9ZEoP7pCq3jRE11FqGlvADeVtnIv2O52qk9eJrT1sIMEPZm/UvQ9e3YUNhYmE6j27DJuvsQy8Qehm9fMFf1HXzFZ6F7YpRiuOxnkElPRgYuelqC/qq/ScoDCPdadOEHTm6eLYqLr3hXIxWQDnrpyAMv6Fcd9DSOd3+aJWSk46NIf+S8fhSA8AhDTEYghNSxUDS0nF1SCOSlt/YJqCl2+avpuOYcTDf8gu9JCla4PIPJfkOACVXX9WzfM5fTCru69amNfKzC8HHGJrLxN8de36vR3ZbRBYREPVuO/mmXlL4iRjQ5g4PVaycOZcvxV1oWbr9hSDf4oFYQQoOSDsQV3A1OHbI0+RBL34d3NM+Nwu70bWLS1Ufkyp+LD7GdY5byHE5eVYmmR68jYCHuhkeN2YPWALrcmiptV7Gg5KqOMaRCuYxuPIMUUEzQyk8A1IFfBga43EN7MZpMFXNQQSEfS2lF9plChhUgDo/D+1DTOrt6XM9vPtyT17Sgcz4EyfOdwQAQXYPeefmcSrXplRG+T9pSrBs4vf6cXaJzR5Hj4ic2w++wLTEKcV6lHC+vg+FxCcwMG/CnI5SVkr8zloAE74FPZePkc8XFSssiVt00xxoHfIbYPpOySgov8ZrJkukf2MkQdDNtfGsJWOYjuTQRSSqOTxy6N8Qg4lx8BKw1Kw0YlhzpIXlaS8aCFE/YFrvIIQf4ZZsEbFoT+lHxjZ+48HrRCc+VXRiknJWxvdFN3jXtujmNmBa1fcBirDDmNXs5FugLqzI1wBLzewSX1p8pcrJP9QGr9GlQsYMBjQvRCA4U+88mEmwaac5T/JENL2In1OCA3Hiih4mred1i37YtnZjh4YdFAlGQiervX2TyjAcwOAte8VW39Zy1EMsxjcgSMnoPxe+EduEf2OaCsBH2g4xRuOZiCKn+rSfgUaGyW1Y4aKOxazWY+xayj1Ntrx+Z54NugnzFiH1ybSdkEb5wCAh9anArBniq+kbQ7m3ndXqUrk/d89Dcj0e7aJZC0pqGBkzV99xDMxYi1r40ZPNcTQPc54c5zcE1fe543dINdL/IRG02GqdQkI3JXqeolbOljAmY7Dtoy7/ehcxUh6l/UoziQAQbF725EmCtAf6oO9U/e/fIFDBJJTRdMLvLT7zVxTVu+y6rYm45xWAiEXE14HS/mjXtiU73f32kiN6EllmOF8bCR1qVy0RSXqnDlk34f1jtZMWSeqzuex8gQCCRR3fVoG+xzfHGqtMgYyGS6de4xpUtOXdtSdPIQE6Mwz3tKPhIzGSuczOqaBt924+uFMy1f/CSU9+A+34BKwITvlJm6a+/c11HJX7JfdsKY/ypWJ9Sts2mAgqbp+ZNxboPPlvWZodW7e1wyV73roGyTtJJC5uBcYyBzqZ1SOD+V3LMxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Up2PcPkE3wdqM3B8griDsR",
      "input": {
        "note": "The wrist view shows the bottle now hanging vertically from the jaws; lowering to ~19 cm so its base touches the table before I release.",
        "targets": {
          "left_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Up2PcPkE3wdqM3B8griDsR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9234, 2.0151, 1.7458, -1.0412, -0.9508, -1.1816, 0.3738, -0.0193, 0.5549, 0.2253, -0.268, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3769 left_y=-0.2541 left_z=0.1763 left_yaw=0.4153 left_pitch=-0.0369 left_roll=0.0741 left_gripper=0.3738 right_x=0.251 right_y=0.0037 right_z=0.0899 right_yaw=0.0005 right_pitch=-0.0247 right_roll=0.0021 right_gripper=0.9982\nstate[joint_eff]: [-0.5675, -13.4769, 6.4752, 0.8327, -0.6667, 0.0415, -0.0317, -0.1573, -0.3761, 6.8171, 1.8877, -0.0513, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78e1df68b533e7ecb3a102713c80cd4d532b593ec2d60af25c33632759e1a28a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3287a3dc358d88473bfdd0c19c9002f1d808381ed166655f98de5d116f190734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0075a559691c63e356facd3af58e19a438a3fcd94eda16b698b4e6742b1a049c",
        "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 · 6.52 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]: [-0.9363, 2.0892, 1.2579, -0.342, -1.0252, -1.1488, 0.3748, -0.0193, 0.5816, 0.2562, -0.2687, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3751 left_y=-0.2489 left_z=0.0518 left_yaw=0.4105 left_pitch=0.0623 left_roll=-0.0156 left_gripper=0.3748 right_x=0.2554 right_y=0.0036 right_z=0.0976 right_yaw=0.0005 right_pitch=-0.0213 right_roll=0.0021 right_gripper=0.9982\nstate[joint_eff]: [-0.1573, -10.3453, 5.7778, 0.6667, 0.1587, 0.1197, 0.2466, -0.1573, -0.3214, 7.0222, 1.8535, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.923, 2.0235, 2.2097, -1.3396, -0.9497, -1.1824, 0.374, -0.0193, 0.5682, 0.242, -0.2687, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.38 left_y=-0.2582 left_z=0.2958 left_yaw=0.4128 left_pitch=-0.0015 left_roll=-0.0797 left_gripper=0.374 right_x=0.2533 right_y=0.0037 right_z=0.0943 right_yaw=0.0005 right_pitch=-0.0221 right_roll=0.0021 right_gripper=0.9982\nstate[joint_eff]: [-0.2393, -9.3607, 6.735, 0.4176, -0.5739, 0.1245, -0.105, -0.1299, -0.212, 6.612, 1.8828, -0.0562, -0.0122, -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]: [-0.9234, 2.0151, 1.7458, -1.0412, -0.9508, -1.1816, 0.3738, -0.0193, 0.5549, 0.2253, -0.268, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3769 left_y=-0.2541 left_z=0.1763 left_yaw=0.4153 left_pitch=-0.0369 left_roll=0.0741 left_gripper=0.3738 right_x=0.251 right_y=0.0037 right_z=0.0899 right_yaw=0.0005 right_pitch=-0.0247 right_roll=0.0021 right_gripper=0.9982\nstate[joint_eff]: [-0.5675, -13.4769, 6.4752, 0.8327, -0.6667, 0.0415, -0.0317, -0.1573, -0.3761, 6.8171, 1.8877, -0.0513, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78e1df68b533e7ecb3a102713c80cd4d532b593ec2d60af25c33632759e1a28a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3287a3dc358d88473bfdd0c19c9002f1d808381ed166655f98de5d116f190734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0075a559691c63e356facd3af58e19a438a3fcd94eda16b698b4e6742b1a049c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1QIKjgEIEhgCKkC3mYsuiDnP9uOUhjX5j40V8mJYTZecff+3+aBpmpJjJ4AKX0O5XbTOXXUBf5a2AeNC/CQrLCzIrLR3+Phrue9EMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfzEzNUGEgyNkzPuBveripaS8i4aDONiDgGaFSRjrP4kUCIwn+F1+f4ou1MPpGc7kSMb58HK7Kg/10gMUaXOHKNzPyRzpLM3og6DoYEyUaxCkpyUKnRixeA98OygbOFa1PtjwpRL/6jZk/A9gIOhc8s6VhO6R0Cixwe/p8p0PoSLInslk5pZIAIUWNalorfN+Yd/3V3qqS4acjKCL9f9pPSoK1OQnxnGLR2gFu3dJdrv2zdRl84EX4RI218Xi68wrLnEa3MA7roKzBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015sGSnJQ2ye8Pmk3WC2qdRR",
      "input": {
        "note": "Bottle base should now be on the table with the bottle vertical; opening the jaws to release it.",
        "targets": {
          "left_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_015sGSnJQ2ye8Pmk3WC2qdRR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9234, 1.9999, 1.6444, -0.9127, -0.9543, -1.182, 0.9967, -0.0193, 0.5362, 0.2081, -0.2676, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3781 left_y=-0.2552 left_z=0.1588 left_yaw=0.4153 left_pitch=-0.0239 left_roll=0.0333 left_gripper=0.9967 right_x=0.2487 right_y=0.0037 right_z=0.0865 right_yaw=0.0005 right_pitch=-0.0228 right_roll=0.0021 right_gripper=0.9982\nstate[joint_eff]: [-0.5812, -13.5863, 6.2154, 0.7741, -0.6618, -0.0562, -0.0757, -0.253, -0.1573, 6.5983, 1.9414, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5d2cb6fe746acde042570db3c206dd2d931e929f7494900a1a1e97a0d2b4213",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:567e3eb6b295a3de00c25dda090c0dc6558a6cfbb20994b5bd2076c35505591c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ecea5fd14a2d63d5645d70e70ea4bf4a205577a4593bfd2cebb097a633cc287e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 17.53 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]: [-0.923, 2.0235, 2.2097, -1.3396, -0.9497, -1.1824, 0.374, -0.0193, 0.5682, 0.242, -0.2687, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.38 left_y=-0.2582 left_z=0.2958 left_yaw=0.4128 left_pitch=-0.0015 left_roll=-0.0797 left_gripper=0.374 right_x=0.2533 right_y=0.0037 right_z=0.0943 right_yaw=0.0005 right_pitch=-0.0221 right_roll=0.0021 right_gripper=0.9982\nstate[joint_eff]: [-0.2393, -9.3607, 6.735, 0.4176, -0.5739, 0.1245, -0.105, -0.1299, -0.212, 6.612, 1.8828, -0.0562, -0.0122, -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]: [-0.9234, 2.0151, 1.7458, -1.0412, -0.9508, -1.1816, 0.3738, -0.0193, 0.5549, 0.2253, -0.268, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3769 left_y=-0.2541 left_z=0.1763 left_yaw=0.4153 left_pitch=-0.0369 left_roll=0.0741 left_gripper=0.3738 right_x=0.251 right_y=0.0037 right_z=0.0899 right_yaw=0.0005 right_pitch=-0.0247 right_roll=0.0021 right_gripper=0.9982\nstate[joint_eff]: [-0.5675, -13.4769, 6.4752, 0.8327, -0.6667, 0.0415, -0.0317, -0.1573, -0.3761, 6.8171, 1.8877, -0.0513, -0.0415, -0.0073]",
      "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]: [-0.9234, 1.9999, 1.6444, -0.9127, -0.9543, -1.182, 0.9967, -0.0193, 0.5362, 0.2081, -0.2676, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3781 left_y=-0.2552 left_z=0.1588 left_yaw=0.4153 left_pitch=-0.0239 left_roll=0.0333 left_gripper=0.9967 right_x=0.2487 right_y=0.0037 right_z=0.0865 right_yaw=0.0005 right_pitch=-0.0228 right_roll=0.0021 right_gripper=0.9982\nstate[joint_eff]: [-0.5812, -13.5863, 6.2154, 0.7741, -0.6618, -0.0562, -0.0757, -0.253, -0.1573, 6.5983, 1.9414, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5d2cb6fe746acde042570db3c206dd2d931e929f7494900a1a1e97a0d2b4213",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:567e3eb6b295a3de00c25dda090c0dc6558a6cfbb20994b5bd2076c35505591c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecea5fd14a2d63d5645d70e70ea4bf4a205577a4593bfd2cebb097a633cc287e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStQYKjgEIEhgCKkDCA7NA3jRb05VnT54rbPQdBYuPGWPhg/y9bfUaqRUZtbHkuGCCJ8AwJaNRK+lS4GRxQ1GjNzNSBwg2ZGqXzqsWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYLFzNUGEgw7ApS/cc2B5Be7RLIaDIIeqew0Aq+VXVg2OyIwnIi6AoFZwaXkH+UD/9MnYaFcoKj/eME+AOq4q0GmKmxHh/ZMRCWJyTaqeDy1JxzXKtME8JFbrL0zcsMY2piFOco6EgGSvkgmlWg/5ca+5FRrWuROH3ga26FrJ6T5Q5ektF9wW4WxCOFm4QqQLAoEAj5/iVnStcTXzck1MC3cHQe928/uWUPOKfFq6uij47quCxfNajz/85gPDoVBxbeAPvy3jnXNQ68RY6uu+HKagyCZErmJy1axEjX6makAr/nwO7treJtnKyrM8nB16PzHSGe722vzj6QwEpgwh5Dl59PSDyOvDusj7yPyFi3/2eQePuT9ElfmqZ15w8bD8MbOcyeO7R6Uk3yIEBrA43SCTJ5qQx4Uuna+5903lEa43bvN3ajX/UARDINtq11/DuQimsDLq8tUl4pmh7pdSEP7sNaxWLI+OkiZDh8OZmuaDCTj6cHLQC7U3wZXJ3n4/hglgQK2P0Km7vkavSi+S2Guxpnj4899H4uS0BUDoSIXNakc0ZY4u5t5vXkRpVmYut5GVLs4SbMdR260h8ll+6txfVVJbr+rv+AynM9RnA8Pe5gFmxI8lGBjPXPqy6AD30MN9QK+2qYnbXzk+PLS0iky4lzd7PZ0vWtugpiRTSYR8+XPJJafmdjYC9Ie6OyrAKT1CSYeN2i6RsekZYcbcyf+K7EWUqNKJTOOEI43Z+inHWjsJ0dJej7GKhOtNBxdTpX80jC9oKJ2O4QB1fRVaDfT1+dq+u2DtefbNXnyv/N0vM/a3R+XMt+9Zc7ZcLHgUd6LSS/C5nJa7U+Zb15Sd8jwQx/6WciZpj9tyLWh8Eit5Q3ItOo3YBiGTEkJ05I8GsrNGdQ76r0foBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014KvivfNpK8E6cBffAsGsba",
      "input": {
        "note": "Released the bottle; retracting the left arm out of the way to get an unobstructed top view and check whether it is standing.",
        "targets": {
          "left_x": 0.22,
