adhoc

completed
2026-09-23T00:04:23.149228+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
573.1 s
total steps
297
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 pointing away from the robot. I'm flying the left arm over the leftmost bottle's neck area at 18 cm height to get a wrist-camera look before grasping.
move_to
left_x0.3600left_y-0.2000left_z0.1800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7925, 0.6067, -0.3771, -0.0235, -0.0288, 0.9986, -0.0158, 0.7879, 0.6033, -0.3836, -0.0292, -0.0345, 0.9994] state[eef_state]: left_x=0.2954 left_y=0.0018 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2938 right_y=0.0041 right_z=0.1806 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.4171, -1.4154, 9.8803, 1.7851, 0.0464, 0.0952, -0.1587, -0.9778, -0.8821, 10.2359, 1.8486, 0.0269, 0.1734, -0.0659] 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": 0.36, "left_y": -0.2, "left_z": 0.18, "left_gripper": 1}, "note": "Three bottles lie on their sides pointing away from the robot. I'm flying the left arm over the leftmost bottle's neck area at 18 cm height to get a wrist-camera look before grasping."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe wrist view shows the nearest bottle well to the left of the jaw column, so I'm shifting the left gripper ~7 cm toward +y to line up over the leftmost bottle.
move_to
left_y-0.1300left_x0.3500left_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7662, 1.4528, 0.9657, -0.2802, -0.6117, -0.4931, 0.9988, -0.0193, 0.794, 0.6037, -0.4034, -0.0292, -0.0353, 0.9994] state[eef_state]: left_x=0.3525 left_y=-0.1935 left_z=0.1636 left_yaw=-0.0157 left_pitch=-0.0421 left_roll=0.0217 left_gripper=0.9988 right_x=0.2916 right_y=0.0031 right_z=0.175 right_yaw=-0.003 right_pitch=-0.0255 right_roll=-0.0002 right_gripper=0.9994 state[joint_eff]: [-0.253, -6.4615, 9.4838, 1.5897, -0.442, 0.0757, -0.1343, -0.0479, -1.6889, 7.0085, 1.8926, -0.0269, -0.0611, -0.0073] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.13, "left_x": 0.35, "left_z": 0.16}, "note": "The wrist view shows the nearest bottle well to the left of the jaw column, so I'm shifting the left gripper ~7 cm toward +y to line up over the leftmost bottle."})
tool
executing move_to over 6 steps (0.6s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteIn the wrist view the target bottle's blue cap sits up and to the left of the jaw column, so I'm moving forward and left to hover over its neck, which is where I want to pinch it.
move_to
left_x0.4200left_y-0.0900left_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5999, 1.2873, 0.7643, -0.1604, -0.511, -0.3878, 0.9985, -0.0193, 0.7845, 0.5808, -0.3965, -0.0292, -0.0353, 0.9994] state[eef_state]: left_x=0.3498 left_y=-0.1303 left_z=0.1537 left_yaw=0.0157 left_pitch=-0.0207 left_roll=0.0042 left_gripper=0.9985 right_x=0.289 right_y=0.0032 right_z=0.1685 right_yaw=-0.003 right_pitch=-0.032 right_roll=-0.0001 right_gripper=0.9994 state[joint_eff]: [0.1983, -5.6957, 6.4342, 1.8095, -0.0904, 0.188, -0.0513, -0.3077, -1.812, 6.8581, 1.9463, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.09, "left_z": 0.16}, "note": "In the wrist view the target bottle's blue cap sits up and to the left of the jaw column, so I'm moving forward and left to hover over its neck, which is where I want to pinch it."})
tool
executing move_to over 6 steps (0.6s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe cap is still up-left of the jaw column in the wrist view; advancing ~6 cm and shifting ~4 cm left to bring the bottle neck under the fingertips.
move_to
left_x0.4700left_y-0.0400left_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3603, 1.4403, 0.8448, -0.0711, -0.3523, -0.2653, 0.9983, -0.0193, 0.77, 0.5507, -0.3817, -0.0292, -0.0357, 0.9994] state[eef_state]: left_x=0.4042 left_y=-0.0833 left_z=0.1403 left_yaw=0.0621 left_pitch=-0.0566 left_roll=0.0108 left_gripper=0.9983 right_x=0.2863 right_y=0.0032 right_z=0.1617 right_yaw=-0.0028 right_pitch=-0.0328 right_roll=-0.0004 right_gripper=0.9994 state[joint_eff]: [0.212, -5.7504, 9.0325, 1.7998, 0.0122, 0.1734, -0.022, -0.1162, -1.812, 7.0222, 1.9805, -0.0562, -0.0611, -0.0073] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.04, "left_z": 0.13}, "note": "The cap is still up-left of the jaw column in the wrist view; advancing ~6 cm and shifting ~4 cm left to bring the bottle neck under the fingertips."})
tool
executing move_to over 6 steps (0.6s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe bottle cap is now on the jaw column in the wrist view; descending to neck height to check alignment before pinching.
move_to
left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1791, 1.6352, 0.897, 0.0792, -0.2363, -0.1814, 0.9983, -0.0193, 0.7544, 0.5205, -0.3668, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.4507 left_y=-0.0359 left_z=0.1071 left_yaw=0.1024 left_pitch=-0.0751 left_roll=0.0091 left_gripper=0.9983 right_x=0.2836 right_y=0.0033 right_z=0.1552 right_yaw=-0.0027 right_pitch=-0.0324 right_roll=0.0001 right_gripper=0.9994 state[joint_eff]: [0.3624, -7.5282, 9.0872, 1.9853, 0.0513, 0.3248, -0.0171, -0.3897, -1.7026, 6.8171, 1.9414, -0.0611, -0.0073, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.05}, "note": "The bottle cap is now on the jaw column in the wrist view; descending to neck height to check alignment before pinching."})
tool
executing move_to over 4 steps (0.4s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe bottle lies between the open jaws but the cap/neck is still a bit forward of the fingertips; advancing ~2.5 cm and dropping to neck height so the jaws straddle the neck just behind the cap.
move_to
left_x0.4750left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.189, 1.7702, 0.741, 0.4236, -0.2295, -0.1841, 0.9983, -0.0193, 0.7376, 0.49, -0.3508, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.4494 left_y=-0.0414 left_z=0.0541 left_yaw=0.0875 left_pitch=-0.0248 left_roll=-0.0117 left_gripper=0.9983 right_x=0.2809 right_y=0.0034 right_z=0.1489 right_yaw=-0.0027 right_pitch=-0.0301 right_roll=0.0001 right_gripper=0.9994 state[joint_eff]: [0.4034, -6.4889, 3.9179, 1.5165, -0.2857, 0.0317, -0.0073, -0.1026, -1.4154, 6.9128, 1.9512, -0.0806, -0.0415, -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": 0.475, "left_z": 0.025}, "note": "The bottle lies between the open jaws but the cap/neck is still a bit forward of the fingertips; advancing ~2.5 cm and dropping to neck height so the jaws straddle the neck just behind the cap."})
tool
executing move_to over 2 steps (0.2s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteJaws straddle the bottle just behind the cap; closing to ~2.8 cm so the neck is captured loosely, letting the bottle swing cap-up when I lift.
move_to
left_gripper0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1837, 1.874, 0.7734, 0.5423, -0.2375, -0.1879, 0.9983, -0.0193, 0.7261, 0.4717, -0.3401, -0.0292, -0.0353, 0.9994] state[eef_state]: left_x=0.4689 left_y=-0.0412 left_z=0.0448 left_yaw=0.1015 left_pitch=0.0218 left_roll=-0.0238 left_gripper=0.9983 right_x=0.2794 right_y=0.0034 right_z=0.1457 right_yaw=-0.003 right_pitch=-0.0263 right_roll=-0.0002 right_gripper=0.9994 state[joint_eff]: [0.4171, -7.2, 4.9299, 0.862, -0.4567, 0.3834, -0.0171, -0.335, -0.8684, 7.0769, 1.956, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.3}, "note": "Jaws straddle the bottle just behind the cap; closing to ~2.8 cm so the neck is captured loosely, letting the bottle swing cap-up when I lift."})
tool
executing move_to over 7 steps (0.7s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteJaws are closed to ~2.9 cm around what should be the bottle neck; lifting to 22 cm to see whether the bottle comes up and swings cap-up to hang vertically.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1902, 1.8786, 0.8043, 0.5446, -0.2474, -0.186, 0.3049, -0.0193, 0.7166, 0.4515, -0.3355, -0.0292, -0.0353, 0.9994] state[eef_state]: left_x=0.4781 left_y=-0.0443 left_z=0.055 left_yaw=0.1026 left_pitch=0.0507 left_roll=-0.0254 left_gripper=0.3049 right_x=0.2768 right_y=0.0034 right_z=0.1399 right_yaw=-0.003 right_pitch=-0.0324 right_roll=-0.0001 right_gripper=0.9994 state[joint_eff]: [0.1026, -9.5521, 4.5333, 1.2821, -0.0904, 0.0806, 0.1734, -0.4034, -1.6205, 6.5846, 1.9463, -0.0659, -0.0464, -0.0122] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22}, "note": "Jaws are closed to ~2.9 cm around what should be the bottle neck; lifting to 22 cm to see whether the bottle comes up and swings cap-up to hang vertically."})
tool
executing move_to over 11 steps (1.1s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe close was empty — all three bottles are still lying down and one appears at the lower-right of the wrist view, i.e. to the arm's right. Reopening and shifting ~10 cm right (-y) to line up over it again.
move_to
left_y-0.1500left_x0.4500left_z0.1800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1905, 1.6356, 1.2137, -0.1932, -0.2516, -0.1867, 0.3043, -0.0193, 0.6998, 0.4229, -0.3237, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.4825 left_y=-0.0446 left_z=0.1908 left_yaw=0.1059 left_pitch=-0.0304 left_roll=0.0009 left_gripper=0.3043 right_x=0.2739 right_y=0.0035 right_z=0.1335 right_yaw=-0.0027 right_pitch=-0.0324 right_roll=0.0001 right_gripper=0.9994 state[joint_eff]: [-0.4171, -11.8085, 8.9915, 1.6972, -0.1441, 0.0269, -0.0757, -0.1436, -1.3333, 6.8171, 1.9756, -0.0659, -0.0757, -0.0122] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.15, "left_x": 0.45, "left_z": 0.18, "left_gripper": 1}, "note": "The close was empty \u2014 all three bottles are still lying down and one appears at the lower-right of the wrist view, i.e. to the arm's right. Reopening and shifting ~10 cm right (-y) to line up over it again."})
tool
executing move_to over 10 steps (1.0s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteWrist view shows the target bottle's blue cap ~30 px right of the jaw column; shifting 4.5 cm to the arm's right and descending to 8 cm for a closer look at the neck.
move_to
left_y-0.1950left_z0.0800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5056, 1.6516, 1.1656, -0.1783, -0.4812, -0.3634, 0.9967, -0.0193, 0.6823, 0.3931, -0.313, -0.0292, -0.0353, 0.9994] state[eef_state]: left_x=0.4478 left_y=-0.1503 left_z=0.1742 left_yaw=0.0731 left_pitch=-0.0155 left_roll=-0.0015 left_gripper=0.9967 right_x=0.2706 right_y=0.0035 right_z=0.1266 right_yaw=-0.003 right_pitch=-0.0339 right_roll=-0.0001 right_gripper=0.9994 state[joint_eff]: [-0.253, -7.4188, 8.7316, 1.5556, -0.442, 0.0611, -0.0855, -0.1299, -1.2103, 7.0359, 2.0147, -0.0513, -0.0513, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.195, "left_z": 0.08}, "note": "Wrist view shows the target bottle's blue cap ~30 px right of the jaw column; shifting 4.5 cm to the arm's right and descending to 8 cm for a closer look at the neck."})
tool
executing move_to over 7 steps (0.7s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe bottle's blue cap sits slightly right of and well beyond the jaws in the wrist view; advancing to x=0.49, shifting 3 cm right and dropping to neck height so the open jaws straddle the neck.
move_to
left_y-0.2200left_x0.4900left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6083, 1.8671, 1.0523, 0.0967, -0.5495, -0.4202, 0.9971, -0.0193, 0.6605, 0.3614, -0.2977, -0.0292, -0.0353, 0.9994] state[eef_state]: left_x=0.4447 left_y=-0.1929 left_z=0.0823 left_yaw=0.0551 left_pitch=-0.0333 left_roll=0.0179 left_gripper=0.9971 right_x=0.2676 right_y=0.0036 right_z=0.1207 right_yaw=-0.003 right_pitch=-0.0286 right_roll=-0.0002 right_gripper=0.9994 state[joint_eff]: [-0.4718, -8.7453, 5.1214, 1.6532, -0.3394, -0.0757, 0.0317, -0.335, -0.9231, 7.1453, 1.9805, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.22, "left_x": 0.49, "left_z": 0.02}, "note": "The bottle's blue cap sits slightly right of and well beyond the jaws in the wrist view; advancing to x=0.49, shifting 3 cm right and dropping to neck height so the open jaws straddle the neck."})
tool
executing move_to over 5 steps (0.5s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteWrist view shows the cap now left of the jaw column, so I overshot right by ~3 cm; shifting back left and settling just above neck height.
move_to
left_y-0.1900left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6064, 2.1262, 1.1786, 0.326, -0.5583, -0.4301, 0.9971, -0.0193, 0.6449, 0.3351, -0.2901, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.4907 left_y=-0.2221 left_z=0.0445 left_yaw=0.0696 left_pitch=0.0458 left_roll=-0.0461 left_gripper=0.9971 right_x=0.2645 right_y=0.0037 right_z=0.1141 right_yaw=-0.0027 right_pitch=-0.0316 right_roll=0.0001 right_gripper=0.9994 state[joint_eff]: [0.1983, -8.5538, 5.6821, 0.9939, -0.1001, 0.1783, -0.0122, -0.1299, -1.0325, 7.1453, 1.9609, -0.0562, -0.0415, -0.0073] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.19, "left_z": 0.035}, "note": "Wrist view shows the cap now left of the jaw column, so I overshot right by ~3 cm; shifting back left and settling just above neck height."})
tool
executing move_to over 3 steps (0.3s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteJaws straddle the bottle near its shoulder/neck; closing to ~3.3 cm — loose enough that the bottle can pivot cap-up when lifted, tight enough not to slip out.
move_to
left_gripper0.3500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5625, 2.1124, 1.1606, 0.3435, -0.5304, -0.416, 0.9971, -0.0193, 0.6258, 0.308, -0.2836, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.4978 left_y=-0.2039 left_z=0.0465 left_yaw=0.0841 left_pitch=0.0467 left_roll=-0.0548 left_gripper=0.9971 right_x=0.2611 right_y=0.0038 right_z=0.1077 right_yaw=-0.0027 right_pitch=-0.0332 right_roll=0.0001 right_gripper=0.9994 state[joint_eff]: [0.4855, -11.7949, 4.2325, 1.2234, -0.0269, 0.3834, -0.0073, -0.1709, -0.6359, 6.8718, 1.9805, -0.0757, -0.0317, -0.0122] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.35}, "note": "Jaws straddle the bottle near its shoulder/neck; closing to ~3.3 cm \u2014 loose enough that the bottle can pivot cap-up when lifted, tight enough not to slip out."})
tool
executing move_to over 7 steps (0.7s)
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 noteGripper closed to 3.4 cm, apparently around the bottle's shoulder/neck; lifting to 25 cm to let the bottle swing cap-up into a vertical hang.
move_to
left_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5426, 2.1002, 1.1488, 0.3874, -0.5354, -0.3935, 0.3586, -0.0193, 0.6018, 0.2794, -0.2707, -0.0292, -0.0353, 0.9994] state[eef_state]: left_x=0.5041 left_y=-0.1946 left_z=0.0567 left_yaw=0.0977 left_pitch=0.0843 left_roll=-0.0593 left_gripper=0.3586 right_x=0.2586 right_y=0.0038 right_z=0.1031 right_yaw=-0.003 right_pitch=-0.0248 right_roll=-0.0002 right_gripper=0.9994 state[joint_eff]: [0.0068, -11.0291, 4.2598, 0.8718, 0.0611, 0.0806, 0.0024, -0.4034, -0.3761, 6.8308, 1.9316, -0.0659, -0.0611, -0.0122] 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_z": 0.25}, "note": "Gripper closed to 3.4 cm, apparently around the bottle's shoulder/neck; lifting to 25 cm to let the bottle swing cap-up into a vertical hang."})
tool
executing move_to over 13 steps (1.3s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe wrist view shows the bottle now hanging cap-up between the jaws — the pendulum trick worked. Lowering until its base rests on the table before releasing.
move_to
left_z0.1750
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5426, 1.9316, 1.7199, -0.4774, -0.5388, -0.4133, 0.3585, -0.0193, 0.588, 0.2584, -0.2672, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.5081 left_y=-0.1964 left_z=0.2254 left_yaw=0.1084 left_pitch=-0.0146 left_roll=0.0004 left_gripper=0.3585 right_x=0.2559 right_y=0.0039 right_z=0.0975 right_yaw=-0.0027 right_pitch=-0.0286 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.253, -12.8342, 8.9641, 1.6044, -0.1734, 0.1197, -0.022, -0.1436, -0.3077, 6.9949, 1.9072, -0.0611, -0.0757, -0.0073] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.175}, "note": "The wrist view shows the bottle now hanging cap-up between the jaws \u2014 the pendulum trick worked. Lowering until its base rests on the table before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteBottle is hanging vertically with its base at/near the table; opening the jaws to release it standing upright.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5434, 1.9415, 1.5307, -0.3386, -0.5392, -0.4194, 0.3585, -0.0193, 0.5674, 0.2359, -0.2642, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.4995 left_y=-0.1916 left_z=0.1644 left_yaw=0.1126 left_pitch=-0.0622 left_roll=0.0323 left_gripper=0.3585 right_x=0.253 right_y=0.0039 right_z=0.0927 right_yaw=-0.0027 right_pitch=-0.0274 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.1573, -10.8923, 7.3641, 1.9267, -0.2955, 0.1099, -0.0122, -0.335, -0.335, 6.7487, 1.9316, -0.0757, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "Bottle is hanging vertically with its base at/near the table; opening the jaws to release it standing upright."})
tool
executing move_to over 7 steps (0.7s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteFirst bottle is standing upright. Backing the left arm off to clear the overhead view and see the two remaining bottles.
move_to
left_x0.3000left_y-0.0500left_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5438, 1.9392, 1.4368, -0.2161, -0.5396, -0.4202, 0.9953, -0.0193, 0.5484, 0.2138, -0.2619, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.4986 left_y=-0.1912 left_z=0.1472 left_yaw=0.1119 left_pitch=-0.0376 left_roll=0.013 left_gripper=0.9953 right_x=0.2502 right_y=0.004 right_z=0.0875 right_yaw=-0.0027 right_pitch=-0.0282 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.3624, -12.7795, 7.1043, 1.6435, -0.359, 0.0415, -0.1148, -0.2803, -0.4581, 6.8034, 1.917, -0.0415, -0.0659, -0.0073] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.25}, "note": "First bottle is standing upright. Backing the left arm off to clear the overhead view and see the two remaining bottles."})
tool
executing move_to over 16 steps (1.6s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteOne bottle now stands upright (right of frame in the top view); two remain lying. Moving the left gripper over the nearer lying bottle at ~10 cm height to line up on its neck.
move_to
left_x0.4000left_y-0.1000left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4488, 0.9695, 0.9501, -0.5781, -0.4793, -0.363, 0.9962, -0.0193, 0.5232, 0.1902, -0.2615, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.3112 left_y=-0.0555 left_z=0.2575 left_yaw=0.1287 left_pitch=0.0398 left_roll=-0.0386 left_gripper=0.9962 right_x=0.2471 right_y=0.0041 right_z=0.0825 right_yaw=-0.0027 right_pitch=-0.0263 right_roll=-0.0 right_gripper=0.9994 state[joint_eff]: [0.4308, -2.0034, 6.3521, 1.6044, -0.1538, 0.1978, 0.0904, -0.2256, 0.2803, 7.2137, 1.9658, -0.0513, -0.022, -0.0122] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.1, "left_z": 0.1}, "note": "One bottle now stands upright (right of frame in the top view); two remain lying. Moving the left gripper over the nearer lying bottle at ~10 cm height to line up on its neck."})
tool
executing move_to over 11 steps (1.1s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteWrist view: the next bottle's cap is left of the jaw column; shifting 4 cm left and descending to neck height so the open jaws straddle its shoulder.
move_to
left_y-0.0550left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4568, 1.5215, 0.728, 0.0742, -0.4873, -0.3668, 0.9964, -0.0193, 0.5014, 0.1673, -0.2619, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.3897 left_y=-0.0954 left_z=0.0943 left_yaw=0.1297 left_pitch=-0.0592 left_roll=0.0292 left_gripper=0.9964 right_x=0.244 right_y=0.0041 right_z=0.0769 right_yaw=-0.0027 right_pitch=-0.0278 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.3624, -6.8444, 5.5453, 1.6777, -0.232, 0.0562, 0.0024, -0.1026, -0.1436, 6.9538, 1.9414, -0.0806, 0.0073, -0.0122] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.055, "left_z": 0.05}, "note": "Wrist view: the next bottle's cap is left of the jaw column; shifting 4 cm left and descending to neck height so the open jaws straddle its shoulder."})
tool
executing move_to over 4 steps (0.4s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe bottle's cap sits high in the wrist frame, meaning the neck is still well beyond the fingertips; advancing 5 cm along the bottle axis to bring the shoulder between the jaws.
move_to
left_x0.4400left_y-0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3378, 1.5841, 0.5396, 0.4229, -0.4084, -0.3141, 0.9964, -0.0193, 0.4763, 0.1448, -0.2623, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.3899 left_y=-0.0588 left_z=0.0592 left_yaw=0.1559 left_pitch=-0.0011 left_roll=-0.0194 left_gripper=0.9964 right_x=0.2413 right_y=0.0042 right_z=0.0722 right_yaw=-0.0027 right_pitch=-0.0255 right_roll=-0.0 right_gripper=0.9994 state[joint_eff]: [0.7863, -4.3009, 3.8222, 1.3846, -0.1783, 0.2418, -0.0024, -0.0752, -0.0205, 6.8308, 1.8926, -0.0366, -0.0122, -0.0122] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.07}, "note": "The bottle's cap sits high in the wrist frame, meaning the neck is still well beyond the fingertips; advancing 5 cm along the bottle axis to bring the shoulder between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteWrist view matches the geometry of my successful grasp (cap just above the jaw column); nudging 1 cm left and closing to 3.4 cm around the bottle's shoulder.
move_to
left_y-0.0580left_gripper0.3500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3256, 1.7451, 0.7063, 0.4217, -0.4038, -0.2951, 0.9964, -0.0193, 0.4526, 0.1261, -0.2642, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.4322 left_y=-0.0689 left_z=0.0569 left_yaw=0.1542 left_pitch=0.0017 left_roll=-0.0078 left_gripper=0.9964 right_x=0.239 right_y=0.0042 right_z=0.0685 right_yaw=-0.0027 right_pitch=-0.0225 right_roll=-0.0001 right_gripper=0.9994 state[joint_eff]: [0.3077, -7.4462, 7.1316, 1.6093, -0.2271, 0.0024, -0.0073, -0.253, 0.0615, 6.9265, 1.873, -0.0708, -0.0366, -0.0122] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.058, "left_gripper": 0.35}, "note": "Wrist view matches the geometry of my successful grasp (cap just above the jaw column); nudging 1 cm left and closing to 3.4 cm around the bottle's shoulder."})
tool
executing move_to over 7 steps (0.7s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteJaws closed to 3.4 cm on the bottle's shoulder; lifting to 25 cm so the bottle swings cap-up and hangs vertically.
move_to
left_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2981, 1.7512, 0.7116, 0.4553, -0.4, -0.2874, 0.3555, -0.0193, 0.4316, 0.1112, -0.2661, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.4395 left_y=-0.0593 left_z=0.0627 left_yaw=0.1747 left_pitch=0.0298 left_roll=-0.0182 left_gripper=0.3555 right_x=0.2373 right_y=0.0042 right_z=0.0659 right_yaw=-0.0027 right_pitch=-0.0183 right_roll=-0.0001 right_gripper=0.9994 state[joint_eff]: [0.5538, -8.759, 4.041, 1.3748, 0.0659, 0.1832, 0.0904, -0.3897, 0.0615, 6.7077, 1.8486, -0.0904, -0.0659, -0.0122] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "Jaws closed to 3.4 cm on the bottle's shoulder; lifting to 25 cm so the bottle swings cap-up and hangs vertically."})
tool
executing move_to over 13 steps (1.3s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteSecond bottle is hanging cap-up in the jaws; lowering it until its base reaches the table.
move_to
left_z0.1680
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2951, 1.5066, 1.2278, -0.3576, -0.4007, -0.2913, 0.3548, -0.0193, 0.4156, 0.0982, -0.2684, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.4444 left_y=-0.0593 left_z=0.2275 left_yaw=0.1802 left_pitch=-0.0165 left_roll=0.0028 left_gripper=0.3548 right_x=0.2358 right_y=0.0043 right_z=0.0629 right_yaw=-0.0027 right_pitch=-0.0175 right_roll=-0.0001 right_gripper=0.9994 state[joint_eff]: [-0.5402, -9.2376, 9.3744, 1.5604, -0.2076, 0.0122, -0.0904, -0.0615, 0.1709, 6.9675, 1.8681, -0.0513, -0.0708, -0.0122] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.168}, "note": "Second bottle is hanging cap-up in the jaws; lowering it until its base reaches the table."})
tool
executing move_to over 4 steps (0.4s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteBottle base is resting on the table; opening the jaws to leave it standing.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2947, 1.541, 1.0157, -0.1894, -0.4007, -0.2913, 0.3546, -0.0193, 0.3988, 0.0898, -0.2687, -0.0292, -0.0353, 0.9994] state[eef_state]: left_x=0.4326 left_y=-0.0555 left_z=0.1526 left_yaw=0.1825 left_pitch=-0.086 left_roll=0.0387 left_gripper=0.3546 right_x=0.2353 right_y=0.0042 right_z=0.0626 right_yaw=-0.003 right_pitch=-0.0095 right_roll=-0.0005 right_gripper=0.9994 state[joint_eff]: [-0.2803, -7.6923, 7.8974, 2.2051, -0.2662, -0.0269, -0.0269, -0.1026, 0.1709, 6.5846, 1.8095, -0.0855, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "Bottle base is resting on the table; opening the jaws to leave it standing."})
tool
executing move_to over 7 steps (0.7s)
step 182
assistant
agent noteTwo bottles now stand upright; the third still lies near the left edge of the table. Moving the gripper over it to line up on its neck.
move_to
left_x0.4000left_y0.0200left_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2947, 1.5311, 0.9131, -0.0433, -0.4019, -0.2913, 0.9951, -0.0193, 0.3969, 0.0856, -0.2691, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.4304 left_y=-0.0547 left_z=0.14 left_yaw=0.1819 left_pitch=-0.0382 left_roll=0.0147 left_gripper=0.9951 right_x=0.2347 right_y=0.0043 right_z=0.061 right_yaw=-0.0027 right_pitch=-0.0122 right_roll=-0.0002 right_gripper=0.9994 state[joint_eff]: [-0.3897, -8.3761, 6.735, 1.8242, -0.2759, -0.0464, -0.1392, -0.2256, -0.0205, 6.7214, 1.7656, -0.0464, -0.0073, -0.0073] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": 0.02, "left_z": 0.1}, "note": "Two bottles now stand upright; the third still lies near the left edge of the table. Moving the gripper over it to line up on its neck."})
tool
executing move_to over 7 steps (0.7s)
step 189
assistant
agent noteThe lying bottle sits nearer the base than my gripper (it's out of the wrist view, which only shows the standing bottle to the right); pulling back 8 cm to bring it into view.
move_to
left_x0.3200left_y0.0250left_z0.0900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0628, 1.4635, 0.6201, 0.2081, -0.2413, -0.1791, 0.9962, -0.0193, 0.3866, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.3961 left_y=0.021 left_z=0.0881 left_yaw=0.2213 left_pitch=-0.0515 left_roll=0.0072 left_gripper=0.9962 right_x=0.2351 right_y=0.0043 right_z=0.063 right_yaw=-0.0027 right_pitch=-0.0023 right_roll=-0.0004 right_gripper=0.9994 state[joint_eff]: [0.1709, -7.3504, 6.147, 1.9072, 0.1001, 0.2027, 0.1001, -0.2393, 0.4034, 6.3385, 1.7558, -0.0611, -0.0806, -0.0122] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": 0.025, "left_z": 0.09}, "note": "The lying bottle sits nearer the base than my gripper (it's out of the wrist view, which only shows the standing bottle to the right); pulling back 8 cm to bring it into view."})
tool
executing move_to over 6 steps (0.6s)
step 195
assistant
agent noteI can't tell from the oblique top camera whether the two placed bottles are really standing; raising the left arm high and back so its wrist camera gives a clear overview of all three.
move_to
left_x0.2200left_y-0.1200left_z0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0708, 1.1122, 0.3496, 0.1989, -0.2478, -0.1646, 0.9964, -0.0193, 0.3862, 0.0849, -0.2687, -0.0296, -0.0349, 0.9994] state[eef_state]: left_x=0.3284 left_y=0.0237 left_z=0.0941 left_yaw=0.2106 left_pitch=0.0182 left_roll=0.0029 left_gripper=0.9964 right_x=0.2351 right_y=0.0043 right_z=0.0631 right_yaw=-0.0029 right_pitch=-0.0019 right_roll=-0.0001 right_gripper=0.9994 state[joint_eff]: [-0.1709, -2.7145, 6.3385, 1.8242, -0.1538, -0.1783, -0.0024, -0.0342, 1.1692, 6.8991, 1.7265, -0.0659, 0.0171, -0.0073] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.22, "left_y": -0.12, "left_z": 0.45}, "note": "I can't tell from the oblique top camera whether the two placed bottles are really standing; raising the left arm high and back so its wrist camera gives a clear overview of all three."})
tool
executing move_to over 23 steps (2.3s)
step 218
assistant
agent noteEvidence says my grasps were empty and nothing has moved yet. Putting the open gripper down on the table at a known point (x=0.40, y=-0.13) so I can calibrate the overhead view against the bottles' pixel positions.
move_to
left_x0.4000left_y-0.1300left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8944, 1.3628, 1.9778, -1.5532, -0.8463, -0.86, 0.9964, -0.0193, 0.3859, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.2572 left_y=-0.1034 left_z=0.4099 left_yaw=0.2133 left_pitch=-0.0015 left_roll=-0.0422 left_gripper=0.9964 right_x=0.2352 right_y=0.0043 right_z=0.0632 right_yaw=-0.0027 right_pitch=-0.0015 right_roll=-0.0004 right_gripper=0.9994 state[joint_eff]: [0.5128, -2.7829, 5.9829, 1.0427, -0.5055, 0.315, -0.0073, -0.253, 0.6496, 7.1179, 1.7216, -0.0317, -0.0659, -0.0122] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.13, "left_z": 0.02}, "note": "Evidence says my grasps were empty and nothing has moved yet. Putting the open gripper down on the table at a known point (x=0.40, y=-0.13) so I can calibrate the overhead view against the bottles' pixel positions."})
tool
executing move_to over 26 steps (2.6s)
step 244
assistant
agent noteThe wrist view shows a bottle filling the frame right at the jaws; closing fully as a probe — the settled opening will tell me whether I have the body (~0.65), the neck (~0.3) or nothing (<0.04).
