adhoc

completed
2026-09-23T02:16:18.078414+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 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
514.1 s
total steps
360
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Classify the two types of objects on the table and place them into the two baskets.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
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: Classify the two types of objects on the table and place them into the two baskets.
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 noteTop view shows two teal baskets at the back and a cluster of furry plush toys plus some thin stick-like objects in front. I'm moving the left arm over the plush-toy cluster to inspect it with the wrist camera.
move_to
left_x0.2600left_y-0.2900left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3805, -0.0223, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.3779, -0.0124, -0.0158, 0.9998] state[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1846 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0012 right_z=0.1828 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4171, -1.6479, 9.2786, 1.8437, -0.0513, 0.1392, -0.0562, -0.5812, -1.4974, 9.894, 1.7411, -0.0757, -0.0073, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.26, "left_y": -0.29, "left_z": 0.16, "left_gripper": 1}, "note": "Top view shows two teal baskets at the back and a cluster of furry plush toys plus some thin stick-like objects in front. I'm moving the left arm over the plush-toy cluster to inspect it with the wrist camera."})
tool
executing move_to over 26 steps (2.6s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe left wrist camera shows a teddy bear directly on the jaw column between the two baskets. Advancing 2 cm and descending to 7 cm to line up a grasp on the bear.
move_to
left_x0.2800left_z0.0700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.214, 1.6173, 1.1118, -0.5903, -0.8986, -1.0004, 0.9996, -0.0147, 0.7967, 0.6086, -0.3847, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2579 left_y=-0.2859 left_z=0.1496 left_yaw=-0.004 left_pitch=-0.025 left_roll=0.0063 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.1804 right_yaw=0.0006 right_pitch=-0.0092 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.4171, -7.1863, 8.6359, 0.8864, -0.6716, 0.0659, -0.0611, -0.1573, -0.8821, 7.2684, 1.7998, -0.0757, -0.0659, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.28, "left_z": 0.07}, "note": "The left wrist camera shows a teddy bear directly on the jaw column between the two baskets. Advancing 2 cm and descending to 7 cm to line up a grasp on the bear."})
tool
executing move_to over 6 steps (0.6s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteBear still filling the bottom of the left wrist view, so it is right at the fingertips. Lowering to 4 cm and closing the jaws on its body.
move_to
left_z0.0400left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1526, 1.7523, 0.9447, -0.2111, -0.8818, -0.9241, 0.9996, -0.0143, 0.7967, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2806 left_y=-0.2868 left_z=0.0809 left_yaw=0.0071 left_pitch=-0.01 left_roll=-0.0067 left_gripper=0.9996 right_x=0.2948 right_y=0.0015 right_z=0.1803 right_yaw=0.001 right_pitch=-0.0095 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.294, -7.0769, 4.4239, 1.1258, -0.2418, 0.0269, -0.0171, -0.0889, -0.841, 7.0359, 1.7167, -0.0317, -0.0366, -0.0122] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.04, "left_gripper": 0}, "note": "Bear still filling the bottom of the left wrist view, so it is right at the fingertips. Lowering to 4 cm and closing the jaws on its body."})
tool
executing move_to over 10 steps (1.0s)
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 noteGripper settled at 0.18 (≈1.7 cm of material), so it likely has the bear's head. Lifting 15 cm to confirm the bear comes with it.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1515, 1.8236, 0.9012, -0.0048, -0.9142, -0.9314, 0.1774, -0.0147, 0.7967, 0.6086, -0.3847, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2893 left_y=-0.2965 left_z=0.0664 left_yaw=0.0319 left_pitch=0.0501 left_roll=-0.0869 left_gripper=0.1774 right_x=0.2949 right_y=0.0014 right_z=0.1804 right_yaw=0.0006 right_pitch=-0.0092 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.4308, -5.9009, 3.5077, 0.8816, -0.0562, 0.0269, 1.0281, -0.1846, -0.9915, 7.0359, 1.7509, -0.0464, -0.0317, -0.0171] 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_z": 0.22}, "note": "Gripper settled at 0.18 (\u22481.7 cm of material), so it likely has the bear's head. Lifting 15 cm to confirm the bear comes with it."})
tool
executing move_to over 10 steps (1.0s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe bear is clearly held up in the wrist view. Moving forward-left toward the left basket (the plush destination) while staying high enough to clear the rim.