          "left_y": -0.1,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_014KvivfNpK8E6cBffAsGsba",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0721, 1.2964, 1.3888, -1.5013, -0.9806, -1.4204, 0.9971, -0.0193, 0.5167, 0.1902, -0.2672, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.2343 left_y=-0.1159 left_z=0.2824 left_yaw=0.4028 left_pitch=-0.0204 left_roll=-0.0226 left_gripper=0.9971 right_x=0.2465 right_y=0.0037 right_z=0.0828 right_yaw=0.0002 right_pitch=-0.0209 right_roll=0.0018 right_gripper=0.9982\nstate[joint_eff]: [0.6085, -4.9709, 6.9128, 0.2466, -0.7399, 0.0562, 0.0366, -0.2256, 0.1026, 6.8034, 1.9316, -0.0122, -0.0855, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d4bcfc795459b0eb6753f61bfc12d4511a074e1225bcc37e4e958d3714b8997",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b84917d0d87e009e67e50a5e31d54e0659344d9b956aa9567eeb7fd2bb82b86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fff65864e1da28d850ae76035ef9cc4106add68526a57abde52c214c7fd0ea18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 13.8 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]: [-0.9234, 2.0151, 1.7458, -1.0412, -0.9508, -1.1816, 0.3738, -0.0193, 0.5549, 0.2253, -0.268, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3769 left_y=-0.2541 left_z=0.1763 left_yaw=0.4153 left_pitch=-0.0369 left_roll=0.0741 left_gripper=0.3738 right_x=0.251 right_y=0.0037 right_z=0.0899 right_yaw=0.0005 right_pitch=-0.0247 right_roll=0.0021 right_gripper=0.9982\nstate[joint_eff]: [-0.5675, -13.4769, 6.4752, 0.8327, -0.6667, 0.0415, -0.0317, -0.1573, -0.3761, 6.8171, 1.8877, -0.0513, -0.0415, -0.0073]",
      "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]: [-0.9234, 1.9999, 1.6444, -0.9127, -0.9543, -1.182, 0.9967, -0.0193, 0.5362, 0.2081, -0.2676, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3781 left_y=-0.2552 left_z=0.1588 left_yaw=0.4153 left_pitch=-0.0239 left_roll=0.0333 left_gripper=0.9967 right_x=0.2487 right_y=0.0037 right_z=0.0865 right_yaw=0.0005 right_pitch=-0.0228 right_roll=0.0021 right_gripper=0.9982\nstate[joint_eff]: [-0.5812, -13.5863, 6.2154, 0.7741, -0.6618, -0.0562, -0.0757, -0.253, -0.1573, 6.5983, 1.9414, -0.0464, -0.0659, -0.0122]",
      "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]: [-1.0721, 1.2964, 1.3888, -1.5013, -0.9806, -1.4204, 0.9971, -0.0193, 0.5167, 0.1902, -0.2672, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.2343 left_y=-0.1159 left_z=0.2824 left_yaw=0.4028 left_pitch=-0.0204 left_roll=-0.0226 left_gripper=0.9971 right_x=0.2465 right_y=0.0037 right_z=0.0828 right_yaw=0.0002 right_pitch=-0.0209 right_roll=0.0018 right_gripper=0.9982\nstate[joint_eff]: [0.6085, -4.9709, 6.9128, 0.2466, -0.7399, 0.0562, 0.0366, -0.2256, 0.1026, 6.8034, 1.9316, -0.0122, -0.0855, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d4bcfc795459b0eb6753f61bfc12d4511a074e1225bcc37e4e958d3714b8997",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b84917d0d87e009e67e50a5e31d54e0659344d9b956aa9567eeb7fd2bb82b86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fff65864e1da28d850ae76035ef9cc4106add68526a57abde52c214c7fd0ea18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FJsciAjAR5q8ciWVfArEtN",
      "input": {
        "note": "Top view confirms the middle bottle is now standing upright. Moving over the left-hand lying bottle, yawed to put the jaws across its axis, to inspect it in the wrist camera.",
        "targets": {
          "left_x": 0.34,
          "left_y": -0.13,
          "left_yaw": -0.4,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01FJsciAjAR5q8ciWVfArEtN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3817, 1.1893, 0.54, -0.0277, -0.1135, -0.1078, 0.9972, -0.0193, 0.5007, 0.1764, -0.2684, -0.0273, -0.0364, 0.9982]\nstate[eef_state]: left_x=0.3287 left_y=-0.1065 left_z=0.103 left_yaw=-0.239 left_pitch=-0.1105 left_roll=-0.0006 left_gripper=0.9972 right_x=0.2446 right_y=0.0037 right_z=0.0799 right_yaw=0.0001 right_pitch=-0.0198 right_roll=0.0013 right_gripper=0.9982\nstate[joint_eff]: [0.1573, -4.4513, 6.3658, 1.9121, 0.022, 0.0952, -0.0073, -0.2393, -0.1026, 6.7897, 1.8339, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c3f39c67745a0381a1eb6d7959bf3604e46ba3dff14f472c962011662ce8d57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:097fc1367d0ea2fefcdecfd15b5325bc285ef6f5a102d4ea63dc23f1aec09d1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b76fb57ec4db96f93e7cfb0e32677e93e758be747ed8ed6be2822825f1f483bf",
        "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 · 9.016 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]: [-0.9234, 1.9999, 1.6444, -0.9127, -0.9543, -1.182, 0.9967, -0.0193, 0.5362, 0.2081, -0.2676, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3781 left_y=-0.2552 left_z=0.1588 left_yaw=0.4153 left_pitch=-0.0239 left_roll=0.0333 left_gripper=0.9967 right_x=0.2487 right_y=0.0037 right_z=0.0865 right_yaw=0.0005 right_pitch=-0.0228 right_roll=0.0021 right_gripper=0.9982\nstate[joint_eff]: [-0.5812, -13.5863, 6.2154, 0.7741, -0.6618, -0.0562, -0.0757, -0.253, -0.1573, 6.5983, 1.9414, -0.0464, -0.0659, -0.0122]",
      "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]: [-1.0721, 1.2964, 1.3888, -1.5013, -0.9806, -1.4204, 0.9971, -0.0193, 0.5167, 0.1902, -0.2672, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.2343 left_y=-0.1159 left_z=0.2824 left_yaw=0.4028 left_pitch=-0.0204 left_roll=-0.0226 left_gripper=0.9971 right_x=0.2465 right_y=0.0037 right_z=0.0828 right_yaw=0.0002 right_pitch=-0.0209 right_roll=0.0018 right_gripper=0.9982\nstate[joint_eff]: [0.6085, -4.9709, 6.9128, 0.2466, -0.7399, 0.0562, 0.0366, -0.2256, 0.1026, 6.8034, 1.9316, -0.0122, -0.0855, -0.0073]",
      "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]: [-0.3817, 1.1893, 0.54, -0.0277, -0.1135, -0.1078, 0.9972, -0.0193, 0.5007, 0.1764, -0.2684, -0.0273, -0.0364, 0.9982]\nstate[eef_state]: left_x=0.3287 left_y=-0.1065 left_z=0.103 left_yaw=-0.239 left_pitch=-0.1105 left_roll=-0.0006 left_gripper=0.9972 right_x=0.2446 right_y=0.0037 right_z=0.0799 right_yaw=0.0001 right_pitch=-0.0198 right_roll=0.0013 right_gripper=0.9982\nstate[joint_eff]: [0.1573, -4.4513, 6.3658, 1.9121, 0.022, 0.0952, -0.0073, -0.2393, -0.1026, 6.7897, 1.8339, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c3f39c67745a0381a1eb6d7959bf3604e46ba3dff14f472c962011662ce8d57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:097fc1367d0ea2fefcdecfd15b5325bc285ef6f5a102d4ea63dc23f1aec09d1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b76fb57ec4db96f93e7cfb0e32677e93e758be747ed8ed6be2822825f1f483bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012WeLbgwHWVxZb6KS4CmzwW",
      "input": {
        "note": "Wrist view shows the left bottle lying with its cap pointing forward-left; moving forward and to the arm's left, down to neck height, with yaw set across its axis.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.085,
          "left_yaw": 0.3,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_012WeLbgwHWVxZb6KS4CmzwW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5163, 1.6218, 0.5838, 0.3187, -0.4625, -0.4, 0.9972, -0.0193, 0.482, 0.1627, -0.2687, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3723 left_y=-0.1166 left_z=0.0449 left_yaw=0.072 left_pitch=-0.0694 left_roll=-0.0089 left_gripper=0.9972 right_x=0.243 right_y=0.0038 right_z=0.0778 right_yaw=0.0002 right_pitch=-0.0152 right_roll=0.0017 right_gripper=0.9982\nstate[joint_eff]: [0.253, -7.1179, 5.0256, 1.3065, -0.3101, -0.0366, -0.0122, -0.0205, 0.4034, 6.7897, 1.8291, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d3df8afb70cbf7879cbba92c0f23322c1a59789d8a1a6e2fc66ec2683f35109",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7da2a11b0e8116cd694513a1c36340a2cd467c109fd6f11362fdd35abb4b09f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77d21b3e00336f42fb8e3fb031b2cccc3b5df884646ffcc15a87e94785007a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 4.909 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]: [-1.0721, 1.2964, 1.3888, -1.5013, -0.9806, -1.4204, 0.9971, -0.0193, 0.5167, 0.1902, -0.2672, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.2343 left_y=-0.1159 left_z=0.2824 left_yaw=0.4028 left_pitch=-0.0204 left_roll=-0.0226 left_gripper=0.9971 right_x=0.2465 right_y=0.0037 right_z=0.0828 right_yaw=0.0002 right_pitch=-0.0209 right_roll=0.0018 right_gripper=0.9982\nstate[joint_eff]: [0.6085, -4.9709, 6.9128, 0.2466, -0.7399, 0.0562, 0.0366, -0.2256, 0.1026, 6.8034, 1.9316, -0.0122, -0.0855, -0.0073]",
      "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]: [-0.3817, 1.1893, 0.54, -0.0277, -0.1135, -0.1078, 0.9972, -0.0193, 0.5007, 0.1764, -0.2684, -0.0273, -0.0364, 0.9982]\nstate[eef_state]: left_x=0.3287 left_y=-0.1065 left_z=0.103 left_yaw=-0.239 left_pitch=-0.1105 left_roll=-0.0006 left_gripper=0.9972 right_x=0.2446 right_y=0.0037 right_z=0.0799 right_yaw=0.0001 right_pitch=-0.0198 right_roll=0.0013 right_gripper=0.9982\nstate[joint_eff]: [0.1573, -4.4513, 6.3658, 1.9121, 0.022, 0.0952, -0.0073, -0.2393, -0.1026, 6.7897, 1.8339, -0.0317, -0.0562, -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]: [-0.5163, 1.6218, 0.5838, 0.3187, -0.4625, -0.4, 0.9972, -0.0193, 0.482, 0.1627, -0.2687, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3723 left_y=-0.1166 left_z=0.0449 left_yaw=0.072 left_pitch=-0.0694 left_roll=-0.0089 left_gripper=0.9972 right_x=0.243 right_y=0.0038 right_z=0.0778 right_yaw=0.0002 right_pitch=-0.0152 right_roll=0.0017 right_gripper=0.9982\nstate[joint_eff]: [0.253, -7.1179, 5.0256, 1.3065, -0.3101, -0.0366, -0.0122, -0.0205, 0.4034, 6.7897, 1.8291, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d3df8afb70cbf7879cbba92c0f23322c1a59789d8a1a6e2fc66ec2683f35109",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7da2a11b0e8116cd694513a1c36340a2cd467c109fd6f11362fdd35abb4b09f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77d21b3e00336f42fb8e3fb031b2cccc3b5df884646ffcc15a87e94785007a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoQkKjgEIEhgCKkAFPPcEwwmAezA2ETEPPOkjGRS8yDQyBiHPSausYaI5xdOz/Qgj/bPwEgPVwZ7+CTgfJ8S4NXPpujqZJ5fAI4TnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa3FzNUGEgyJMzNnmi5jx/o9jZYaDB63A0d0WcWU5qTv+yIw+qLF8BkMZh8PYi9sYcSQpFnHLSuTmUbw5MfJv+z5A8MgDlPsEjtjCyeqCB4IJ/qMKr8HjIVYDqBGNPiN8Kt0iDwsHeDvhgTE7OcHYmvxn45xt+ihFzs9NVUqdi7uQXYVou/ZRa8LoGnbBBfTMIF+5MSEH2+D80XqTN9hrXmg+laKzHLATqYnkee/pc3EpW4ZCkbMThM7yVxh2M0lwFn/pDAtmUv8eWi7PJ8Dx0J9MWxe//drBdnFlJ7UTxn/xjdq52x2Km3jbeaQU8tM+Kr9f+ukYFRnLSm2rEhT1i3bq3wY6WjG028dJZQ/HpsqwHjFXTziEnjmcpytGgSheQt8KEBNGiDYv/eD0AtaMDjtj7RkxkVXnYuGm4AP1YEsypaKAaRZ1ZID7i3ovhwweFX+OZYoVyt29YtUczcu2zB5sOgS8hx+FO820WgbUmWDNUMPN5OOS6UEW7d408Afrzsd4w7B4UU/jkCS3RaLXvbjZjnEYbymj6x2Tvspx2DJU4dfwCcQ1y4t7J6kCJ6phd/m55NDR7KjcMYm+bYzO18zn9KVs++hgzL4pq0DNIJNRyONT4AHxUrgDksyopi9xcYpf44dnDomAxqSpA/ZsNyegeD32+wSCvHTcqyNed6S6s4lJWAt4Grchw0AlkEoRmu3gRQS03wkLOntCdIEOu0/LM5RugSay/OGPNtrQso/fgL7OGBchCM5sCD2y94zY1fhhCabv6Wg/WQ01Y2nqdglvBi3hRvIBjz2HIr4KZT+vP3wAOWppNzrGaq/tAWEsVsT4CtHF9hoou4SNirZtvy63XyrQ6TBndsvneg2KD7hoIgI45GsLhwAIMzrSEoUH+HDv3HH6bfUcaOuUpbvEnmaHXiDjVjmTm4Elfx310VEzGRMNxpdg0oSN7XBW5WeKXp1hzDR3xZ66YLiaEM1dGwowHiAOeSZOmShxOj1uNsUtsUhjZoUQ9cWLdUKIrHkXETyY+g5XFGVKzjmLgBk1kb5TSt20Y3DOf4d5bXjokPVp2nlTekW3R1Ao8zdkT1OPVbgpcibTUeokuJfhHLn27ZgmUhH1rNM7acZsnBKVMqonDPyhD66o6KOqZIIBTZ5DMeICm1hCcSzXuaeYzoBnKIZzEoDtWT+JYk1TQLxPk2sUjY4Ny9wYcz5a8RH9ZjR7hBHiZyRcignhc3ZpRXay8h2sSByxvyJm2nWTjT669zymq9Ogt12xUOHrrxUsNIjfA3tgyzeYffzEP+urdJ3KoW/6ltE3w9MspSnNsPwR4nsurlIqQNTyDVqn/ulLQqxZIpbwkwYhopwiEf0lVbM1LB9/85VvJohO5+zhTVFQ+nGevoJjmIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014HGqdhG6TtEX8t1KZBE1k2",