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.59, 1.8381, 0.7036, 0.3275, -0.6724, -0.5457, 0.9965, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.3888 left_y=-0.1236 left_z=0.0196 left_yaw=0.2338 left_pitch=-0.0385 left_roll=0.0368 left_gripper=0.9965 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994 state[joint_eff]: [0.7863, -6.2838, 4.8342, 1.7216, -0.0708, 0.2418, -0.0073, -0.3897, 0.4991, 6.9949, 1.7411, -0.0855, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The wrist view shows a bottle filling the frame right at the jaws; closing fully as a probe \u2014 the settled opening will tell me whether I have the body (~0.65), the neck (~0.3) or nothing (<0.04)."})
tool
executing move_to over 10 steps (1.0s)
step 254
assistant
agent noteFull close read 0.59 (5.6 cm) — that was the bottle body, so I finally know exactly where this bottle is. Reopening and sliding ~7 cm forward along the bottle toward its cap to get the jaws around the neck.
move_to
left_gripper1.0000left_x0.4550left_y-0.1180left_z0.0220
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5892, 1.866, 0.6643, 0.4309, -0.6743, -0.5499, 0.5866, -0.0193, 0.3878, 0.0849, -0.2684, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.3879 left_y=-0.1223 left_z=0.0129 left_yaw=0.2375 left_pitch=-0.0129 left_roll=0.0076 left_gripper=0.5866 right_x=0.2351 right_y=0.0043 right_z=0.0628 right_yaw=-0.0027 right_pitch=-0.003 right_roll=-0.0004 right_gripper=0.9994 state[joint_eff]: [-0.2256, -9.4427, 4.4923, 1.4676, -0.3101, -0.0171, 1.033, -0.2393, 0.4581, 6.8171, 1.7509, -0.0806, -0.0366, -0.0073] 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": {"left_gripper": 1, "left_x": 0.455, "left_y": -0.118, "left_z": 0.022}, "note": "Full close read 0.59 (5.6 cm) \u2014 that was the bottle body, so I finally know exactly where this bottle is. Reopening and sliding ~7 cm forward along the bottle toward its cap to get the jaws around the neck."})
tool
executing move_to over 6 steps (0.6s)
step 260
assistant
agent noteThe gripper only partly reopened and dragged the bottle forward with it; commanding a full open to release before repositioning.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4797, 1.9831, 0.8524, 0.4072, -0.6159, -0.4892, 0.6012, -0.0193, 0.3878, 0.0849, -0.2684, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.4437 left_y=-0.1117 left_z=0.0161 left_yaw=0.2711 left_pitch=-0.0081 left_roll=-0.003 left_gripper=0.6012 right_x=0.2351 right_y=0.0043 right_z=0.0628 right_yaw=-0.0027 right_pitch=-0.003 right_roll=-0.0004 right_gripper=0.9994 state[joint_eff]: [0.4444, -8.8821, 6.8991, 1.5018, -0.2027, 0.2173, 0.2906, -0.4034, 0.4855, 6.9675, 1.7314, -0.0806, -0.0317, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "The gripper only partly reopened and dragged the bottle forward with it; commanding a full open to release before repositioning."})
tool
executing move_to over 4 steps (0.4s)
step 264
assistant
agent noteJaws are open and straddling the bottle's body; sliding 4 cm further forward so they sit on the tapered shoulder just behind the cap, which is the spot that lets the bottle swing upright.
move_to
left_x0.4870left_z0.0250left_y-0.1050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4782, 1.9934, 0.8516, 0.4118, -0.6132, -0.4786, 0.9944, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.4433 left_y=-0.1112 left_z=0.012 left_yaw=0.265 left_pitch=-0.0142 left_roll=0.0091 left_gripper=0.9944 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994 state[joint_eff]: [-0.4855, -9.8667, 4.5333, 1.5702, -0.4078, -0.0611, -0.1343, -0.2803, 0.7863, 6.9675, 1.7509, -0.0659, -0.0513, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.487, "left_z": 0.025, "left_y": -0.105}, "note": "Jaws are open and straddling the bottle's body; sliding 4 cm further forward so they sit on the tapered shoulder just behind the cap, which is the spot that lets the bottle swing upright."})
tool
executing move_to over 4 steps (0.4s)
step 268
assistant
agent noteClosing the jaws to 4.3 cm at the bottle's shoulder — loose enough there for the bottle to pivot cap-up when lifted.
move_to
left_gripper0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4168, 2.0449, 0.9676, 0.3687, -0.5831, -0.4629, 0.9956, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.4749 left_y=-0.0999 left_z=0.0181 left_yaw=0.295 left_pitch=-0.0116 left_roll=-0.0068 left_gripper=0.9956 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994 state[joint_eff]: [0.253, -8.9094, 7.5692, 1.7167, -0.1929, 0.2662, 0.1099, -0.1709, 0.5812, 6.8171, 1.7314, -0.0855, -0.0366, -0.0122] camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.45}, "note": "Closing the jaws to 4.3 cm at the bottle's shoulder \u2014 loose enough there for the bottle to pivot cap-up when lifted."})
tool
executing move_to over 6 steps (0.6s)
step 274
assistant
agent noteGripper stalled at 5.3 cm — a firm grip on the bottle's upper body. Lifting it clear of the table; then I'll loosen the jaws so the heavier base end swings down and the bottle hangs upright.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4191, 2.0533, 0.9646, 0.379, -0.5903, -0.4492, 0.562, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.4743 left_y=-0.0997 left_z=0.0155 left_yaw=0.291 left_pitch=-0.0094 left_roll=0.0091 left_gripper=0.562 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994 state[joint_eff]: [-0.0752, -10.4274, 4.8752, 1.5897, -0.232, -0.0855, 0.9988, -0.2393, 0.5128, 6.8171, 1.7216, -0.0611, -0.0415, -0.0122] camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "Gripper stalled at 5.3 cm \u2014 a firm grip on the bottle's upper body. Lifting it clear of the table; then I'll loosen the jaws so the heavier base end swings down and the bottle hangs upright."})
tool
executing move_to over 12 steps (1.2s)
step 286
assistant
agent noteBottle is off the table in a firm horizontal grip; loosening the jaws to just over body width so the heavy base end swings down and the bottle hangs cap-up, caught by its shoulder taper.
move_to
left_gripper0.6400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4191, 1.7981, 1.2636, -0.3393, -0.5381, -0.4526, 0.5654, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.4615 left_y=-0.1025 left_z=0.1261 left_yaw=0.2624 left_pitch=-0.1591 left_roll=0.0831 left_gripper=0.5654 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994 state[joint_eff]: [-0.1573, -15.9795, 11.3162, 1.9805, -0.779, 0.0415, 0.7839, -0.1026, 0.4581, 6.8308, 1.7363, -0.0269, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.64}, "note": "Bottle is off the table in a firm horizontal grip; loosening the jaws to just over body width so the heavy base end swings down and the bottle hangs cap-up, caught by its shoulder taper."})
tool
executing move_to over 1 steps (0.1s)
step 287
assistant
agent noteThe jaws barely moved last time; opening wider (7 cm, just over the body width) while lifting slightly, so the bottle can pivot base-down and hang cap-up in the loose jaws.
move_to
left_gripper0.7000left_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4191, 1.7844, 1.2842, -0.4019, -0.5373, -0.4522, 0.562, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.456 left_y=-0.1002 left_z=0.1313 left_yaw=0.2647 left_pitch=-0.1814 left_roll=0.1009 left_gripper=0.562 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994 state[joint_eff]: [-0.2667, -14.7077, 10.9197, 2.1465, -0.7839, -0.0415, 0.9792, -0.1299, 0.4718, 6.8308, 1.7216, -0.0757, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.7, "left_z": 0.18}, "note": "The jaws barely moved last time; opening wider (7 cm, just over the body width) while lifting slightly, so the bottle can pivot base-down and hang cap-up in the loose jaws."})
tool
executing move_to over 4 steps (0.4s)
step 291
assistant
agent noteThe bottle stays horizontal even in the loosened jaws, so the pendulum trick isn't working with a body grip; lowering it back to the table and releasing rather than dropping it from height.
move_to
left_z0.0500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4324, 1.7245, 1.1313, -0.2466, -0.5426, -0.4484, 0.6987, -0.0193, 0.3878, 0.0849, -0.2684, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.4437 left_y=-0.1004 left_z=0.121 left_yaw=0.2471 left_pitch=-0.1308 left_roll=0.0674 left_gripper=0.6987 right_x=0.2351 right_y=0.0043 right_z=0.0628 right_yaw=-0.0027 right_pitch=-0.003 right_roll=-0.0004 right_gripper=0.9994 state[joint_eff]: [-0.3214, -13.5043, 11.0838, 1.8681, -0.6813, 0.0366, -0.0562, -0.2803, 0.5812, 6.8171, 1.7753, -0.0464, -0.0464, -0.0073] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.05, "left_gripper": 1}, "note": "The bottle stays horizontal even in the loosened jaws, so the pendulum trick isn't working with a body grip; lowering it back to the table and releasing rather than dropping it from height."})
tool
executing move_to over 5 steps (0.5s)
step 296
assistant
agent noteI could not stand any bottle upright within the call budget. I did achieve a verified grasp (full close settled at 0.59 ≈ 5.6 cm = bottle body), but with pitch/roll pinned the gripper is always vertical, and a firm body grip holds the bottle horizontally; loosening the jaws to 7 cm did not let it pivot base-down. All three bottles remain lying on the table, essentially where they started.
give_up
hindsightKey lessons for this rig/task: 1) Pitch and roll are pinned at 0, so the tool is always vertical. The ONLY way to stand a lying bottle is to grip the narrow neck/shoulder loosely enough that the bottle pivots to hang cap-up when lifted (or to drag/pivot it against something). A grip anywhere on the 6.5 cm body is firm and keeps the bottle horizontal, even when reopened to 7 cm — friction/wedging prevents rotation. 2) Do NOT use partial gripper commands to test a grasp: a partial close (e.g. 0.30/0.35) returns exactly the commanded value whether or not anything is between the jaws, so it gives zero feedback. I wasted ~15 calls believing three empty closes were grasps. Always close FULLY (0) as a probe: the settled reading tells you what you have (<0.04 empty, ~0.25–0.3 neck, ~0.55–0.65 body). Then reopen to the loose value you want. 3) Verify with the top camera by object COUNT/POSITION change, not appearance: lying and standing bottles look nearly identical in the oblique top view. A held object disappears from the top view (occluded/lifted) — that is the reliable lift check. 4) The wrist camera badly over-estimates how far forward an object is: features sit ~100 px above the jaw row when the object is already between the jaws. Descending moves features down as much as advancing does. Rather than iterating in the wrist view, put the open gripper down on the table at a known (x,y), full-close as a probe, and use the resulting reading to localize; then step along the bottle axis in ~5 cm increments, probing. 5) Objects near x≈0.5 are at the reach limit at table level; if a bottle's neck ends up beyond that, grip the body, drag the bottle 8–10 cm toward the base first, then go for the neck.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4324, 1.681, 1.1614, -0.2424, -0.5686, -0.4484, 0.997, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994] state[eef_state]: left_x=0.4499 left_y=-0.0989 left_z=0.1538 left_yaw=0.2619 left_pitch=-0.0588 left_roll=0.0323 left_gripper=0.997 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994 state[joint_eff]: [-0.4308, -10.441, 9.1282, 1.6337, -0.3883, 0.0366, -0.022, -0.2256, 0.4855, 6.8444, 1.7363, -0.0659, -0.0611, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). 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
give_up({"reason": "I could not stand any bottle upright within the call budget. I did achieve a verified grasp (full close settled at 0.59 \u2248 5.6 cm = bottle body), but with pitch/roll pinned the gripper is always vertical, and a firm body grip holds the bottle horizontally; loosening the jaws to 7 cm did not let it pivot base-down. All three bottles remain lying on the table, essentially where they started.", "hindsight": "Key lessons for this rig/task:\n1) Pitch and roll are pinned at 0, so the tool is always vertical. The ONLY way to stand a lying bottle is to grip the narrow neck/shoulder loosely enough that the bottle pivots to hang cap-up when lifted (or to drag/pivot it against something). A grip anywhere on the 6.5 cm body is firm and keeps the bottle horizontal, even when reopened to 7 cm \u2014 friction/wedging prevents rotation.\n2) Do NOT use partial gripper commands to test a grasp: a partial close (e.g. 0.30/0.35) returns exactly the commanded value whether or not anything is between the jaws, so it gives zero feedback. I wasted ~15 calls believing three empty closes were grasps. Always close FULLY (0) as a probe: the settled reading tells you what you have (<0.04 empty, ~0.25\u20130.3 neck, ~0.55\u20130.65 body). Then reopen to the loose value you want.\n3) Verify with the top camera by object COUNT/POSITION change, not appearance: lying and standing bottles look nearly identical in the oblique top view. A held object disappears from the top view (occluded/lifted) \u2014 that is the reliable lift check.\n4) The wrist camera badly over-estimates how far forward an object is: features sit ~100 px above the jaw row when the object is already between the jaws. Descending moves features down as much as advancing does. Rather than iterating in the wrist view, put the open gripper down on the table at a known (x,y), full-close as a probe, and use the resulting reading to localize; then step along the bottle axis in ~5 cm increments, probing.\n5) Objects near x\u22480.5 are at the reach limit at table level; if a bottle's neck ends up beyond that, grip the body, drag the bottle 8\u201310 cm toward the base first, then go for the neck."})
tool
give_up: I could not stand any bottle upright within the call budget. I did achieve a verified grasp (full close settled at 0.59 ≈ 5.6 cm = bottle body), but with pitch/roll pinned the gripper is always vertical, and a firm body grip holds the bottle horizontally; loosening the jaws to 7 cm did not let it pivot base-down. All three bottles remain lying on the table, essentially where they started.
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 · 31.4 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, 0.7925, 0.6067, -0.3771, -0.0235, -0.0288, 0.9986, -0.0158, 0.7879, 0.6033, -0.3836, -0.0292, -0.0345, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=0.0018 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2938 right_y=0.0041 right_z=0.1806 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -1.4154, 9.8803, 1.7851, 0.0464, 0.0952, -0.1587, -0.9778, -0.8821, 10.2359, 1.8486, 0.0269, 0.1734, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a481059efe39b8efd65b1733a053602597f0276340db5fa1ab9c9ca2b87382c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc06e9b1652614afa913493efc4154fdf733171f240c16e9c74ef9e7b6a6d1af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:405daefd34f38891c534e292dcd26781b8b8864286342f569a1b5d6659e3e5cb",
        "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 · 10.7 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, 0.7925, 0.6067, -0.3771, -0.0235, -0.0288, 0.9986, -0.0158, 0.7879, 0.6033, -0.3836, -0.0292, -0.0345, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=0.0018 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2938 right_y=0.0041 right_z=0.1806 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -1.4154, 9.8803, 1.7851, 0.0464, 0.0952, -0.1587, -0.9778, -0.8821, 10.2359, 1.8486, 0.0269, 0.1734, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a481059efe39b8efd65b1733a053602597f0276340db5fa1ab9c9ca2b87382c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc06e9b1652614afa913493efc4154fdf733171f240c16e9c74ef9e7b6a6d1af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:405daefd34f38891c534e292dcd26781b8b8864286342f569a1b5d6659e3e5cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012tHcHyuK3tMqJDibo1vZuR",
      "input": {
        "note": "Three bottles lie on their sides pointing away from the robot. I'm flying the left arm over the leftmost bottle's neck area at 18 cm height to get a wrist-camera look before grasping.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.36,
          "left_y": -0.2,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_012tHcHyuK3tMqJDibo1vZuR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7662, 1.4528, 0.9657, -0.2802, -0.6117, -0.4931, 0.9988, -0.0193, 0.794, 0.6037, -0.4034, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3525 left_y=-0.1935 left_z=0.1636 left_yaw=-0.0157 left_pitch=-0.0421 left_roll=0.0217 left_gripper=0.9988 right_x=0.2916 right_y=0.0031 right_z=0.175 right_yaw=-0.003 right_pitch=-0.0255 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -6.4615, 9.4838, 1.5897, -0.442, 0.0757, -0.1343, -0.0479, -1.6889, 7.0085, 1.8926, -0.0269, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea9925e9fec9721920d5f67edca7ccc00923fd787df01bcf3c823be75509e9f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a40e95c79406485f363fbdb79a3617d9875755e91d1dc21461f42aa4a1a66dc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6e1908409ba2f50ea684de24cfa4521b6771629323926b88ed37e561f2a7a96",
        "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 · 30.11 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, 0.7925, 0.6067, -0.3771, -0.0235, -0.0288, 0.9986, -0.0158, 0.7879, 0.6033, -0.3836, -0.0292, -0.0345, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=0.0018 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2938 right_y=0.0041 right_z=0.1806 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -1.4154, 9.8803, 1.7851, 0.0464, 0.0952, -0.1587, -0.9778, -0.8821, 10.2359, 1.8486, 0.0269, 0.1734, -0.0659]",
      "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]: [-0.7662, 1.4528, 0.9657, -0.2802, -0.6117, -0.4931, 0.9988, -0.0193, 0.794, 0.6037, -0.4034, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3525 left_y=-0.1935 left_z=0.1636 left_yaw=-0.0157 left_pitch=-0.0421 left_roll=0.0217 left_gripper=0.9988 right_x=0.2916 right_y=0.0031 right_z=0.175 right_yaw=-0.003 right_pitch=-0.0255 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -6.4615, 9.4838, 1.5897, -0.442, 0.0757, -0.1343, -0.0479, -1.6889, 7.0085, 1.8926, -0.0269, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea9925e9fec9721920d5f67edca7ccc00923fd787df01bcf3c823be75509e9f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a40e95c79406485f363fbdb79a3617d9875755e91d1dc21461f42aa4a1a66dc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6e1908409ba2f50ea684de24cfa4521b6771629323926b88ed37e561f2a7a96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EnSpf5teLME7xy2p3VrS6Y",
      "input": {
        "note": "The wrist view shows the nearest bottle well to the left of the jaw column, so I'm shifting the left gripper ~7 cm toward +y to line up over the leftmost bottle.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.13,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01EnSpf5teLME7xy2p3VrS6Y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5999, 1.2873, 0.7643, -0.1604, -0.511, -0.3878, 0.9985, -0.0193, 0.7845, 0.5808, -0.3965, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3498 left_y=-0.1303 left_z=0.1537 left_yaw=0.0157 left_pitch=-0.0207 left_roll=0.0042 left_gripper=0.9985 right_x=0.289 right_y=0.0032 right_z=0.1685 right_yaw=-0.003 right_pitch=-0.032 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -5.6957, 6.4342, 1.8095, -0.0904, 0.188, -0.0513, -0.3077, -1.812, 6.8581, 1.9463, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e467366929ede7844e675eee51f17d04ac021ae59dc065f1d3eb37440e08c5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bc2a8fa8fc73259d985d2bd5dfb5a72f6b9078ad2d61998ae9711b014a29e56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2c09342ccce5e438209ffb0118af490f4cd34e6520f33ab0c4802033d0c162db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 11.9 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, 0.7925, 0.6067, -0.3771, -0.0235, -0.0288, 0.9986, -0.0158, 0.7879, 0.6033, -0.3836, -0.0292, -0.0345, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=0.0018 left_z=0.1823 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2938 right_y=0.0041 right_z=0.1806 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -1.4154, 9.8803, 1.7851, 0.0464, 0.0952, -0.1587, -0.9778, -0.8821, 10.2359, 1.8486, 0.0269, 0.1734, -0.0659]",
      "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]: [-0.7662, 1.4528, 0.9657, -0.2802, -0.6117, -0.4931, 0.9988, -0.0193, 0.794, 0.6037, -0.4034, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3525 left_y=-0.1935 left_z=0.1636 left_yaw=-0.0157 left_pitch=-0.0421 left_roll=0.0217 left_gripper=0.9988 right_x=0.2916 right_y=0.0031 right_z=0.175 right_yaw=-0.003 right_pitch=-0.0255 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -6.4615, 9.4838, 1.5897, -0.442, 0.0757, -0.1343, -0.0479, -1.6889, 7.0085, 1.8926, -0.0269, -0.0611, -0.0073]",
      "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]: [-0.5999, 1.2873, 0.7643, -0.1604, -0.511, -0.3878, 0.9985, -0.0193, 0.7845, 0.5808, -0.3965, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3498 left_y=-0.1303 left_z=0.1537 left_yaw=0.0157 left_pitch=-0.0207 left_roll=0.0042 left_gripper=0.9985 right_x=0.289 right_y=0.0032 right_z=0.1685 right_yaw=-0.003 right_pitch=-0.032 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -5.6957, 6.4342, 1.8095, -0.0904, 0.188, -0.0513, -0.3077, -1.812, 6.8581, 1.9463, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e467366929ede7844e675eee51f17d04ac021ae59dc065f1d3eb37440e08c5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bc2a8fa8fc73259d985d2bd5dfb5a72f6b9078ad2d61998ae9711b014a29e56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c09342ccce5e438209ffb0118af490f4cd34e6520f33ab0c4802033d0c162db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014Yu2C55MYanf8J8sPDwWas",
      "input": {
        "note": "In the wrist view the target bottle's blue cap sits up and to the left of the jaw column, so I'm moving forward and left to hover over its neck, which is where I want to pinch it.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.09,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_014Yu2C55MYanf8J8sPDwWas",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3603, 1.4403, 0.8448, -0.0711, -0.3523, -0.2653, 0.9983, -0.0193, 0.77, 0.5507, -0.3817, -0.0292, -0.0357, 0.9994]\nstate[eef_state]: left_x=0.4042 left_y=-0.0833 left_z=0.1403 left_yaw=0.0621 left_pitch=-0.0566 left_roll=0.0108 left_gripper=0.9983 right_x=0.2863 right_y=0.0032 right_z=0.1617 right_yaw=-0.0028 right_pitch=-0.0328 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.212, -5.7504, 9.0325, 1.7998, 0.0122, 0.1734, -0.022, -0.1162, -1.812, 7.0222, 1.9805, -0.0562, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64dae92851b11ec22509de084d045e02441c7fb690442e3e1d8f6487f517a1cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a327c83ed40dcd86913af3f2b9d3357d0e957a7cb65dde424321fb6843d94f3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8eb8dceda9b4232be82c7d32dbcf26e49c74ffe1b525b6fbfd4586bd71796ec3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 11.31 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]: [-0.7662, 1.4528, 0.9657, -0.2802, -0.6117, -0.4931, 0.9988, -0.0193, 0.794, 0.6037, -0.4034, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3525 left_y=-0.1935 left_z=0.1636 left_yaw=-0.0157 left_pitch=-0.0421 left_roll=0.0217 left_gripper=0.9988 right_x=0.2916 right_y=0.0031 right_z=0.175 right_yaw=-0.003 right_pitch=-0.0255 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -6.4615, 9.4838, 1.5897, -0.442, 0.0757, -0.1343, -0.0479, -1.6889, 7.0085, 1.8926, -0.0269, -0.0611, -0.0073]",