move_to
left_x0.3800left_y-0.2300left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1503, 1.6371, 1.2797, -0.643, -0.8944, -0.9512, 0.1796, -0.0147, 0.7967, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2864 left_y=-0.2943 left_z=0.194 left_yaw=0.0305 left_pitch=0.0067 left_roll=-0.0423 left_gripper=0.1796 right_x=0.2948 right_y=0.0014 right_z=0.1803 right_yaw=0.0006 right_pitch=-0.0095 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.4308, -10.0991, 9.2239, 1.2186, -0.5983, 0.149, 0.6129, -0.1299, -1.2513, 7.0906, 1.7411, -0.0513, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.23, "left_z": 0.25}, "note": "The bear is clearly held up in the wrist view. Moving forward-left toward the left basket (the plush destination) while staying high enough to clear the rim."})
tool
executing move_to over 8 steps (0.8s)
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 noteWrist view shows the left basket interior just to the left of the held bear; shifting 7 cm further left to centre over that basket before releasing.
move_to
left_y-0.1600left_x0.4000left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8211, 1.61, 1.3304, -0.5907, -0.6727, -0.6422, 0.1824, -0.0147, 0.7979, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3671 left_y=-0.2275 left_z=0.2068 left_yaw=0.0549 left_pitch=-0.0791 left_roll=0.01 left_gripper=0.1824 right_x=0.2949 right_y=0.0014 right_z=0.18 right_yaw=0.0006 right_pitch=-0.0107 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.6769, -10.0171, 11.7675, 1.7656, -0.3492, 0.4078, 0.6569, -0.1026, -1.347, 7.0359, 1.7802, -0.0708, -0.0708, -0.0171] 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": -0.16, "left_x": 0.4, "left_z": 0.25}, "note": "Wrist view shows the left basket interior just to the left of the held bear; shifting 7 cm further left to centre over that basket before releasing."})
tool
executing move_to over 7 steps (0.7s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteBear is centred over the left basket in the wrist view; nudging 3 cm further in and opening the jaws to drop it into the basket.
move_to
left_x0.4300left_z0.2200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6033, 1.562, 1.3472, -0.6453, -0.5365, -0.503, 0.1843, -0.0143, 0.7979, 0.6086, -0.3847, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3947 left_y=-0.1579 left_z=0.2144 left_yaw=0.1004 left_pitch=-0.1483 left_roll=0.0386 left_gripper=0.1843 right_x=0.295 right_y=0.0015 right_z=0.1801 right_yaw=0.001 right_pitch=-0.0103 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.0752, -9.7983, 11.0154, 1.6532, -0.1636, 0.4322, 0.4371, -0.1162, -1.1829, 7.1726, 1.7607, -0.0513, -0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_z": 0.22, "left_gripper": 1}, "note": "Bear is centred over the left basket in the wrist view; nudging 3 cm further in and opening the jaws to drop it into the basket."})
tool
executing move_to over 9 steps (0.9s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteJaws opened over the left basket; pulling the arm back and up to see from the top camera whether the bear landed inside the basket.