      "input": {
        "note": "The bottle's neck sits forward-left of the jaws in the wrist view; shifting 3 cm left and 3 cm forward along its axis to straddle the neck.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.06,
          "left_yaw": 0.3,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_014HGqdhG6TtEX8t1KZBE1k2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5156, 1.6676, 0.5503, 0.4507, -0.5312, -0.4179, 0.9972, -0.0193, 0.4702, 0.152, -0.2687, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.378 left_y=-0.1072 left_z=0.0435 left_yaw=0.1353 left_pitch=-0.0011 left_roll=-0.0186 left_gripper=0.9972 right_x=0.2418 right_y=0.0039 right_z=0.0755 right_yaw=0.0005 right_pitch=-0.0141 right_roll=0.0019 right_gripper=0.9982\nstate[joint_eff]: [0.294, -7.6239, 4.3829, 1.619, -0.0464, 0.3101, -0.0073, 0.0752, 0.0752, 6.8718, 1.8144, -0.0464, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae68ad028579decbc7da2cc8b33699ad4a624d04c5ba4119a0f0fd12112a5c16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd303e985e3175448e601bc0963684c30ccd2a09726398117f59dcfe92a4e202",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cccb40c9f53c73a21157b8e165ed582ffbac184322cc4c52435d3c0635a02d2c",
        "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 · 5.771 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]: [-0.3817, 1.1893, 0.54, -0.0277, -0.1135, -0.1078, 0.9972, -0.0193, 0.5007, 0.1764, -0.2684, -0.0273, -0.0364, 0.9982]\nstate[eef_state]: left_x=0.3287 left_y=-0.1065 left_z=0.103 left_yaw=-0.239 left_pitch=-0.1105 left_roll=-0.0006 left_gripper=0.9972 right_x=0.2446 right_y=0.0037 right_z=0.0799 right_yaw=0.0001 right_pitch=-0.0198 right_roll=0.0013 right_gripper=0.9982\nstate[joint_eff]: [0.1573, -4.4513, 6.3658, 1.9121, 0.022, 0.0952, -0.0073, -0.2393, -0.1026, 6.7897, 1.8339, -0.0317, -0.0562, -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]: [-0.5163, 1.6218, 0.5838, 0.3187, -0.4625, -0.4, 0.9972, -0.0193, 0.482, 0.1627, -0.2687, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3723 left_y=-0.1166 left_z=0.0449 left_yaw=0.072 left_pitch=-0.0694 left_roll=-0.0089 left_gripper=0.9972 right_x=0.243 right_y=0.0038 right_z=0.0778 right_yaw=0.0002 right_pitch=-0.0152 right_roll=0.0017 right_gripper=0.9982\nstate[joint_eff]: [0.253, -7.1179, 5.0256, 1.3065, -0.3101, -0.0366, -0.0122, -0.0205, 0.4034, 6.7897, 1.8291, -0.0317, -0.0317, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5156, 1.6676, 0.5503, 0.4507, -0.5312, -0.4179, 0.9972, -0.0193, 0.4702, 0.152, -0.2687, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.378 left_y=-0.1072 left_z=0.0435 left_yaw=0.1353 left_pitch=-0.0011 left_roll=-0.0186 left_gripper=0.9972 right_x=0.2418 right_y=0.0039 right_z=0.0755 right_yaw=0.0005 right_pitch=-0.0141 right_roll=0.0019 right_gripper=0.9982\nstate[joint_eff]: [0.294, -7.6239, 4.3829, 1.619, -0.0464, 0.3101, -0.0073, 0.0752, 0.0752, 6.8718, 1.8144, -0.0464, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae68ad028579decbc7da2cc8b33699ad4a624d04c5ba4119a0f0fd12112a5c16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd303e985e3175448e601bc0963684c30ccd2a09726398117f59dcfe92a4e202",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cccb40c9f53c73a21157b8e165ed582ffbac184322cc4c52435d3c0635a02d2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyQQKjgEIEhgCKkDF5fk/bALB2XgLAou0rYjimrPg/OTDlGFKI/CMwPyFtxjp2Gmbyvx1uzvSPYuStoZnLzkSGubrIJaXyO1zzaPoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbPFzNUGEgxzCIbjgpK4y8kCarEaDNVELdreL7hlJWadGCIwzOPNybuGNevH2MSy4a2ZPUL8RrDuxj6uyYbwQncgure1FpXqh2C7tUgXl4W0iRpnKucCABGGYHImEXmgyexCr6jOfSCdzxZTCaW40jwuxGDplAsuG8f3zOmSg83KpVlHTXzz/YgCcS3JAz7b82vmQLJ/tOrzAXNlOIkFOBGRBePuW6G1Noa03bh86w8kKHcf+ESiFz4R/vFPhdQFOVzZL6YE8dgmyiZR4XzQ3PNhPFMGQY0CLsP89WU2qUH4IMmVmKaQWa4sMxn93gEsn6NWBgBc4IqHt/3woNUn4EQfwP62afws4dcEgPeDd5KQJ7YvLJV7vJ5dBOk2nqhlsx+SDICZHxIIiFm+O7KwWdKR1IVU9lgjRMFOOAoLvaGGCQ/JQ6npHz2yMQ5whyaziMJQJt8fqr7QOpoHvYAs1p3I4ArFG907pZ8mZlpQ++G8yZw53eHajv9d6JZhQqY2SnCSr8hrM0n2T/LqNeSdwvxpGYUMECVD2I9m7zBlL32pbNKmtWXZn7EEnyhG3R0R3Q5uKGDXLaidgOF5xF8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K34VNn8ffUijCPTeUzRUfj",
      "input": {
        "note": "Bottle neck/shoulder is roughly on the jaw column; closing to a loose ~2.7 cm collar to catch it under the cap.",
        "targets": {
          "left_gripper": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01K34VNn8ffUijCPTeUzRUfj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5186, 1.66, 0.5552, 0.5018, -0.5598, -0.4011, 0.2854, -0.0193, 0.4625, 0.1448, -0.2691, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3856 left_y=-0.1079 left_z=0.0586 left_yaw=0.1472 left_pitch=0.0598 left_roll=-0.0297 left_gripper=0.2854 right_x=0.2409 right_y=0.0039 right_z=0.0738 right_yaw=0.0005 right_pitch=-0.0141 right_roll=0.0019 right_gripper=0.9982\nstate[joint_eff]: [-0.1162, -5.7368, 5.5316, 0.9646, 0.0122, -0.0904, 0.2662, -0.2256, -0.1709, 6.8034, 1.7949, -0.0366, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b322044fde6f21bcb1311a03c699362c42e9ad53f2d9e762791717ef4bc9e84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fa639c4ab88024b232b7a11adeca752e1a61ed9082490210130016504a6c0c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:911b624820fa0df406142026eeb43a879e26b290f8b3076937fc4dad0c276ff5",
        "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 · 6.595 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]: [-0.5163, 1.6218, 0.5838, 0.3187, -0.4625, -0.4, 0.9972, -0.0193, 0.482, 0.1627, -0.2687, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3723 left_y=-0.1166 left_z=0.0449 left_yaw=0.072 left_pitch=-0.0694 left_roll=-0.0089 left_gripper=0.9972 right_x=0.243 right_y=0.0038 right_z=0.0778 right_yaw=0.0002 right_pitch=-0.0152 right_roll=0.0017 right_gripper=0.9982\nstate[joint_eff]: [0.253, -7.1179, 5.0256, 1.3065, -0.3101, -0.0366, -0.0122, -0.0205, 0.4034, 6.7897, 1.8291, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5156, 1.6676, 0.5503, 0.4507, -0.5312, -0.4179, 0.9972, -0.0193, 0.4702, 0.152, -0.2687, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.378 left_y=-0.1072 left_z=0.0435 left_yaw=0.1353 left_pitch=-0.0011 left_roll=-0.0186 left_gripper=0.9972 right_x=0.2418 right_y=0.0039 right_z=0.0755 right_yaw=0.0005 right_pitch=-0.0141 right_roll=0.0019 right_gripper=0.9982\nstate[joint_eff]: [0.294, -7.6239, 4.3829, 1.619, -0.0464, 0.3101, -0.0073, 0.0752, 0.0752, 6.8718, 1.8144, -0.0464, -0.0659, -0.0073]",
      "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]: [-0.5186, 1.66, 0.5552, 0.5018, -0.5598, -0.4011, 0.2854, -0.0193, 0.4625, 0.1448, -0.2691, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3856 left_y=-0.1079 left_z=0.0586 left_yaw=0.1472 left_pitch=0.0598 left_roll=-0.0297 left_gripper=0.2854 right_x=0.2409 right_y=0.0039 right_z=0.0738 right_yaw=0.0005 right_pitch=-0.0141 right_roll=0.0019 right_gripper=0.9982\nstate[joint_eff]: [-0.1162, -5.7368, 5.5316, 0.9646, 0.0122, -0.0904, 0.2662, -0.2256, -0.1709, 6.8034, 1.7949, -0.0366, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b322044fde6f21bcb1311a03c699362c42e9ad53f2d9e762791717ef4bc9e84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fa639c4ab88024b232b7a11adeca752e1a61ed9082490210130016504a6c0c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:911b624820fa0df406142026eeb43a879e26b290f8b3076937fc4dad0c276ff5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9QQKjgEIEhgCKkAtigPu/NK3XznD4jzj+eBuFtwcuc6tKOQ9FVE8KZg3caunA6D+NNQtS1D43VcELydopaSMwohO463e5OquT4+OMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbnFzNUGEgxXt4UeZOmUDHYv9Q8aDLHRu30lC3Mf1OgV2yIwggXQ9BosMKmEW3EOm856BGkWl2zPWADHZc2FzLvTe4bR5OlTtF9V0rBEVgzm1VZ0KpMDfrpSYX9n1A3tZrvGe4PjEr4tXNDlzyyQQlmrDJq9G7mWjmdaYy4IrZPgcuOxyW/jWmD/4HJdPvZYdH5rONTi6V5PLdRaxhDohs4d2li8KqYIlbG8ShIqITYEBjg36E59fnXUzOjeOkYWLXKCRMesxM2pk7KEK4PvuNW/n/y8B5RrIIvorDAPAxttQjoSDKlZPkkV9QLVbji2R/mg0oyZdxI5mXT1PphrLu/QjLOdLhinJPaFrO6RDJNXmerXRznROQmEhAoFRs5QD2iVLWSqqnx8xBV/Q8wGqaC7qczwtrf7tspe+uLQWGvWXBs/TVfbq/JVof05DwFMPyIhHrV5KR5kfeP2Cm5NvyqHtx3ts4VHkvU5IrxDB3cGQQeIPXWqvzUKZmNRNDmH91Fh9Jnh24l7CY9bneAFF+N1B7GsesPTSSwfF19zJ5sYxpDb5JvofmAbR8p0o/W9/GHG+zVFoU3wKIOPaSQJj9J5NjFiS5WC/UEoF2QvmXqnX8VzpvO7XeMyYGsETZb/d7Xtt0Kr55HOOxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015B1G6U1TBgubbVFPmpiQmp",
      "input": {
        "note": "Jaws closed to 2.7 cm around the neck; lifting straight up so the bottle swings to hang vertically from its cap.",
        "targets": {