      "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]: [-0.5999, 1.2873, 0.7643, -0.1604, -0.511, -0.3878, 0.9985, -0.0193, 0.7845, 0.5808, -0.3965, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3498 left_y=-0.1303 left_z=0.1537 left_yaw=0.0157 left_pitch=-0.0207 left_roll=0.0042 left_gripper=0.9985 right_x=0.289 right_y=0.0032 right_z=0.1685 right_yaw=-0.003 right_pitch=-0.032 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -5.6957, 6.4342, 1.8095, -0.0904, 0.188, -0.0513, -0.3077, -1.812, 6.8581, 1.9463, -0.0464, -0.0562, -0.0122]",
      "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]: [-0.3603, 1.4403, 0.8448, -0.0711, -0.3523, -0.2653, 0.9983, -0.0193, 0.77, 0.5507, -0.3817, -0.0292, -0.0357, 0.9994]\nstate[eef_state]: left_x=0.4042 left_y=-0.0833 left_z=0.1403 left_yaw=0.0621 left_pitch=-0.0566 left_roll=0.0108 left_gripper=0.9983 right_x=0.2863 right_y=0.0032 right_z=0.1617 right_yaw=-0.0028 right_pitch=-0.0328 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.212, -5.7504, 9.0325, 1.7998, 0.0122, 0.1734, -0.022, -0.1162, -1.812, 7.0222, 1.9805, -0.0562, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64dae92851b11ec22509de084d045e02441c7fb690442e3e1d8f6487f517a1cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a327c83ed40dcd86913af3f2b9d3357d0e957a7cb65dde424321fb6843d94f3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eb8dceda9b4232be82c7d32dbcf26e49c74ffe1b525b6fbfd4586bd71796ec3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gto1YoASUc3MXYwLiK9MSK",
      "input": {
        "note": "The cap is still up-left of the jaw column in the wrist view; advancing ~6 cm and shifting ~4 cm left to bring the bottle neck under the fingertips.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.04,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Gto1YoASUc3MXYwLiK9MSK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1791, 1.6352, 0.897, 0.0792, -0.2363, -0.1814, 0.9983, -0.0193, 0.7544, 0.5205, -0.3668, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4507 left_y=-0.0359 left_z=0.1071 left_yaw=0.1024 left_pitch=-0.0751 left_roll=0.0091 left_gripper=0.9983 right_x=0.2836 right_y=0.0033 right_z=0.1552 right_yaw=-0.0027 right_pitch=-0.0324 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.3624, -7.5282, 9.0872, 1.9853, 0.0513, 0.3248, -0.0171, -0.3897, -1.7026, 6.8171, 1.9414, -0.0611, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d65c8246000b6415a0821a1916ff62ce746a633eb8de4c7eb24cfd6689b6aff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab609249173923f2eacf2bc00f5d1bf1fd9ce0e899d647b0ebd9e88be94e3a60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3eb09e7846465edbd42420097d7e04fd5ea44c79b00a2f9892736472db8919f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 14.73 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]: [-0.5999, 1.2873, 0.7643, -0.1604, -0.511, -0.3878, 0.9985, -0.0193, 0.7845, 0.5808, -0.3965, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3498 left_y=-0.1303 left_z=0.1537 left_yaw=0.0157 left_pitch=-0.0207 left_roll=0.0042 left_gripper=0.9985 right_x=0.289 right_y=0.0032 right_z=0.1685 right_yaw=-0.003 right_pitch=-0.032 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -5.6957, 6.4342, 1.8095, -0.0904, 0.188, -0.0513, -0.3077, -1.812, 6.8581, 1.9463, -0.0464, -0.0562, -0.0122]",
      "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]: [-0.3603, 1.4403, 0.8448, -0.0711, -0.3523, -0.2653, 0.9983, -0.0193, 0.77, 0.5507, -0.3817, -0.0292, -0.0357, 0.9994]\nstate[eef_state]: left_x=0.4042 left_y=-0.0833 left_z=0.1403 left_yaw=0.0621 left_pitch=-0.0566 left_roll=0.0108 left_gripper=0.9983 right_x=0.2863 right_y=0.0032 right_z=0.1617 right_yaw=-0.0028 right_pitch=-0.0328 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.212, -5.7504, 9.0325, 1.7998, 0.0122, 0.1734, -0.022, -0.1162, -1.812, 7.0222, 1.9805, -0.0562, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1791, 1.6352, 0.897, 0.0792, -0.2363, -0.1814, 0.9983, -0.0193, 0.7544, 0.5205, -0.3668, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4507 left_y=-0.0359 left_z=0.1071 left_yaw=0.1024 left_pitch=-0.0751 left_roll=0.0091 left_gripper=0.9983 right_x=0.2836 right_y=0.0033 right_z=0.1552 right_yaw=-0.0027 right_pitch=-0.0324 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.3624, -7.5282, 9.0872, 1.9853, 0.0513, 0.3248, -0.0171, -0.3897, -1.7026, 6.8171, 1.9414, -0.0611, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d65c8246000b6415a0821a1916ff62ce746a633eb8de4c7eb24cfd6689b6aff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab609249173923f2eacf2bc00f5d1bf1fd9ce0e899d647b0ebd9e88be94e3a60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3eb09e7846465edbd42420097d7e04fd5ea44c79b00a2f9892736472db8919f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015nzbfPP1FBktpVCyFqdP4S",
      "input": {
        "note": "The bottle cap is now on the jaw column in the wrist view; descending to neck height to check alignment before pinching.",
        "targets": {
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_015nzbfPP1FBktpVCyFqdP4S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.189, 1.7702, 0.741, 0.4236, -0.2295, -0.1841, 0.9983, -0.0193, 0.7376, 0.49, -0.3508, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4494 left_y=-0.0414 left_z=0.0541 left_yaw=0.0875 left_pitch=-0.0248 left_roll=-0.0117 left_gripper=0.9983 right_x=0.2809 right_y=0.0034 right_z=0.1489 right_yaw=-0.0027 right_pitch=-0.0301 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.4034, -6.4889, 3.9179, 1.5165, -0.2857, 0.0317, -0.0073, -0.1026, -1.4154, 6.9128, 1.9512, -0.0806, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef293a2048b33f58a0e2e879b61314f91aebe5ebf83ef59a6b7a943951bf1596",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e6683eee5541add986f0222fad13e1ac8faa67a62306d6079f5f7acabddba83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd92c8912970d305c4df097b07a66ae067a7c2002f8157307ba5705b8ddb8798",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 8.32 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]: [-0.3603, 1.4403, 0.8448, -0.0711, -0.3523, -0.2653, 0.9983, -0.0193, 0.77, 0.5507, -0.3817, -0.0292, -0.0357, 0.9994]\nstate[eef_state]: left_x=0.4042 left_y=-0.0833 left_z=0.1403 left_yaw=0.0621 left_pitch=-0.0566 left_roll=0.0108 left_gripper=0.9983 right_x=0.2863 right_y=0.0032 right_z=0.1617 right_yaw=-0.0028 right_pitch=-0.0328 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.212, -5.7504, 9.0325, 1.7998, 0.0122, 0.1734, -0.022, -0.1162, -1.812, 7.0222, 1.9805, -0.0562, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1791, 1.6352, 0.897, 0.0792, -0.2363, -0.1814, 0.9983, -0.0193, 0.7544, 0.5205, -0.3668, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4507 left_y=-0.0359 left_z=0.1071 left_yaw=0.1024 left_pitch=-0.0751 left_roll=0.0091 left_gripper=0.9983 right_x=0.2836 right_y=0.0033 right_z=0.1552 right_yaw=-0.0027 right_pitch=-0.0324 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.3624, -7.5282, 9.0872, 1.9853, 0.0513, 0.3248, -0.0171, -0.3897, -1.7026, 6.8171, 1.9414, -0.0611, -0.0073, -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]: [-0.189, 1.7702, 0.741, 0.4236, -0.2295, -0.1841, 0.9983, -0.0193, 0.7376, 0.49, -0.3508, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4494 left_y=-0.0414 left_z=0.0541 left_yaw=0.0875 left_pitch=-0.0248 left_roll=-0.0117 left_gripper=0.9983 right_x=0.2809 right_y=0.0034 right_z=0.1489 right_yaw=-0.0027 right_pitch=-0.0301 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.4034, -6.4889, 3.9179, 1.5165, -0.2857, 0.0317, -0.0073, -0.1026, -1.4154, 6.9128, 1.9512, -0.0806, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef293a2048b33f58a0e2e879b61314f91aebe5ebf83ef59a6b7a943951bf1596",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e6683eee5541add986f0222fad13e1ac8faa67a62306d6079f5f7acabddba83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd92c8912970d305c4df097b07a66ae067a7c2002f8157307ba5705b8ddb8798",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017BuN7QFcipH6h7KsSzpwMT",
      "input": {
        "note": "The bottle lies between the open jaws but the cap/neck is still a bit forward of the fingertips; advancing ~2.5 cm and dropping to neck height so the jaws straddle the neck just behind the cap.",
        "targets": {
          "left_x": 0.475,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_017BuN7QFcipH6h7KsSzpwMT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1837, 1.874, 0.7734, 0.5423, -0.2375, -0.1879, 0.9983, -0.0193, 0.7261, 0.4717, -0.3401, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4689 left_y=-0.0412 left_z=0.0448 left_yaw=0.1015 left_pitch=0.0218 left_roll=-0.0238 left_gripper=0.9983 right_x=0.2794 right_y=0.0034 right_z=0.1457 right_yaw=-0.003 right_pitch=-0.0263 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.4171, -7.2, 4.9299, 0.862, -0.4567, 0.3834, -0.0171, -0.335, -0.8684, 7.0769, 1.956, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72504908126cd44c708a35e6b7e70f2f94f06dc2bfc60f765b2d0aa0cc52f3ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b41d7e3e30a67dfeeaebd7c4905de888ddca7053b9d40b6c88f2c9454a18977",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ebf7771d4eb01300a62d4b15788a6acc95e4150e7bd2e30f06c7ba3e0f7d8f5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 6.602 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]: [-0.1791, 1.6352, 0.897, 0.0792, -0.2363, -0.1814, 0.9983, -0.0193, 0.7544, 0.5205, -0.3668, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4507 left_y=-0.0359 left_z=0.1071 left_yaw=0.1024 left_pitch=-0.0751 left_roll=0.0091 left_gripper=0.9983 right_x=0.2836 right_y=0.0033 right_z=0.1552 right_yaw=-0.0027 right_pitch=-0.0324 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.3624, -7.5282, 9.0872, 1.9853, 0.0513, 0.3248, -0.0171, -0.3897, -1.7026, 6.8171, 1.9414, -0.0611, -0.0073, -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]: [-0.189, 1.7702, 0.741, 0.4236, -0.2295, -0.1841, 0.9983, -0.0193, 0.7376, 0.49, -0.3508, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4494 left_y=-0.0414 left_z=0.0541 left_yaw=0.0875 left_pitch=-0.0248 left_roll=-0.0117 left_gripper=0.9983 right_x=0.2809 right_y=0.0034 right_z=0.1489 right_yaw=-0.0027 right_pitch=-0.0301 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.4034, -6.4889, 3.9179, 1.5165, -0.2857, 0.0317, -0.0073, -0.1026, -1.4154, 6.9128, 1.9512, -0.0806, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1837, 1.874, 0.7734, 0.5423, -0.2375, -0.1879, 0.9983, -0.0193, 0.7261, 0.4717, -0.3401, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4689 left_y=-0.0412 left_z=0.0448 left_yaw=0.1015 left_pitch=0.0218 left_roll=-0.0238 left_gripper=0.9983 right_x=0.2794 right_y=0.0034 right_z=0.1457 right_yaw=-0.003 right_pitch=-0.0263 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.4171, -7.2, 4.9299, 0.862, -0.4567, 0.3834, -0.0171, -0.335, -0.8684, 7.0769, 1.956, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72504908126cd44c708a35e6b7e70f2f94f06dc2bfc60f765b2d0aa0cc52f3ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b41d7e3e30a67dfeeaebd7c4905de888ddca7053b9d40b6c88f2c9454a18977",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebf7771d4eb01300a62d4b15788a6acc95e4150e7bd2e30f06c7ba3e0f7d8f5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/QYKjgEIEhgCKkB037Luv/2IFqj/4a5jJkPUIosib1aBz/RUbgemPHVMJNoOP+5ts4hOv19rP/SWuwXz8elrmd/bJWK0BdYbHwGmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY2wzNUGEgwntrnFTL0EM/w0p9gaDAv2Z1NLWp1GuE88CiIwt+3vpdREhXXEJpU0DHWUp0mqy/FkSwWacal3rDF7oPv5m/n6H7JGlh3OjrWr6GKxKpsFb6gw8JPdyq0ev7OWpuYET0fB0UkxmntZ0KhHddbBUJRypUCSP1eXOsyz+fB+R8Bhxx2Q1r/Vk2QxO4r4xHcdzpj8KoEk2DwwqQnI99lgWBdfbsJjvGebsSjSydQvAqiXPEbp+c5x0I0+/LnqXsyNcjERDUYyNUTQkO8C0HARQul5XkmcxRrFvHV+CKGsYMDDUOgP6DlthGyoNBnMKdByhX0F/3walgsLHJHlYeEakCPzmjNJo+X7B3FNmYwzJju5Dr83+woIU0M+RTLiNSvZSZYgZ2I18OsSQBeUSSZUuIwSgeK7KsKLTg0A+kzIfzCPdV42f3oCdz/NQ22kn594H/acfNcTaTl7B775waxMej/X4Lnq0tWTfpzEPKm8TTwhB+NVSlpTWHyqikTW38sN+JGie/s5BwqtNHapg+BkoBvWHEU2j3fzPCWEiaTJT7ClvOLsxQqCz1As9RNdrsmSWyOv55jaL07mmWVMKdPz7nLBB/iWAZm7YenaL5jzGS9Q0zFpsyczwNT2n+mfNqVxofl7s66lY1AigYGwFIz4lGlj4eUiswciZ7o5bA/gtaokwuXHF1/3ApC0/WMDmIGX1gR6eNePgMRO/gVXgIPzSc3KTirTzX8hRz8sAzgwgoDQfnkc1BzJqB/Z54BDIRo/+jxgnDQT83URRM/PcVIGrcZ8oUDSM4kVXU/qxAbdYSbJdbcn0K458SSmX9mUEp+v7ShNKF3MXsV9EI1AjhWe5Obu12CzksuWqjRlYtLBl/amCv3vmjyq7zojPQvSmK/vpQ7nieism78+y2ehCHu97RP34f6DvVnxpKp9DcqN9u4nNVBNM266NR0wfXcr9Rie45ikL0+gh1SSK1+1FMk5RXz0mzb2Sqo1BTLbLxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P1MCPddkCjh5PkwTssMLkN",
      "input": {
        "note": "Jaws straddle the bottle just behind the cap; closing to ~2.8 cm so the neck is captured loosely, letting the bottle swing cap-up when I lift.",
        "targets": {
          "left_gripper": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01P1MCPddkCjh5PkwTssMLkN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1902, 1.8786, 0.8043, 0.5446, -0.2474, -0.186, 0.3049, -0.0193, 0.7166, 0.4515, -0.3355, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4781 left_y=-0.0443 left_z=0.055 left_yaw=0.1026 left_pitch=0.0507 left_roll=-0.0254 left_gripper=0.3049 right_x=0.2768 right_y=0.0034 right_z=0.1399 right_yaw=-0.003 right_pitch=-0.0324 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -9.5521, 4.5333, 1.2821, -0.0904, 0.0806, 0.1734, -0.4034, -1.6205, 6.5846, 1.9463, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87e573017e55a09728f9bc9a4ed5bdb24846985eba18b927487e3ada6524b900",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a32a313404c4aad059e27ac484446a6197b0ee5a3eecd2b1f9c0afee20a3a55e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bee5c343df8b9633cfc19621544711815730b381295c75998762edfec8f49225",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 17.86 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]: [-0.189, 1.7702, 0.741, 0.4236, -0.2295, -0.1841, 0.9983, -0.0193, 0.7376, 0.49, -0.3508, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4494 left_y=-0.0414 left_z=0.0541 left_yaw=0.0875 left_pitch=-0.0248 left_roll=-0.0117 left_gripper=0.9983 right_x=0.2809 right_y=0.0034 right_z=0.1489 right_yaw=-0.0027 right_pitch=-0.0301 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.4034, -6.4889, 3.9179, 1.5165, -0.2857, 0.0317, -0.0073, -0.1026, -1.4154, 6.9128, 1.9512, -0.0806, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1837, 1.874, 0.7734, 0.5423, -0.2375, -0.1879, 0.9983, -0.0193, 0.7261, 0.4717, -0.3401, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4689 left_y=-0.0412 left_z=0.0448 left_yaw=0.1015 left_pitch=0.0218 left_roll=-0.0238 left_gripper=0.9983 right_x=0.2794 right_y=0.0034 right_z=0.1457 right_yaw=-0.003 right_pitch=-0.0263 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.4171, -7.2, 4.9299, 0.862, -0.4567, 0.3834, -0.0171, -0.335, -0.8684, 7.0769, 1.956, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1902, 1.8786, 0.8043, 0.5446, -0.2474, -0.186, 0.3049, -0.0193, 0.7166, 0.4515, -0.3355, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4781 left_y=-0.0443 left_z=0.055 left_yaw=0.1026 left_pitch=0.0507 left_roll=-0.0254 left_gripper=0.3049 right_x=0.2768 right_y=0.0034 right_z=0.1399 right_yaw=-0.003 right_pitch=-0.0324 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -9.5521, 4.5333, 1.2821, -0.0904, 0.0806, 0.1734, -0.4034, -1.6205, 6.5846, 1.9463, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87e573017e55a09728f9bc9a4ed5bdb24846985eba18b927487e3ada6524b900",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a32a313404c4aad059e27ac484446a6197b0ee5a3eecd2b1f9c0afee20a3a55e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bee5c343df8b9633cfc19621544711815730b381295c75998762edfec8f49225",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmwYKjgEIEhgCKkA5w5vnIf1K0HFG8MujBMwu7x41+QjerARuHkY1uVvUIgdYbCwYoFRRWNKu7+OCKin1/wdcsGZCpj359tubvMQMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZSwzNUGEgynDlnPRSuHXqowf1YaDGrz1iX9MfmP+Cw21CIw1LxOzD9YaeJut635wv4XdprW2SvVgiBVFSYc2cWX6b1CqPcHeDvHWFH8VssgxNsZKrkEDyGb1bSfWUGabywJJ0a+t4tYwJ0OP3HmVfXSljVrkTdL1IMaGXtiLiEz4NjmIUr0c2GvS+rkzB1LzRUK0wrUkIaC/650huoxz3n1uUQVndLbInotgNh7uy7TeZS+Z0IdQXwYr7Mw9HPMyqQAu/y2pgPCOA2lcg4QJqpjPeb6+xTSaAk9EAv9X+y6a6g4lWcwR8wI3QKZySzy9SOpu3B7rZI4A0kHRx+n3Ua5wgoNE1rwGpvAdl4BYLUvHY6FDz0L9Oo3/enLzN4R+2737fin26CwLGGljFtHpC0foKsF6o+4NXztSoSDyFFtjOq4oepvBdXc5WBKWE0lN6vvbq/DxcIx5q9sbHt6iIXlXyLBqfhU4GGA2qyaTtvaabfSNcmbKTF/cJix75ni3oI0lTWiMiDhnXXMs/TmzeUzwOzrApn/79MHE79XDF6iIqftsiBW62sbnO5mBwhWMlKxdh96WeQVkiG5HYxBhv0pxcmsXx10jtWJDWqsPtjAiIZZExi0Pmu19crs2oxbYxHfJR1HA7bNNaLQtfM+wHUZjLplwGylzI1xcFp+mGUaf4QN3ByUmwLpAkbuhh8a9oOdaoQgEDs4CRs4yaQIxxvOAyvtNenjooXcLG3IH+lperoAZzwrf0IysN2WGez/nPFknKb/rfY2NnRChqPHlBSNs+N1hqyPwz7yD8cZPNDicCbYkmd0uJeeiL04l8M1cwxpTNcQQbuB14kAQavQ8vdtljNTTMn4vQjXBJpvSgQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SUj9erL9sSjWRSFfnQ5sjA",
      "input": {
        "note": "Jaws are closed to ~2.9 cm around what should be the bottle neck; lifting to 22 cm to see whether the bottle comes up and swings cap-up to hang vertically.",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01SUj9erL9sSjWRSFfnQ5sjA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1905, 1.6356, 1.2137, -0.1932, -0.2516, -0.1867, 0.3043, -0.0193, 0.6998, 0.4229, -0.3237, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4825 left_y=-0.0446 left_z=0.1908 left_yaw=0.1059 left_pitch=-0.0304 left_roll=0.0009 left_gripper=0.3043 right_x=0.2739 right_y=0.0035 right_z=0.1335 right_yaw=-0.0027 right_pitch=-0.0324 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -11.8085, 8.9915, 1.6972, -0.1441, 0.0269, -0.0757, -0.1436, -1.3333, 6.8171, 1.9756, -0.0659, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8190b5cdc03a48f9fe69e98a048d5d32dd51c3e0f4e6a018dd166b9b0178891",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfad75818c5bdebfaff2cbc6e344cd5bb2d1e826232d1e22f2952f4284c7607b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6b73aed72b91fc9aa2251e457cbf5d81512fced27507a7f2910cb18f77715684",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 10.3 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]: [-0.1837, 1.874, 0.7734, 0.5423, -0.2375, -0.1879, 0.9983, -0.0193, 0.7261, 0.4717, -0.3401, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4689 left_y=-0.0412 left_z=0.0448 left_yaw=0.1015 left_pitch=0.0218 left_roll=-0.0238 left_gripper=0.9983 right_x=0.2794 right_y=0.0034 right_z=0.1457 right_yaw=-0.003 right_pitch=-0.0263 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.4171, -7.2, 4.9299, 0.862, -0.4567, 0.3834, -0.0171, -0.335, -0.8684, 7.0769, 1.956, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1902, 1.8786, 0.8043, 0.5446, -0.2474, -0.186, 0.3049, -0.0193, 0.7166, 0.4515, -0.3355, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4781 left_y=-0.0443 left_z=0.055 left_yaw=0.1026 left_pitch=0.0507 left_roll=-0.0254 left_gripper=0.3049 right_x=0.2768 right_y=0.0034 right_z=0.1399 right_yaw=-0.003 right_pitch=-0.0324 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -9.5521, 4.5333, 1.2821, -0.0904, 0.0806, 0.1734, -0.4034, -1.6205, 6.5846, 1.9463, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1905, 1.6356, 1.2137, -0.1932, -0.2516, -0.1867, 0.3043, -0.0193, 0.6998, 0.4229, -0.3237, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4825 left_y=-0.0446 left_z=0.1908 left_yaw=0.1059 left_pitch=-0.0304 left_roll=0.0009 left_gripper=0.3043 right_x=0.2739 right_y=0.0035 right_z=0.1335 right_yaw=-0.0027 right_pitch=-0.0324 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -11.8085, 8.9915, 1.6972, -0.1441, 0.0269, -0.0757, -0.1436, -1.3333, 6.8171, 1.9756, -0.0659, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8190b5cdc03a48f9fe69e98a048d5d32dd51c3e0f4e6a018dd166b9b0178891",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfad75818c5bdebfaff2cbc6e344cd5bb2d1e826232d1e22f2952f4284c7607b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b73aed72b91fc9aa2251e457cbf5d81512fced27507a7f2910cb18f77715684",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Lms5rm1gm7j5gGnAq2L6Lk",
      "input": {
        "note": "The close was empty — all three bottles are still lying down and one appears at the lower-right of the wrist view, i.e. to the arm's right. Reopening and shifting ~10 cm right (-y) to line up over it again.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.45,
          "left_y": -0.15,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Lms5rm1gm7j5gGnAq2L6Lk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5056, 1.6516, 1.1656, -0.1783, -0.4812, -0.3634, 0.9967, -0.0193, 0.6823, 0.3931, -0.313, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4478 left_y=-0.1503 left_z=0.1742 left_yaw=0.0731 left_pitch=-0.0155 left_roll=-0.0015 left_gripper=0.9967 right_x=0.2706 right_y=0.0035 right_z=0.1266 right_yaw=-0.003 right_pitch=-0.0339 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -7.4188, 8.7316, 1.5556, -0.442, 0.0611, -0.0855, -0.1299, -1.2103, 7.0359, 2.0147, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:916a6168d0dd298ad44c19d83e1cf904edb88ea4ce6f115624c77f83d82abd0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af61e7b0c4af01c50bd3c0483c8286457ea8ccd72cf0cc4b4836adf8a2c59ef6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c81b15fb4ccee1189460517b8ceb441f826c94ad9f317f666132a5a1fa07c918",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 31.46 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]: [-0.1902, 1.8786, 0.8043, 0.5446, -0.2474, -0.186, 0.3049, -0.0193, 0.7166, 0.4515, -0.3355, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4781 left_y=-0.0443 left_z=0.055 left_yaw=0.1026 left_pitch=0.0507 left_roll=-0.0254 left_gripper=0.3049 right_x=0.2768 right_y=0.0034 right_z=0.1399 right_yaw=-0.003 right_pitch=-0.0324 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -9.5521, 4.5333, 1.2821, -0.0904, 0.0806, 0.1734, -0.4034, -1.6205, 6.5846, 1.9463, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1905, 1.6356, 1.2137, -0.1932, -0.2516, -0.1867, 0.3043, -0.0193, 0.6998, 0.4229, -0.3237, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4825 left_y=-0.0446 left_z=0.1908 left_yaw=0.1059 left_pitch=-0.0304 left_roll=0.0009 left_gripper=0.3043 right_x=0.2739 right_y=0.0035 right_z=0.1335 right_yaw=-0.0027 right_pitch=-0.0324 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -11.8085, 8.9915, 1.6972, -0.1441, 0.0269, -0.0757, -0.1436, -1.3333, 6.8171, 1.9756, -0.0659, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5056, 1.6516, 1.1656, -0.1783, -0.4812, -0.3634, 0.9967, -0.0193, 0.6823, 0.3931, -0.313, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4478 left_y=-0.1503 left_z=0.1742 left_yaw=0.0731 left_pitch=-0.0155 left_roll=-0.0015 left_gripper=0.9967 right_x=0.2706 right_y=0.0035 right_z=0.1266 right_yaw=-0.003 right_pitch=-0.0339 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -7.4188, 8.7316, 1.5556, -0.442, 0.0611, -0.0855, -0.1299, -1.2103, 7.0359, 2.0147, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:916a6168d0dd298ad44c19d83e1cf904edb88ea4ce6f115624c77f83d82abd0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af61e7b0c4af01c50bd3c0483c8286457ea8ccd72cf0cc4b4836adf8a2c59ef6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c81b15fb4ccee1189460517b8ceb441f826c94ad9f317f666132a5a1fa07c918",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrAoKjgEIEhgCKkBKOSpMTuzwAZZhWRdD8s/9hE6Lwk1bkSrj1nQirzg1uyrayeONt9+kzej5Y1bXZYwOvpyAFftv25Mi+pwYIZNHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbKwzNUGEgyQCljQDhl20B3eMg4aDP7zg+gbsjGyvc9eoyIwn0BeRAxNyNfsMvHBXtcfirbJrIVYqVXiZnF1/vOxxCq10bNcfa8RM+EUyYw7TQPSKsoIL4K4ATr9SEY+xfwSBoI6KgNKr1mnW2NLM5JX+0rCYRqqGwRUcYMwW+XKTVAHahxRbQcFjrvOCs3yZAjeEAMrczDIqcPqjRUtFjV42T9LUmfQY8rMQgKur9Xb5ZQq0e/2xrluHepUEo83iyM/wqXR0rLkIZ4D28lk8nrwTeN6vfcs0lDHyIPFt52f4Ypio4Uh6oas+3fgfgK4+CpqMPyZw3m5Tn0U1S/2TY3XV76JK+cP+UzdYHlf2ny+hdLlrkNjgHWSCXKle/stxP29bMYV3YExWbi21kkhrofZiupK9wds3TRZu/ij2lG+iZB0KmhUV6vsMCuV08SHj5NdlSeh01VIEhD8pTxgQLgag0/eROUB2xpoOC3W1SrHFK3kEx7knqliWn5yVAZ7iguGKYxJ5ZIuaW/2E0JUKoK6ubBTkbVZAXih/pGX7gMAPxLiiHN/EqI7Yvk9R8QNj5K59vA0rgDqb2COJCaNkCrHRz1jYhmGcHU7B1qzqaJcZExOL9Twl2HNKIbarGo7mi0IOdluw0tZ3AHwyUk5J8HbmU080nfR0qA4+680pH1RYt5b2KGdDCfb1G3CtIGfYDqtX49TuF0EzxFEUQKTLUFPD0zoo8UNj2Vwf/vXjc00Z03NVjyoRdwKMffjZbzf/pQw8N8FuK1JNey2F+dGlpFuxT2RKfGlruqxFOV1b49mtMOeH4ct/dAKSdjNBgzaWh+VlGX9rdXfngWvFfZxQrjfD5UKDsg6MbMo7gIQd6A2EXqXVmU+eEbkttb7RKy1dKyuO+t2AcmrIsObsibmM1SPEY78590MoAI8ixCTBZdkZ0AVl0IABsr3ZS2tEnipE4b4gaLgel1ZdNPKVwSlTa1kQYY6d4ewAZdzigN9Zvi1x+lHz/b6I1q8Z6h+ybUmFlVxs7Gy7s+Wr/W5ZtB3XgYocRY5jY2vS5ByK7LqskbENt8bWC8b1jBNS7df2kGaF1EBCdEF+2NLHU1MysF5somzkdsKFAaYb6hO5N7yBsfLC1l1NdkwIkTfV6VWS27QHK5BT6FEmFriortCdL1Np76qvYEYLFECKlpKQWLNtOD2z+Zakt6mXzSQRbsxkKIbnqgKv7g1w135ZFqrCH0z6jIN8aOJtLSodQfa4ngUVG9NMFNVggjkK0Ey+aYp58KIZdLO4EFCq1rJP/48ntXQvgqgEb96615+LRfu2lDHOltRxRWCUIFLtNDyS38zJDxODG13UwNfYUKz7D9SSa25J3oNDf9B/ta9il8gnPjeFNjhcXNHnaAoUJgn1ROC4UM1Pc0pV/W/VVKKCWmqfYuV5FPJj8cgzuOrzqT3RT9MQaPMLIfAMmibTMhCHZTRzvX+uypPHXY4LBCHlGgaioBv/6KgZGUblDzvxcc/RlJw2PfQMTyogN0MB0MtZHakwSL7+oB95sZaGVkp8I7UvF6lRe8nGsoGdG7vmyfq6S4zIosZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NE11b1GoVQiSNHfetetAFe",