move_to
left_x0.3000left_y-0.2500left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.548, 1.6619, 1.4364, -0.6689, -0.5079, -0.4915, 0.9954, -0.0147, 0.7979, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4194 left_y=-0.1511 left_z=0.2037 left_yaw=0.1321 left_pitch=-0.1891 left_roll=0.0523 left_gripper=0.9954 right_x=0.2949 right_y=0.0014 right_z=0.18 right_yaw=0.0006 right_pitch=-0.0107 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.1846, -7.3504, 9.9487, 1.5702, -0.1587, 0.359, -0.0122, -0.1299, -1.2376, 7.1863, 1.7411, -0.0513, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.25, "left_z": 0.25}, "note": "Jaws opened over the left basket; pulling the arm back and up to see from the top camera whether the bear landed inside the basket."})
tool
executing move_to over 10 steps (1.0s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe bear is draped over the near-left rim of the left basket rather than inside it. Moving above it to regrasp and drop it properly into the basket.
move_to
left_x0.4200left_y-0.2000left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9989, 1.6783, 1.6619, -1.124, -0.7074, -0.9363, 0.9967, -0.0147, 0.7986, 0.6086, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3049 left_y=-0.255 left_z=0.2449 left_yaw=0.0894 left_pitch=-0.201 left_roll=0.0268 left_gripper=0.9967 right_x=0.2949 right_y=0.0014 right_z=0.1797 right_yaw=0.0006 right_pitch=-0.0118 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1026, -6.4205, 8.1846, 0.8327, -0.6081, 0.0952, 0.1294, -0.0479, -1.3333, 7.1453, 1.7558, -0.0269, -0.0708, -0.0122] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.2, "left_z": 0.16, "left_gripper": 1}, "note": "The bear is draped over the near-left rim of the left basket rather than inside it. Moving above it to regrasp and drop it properly into the basket."})
tool
executing move_to over 9 steps (0.9s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteWrist view puts the bear's body about 4 cm to the left of the jaw column, hanging over the basket rim. Shifting left and descending to grab its torso.
move_to
left_x0.4000left_y-0.1500left_z0.0900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6586, 1.7405, 1.4078, -0.6323, -0.5591, -0.6273, 0.9984, -0.0143, 0.8013, 0.6083, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4083 left_y=-0.1929 left_z=0.1683 left_yaw=0.1416 left_pitch=-0.2097 left_roll=0.0314 left_gripper=0.9984 right_x=0.295 right_y=0.0015 right_z=0.1788 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [0.2256, -7.4462, 5.6137, 1.3602, -0.0806, 0.2564, -0.1783, -0.1026, -1.5111, 7.0359, 1.7167, -0.0415, -0.0855, -0.0122] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.15, "left_z": 0.09}, "note": "Wrist view puts the bear's body about 4 cm to the left of the jaw column, hanging over the basket rim. Shifting left and descending to grab its torso."})
tool
executing move_to over 6 steps (0.6s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe bear is still off to the left of the jaws, lying beside the basket's left wall; shifting 5 cm further left and lower to get over it.
move_to
left_y-0.1000left_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5781, 1.7149, 1.05, -0.3119, -0.5144, -0.5602, 0.9983, -0.0147, 0.8032, 0.6083, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3954 left_y=-0.1499 left_z=0.0839 left_yaw=0.1559 left_pitch=-0.2459 left_roll=0.0612 left_gripper=0.9983 right_x=0.2952 right_y=0.0014 right_z=0.1783 right_yaw=0.0006 right_pitch=-0.0168 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [0.294, -9.7709, 6.5026, 1.326, -0.1538, -0.0171, -0.0269, -0.1983, -1.4291, 7.3915, 1.6923, -0.0464, -0.0757, -0.0122] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.1, "left_z": 0.06}, "note": "The bear is still off to the left of the jaws, lying beside the basket's left wall; shifting 5 cm further left and lower to get over it."})
tool
executing move_to over 5 steps (0.5s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteTop view shows the cream bear sitting to the left of the left basket, further left than I estimated; moving 5 cm more left to get the jaws over it.