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_015B1G6U1TBgubbVFPmpiQmp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5167, 1.3876, 1.3617, -0.6342, -0.5568, -0.4229, 0.2844, -0.0193, 0.453, 0.1333, -0.2691, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.389 left_y=-0.1095 left_z=0.2904 left_yaw=0.1569 left_pitch=0.0136 left_roll=-0.0144 left_gripper=0.2844 right_x=0.2395 right_y=0.0039 right_z=0.0707 right_yaw=0.0002 right_pitch=-0.016 right_roll=0.0017 right_gripper=0.9982\nstate[joint_eff]: [0.0479, -5.0803, 8.6085, 1.4481, -0.1978, 0.0806, -0.1197, -0.1983, 0.0342, 6.9538, 1.8193, -0.0024, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a062956d2e6184bdf26fba214d85a7f595b80800f500bd1911255d1c003544d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71928c59e6cf7aece01af4b13e103b4d1e38aa4131be7b1b63749f496b1e704b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a8235f6975af52c71f4dc6b523e50209879d2ff7d481405f26063ce54dd4e035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 6.223 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]: [-0.5156, 1.6676, 0.5503, 0.4507, -0.5312, -0.4179, 0.9972, -0.0193, 0.4702, 0.152, -0.2687, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.378 left_y=-0.1072 left_z=0.0435 left_yaw=0.1353 left_pitch=-0.0011 left_roll=-0.0186 left_gripper=0.9972 right_x=0.2418 right_y=0.0039 right_z=0.0755 right_yaw=0.0005 right_pitch=-0.0141 right_roll=0.0019 right_gripper=0.9982\nstate[joint_eff]: [0.294, -7.6239, 4.3829, 1.619, -0.0464, 0.3101, -0.0073, 0.0752, 0.0752, 6.8718, 1.8144, -0.0464, -0.0659, -0.0073]",
      "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]: [-0.5186, 1.66, 0.5552, 0.5018, -0.5598, -0.4011, 0.2854, -0.0193, 0.4625, 0.1448, -0.2691, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3856 left_y=-0.1079 left_z=0.0586 left_yaw=0.1472 left_pitch=0.0598 left_roll=-0.0297 left_gripper=0.2854 right_x=0.2409 right_y=0.0039 right_z=0.0738 right_yaw=0.0005 right_pitch=-0.0141 right_roll=0.0019 right_gripper=0.9982\nstate[joint_eff]: [-0.1162, -5.7368, 5.5316, 0.9646, 0.0122, -0.0904, 0.2662, -0.2256, -0.1709, 6.8034, 1.7949, -0.0366, -0.0464, -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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5167, 1.3876, 1.3617, -0.6342, -0.5568, -0.4229, 0.2844, -0.0193, 0.453, 0.1333, -0.2691, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.389 left_y=-0.1095 left_z=0.2904 left_yaw=0.1569 left_pitch=0.0136 left_roll=-0.0144 left_gripper=0.2844 right_x=0.2395 right_y=0.0039 right_z=0.0707 right_yaw=0.0002 right_pitch=-0.016 right_roll=0.0017 right_gripper=0.9982\nstate[joint_eff]: [0.0479, -5.0803, 8.6085, 1.4481, -0.1978, 0.0806, -0.1197, -0.1983, 0.0342, 6.9538, 1.8193, -0.0024, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a062956d2e6184bdf26fba214d85a7f595b80800f500bd1911255d1c003544d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71928c59e6cf7aece01af4b13e103b4d1e38aa4131be7b1b63749f496b1e704b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8235f6975af52c71f4dc6b523e50209879d2ff7d481405f26063ce54dd4e035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyAcKjgEIEhgCKkDfvIwhpTcPP3Ib5TcEhBIAxfKqIte1p7Wc1BSW8xm/r0cgcCiQ5FrfJc7QOvOZsKWcRxYIzB24xcpT2MUPEBMwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcLFzNUGEgzdE+/wQezZWpgk+GsaDJtdeYmhy8jQrM6UgyIwvcG3F/kavQXTC4xsKlysM6CmTMa0y3PRzihmkytLXpu54ztRGirVu5t5GaSGwDNmKuYFHcoeJldKlKI+Tw5aJSA5gdvg56DGEfK9c9vPkOrTs24lYcI3/84i3UsLISmxPid6Yd1RVZM58H/Q1Pjpj8IXMyJZO13Vs6cjBhPIkmzKozIdZwMrSoEP0xZ/8hDl5zUS722Z0vwZUehqUR6Ql/KoKmv620G9CZ7LPLRdHazifDKkSLXnMdKkGfCqP5FwbmGQIQCrJrFGWa3dKQFSnVv2hFx6IuUAAQy0MTq1gdUSWTbrhl2v/v0f28V4HSpJLzlyH+zR+x5qWC0d8mF7aJtYmqqbrBC9wY8s0Tajv7wnOyQAusflygF1npkeDPGQgg7SAqzMVDf7o+JgAENfCP/bAnK/ozgHkbC0oLOFv7Ugx0QLm+zcjX+uHRKXeU8Vq5/jME3Da5od+xWwOaLSg54ZDeZ3aeLGK9/zsCRVTPxYHYuUYUvBoeJAYcf9Ui40iosfLDMv57E1cs268MgcUOfAb7mDvg+VyWM4HSnLfHsmF4iaf/CDEUQhdMbWFWbsVchnn1HW4DFc3CGAchQeulN9u6sKu8veaE/a5gJVYNdDSeQLai0td8WOzBDDNPcLlBTiXGAfyZyWJN5d2SVXxDsM8gDx1ndWjJRCPzzsDrwzQNRGzFbFX1kdNTH9VjPXhh7tzkgO0fGPYzUaD3xdnIthOWSrq8PjZfJ78l3wpIwxsl6GD1t2tuVTqNpMcfgpDZQ7GR4goNDToiJeaP5YNLhK0wcBYcvg33KC7Px7/37W78panD37toY9Tauefgs3nEKy8/1HEsoCyL6r1xvffWvuS2xnYhLEslBwtV2cBykqqtdbJFcpaHlG+W5wOZFDdYe21rziQvZMdqe4Hgkm8xMbzzOEHTKYiAw/Kt1HWeDVljOJGblSGx0LLgS1rwPhCyOhKdKLHf6eqPygqcJYsiIFg0jnca+IxyJ0Tx3GADtf73VpT1n77NSLZ+l7+VopdhwK9mTSyXfQAUNUBjAIijEc1S+zI8T1ZxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NePe6H24LU5FKWz2UBfDFZ",
      "input": {
        "note": "Bottle hangs vertically in the jaws; lowering it until its base reaches the table.",
        "targets": {
          "left_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01NePe6H24LU5FKWz2UBfDFZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5167, 1.3895, 0.9947, -0.3435, -0.5575, -0.4221, 0.2842, -0.0193, 0.4419, 0.1242, -0.2691, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3822 left_y=-0.1055 left_z=0.1849 left_yaw=0.1579 left_pitch=-0.0472 left_roll=0.0355 left_gripper=0.2842 right_x=0.2385 right_y=0.0039 right_z=0.0689 right_yaw=0.0002 right_pitch=-0.0141 right_roll=0.0017 right_gripper=0.9982\nstate[joint_eff]: [-0.1162, -5.7368, 7.2957, 1.8046, -0.2662, -0.0171, -0.0269, -0.253, -0.0752, 6.6256, 1.7949, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b28a91ee70c5b81b935c2e81f49348a85e4c08e22c013e723960a532cb5a8af0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42230ef35caac4d0fa2ffc07cea37c7d0b73c700873178259932872c506af062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c082e68f98fe58b7c281efdcddd287b31f803ddb6cf42e20f34e6f78a3018dc2",
        "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 · 10.43 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]: [-0.5186, 1.66, 0.5552, 0.5018, -0.5598, -0.4011, 0.2854, -0.0193, 0.4625, 0.1448, -0.2691, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3856 left_y=-0.1079 left_z=0.0586 left_yaw=0.1472 left_pitch=0.0598 left_roll=-0.0297 left_gripper=0.2854 right_x=0.2409 right_y=0.0039 right_z=0.0738 right_yaw=0.0005 right_pitch=-0.0141 right_roll=0.0019 right_gripper=0.9982\nstate[joint_eff]: [-0.1162, -5.7368, 5.5316, 0.9646, 0.0122, -0.0904, 0.2662, -0.2256, -0.1709, 6.8034, 1.7949, -0.0366, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.5167, 1.3876, 1.3617, -0.6342, -0.5568, -0.4229, 0.2844, -0.0193, 0.453, 0.1333, -0.2691, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.389 left_y=-0.1095 left_z=0.2904 left_yaw=0.1569 left_pitch=0.0136 left_roll=-0.0144 left_gripper=0.2844 right_x=0.2395 right_y=0.0039 right_z=0.0707 right_yaw=0.0002 right_pitch=-0.016 right_roll=0.0017 right_gripper=0.9982\nstate[joint_eff]: [0.0479, -5.0803, 8.6085, 1.4481, -0.1978, 0.0806, -0.1197, -0.1983, 0.0342, 6.9538, 1.8193, -0.0024, -0.0659, -0.0122]",
      "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]: [-0.5167, 1.3895, 0.9947, -0.3435, -0.5575, -0.4221, 0.2842, -0.0193, 0.4419, 0.1242, -0.2691, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3822 left_y=-0.1055 left_z=0.1849 left_yaw=0.1579 left_pitch=-0.0472 left_roll=0.0355 left_gripper=0.2842 right_x=0.2385 right_y=0.0039 right_z=0.0689 right_yaw=0.0002 right_pitch=-0.0141 right_roll=0.0017 right_gripper=0.9982\nstate[joint_eff]: [-0.1162, -5.7368, 7.2957, 1.8046, -0.2662, -0.0171, -0.0269, -0.253, -0.0752, 6.6256, 1.7949, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b28a91ee70c5b81b935c2e81f49348a85e4c08e22c013e723960a532cb5a8af0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42230ef35caac4d0fa2ffc07cea37c7d0b73c700873178259932872c506af062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c082e68f98fe58b7c281efdcddd287b31f803ddb6cf42e20f34e6f78a3018dc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzQcKjgEIEhgCKkDnRABUI4/lfLyJ2dKJO8rLeRJP4Rs2xPnkQhonrRqU5/L6YXzWJ1vIWZEU4fhKiAnKPnA5E3VhB6Vxt20x87ZbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcnFzNUGEgzzRnXRAkRh0fU7ra0aDPUceO3yl2e5k9U0ByIwhHDKM13euUbDUG5L05WPDKLtQB/ZSL8crAj6ZN91PBq7Szc+gIH5LrQjXdDWy+wsKusFd0FBElfjfOKYshXeZhA3Dr2icWJYNBb59+SNfuPO+jK/5bFd+FHgFsumLrE4lC+FiX7tzeRy5Cqpetlk9AXL3IXPPilI64CzpU6y0FVqqlBHaAMQuj/0+SziU1+rhdxuiRMD2uxRlU9pUKiB+jJYXXvs/1IP+QCWuBOnxoTnPoqy26iq/5AYlecjLfGan4FJRjLy69Gd9yHv4NXoRrHVPusudMZpw/B2znbBE2YPpbyC2uwAvAWeNAPjzrJNMFCSigxZhEC2D/9yVshBnS1bt8iQRAgXOSTnNQkdBqawO4DpL3cqAmJSzN9jlBmNq1SSuGBcJi1Iyx20htMK0hhmqIPyXkOJmv4xBQLe7rtpG8MudyURya8363cNftEmXkxmicxDQ5/IwV5at1MXxuWOV7U8RamPZJUv/sXRFKglx5CJYyEivK2avUezpgMjhNvFnAKmonVgEysZhOvSP/x9/MmKv91thzPv+HrEVeor6RC76mrq8k7kkSqtCDqXxan1mgN4jzMgeJW2U2OTTWiVjlMs2u2lJK3nt4S05+y7WCbSPXn0h1YF08QfW471FcVuwE2iFNDlhMjiCPLf6iluTfk7Omu+jThUFFS6/ttQz6i9XL+gPcao4psZW2/HHdQXkDGyiaOQwrrXqz/sHQ9kmVGz0Ynqe3TUHaCEADb3Mlav9XuTKMA1szOthp2VyStT1QnWOfhZ1mnaa5Vs3YHCOTs19J7xnhJbQ8hYVsdJt/6abyarzxk4w1+EsnNEh+uT8sskLVi8Ta0j4Xo0zqK0PUpAcj4dnG9CfWPDKlgSZ9NKbcgm/lEfdZhWbIySSSBBeTUrOEdvKLQCTgqJwDdXvbmd6+WcFHlcl9bOv/8CoXNdLU9gDEn2ScGqlhMQFelG201pO6Zy/N2LYXHIYWzmKP1GmNpbejNf2w8CDuHgAcqZCcoNeW3t3pM8gdQxB4FX3wwuup96RbVZoi9PLO45UfuJL8IVnC/YBw7fGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AZhakxn2VVWsAcLZSh8QEv",
      "input": {
        "note": "Base should be on the table; opening the jaws to release this second bottle standing.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01AZhakxn2VVWsAcLZSh8QEv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5167, 1.3834, 0.9401, -0.2649, -0.5579, -0.4229, 0.9956, -0.0193, 0.4313, 0.1131, -0.2691, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3827 left_y=-0.1058 left_z=0.1776 left_yaw=0.158 left_pitch=-0.0235 left_roll=0.0162 left_gripper=0.9956 right_x=0.2372 right_y=0.004 right_z=0.0662 right_yaw=0.0005 right_pitch=-0.0144 right_roll=0.0019 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -7.2547, 6.2154, 1.6777, -0.2418, -0.0171, -0.0513, -0.2256, 0.1983, 7.0906, 1.7753, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:119b7563e255627da55ac1f2f1804eafc384d89273a0713e2c787e848493cddf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5266adf0ecf512187e74c37143b9958f84c10066a7db8f2e3bc1599ee6ec8ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9ff6ecc78a774c1b0742944cf28e526547601384db675f7a3cc4cd3b2ff1efb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /messages · status 200 · 21.55 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]: [-0.5167, 1.3876, 1.3617, -0.6342, -0.5568, -0.4229, 0.2844, -0.0193, 0.453, 0.1333, -0.2691, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.389 left_y=-0.1095 left_z=0.2904 left_yaw=0.1569 left_pitch=0.0136 left_roll=-0.0144 left_gripper=0.2844 right_x=0.2395 right_y=0.0039 right_z=0.0707 right_yaw=0.0002 right_pitch=-0.016 right_roll=0.0017 right_gripper=0.9982\nstate[joint_eff]: [0.0479, -5.0803, 8.6085, 1.4481, -0.1978, 0.0806, -0.1197, -0.1983, 0.0342, 6.9538, 1.8193, -0.0024, -0.0659, -0.0122]",