      "input": {
        "note": "Wrist view shows the target bottle's blue cap ~30 px right of the jaw column; shifting 4.5 cm to the arm's right and descending to 8 cm for a closer look at the neck.",
        "targets": {
          "left_y": -0.195,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01NE11b1GoVQiSNHfetetAFe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6083, 1.8671, 1.0523, 0.0967, -0.5495, -0.4202, 0.9971, -0.0193, 0.6605, 0.3614, -0.2977, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4447 left_y=-0.1929 left_z=0.0823 left_yaw=0.0551 left_pitch=-0.0333 left_roll=0.0179 left_gripper=0.9971 right_x=0.2676 right_y=0.0036 right_z=0.1207 right_yaw=-0.003 right_pitch=-0.0286 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -8.7453, 5.1214, 1.6532, -0.3394, -0.0757, 0.0317, -0.335, -0.9231, 7.1453, 1.9805, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:216ae11b14d2b0c45b912936826d6a3f3104a2fe670c970c25cf7924511b8b62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:118453b394bc51f12cf96c4cbd627161178e1e35d245bb00da1210ab10207565",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a45dcf302cb06f866ae1dd5035342facdfdd63e05109731f75768654eb2f8039",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 10.88 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]: [-0.1905, 1.6356, 1.2137, -0.1932, -0.2516, -0.1867, 0.3043, -0.0193, 0.6998, 0.4229, -0.3237, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4825 left_y=-0.0446 left_z=0.1908 left_yaw=0.1059 left_pitch=-0.0304 left_roll=0.0009 left_gripper=0.3043 right_x=0.2739 right_y=0.0035 right_z=0.1335 right_yaw=-0.0027 right_pitch=-0.0324 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -11.8085, 8.9915, 1.6972, -0.1441, 0.0269, -0.0757, -0.1436, -1.3333, 6.8171, 1.9756, -0.0659, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5056, 1.6516, 1.1656, -0.1783, -0.4812, -0.3634, 0.9967, -0.0193, 0.6823, 0.3931, -0.313, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4478 left_y=-0.1503 left_z=0.1742 left_yaw=0.0731 left_pitch=-0.0155 left_roll=-0.0015 left_gripper=0.9967 right_x=0.2706 right_y=0.0035 right_z=0.1266 right_yaw=-0.003 right_pitch=-0.0339 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -7.4188, 8.7316, 1.5556, -0.442, 0.0611, -0.0855, -0.1299, -1.2103, 7.0359, 2.0147, -0.0513, -0.0513, -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]: [-0.6083, 1.8671, 1.0523, 0.0967, -0.5495, -0.4202, 0.9971, -0.0193, 0.6605, 0.3614, -0.2977, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4447 left_y=-0.1929 left_z=0.0823 left_yaw=0.0551 left_pitch=-0.0333 left_roll=0.0179 left_gripper=0.9971 right_x=0.2676 right_y=0.0036 right_z=0.1207 right_yaw=-0.003 right_pitch=-0.0286 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -8.7453, 5.1214, 1.6532, -0.3394, -0.0757, 0.0317, -0.335, -0.9231, 7.1453, 1.9805, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:216ae11b14d2b0c45b912936826d6a3f3104a2fe670c970c25cf7924511b8b62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:118453b394bc51f12cf96c4cbd627161178e1e35d245bb00da1210ab10207565",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a45dcf302cb06f866ae1dd5035342facdfdd63e05109731f75768654eb2f8039",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0CQKjgEIEhgCKkBZUifk/YOX0hAC8Gulj57suuOHJD9fZBL0ZMJGP4yXiqvs+G4Qnwa19RfowmiRDkiuQ5NxFSTlAtN6dzYD04QDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdGwzNUGEgx9x6owP9fq0qWu1bUaDJkQu3N/mgfV3GLW4CIwZ5br5F3dZz3YMeER/c/8YcCS2xcq+38Wz2jCOuiuWl1thZTwbRcbZDuOHcnFFZ5kKu4iEfF9g2V7obFm9un1b5WQ8ab2WbpWkZfdiQuCMA/csaQuUwbNv/GNDfMBKc4dE8rZMznwCvlMMCSn7k1nBbMZDFNPZfH6mLCemJCCO/OzkFK2pJ43tLq/ipl5hTiJHuVj6FP6gTCUIsGZZL6SgotBmM9nelotwRKRs/3H6EmBmAIi4RqmVo5xDiNQpxGeXsLY0TuDSd0hmKxEnBKuxDgENm88vEbjCsyNdqyTxWBj9S7NewuKSbZRo//zdo1Npcvy47/G2q1lksFaeg4rVBNB4y/EVfTuZ1Q+GQUMI+9fNLHngi4IyylVDzrvzJje8H9vzcxrxptJmQdVpV2h3Q8/lwjGRXHxAd0hDQBcO83kM8Q1VSxp7Quo8ZQsfeL8RZll43aS+luBq7RwdTLXAEDsgk5Bl3lfwMmbVGbbng8qPd+vqIelk1bqOOmVbagpXYbDzHjeWS+8Sw5/BJx/WqOdipT3NO6nf6W167Kn6EKW4biDSMBKDXVUe6g7HJsgDv9NC/BUjg00hlfLNV9bjpdhUMezmJyjkbpM5ufciRLKUlvA3JF+AlNEJu+MMt/v5bxWg8lAglX+9a8KvuJXZ2tLcxpK42kR4lLMkNxFEV3rH66LGNB9z/T1yOV4khEpe+9HDJKohYPmDr3lyyaG3DJ2lPZLKdbiSjlvFIcxPfrlYbukLeaOB6fKNVrpTbGEirfDNL6tg7ADP4/mpTAh6jXmFUO8xn/T8lfeEp5wpz1e+1dOyIn7/KaTE69/1yF1te/jc15T0umcOmq55UIJcWzgCMYFqrjj6DxkDZqlHXYmje12ZhXx1h4tmL1axiXSoCY7/1/8jq3fsBFsdEH54AOyMZCZvcvJ2SpXlAN8zAs62TqLz5ongaPEn8OVb+4p6ST4RrNg/5wiv7WV7pK9jGbzd0rfbrJYgw0ufJsPzzV118Mzhxu29lDOt1vC1x4nzwUMFLx6ujppQjpg79PAJcGuoy345eWQdv82RsmGi8AbZmzgHmQR3D2EoSCzJalmhfKVygvk0Gm2N7mxofD+VUHRIUXT6IiwGaXLkzebx7hVrU5rlgVXJ/ubyUbpSI3SFDcb7pjLiDiAKZ9p252OOpQZ1R0zkUlsDHYbCZOmfL0VKhDwYIaAUR2h0020AcmBeRtyTPxkqqLmv93Jok9+eLOw9sz54x/D5yNDT917wrBTGYu88pT7voyTpuwN3GWh7LrdO96hZSH9T997vDTwjAEWVm9W1UQ5wL10hfY0QopC9yETvLMUDLtXVunsLwMmGpxqKrQO/JvSvRXlLVDFzJvUc7d4+fk6jkib71J42BD6jeNN2RQZNSvShssSnjOBH73qctVDeqHTX7asBiP8x1OE4ITP7+pt5QLgC8Bq1Rm+FQGLFqyDnwoVk1tyVVj9Z2DzvjiYlQcUQJpA8aTDQLJl8Tv/4Yqtja5pB2jSvXvKGKkoy+dgD8fKcBVqxwnTs7MRz9K5ZvXz/25Q/5qmbygQj8NTcHHmbMlgpBKAV6PlIx/W6WoYh4kgtCcvR/ecl+SdBlzXF2ZDOIBVLIDv+uNUn8UrKnw5AVFodu7P9OJWuOgmQ+MQuqxKShSWLxWO1sElwvwQDQCWdeV39czgB7zhnrcuGcGPxvE/p/Q3+g6yI5PxIvfal4iwLePgosnTZDw3NRj4FmnelA6iyGBVre5GNj/NAqK64Ihsipi/pgstNreetraakSEA3wkBHjTzcuucVR7j1a1WZj1oG/WUdlJVpIvOWSg1/b8tRsHozYQ+lQL4AlfKcKKnb/ekvkNnbf3iBLCYsD1OWCFQAXzplycCjxSbQeotZtjsr5TY6cmqPzYFuCAsxfVVke9Q4mdSoc+29nKRq+zy0M8HfnnF4RwOc1tt8prKT6JTet3eKnljKpTnyXzVmCICpUIaaWUCrbb4AKpfxGAhrWntrrMJYU6AwEFWrUSSI/qnaxM40HfROq4FV+Rx1ma+WIBga9kyB8eZpgRieYmq1WA/DoDT2+QrFr62hihTQrmONZlbd5wgizHkG8HCXcK8FlolPSzfz9/i9B8+0tdCFKk3OK/HGm7IFmR2XQLxOtNqgfddVwIn40/+gpopeqmfV8uQ3cX9D3Rb8LzYkKAAJ+SeT7ZDhkJebFD4vCKW0qhc7GFzYu5zIP1j/n9pLKwi196OurSyM36LUXm0o8+IGI+hJpSzmlmEtLzeehT0JgmVHLDLzR1vCEW4NgIIivUka+SRjUL9FkfVGxVFK7hbXqa3zUwBr6QTb5JOL4rRVGjM6djOs2VRrgTtpDLVlF7YJU2dY6vonlFPPXvrijJUjHz7eFYRowoNe9OrwYA0BmU8IsnAd12HHOcQiUhCYHJGne6JAQBNcEhJ9tLmeGr73+T0EYLfaA7m8DGYTe2gPT7LoXd8GF7oRTpLFV3i6onsjrhsr0ZR7fT4uVerOBEd04m5xlGNwZtOKWEEI5ueQe9RVTOmopl0ywY3ZaA4xuZSMYB72+uLLoiWKdwlmaUc2Vc0plWDSv/OjtKAqbBbQ7WpehkUakFDMc4D2PakzK7F5nhjwISDebRvKFpd9xiZ+ScG6J7zk05v/QfBuodTThjZ0z18bH+4odc15U1R9fkRHbcQc5VoHZoUhkk6gweWwoN9fos/bgMzgplVWwQ9h+ZocralVGyevpLM8EMk/bVWdaMUpxRAofPgmwLbyiW8O8+0TI9449yqZP3x1xIUtsDBqJevXUJYncjnxopxByOOXU3tio8VhqlxGUP2DcnI8X5I/kaOociFGIYdzfaxFmMuEGE+gLLcnS3lQRy/zbPpjG2Sgq+kE34NYWAbj4D7eVzTBZe8aGxdjgMDm188Kp1L7TvMMStA53Nuya4Skv6C+Vs88RE7nucXWMX7AU7xEfySgYvC2QdiB6J/TmoxQQ733q1IwC7NfQxEnsMUoZMADRm/+tnigeT0CbwctG5au/aFvyXjeOnTDpwXOQNyPTXPcIu+c6uCe6rUkoCQK9V6Pp6Yr26EqpFd48KS7E2qysv/LCmGokuanBTlOYZOgjqL3fxYXsK3VOsCJ+j831Lyusi0kAuHouyvFd2TXtujFHBnzyk++nK7ZCgONcbtl38bhOl/S2ZQm3h0u+jfwXiAZYSDOQ+GJiakCpEWwd8U5msFKtGl/2AQotyR5CtyIcBn2leOLnx+U7YTPAi5RD9nhaE0SEnARBMylo3Ac3X4bIP1hutZzu9EIKJS42Dag9sev5uepykDPFUH8vANJCkB7AUqjAoCoVloBsRTEsgHiPcYCQMi5aPYz9zIq02Yg6JPW5BOjVhSBIOcokfsWFxghYkeEAiuPSqgRkw7YJYqjSM9Yo86lTQFVB7AXytnjQutQvI7Rzmu0xPrSA/WS1tvWDuNMNpciOKXZkD4K5erBjJcYXjTY5Bbpv7FQj3MpdmbxYsAoTfK/1fEu1jv3LKhV0OPvq87Y7/oocPyhyYfjeg+v0Cj2bmn8SzylADxQrg3PqvUdHxrmkXB8vyGwcEShqXcqRcP/WkbB9t7644NLRmNCjxwZzJfYz7RKpm9ThzU9zhCDQQVb98/PAk7xS9ulFfwLeiAhCdNJ1Df2wiI398dsEoS0ANApz4W0fg+PnBGP3jQIl5vdGhJxHtyu44bUCdrNTLCeU+ihM1T0oV8M2FRbUHA3ut5rGfdUah4PnpOU8HnWJF7WH3Xu9YLvU7P0R1fuHL0uDjF7tfpv7eWXmn5bq//1N+ACZrnVszUg9WnrVHKxHXGAh2C/hrIBZsZxf38rnZGniP+ZA55YU6iu13dFXUpn3EMP/jbV6SEBMjTDmLH1A6O1OCcXr/gFB2PwG1I51lst2SwhvSh1YH9/cSvLuobZQyZIWvGM26nePPda6VymZ9y1Njy6dNtWhjblY6PvuvY96Wi4WQ9+IWfH/MD8XafIIMKCn2EQHw3szBzaoeeWfe95C/fNFD4xGF6rzxX9965kQxrw29wylYP+aYmjKmoEzEj1+KOLDn7zyFY6XKzE5A+GoJzckiCDzUEI/YvXZeGDAgiD4Imhk8Au5cA517CKIWZDdJYeyXUWqSah+wwPgM4Iq8gPrEF5oi/zLGbklH+KQyJ8n84eH/+kmE2z+O8vJAKTufnEgKDbPHpxKm3bcIYJbbBShEU6qtsOZlEfq5XzlyWB8ow2yVkcld1Veg/ATbQEQFUL/6uhMEiA3IsQu93A1rIXt/Cgn5DVm6Ecr6dEd2f2ARzLR724QNRLXmxki1qXEr74fHRDSwz6inbh6XZZwcNrAPeTJYlSbcDTqOqX1JfW30AfPYgz/+TgCRYc04pHI+cNKdmyGVW2gMSo0t+8wm9lVdCTBsL3ur68g4tKMJbuGQKESLcOlBv/3xMgs1s6MgV3uCRe34WIQOznftALd2xiGWOY8EM7Y63qbkgAzz98NLmvMMGRL2g1+qnJcKLW21CCW4HqhTJK2Cn+/70cjz9rw9iZ8D689Zf0KbP4xJJU9pXYrKTLdZjjDqZZXsXlj9VYVMYrn79ht5eXxHpYzSyrTJts6rP5SiyJCEKiKkCHLUIt+4Tp3DW/KOXu+/dbliqbsvgdPev7eF8iZ1tGoALVH09xZvCk8nZgTuFF7F4r8jKOxzax0F8RCvz2p0bSzkQgTXCOG8UyMptOYKQvv5P+QQk9pv3lexzBz0stqEREcXqU3hmDAYX51SRo1BBkLAx0y1dUWVlti/sqCVYUpSy/rFWk7tHQRmW+xmR9nVEoYCkr8i0NXeu9HBzh6xuqoEyCqAcc370NoCiAz5NQZLZZ096CkcU5kXUj5EnxxHkxrAJ97Niahbepqq3WMtGIp04Zha42ddgezqpBlpf65Jg0v/TuenoRhuSdQ/rkZyIxMagpFBCA0NmIdjltl5x6VwNdJ4K2p/K07AtE0wtjDPTKS1UwyNCse1pX7FgRdUKblNHfLPF3CP7ZZHhoEsXYfLJJHNOfHeJjZa3BGWu6ELpjwiF4fajxI5GcJkP0gkQNYQJh6geujxFBXGG+fAqiU6PmvTZrwfBIy5M5JRcctHgg9jzg29jDx/Q2EQdix4URE1rEnmY4FM+KOrS6mtH3Z4Y9uibsa+qixliXokRzi9JN4zt5hUCc3rlaX5WiUlSDguOdU/2LBu9iwMV6XL6WI2oUzOJRIT26KisOYaBrccX/4Mjo6Hflnjc7ST4EN2sqZhCQBo/XNXR8u6Ux5GarjX1oHrtKNINCneqOY7Zs5wpeUtdiyDJrmHw+/FrnT0Eh/cxWXZFEItlbvJDDxscrXjVs8FGqYxz8TGSK6/qGByXv/RdnB/nHUARHoVnJGRaOTt/EHNv53ypM8fnUy5lBfTYZLi60D1HrVBwTZuioj7bCePxD3ARILn+pyZXZ3PvXz8CHbxhLQpnX36un4IoPt3R15AYDSuMzf6sGv8BLrLiMIJkgUe0Qp4PAqsE/sGI8N7vIPBEtIHKYu3RX/5luaEz4/UVYQLG5oAoyYfSckeZDeWmVLTT9lhgmu4ASZVZoD5nixfSL8RzGWTsJTlDqOcaN1n+wHTQr8U124r9FpYUh+p+WsQGX1AQN4TmXfIgEO2XUcj3YewyyT/fk9yH1RHiANA7lIEXKZTIf80+0DM7m//JvalavX/fRxhuG2sSbuBTWyQo7w4Q+YoVBrRi7Don7Wx1WLhfJssRIq81vtmStX++aG4yMtlNQW2YMzoSudZpUlbTchuL3UTGeA9PuX9FBSL3bFW1A6DzhEv0DQFdXvbXbdFZFIXmd/+arWa9Ys81MaDAWIz0S+MAxQF56z1pdpvAtsZdpnX8+6S38FMm8yC/5e8FKQlyB+6WpmXDM2Fb4UZWjb5xbLoYeU3BA3++1sQXT8+7Zjj1Q9y+nzIRDD3lmyE/Y/l5DWPqvT6rvOKlUwh4rwzUEZs1TbtLRllqBolMDFfVlT7OuuczyN7FNDqUecfuRsOrrlLG3BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QQwAV7DDUvLAZrvwnTwvn3",
      "input": {
        "note": "The bottle's blue cap sits slightly right of and well beyond the jaws in the wrist view; advancing to x=0.49, shifting 3 cm right and dropping to neck height so the open jaws straddle the neck.",
        "targets": {
          "left_x": 0.49,
          "left_y": -0.22,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QQwAV7DDUvLAZrvwnTwvn3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6064, 2.1262, 1.1786, 0.326, -0.5583, -0.4301, 0.9971, -0.0193, 0.6449, 0.3351, -0.2901, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4907 left_y=-0.2221 left_z=0.0445 left_yaw=0.0696 left_pitch=0.0458 left_roll=-0.0461 left_gripper=0.9971 right_x=0.2645 right_y=0.0037 right_z=0.1141 right_yaw=-0.0027 right_pitch=-0.0316 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -8.5538, 5.6821, 0.9939, -0.1001, 0.1783, -0.0122, -0.1299, -1.0325, 7.1453, 1.9609, -0.0562, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f376de382a06b39d59e243c33bc17929c153c6335df9c86eb609b29ccdb4a228",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:727269ce99c4a90bbed56e0a99c71e71b5c5f4eb75abaacbce0a79371330d6dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a198984ab3a0d12556fc13b16be2105b5e977011aababf3c49ad6c6eb085d72c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 23.61 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]: [-0.5056, 1.6516, 1.1656, -0.1783, -0.4812, -0.3634, 0.9967, -0.0193, 0.6823, 0.3931, -0.313, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4478 left_y=-0.1503 left_z=0.1742 left_yaw=0.0731 left_pitch=-0.0155 left_roll=-0.0015 left_gripper=0.9967 right_x=0.2706 right_y=0.0035 right_z=0.1266 right_yaw=-0.003 right_pitch=-0.0339 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -7.4188, 8.7316, 1.5556, -0.442, 0.0611, -0.0855, -0.1299, -1.2103, 7.0359, 2.0147, -0.0513, -0.0513, -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]: [-0.6083, 1.8671, 1.0523, 0.0967, -0.5495, -0.4202, 0.9971, -0.0193, 0.6605, 0.3614, -0.2977, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4447 left_y=-0.1929 left_z=0.0823 left_yaw=0.0551 left_pitch=-0.0333 left_roll=0.0179 left_gripper=0.9971 right_x=0.2676 right_y=0.0036 right_z=0.1207 right_yaw=-0.003 right_pitch=-0.0286 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -8.7453, 5.1214, 1.6532, -0.3394, -0.0757, 0.0317, -0.335, -0.9231, 7.1453, 1.9805, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6064, 2.1262, 1.1786, 0.326, -0.5583, -0.4301, 0.9971, -0.0193, 0.6449, 0.3351, -0.2901, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4907 left_y=-0.2221 left_z=0.0445 left_yaw=0.0696 left_pitch=0.0458 left_roll=-0.0461 left_gripper=0.9971 right_x=0.2645 right_y=0.0037 right_z=0.1141 right_yaw=-0.0027 right_pitch=-0.0316 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -8.5538, 5.6821, 0.9939, -0.1001, 0.1783, -0.0122, -0.1299, -1.0325, 7.1453, 1.9609, -0.0562, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f376de382a06b39d59e243c33bc17929c153c6335df9c86eb609b29ccdb4a228",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:727269ce99c4a90bbed56e0a99c71e71b5c5f4eb75abaacbce0a79371330d6dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a198984ab3a0d12556fc13b16be2105b5e977011aababf3c49ad6c6eb085d72c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwQsKjgEIEhgCKkBG8CmaVbi/dgELN49niNnreKW8Ya9OP38hM0cN/Dt+VWFWtxOGjIWstSNhqsQYrkr7I/klck3QHWnkbFt/8x0jMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd2wzNUGEgxWUFXOi7Qn2Wwo6nEaDEHvv1w0v9UROs+6qSIwzfWKbnXXU6WJmVrIytWiu3UJZGJHqyILu8q1j/TGBArXLsR3Zhia0glUBniLiOgNKt8JH452UNcrgjWELBmNOyL1LuZuyzeP36fGi8lxqWLNdTJZbub8rpYalBbS1b8PqWls2ey1EZrCpjcqCEIA3GKx6VGbwkxImpVcVM9WTUAsxhHBakvIrEzgcYhl/H9nv7lrpPMQTqvBbO+5kbfbaS0LxmO8scleYvXH2Sz6xIyQ1ISIuIJqdOjCJi7nU1169qjeyoVkY+Je8+ZHgCCMIMefEd8IZdJ3Pw0ldAi0PzIXVRNRLZLVfrUjkUrpuwJBSZdCH3JYkPNvjNkQbgnKjrSE9jGMDBQI14UR/qyAG4sqFdvyBDRUIOUA1qoKEl8mvvyqYnT5JfgMY6/fxUr2BvH83QZo6Auo3pHNhwDwzY7UGmNodR+noMh8e7cDPE/ikfFcBS8BeyJHSmkZ+T/PL+B3E/tBKlspszkEuJKG5exGibdECy/reotUuKSy4m+2PoGMubIEplQDqM5/2y20/bU6u1bXLKTEqGIzsRs7csNzno7JhXzEvzYKbCZi1s+J+diAW0PQg8BlNgyK7vpWIYS1wDT8uAS6IEuh7Uz9YzX1D5xy4xKYiafpIKWAO+G6yde7Qi3FvbaSzjmYzKM7JWOpOQaokDgyUOSkad4kGE97StLgiMaes21/N2kyVLXI+TcE/A4EfdIrJa+DA5+CVc/rcoGe9romEx+Wjl9a8iWyEzybdKPFzqoOO4k+nSKaN8KdwHx9QHZBzSuAr9dsBG4YIbtdkLkW10B/D61qREN//V8Ah0kSKgoUIf71FWuoktzpJ5GsU0FFfGXyNtVSlcIEpFzpvDRsHel/rIFiyvuzTq8TxjCgkX8izcE/yeNuD0bCCBDxMuJfoIZgFM7Zg2d5qETBLKqeOKeX8V47P4HU3LxcEsAb8svlAmogYGAMGfCDsmVlK20yA7e4XmkNgvxCroRzXkU9NreydmVUgAhGyKRjOxAHIsZSnSGJQEhrplp/hgIK3LXejvGVU4fFPKwxx230tzbhNiLkwnlmijKxp/W8OZCEhqYps80ftlRVT8mglO9+n32yCULYzvduXgGQQo//4beUkPKV6p1OrRWb+ehsjux1G1s0ZkQjwpg342RuZLdJK4Ia/vhNsKYW5BnrIV/9r8TS7YcsUKXZahykTt++8WIVYHYdmWyQslapzVNfLMg5P2DxDKxjBJf+Mhitz3b1WDQMZaYYG8sxfPSxlLFUioiSB7BWiUZNUrm6xSkBd2Rjeo6uwoO1CMfXCPB5pCO1ajqDScmPc8JCzLmPcoTs9c0u95//c2GGVyj9xcdTTxbA8uC2Nb++hHuT8zoelbyaC/kD84wJDypZZO+V8CD0q8mJ0jOTeo28bAjP2ABljBRio1fJaCwEAXM2jyX1Jr9UIAuogxu3+t+UbmSplNAQWR62HQVPxDdbRRWFvgiAAjy9bJEFPWYXsiHzAK3yt2CroW1lIS1/U29VsFUiFPt0OztHQgWngXFU0z3WB8dHlNM9SrPXb383eseks+yZ5nbJdq7o4SS16l5cjT9EjuABMq54yOYmfJRiucC6W4U+haCQCp9zjZWQUWw3g5lou6YjLyj/lcN6VIH3X0+cVdLg90hp278aYBNH9/tYpRWEiLMjl1w2+5bE9imnHCPcMP2Ty6P39LBjSeAiYferErBZy8U7d6RA5NfD0JFwNgsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tzct493auLhWkkA6FzW7Gh",
      "input": {
        "note": "Wrist view shows the cap now left of the jaw column, so I overshot right by ~3 cm; shifting back left and settling just above neck height.",
        "targets": {
          "left_y": -0.19,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Tzct493auLhWkkA6FzW7Gh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5625, 2.1124, 1.1606, 0.3435, -0.5304, -0.416, 0.9971, -0.0193, 0.6258, 0.308, -0.2836, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4978 left_y=-0.2039 left_z=0.0465 left_yaw=0.0841 left_pitch=0.0467 left_roll=-0.0548 left_gripper=0.9971 right_x=0.2611 right_y=0.0038 right_z=0.1077 right_yaw=-0.0027 right_pitch=-0.0332 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.4855, -11.7949, 4.2325, 1.2234, -0.0269, 0.3834, -0.0073, -0.1709, -0.6359, 6.8718, 1.9805, -0.0757, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a029a282c51169703c58572c593ee7a641ef975ec4d090cfedec4cbfac7ba54e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58f464260a3fad25ab4c1b8e34797d2943cdcd92ae95679a76aa96488b69afce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c4bb12e2f6c3fd9ad96705317663ab972ddec94d9e1c66ffe4f436321f64fa6",
        "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 · 6.334 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6083, 1.8671, 1.0523, 0.0967, -0.5495, -0.4202, 0.9971, -0.0193, 0.6605, 0.3614, -0.2977, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4447 left_y=-0.1929 left_z=0.0823 left_yaw=0.0551 left_pitch=-0.0333 left_roll=0.0179 left_gripper=0.9971 right_x=0.2676 right_y=0.0036 right_z=0.1207 right_yaw=-0.003 right_pitch=-0.0286 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.4718, -8.7453, 5.1214, 1.6532, -0.3394, -0.0757, 0.0317, -0.335, -0.9231, 7.1453, 1.9805, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6064, 2.1262, 1.1786, 0.326, -0.5583, -0.4301, 0.9971, -0.0193, 0.6449, 0.3351, -0.2901, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4907 left_y=-0.2221 left_z=0.0445 left_yaw=0.0696 left_pitch=0.0458 left_roll=-0.0461 left_gripper=0.9971 right_x=0.2645 right_y=0.0037 right_z=0.1141 right_yaw=-0.0027 right_pitch=-0.0316 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -8.5538, 5.6821, 0.9939, -0.1001, 0.1783, -0.0122, -0.1299, -1.0325, 7.1453, 1.9609, -0.0562, -0.0415, -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]: [-0.5625, 2.1124, 1.1606, 0.3435, -0.5304, -0.416, 0.9971, -0.0193, 0.6258, 0.308, -0.2836, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4978 left_y=-0.2039 left_z=0.0465 left_yaw=0.0841 left_pitch=0.0467 left_roll=-0.0548 left_gripper=0.9971 right_x=0.2611 right_y=0.0038 right_z=0.1077 right_yaw=-0.0027 right_pitch=-0.0332 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.4855, -11.7949, 4.2325, 1.2234, -0.0269, 0.3834, -0.0073, -0.1709, -0.6359, 6.8718, 1.9805, -0.0757, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a029a282c51169703c58572c593ee7a641ef975ec4d090cfedec4cbfac7ba54e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58f464260a3fad25ab4c1b8e34797d2943cdcd92ae95679a76aa96488b69afce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c4bb12e2f6c3fd9ad96705317663ab972ddec94d9e1c66ffe4f436321f64fa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GrDMN5Ae7RU1TAZK6mSNNe",
      "input": {
        "note": "Jaws straddle the bottle near its shoulder/neck; closing to ~3.3 cm — loose enough that the bottle can pivot cap-up when lifted, tight enough not to slip out.",
        "targets": {
          "left_gripper": 0.35
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01GrDMN5Ae7RU1TAZK6mSNNe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5426, 2.1002, 1.1488, 0.3874, -0.5354, -0.3935, 0.3586, -0.0193, 0.6018, 0.2794, -0.2707, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.5041 left_y=-0.1946 left_z=0.0567 left_yaw=0.0977 left_pitch=0.0843 left_roll=-0.0593 left_gripper=0.3586 right_x=0.2586 right_y=0.0038 right_z=0.1031 right_yaw=-0.003 right_pitch=-0.0248 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -11.0291, 4.2598, 0.8718, 0.0611, 0.0806, 0.0024, -0.4034, -0.3761, 6.8308, 1.9316, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4c59485a36a20a020d42ba8abce6d18cf8c9650842d517613e790a20bdbfbe6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b851ac68ddf99d41bfac71f1a804c08492a145ee620d6fb6532743a9e299ebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d48f8209a440339410cf650cdebff02630de8529966b578b6dbf13281cda5b9",
        "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 · 10.86 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6064, 2.1262, 1.1786, 0.326, -0.5583, -0.4301, 0.9971, -0.0193, 0.6449, 0.3351, -0.2901, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4907 left_y=-0.2221 left_z=0.0445 left_yaw=0.0696 left_pitch=0.0458 left_roll=-0.0461 left_gripper=0.9971 right_x=0.2645 right_y=0.0037 right_z=0.1141 right_yaw=-0.0027 right_pitch=-0.0316 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -8.5538, 5.6821, 0.9939, -0.1001, 0.1783, -0.0122, -0.1299, -1.0325, 7.1453, 1.9609, -0.0562, -0.0415, -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]: [-0.5625, 2.1124, 1.1606, 0.3435, -0.5304, -0.416, 0.9971, -0.0193, 0.6258, 0.308, -0.2836, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4978 left_y=-0.2039 left_z=0.0465 left_yaw=0.0841 left_pitch=0.0467 left_roll=-0.0548 left_gripper=0.9971 right_x=0.2611 right_y=0.0038 right_z=0.1077 right_yaw=-0.0027 right_pitch=-0.0332 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.4855, -11.7949, 4.2325, 1.2234, -0.0269, 0.3834, -0.0073, -0.1709, -0.6359, 6.8718, 1.9805, -0.0757, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5426, 2.1002, 1.1488, 0.3874, -0.5354, -0.3935, 0.3586, -0.0193, 0.6018, 0.2794, -0.2707, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.5041 left_y=-0.1946 left_z=0.0567 left_yaw=0.0977 left_pitch=0.0843 left_roll=-0.0593 left_gripper=0.3586 right_x=0.2586 right_y=0.0038 right_z=0.1031 right_yaw=-0.003 right_pitch=-0.0248 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -11.0291, 4.2598, 0.8718, 0.0611, 0.0806, 0.0024, -0.4034, -0.3761, 6.8308, 1.9316, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4c59485a36a20a020d42ba8abce6d18cf8c9650842d517613e790a20bdbfbe6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b851ac68ddf99d41bfac71f1a804c08492a145ee620d6fb6532743a9e299ebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d48f8209a440339410cf650cdebff02630de8529966b578b6dbf13281cda5b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvwUKjgEIEhgCKkBRH8YaaXCnNsBB2Z4GR/IHe6afxrzPaLyL7IfaxSE/nIKasmBXrkB2FOL/OtAl/GduKj4+GTtd196xFsra6MutMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfywzNUGEgwdnri+1Vd5C53ow2caDCZozRkeDQgUkwVBSSIwaLjccvqX1hs1dupT7lwGJWnsvUNU9A5T6ywKF/jhZ0uHaFO4CD+x/+CemeyXGoaDKt0DyDlX+omLkpYBqUIsOXU/Laqsj4LavSqkO3QXm2vUvUjyONdIzptmSsJXVbixBRJtWT5O6ybqUZFzk1Uhef4qy3Ypy/xY9YDB2YZcs9CMMfKo06/cewM6TKh6XYqgEDYRnsuHojoidnJm398gWDK3KfjgCTzFnWJfFOxIl6owGo+yCLCwymyXnqofFP2xqyM1WP2hzdNR1h+2+sU3yXWEzIFk6B0l8YAQ4GBhVKb7leOmZymu51fwzKpjeTVxBgyxsYuQ1qPh4mwgNMNWmV+A5nfsMxZiFSdRtSrl+J4zoJ73A4FUZk5Stwdew71Sdx0cwj65zWrWfQ5wa+pt/UKb+StFVmg+18oWhtNK7j0Doo76tOE6dm9HnzLzfmaCo4ngK1osxuGDu2GpOU9Xzb14Zdp/942CRRX98N1XnvxY0BKLYNKp+ikN99wUWK/LQTavKVw+8i3DyC6VzhSL0drfd14/frCLbjGfEZQsVsPJRm9pCnIxxYHWzjfQHFx75qUhVHaMrwwbfvNJKvoZTMj0FmTnm4iNmF+lvttO9BBPKNP5GjeMg6nrzpZ+Uny31zdjKIHFWIyVvvZt7YZjTFqj1ZRVJHrijFgW9NxQNZn/ylSDzPl8nhraXf0bjjsuGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0198b9E9gQqvc7piLhVUjVmM",