move_to
left_y-0.0500left_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4557, 1.6772, 0.9123, -0.1398, -0.4549, -0.4629, 0.9983, -0.0147, 0.8032, 0.6083, -0.3851, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.4019 left_y=-0.1065 left_z=0.0684 left_yaw=0.1703 left_pitch=-0.2234 left_roll=0.046 left_gripper=0.9983 right_x=0.2952 right_y=0.0013 right_z=0.1783 right_yaw=0.0003 right_pitch=-0.0164 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.4171, -7.9795, 4.1778, 1.0867, -0.1636, -0.0317, -0.0171, -0.1709, -1.0872, 7.1453, 1.7314, -0.0415, -0.0659, -0.0122] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.05, "left_z": 0.06}, "note": "Top view shows the cream bear sitting to the left of the left basket, further left than I estimated; moving 5 cm more left to get the jaws over it."})
tool
executing move_to over 6 steps (0.6s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe wrist view isn't changing with my sideways moves, so I'm retracting the left arm high and back to get an unobstructed top-camera view of what's where.
move_to
left_x0.2500left_y-0.2000left_z0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2966, 1.6249, 0.8223, -0.0055, -0.3595, -0.3462, 0.9982, -0.0143, 0.8032, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4117 left_y=-0.0571 left_z=0.071 left_yaw=0.1802 left_pitch=-0.1817 left_roll=0.0178 left_gripper=0.9982 right_x=0.2952 right_y=0.0015 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0164 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [0.4171, -7.1726, 4.6701, 1.0525, -0.1538, 0.0806, -0.0171, -0.0615, -1.2786, 7.0496, 1.7216, -0.0513, -0.0562, -0.0122] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.2, "left_z": 0.3}, "note": "The wrist view isn't changing with my sideways moves, so I'm retracting the left arm high and back to get an unobstructed top-camera view of what's where."})
tool
executing move_to over 15 steps (1.5s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteClear view now: plush toys are at/in the left basket, thin pens lie on the table at right. A small brown teddy remains on the table in front of the left basket — moving above it to pick it up.
move_to
left_x0.2200left_y-0.1800left_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0672, 1.5192, 1.689, -1.351, -0.7376, -1.0916, 0.9982, -0.0147, 0.8078, 0.6083, -0.3855, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.2587 left_y=-0.2159 left_z=0.2905 left_yaw=0.1272 left_pitch=-0.1924 left_roll=-0.0385 left_gripper=0.9982 right_x=0.2955 right_y=0.0013 right_z=0.177 right_yaw=0.0003 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.1299, -5.8051, 6.8308, 0.4615, -0.652, 0.0855, -0.0171, -0.1299, -1.347, 7.0359, 1.7167, -0.0415, -0.0757, -0.0122] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.22, "left_y": -0.18, "left_z": 0.14}, "note": "Clear view now: plush toys are at/in the left basket, thin pens lie on the table at right. A small brown teddy remains on the table in front of the left basket \u2014 moving above it to pick it up."})
tool
executing move_to over 10 steps (1.0s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe small brown teddy sits on the jaw column in the left wrist view; advancing 2.5 cm and descending to grasp height.