      "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]: [-0.5167, 1.3895, 0.9947, -0.3435, -0.5575, -0.4221, 0.2842, -0.0193, 0.4419, 0.1242, -0.2691, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3822 left_y=-0.1055 left_z=0.1849 left_yaw=0.1579 left_pitch=-0.0472 left_roll=0.0355 left_gripper=0.2842 right_x=0.2385 right_y=0.0039 right_z=0.0689 right_yaw=0.0002 right_pitch=-0.0141 right_roll=0.0017 right_gripper=0.9982\nstate[joint_eff]: [-0.1162, -5.7368, 7.2957, 1.8046, -0.2662, -0.0171, -0.0269, -0.253, -0.0752, 6.6256, 1.7949, -0.0171, -0.0464, -0.0122]",
      "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]: [-0.5167, 1.3834, 0.9401, -0.2649, -0.5579, -0.4229, 0.9956, -0.0193, 0.4313, 0.1131, -0.2691, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3827 left_y=-0.1058 left_z=0.1776 left_yaw=0.158 left_pitch=-0.0235 left_roll=0.0162 left_gripper=0.9956 right_x=0.2372 right_y=0.004 right_z=0.0662 right_yaw=0.0005 right_pitch=-0.0144 right_roll=0.0019 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -7.2547, 6.2154, 1.6777, -0.2418, -0.0171, -0.0513, -0.2256, 0.1983, 7.0906, 1.7753, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:119b7563e255627da55ac1f2f1804eafc384d89273a0713e2c787e848493cddf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5266adf0ecf512187e74c37143b9958f84c10066a7db8f2e3bc1599ee6ec8ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ff6ecc78a774c1b0742944cf28e526547601384db675f7a3cc4cd3b2ff1efb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2gkKjgEIEhgCKkA2qOMZW2ZvrnncJJAt33gfegUrUp+DroSZ9zEhk3d86BVjM1p4AnZ4nfnJbpPFVZEJx3SUig1ao7M2wfQt9BsYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdPFzNUGEgyemknM27TUyo38z4caDECaNAw1nSF0QekvISIw13dSPYP/CSVvcf0zjWz5jBfnNCozAts2vj7N38+lmEq00/f8zY9xe6RQpfzQ2k5ZKvgHnZ5C5R/kEV2IvnS0/1myQCwRCU4ZMn2rlrM6l5ajk9FNd8wC7PF4p7zp8+l1m9oGpOVidZowcQRrsFqFtD+l/jcAyi3lQseJhVnMrczzqL1uUGm2dhmXZybd97KvpwCgs4cxTfSqiI0UdJVF8xmQuqGBKbj4MOx5BBpsPBTz3HioCu34QT5mxyQIkYHHuwNhmPK9lZJXK6WLY5gV1wZgtx9u3aYKjg+/WOMqrUs+nOEtZM4nM8is+URAkv+aW586g081D7w3zWqwZzhrlBZIMcySPU9icpSQ+PwrPi3ZZPvpLL8lnBD1SmGdmrBCe1T36QVviGAm4MQWhyX4DIZoi+B2zaXb/jTpESJgLIhWk5+Qm4UAUSJSpksbw1a4T831pDxFX1IRf8BuciJEgK1Msd4ZiGHEBSpjyTcQcLBCXqV5lqMaeZpKEHcR/UeOdJqgEc/P/QCWaEUHoqxCrVEIXzi6L/0KPcBKfOptj2wsrVs7h0Uy9uxXbP4N24FBuOrHikJTff42GG1AiLrQDCOJZwb4HI8Lz7MuWUSFimj2WZqYgTwQAbJTUHTpWibLj/AYbHC6lCCa3vWu20ZfabqUOu5fOkiWbVA+xuKKZfrzLTEDQoBe9kGCXIcBeidxZ9NhdQhP6WoNDmAMBrXVlPuQwle52e99NrXMCZBZCoEWaRT/Ufc9dSLBNGlZxUjh0DcER7/UFsQHENlRW5Tyj0kdJVGw576aymyByRLnuMX+DqxY2lLnfRuPQ5u+m0j/Lo1gizn2Uva5TOu7FfoCNeR9ZGmcOxhBF7ZmzOds5aag/5IBTMI4dUwnuL3x9vXeBp4cdtMXNI3Z0L5uZkr4I0nc66JEyrAtcX5pMwCCCag5bMq5dN5zusp0DTkfl6j7U9oqh+DZz5oCpLa7XeoMf/db5z8n2JlYVnmz3NEO7Vvpvc0ylrxtfAX2WoPo/nu1JoWT5HKB4r0s1OBmr3/pwrH/cVWt3IketIWc8v1QNwKDFMSdAFRWmmCPYKnD8gV/yXpfVk/cPfs+fqfpnL01pyZjqwXU/PdpPX7czeSoctOmmGxifziaSWIdCL7hCZw6W2D7WdxYy2qKyakNti/BpAvKc9nXXntknJeq05byvct8iqAUA1Htiws3lOed0WTnr8Pz4vseHb7hRM7XWvxLw8TfsB7T43GgHtW0uy185rj+YpTMcJK65kPXkMj75Zfnfc4yifk2FxWMTkF6iZI2fJaGHxcepKYs/MioNT5PYwssPExk4l2/8Pnd35WGIqNQj1hhM+AM+GWj8NEsc46NUj4UmxNLgMWAJWZJB8ELgpZDa4eZsqemYNyuoo2VWBP/5KhXOrIvKC17MTwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QqLcQHSXasteZtJN6CgFWu",
      "input": {
        "note": "Two bottles now appear upright; parking the left arm aside and bringing the right arm over the remaining lying bottle at the far right to inspect it.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.05,
          "left_yaw": 0.0,
          "left_z": 0.25,
          "right_gripper": 1.0,
          "right_x": 0.34,
          "right_y": 0.26,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01QqLcQHSXasteZtJN6CgFWu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.503, 0.7399, 0.8459, -0.7429, -0.4255, -0.3302, 0.9966, 0.9184, 1.6493, 0.9295, -0.1345, 0.6865, 0.5514, 0.9983]\nstate[eef_state]: left_x=0.2543 left_y=-0.0526 left_z=0.2384 left_yaw=0.0167 left_pitch=-0.0112 left_roll=-0.0144 left_gripper=0.9966 right_x=0.3291 right_y=0.2523 right_z=0.103 right_yaw=0.042 right_pitch=-0.0503 right_roll=-0.0476 right_gripper=0.9983\nstate[joint_eff]: [0.3897, -0.5675, 9.7436, 1.619, -0.149, 0.2271, 0.0904, 0.0752, -7.2274, 8.6085, 1.6239, 0.6374, 0.2711, -0.1929]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8afca6267a79c9511ae3852a92a0125c6edb7e0169be1f7cde80ecb05665ff71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:867d48c2013229ffe84bc5e964095f30e7d695570c90f2ce761589e02b4381e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dae6f54812995ca669aebe006fa010ec85fd08b4f76f57b88c3026a817e984c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 9.542 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]: [-0.5167, 1.3895, 0.9947, -0.3435, -0.5575, -0.4221, 0.2842, -0.0193, 0.4419, 0.1242, -0.2691, -0.0277, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3822 left_y=-0.1055 left_z=0.1849 left_yaw=0.1579 left_pitch=-0.0472 left_roll=0.0355 left_gripper=0.2842 right_x=0.2385 right_y=0.0039 right_z=0.0689 right_yaw=0.0002 right_pitch=-0.0141 right_roll=0.0017 right_gripper=0.9982\nstate[joint_eff]: [-0.1162, -5.7368, 7.2957, 1.8046, -0.2662, -0.0171, -0.0269, -0.253, -0.0752, 6.6256, 1.7949, -0.0171, -0.0464, -0.0122]",
      "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]: [-0.5167, 1.3834, 0.9401, -0.2649, -0.5579, -0.4229, 0.9956, -0.0193, 0.4313, 0.1131, -0.2691, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3827 left_y=-0.1058 left_z=0.1776 left_yaw=0.158 left_pitch=-0.0235 left_roll=0.0162 left_gripper=0.9956 right_x=0.2372 right_y=0.004 right_z=0.0662 right_yaw=0.0005 right_pitch=-0.0144 right_roll=0.0019 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -7.2547, 6.2154, 1.6777, -0.2418, -0.0171, -0.0513, -0.2256, 0.1983, 7.0906, 1.7753, -0.0269, -0.0464, -0.0122]",
      "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]: [-0.503, 0.7399, 0.8459, -0.7429, -0.4255, -0.3302, 0.9966, 0.9184, 1.6493, 0.9295, -0.1345, 0.6865, 0.5514, 0.9983]\nstate[eef_state]: left_x=0.2543 left_y=-0.0526 left_z=0.2384 left_yaw=0.0167 left_pitch=-0.0112 left_roll=-0.0144 left_gripper=0.9966 right_x=0.3291 right_y=0.2523 right_z=0.103 right_yaw=0.042 right_pitch=-0.0503 right_roll=-0.0476 right_gripper=0.9983\nstate[joint_eff]: [0.3897, -0.5675, 9.7436, 1.619, -0.149, 0.2271, 0.0904, 0.0752, -7.2274, 8.6085, 1.6239, 0.6374, 0.2711, -0.1929]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8afca6267a79c9511ae3852a92a0125c6edb7e0169be1f7cde80ecb05665ff71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:867d48c2013229ffe84bc5e964095f30e7d695570c90f2ce761589e02b4381e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dae6f54812995ca669aebe006fa010ec85fd08b4f76f57b88c3026a817e984c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Aovv6gWuAA8shbJ6xUAdUa",
      "input": {
        "note": "The right wrist camera shows the third bottle lying with its cap pointing away; moving the right arm forward and down to neck height over it.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.245,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Aovv6gWuAA8shbJ6xUAdUa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5167, 0.7403, 0.8421, -0.7528, -0.4335, -0.318, 0.9966, 0.7937, 1.8595, 0.8471, 0.1677, 0.617, 0.4583, 0.9982]\nstate[eef_state]: left_x=0.2524 left_y=-0.0539 left_z=0.2352 left_yaw=0.0031 left_pitch=-0.0211 left_roll=0.007 left_gripper=0.9966 right_x=0.3635 right_y=0.2289 right_z=0.0291 right_yaw=0.0165 right_pitch=-0.0845 right_roll=-0.08 right_gripper=0.9982\nstate[joint_eff]: [-0.2256, -0.6359, 6.106, 1.8242, -0.359, -0.0855, -0.0024, 0.0479, -9.4974, 5.8872, 1.9756, 0.2369, 0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78888ed14a77ab27851a6c53591ec07e7bc9f4650b4c8b11e1416003e4343057",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01e77cfe9893be61abef13fd96279d0a33782fc9c4693877a8b932fee25d3e72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:afef3361195543fe54dff7f89c75c045c5428af59ab2e7ff64b37d40385b1515",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 5.55 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]: [-0.5167, 1.3834, 0.9401, -0.2649, -0.5579, -0.4229, 0.9956, -0.0193, 0.4313, 0.1131, -0.2691, -0.028, -0.036, 0.9982]\nstate[eef_state]: left_x=0.3827 left_y=-0.1058 left_z=0.1776 left_yaw=0.158 left_pitch=-0.0235 left_roll=0.0162 left_gripper=0.9956 right_x=0.2372 right_y=0.004 right_z=0.0662 right_yaw=0.0005 right_pitch=-0.0144 right_roll=0.0019 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -7.2547, 6.2154, 1.6777, -0.2418, -0.0171, -0.0513, -0.2256, 0.1983, 7.0906, 1.7753, -0.0269, -0.0464, -0.0122]",
      "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]: [-0.503, 0.7399, 0.8459, -0.7429, -0.4255, -0.3302, 0.9966, 0.9184, 1.6493, 0.9295, -0.1345, 0.6865, 0.5514, 0.9983]\nstate[eef_state]: left_x=0.2543 left_y=-0.0526 left_z=0.2384 left_yaw=0.0167 left_pitch=-0.0112 left_roll=-0.0144 left_gripper=0.9966 right_x=0.3291 right_y=0.2523 right_z=0.103 right_yaw=0.042 right_pitch=-0.0503 right_roll=-0.0476 right_gripper=0.9983\nstate[joint_eff]: [0.3897, -0.5675, 9.7436, 1.619, -0.149, 0.2271, 0.0904, 0.0752, -7.2274, 8.6085, 1.6239, 0.6374, 0.2711, -0.1929]",