      "input": {
        "note": "Gripper closed to 3.4 cm, apparently around the bottle's shoulder/neck; lifting to 25 cm to let the bottle swing cap-up into a vertical hang.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_0198b9E9gQqvc7piLhVUjVmM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5426, 1.9316, 1.7199, -0.4774, -0.5388, -0.4133, 0.3585, -0.0193, 0.588, 0.2584, -0.2672, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.5081 left_y=-0.1964 left_z=0.2254 left_yaw=0.1084 left_pitch=-0.0146 left_roll=0.0004 left_gripper=0.3585 right_x=0.2559 right_y=0.0039 right_z=0.0975 right_yaw=-0.0027 right_pitch=-0.0286 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -12.8342, 8.9641, 1.6044, -0.1734, 0.1197, -0.022, -0.1436, -0.3077, 6.9949, 1.9072, -0.0611, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7b3f3cbc049fe6760b2ac88d3fecbc31f7ddd0f6e40e7f64276cfe87df8522a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7077edcfbf9d657eb8dcf4e9657bbf4ae6a86acdc3d35d25db4d6553dcfbe0e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:747afc6376f7927d2661f1408d762d6630a88d0016f9e9aa0c502f86008cf548",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 8.729 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5625, 2.1124, 1.1606, 0.3435, -0.5304, -0.416, 0.9971, -0.0193, 0.6258, 0.308, -0.2836, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4978 left_y=-0.2039 left_z=0.0465 left_yaw=0.0841 left_pitch=0.0467 left_roll=-0.0548 left_gripper=0.9971 right_x=0.2611 right_y=0.0038 right_z=0.1077 right_yaw=-0.0027 right_pitch=-0.0332 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.4855, -11.7949, 4.2325, 1.2234, -0.0269, 0.3834, -0.0073, -0.1709, -0.6359, 6.8718, 1.9805, -0.0757, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5426, 2.1002, 1.1488, 0.3874, -0.5354, -0.3935, 0.3586, -0.0193, 0.6018, 0.2794, -0.2707, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.5041 left_y=-0.1946 left_z=0.0567 left_yaw=0.0977 left_pitch=0.0843 left_roll=-0.0593 left_gripper=0.3586 right_x=0.2586 right_y=0.0038 right_z=0.1031 right_yaw=-0.003 right_pitch=-0.0248 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -11.0291, 4.2598, 0.8718, 0.0611, 0.0806, 0.0024, -0.4034, -0.3761, 6.8308, 1.9316, -0.0659, -0.0611, -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]: [-0.5426, 1.9316, 1.7199, -0.4774, -0.5388, -0.4133, 0.3585, -0.0193, 0.588, 0.2584, -0.2672, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.5081 left_y=-0.1964 left_z=0.2254 left_yaw=0.1084 left_pitch=-0.0146 left_roll=0.0004 left_gripper=0.3585 right_x=0.2559 right_y=0.0039 right_z=0.0975 right_yaw=-0.0027 right_pitch=-0.0286 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -12.8342, 8.9641, 1.6044, -0.1734, 0.1197, -0.022, -0.1436, -0.3077, 6.9949, 1.9072, -0.0611, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7b3f3cbc049fe6760b2ac88d3fecbc31f7ddd0f6e40e7f64276cfe87df8522a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7077edcfbf9d657eb8dcf4e9657bbf4ae6a86acdc3d35d25db4d6553dcfbe0e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:747afc6376f7927d2661f1408d762d6630a88d0016f9e9aa0c502f86008cf548",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XHsJ3Q7ABSzeS8WmL7Hsut",
      "input": {
        "note": "The wrist view shows the bottle now hanging cap-up between the jaws — the pendulum trick worked. Lowering until its base rests on the table before releasing.",
        "targets": {
          "left_z": 0.175
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XHsJ3Q7ABSzeS8WmL7Hsut",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5434, 1.9415, 1.5307, -0.3386, -0.5392, -0.4194, 0.3585, -0.0193, 0.5674, 0.2359, -0.2642, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4995 left_y=-0.1916 left_z=0.1644 left_yaw=0.1126 left_pitch=-0.0622 left_roll=0.0323 left_gripper=0.3585 right_x=0.253 right_y=0.0039 right_z=0.0927 right_yaw=-0.0027 right_pitch=-0.0274 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -10.8923, 7.3641, 1.9267, -0.2955, 0.1099, -0.0122, -0.335, -0.335, 6.7487, 1.9316, -0.0757, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd7da7d6eaba3a4c8b8f9abf00caf284c57096703047663062f8eb2f6ef782ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14224d00e394faeab82f2fd25215230b44e2679a740e07114d6526a5111a344b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b02f464462d8e895d65de227bcb4cd61bcfbca96909ecf37b6476ec42e6f7d47",
        "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 · 6.838 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]: [-0.5426, 2.1002, 1.1488, 0.3874, -0.5354, -0.3935, 0.3586, -0.0193, 0.6018, 0.2794, -0.2707, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.5041 left_y=-0.1946 left_z=0.0567 left_yaw=0.0977 left_pitch=0.0843 left_roll=-0.0593 left_gripper=0.3586 right_x=0.2586 right_y=0.0038 right_z=0.1031 right_yaw=-0.003 right_pitch=-0.0248 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.0068, -11.0291, 4.2598, 0.8718, 0.0611, 0.0806, 0.0024, -0.4034, -0.3761, 6.8308, 1.9316, -0.0659, -0.0611, -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]: [-0.5426, 1.9316, 1.7199, -0.4774, -0.5388, -0.4133, 0.3585, -0.0193, 0.588, 0.2584, -0.2672, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.5081 left_y=-0.1964 left_z=0.2254 left_yaw=0.1084 left_pitch=-0.0146 left_roll=0.0004 left_gripper=0.3585 right_x=0.2559 right_y=0.0039 right_z=0.0975 right_yaw=-0.0027 right_pitch=-0.0286 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -12.8342, 8.9641, 1.6044, -0.1734, 0.1197, -0.022, -0.1436, -0.3077, 6.9949, 1.9072, -0.0611, -0.0757, -0.0073]",
      "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]: [-0.5434, 1.9415, 1.5307, -0.3386, -0.5392, -0.4194, 0.3585, -0.0193, 0.5674, 0.2359, -0.2642, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4995 left_y=-0.1916 left_z=0.1644 left_yaw=0.1126 left_pitch=-0.0622 left_roll=0.0323 left_gripper=0.3585 right_x=0.253 right_y=0.0039 right_z=0.0927 right_yaw=-0.0027 right_pitch=-0.0274 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -10.8923, 7.3641, 1.9267, -0.2955, 0.1099, -0.0122, -0.335, -0.335, 6.7487, 1.9316, -0.0757, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd7da7d6eaba3a4c8b8f9abf00caf284c57096703047663062f8eb2f6ef782ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14224d00e394faeab82f2fd25215230b44e2679a740e07114d6526a5111a344b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b02f464462d8e895d65de227bcb4cd61bcfbca96909ecf37b6476ec42e6f7d47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwwgKjgEIEhgCKkATRcdbToFAUSi92kXRCBzygabevdJdwYG33qvoPWHCFSWZ0/a7IBVGhN7REv7dMcWbKFXeNEOp7Cf9vz1J5eshMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZKxzNUGEgyJeJ6gJkb4ZAqyiuAaDJXFpWJz+pLMuDDtgCIwdK46+tcAyOwOOTWVxX/vfF2LQtjvQdSoVx/emcNUClumrbllsoHJMoMm9iDYQWzuKuEGTj8jVyjOoHpfZusG+dPHtrNJe5hmVEcl6XJ/w7SgNjw2jbn2UBZq4JVa4Oend7LGCldaPcGysIi7JuYRSIOT1fa0ww/KyjOHS/qvCeP9wv8ULenIJLBXXCCynouHOTR/2Htfqw79JvFacACfOz8aha+UfEejN1LheFPxnaEH9kYKhxJw82gicfFe3/qvYm9gZJSe4Y6Oh9HYgSTfTYbWMdNXWJyAsuP56uTG4sVkgO3Skt7I0lv5lvv6+o8SR0zZSRyg8EBbhV1/8wAv5wRzU07KMeQJdPJc0ft0g90y/skBAGT62PLKmvI1jA0t8MgC4gtpuQXgn/QRAz+Lpgi8EkWWTWa2DNksFXiaKULtqyZ+o2oHspy/NC8IZcAI8Gim7NiDgVB63x6HC7Y4mnkdw7T26IBrnDr2jbxWisuQ8W74JytJT4j+yFBKIb5Z7lDKVrdkBBNtDhv85m0YA3sOycXwnVonWcIGkR7uBMkOBveTDSUtJw+1GPseT73TB8JlilOj9i5ZW9j2Gx6a2nOezQSFtXyfhX5o5lNUqSn9VoD6O4MpYOnYLf/BLWD/BW7l3T4RcSszADC+k1AOsB63HnWpjyrR2GQbNB6DXko/1g8jN5ceCcMxQL98npHawLMUqSGcNzuxKJbhoSHRZQhgTjgSSXB+4a1Ll+PgNEGtpTClfNraoCSjLK7F4YFA2bl7J3KOwwcJiWp4JQM36Np8RdYAHIog+5frX03IcfJdkHbOoOzP8Sdi922eU+E3WL4vBJqXS7/pny9QNanRHGHKKPm2QhFAfbjI6OtfDNiAJMP65UtRUxaxqCNRuTa6JC2Of8favofr2pe1Aj6s/qR2jNMSu1CLMNcRs7fb0LmXKV6bQabGUG6xP8VPutEwnzmEavZLgYoGFyMj0FA4cRXf7Jf+lcQ2MBNexgX1vuuVQlmC+rLT3VKvAqCCJiE2LE8yrRRE9+ItRwoAnpGVTJ0sMCMAedtBQDtP0N70pq8/vIhHnAGWUf/l3ePMJtxJSAwxPxSTLg9QeMWoZZK1uwVu3uzAe/2fCIK/unQvBhgUoWHI4u7smRgRhz2hqkXsLGbctBOi2thm4B6adbOnRSEN6v8dNTLXob+1lyyRWsOgGnxdXPLmE8LD4gAPqryMhrgfpxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G7ND6oh87TWEw7egWywzxY",
      "input": {
        "note": "Bottle is hanging vertically with its base at/near the table; opening the jaws to release it standing upright.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01G7ND6oh87TWEw7egWywzxY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5438, 1.9392, 1.4368, -0.2161, -0.5396, -0.4202, 0.9953, -0.0193, 0.5484, 0.2138, -0.2619, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4986 left_y=-0.1912 left_z=0.1472 left_yaw=0.1119 left_pitch=-0.0376 left_roll=0.013 left_gripper=0.9953 right_x=0.2502 right_y=0.004 right_z=0.0875 right_yaw=-0.0027 right_pitch=-0.0282 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -12.7795, 7.1043, 1.6435, -0.359, 0.0415, -0.1148, -0.2803, -0.4581, 6.8034, 1.917, -0.0415, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e81b3683594e4d3db7d4bbf452fcc7bca121206b9cdeae15e681ea3a52fcb6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c757353af563cfd7b2295626030d1e8a603b12057a4ef5bf8cc0594acc46268c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:403dd213f2e57a5559f9e9a8433dce1e9698ed5e47cfda379e1daec53a64f066",
        "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 · 38.92 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]: [-0.5426, 1.9316, 1.7199, -0.4774, -0.5388, -0.4133, 0.3585, -0.0193, 0.588, 0.2584, -0.2672, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.5081 left_y=-0.1964 left_z=0.2254 left_yaw=0.1084 left_pitch=-0.0146 left_roll=0.0004 left_gripper=0.3585 right_x=0.2559 right_y=0.0039 right_z=0.0975 right_yaw=-0.0027 right_pitch=-0.0286 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -12.8342, 8.9641, 1.6044, -0.1734, 0.1197, -0.022, -0.1436, -0.3077, 6.9949, 1.9072, -0.0611, -0.0757, -0.0073]",
      "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]: [-0.5434, 1.9415, 1.5307, -0.3386, -0.5392, -0.4194, 0.3585, -0.0193, 0.5674, 0.2359, -0.2642, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4995 left_y=-0.1916 left_z=0.1644 left_yaw=0.1126 left_pitch=-0.0622 left_roll=0.0323 left_gripper=0.3585 right_x=0.253 right_y=0.0039 right_z=0.0927 right_yaw=-0.0027 right_pitch=-0.0274 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -10.8923, 7.3641, 1.9267, -0.2955, 0.1099, -0.0122, -0.335, -0.335, 6.7487, 1.9316, -0.0757, -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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5438, 1.9392, 1.4368, -0.2161, -0.5396, -0.4202, 0.9953, -0.0193, 0.5484, 0.2138, -0.2619, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4986 left_y=-0.1912 left_z=0.1472 left_yaw=0.1119 left_pitch=-0.0376 left_roll=0.013 left_gripper=0.9953 right_x=0.2502 right_y=0.004 right_z=0.0875 right_yaw=-0.0027 right_pitch=-0.0282 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -12.7795, 7.1043, 1.6435, -0.359, 0.0415, -0.1148, -0.2803, -0.4581, 6.8034, 1.917, -0.0415, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e81b3683594e4d3db7d4bbf452fcc7bca121206b9cdeae15e681ea3a52fcb6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c757353af563cfd7b2295626030d1e8a603b12057a4ef5bf8cc0594acc46268c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:403dd213f2e57a5559f9e9a8433dce1e9698ed5e47cfda379e1daec53a64f066",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShgYKjgEIEhgCKkBC2Qpbbidd6fCHrZ+e3cSmg4FzuydAdwonfsAN3hd0jJz8zHR6Y+rQMqFJVm8lpIvKu/vRwH6IztOC8SeM93pmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZmxzNUGEgyc7mxNoW3hgnz8GjsaDDO21/qUmk7Itx51jiIwws3BtvYmtW2JCF5Ti9tcrjsWX7JgOLd9z9ysUGt6Vb8HVlFdteOBTXjoif0kvjagKqQEvL+r91fym0RkATUlR4+sfFXvXEEswMJlbJcbDok9EatcjNQYNzg8T7q2jK6WWaXEMqVtwUsqVEZTKM74m0kJa3cFUzkQYT5/8SRt/j1qOoFpi6TaaEyx8wU8w7zsFpF4NVuGBc1zzPZ5EAX3ciWmmeuFJtkA3dwUSDVmmK3e3jYucS4oGKY0yrqRRXk6KDNDhNLB3lBZuS5DCM7OkfSL2ZyrA/BCM4fCaF1aW7JQMki/u6VoqQyHZIzS+5tKy5RsGmEuaOR+TlnDKT4XyGymnpGdnH1CGweLCLD/OI8fOCGwijknu5C0Hj03bf03EYPu1RA5+FsPG5VqFq0YQqsiEQXeadC/OVrR10da5erd/1rFGsSl++WV0269UkxkwtCInIyIbVM5xLJLGynV9mC1zrN52YBM2CGmI146xTL7Sm8hdRpZ2j2d3cf+PNbpTRoyDmaha/+6oEDVwrTx7K9zzpmmuLsnaBTRc89B0R3XoXj3cJRR+bbvEZ0Q0CQtiQTKDmwkBSf52pMPL+RLVjiYgAWCkIBEs599HmOV8CVBbgVoqqb/m5iOTRJcvzpaEo7TnA4YV4A3uyqxW+GSquW/CMb2CT10yhxYsVz74nDIV5H4SlOC0ygXtrWQNi40pxwCovHZ1UWIoqbFTZRitcwwtCaE9y4ReQCBWQJuh5fhR50pMHrbcJeF8KAaGfiK78mJKvlroz/MSmJ7SiObA7xJX59zRysYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018KVbaxmduxGtYNqXF18N9A",
      "input": {
        "note": "First bottle is standing upright. Backing the left arm off to clear the overhead view and see the two remaining bottles.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_018KVbaxmduxGtYNqXF18N9A",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4488, 0.9695, 0.9501, -0.5781, -0.4793, -0.363, 0.9962, -0.0193, 0.5232, 0.1902, -0.2615, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3112 left_y=-0.0555 left_z=0.2575 left_yaw=0.1287 left_pitch=0.0398 left_roll=-0.0386 left_gripper=0.9962 right_x=0.2471 right_y=0.0041 right_z=0.0825 right_yaw=-0.0027 right_pitch=-0.0263 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [0.4308, -2.0034, 6.3521, 1.6044, -0.1538, 0.1978, 0.0904, -0.2256, 0.2803, 7.2137, 1.9658, -0.0513, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b6f5ecf08be611cb71dd4d0584b9cce715f048ff3837fbdbdef0d7994b459fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dd9babecd05cc74bc1e89f51d26b99620d5cdb5dd9875c8876e4f5691416c24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da8a199c1fd0cc94cd54efd0b1971c25ab0dfb0fe71bd8161f4bd4f407cf50a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 13.59 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]: [-0.5434, 1.9415, 1.5307, -0.3386, -0.5392, -0.4194, 0.3585, -0.0193, 0.5674, 0.2359, -0.2642, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4995 left_y=-0.1916 left_z=0.1644 left_yaw=0.1126 left_pitch=-0.0622 left_roll=0.0323 left_gripper=0.3585 right_x=0.253 right_y=0.0039 right_z=0.0927 right_yaw=-0.0027 right_pitch=-0.0274 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -10.8923, 7.3641, 1.9267, -0.2955, 0.1099, -0.0122, -0.335, -0.335, 6.7487, 1.9316, -0.0757, -0.0317, -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]: [-0.5438, 1.9392, 1.4368, -0.2161, -0.5396, -0.4202, 0.9953, -0.0193, 0.5484, 0.2138, -0.2619, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4986 left_y=-0.1912 left_z=0.1472 left_yaw=0.1119 left_pitch=-0.0376 left_roll=0.013 left_gripper=0.9953 right_x=0.2502 right_y=0.004 right_z=0.0875 right_yaw=-0.0027 right_pitch=-0.0282 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -12.7795, 7.1043, 1.6435, -0.359, 0.0415, -0.1148, -0.2803, -0.4581, 6.8034, 1.917, -0.0415, -0.0659, -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]: [-0.4488, 0.9695, 0.9501, -0.5781, -0.4793, -0.363, 0.9962, -0.0193, 0.5232, 0.1902, -0.2615, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3112 left_y=-0.0555 left_z=0.2575 left_yaw=0.1287 left_pitch=0.0398 left_roll=-0.0386 left_gripper=0.9962 right_x=0.2471 right_y=0.0041 right_z=0.0825 right_yaw=-0.0027 right_pitch=-0.0263 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [0.4308, -2.0034, 6.3521, 1.6044, -0.1538, 0.1978, 0.0904, -0.2256, 0.2803, 7.2137, 1.9658, -0.0513, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b6f5ecf08be611cb71dd4d0584b9cce715f048ff3837fbdbdef0d7994b459fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dd9babecd05cc74bc1e89f51d26b99620d5cdb5dd9875c8876e4f5691416c24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da8a199c1fd0cc94cd54efd0b1971c25ab0dfb0fe71bd8161f4bd4f407cf50a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BcxixdygyrUmt2TPnX6YBH",
      "input": {
        "note": "One bottle now stands upright (right of frame in the top view); two remain lying. Moving the left gripper over the nearer lying bottle at ~10 cm height to line up on its neck.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.1,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01BcxixdygyrUmt2TPnX6YBH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4568, 1.5215, 0.728, 0.0742, -0.4873, -0.3668, 0.9964, -0.0193, 0.5014, 0.1673, -0.2619, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3897 left_y=-0.0954 left_z=0.0943 left_yaw=0.1297 left_pitch=-0.0592 left_roll=0.0292 left_gripper=0.9964 right_x=0.244 right_y=0.0041 right_z=0.0769 right_yaw=-0.0027 right_pitch=-0.0278 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -6.8444, 5.5453, 1.6777, -0.232, 0.0562, 0.0024, -0.1026, -0.1436, 6.9538, 1.9414, -0.0806, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb2ce81d84fb4ab730def2db368ede93af024099696086310b101643b3f902a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85239b90108a5024c98140d90cdfa1b3469782ab346719d3939b5f8abc8a140e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2065a0e8379afe9a39cf2cf203993f44afd35461aebf8f1e1f3ff7397d86bed8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 13.2 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]: [-0.5438, 1.9392, 1.4368, -0.2161, -0.5396, -0.4202, 0.9953, -0.0193, 0.5484, 0.2138, -0.2619, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4986 left_y=-0.1912 left_z=0.1472 left_yaw=0.1119 left_pitch=-0.0376 left_roll=0.013 left_gripper=0.9953 right_x=0.2502 right_y=0.004 right_z=0.0875 right_yaw=-0.0027 right_pitch=-0.0282 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -12.7795, 7.1043, 1.6435, -0.359, 0.0415, -0.1148, -0.2803, -0.4581, 6.8034, 1.917, -0.0415, -0.0659, -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]: [-0.4488, 0.9695, 0.9501, -0.5781, -0.4793, -0.363, 0.9962, -0.0193, 0.5232, 0.1902, -0.2615, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3112 left_y=-0.0555 left_z=0.2575 left_yaw=0.1287 left_pitch=0.0398 left_roll=-0.0386 left_gripper=0.9962 right_x=0.2471 right_y=0.0041 right_z=0.0825 right_yaw=-0.0027 right_pitch=-0.0263 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [0.4308, -2.0034, 6.3521, 1.6044, -0.1538, 0.1978, 0.0904, -0.2256, 0.2803, 7.2137, 1.9658, -0.0513, -0.022, -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]: [-0.4568, 1.5215, 0.728, 0.0742, -0.4873, -0.3668, 0.9964, -0.0193, 0.5014, 0.1673, -0.2619, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3897 left_y=-0.0954 left_z=0.0943 left_yaw=0.1297 left_pitch=-0.0592 left_roll=0.0292 left_gripper=0.9964 right_x=0.244 right_y=0.0041 right_z=0.0769 right_yaw=-0.0027 right_pitch=-0.0278 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -6.8444, 5.5453, 1.6777, -0.232, 0.0562, 0.0024, -0.1026, -0.1436, 6.9538, 1.9414, -0.0806, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb2ce81d84fb4ab730def2db368ede93af024099696086310b101643b3f902a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85239b90108a5024c98140d90cdfa1b3469782ab346719d3939b5f8abc8a140e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2065a0e8379afe9a39cf2cf203993f44afd35461aebf8f1e1f3ff7397d86bed8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0197xhRV6fQZPrr1HiCn7GkW",
      "input": {
        "note": "Wrist view: the next bottle's cap is left of the jaw column; shifting 4 cm left and descending to neck height so the open jaws straddle its shoulder.",
        "targets": {
          "left_y": -0.055,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0197xhRV6fQZPrr1HiCn7GkW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3378, 1.5841, 0.5396, 0.4229, -0.4084, -0.3141, 0.9964, -0.0193, 0.4763, 0.1448, -0.2623, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3899 left_y=-0.0588 left_z=0.0592 left_yaw=0.1559 left_pitch=-0.0011 left_roll=-0.0194 left_gripper=0.9964 right_x=0.2413 right_y=0.0042 right_z=0.0722 right_yaw=-0.0027 right_pitch=-0.0255 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [0.7863, -4.3009, 3.8222, 1.3846, -0.1783, 0.2418, -0.0024, -0.0752, -0.0205, 6.8308, 1.8926, -0.0366, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43c84aeb693b82d87225efd3cefbe4a70f832e5b90e923643dd1592a2d46ff9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d9f1791ebfc6a124bfde852cef2ed93b127267664da29329ad1371b9cfcd321",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:38b7f6b887f56873c3073cf53158512a088d17a61c31bfabfc5ed4d428167fd1",
        "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 · 8.072 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]: [-0.4488, 0.9695, 0.9501, -0.5781, -0.4793, -0.363, 0.9962, -0.0193, 0.5232, 0.1902, -0.2615, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3112 left_y=-0.0555 left_z=0.2575 left_yaw=0.1287 left_pitch=0.0398 left_roll=-0.0386 left_gripper=0.9962 right_x=0.2471 right_y=0.0041 right_z=0.0825 right_yaw=-0.0027 right_pitch=-0.0263 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [0.4308, -2.0034, 6.3521, 1.6044, -0.1538, 0.1978, 0.0904, -0.2256, 0.2803, 7.2137, 1.9658, -0.0513, -0.022, -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]: [-0.4568, 1.5215, 0.728, 0.0742, -0.4873, -0.3668, 0.9964, -0.0193, 0.5014, 0.1673, -0.2619, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3897 left_y=-0.0954 left_z=0.0943 left_yaw=0.1297 left_pitch=-0.0592 left_roll=0.0292 left_gripper=0.9964 right_x=0.244 right_y=0.0041 right_z=0.0769 right_yaw=-0.0027 right_pitch=-0.0278 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -6.8444, 5.5453, 1.6777, -0.232, 0.0562, 0.0024, -0.1026, -0.1436, 6.9538, 1.9414, -0.0806, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3378, 1.5841, 0.5396, 0.4229, -0.4084, -0.3141, 0.9964, -0.0193, 0.4763, 0.1448, -0.2623, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3899 left_y=-0.0588 left_z=0.0592 left_yaw=0.1559 left_pitch=-0.0011 left_roll=-0.0194 left_gripper=0.9964 right_x=0.2413 right_y=0.0042 right_z=0.0722 right_yaw=-0.0027 right_pitch=-0.0255 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [0.7863, -4.3009, 3.8222, 1.3846, -0.1783, 0.2418, -0.0024, -0.0752, -0.0205, 6.8308, 1.8926, -0.0366, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43c84aeb693b82d87225efd3cefbe4a70f832e5b90e923643dd1592a2d46ff9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d9f1791ebfc6a124bfde852cef2ed93b127267664da29329ad1371b9cfcd321",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38b7f6b887f56873c3073cf53158512a088d17a61c31bfabfc5ed4d428167fd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RjB5Qj4x7pmwmdJvqV8hG8",