move_to
left_x0.2450left_z0.0350left_y-0.1720
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.14, 1.2961, 0.91, -0.9173, -0.7479, -1.1759, 0.9982, -0.0147, 0.8101, 0.6079, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2171 left_y=-0.176 left_z=0.1371 left_yaw=0.1287 left_pitch=-0.2237 left_roll=0.0206 left_gripper=0.9982 right_x=0.2956 right_y=0.0014 right_z=0.1762 right_yaw=0.0006 right_pitch=-0.024 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.294, -5.7231, 6.7624, 1.0525, -0.5836, -0.1001, -0.0171, -0.1983, -1.4701, 7.0906, 1.7314, -0.0415, -0.0659, -0.0122] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.245, "left_z": 0.035, "left_y": -0.172}, "note": "The small brown teddy sits on the jaw column in the left wrist view; advancing 2.5 cm and descending to grasp height."})
tool
executing move_to over 7 steps (0.7s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteTeddy is right between the jaws at table level; closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0267, 1.4723, 0.6292, -0.429, -0.7174, -1.0515, 0.9982, -0.0147, 0.812, 0.6075, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2378 left_y=-0.1618 left_z=0.0377 left_yaw=0.1561 left_pitch=-0.2445 left_roll=0.0696 left_gripper=0.9982 right_x=0.2956 right_y=0.0014 right_z=0.1755 right_yaw=0.0006 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.1162, -5.4085, 5.4085, 0.862, -0.3101, 0.0611, -0.0171, -0.1983, -1.3744, 7.2957, 1.6923, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Teddy is right between the jaws at table level; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteJaws closed on about 1 cm of the teddy; lifting to see if the toy comes with it.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0233, 1.4849, 0.6132, -0.4068, -0.7109, -1.0477, 0.1064, -0.0147, 0.812, 0.6075, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2366 left_y=-0.1598 left_z=0.031 left_yaw=0.1565 left_pitch=-0.2529 left_roll=0.0761 left_gripper=0.1064 right_x=0.2956 right_y=0.0014 right_z=0.1755 right_yaw=0.0006 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.335, -6.106, 6.4342, 0.5104, -0.4274, -0.0464, 0.8864, -0.1162, -1.0188, 7.2137, 1.7411, -0.0464, -0.0806, -0.0122] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "Jaws closed on about 1 cm of the teddy; lifting to see if the toy comes with it."})
tool
executing move_to over 11 steps (1.1s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe teddy stayed fixed in the wrist view as I lifted, so it is held. Carrying it high over the left basket (the plush basket).
move_to
left_x0.4000left_y-0.1500left_z0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0229, 1.3132, 1.132, -1.0714, -0.696, -1.0554, 0.1085, -0.0147, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2398 left_y=-0.1686 left_z=0.187 left_yaw=0.1489 left_pitch=-0.2557 left_roll=0.0403 left_gripper=0.1085 right_x=0.2957 right_y=0.0014 right_z=0.1756 right_yaw=0.0006 right_pitch=-0.0259 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.1026, -5.1214, 7.8838, 0.6569, -0.5104, 0.0611, 0.6178, -0.0889, -1.1145, 7.159, 1.7363, -0.0415, -0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.15, "left_z": 0.3}, "note": "The teddy stayed fixed in the wrist view as I lifted, so it is held. Carrying it high over the left basket (the plush basket)."})
tool
executing move_to over 13 steps (1.3s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteIn the wrist view the left basket is still up and to the left of the held teddy, so reaching 6 cm further forward and 2 cm left to centre over it.
move_to
left_x0.4600left_y-0.1300left_z0.2700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5697, 1.7317, 1.9232, -1.1709, -0.4927, -0.6056, 0.109, -0.0147, 0.8154, 0.6067, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3983 left_y=-0.1517 left_z=0.2909 left_yaw=0.1742 left_pitch=-0.2588 left_roll=0.0171 left_gripper=0.109 right_x=0.2958 right_y=0.0014 right_z=0.1742 right_yaw=0.0007 right_pitch=-0.0305 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.2256, -8.0615, 7.241, 0.9255, -0.2662, 0.2222, 0.2955, -0.1983, -1.6479, 7.0906, 1.6777, -0.0464, -0.0415, -0.0122] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.13, "left_z": 0.27}, "note": "In the wrist view the left basket is still up and to the left of the held teddy, so reaching 6 cm further forward and 2 cm left to centre over it."})
tool
executing move_to over 5 steps (0.5s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteComparing top-camera rows, the left basket is actually nearer to the base than my gripper; pulling back 9 cm to hover over the basket mouth.