      "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]: [-0.5167, 0.7403, 0.8421, -0.7528, -0.4335, -0.318, 0.9966, 0.7937, 1.8595, 0.8471, 0.1677, 0.617, 0.4583, 0.9982]\nstate[eef_state]: left_x=0.2524 left_y=-0.0539 left_z=0.2352 left_yaw=0.0031 left_pitch=-0.0211 left_roll=0.007 left_gripper=0.9966 right_x=0.3635 right_y=0.2289 right_z=0.0291 right_yaw=0.0165 right_pitch=-0.0845 right_roll=-0.08 right_gripper=0.9982\nstate[joint_eff]: [-0.2256, -0.6359, 6.106, 1.8242, -0.359, -0.0855, -0.0024, 0.0479, -9.4974, 5.8872, 1.9756, 0.2369, 0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78888ed14a77ab27851a6c53591ec07e7bc9f4650b4c8b11e1416003e4343057",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01e77cfe9893be61abef13fd96279d0a33782fc9c4693877a8b932fee25d3e72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afef3361195543fe54dff7f89c75c045c5428af59ab2e7ff64b37d40385b1515",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmgkKjgEIEhgCKkBRQ2DkOjPWtVWeQGjPuTF1+yIuGmahl+Y962shXC0JY//pme5CrliLFC5VzQMXo6gh7MWe+1iPUc6fZyGPXDhQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfXFzNUGEgyUgepgtDkytScECHQaDMZI31gfDnkS4VMvgSIw/J0K2zQgLoOZlJEEC19aOgijDBUQnG1wLNypT3wrrnoA08C0Gvq4nrWRq3KgtkeKKrgHr44erilnwpgfOEUiyK3my+EIxbcS75rsB0vOH9+6q262Yx2ZsdhnJWdbyeeko9JSSAW63MqpAftR3OaX7XY45iAmzG2ofhPsgc5w1FOLXMi2tt81+WYL96DgQFZ0NF9wCddvGutliz4rSRzH6RbKpu0wDMNzFj/pESr56VQr7uP33nDtJhGNSFfi3cXFx0SkcH4bXwaK8q51udbMdsiUxZNp/cPdtUHfPtCCCL+YjEX5bmQxbRV6Me5okzki9WBXnkmhX97Bq1Kz9VnUsOIaqXIJNTAfCMHLqY8pwQ0jBvlHFy8sM93OrdAtmEUOn80CnA627m13d14A43xVp7pt6Jmkr2nxRSSDY9zRe363LuR/7hM7y8cw94eI/6IpwjaSKk7jmUdQWNTKeGnEdmiI5gHCzYdwqU+bTWUVxaGlX/xCbr0zT6ExCy3aS0M5aUYKLuSRp/FVTsLOOM4d/w+bm5ES0srqx30e+wE98YpqNh6ZUutRtnkuEsKD0fdjBxdUt8F1iL5M18ElnbUNZX/pe3ywp4Z1dyGIE+uBvjuIHkoZADie8ZKiE8OrsLugNIyEKTBmBxqkbjyf2Q1x5nvV+q9Nwt/gOmkSUOYXefEgLZniDiGNIolVKeGpUfMskTPZEW67YnDfCYMTbk/pJWEamHcf3Yq1hykTfY2mMLo6CQ/QRcxsBMxS1J8RB9KVrPW15zs1epp6QwFfxAVRNGs5dkBWoPAovXE42jxP74IiZ3M103FOiQoEuXf0zOhshUDS9bCwMFDXRSXe4LI5Ax8kH2WiVm1d4M2vcxUkk3wLkKkoXMahonm3n8ouIp9P8jBIRvujC3tQStwp9ofeYgb0IpqqZdoCyL8gu4zWFZUNc2zMUlxgdihrnXxSlzHlnh8w+z9GVZON1iwfUWGB9h9Mp7BO3uLXUkQGgaiAKChyrwLc7xiueXu4EZ/7UoxcuwTtGpVf7p6hL4VCG9u7fXp7OgSSsjefUgM+Vw+OMJSMwaHcZmA4RJx0K95aldpWM0TDUQzpiBT8wpgPtawy3Utt27uL/+6JGmHXpuK0yji0wYaC3kXl3fExOdBv5W7L4xSRT/6aUD+kV5nqUbQFP8NWp7+px5L2rat3vmWYeX+UwXfi5HCbju/YT0b9gH/3wbWWZrE4Q32iyYeuS58qOfNBjMkOhoml+2/DGdKZIH9mi7CIiS9s5KPfXkgaMOiWRvOgItPNqfEKguNYEcaZG4XlaMiW1Nd6OD3MmvRVKL+2kIA/Yut4Yh44aRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KA4MJ1KuvgsSnA2d22pLuY",
      "input": {
        "note": "The wrist view shows the jaws over the bottle's mid-body with the red label (neck end) further forward; advancing ~5 cm along the bottle toward its neck.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.235,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01KA4MJ1KuvgsSnA2d22pLuY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5175, 0.7269, 0.8234, -0.7376, -0.4335, -0.3206, 0.9966, 0.7727, 1.8832, 0.7914, 0.3351, 0.5938, 0.4252, 0.9982]\nstate[eef_state]: left_x=0.2519 left_y=-0.0539 left_z=0.2331 left_yaw=0.0037 left_pitch=-0.0125 left_roll=-0.0002 left_gripper=0.9966 right_x=0.3707 right_y=0.2283 right_z=0.025 right_yaw=0.0341 right_pitch=-0.0326 right_roll=-0.0341 right_gripper=0.9982\nstate[joint_eff]: [-0.294, -0.7316, 6.3521, 1.7509, -0.2711, 0.0171, -0.0073, -0.0068, -8.8137, 5.053, 1.7265, 0.315, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:512d8242a6eea2535e2f1fd3a0fa406f0c6c59b1e23796bc9df58db763b3d5e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3da67a95b279393734db73164d8dddd887ab78b22699aaf6a55ab53c209dd968",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:878f515334c2d89b72855977c2563c01d799d88af101e217e96ecd3354191074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 10.74 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.503, 0.7399, 0.8459, -0.7429, -0.4255, -0.3302, 0.9966, 0.9184, 1.6493, 0.9295, -0.1345, 0.6865, 0.5514, 0.9983]\nstate[eef_state]: left_x=0.2543 left_y=-0.0526 left_z=0.2384 left_yaw=0.0167 left_pitch=-0.0112 left_roll=-0.0144 left_gripper=0.9966 right_x=0.3291 right_y=0.2523 right_z=0.103 right_yaw=0.042 right_pitch=-0.0503 right_roll=-0.0476 right_gripper=0.9983\nstate[joint_eff]: [0.3897, -0.5675, 9.7436, 1.619, -0.149, 0.2271, 0.0904, 0.0752, -7.2274, 8.6085, 1.6239, 0.6374, 0.2711, -0.1929]",
      "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]: [-0.5167, 0.7403, 0.8421, -0.7528, -0.4335, -0.318, 0.9966, 0.7937, 1.8595, 0.8471, 0.1677, 0.617, 0.4583, 0.9982]\nstate[eef_state]: left_x=0.2524 left_y=-0.0539 left_z=0.2352 left_yaw=0.0031 left_pitch=-0.0211 left_roll=0.007 left_gripper=0.9966 right_x=0.3635 right_y=0.2289 right_z=0.0291 right_yaw=0.0165 right_pitch=-0.0845 right_roll=-0.08 right_gripper=0.9982\nstate[joint_eff]: [-0.2256, -0.6359, 6.106, 1.8242, -0.359, -0.0855, -0.0024, 0.0479, -9.4974, 5.8872, 1.9756, 0.2369, 0.0171, -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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5175, 0.7269, 0.8234, -0.7376, -0.4335, -0.3206, 0.9966, 0.7727, 1.8832, 0.7914, 0.3351, 0.5938, 0.4252, 0.9982]\nstate[eef_state]: left_x=0.2519 left_y=-0.0539 left_z=0.2331 left_yaw=0.0037 left_pitch=-0.0125 left_roll=-0.0002 left_gripper=0.9966 right_x=0.3707 right_y=0.2283 right_z=0.025 right_yaw=0.0341 right_pitch=-0.0326 right_roll=-0.0341 right_gripper=0.9982\nstate[joint_eff]: [-0.294, -0.7316, 6.3521, 1.7509, -0.2711, 0.0171, -0.0073, -0.0068, -8.8137, 5.053, 1.7265, 0.315, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:512d8242a6eea2535e2f1fd3a0fa406f0c6c59b1e23796bc9df58db763b3d5e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3da67a95b279393734db73164d8dddd887ab78b22699aaf6a55ab53c209dd968",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:878f515334c2d89b72855977c2563c01d799d88af101e217e96ecd3354191074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0QUKjgEIEhgCKkDPihl0UZMepKkfS6NKgOvPp+eXhLXN5KEETkaxh+b/yaFL38rsGDMmOE1GuB5qIvYVuOLJy87bD5OWnVNBodGHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfvFzNUGEgzERfwz42WZiBlqVnEaDGSyrc0Vjiod2HSfjSIwF1KtxGT7z6p+dF2qB+lYiBzz/xpuRjoRDsdGVtMuEzMK50C6BmXz5Hqmz2949ABtKu8DpIKIEfaM552H2gq7EZO/1oKbFVZB511FmktteqhcPWCdCRo60pxSYnM4ps+35pb5jla6VaZyf7SHML1KIpA/FM5dAdCGbB7wdzNjvw8EAPidjuEgMm+vUOpVutEhYSr233MzNkC/2HcA7n01mD3FQDkFrY1uR7W4FQZgrA7Teyge4KXaRmL45FR6oKN61JhpNCD01AUHGASe4TYSbCW19gOGXJ5asUv0E8x20HV68OJ4YjYUEHFDj/Vn5dCyyQ2/OAWiDBzVqMG9VVsW2KERFkBaXUj+1Y/4um9rCSl7V57Wa6zh7LcYGfAaarFt81fBQDVziXiefUWgMO9/b043+Ubo9uEjwLCO+myHAoha93TLx529RKEdSeZKA2T8G8yfgSG1VGUkETWv061ffpqzXMG24RTngfQizmvB+wRI9//e71JwY17Kc8lFZ18c3hrakLb65lTL9N/SYkJTaUfuTUxabP+CbWngiM1vxc7bUiaXXIt08yTT7wKfuP2VUVc1OCewu6JmUqOFtHhyVIsTs6vhXrjHWDVQKJvi+oqWoF9Y2IvE/1zfOF4N0kWrMChN5HjxsxE3cfm2ln8NA1JwJ/SnioLvi0LW+pUR9W/mxN32tYIxfnyYisP9YSDyXereCDyUKMif+m+0GBvLltg4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BSw1u5RM3DbEU3ACHUpMbA",
      "input": {
        "note": "The right arm has hit its reach limit at x≈0.37, so I'll grip the bottle's body here and drag it closer, as I did successfully with the first bottle.",
        "targets": {
          "right_gripper": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01BSw1u5RM3DbEU3ACHUpMbA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5175, 0.7231, 0.812, -0.7372, -0.4335, -0.321, 0.9966, 0.7727, 1.8832, 0.7708, 0.3756, 0.5907, 0.4324, 0.5351]\nstate[eef_state]: left_x=0.251 left_y=-0.0534 left_z=0.2292 left_yaw=0.0039 left_pitch=-0.0187 left_roll=0.0031 left_gripper=0.9966 right_x=0.3698 right_y=0.2281 right_z=0.0245 right_yaw=0.0328 right_pitch=-0.0193 right_roll=-0.0132 right_gripper=0.5351\nstate[joint_eff]: [-0.6359, -0.8, 6.612, 1.7411, -0.3004, 0.0024, -0.0073, -0.253, -7.9658, 4.4103, 1.5165, 0.1783, -0.0806, 0.8571]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa406d5578387ab93806c7f3790bdc9794d728fd04326be18fa6122efd06848c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:624db4f1db93f94f5d783e0a5a12dc2c238283e3a08ac5824743ccc85e4cca49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf8eba469f37cce51b944255cb9f46a132dc3282009a6f049fbc1879898de9ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 33.63 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]: [-0.5167, 0.7403, 0.8421, -0.7528, -0.4335, -0.318, 0.9966, 0.7937, 1.8595, 0.8471, 0.1677, 0.617, 0.4583, 0.9982]\nstate[eef_state]: left_x=0.2524 left_y=-0.0539 left_z=0.2352 left_yaw=0.0031 left_pitch=-0.0211 left_roll=0.007 left_gripper=0.9966 right_x=0.3635 right_y=0.2289 right_z=0.0291 right_yaw=0.0165 right_pitch=-0.0845 right_roll=-0.08 right_gripper=0.9982\nstate[joint_eff]: [-0.2256, -0.6359, 6.106, 1.8242, -0.359, -0.0855, -0.0024, 0.0479, -9.4974, 5.8872, 1.9756, 0.2369, 0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5175, 0.7269, 0.8234, -0.7376, -0.4335, -0.3206, 0.9966, 0.7727, 1.8832, 0.7914, 0.3351, 0.5938, 0.4252, 0.9982]\nstate[eef_state]: left_x=0.2519 left_y=-0.0539 left_z=0.2331 left_yaw=0.0037 left_pitch=-0.0125 left_roll=-0.0002 left_gripper=0.9966 right_x=0.3707 right_y=0.2283 right_z=0.025 right_yaw=0.0341 right_pitch=-0.0326 right_roll=-0.0341 right_gripper=0.9982\nstate[joint_eff]: [-0.294, -0.7316, 6.3521, 1.7509, -0.2711, 0.0171, -0.0073, -0.0068, -8.8137, 5.053, 1.7265, 0.315, 0.1392, -0.0122]",
      "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]: [-0.5175, 0.7231, 0.812, -0.7372, -0.4335, -0.321, 0.9966, 0.7727, 1.8832, 0.7708, 0.3756, 0.5907, 0.4324, 0.5351]\nstate[eef_state]: left_x=0.251 left_y=-0.0534 left_z=0.2292 left_yaw=0.0039 left_pitch=-0.0187 left_roll=0.0031 left_gripper=0.9966 right_x=0.3698 right_y=0.2281 right_z=0.0245 right_yaw=0.0328 right_pitch=-0.0193 right_roll=-0.0132 right_gripper=0.5351\nstate[joint_eff]: [-0.6359, -0.8, 6.612, 1.7411, -0.3004, 0.0024, -0.0073, -0.253, -7.9658, 4.4103, 1.5165, 0.1783, -0.0806, 0.8571]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa406d5578387ab93806c7f3790bdc9794d728fd04326be18fa6122efd06848c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:624db4f1db93f94f5d783e0a5a12dc2c238283e3a08ac5824743ccc85e4cca49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf8eba469f37cce51b944255cb9f46a132dc3282009a6f049fbc1879898de9ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3wYKjgEIEhgCKkA5NXyYC3VvuXDBgtpKyaClKsEQPGv2/vMbs3yniLBWV+3oiFCxXDDcBKs+Nb12vPg5jbr5HWQ5fEmbLqU7CL2AMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYbGzNUGEgxpxKOhr4FeYGBt2TAaDKG23hqNkiq7mzsZsiIwdlQ8kBMWqJR7S90p2KyBxlpJidYd1dwmKgX6HD83OPiS5GF+Wl8m/4/hHfqcK98zKv0ERN6s0fVtkrRM0crybbpHwMV1Jca8XCGLbhCK6xHccSSblWCqW+2CIUUvl4qGBL2WgWBCco7VLUPgyLeGkRgse8hEGzfCcSV7FER0nN0IQ1rDLpb9Bt5//nex03I1v4LOh8iF8wlSfAZRNKEYeWbAZrH5duoPuNfCPk0kEpWKmlDBD1CKkDoIFm2eKg3xAqt8yO4AxSea07pKUL9ZlypwENapE0l1pBxSxIT65HQLIo2zFmC3u3JaLJQnD+inXTqaJtFho2HZUdUbPhuyALlRKt01CmdbIfTAA+bTzeUHTAhlliK2HXzg+9ntooHJl122Tl9PCPeACBMPEpCj4xhJB11xmDW1vYij71UwdZH9FPbrm4PlG0KJx903SmGfaYaW70G74j3AHbYrGc+GmrsHQ/5BivAWWzog7p9b2aHTWQ2k9mG+ufCssMZQL4+wMlC9GvVqbwmOvuQSkNMIMsXynAonYCLJn8VTJcr+bW6q8l8jaj+AYlPsk1IOk1+3cZlWIFkuSFbGSO1qMM1mXdXltj0/ckuX61KP9Q9ww1+qaZX7gw54S8hVB6KuDwsdnJVvCSKlaKIHmhOAUEumOqYiXHBW90OhMbi9ixwR/ZLGE6ou5N2LoXc7zU8kP9vmWk32NrZCAk5yddhWy2SqANAdNYooa2eju8PHLkLvaA34tE9konxOZpwM3eVCHIzO3VejLx1oM7D1r2T9rzqfgt6nKoOz5TOcFgACvYjyYskQhHb6S416pycfHM9g9P/bY6e7usWr/22q5/2JCm7jpDqbJxDmlKm7EWbn+OE0krQxhviyJgMGIhfwn8E4zEpc/d4TBbpgHZ9END56TzfI9xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XxWFNiKHHy5wve94sjuFqV",