      "input": {
        "note": "The bottle's cap sits high in the wrist frame, meaning the neck is still well beyond the fingertips; advancing 5 cm along the bottle axis to bring the shoulder between the jaws.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RjB5Qj4x7pmwmdJvqV8hG8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3256, 1.7451, 0.7063, 0.4217, -0.4038, -0.2951, 0.9964, -0.0193, 0.4526, 0.1261, -0.2642, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4322 left_y=-0.0689 left_z=0.0569 left_yaw=0.1542 left_pitch=0.0017 left_roll=-0.0078 left_gripper=0.9964 right_x=0.239 right_y=0.0042 right_z=0.0685 right_yaw=-0.0027 right_pitch=-0.0225 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.3077, -7.4462, 7.1316, 1.6093, -0.2271, 0.0024, -0.0073, -0.253, 0.0615, 6.9265, 1.873, -0.0708, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:870e618dc9524d6c02c0de185e96457514acb951f837c921b8cb7bcb4fc6c1c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd501f1739c21f5c4419e14124ee1d57a5d2d945b5bd1d8ae5754a64462a6820",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd450aebe0320d4ebde7c7ad5a6c5f7834a2a8a2447c305b9710c14b6c0b4fda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 5.362 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4568, 1.5215, 0.728, 0.0742, -0.4873, -0.3668, 0.9964, -0.0193, 0.5014, 0.1673, -0.2619, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3897 left_y=-0.0954 left_z=0.0943 left_yaw=0.1297 left_pitch=-0.0592 left_roll=0.0292 left_gripper=0.9964 right_x=0.244 right_y=0.0041 right_z=0.0769 right_yaw=-0.0027 right_pitch=-0.0278 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -6.8444, 5.5453, 1.6777, -0.232, 0.0562, 0.0024, -0.1026, -0.1436, 6.9538, 1.9414, -0.0806, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3378, 1.5841, 0.5396, 0.4229, -0.4084, -0.3141, 0.9964, -0.0193, 0.4763, 0.1448, -0.2623, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3899 left_y=-0.0588 left_z=0.0592 left_yaw=0.1559 left_pitch=-0.0011 left_roll=-0.0194 left_gripper=0.9964 right_x=0.2413 right_y=0.0042 right_z=0.0722 right_yaw=-0.0027 right_pitch=-0.0255 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [0.7863, -4.3009, 3.8222, 1.3846, -0.1783, 0.2418, -0.0024, -0.0752, -0.0205, 6.8308, 1.8926, -0.0366, -0.0122, -0.0122]",
      "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]: [-0.3256, 1.7451, 0.7063, 0.4217, -0.4038, -0.2951, 0.9964, -0.0193, 0.4526, 0.1261, -0.2642, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4322 left_y=-0.0689 left_z=0.0569 left_yaw=0.1542 left_pitch=0.0017 left_roll=-0.0078 left_gripper=0.9964 right_x=0.239 right_y=0.0042 right_z=0.0685 right_yaw=-0.0027 right_pitch=-0.0225 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.3077, -7.4462, 7.1316, 1.6093, -0.2271, 0.0024, -0.0073, -0.253, 0.0615, 6.9265, 1.873, -0.0708, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:870e618dc9524d6c02c0de185e96457514acb951f837c921b8cb7bcb4fc6c1c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd501f1739c21f5c4419e14124ee1d57a5d2d945b5bd1d8ae5754a64462a6820",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd450aebe0320d4ebde7c7ad5a6c5f7834a2a8a2447c305b9710c14b6c0b4fda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAcKjgEIEhgCKkDJjKlJSzj8169f+rxA3fpRpsDanTXRlRavw9MruzNCuic1igPF7epyvuzbhOgTkOTXcTbCinIYoD4VlRkY6XEaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeaxzNUGEgzQGpG0hikmnGn2Y9EaDJcXZd9k+nGb/m983yIwGnt24LhelOagAmX1TaQSmtbaL/A6zQoIfsccuvKTwTI9EfUeAJAk1z/3yUWsXtSzKtIFy/MMnRMqF9fuAV++1tU5J4nCnDoQ1vuMJOb0c+uR27sXsP21snJqbuDXHy9UE74MS/rHD60leUR4yOYq4M9lDH1Fc7OO9i78mDyjEU0DFBXowHhdytBXVyjnUIqdqroj+vfd/63nxxYZ5dmQvRU8ddYxN9fRK6kR51kEBNe/QgkOHekZSSMnNdbiLhvDK+iDzNnBt6wkrXwZWeUnqXUZ1fU64iojvZq4cHJdwtTPr+0WrPqhCTtfp4A4xU1dmlMIyldWAmtKvsxBMGbvOMHtNyr/x6zETkzUJzZt6/n3RlxXMGEZ29A1+4ViY6544aTQfjTx0Ia3gLPbMUDOh5QoC7Uzx+WWr4UGC9dLqAHgHTRVqu3mxBHjuJ5iEuP5fmImgZ85tBE8WNuQyknWI2r470swQCHBVpiermCYuSjG0GLCo8KUoAPLZneLgcTnvWP7EU57mfdLHxB0kGDUTpw8u3cf6RtYML++KvvIsbFCXmjHfZonDHQzts/dwxquXdb9gJo5ljBm+gg/34MlgzlxMif/RF4qm/n9RYQKKqSPS1TWbf+4meaW9PPeExooAzZgLNBDHsVePvsuynrv8ccNloo8jY/DOmLenbmupiD2fqbVsCwUX7myTo+rF5W16xzS9ehuqpdnRiugY/BCWpxt8nvRQUvN2yKIbo/HUNwirqapR1VdZw+KPeEcF3o+/4RJZvxGXsNsXeWWrPyb1GSLwC92iKjn6yRXuE1hZPrO4ctIHy9JwsDKrS/tAI2zA9JKoooRoEbnBLSjrUPCTiOy8/Jrn+1I87ZpSropB1IVZgrEDIc842MT65RsWjs14zH39jbDc/kIfAXNNxMx8cIf4KW5aKTJ0CIWnB/lWrc2Cp8y/muNgeoS8S4RJSJy6zj9oBJFqUvlxMBH57Ehbgxb8zCMddrW4ksaNB5jR8YSujL+TvGC5TlHVIOfFas90eG+sVEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RioqRwbDozHgWUWjtH3iSe",
      "input": {
        "note": "Wrist view matches the geometry of my successful grasp (cap just above the jaw column); nudging 1 cm left and closing to 3.4 cm around the bottle's shoulder.",
        "targets": {
          "left_gripper": 0.35,
          "left_y": -0.058
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01RioqRwbDozHgWUWjtH3iSe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2981, 1.7512, 0.7116, 0.4553, -0.4, -0.2874, 0.3555, -0.0193, 0.4316, 0.1112, -0.2661, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4395 left_y=-0.0593 left_z=0.0627 left_yaw=0.1747 left_pitch=0.0298 left_roll=-0.0182 left_gripper=0.3555 right_x=0.2373 right_y=0.0042 right_z=0.0659 right_yaw=-0.0027 right_pitch=-0.0183 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.5538, -8.759, 4.041, 1.3748, 0.0659, 0.1832, 0.0904, -0.3897, 0.0615, 6.7077, 1.8486, -0.0904, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95d0580e170c66065145363ded5051618d527c5fb7e7a3c4025941dc6cb88bb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6473d6b8cdd49d7ed3e223bade407a40ed4e8be3a01304591f3b7675a86a333",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d1c21e0682c6a7b01106eb798718708070e4de015f751363e542ffc17a331d0",
        "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 · 8.178 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]: [-0.3378, 1.5841, 0.5396, 0.4229, -0.4084, -0.3141, 0.9964, -0.0193, 0.4763, 0.1448, -0.2623, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3899 left_y=-0.0588 left_z=0.0592 left_yaw=0.1559 left_pitch=-0.0011 left_roll=-0.0194 left_gripper=0.9964 right_x=0.2413 right_y=0.0042 right_z=0.0722 right_yaw=-0.0027 right_pitch=-0.0255 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [0.7863, -4.3009, 3.8222, 1.3846, -0.1783, 0.2418, -0.0024, -0.0752, -0.0205, 6.8308, 1.8926, -0.0366, -0.0122, -0.0122]",
      "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]: [-0.3256, 1.7451, 0.7063, 0.4217, -0.4038, -0.2951, 0.9964, -0.0193, 0.4526, 0.1261, -0.2642, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4322 left_y=-0.0689 left_z=0.0569 left_yaw=0.1542 left_pitch=0.0017 left_roll=-0.0078 left_gripper=0.9964 right_x=0.239 right_y=0.0042 right_z=0.0685 right_yaw=-0.0027 right_pitch=-0.0225 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.3077, -7.4462, 7.1316, 1.6093, -0.2271, 0.0024, -0.0073, -0.253, 0.0615, 6.9265, 1.873, -0.0708, -0.0366, -0.0122]",
      "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]: [-0.2981, 1.7512, 0.7116, 0.4553, -0.4, -0.2874, 0.3555, -0.0193, 0.4316, 0.1112, -0.2661, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4395 left_y=-0.0593 left_z=0.0627 left_yaw=0.1747 left_pitch=0.0298 left_roll=-0.0182 left_gripper=0.3555 right_x=0.2373 right_y=0.0042 right_z=0.0659 right_yaw=-0.0027 right_pitch=-0.0183 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.5538, -8.759, 4.041, 1.3748, 0.0659, 0.1832, 0.0904, -0.3897, 0.0615, 6.7077, 1.8486, -0.0904, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95d0580e170c66065145363ded5051618d527c5fb7e7a3c4025941dc6cb88bb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6473d6b8cdd49d7ed3e223bade407a40ed4e8be3a01304591f3b7675a86a333",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d1c21e0682c6a7b01106eb798718708070e4de015f751363e542ffc17a331d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8wQKjgEIEhgCKkA6EJUK3TcH9aBE3CbucUcirNJHwuSxTWSUNZweVAHIWXZS6tQGrJAnPVyQu2FmYrDFyCAsYSCVFf8DK1Vw0fccMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeyxzNUGEgzOm1UFnLaDNtnHIPsaDGhKzqH4rpUqACwjaCIwzI2cW6Y1IzrQCHcZa/C7AU0dAYBX31p5qT24ptOFzl82zTXeEsVvkwup9QDfx9cPKpEDGfahTlilXjDhoYpkabHM0oiR/Xfa8MQXi/wvCd+Je1Jp2yXWShV6ZNuuABjCp6up0lAI58TnKzqsk6xSoNPUNFm98FETaXmTEHC1/nNI55FV9SRlUkDwxlip0OzeCJlYksg2SVhzreW0YH7SGoNMCd9Xh3+R3bQvzIRThv5jCaiHPUa3GPQAfBuScfCy4tOV/WNixfiB5u830jthu0XITihSTWjMJ+9jjDLxvEUujhYB5fproKZcSvjbKwGKWNA2AiMhYpERClwO7GaxAXEZrDKrrN09PFLLwt79eYFBrBs747HhxlwdYj1pVQAm0m1WsE1DLQZwij0g013qtAYrZX3ZkC/OyjxSMMBAFUIBDCUUdh5ALf4YHQj8flvmg2Y8dq1LV0mRKr+ds41zPTGhKBUToIYKkUIK104Fa+jJJ5ypwNhl9QhQOFkfhvao7x9ZqC9XzXsZSicw4nocwX704OB0K/VVCjxdvKu0fLx//SLwhoNzNtU2O8yHf4TOObtfw2qFQB2gf9Z9iu7SKoIDurMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VWxYHmnfVAABeZf4hxdxkv",
      "input": {
        "note": "Jaws closed to 3.4 cm on the bottle's shoulder; lifting to 25 cm so the bottle swings cap-up and hangs vertically.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01VWxYHmnfVAABeZf4hxdxkv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2951, 1.5066, 1.2278, -0.3576, -0.4007, -0.2913, 0.3548, -0.0193, 0.4156, 0.0982, -0.2684, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4444 left_y=-0.0593 left_z=0.2275 left_yaw=0.1802 left_pitch=-0.0165 left_roll=0.0028 left_gripper=0.3548 right_x=0.2358 right_y=0.0043 right_z=0.0629 right_yaw=-0.0027 right_pitch=-0.0175 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.5402, -9.2376, 9.3744, 1.5604, -0.2076, 0.0122, -0.0904, -0.0615, 0.1709, 6.9675, 1.8681, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b37ab5a30b58b9a1a5b77526bc4a6ed8879a3f52e91c9256a9fc98a793373020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0c85c7be98e23421760f9cf6cfed24ba868dd432eefd1a9ee816b6224a2d2bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f866b8f266f9b0d7621f2e7022bdc1c7ecc787f875be878e213f7cc8cef32b08",
        "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 · 3.547 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]: [-0.3256, 1.7451, 0.7063, 0.4217, -0.4038, -0.2951, 0.9964, -0.0193, 0.4526, 0.1261, -0.2642, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4322 left_y=-0.0689 left_z=0.0569 left_yaw=0.1542 left_pitch=0.0017 left_roll=-0.0078 left_gripper=0.9964 right_x=0.239 right_y=0.0042 right_z=0.0685 right_yaw=-0.0027 right_pitch=-0.0225 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.3077, -7.4462, 7.1316, 1.6093, -0.2271, 0.0024, -0.0073, -0.253, 0.0615, 6.9265, 1.873, -0.0708, -0.0366, -0.0122]",
      "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]: [-0.2981, 1.7512, 0.7116, 0.4553, -0.4, -0.2874, 0.3555, -0.0193, 0.4316, 0.1112, -0.2661, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4395 left_y=-0.0593 left_z=0.0627 left_yaw=0.1747 left_pitch=0.0298 left_roll=-0.0182 left_gripper=0.3555 right_x=0.2373 right_y=0.0042 right_z=0.0659 right_yaw=-0.0027 right_pitch=-0.0183 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.5538, -8.759, 4.041, 1.3748, 0.0659, 0.1832, 0.0904, -0.3897, 0.0615, 6.7077, 1.8486, -0.0904, -0.0659, -0.0122]",
      "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]: [-0.2951, 1.5066, 1.2278, -0.3576, -0.4007, -0.2913, 0.3548, -0.0193, 0.4156, 0.0982, -0.2684, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4444 left_y=-0.0593 left_z=0.2275 left_yaw=0.1802 left_pitch=-0.0165 left_roll=0.0028 left_gripper=0.3548 right_x=0.2358 right_y=0.0043 right_z=0.0629 right_yaw=-0.0027 right_pitch=-0.0175 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.5402, -9.2376, 9.3744, 1.5604, -0.2076, 0.0122, -0.0904, -0.0615, 0.1709, 6.9675, 1.8681, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b37ab5a30b58b9a1a5b77526bc4a6ed8879a3f52e91c9256a9fc98a793373020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0c85c7be98e23421760f9cf6cfed24ba868dd432eefd1a9ee816b6224a2d2bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f866b8f266f9b0d7621f2e7022bdc1c7ecc787f875be878e213f7cc8cef32b08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoAgKjgEIEhgCKkC6nmAnxpP/zrb6lnSBd0giCEu1JcUpmnsyd+AVzYR/ZlZISVm6ofxbeJMfUlC/Vdd6zygRuFrBvtK5ZovCeOH/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfWxzNUGEgyUScCxvPP1ig/mqvsaDFQ/Ofszpcj1n0GWSiIw6mCOldj0ks3AOsCEQWphEk9cA65XX8fTCuSWp3J4IE8hFrRwqZd82h37H3tJAV5iKr4GqS36JC65vHRmM+i6E947DEeBY4WNJDKsCPbhZOo9xwT0RQKauvcWYS5clmOXN4Qp+/Y1taM7OxGoqR/2CHL0nh9cBz/2vUpJbzEUXWRF4nUWPnosyMWA2+RhBl6htxeQXX9nZWIcRaIBMqH7x+u8sZ2GuwsgZLnHgalW4qYCRjfehc9ervb1zdVxFSVEOOrvBQDcqzUsSX+TY8CBFrMrV5woJH6W0J+apiFQrlkKR6wYFqxRE0twPPIDI9ZTH3InyFR+UCJbDNAAjCy/19bZSNab6/yMi+5GKJ6m/LG3TcO+tDulIqFzzY5e1qa2Dy7d0TXp3DYgTCexNMnTleHjg5hraucvD9RE6dTcWsgrkpuaxtphGUOit3rAaNgInMTHKKRpcgKLh8BFDIqElyy2l9PYCEfMVqZzDcg8OQ/KcNkDEeBmsD45vPqDt1FDdmDHDgOgz/RQSDD39j85lqhrCy0jJxR32k7nAn8Npd81dMq+L65A589LCCQnsn8ZqgCioGoFCsYOib62U2AXwE7DaES/WhnwgqUWnJibb86BwAx/Dt80z96XWqKJwXzZV5z19t0YcoahmQ7iCrvgDQw1z03tvWrAnedZfjD3fFGPmFbaCcyoFU6+ugBT21AFzqKYoZWLL6VmRPgvUyfPrE8yq5YzyP+dX+OJ9gDP1KQun4ijLPQ+LSA+7Gpt/LeY/GcnUx1OGsylp9MY4i7dAaZ8AR8hFpFhu7C3fs31E0jEDVOm/5tdm5AADc9tDwOquK7icEvKUr4B3+CZxSdfT24LMwvPIwGAaqrdq8tVbpXJunVrZYIL9ej4iPDigAqvPZTLnbD9Q7D0wmglZ5TGQxtS2b+nmAAspVM8WaIXb2z7ViUSQvJikz0ZDnW341QAGuJqqpPpzxwTAV6tFZo9oKzPbbu1Tfj1MqFAZiJ5FJvwpPcQjINUyIj/NKQ7BfO1U8m1GSAQh+fkJ9TnzvB29IFJ5wTOhclCuUuerQC4DemWg6k6eucHulHPc9TmSdufrI8dAO/aq8jyXLK7QD8OKZKJSc2p5ynbIg+rGT7/y7TkXOjpgVA1mwJ/XadTWha/dDi4EUOPJTA7PFwcTvsWAO0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cy8PfPqxAwYu3MjneF7ruf",
      "input": {
        "note": "Second bottle is hanging cap-up in the jaws; lowering it until its base reaches the table.",
        "targets": {
          "left_z": 0.168
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Cy8PfPqxAwYu3MjneF7ruf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2947, 1.541, 1.0157, -0.1894, -0.4007, -0.2913, 0.3546, -0.0193, 0.3988, 0.0898, -0.2687, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4326 left_y=-0.0555 left_z=0.1526 left_yaw=0.1825 left_pitch=-0.086 left_roll=0.0387 left_gripper=0.3546 right_x=0.2353 right_y=0.0042 right_z=0.0626 right_yaw=-0.003 right_pitch=-0.0095 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -7.6923, 7.8974, 2.2051, -0.2662, -0.0269, -0.0269, -0.1026, 0.1709, 6.5846, 1.8095, -0.0855, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57d17caa73973b4a08cdee930165cd70c8c913f8f7805cedf4205a23a18a00bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea88c06709988aa528424f276a982a3328659ef3bcf9942ce786767317402a4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70ed1be1105263a37d4eefe64b770da2b796968b5f6284cb51c7a067bf80b884",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 19.56 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]: [-0.2981, 1.7512, 0.7116, 0.4553, -0.4, -0.2874, 0.3555, -0.0193, 0.4316, 0.1112, -0.2661, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4395 left_y=-0.0593 left_z=0.0627 left_yaw=0.1747 left_pitch=0.0298 left_roll=-0.0182 left_gripper=0.3555 right_x=0.2373 right_y=0.0042 right_z=0.0659 right_yaw=-0.0027 right_pitch=-0.0183 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.5538, -8.759, 4.041, 1.3748, 0.0659, 0.1832, 0.0904, -0.3897, 0.0615, 6.7077, 1.8486, -0.0904, -0.0659, -0.0122]",
      "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]: [-0.2951, 1.5066, 1.2278, -0.3576, -0.4007, -0.2913, 0.3548, -0.0193, 0.4156, 0.0982, -0.2684, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4444 left_y=-0.0593 left_z=0.2275 left_yaw=0.1802 left_pitch=-0.0165 left_roll=0.0028 left_gripper=0.3548 right_x=0.2358 right_y=0.0043 right_z=0.0629 right_yaw=-0.0027 right_pitch=-0.0175 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.5402, -9.2376, 9.3744, 1.5604, -0.2076, 0.0122, -0.0904, -0.0615, 0.1709, 6.9675, 1.8681, -0.0513, -0.0708, -0.0122]",
      "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]: [-0.2947, 1.541, 1.0157, -0.1894, -0.4007, -0.2913, 0.3546, -0.0193, 0.3988, 0.0898, -0.2687, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4326 left_y=-0.0555 left_z=0.1526 left_yaw=0.1825 left_pitch=-0.086 left_roll=0.0387 left_gripper=0.3546 right_x=0.2353 right_y=0.0042 right_z=0.0626 right_yaw=-0.003 right_pitch=-0.0095 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -7.6923, 7.8974, 2.2051, -0.2662, -0.0269, -0.0269, -0.1026, 0.1709, 6.5846, 1.8095, -0.0855, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57d17caa73973b4a08cdee930165cd70c8c913f8f7805cedf4205a23a18a00bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea88c06709988aa528424f276a982a3328659ef3bcf9942ce786767317402a4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70ed1be1105263a37d4eefe64b770da2b796968b5f6284cb51c7a067bf80b884",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2AIKjgEIEhgCKkAxoOaXAGmAZrnTcOVmsZDNIt4LsuWaI3jwlQFjNEJdNalns+U5UApOl397dEgia9+P+9LLGTLgvwacCkVaiNm7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfqxzNUGEgxRgW7ejRMf58tVF4QaDOhIave4oUDt0yLv5yIwrH4FUEK5P2lI/q4Z5ePKw9ex7/7bsPLfA+G8TxlKpsa8GVL+NnFMlkFUSJCuE5Z7KnewjrWxfGQ9ilO/vCCC0hunVzycyaY1FJzM5cHBJnKh38oUv9TYcBY+5aUaELIOQrtWyirMwXqEukOC4yWbQd5lsAukt6PplgAgKRmRTpguk+e3ux9pjsGYABqH+p27N0dbnVfDn1mJyI7oQB1pmbqUlSBbDpJbyhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WfkPvjjKHZNvbAddpAhvUT",
      "input": {
        "note": "Bottle base is resting on the table; opening the jaws to leave it standing.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01WfkPvjjKHZNvbAddpAhvUT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2947, 1.5311, 0.9131, -0.0433, -0.4019, -0.2913, 0.9951, -0.0193, 0.3969, 0.0856, -0.2691, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4304 left_y=-0.0547 left_z=0.14 left_yaw=0.1819 left_pitch=-0.0382 left_roll=0.0147 left_gripper=0.9951 right_x=0.2347 right_y=0.0043 right_z=0.061 right_yaw=-0.0027 right_pitch=-0.0122 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -8.3761, 6.735, 1.8242, -0.2759, -0.0464, -0.1392, -0.2256, -0.0205, 6.7214, 1.7656, -0.0464, -0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3d0e601039caa357b8efcbe889e538404048e8b38b2d74eb586b0a79a161e77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e58f266cdca66e8a3028b45c8ba9aa4b6cda33fc9db3fbf024c78ea86ea6d0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d594084679fcd36d5e8cffa479ea0f61a2ff91d68c82db0970b3efb72ecf7bf",
        "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 · 17 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]: [-0.2951, 1.5066, 1.2278, -0.3576, -0.4007, -0.2913, 0.3548, -0.0193, 0.4156, 0.0982, -0.2684, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4444 left_y=-0.0593 left_z=0.2275 left_yaw=0.1802 left_pitch=-0.0165 left_roll=0.0028 left_gripper=0.3548 right_x=0.2358 right_y=0.0043 right_z=0.0629 right_yaw=-0.0027 right_pitch=-0.0175 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.5402, -9.2376, 9.3744, 1.5604, -0.2076, 0.0122, -0.0904, -0.0615, 0.1709, 6.9675, 1.8681, -0.0513, -0.0708, -0.0122]",
      "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]: [-0.2947, 1.541, 1.0157, -0.1894, -0.4007, -0.2913, 0.3546, -0.0193, 0.3988, 0.0898, -0.2687, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4326 left_y=-0.0555 left_z=0.1526 left_yaw=0.1825 left_pitch=-0.086 left_roll=0.0387 left_gripper=0.3546 right_x=0.2353 right_y=0.0042 right_z=0.0626 right_yaw=-0.003 right_pitch=-0.0095 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -7.6923, 7.8974, 2.2051, -0.2662, -0.0269, -0.0269, -0.1026, 0.1709, 6.5846, 1.8095, -0.0855, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2947, 1.5311, 0.9131, -0.0433, -0.4019, -0.2913, 0.9951, -0.0193, 0.3969, 0.0856, -0.2691, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4304 left_y=-0.0547 left_z=0.14 left_yaw=0.1819 left_pitch=-0.0382 left_roll=0.0147 left_gripper=0.9951 right_x=0.2347 right_y=0.0043 right_z=0.061 right_yaw=-0.0027 right_pitch=-0.0122 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -8.3761, 6.735, 1.8242, -0.2759, -0.0464, -0.1392, -0.2256, -0.0205, 6.7214, 1.7656, -0.0464, -0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3d0e601039caa357b8efcbe889e538404048e8b38b2d74eb586b0a79a161e77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e58f266cdca66e8a3028b45c8ba9aa4b6cda33fc9db3fbf024c78ea86ea6d0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d594084679fcd36d5e8cffa479ea0f61a2ff91d68c82db0970b3efb72ecf7bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KznSojtSxhJHZA1RSqfcb2",
      "input": {
        "note": "Two bottles now stand upright; the third still lies near the left edge of the table. Moving the gripper over it to line up on its neck.",
        "targets": {
          "left_x": 0.4,
          "left_y": 0.02,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01KznSojtSxhJHZA1RSqfcb2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0628, 1.4635, 0.6201, 0.2081, -0.2413, -0.1791, 0.9962, -0.0193, 0.3866, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3961 left_y=0.021 left_z=0.0881 left_yaw=0.2213 left_pitch=-0.0515 left_roll=0.0072 left_gripper=0.9962 right_x=0.2351 right_y=0.0043 right_z=0.063 right_yaw=-0.0027 right_pitch=-0.0023 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.1709, -7.3504, 6.147, 1.9072, 0.1001, 0.2027, 0.1001, -0.2393, 0.4034, 6.3385, 1.7558, -0.0611, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfb0d82f63369da972929f9c5dffd2f55ba9bee8c216678309f7ff173919e3a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77a2d81538d02f54c3c1d98d24642fae11fe7ec20e1d282537f213554f9c2812",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ada1e3c8ec172780a20421b1211a11d6fc07a3e21c66dbfa779fe2ba646e65c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 18.38 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]: [-0.2947, 1.541, 1.0157, -0.1894, -0.4007, -0.2913, 0.3546, -0.0193, 0.3988, 0.0898, -0.2687, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4326 left_y=-0.0555 left_z=0.1526 left_yaw=0.1825 left_pitch=-0.086 left_roll=0.0387 left_gripper=0.3546 right_x=0.2353 right_y=0.0042 right_z=0.0626 right_yaw=-0.003 right_pitch=-0.0095 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -7.6923, 7.8974, 2.2051, -0.2662, -0.0269, -0.0269, -0.1026, 0.1709, 6.5846, 1.8095, -0.0855, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2947, 1.5311, 0.9131, -0.0433, -0.4019, -0.2913, 0.9951, -0.0193, 0.3969, 0.0856, -0.2691, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4304 left_y=-0.0547 left_z=0.14 left_yaw=0.1819 left_pitch=-0.0382 left_roll=0.0147 left_gripper=0.9951 right_x=0.2347 right_y=0.0043 right_z=0.061 right_yaw=-0.0027 right_pitch=-0.0122 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -8.3761, 6.735, 1.8242, -0.2759, -0.0464, -0.1392, -0.2256, -0.0205, 6.7214, 1.7656, -0.0464, -0.0073, -0.0073]",