move_to
left_x0.3600left_y-0.1200left_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.437, 1.8652, 1.9514, -1.0992, -0.4255, -0.5247, 0.109, -0.0147, 0.8165, 0.6067, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4471 left_y=-0.1244 left_z=0.2497 left_yaw=0.219 left_pitch=-0.3227 left_roll=0.0502 left_gripper=0.109 right_x=0.2958 right_y=0.0014 right_z=0.1739 right_yaw=0.0007 right_pitch=-0.0317 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [0.0342, -10.2769, 9.8667, 1.5165, -0.232, 0.1587, 0.2418, -0.1436, -1.4427, 7.2274, 1.7167, -0.0366, -0.0317, -0.0171] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.12, "left_z": 0.24}, "note": "Comparing top-camera rows, the left basket is actually nearer to the base than my gripper; pulling back 9 cm to hover over the basket mouth."})
tool
executing move_to over 7 steps (0.7s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteThe last command wasn't tracked (arm held position), so I'm commanding a clear retreat back and up to unstick it before re-approaching the basket.
move_to
left_x0.3000left_y-0.2000left_z0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4313, 1.8816, 1.9625, -1.079, -0.4095, -0.5045, 0.1109, -0.0147, 0.8165, 0.6067, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4541 left_y=-0.1276 left_z=0.248 left_yaw=0.1983 left_pitch=-0.3196 left_roll=0.0429 left_gripper=0.1109 right_x=0.2958 right_y=0.0014 right_z=0.1739 right_yaw=0.0007 right_pitch=-0.0317 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.3897, -10.8923, 8.9778, 1.5116, -0.2222, 0.1978, 0.525, -0.1709, -1.3333, 7.0359, 1.6874, -0.0366, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.2, "left_z": 0.3}, "note": "The last command wasn't tracked (arm held position), so I'm commanding a clear retreat back and up to unstick it before re-approaching the basket."})
tool
executing move_to over 12 steps (1.2s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteTop view shows the plush basket (with the cream bear) up-left of the gripper; moving forward and slightly left, and dropping to 15 cm so the top-camera parallax is small before I release the teddy.
move_to
left_x0.3600left_y-0.1700left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8703, 1.739, 1.9659, -1.4574, -0.5743, -0.9127, 0.1133, -0.0147, 0.8192, 0.6067, -0.392, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3096 left_y=-0.2128 left_z=0.2802 left_yaw=0.1598 left_pitch=-0.3533 left_roll=0.0619 left_gripper=0.1133 right_x=0.2951 right_y=0.0014 right_z=0.1718 right_yaw=0.0007 right_pitch=-0.0408 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.0615, -10.1812, 7.9521, 0.779, -0.5446, -0.022, 0.2369, -0.2256, -1.2923, 7.0359, 1.7753, -0.0366, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.17, "left_z": 0.15}, "note": "Top view shows the plush basket (with the cream bear) up-left of the gripper; moving forward and slightly left, and dropping to 15 cm so the top-camera parallax is small before I release the teddy."})
tool
executing move_to over 9 steps (0.9s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteWrist view shows the plush basket rim just left of the held teddy; shifting ~6 cm left (+y) to hover over the basket interior.
move_to
left_y-0.1050left_x0.3800left_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6689, 1.6642, 1.3258, -0.8738, -0.4961, -0.7242, 0.1151, -0.0143, 0.8204, 0.6067, -0.3923, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3483 left_y=-0.1636 left_z=0.1392 left_yaw=0.2036 left_pitch=-0.4129 left_roll=0.1191 left_gripper=0.1151 right_x=0.2951 right_y=0.0015 right_z=0.1714 right_yaw=0.001 right_pitch=-0.0423 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.1983, -9.7846, 6.8581, 0.9695, -0.3639, 0.0904, 0.1685, -0.0615, -0.9231, 7.2274, 1.6923, -0.022, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.105, "left_x": 0.38, "left_z": 0.16}, "note": "Wrist view shows the plush basket rim just left of the held teddy; shifting ~6 cm left (+y) to hover over the basket interior."})
tool
executing move_to over 6 steps (0.6s)
step 217
top_cam
camera top_cam step 217
left_cam
camera left_cam step 217
right_cam
camera right_cam step 217
assistant
agent noteTeddy is right at the basket rim; shifting 4 cm further left over the basket interior and opening the jaws to drop it in.