      "input": {
        "note": "Bottle body gripped (jaws at 5.1 cm); dragging it 10 cm back toward the base so its neck comes within reach.",
        "targets": {
          "right_x": 0.27,
          "right_y": 0.24,
          "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_01XxWFNiKHHy5wve94sjuFqV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5175, 0.7128, 0.7971, -0.7303, -0.4335, -0.3206, 0.9966, 1.0542, 1.7397, 0.6086, 0.2577, 0.7559, 0.6559, 0.5377]\nstate[eef_state]: left_x=0.25 left_y=-0.0528 left_z=0.2265 left_yaw=0.0037 left_pitch=-0.0168 left_roll=0.0023 left_gripper=0.9966 right_x=0.2754 right_y=0.2467 right_z=0.024 right_yaw=0.0744 right_pitch=-0.019 right_roll=-0.0087 right_gripper=0.5377\nstate[joint_eff]: [-0.4855, -0.4034, 6.3795, 1.8144, -0.2613, -0.0171, -0.0073, 0.3214, -8.5128, 4.5333, 1.453, 0.4908, 0.1538, 0.5739]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef8de4ba77a64329bfc2fcf9d143e87731cfeddb492138e2d98bc668870a2bba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2754926f050383fcfc1994d8c7436d394cb724aad07e5f0a81308fd699328345",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3cdf770556ae7618b68433ba1321300f4b6bddebe74bbc68e6a36e79c1d15803",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 2.921 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5175, 0.7269, 0.8234, -0.7376, -0.4335, -0.3206, 0.9966, 0.7727, 1.8832, 0.7914, 0.3351, 0.5938, 0.4252, 0.9982]\nstate[eef_state]: left_x=0.2519 left_y=-0.0539 left_z=0.2331 left_yaw=0.0037 left_pitch=-0.0125 left_roll=-0.0002 left_gripper=0.9966 right_x=0.3707 right_y=0.2283 right_z=0.025 right_yaw=0.0341 right_pitch=-0.0326 right_roll=-0.0341 right_gripper=0.9982\nstate[joint_eff]: [-0.294, -0.7316, 6.3521, 1.7509, -0.2711, 0.0171, -0.0073, -0.0068, -8.8137, 5.053, 1.7265, 0.315, 0.1392, -0.0122]",
      "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]: [-0.5175, 0.7231, 0.812, -0.7372, -0.4335, -0.321, 0.9966, 0.7727, 1.8832, 0.7708, 0.3756, 0.5907, 0.4324, 0.5351]\nstate[eef_state]: left_x=0.251 left_y=-0.0534 left_z=0.2292 left_yaw=0.0039 left_pitch=-0.0187 left_roll=0.0031 left_gripper=0.9966 right_x=0.3698 right_y=0.2281 right_z=0.0245 right_yaw=0.0328 right_pitch=-0.0193 right_roll=-0.0132 right_gripper=0.5351\nstate[joint_eff]: [-0.6359, -0.8, 6.612, 1.7411, -0.3004, 0.0024, -0.0073, -0.253, -7.9658, 4.4103, 1.5165, 0.1783, -0.0806, 0.8571]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5175, 0.7128, 0.7971, -0.7303, -0.4335, -0.3206, 0.9966, 1.0542, 1.7397, 0.6086, 0.2577, 0.7559, 0.6559, 0.5377]\nstate[eef_state]: left_x=0.25 left_y=-0.0528 left_z=0.2265 left_yaw=0.0037 left_pitch=-0.0168 left_roll=0.0023 left_gripper=0.9966 right_x=0.2754 right_y=0.2467 right_z=0.024 right_yaw=0.0744 right_pitch=-0.019 right_roll=-0.0087 right_gripper=0.5377\nstate[joint_eff]: [-0.4855, -0.4034, 6.3795, 1.8144, -0.2613, -0.0171, -0.0073, 0.3214, -8.5128, 4.5333, 1.453, 0.4908, 0.1538, 0.5739]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef8de4ba77a64329bfc2fcf9d143e87731cfeddb492138e2d98bc668870a2bba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2754926f050383fcfc1994d8c7436d394cb724aad07e5f0a81308fd699328345",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cdf770556ae7618b68433ba1321300f4b6bddebe74bbc68e6a36e79c1d15803",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gv1tdeit3ekmXnJYpq62Pq",
      "input": {
        "note": "Loosening the jaws to ~6.7 cm (just wider than the bottle body) so the bottle can pivot inside the jaws, then I will lift and let it hang vertically from its shoulder.",
        "targets": {
          "right_gripper": 0.7,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Gv1tdeit3ekmXnJYpq62Pq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5175, 0.7055, 0.7898, -0.7303, -0.4335, -0.321, 0.9966, 1.0603, 1.6638, 0.606, 0.136, 0.7517, 0.664, 0.6971]\nstate[eef_state]: left_x=0.249 left_y=-0.0522 left_z=0.2251 left_yaw=0.0039 left_pitch=-0.0168 left_roll=0.002 left_gripper=0.9966 right_x=0.267 right_y=0.2372 right_z=0.0323 right_yaw=0.0775 right_pitch=-0.0486 right_roll=-0.0406 right_gripper=0.6971\nstate[joint_eff]: [-0.4855, -0.7179, 5.8735, 1.8242, -0.3053, -0.0073, -0.0073, -0.3077, -8.4991, 8.6359, 1.5946, 0.442, -0.0024, -0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dbd721c05a3b58c547a916bcf963ea02cc5d60524afac048e81b17abce71658",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e83645d5194337a2212f30dc5c0a7bb5549d614df2a53b6e2651cc5239c8a9e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e4b6ce08e92d5c5f201a98cda6c4bd3b57117cad59e56144eed19ce7d64f20c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 16.41 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]: [-0.5175, 0.7231, 0.812, -0.7372, -0.4335, -0.321, 0.9966, 0.7727, 1.8832, 0.7708, 0.3756, 0.5907, 0.4324, 0.5351]\nstate[eef_state]: left_x=0.251 left_y=-0.0534 left_z=0.2292 left_yaw=0.0039 left_pitch=-0.0187 left_roll=0.0031 left_gripper=0.9966 right_x=0.3698 right_y=0.2281 right_z=0.0245 right_yaw=0.0328 right_pitch=-0.0193 right_roll=-0.0132 right_gripper=0.5351\nstate[joint_eff]: [-0.6359, -0.8, 6.612, 1.7411, -0.3004, 0.0024, -0.0073, -0.253, -7.9658, 4.4103, 1.5165, 0.1783, -0.0806, 0.8571]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5175, 0.7128, 0.7971, -0.7303, -0.4335, -0.3206, 0.9966, 1.0542, 1.7397, 0.6086, 0.2577, 0.7559, 0.6559, 0.5377]\nstate[eef_state]: left_x=0.25 left_y=-0.0528 left_z=0.2265 left_yaw=0.0037 left_pitch=-0.0168 left_roll=0.0023 left_gripper=0.9966 right_x=0.2754 right_y=0.2467 right_z=0.024 right_yaw=0.0744 right_pitch=-0.019 right_roll=-0.0087 right_gripper=0.5377\nstate[joint_eff]: [-0.4855, -0.4034, 6.3795, 1.8144, -0.2613, -0.0171, -0.0073, 0.3214, -8.5128, 4.5333, 1.453, 0.4908, 0.1538, 0.5739]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5175, 0.7055, 0.7898, -0.7303, -0.4335, -0.321, 0.9966, 1.0603, 1.6638, 0.606, 0.136, 0.7517, 0.664, 0.6971]\nstate[eef_state]: left_x=0.249 left_y=-0.0522 left_z=0.2251 left_yaw=0.0039 left_pitch=-0.0168 left_roll=0.002 left_gripper=0.9966 right_x=0.267 right_y=0.2372 right_z=0.0323 right_yaw=0.0775 right_pitch=-0.0486 right_roll=-0.0406 right_gripper=0.6971\nstate[joint_eff]: [-0.4855, -0.7179, 5.8735, 1.8242, -0.3053, -0.0073, -0.0073, -0.3077, -8.4991, 8.6359, 1.5946, 0.442, -0.0024, -0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dbd721c05a3b58c547a916bcf963ea02cc5d60524afac048e81b17abce71658",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e83645d5194337a2212f30dc5c0a7bb5549d614df2a53b6e2651cc5239c8a9e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4b6ce08e92d5c5f201a98cda6c4bd3b57117cad59e56144eed19ce7d64f20c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnwIKjgEIEhgCKkCanpPSVW4OWzEQaaYz88ItjfLqcJjtkDnDm6M9j/EgdjhtYpL+ElXIfwdWeMbvwG1Pfr/1UzQ1rlSNh9Cm9bAPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAazGzNUGEgzBhVqcHwGe8U99mv8aDGmBMVme8gOgq/pB7CIwpbuBQWhm+e844Xof8IZOQOQ9XvN/t7FsFS5c6d3fbR4p9HdKFfREWrF0NqYfFY3dKj7Sn2OKKwny0tGuexI+alxM6qYIOI5wgrIjrPTjQVpiYwohsZkRsqyQIM/Q6RrlR5094geuOEsPiJbegXQMOBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T4BSLawUa55TKvxcWoYXvU",
      "input": {
        "note": "Lifting with the loose collar so the bottle swings to vertical and catches on its shoulder.",
        "targets": {
          "right_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01T4BSLawUa55TKvxcWoYXvU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5175, 0.6991, 0.7784, -0.7303, -0.4335, -0.321, 0.9966, 1.0714, 1.3972, 1.4769, -0.9497, 0.7555, 0.6456, 0.6984]\nstate[eef_state]: left_x=0.2477 left_y=-0.0515 left_z=0.2217 left_yaw=0.004 left_pitch=-0.0211 left_roll=0.0044 left_gripper=0.9966 right_x=0.267 right_y=0.2439 right_z=0.2996 right_yaw=0.0975 right_pitch=-0.0173 right_roll=-0.0142 right_gripper=0.6984\nstate[joint_eff]: [-0.6632, -0.5265, 6.3521, 1.79, -0.2955, -0.0415, -0.0073, -0.335, -4.9846, 9.2923, 1.5116, 0.3932, 0.0952, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1390e73e81a6e47874bd9457e42b6333967bbd878100bb30a6ecc8491ec26cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41ef665684b71c0b1aa591b8668956647aa859ba78ca7b3e695979bec65ca945",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f9022871486f66d5be52680d3f3b16f12a96a5dd0108253e68bbb0fe8b527d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 3.837 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]: [-0.5175, 0.7128, 0.7971, -0.7303, -0.4335, -0.3206, 0.9966, 1.0542, 1.7397, 0.6086, 0.2577, 0.7559, 0.6559, 0.5377]\nstate[eef_state]: left_x=0.25 left_y=-0.0528 left_z=0.2265 left_yaw=0.0037 left_pitch=-0.0168 left_roll=0.0023 left_gripper=0.9966 right_x=0.2754 right_y=0.2467 right_z=0.024 right_yaw=0.0744 right_pitch=-0.019 right_roll=-0.0087 right_gripper=0.5377\nstate[joint_eff]: [-0.4855, -0.4034, 6.3795, 1.8144, -0.2613, -0.0171, -0.0073, 0.3214, -8.5128, 4.5333, 1.453, 0.4908, 0.1538, 0.5739]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5175, 0.7055, 0.7898, -0.7303, -0.4335, -0.321, 0.9966, 1.0603, 1.6638, 0.606, 0.136, 0.7517, 0.664, 0.6971]\nstate[eef_state]: left_x=0.249 left_y=-0.0522 left_z=0.2251 left_yaw=0.0039 left_pitch=-0.0168 left_roll=0.002 left_gripper=0.9966 right_x=0.267 right_y=0.2372 right_z=0.0323 right_yaw=0.0775 right_pitch=-0.0486 right_roll=-0.0406 right_gripper=0.6971\nstate[joint_eff]: [-0.4855, -0.7179, 5.8735, 1.8242, -0.3053, -0.0073, -0.0073, -0.3077, -8.4991, 8.6359, 1.5946, 0.442, -0.0024, -0.1538]",