      "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]: [-0.0628, 1.4635, 0.6201, 0.2081, -0.2413, -0.1791, 0.9962, -0.0193, 0.3866, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3961 left_y=0.021 left_z=0.0881 left_yaw=0.2213 left_pitch=-0.0515 left_roll=0.0072 left_gripper=0.9962 right_x=0.2351 right_y=0.0043 right_z=0.063 right_yaw=-0.0027 right_pitch=-0.0023 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.1709, -7.3504, 6.147, 1.9072, 0.1001, 0.2027, 0.1001, -0.2393, 0.4034, 6.3385, 1.7558, -0.0611, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfb0d82f63369da972929f9c5dffd2f55ba9bee8c216678309f7ff173919e3a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77a2d81538d02f54c3c1d98d24642fae11fe7ec20e1d282537f213554f9c2812",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ada1e3c8ec172780a20421b1211a11d6fc07a3e21c66dbfa779fe2ba646e65c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RCnx7D5rcsZ2DSspAByA3T",
      "input": {
        "note": "The lying bottle sits nearer the base than my gripper (it's out of the wrist view, which only shows the standing bottle to the right); pulling back 8 cm to bring it into view.",
        "targets": {
          "left_x": 0.32,
          "left_y": 0.025,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01RCnx7D5rcsZ2DSspAByA3T",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0708, 1.1122, 0.3496, 0.1989, -0.2478, -0.1646, 0.9964, -0.0193, 0.3862, 0.0849, -0.2687, -0.0296, -0.0349, 0.9994]\nstate[eef_state]: left_x=0.3284 left_y=0.0237 left_z=0.0941 left_yaw=0.2106 left_pitch=0.0182 left_roll=0.0029 left_gripper=0.9964 right_x=0.2351 right_y=0.0043 right_z=0.0631 right_yaw=-0.0029 right_pitch=-0.0019 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -2.7145, 6.3385, 1.8242, -0.1538, -0.1783, -0.0024, -0.0342, 1.1692, 6.8991, 1.7265, -0.0659, 0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e3fc31144066bcd7923c173dc88eda3733b8b3691af5eabc5dac9d0b508179d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63279755011ceb54b4d9ea7309e453130a323c39aa103d6352c4b143fdc41950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f1d3e4731b6bea782138507f9e30c07a53bf71b033aa2c08732c199d9225cd19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 31.79 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2947, 1.5311, 0.9131, -0.0433, -0.4019, -0.2913, 0.9951, -0.0193, 0.3969, 0.0856, -0.2691, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4304 left_y=-0.0547 left_z=0.14 left_yaw=0.1819 left_pitch=-0.0382 left_roll=0.0147 left_gripper=0.9951 right_x=0.2347 right_y=0.0043 right_z=0.061 right_yaw=-0.0027 right_pitch=-0.0122 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -8.3761, 6.735, 1.8242, -0.2759, -0.0464, -0.1392, -0.2256, -0.0205, 6.7214, 1.7656, -0.0464, -0.0073, -0.0073]",
      "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]: [-0.0628, 1.4635, 0.6201, 0.2081, -0.2413, -0.1791, 0.9962, -0.0193, 0.3866, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3961 left_y=0.021 left_z=0.0881 left_yaw=0.2213 left_pitch=-0.0515 left_roll=0.0072 left_gripper=0.9962 right_x=0.2351 right_y=0.0043 right_z=0.063 right_yaw=-0.0027 right_pitch=-0.0023 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.1709, -7.3504, 6.147, 1.9072, 0.1001, 0.2027, 0.1001, -0.2393, 0.4034, 6.3385, 1.7558, -0.0611, -0.0806, -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]: [-0.0708, 1.1122, 0.3496, 0.1989, -0.2478, -0.1646, 0.9964, -0.0193, 0.3862, 0.0849, -0.2687, -0.0296, -0.0349, 0.9994]\nstate[eef_state]: left_x=0.3284 left_y=0.0237 left_z=0.0941 left_yaw=0.2106 left_pitch=0.0182 left_roll=0.0029 left_gripper=0.9964 right_x=0.2351 right_y=0.0043 right_z=0.0631 right_yaw=-0.0029 right_pitch=-0.0019 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -2.7145, 6.3385, 1.8242, -0.1538, -0.1783, -0.0024, -0.0342, 1.1692, 6.8991, 1.7265, -0.0659, 0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e3fc31144066bcd7923c173dc88eda3733b8b3691af5eabc5dac9d0b508179d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63279755011ceb54b4d9ea7309e453130a323c39aa103d6352c4b143fdc41950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1d3e4731b6bea782138507f9e30c07a53bf71b033aa2c08732c199d9225cd19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WPV58mEQMZ8Wo232Dq8Qe1",
      "input": {
        "note": "I can't tell from the oblique top camera whether the two placed bottles are really standing; raising the left arm high and back so its wrist camera gives a clear overview of all three.",
        "targets": {
          "left_x": 0.22,
          "left_y": -0.12,
          "left_z": 0.45
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01WPV58mEQMZ8Wo232Dq8Qe1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8944, 1.3628, 1.9778, -1.5532, -0.8463, -0.86, 0.9964, -0.0193, 0.3859, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.2572 left_y=-0.1034 left_z=0.4099 left_yaw=0.2133 left_pitch=-0.0015 left_roll=-0.0422 left_gripper=0.9964 right_x=0.2352 right_y=0.0043 right_z=0.0632 right_yaw=-0.0027 right_pitch=-0.0015 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.5128, -2.7829, 5.9829, 1.0427, -0.5055, 0.315, -0.0073, -0.253, 0.6496, 7.1179, 1.7216, -0.0317, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bebd6370d1a69eaae55893f5664c0af48dab103359f732b2516b5bf4408206a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e99f065cc9dbeeeb9402d1a0fa092e99b7e4c507fab5f382b6fa22d8c98a789c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d56619ed864f6b517483f5aabe55578d1cf993996d6d4e01d170ee297ec6fba",
        "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 · 11.13 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]: [-0.0628, 1.4635, 0.6201, 0.2081, -0.2413, -0.1791, 0.9962, -0.0193, 0.3866, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3961 left_y=0.021 left_z=0.0881 left_yaw=0.2213 left_pitch=-0.0515 left_roll=0.0072 left_gripper=0.9962 right_x=0.2351 right_y=0.0043 right_z=0.063 right_yaw=-0.0027 right_pitch=-0.0023 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.1709, -7.3504, 6.147, 1.9072, 0.1001, 0.2027, 0.1001, -0.2393, 0.4034, 6.3385, 1.7558, -0.0611, -0.0806, -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]: [-0.0708, 1.1122, 0.3496, 0.1989, -0.2478, -0.1646, 0.9964, -0.0193, 0.3862, 0.0849, -0.2687, -0.0296, -0.0349, 0.9994]\nstate[eef_state]: left_x=0.3284 left_y=0.0237 left_z=0.0941 left_yaw=0.2106 left_pitch=0.0182 left_roll=0.0029 left_gripper=0.9964 right_x=0.2351 right_y=0.0043 right_z=0.0631 right_yaw=-0.0029 right_pitch=-0.0019 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -2.7145, 6.3385, 1.8242, -0.1538, -0.1783, -0.0024, -0.0342, 1.1692, 6.8991, 1.7265, -0.0659, 0.0171, -0.0073]",
      "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]: [-0.8944, 1.3628, 1.9778, -1.5532, -0.8463, -0.86, 0.9964, -0.0193, 0.3859, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.2572 left_y=-0.1034 left_z=0.4099 left_yaw=0.2133 left_pitch=-0.0015 left_roll=-0.0422 left_gripper=0.9964 right_x=0.2352 right_y=0.0043 right_z=0.0632 right_yaw=-0.0027 right_pitch=-0.0015 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.5128, -2.7829, 5.9829, 1.0427, -0.5055, 0.315, -0.0073, -0.253, 0.6496, 7.1179, 1.7216, -0.0317, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bebd6370d1a69eaae55893f5664c0af48dab103359f732b2516b5bf4408206a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e99f065cc9dbeeeb9402d1a0fa092e99b7e4c507fab5f382b6fa22d8c98a789c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d56619ed864f6b517483f5aabe55578d1cf993996d6d4e01d170ee297ec6fba",
        "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_01MW29Ar1bqjkosJVHwhc5bP",
      "input": {
        "note": "Evidence says my grasps were empty and nothing has moved yet. Putting the open gripper down on the table at a known point (x=0.40, y=-0.13) so I can calibrate the overhead view against the bottles' pixel positions.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.13,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01MW29Ar1bqjkosJVHwhc5bP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.59, 1.8381, 0.7036, 0.3275, -0.6724, -0.5457, 0.9965, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3888 left_y=-0.1236 left_z=0.0196 left_yaw=0.2338 left_pitch=-0.0385 left_roll=0.0368 left_gripper=0.9965 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.7863, -6.2838, 4.8342, 1.7216, -0.0708, 0.2418, -0.0073, -0.3897, 0.4991, 6.9949, 1.7411, -0.0855, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c36aa464aec90f41b3ee11a271907ebc8f2065f43f099ce4955c6e004dcc7910",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:199f4328661109f9707bd3cbcea38102ecc781b2d7760e0255c57b8c1af4c8f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7d79c496e3628ea1dd21f5d14727af191ce95d84d751d5a2aabf9902577b57a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 11.09 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]: [-0.0708, 1.1122, 0.3496, 0.1989, -0.2478, -0.1646, 0.9964, -0.0193, 0.3862, 0.0849, -0.2687, -0.0296, -0.0349, 0.9994]\nstate[eef_state]: left_x=0.3284 left_y=0.0237 left_z=0.0941 left_yaw=0.2106 left_pitch=0.0182 left_roll=0.0029 left_gripper=0.9964 right_x=0.2351 right_y=0.0043 right_z=0.0631 right_yaw=-0.0029 right_pitch=-0.0019 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -2.7145, 6.3385, 1.8242, -0.1538, -0.1783, -0.0024, -0.0342, 1.1692, 6.8991, 1.7265, -0.0659, 0.0171, -0.0073]",
      "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]: [-0.8944, 1.3628, 1.9778, -1.5532, -0.8463, -0.86, 0.9964, -0.0193, 0.3859, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.2572 left_y=-0.1034 left_z=0.4099 left_yaw=0.2133 left_pitch=-0.0015 left_roll=-0.0422 left_gripper=0.9964 right_x=0.2352 right_y=0.0043 right_z=0.0632 right_yaw=-0.0027 right_pitch=-0.0015 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.5128, -2.7829, 5.9829, 1.0427, -0.5055, 0.315, -0.0073, -0.253, 0.6496, 7.1179, 1.7216, -0.0317, -0.0659, -0.0122]",
      "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]: [-0.59, 1.8381, 0.7036, 0.3275, -0.6724, -0.5457, 0.9965, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3888 left_y=-0.1236 left_z=0.0196 left_yaw=0.2338 left_pitch=-0.0385 left_roll=0.0368 left_gripper=0.9965 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.7863, -6.2838, 4.8342, 1.7216, -0.0708, 0.2418, -0.0073, -0.3897, 0.4991, 6.9949, 1.7411, -0.0855, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c36aa464aec90f41b3ee11a271907ebc8f2065f43f099ce4955c6e004dcc7910",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:199f4328661109f9707bd3cbcea38102ecc781b2d7760e0255c57b8c1af4c8f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7d79c496e3628ea1dd21f5d14727af191ce95d84d751d5a2aabf9902577b57a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/woKjgEIEhgCKkChSnEYe+Xm7x4wLwPkHbcodhTYpthB8BNFj83GefGbMG+EZ9jPq+6QI0r4UcecVgiV7Z1gkdVuE/Zr9ycI9kkTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeGyzNUGEgwa0BaLObKKIgAqd7AaDLPbYTb04XmT60b1BiIw9qNhYvJvU0Q1WjI0Wc5rV0EwKBzLl6djNwBMiOBbP35I8XDCjx6aIsMeazSAob87Kp0Jbyd1t0LR1xIfHopKELK9HxlFHfOhIgj6nDb27cRVIybO7r9wpVZR1sOAb7p2523/1i334qkEtbVeZ33YJw7Wb37/aKx3oPuR0HfxRbokI74GrQYqq3ApPSn2OQbCMhqQFIJLGeqNUd/vSy+bMO3IpB4jCjiFMVhpQCr9G7IeE1eqel6Ho4nMDA6T7SZM4+Fd0iHa/l0//sJftynThSQ5jquNuoLP9/B1+LddcE5u2GwC89qVE6hobAIri8G9NASHaX6d7MjnnhgUAIFWoxFOqPN6uNkH2LCGfh+DxpKVzPitu8NGqlx2nhJmh5kmEZC3XYlQmKg0htPSIsn4eVFS56ZZi1SP3eREHJAFS8V5gOy9KHADuWW2YsdMR0GqisVwhDtYUFYEgHwUucmRMUtuF8Djy0cPIVzgpNZ9yWpbVbjCA87y/m1IoXFc2y0tT7lrv7/Ao2485oNty7bzOFrckmQMC6Up53+ARRw8VCC89BbTMeDc2dX+ujxkicLSLYzKXJrmL0HnfEoiwjbkk24nUdMQUjFdvMXAI/MEYbAUXOgPO28eHMdf91/sK0/BN9jYpDwRmAj3m6IPdaRyVhYYTtCH3lwJA40Twp4pLtA9AIye/XbjOkerQ3ExcBjamurDXnkpti0tCqVmoqwhlOUcevqWBEVW9RZ8BPo3GKCedLX81JwY6YS+MMltAOKX8sVT9UhNb6MYrLdaLsSBSTCVAdvZaR6LfQ4OHz/9nNU11YIXdNAsetS4IAwAIyOFR6cwqRqt6v3saIwGBglIromdgHa6DS8zYOCVpbckpnqbWzXwS/rvEXwb3Wm0RpShYxlXZm7VNcScEjtOK0pTSYyITCHTAT1KFIk6Q94oEPJnHEBRyC/NP2eqFXvd2l+gXR5y0a932y/Dcu8g8psdZt3QFfEXA/n5btDmGqHNQosUTQTHOSy04yoQ7sLxvlX2QxMHp9nB7/0r0BWQrpYTAr1AA004vk51dKhXdmhfQOYu7b2pdtjqfV71V12iPuB4t3l2X1EFPvjxxsnBJuT4UkB94pIB2LWusJy7znQUEb6gONvA5cRA6VBJ7atLghMzkHy2eCdyaJOnmTMxfoKRXLr+dYMwCLXbD7w4Sd8euAkPfmpQhibzVidvoUP5L5vml+rlTKk4pLJEddOXacuiIRxvByP29ddESfRbBf0PSvk6LqbqJv6HiWPXZ6a4CTF6uzEvr7+jtwGxrYt2vtDfYAaZX+AETLF43HnVpvCpHrnf4znsYdcKVK4oIzXkkC9ioQ44kHL4eaD5imxb1+jaFIHvWOufF5pONX75SaqY13dtjxDQG5DrEAV657tWT3pPFmaZPshQOHPCxKgRvwR2kfuIjgIohf1SpWBTJA/SF+mKmrrjWWyJE3i57ZSo6dKyDQMdbK34I4fOnMMEVXua62K8zC/X25LjMMxO/UTepICX2DFkNb1d9/SY+L6BGnUzKnaW9qoTYzMCNUhaucwDCuaGyTqnfM0cHaV4FhnZlkijLn+1d0Cwc1OIwSTSbOWlGhzLpslYEcGcf5Z7UxIEFWLY+iNxN8B9R3vgOIBx8tAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GqTAicMzhea96WP2JbZpZh",
      "input": {
        "note": "The wrist view shows a bottle filling the frame right at the jaws; closing fully as a probe — the settled opening will tell me whether I have the body (~0.65), the neck (~0.3) or nothing (<0.04).",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GqTAicMzhea96WP2JbZpZh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5892, 1.866, 0.6643, 0.4309, -0.6743, -0.5499, 0.5866, -0.0193, 0.3878, 0.0849, -0.2684, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3879 left_y=-0.1223 left_z=0.0129 left_yaw=0.2375 left_pitch=-0.0129 left_roll=0.0076 left_gripper=0.5866 right_x=0.2351 right_y=0.0043 right_z=0.0628 right_yaw=-0.0027 right_pitch=-0.003 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -9.4427, 4.4923, 1.4676, -0.3101, -0.0171, 1.033, -0.2393, 0.4581, 6.8171, 1.7509, -0.0806, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:803e7ffd76847bd895662e5e4a4140268d6bab2d3bf8253afe4002a79d41f473",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4f12ed8428891699b388df0e3ecbce496bca1cf96632c57514172386020de7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa91527aa91bd8b75e52f72e6403a7898bbc34ffdabab1c014065af04f99e3de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 7.009 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]: [-0.8944, 1.3628, 1.9778, -1.5532, -0.8463, -0.86, 0.9964, -0.0193, 0.3859, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.2572 left_y=-0.1034 left_z=0.4099 left_yaw=0.2133 left_pitch=-0.0015 left_roll=-0.0422 left_gripper=0.9964 right_x=0.2352 right_y=0.0043 right_z=0.0632 right_yaw=-0.0027 right_pitch=-0.0015 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.5128, -2.7829, 5.9829, 1.0427, -0.5055, 0.315, -0.0073, -0.253, 0.6496, 7.1179, 1.7216, -0.0317, -0.0659, -0.0122]",
      "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]: [-0.59, 1.8381, 0.7036, 0.3275, -0.6724, -0.5457, 0.9965, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3888 left_y=-0.1236 left_z=0.0196 left_yaw=0.2338 left_pitch=-0.0385 left_roll=0.0368 left_gripper=0.9965 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.7863, -6.2838, 4.8342, 1.7216, -0.0708, 0.2418, -0.0073, -0.3897, 0.4991, 6.9949, 1.7411, -0.0855, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5892, 1.866, 0.6643, 0.4309, -0.6743, -0.5499, 0.5866, -0.0193, 0.3878, 0.0849, -0.2684, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3879 left_y=-0.1223 left_z=0.0129 left_yaw=0.2375 left_pitch=-0.0129 left_roll=0.0076 left_gripper=0.5866 right_x=0.2351 right_y=0.0043 right_z=0.0628 right_yaw=-0.0027 right_pitch=-0.003 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -9.4427, 4.4923, 1.4676, -0.3101, -0.0171, 1.033, -0.2393, 0.4581, 6.8171, 1.7509, -0.0806, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:803e7ffd76847bd895662e5e4a4140268d6bab2d3bf8253afe4002a79d41f473",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4f12ed8428891699b388df0e3ecbce496bca1cf96632c57514172386020de7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa91527aa91bd8b75e52f72e6403a7898bbc34ffdabab1c014065af04f99e3de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISggsKjgEIEhgCKkDZ4z7k8bWjmV+zbJ99i2OWLTxCVX21P9Yki5BDRwnxDd/kzCRKnl8GXctXJJrfKUNKAQXp3VbjTAJ6IkEoECWgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe2yzNUGEgz2KaEVbDdyzRhqC9kaDPpfelgcM3GwwXp8PyIwvdNteSX+GVFs3aZkfnWP4QVjzid0fAKaXs1IRWmU4B8/bjn1XFUr3cXi3H94OvwzKqAJb6gxUbX4C50QHOEyXFF7cmgaaUd+venWo02ESDv7BMPIkmU+Jh2UunpL6WnOdLtaXxgtD52YtRKEUKvC7lhrXViR8vzySD4EVVlXwjNZ6SpL3yzihkC4zIQyBl5msXP4T8uiiPKHwPnoASd8E9pJH6THG+yUU9Dth5DBDZQkO+FDOo78NRPmM2IeTQSF6AxhOugw/Le5W2/zQPSfbnzzlRwAIWruBhQ8eyXaALzxHksJneDOxxS54mlzblB8wtRN1r4/jjBy8pQBofIs0JGfva7Y8fAJNnWIFTPyx3/etq+d5WpeKE/Q1j+0NWGfr9rB1SsNyjzjWSZVdX6KiNw9iuqHCdkD2nhY4wwwIs+emg7wI2HLmziWsu+8DKGjb0itPBwG8Iy0F5B4vzWsCTzFZ8oQRj+YaYz069y4s0kP2mIbuRzFqupb+15UXZk2SO6Ta8k8fYnXfaK20PqOT8CB2UXJSDRsFnU9IdV88G8odAJOwqiGpAc15yuleKAdcPG4uVJjlwX73PzgFMsXKAs/lW8NUO3ArJjVwjxNotocGAosBTHuMkKeoZykNbHbAbcpbBGtY0NcuSkjwAPrWFOHMURVxFw2By67xmBMoWmiW4j5ca+Qgili73KuRhhgdE3ztMYOTevyX1oB6XbfpsmqElSyMnrBhryerzOqG1yBBkH0fcbz4nKN3oJM27gf5098SEMVQYLLJWXOiN85CMJEzEuNw5mf+xE/Iwj9lJCo0I6UZd4yNnc+z0p5P0zaeTS5Ge740rQuIwhJ08MqfKNhvLgaEELGaweUcBuVMt+mp+ZSbkD8gsCihxQuYH4XDhfnQ3kVLiyqFXrbEsJlS7L0NTthERKQY7O/jRoKTu4efVLjI4rTc0zq8xu680w3ZpYL2jGL9F0Mxt/DWj+mi+xmRsiTb068iXLVZ5ggGSk/pllQv0znl6O+g/dbSmbwb8RdTxgXDTsCI+OE9kJymHovCqJSjAG3c3jr6pk69MbRzY9jyAlLCvY95ZnSwHWzveUKrQodvFzY8IqmhmdN8VoSQ+bUdcVIp7f60kv/Ew22o7CLG6G9q5xQZ876wUyMfEk0uytN63H/108WusgremTdLBhmY7FlZzIExjZgFsdEfzqF8fpTGhxOsGg5sEs8VaGkpQnEqZ0sY8n6kRfewiQNvLz6XqMsxGZzAHgIkt2IAX9yrIJ7M8lurpxr6BJoXMut8BdLGEfG8iEh6zTE3QzDQk/Cs+nUmABYq/QU7M8MbyYWQu6WdtknLWR0jNpSnsMYfnCnD70Bn+HkVjW0mS0l6OuQaImebW3MMtYKCS1ZVPaihYyG3DjhW7qib6BOhp2sisSPy4wEjzPojq2xs0cPq7y9wpu9P/E86RrPGjd4BAQXsakrm2VZGLDp6Wf6Wv/r5f9o70a++F0ed0cLt15A7zahzst4uQTC/BvXOzOzihLdAYktvBbcCo6ZQGJcRi0sFp+1ggadOMl7of0ixCAa2D+xfHAJoKigUiVIXcaWXAE2gpBZjSg9LbcqtsMoIwOxS5y5zY7nmasP/UKUgOocCljt6o3xqGuImUBx3kHZf6kYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A4F8B5XEHmHwfVuKYJPFFY",
      "input": {
        "note": "Full close read 0.59 (5.6 cm) — that was the bottle body, so I finally know exactly where this bottle is. Reopening and sliding ~7 cm forward along the bottle toward its cap to get the jaws around the neck.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.455,
          "left_y": -0.118,
          "left_z": 0.022
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01A4F8B5XEHmHwfVuKYJPFFY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4797, 1.9831, 0.8524, 0.4072, -0.6159, -0.4892, 0.6012, -0.0193, 0.3878, 0.0849, -0.2684, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4437 left_y=-0.1117 left_z=0.0161 left_yaw=0.2711 left_pitch=-0.0081 left_roll=-0.003 left_gripper=0.6012 right_x=0.2351 right_y=0.0043 right_z=0.0628 right_yaw=-0.0027 right_pitch=-0.003 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.4444, -8.8821, 6.8991, 1.5018, -0.2027, 0.2173, 0.2906, -0.4034, 0.4855, 6.9675, 1.7314, -0.0806, -0.0317, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13f6c74654efc8c7bc7498e548feec73a6498fd9fe1e2c8629248bc684b3c908",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e2123c50c9d12daf0968cd6c1615d87a163efcedefe5cc648e34ff127016131",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19caac34213294c2a9dc1e2ea0187a79fab53b85d2dad40dea60e2b5a0bd6005",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 18.04 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]: [-0.59, 1.8381, 0.7036, 0.3275, -0.6724, -0.5457, 0.9965, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3888 left_y=-0.1236 left_z=0.0196 left_yaw=0.2338 left_pitch=-0.0385 left_roll=0.0368 left_gripper=0.9965 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.7863, -6.2838, 4.8342, 1.7216, -0.0708, 0.2418, -0.0073, -0.3897, 0.4991, 6.9949, 1.7411, -0.0855, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5892, 1.866, 0.6643, 0.4309, -0.6743, -0.5499, 0.5866, -0.0193, 0.3878, 0.0849, -0.2684, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3879 left_y=-0.1223 left_z=0.0129 left_yaw=0.2375 left_pitch=-0.0129 left_roll=0.0076 left_gripper=0.5866 right_x=0.2351 right_y=0.0043 right_z=0.0628 right_yaw=-0.0027 right_pitch=-0.003 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -9.4427, 4.4923, 1.4676, -0.3101, -0.0171, 1.033, -0.2393, 0.4581, 6.8171, 1.7509, -0.0806, -0.0366, -0.0073]",
      "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]: [-0.4797, 1.9831, 0.8524, 0.4072, -0.6159, -0.4892, 0.6012, -0.0193, 0.3878, 0.0849, -0.2684, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4437 left_y=-0.1117 left_z=0.0161 left_yaw=0.2711 left_pitch=-0.0081 left_roll=-0.003 left_gripper=0.6012 right_x=0.2351 right_y=0.0043 right_z=0.0628 right_yaw=-0.0027 right_pitch=-0.003 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.4444, -8.8821, 6.8991, 1.5018, -0.2027, 0.2173, 0.2906, -0.4034, 0.4855, 6.9675, 1.7314, -0.0806, -0.0317, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13f6c74654efc8c7bc7498e548feec73a6498fd9fe1e2c8629248bc684b3c908",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e2123c50c9d12daf0968cd6c1615d87a163efcedefe5cc648e34ff127016131",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19caac34213294c2a9dc1e2ea0187a79fab53b85d2dad40dea60e2b5a0bd6005",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8wcKjgEIEhgCKkB/GtB4bKCUn54x9OmZbdmF9Qwg5xWrlp+L9XsrFGu2AoW2BCBwu4fYyXSEnlj57/kiPmoHu+LlbczIcYtA25fUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfWyzNUGEgz67h2UB+cUfEOQJUoaDF49qBJY2x6qCEp7+iIw5PsbTdiIHRtAr5+dvD0pcgfO33lQbOtRC2W+107mIEVGPO2Vc0hLkqbJsgYfdp0oKpEG+HmLI1T19M8JHQ7La/zwFSE0SCinAsYwC/ciHP0kVhE5cXxARDkoLXOx1P2kciiXGJfkzLYNvRI2oGsAgF+j/d3z339A+Y3slsmKYPJkGK0bNefDb4rtyplfW/iN9uiGROXErDt8AXVJmtPtph94AcH7dmBmfYkI+X1ERvbTWcxKEU0+7kvzVbJ6M/0LPMVlrRQPOPzPIH3aQsSm9zgyoMSEzqqPZq+LfNEgfEggaogTSyKX0lgGLiyCkZGOOn2DXvmBw02sNLpsXkBFjpA320SITIBGMrjoFNOg3L0BJ+e1icOZ6u8oZ/nLp9Y/ANFbfhzVqv5L5wtzv0Dp9fnEgXOPDg7CHTFj057N+HzhmL6wCqVvVr514b6zfYfvJoVWWmuoSa/aic/eFtsWL92c7/Qu4CswPuTh1l37tmj4Vkgn3aADEf250dfMDJVGq0lmI/8PcwbGaQixZljQqtDxELMhvz7w2EVSA0Q0s2Feaej7jc+txPL3Qmyb9rVB4KaQcKA4+7frJKfV0DQmafI+XTFLl3L19/ezlfEzRSK9YPJS8jhtDCQwkt5NufRmDDXB7TOPu7OijH745/63LNltbIWq8TIUQvwL5fqR4Q8KpF+dALO5FjKHQ8TBTmMWM55AY+++cB+2aFbOsCJC62/C5n1padvro601ihbUUCH1Jm1hBv3mS5OaCof+siZSy2GKOjDTdkVS8LCeHIrs+wQOWX242X+yXgpIytA+rN1YtM/YPjU8plJeDoXzVPw/cGSFUCEJqDNIIUFUw2TfERp0Z2NqBn7NWFKoWbH+uN9ipDejQYjWOS+h9jv55Z6icJqPJP05NT2CmCHVbhaLi0aSI/IAzmVJYM+/qU85hU1w0W3ENHgxjDpikIJU6WUgPuN1VXvDcZ8l0WzFfonjXRrvOxYrLZ7QSnTWhQY3gjEnFOvN2HmcS5hq2dgjdv9Lw1L5VDpooCaGjDJEk2m3ClijV20EW7/upOwMKM0q5UZDJHCRMBSRNVHwBW+TDkoEBF54dQ/rtiXCTSNHaeXval4LflAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AhqNVvoeFdLn8Wg5yRmw87",
      "input": {
        "note": "The gripper only partly reopened and dragged the bottle forward with it; commanding a full open to release before repositioning.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01AhqNVvoeFdLn8Wg5yRmw87",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4782, 1.9934, 0.8516, 0.4118, -0.6132, -0.4786, 0.9944, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4433 left_y=-0.1112 left_z=0.012 left_yaw=0.265 left_pitch=-0.0142 left_roll=0.0091 left_gripper=0.9944 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -9.8667, 4.5333, 1.5702, -0.4078, -0.0611, -0.1343, -0.2803, 0.7863, 6.9675, 1.7509, -0.0659, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c05ff166c77af119530a9894d62feedc8576e75404d59107432f95211a148f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31cee7853823add8fb674f72ba9fae408e57b79c7ab03f8c2533992debbdf948",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bdd37fd36a9b2f81242e08ebdc184d36ecc18276e0160b5995e652749a0da7e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 7.24 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]: [-0.5892, 1.866, 0.6643, 0.4309, -0.6743, -0.5499, 0.5866, -0.0193, 0.3878, 0.0849, -0.2684, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.3879 left_y=-0.1223 left_z=0.0129 left_yaw=0.2375 left_pitch=-0.0129 left_roll=0.0076 left_gripper=0.5866 right_x=0.2351 right_y=0.0043 right_z=0.0628 right_yaw=-0.0027 right_pitch=-0.003 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -9.4427, 4.4923, 1.4676, -0.3101, -0.0171, 1.033, -0.2393, 0.4581, 6.8171, 1.7509, -0.0806, -0.0366, -0.0073]",