      "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]: [-0.5175, 0.6991, 0.7784, -0.7303, -0.4335, -0.321, 0.9966, 1.0714, 1.3972, 1.4769, -0.9497, 0.7555, 0.6456, 0.6984]\nstate[eef_state]: left_x=0.2477 left_y=-0.0515 left_z=0.2217 left_yaw=0.004 left_pitch=-0.0211 left_roll=0.0044 left_gripper=0.9966 right_x=0.267 right_y=0.2439 right_z=0.2996 right_yaw=0.0975 right_pitch=-0.0173 right_roll=-0.0142 right_gripper=0.6984\nstate[joint_eff]: [-0.6632, -0.5265, 6.3521, 1.79, -0.2955, -0.0415, -0.0073, -0.335, -4.9846, 9.2923, 1.5116, 0.3932, 0.0952, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1390e73e81a6e47874bd9457e42b6333967bbd878100bb30a6ecc8491ec26cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41ef665684b71c0b1aa591b8668956647aa859ba78ca7b3e695979bec65ca945",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f9022871486f66d5be52680d3f3b16f12a96a5dd0108253e68bbb0fe8b527d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y3nVaNGqRP6pZjTxTi3uDc",
      "input": {
        "note": "Lowering the hanging bottle until its base rests on the table.",
        "targets": {
          "right_z": 0.185
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Y3nVaNGqRP6pZjTxTi3uDc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5175, 0.6857, 0.7624, -0.7219, -0.4335, -0.3206, 0.9966, 1.0733, 1.3518, 0.9794, -0.5507, 0.7547, 0.6388, 0.6986]\nstate[eef_state]: left_x=0.2467 left_y=-0.0509 left_z=0.2194 left_yaw=0.0037 left_pitch=-0.0161 left_roll=0.0019 left_gripper=0.9966 right_x=0.2619 right_y=0.2363 right_z=0.1781 right_yaw=0.1022 right_pitch=-0.0477 right_roll=-0.0634 right_gripper=0.6986\nstate[joint_eff]: [-0.5538, -0.212, 6.3932, 1.7949, -0.2076, -0.0171, -0.0122, -0.1299, -5.5316, 7.0085, 1.5995, 0.3639, 0.022, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c2f52357b1e7b4d67e43da2f105a41055c80cb221b377ed7109bfd676dff199",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af232d81f821ccd488df21bbe3425fb88f801888743cf13289998ece44c77e01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e91beee66eff24093c3dd5754ce8e763c02492db13fa49c33ad8acf6312a4fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 34 attempt 0 · /messages · status 200 · 5.099 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]: [-0.5175, 0.7055, 0.7898, -0.7303, -0.4335, -0.321, 0.9966, 1.0603, 1.6638, 0.606, 0.136, 0.7517, 0.664, 0.6971]\nstate[eef_state]: left_x=0.249 left_y=-0.0522 left_z=0.2251 left_yaw=0.0039 left_pitch=-0.0168 left_roll=0.002 left_gripper=0.9966 right_x=0.267 right_y=0.2372 right_z=0.0323 right_yaw=0.0775 right_pitch=-0.0486 right_roll=-0.0406 right_gripper=0.6971\nstate[joint_eff]: [-0.4855, -0.7179, 5.8735, 1.8242, -0.3053, -0.0073, -0.0073, -0.3077, -8.4991, 8.6359, 1.5946, 0.442, -0.0024, -0.1538]",
      "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]: [-0.5175, 0.6991, 0.7784, -0.7303, -0.4335, -0.321, 0.9966, 1.0714, 1.3972, 1.4769, -0.9497, 0.7555, 0.6456, 0.6984]\nstate[eef_state]: left_x=0.2477 left_y=-0.0515 left_z=0.2217 left_yaw=0.004 left_pitch=-0.0211 left_roll=0.0044 left_gripper=0.9966 right_x=0.267 right_y=0.2439 right_z=0.2996 right_yaw=0.0975 right_pitch=-0.0173 right_roll=-0.0142 right_gripper=0.6984\nstate[joint_eff]: [-0.6632, -0.5265, 6.3521, 1.79, -0.2955, -0.0415, -0.0073, -0.335, -4.9846, 9.2923, 1.5116, 0.3932, 0.0952, 0.1245]",
      "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]: [-0.5175, 0.6857, 0.7624, -0.7219, -0.4335, -0.3206, 0.9966, 1.0733, 1.3518, 0.9794, -0.5507, 0.7547, 0.6388, 0.6986]\nstate[eef_state]: left_x=0.2467 left_y=-0.0509 left_z=0.2194 left_yaw=0.0037 left_pitch=-0.0161 left_roll=0.0019 left_gripper=0.9966 right_x=0.2619 right_y=0.2363 right_z=0.1781 right_yaw=0.1022 right_pitch=-0.0477 right_roll=-0.0634 right_gripper=0.6986\nstate[joint_eff]: [-0.5538, -0.212, 6.3932, 1.7949, -0.2076, -0.0171, -0.0122, -0.1299, -5.5316, 7.0085, 1.5995, 0.3639, 0.022, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c2f52357b1e7b4d67e43da2f105a41055c80cb221b377ed7109bfd676dff199",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af232d81f821ccd488df21bbe3425fb88f801888743cf13289998ece44c77e01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e91beee66eff24093c3dd5754ce8e763c02492db13fa49c33ad8acf6312a4fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4AMKjgEIEhgCKkAcylM06I315l5KOOJ0rNBZz3vzf9LM0ThaJ/8uc6rEkq3RH4SjHsAZIUnuCRPWEmLaK4nuzrRkb4oGV49g1rBWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcPGzNUGEgwTogdU8g3IyInrObYaDMNaY1GQERIBhOeUyyIwN1INdKqZbsB0yq6f16yaG5clptJwDuFuTdYo3TTKKVOUg+/4JUQBAcjPx3xI94PaKv4B01CSWPv3CRCDB+nF3P66bpRsp/XD4GeVsfbNNeeVhJjf1Ne6gl+tlsmPk8WGWTgKkTWGCwdGt+505bGjkwcc7Z7wdV4Pcu+SECqNDBsPU2TJ+32CgBieB+1PJIwUBsry/N87L+AfuwoagtgGT01iZYI9IEsb4p6CAGvbr8xvELJzJmsiXgXvGCypqrypfBIU9a5fdTYiANctwbGoYhTejeUGDUD4ey7YQpD6haqxNF5m9KvXlOmiO4VdKMjRtxAFTMLKlu/F3kFV8YKujZwoNA7DL8vSMWKk7+gjxkJeQWMWfRqKtA8to6r5VHAiWYdXN+4Gbt2IqTYSXRoICaYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GY6Fo7ixUi5urF7CNtZow6",
      "input": {
        "note": "Base should be on the table; opening the jaws to leave the third bottle standing.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GY6Fo7ixUi5urF7CNtZow6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5175, 0.6773, 0.757, -0.7139, -0.4335, -0.3206, 0.9966, 1.0733, 1.3331, 0.9092, -0.4702, 0.7551, 0.6331, 0.9957]\nstate[eef_state]: left_x=0.2466 left_y=-0.0508 left_z=0.2204 left_yaw=0.0036 left_pitch=-0.0065 left_roll=-0.0036 left_gripper=0.9966 right_x=0.2609 right_y=0.2342 right_z=0.1677 right_yaw=0.106 right_pitch=-0.0312 right_roll=-0.0443 right_gripper=0.9957\nstate[joint_eff]: [-0.4855, -0.3214, 5.9145, 1.7265, -0.2369, -0.0171, -0.0073, 0.0752, -6.9675, 6.3111, 1.5507, 0.3394, 0.0269, -0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dbfcff1fa7941a45cd2a28adb527e2191abcf719ca7113924de63f496ad2bd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f9b40b3ada76ed3a7139f550e1672ecb5daf1f58865ad7d854b750e59cfe187",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8413d2f52236792e87b1477cc639030451eb7b8d824f1213c0266902dc9fad0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 18.33 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]: [-0.5175, 0.6991, 0.7784, -0.7303, -0.4335, -0.321, 0.9966, 1.0714, 1.3972, 1.4769, -0.9497, 0.7555, 0.6456, 0.6984]\nstate[eef_state]: left_x=0.2477 left_y=-0.0515 left_z=0.2217 left_yaw=0.004 left_pitch=-0.0211 left_roll=0.0044 left_gripper=0.9966 right_x=0.267 right_y=0.2439 right_z=0.2996 right_yaw=0.0975 right_pitch=-0.0173 right_roll=-0.0142 right_gripper=0.6984\nstate[joint_eff]: [-0.6632, -0.5265, 6.3521, 1.79, -0.2955, -0.0415, -0.0073, -0.335, -4.9846, 9.2923, 1.5116, 0.3932, 0.0952, 0.1245]",
      "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]: [-0.5175, 0.6857, 0.7624, -0.7219, -0.4335, -0.3206, 0.9966, 1.0733, 1.3518, 0.9794, -0.5507, 0.7547, 0.6388, 0.6986]\nstate[eef_state]: left_x=0.2467 left_y=-0.0509 left_z=0.2194 left_yaw=0.0037 left_pitch=-0.0161 left_roll=0.0019 left_gripper=0.9966 right_x=0.2619 right_y=0.2363 right_z=0.1781 right_yaw=0.1022 right_pitch=-0.0477 right_roll=-0.0634 right_gripper=0.6986\nstate[joint_eff]: [-0.5538, -0.212, 6.3932, 1.7949, -0.2076, -0.0171, -0.0122, -0.1299, -5.5316, 7.0085, 1.5995, 0.3639, 0.022, 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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5175, 0.6773, 0.757, -0.7139, -0.4335, -0.3206, 0.9966, 1.0733, 1.3331, 0.9092, -0.4702, 0.7551, 0.6331, 0.9957]\nstate[eef_state]: left_x=0.2466 left_y=-0.0508 left_z=0.2204 left_yaw=0.0036 left_pitch=-0.0065 left_roll=-0.0036 left_gripper=0.9966 right_x=0.2609 right_y=0.2342 right_z=0.1677 right_yaw=0.106 right_pitch=-0.0312 right_roll=-0.0443 right_gripper=0.9957\nstate[joint_eff]: [-0.4855, -0.3214, 5.9145, 1.7265, -0.2369, -0.0171, -0.0073, 0.0752, -6.9675, 6.3111, 1.5507, 0.3394, 0.0269, -0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dbfcff1fa7941a45cd2a28adb527e2191abcf719ca7113924de63f496ad2bd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f9b40b3ada76ed3a7139f550e1672ecb5daf1f58865ad7d854b750e59cfe187",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8413d2f52236792e87b1477cc639030451eb7b8d824f1213c0266902dc9fad0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS4AQKjgEIEhgCKkDlL1NXy0NZWJn+Mydf1BeIfAQ+vt/mqgpHx5PS5ktpD38usjUqw8M+Tyqcja5pIodFdNXVx8a68t4L9lZg0z/fMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcjGzNUGEgzyfqhYxcXsf7dsdT8aDDS6kC1y8hMX0DOxRiIwdisfKONSORRwK0BcnekjddvUUHYatFKx5seEWECEYkW4aH6dwtqHAU+ODR+hVZIoKv4CmnhCGd9N6hiLpeDRplEFA6YiNxyMvg6wlKo/UHfzkcegrX63IUz8SRU/X4dt4a8Opi02ilL/tNKbUdLT9U8gnfHB6VQitHHCAmGhsl29njVGVCK+3HmjpeQZywzU1RvFcTjDzc50Fwo6fx3TFejsl0B43rbg+tkewPH0Kr7PJv9vS8xPtLDcFzTbXZjjbvdm9A4eZYJHCuVETV+ydbCy2LhdeP71rxnxthV9RRmho73MLs+fXHRvvs17Dr97O7TebN51UZa5zLX1ADbYKOU4S6+eN/f/kmUfQsKvCWRK56gPTOYOhv+WRJVBo3hE4VLJMjCleI/Jkt31szfC7WkvTrZrW/dCmcqhqGdBQlMeEyZrdkMTICir1LmbxpCZkZpSTrpcVuq9J/eFv0PtBZvuait+iWeEk3pwPBUBTq2IicOqJF6be/c2NdBjZ60GeQ3jUOgrKNlg9KDo6vFOH8bHVrXINtrL/e4abmJs2T2vTBXDvvwlCNeOah9fGHCf1xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FtXo9EyQXgGL6mPBDGh6gQ",
      "input": {
        "note": "Lifting the right arm straight up and back, away from the bottle, to get a clear overhead view of the result.",
        "targets": {
          "right_x": 0.22,
          "right_z": 0.4
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01FtXo9EyQXgGL6mPBDGh6gQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5175, 0.6777, 0.7506, -0.7143, -0.4335, -0.321, 0.9966, 1.2247, 1.5166, 2.0087, -1.4345, 0.8173, 0.7784, 0.9975]\nstate[eef_state]: left_x=0.2462 left_y=-0.0506 left_z=0.2175 left_yaw=0.0039 left_pitch=-0.0128 left_roll=-0.0003 left_gripper=0.9966 right_x=0.2215 right_y=0.2449 right_z=0.3899 right_yaw=0.1394 right_pitch=-0.0141 right_roll=0.009 right_gripper=0.9975\nstate[joint_eff]: [-0.6222, -0.1299, 6.8444, 1.707, -0.2515, -0.0171, -0.0122, 0.7043, -4.9162, 6.2701, 0.9304, 0.6422, 0.1783, 0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06a335409b52b819645f660c58d23794b62eed48e198782acedf6a7f33394f28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f134e4a515bbca54d5d6442987f6dccd5491f5016a4cb0e901007f50f3ed634a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b3dc444e87870e05d6e86f89a1cab0895d4fac624b019061051149e9119d7f95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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