      "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]: [-0.4797, 1.9831, 0.8524, 0.4072, -0.6159, -0.4892, 0.6012, -0.0193, 0.3878, 0.0849, -0.2684, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4437 left_y=-0.1117 left_z=0.0161 left_yaw=0.2711 left_pitch=-0.0081 left_roll=-0.003 left_gripper=0.6012 right_x=0.2351 right_y=0.0043 right_z=0.0628 right_yaw=-0.0027 right_pitch=-0.003 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.4444, -8.8821, 6.8991, 1.5018, -0.2027, 0.2173, 0.2906, -0.4034, 0.4855, 6.9675, 1.7314, -0.0806, -0.0317, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.4782, 1.9934, 0.8516, 0.4118, -0.6132, -0.4786, 0.9944, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4433 left_y=-0.1112 left_z=0.012 left_yaw=0.265 left_pitch=-0.0142 left_roll=0.0091 left_gripper=0.9944 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -9.8667, 4.5333, 1.5702, -0.4078, -0.0611, -0.1343, -0.2803, 0.7863, 6.9675, 1.7509, -0.0659, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c05ff166c77af119530a9894d62feedc8576e75404d59107432f95211a148f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31cee7853823add8fb674f72ba9fae408e57b79c7ab03f8c2533992debbdf948",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdd37fd36a9b2f81242e08ebdc184d36ecc18276e0160b5995e652749a0da7e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AZJjXLSf8658tuwp87KCcy",
      "input": {
        "note": "Jaws are open and straddling the bottle's body; sliding 4 cm further forward so they sit on the tapered shoulder just behind the cap, which is the spot that lets the bottle swing upright.",
        "targets": {
          "left_x": 0.487,
          "left_y": -0.105,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01AZJjXLSf8658tuwp87KCcy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4168, 2.0449, 0.9676, 0.3687, -0.5831, -0.4629, 0.9956, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4749 left_y=-0.0999 left_z=0.0181 left_yaw=0.295 left_pitch=-0.0116 left_roll=-0.0068 left_gripper=0.9956 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.253, -8.9094, 7.5692, 1.7167, -0.1929, 0.2662, 0.1099, -0.1709, 0.5812, 6.8171, 1.7314, -0.0855, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44ec24bc7bd9bc31813fb08d333f637ed658fbaa703e9890c2e6e583c3538239",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e56e0a50135e849e92c989c9cf0df2786c9a2320b5e4948a58026a09da6f4818",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:11fef4573261e16570d5a2b72296dded2c49463a6ffd33c6484d8bf047ee9c0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 12.1 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]: [-0.4797, 1.9831, 0.8524, 0.4072, -0.6159, -0.4892, 0.6012, -0.0193, 0.3878, 0.0849, -0.2684, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4437 left_y=-0.1117 left_z=0.0161 left_yaw=0.2711 left_pitch=-0.0081 left_roll=-0.003 left_gripper=0.6012 right_x=0.2351 right_y=0.0043 right_z=0.0628 right_yaw=-0.0027 right_pitch=-0.003 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.4444, -8.8821, 6.8991, 1.5018, -0.2027, 0.2173, 0.2906, -0.4034, 0.4855, 6.9675, 1.7314, -0.0806, -0.0317, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.4782, 1.9934, 0.8516, 0.4118, -0.6132, -0.4786, 0.9944, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4433 left_y=-0.1112 left_z=0.012 left_yaw=0.265 left_pitch=-0.0142 left_roll=0.0091 left_gripper=0.9944 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -9.8667, 4.5333, 1.5702, -0.4078, -0.0611, -0.1343, -0.2803, 0.7863, 6.9675, 1.7509, -0.0659, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4168, 2.0449, 0.9676, 0.3687, -0.5831, -0.4629, 0.9956, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4749 left_y=-0.0999 left_z=0.0181 left_yaw=0.295 left_pitch=-0.0116 left_roll=-0.0068 left_gripper=0.9956 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.253, -8.9094, 7.5692, 1.7167, -0.1929, 0.2662, 0.1099, -0.1709, 0.5812, 6.8171, 1.7314, -0.0855, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44ec24bc7bd9bc31813fb08d333f637ed658fbaa703e9890c2e6e583c3538239",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e56e0a50135e849e92c989c9cf0df2786c9a2320b5e4948a58026a09da6f4818",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11fef4573261e16570d5a2b72296dded2c49463a6ffd33c6484d8bf047ee9c0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAcKjgEIEhgCKkAmyfMfY0wnharrZ6yY0Gn+6anBHKe01NedazDh24NZkmmnUPVOTHqQsiB51ruWGGO5bQ8ibnxrx2ryLQnc6A3NMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY+zzNUGEgzhb5nr6TF3AwR4R0YaDEQplw4w8s1TZpvWRiIwQBdNIyo/YKWDVeV7BOlrqi9XrWDoqF3UnUPyX6WSO8yKAOyaz8FeEIntkIc0bckUKtIFfM05NpnynieEeXFWC8R2YZQ9qn85r3aWviI+JnWIg+X/lhsYcuCO8r5gIoMWoptl4M8hdnYs00UeqpBx9SnwhKnVRNpi5VvUulKa/pl8jYJXK8LJ8Sk7oFSS9j529wI0xZ3HfNj0E/6RDRJ5G0roWW9uXIBTWwqgIdfqMW3ap1pYeknVWPQ3xueDhDes7JyL2EoKAeLMh1k9mKRL4JqeXifoAnUU0GKconpx0PrQ404jJxRZVC0gbuUznKbGqGg8n5rFohg/xgak91nfHC+dGMWLwgsI1/zL+JD6wD+NOUEWDen/MRtm6oMJwKexlgM82yF6bVjNCb9FFr+yVkFe/+mPqrFhqBECCFKQnmEB72usChyxUdEXb1rxd7laf2bmOpUhxCUqplHVD3rsXl0RbufnOv/Cmemrx5GfVt5Vw1BPn3o2Z3V5Fl1aB6BDAGix+gODoZ9GJS1+Z29jr/omGyxFK7yzchXqBjFtyyQkXWbONWUOOIowFqdwxrxlHOG+xQGGERH9dClLrk47pDXoyILUOqETSYhIuCNUGn5dncv0Ywxb8zipNvP0CnIQzc04Hh4Ancs3ZuoRgqB9uR0FAD1efczB/aq9JelceczIxDXBccYe8JoVUUw31sjz1mzBvTYh3AeNerCNqatTdntD+/syVYHdXAAkulg0G8iqkCmrY5m0lKLJKSOAQEo2y7gVFcrIsMZT0Qr0Qp3EpdMchPaJ76nVAXDM//qWybtZb1vmP/eQbwDKDyMhFQnOblKZFMoGErKb2OIEv3gpID81k8rhreC+6G531CDcwHTkl1/Jt47fdKibWVWifaHIyrgn5CsuhLT+s8LEHKsWXhjiQGN21RZ8aLjRL0SmrBzdEfEjpuhGbQaqK/RRHMX6+qe3jcJwA7Y6QV1j6QBLJOZWltBGDJN/68Hp33IqKM4XcwYjHP4fkJA8ibsHu5c1o0ejPtUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015RYDED7mwueEK9WgZMSJzT",
      "input": {
        "note": "Closing the jaws to 4.3 cm at the bottle's shoulder — loose enough there for the bottle to pivot cap-up when lifted.",
        "targets": {
          "left_gripper": 0.45
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015RYDED7mwueEK9WgZMSJzT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4191, 2.0533, 0.9646, 0.379, -0.5903, -0.4492, 0.562, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4743 left_y=-0.0997 left_z=0.0155 left_yaw=0.291 left_pitch=-0.0094 left_roll=0.0091 left_gripper=0.562 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -10.4274, 4.8752, 1.5897, -0.232, -0.0855, 0.9988, -0.2393, 0.5128, 6.8171, 1.7216, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38f1545ccc7cb0c6548d3bac408254260e490c63ba8367340b642647db7393d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cf0306b54dc97a9aef9e7ff056a3c0aaaaed74b05c480d664d66a8e33d439f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5399eb43d9e5e600686744db91d1c2228a9965428ca9579be6a9491ff0f6d285",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 6.214 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]: [-0.4782, 1.9934, 0.8516, 0.4118, -0.6132, -0.4786, 0.9944, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4433 left_y=-0.1112 left_z=0.012 left_yaw=0.265 left_pitch=-0.0142 left_roll=0.0091 left_gripper=0.9944 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -9.8667, 4.5333, 1.5702, -0.4078, -0.0611, -0.1343, -0.2803, 0.7863, 6.9675, 1.7509, -0.0659, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.4168, 2.0449, 0.9676, 0.3687, -0.5831, -0.4629, 0.9956, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4749 left_y=-0.0999 left_z=0.0181 left_yaw=0.295 left_pitch=-0.0116 left_roll=-0.0068 left_gripper=0.9956 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.253, -8.9094, 7.5692, 1.7167, -0.1929, 0.2662, 0.1099, -0.1709, 0.5812, 6.8171, 1.7314, -0.0855, -0.0366, -0.0122]",
      "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]: [-0.4191, 2.0533, 0.9646, 0.379, -0.5903, -0.4492, 0.562, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4743 left_y=-0.0997 left_z=0.0155 left_yaw=0.291 left_pitch=-0.0094 left_roll=0.0091 left_gripper=0.562 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -10.4274, 4.8752, 1.5897, -0.232, -0.0855, 0.9988, -0.2393, 0.5128, 6.8171, 1.7216, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38f1545ccc7cb0c6548d3bac408254260e490c63ba8367340b642647db7393d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cf0306b54dc97a9aef9e7ff056a3c0aaaaed74b05c480d664d66a8e33d439f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5399eb43d9e5e600686744db91d1c2228a9965428ca9579be6a9491ff0f6d285",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ad46M4Nng5j4U1tUw1tPpC",
      "input": {
        "note": "Gripper stalled at 5.3 cm — a firm grip on the bottle's upper body. Lifting it clear of the table; then I'll loosen the jaws so the heavier base end swings down and the bottle hangs upright.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Ad46M4Nng5j4U1tUw1tPpC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4191, 1.7981, 1.2636, -0.3393, -0.5381, -0.4526, 0.5654, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4615 left_y=-0.1025 left_z=0.1261 left_yaw=0.2624 left_pitch=-0.1591 left_roll=0.0831 left_gripper=0.5654 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -15.9795, 11.3162, 1.9805, -0.779, 0.0415, 0.7839, -0.1026, 0.4581, 6.8308, 1.7363, -0.0269, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:478a7ee46715d1a9037fe6e55da8834463c86895ec7f53f13ee1303eb3e0dbc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcb1b7499d31ef4ad2b964583fe9a2eed36b890978ab1429ffa5690a068e527a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:699f3d512227d1b975f15a5031f0302b9d79fc9b0822ec0432f202a86e85c176",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 11.86 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]: [-0.4168, 2.0449, 0.9676, 0.3687, -0.5831, -0.4629, 0.9956, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4749 left_y=-0.0999 left_z=0.0181 left_yaw=0.295 left_pitch=-0.0116 left_roll=-0.0068 left_gripper=0.9956 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.253, -8.9094, 7.5692, 1.7167, -0.1929, 0.2662, 0.1099, -0.1709, 0.5812, 6.8171, 1.7314, -0.0855, -0.0366, -0.0122]",
      "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]: [-0.4191, 2.0533, 0.9646, 0.379, -0.5903, -0.4492, 0.562, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4743 left_y=-0.0997 left_z=0.0155 left_yaw=0.291 left_pitch=-0.0094 left_roll=0.0091 left_gripper=0.562 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -10.4274, 4.8752, 1.5897, -0.232, -0.0855, 0.9988, -0.2393, 0.5128, 6.8171, 1.7216, -0.0611, -0.0415, -0.0122]",
      "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]: [-0.4191, 1.7981, 1.2636, -0.3393, -0.5381, -0.4526, 0.5654, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4615 left_y=-0.1025 left_z=0.1261 left_yaw=0.2624 left_pitch=-0.1591 left_roll=0.0831 left_gripper=0.5654 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -15.9795, 11.3162, 1.9805, -0.779, 0.0415, 0.7839, -0.1026, 0.4581, 6.8308, 1.7363, -0.0269, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:478a7ee46715d1a9037fe6e55da8834463c86895ec7f53f13ee1303eb3e0dbc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcb1b7499d31ef4ad2b964583fe9a2eed36b890978ab1429ffa5690a068e527a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:699f3d512227d1b975f15a5031f0302b9d79fc9b0822ec0432f202a86e85c176",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4wQKjgEIEhgCKkBoIDr0kySEEfpp/ff2XyE3miK1Z+EzW5/tJEGjeR+zWHLmiCQ+rB5jinphw6bi5V6/K3x4s4TIl105XsmTMEZjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaOzzNUGEgwpSH8QWxgINGcWKfAaDKiu5H09Ww/sHazH0iIwbrWPrV7V6l3kk6es/xwDCV7IF0AagWs6UssI+rv0Wve9IPQaf6gBOHklqUhKBwExKoEDLlpsOO/5dV+6AnegiWwOd783ScLb3jkLCnpRU4t1sUchwtbN4901smqg3eQqJ8RQgGIuEQmz8h6lrZyKo/x2us3qPAD+6HXF4oWFwNEgygepARyeuUEp2QkET+PGStD6BvCzDaEDLuhNFjdQUa3L9qS1pDybow9aRwFmx7VPB3A6m/9i2p5p/GTN1zv59ZDstF9+ej3ZKk182W1Frrm3uAwHkZXmuY3mnBZMwnsvoqqLFy12kNkbsHDu7+vlCpPqcgGrkYvc47fE/gqOQkUm6/NR5eByIE/i+1WX9M1eWM2yOrgwac0WoWQh5JuagWkUmFpPgp+3741JqgyAEQR8hbuV2ijC++ijM4p0j+K+Gi6OA954E9eQSJuiSAwNvIVtjr3ez13zipiwb3wMOx4f+86y7TsicmoO8O/GE4i6AJLXYJEmDJZhQSM5tQ66FPJ1dIqcGegBCQVMgyVTPOT+KzUUhJF1TAq8jV8fYTUbnkSJWMDH+FQJ2auhr/qVSvgVUBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q49FZzkLzzuQEotwiDNFr5",
      "input": {
        "note": "Bottle is off the table in a firm horizontal grip; loosening the jaws to just over body width so the heavy base end swings down and the bottle hangs cap-up, caught by its shoulder taper.",
        "targets": {
          "left_gripper": 0.64
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_01Q49FZzkLzzuQEotwiDNFr5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4191, 1.7844, 1.2842, -0.4019, -0.5373, -0.4522, 0.562, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.456 left_y=-0.1002 left_z=0.1313 left_yaw=0.2647 left_pitch=-0.1814 left_roll=0.1009 left_gripper=0.562 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -14.7077, 10.9197, 2.1465, -0.7839, -0.0415, 0.9792, -0.1299, 0.4718, 6.8308, 1.7216, -0.0757, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cd40b0d1a68432abe1192e9a6caf93bc2982a6d9e41fa8db3861af5713a12f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d99f3e60de914f9c52184a2e8b4d12938ed3a72400624e9c25d242efc192ccb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e8c1485ef5f6109838ff6d8542262de9b6aeecf537d47e063cf04dfdc4fd4d02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 9.488 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4191, 2.0533, 0.9646, 0.379, -0.5903, -0.4492, 0.562, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4743 left_y=-0.0997 left_z=0.0155 left_yaw=0.291 left_pitch=-0.0094 left_roll=0.0091 left_gripper=0.562 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -10.4274, 4.8752, 1.5897, -0.232, -0.0855, 0.9988, -0.2393, 0.5128, 6.8171, 1.7216, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4191, 1.7981, 1.2636, -0.3393, -0.5381, -0.4526, 0.5654, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4615 left_y=-0.1025 left_z=0.1261 left_yaw=0.2624 left_pitch=-0.1591 left_roll=0.0831 left_gripper=0.5654 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -15.9795, 11.3162, 1.9805, -0.779, 0.0415, 0.7839, -0.1026, 0.4581, 6.8308, 1.7363, -0.0269, -0.0611, -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 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4191, 1.7844, 1.2842, -0.4019, -0.5373, -0.4522, 0.562, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.456 left_y=-0.1002 left_z=0.1313 left_yaw=0.2647 left_pitch=-0.1814 left_roll=0.1009 left_gripper=0.562 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -14.7077, 10.9197, 2.1465, -0.7839, -0.0415, 0.9792, -0.1299, 0.4718, 6.8308, 1.7216, -0.0757, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cd40b0d1a68432abe1192e9a6caf93bc2982a6d9e41fa8db3861af5713a12f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d99f3e60de914f9c52184a2e8b4d12938ed3a72400624e9c25d242efc192ccb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8c1485ef5f6109838ff6d8542262de9b6aeecf537d47e063cf04dfdc4fd4d02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISugsKjgEIEhgCKkA/mhGY+ds/PTnjo89o04uK5LI3Ss0qd3zWd1ZUtqb9R1cUdCUo3gFK6cDkpy1uT/AEeySoXATx8qtPazGMZUGYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa+zzNUGEgxG1FmotjJv8QGomeMaDDKYtIlraRxVxpePfCIwet/bamRzHFGZhBbIpwt36JGf/646y7fwErBwz1c/mGRLD7zr4tjJlyj79mYO4tsLKtgJbKNUu9HPYusLUUC2L6/x/UBS5y3GWJmVMUr7SNi+G3FWRD84zwrkQJMYh44gL1HOuWiai/6jkY1rJJHDPO9NBI4IaLB/s3ZHXl93hiPOtmnB7j+J2cWNtesvjlwewVmq2P/+1kinIPbfkCgfLaYm4NhiDMBFUmpIvFZF7jyOM4QKDTitLroe7kw6LhBncZU0zkHdDEtw7vYZ8nPqW1Xu72MksPPaiAXeLJbFRQODQKguPzb+tHsRPjZfIqWGEgLvECmAEJVO3YUylU5OPkp7gMwmyr0svKIUirCoWVUkOd/XIXFSkAzsrHRU/sW/8MG8QjCU8W3Y4m+rLSu39RIxR1mtV8q2xYyzTpXWEZnCyQlZo6ftJkG53EylvPlh+vHq5YGHuuSv4AE1jftBOZcZdcVZ1v4TVJ0vhzjbxjxmN3yYaBJjupVrRgwk2oLSAD9KUK8TUCHZ0pHrEZ17ZxbNFRDh2PUFXgMamNCp9/76jMjaFJ3blqHNv5IJP24MBO/dVuCy0DweOI3erqvw4rQdkd436+iqCfzliVElplgmEuE86KCU4TGgPXqbx4B3aFRKDDVVqS5dVy2IVRcRSpTunhBkJ7cQey9vnXOB8qg19b9XBjdEDvY2hYxA3jYMtu0dVIBo3Y4DeQYd3EKi274S9vNatvyN4FonKJhAFa4wYLgYpmonx6BZkkAp9jMVnpMFUz/Lafb/ExFW6X4EbT+nhqnFVJYcWLIBv+ffst7hTzcZZ2ELKd5s4OLK21lwnYMqntHV5einFan0D2+UNLF9nhqw5atytQ0q6VZ/QJE88OGxeZAHhB4ji0UlFEZsNF0ZXyDKV1bl7lWlXIU8YPkDTP90XpyqWlvd3RIb4EWApQbxpTrTC/DiV1pPQFylZ74OU0IVMwxALyqJoSOuPK+5b7b5s3I3V7ykS+5Y4z2RBD4Mog9gIZLHppmEhyONZKNtHcRIGSuxxLpvogcink1nfIhrInUTkwngmWxxWDCphKJtqriFqO6v1GM2mLTu1hlTuFRplp8JsmdHtGtaqRKplBd3dfLE2SbR+h4KMzh9EHRlLYpox6eysrhx/usc7ZaPOV16x85vmFi1fMOe0zFy0y3Bf2La9RmICyDYePD1cV/5xOlOFDteEC4+VmVBQpAZHY1suaDgaIH9A8N/h6GZDkBBt5T+l5Xy5V7Z/A+JEpeEqIPm6h1lPbRYxqpXLVi8z4HS53aPyhRJ5M8qkG3x2lW2q4OU1mBdIIRotJFvwsYE1itqZl61voBhK1Qc2RqaCZ1MxZKN7PT1MsH6qdBBboYBFB/Vz1OIiNeZUCEV03sYK0IhOs/OKMEj20JEGjS2xWI1VcvCBWAHj1lvVLgwlstqFMDf6RHSDuB+iQudsyiC+E2/RAXqdtrFKu+64TQZP7rlNAB+GBVh8kfMm6gqapTjZ/nG7PpjWDQoOqvhFTpUQ8M7qqyVgKijO0YBjIDACTicEtaClgWSfiyAUBsbD4dXAp55kevpShV7ZBACN0pL5yGjXaqpxCCndxD7jhROvB01M8L1RHsEMm8jP4ew+h1PcvTPh2T1VOVwaJ2SknwqDXO7DZrDJLMbimfa6SyODpagZk6tuZExS0/i3Mby/4LpdG5/pQyjOQAmJ4FDeKlASZ8fj8UQ0xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SbRenLEpETj2oCQRqqhf3S",
      "input": {
        "note": "The jaws barely moved last time; opening wider (7 cm, just over the body width) while lifting slightly, so the bottle can pivot base-down and hang cap-up in the loose jaws.",
        "targets": {
          "left_gripper": 0.7,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01SbRenLEpETj2oCQRqqhf3S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4324, 1.7245, 1.1313, -0.2466, -0.5426, -0.4484, 0.6987, -0.0193, 0.3878, 0.0849, -0.2684, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4437 left_y=-0.1004 left_z=0.121 left_yaw=0.2471 left_pitch=-0.1308 left_roll=0.0674 left_gripper=0.6987 right_x=0.2351 right_y=0.0043 right_z=0.0628 right_yaw=-0.0027 right_pitch=-0.003 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -13.5043, 11.0838, 1.8681, -0.6813, 0.0366, -0.0562, -0.2803, 0.5812, 6.8171, 1.7753, -0.0464, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0b3db6215ac845d02ab64671d85d1b0a66e6ae9c41ad25bf2636c0f8e32f158",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f19bbb2b7844db2f3b2c5accfba32968052ed709e127dd57a20947ca6b539f90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e3dce04d09e49c4c7b5035519261f589a6166edcbb2f521ade3da3d2013f86aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 14.65 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4191, 1.7981, 1.2636, -0.3393, -0.5381, -0.4526, 0.5654, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4615 left_y=-0.1025 left_z=0.1261 left_yaw=0.2624 left_pitch=-0.1591 left_roll=0.0831 left_gripper=0.5654 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -15.9795, 11.3162, 1.9805, -0.779, 0.0415, 0.7839, -0.1026, 0.4581, 6.8308, 1.7363, -0.0269, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4191, 1.7844, 1.2842, -0.4019, -0.5373, -0.4522, 0.562, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.456 left_y=-0.1002 left_z=0.1313 left_yaw=0.2647 left_pitch=-0.1814 left_roll=0.1009 left_gripper=0.562 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -14.7077, 10.9197, 2.1465, -0.7839, -0.0415, 0.9792, -0.1299, 0.4718, 6.8308, 1.7216, -0.0757, -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 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4324, 1.7245, 1.1313, -0.2466, -0.5426, -0.4484, 0.6987, -0.0193, 0.3878, 0.0849, -0.2684, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4437 left_y=-0.1004 left_z=0.121 left_yaw=0.2471 left_pitch=-0.1308 left_roll=0.0674 left_gripper=0.6987 right_x=0.2351 right_y=0.0043 right_z=0.0628 right_yaw=-0.0027 right_pitch=-0.003 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -13.5043, 11.0838, 1.8681, -0.6813, 0.0366, -0.0562, -0.2803, 0.5812, 6.8171, 1.7753, -0.0464, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0b3db6215ac845d02ab64671d85d1b0a66e6ae9c41ad25bf2636c0f8e32f158",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f19bbb2b7844db2f3b2c5accfba32968052ed709e127dd57a20947ca6b539f90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3dce04d09e49c4c7b5035519261f589a6166edcbb2f521ade3da3d2013f86aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxgkKjgEIEhgCKkAOtJiemQCrhVfhW2BZL5xHhtC38BleP7BCdIvqbkU1+v5KG3vJYnxOJdwBSdHuQGtNFVKJxoHVk/Q1R7M43ZGvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbizzNUGEgwcOtgbahmYTvcZhfgaDGfUzGtKrp2Quv456iIwbLLICzYyDG8DuaNQIGRc1YvoAnJbLiY78JtqUSInQdZpsGcx3m6caFcot9/km39YKuQHFbbOIaGV88iROcF9tH8qH4smCOmcgjNIOqfZ/u1lM4J44vK6CxJziiRd44544ckzGWoZEiusZbgpFLDBzDZNx7nN7fFcG/HT8KF0qFE5m6ylQ5qyOwDlBfh0hUNeKFYOJLc9PuwFhQrK8AhO93b6jmmh0qcv1+X35cxIKAb0QpLmSWLObjOVFWEnwAtXgCa+2yaXOUnYbLJlRxdFMTr9CjlgyzCcZZWAalfSla8am8KIcAheIEfyRaKNuNIeHaRlcs91XhuCsUsnzXES1WJ8o3+Sd1hqNwtbPWDFFRvMa+Lgt8cMFCqbRu1o34tUqBFakSNOotgPz6DCbfuheakRztrCFTS+H0TzlkivElf29SWlXlGB97e4Ko5xGIpNvFCFuBNCaF2i34CZnOfRQ0B4wjakp+K4LIbxsyuh8Exx6lqMuzWSwBWlPGvWKDTivLTEqHuMWPxi+3J0H0vzE1TREg+3b8Ov4eXQPlWhjJAOW/bqNJ7FXWS3tZ9dg+xiXKYjPvFTDcuhJLhUt2D7TT807ITwB6vLhMa/XHTTXcXGDDoZmQfDtQ9lgRjoKRZIEp1aofU4cUaRLPKNOGTXfF9WWkLhG8nuIt547W00FvgQIUQqWv7rOiL2dXBOVJfe1yB+m2lWdB9zbX1OKhdvONM7wev9GFakTTYNKpTRwhY/mRBW7yRQw3rdDFjKGDm9s7qAVGvs47rjshK2vuN9hQZVHzu+yRIin2LPS+Sa0lMVjUX/BbCObXgsJzFiI+vKxXQw3kMOHwuATYeXQLQCgFQLnmbMPONQXO7juEZVmq9M3L+p1KFzYQXJVPWX4A/7W1yRngAErb2R5T3MWn9NAvgr1CmlYdSUiFRu5InsuSTMwVuMCJajXc7drp4t+7sk96R+NoG6Ffwd/D6r1SKt4rpqXAHhpK6tx+943hKhRkQXp3e/pKEpwfo2EWae3Tnwnv2N1UJG8SJ4dMawBXR41J28ShWDX7mc3aw66pPxL7si6bju6fALENXfqSGSTU1XItQfX+XyPiMYTZ0sRT3hhSdcJ2hYJYz65qpR/a1XqxhUAEm103YHfT6mckK3w5Xsua9ocEWNc/8cPC83lFNHkqmpZMMpRKykraHdBnz/mOSp2aoLMJSeOO+JSZUlJIU+bkhMOrlwqpLdvc7VR7b86dl5AHKHPpQzmt6oaL27oxVWuywju4MztTOsaaKDrWpe87wULah2DEQmASLit47aWk/jGNLMliosYt9nB9sTKHi9SjW/ceXeyaZ8kMHSVkJXCOrUPgn5a5NlaM8+7UInbes4eIwFZ22iTSg1V5vpPgWlmSHoAHzeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QY1UYNS1yDmhG1Cqxtmdqs",
      "input": {
        "note": "The bottle stays horizontal even in the loosened jaws, so the pendulum trick isn't working with a body grip; lowering it back to the table and releasing rather than dropping it from height.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QY1UYNS1yDmhG1Cqxtmdqs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4324, 1.681, 1.1614, -0.2424, -0.5686, -0.4484, 0.997, -0.0193, 0.3878, 0.0849, -0.2687, -0.0296, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4499 left_y=-0.0989 left_z=0.1538 left_yaw=0.2619 left_pitch=-0.0588 left_roll=0.0323 left_gripper=0.997 right_x=0.2351 right_y=0.0043 right_z=0.0627 right_yaw=-0.0027 right_pitch=-0.0034 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -10.441, 9.1282, 1.6337, -0.3883, 0.0366, -0.022, -0.2256, 0.4855, 6.8444, 1.7363, -0.0659, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1118099c05f011a5deb26fd43c95dd9ac498a7085b3fac7e4297a0b4da14b8c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea5722d15c5294269cda8e320e0f7bd93d0b239eb9396fb69a1059544a706b4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c76a3ca164eefbc756c1d8362ba811517646f89ed402bc93096d68f2d56dc4a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]