move_to
left_y-0.0700left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4778, 1.6611, 1.3186, -0.8478, -0.416, -0.5632, 0.118, -0.0147, 0.8211, 0.6067, -0.3923, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3725 left_y=-0.1085 left_z=0.1342 left_yaw=0.2401 left_pitch=-0.4633 left_roll=0.1406 left_gripper=0.118 right_x=0.2951 right_y=0.0014 right_z=0.1712 right_yaw=0.0007 right_pitch=-0.0431 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.3214, -10.8786, 9.2786, 0.8962, -0.2662, 0.1587, 0.2857, -0.0752, -1.347, 7.0222, 1.7118, -0.0513, -0.0269, -0.0122] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.07, "left_z": 0.15, "left_gripper": 1}, "note": "Teddy is right at the basket rim; shifting 4 cm further left over the basket interior and opening the jaws to drop it in."})
tool
executing move_to over 9 steps (0.9s)
step 226
top_cam
camera top_cam step 226
left_cam
camera left_cam step 226
assistant
agent noteTeddy released into the plush basket. Parking the left arm at home and bringing the right arm over the group of markers/pens lying in front of the right basket.
move_to
left_x0.3000left_y0.0000left_z0.2000right_x0.2600right_y0.1900right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3706, 1.6176, 1.3098, -0.8509, -0.3763, -0.4778, 0.9953, -0.0147, 0.8211, 0.6067, -0.3927, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.377 left_y=-0.073 left_z=0.144 left_yaw=0.2573 left_pitch=-0.4682 left_roll=0.1362 left_gripper=0.9953 right_x=0.2951 right_y=0.0014 right_z=0.1711 right_yaw=0.0007 right_pitch=-0.0435 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.1436, -9.6342, 5.5726, 0.9304, -0.2222, 0.1636, 0.022, -0.1573, -1.1692, 7.0496, 1.7216, -0.0464, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.2, "right_x": 0.26, "right_y": 0.19, "right_z": 0.15, "right_gripper": 1}, "note": "Teddy released into the plush basket. Parking the left arm at home and bringing the right arm over the group of markers/pens lying in front of the right basket."})
tool
executing move_to over 16 steps (1.6s)
step 242
assistant
agent noteRight wrist view shows two white markers lying radially just below the jaws; advancing 3 cm and descending to table level to grasp one across its barrel.
move_to
right_x0.2850right_y0.1830right_z0.0100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1963, 1.29, 1.227, -1.0286, -0.3092, -0.3279, 0.9967, 0.9855, 1.2171, 0.7334, -0.445, 0.717, 0.6628, 0.9998] state[eef_state]: left_x=0.3103 left_y=-0.0032 left_z=0.1988 left_yaw=0.2712 left_pitch=-0.4538 left_roll=0.1269 left_gripper=0.9967 right_x=0.2568 right_y=0.1838 right_z=0.1362 right_yaw=0.0443 right_pitch=-0.0851 right_roll=-0.04 right_gripper=0.9998 state[joint_eff]: [0.5128, -6.188, 5.5726, 1.0427, -0.0659, 0.1636, 0.1294, 0.6085, -3.9863, 9.3744, 1.1209, 0.5836, 0.1734, -0.0366] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.285, "right_y": 0.183, "right_z": 0.01}, "note": "Right wrist view shows two white markers lying radially just below the jaws; advancing 3 cm and descending to table level to grasp one across its barrel."})
tool
executing move_to over 9 steps (0.9s)
step 251
assistant
agent noteA white marker is centred in the jaws at table level; closing the gripper on it.
move_to
right_gripper0.0000right_y0.1760
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1959, 1.2907, 1.2263, -1.0321, -0.3061, -0.3325, 0.9968, 0.8886, 1.6108, 0.4671, 0.2443, 0.6636, 0.5781, 0.9998] state[eef_state]: left_x=0.3095 left_y=-0.0035 left_z=0.1977 left_yaw=0.2728 left_pitch=-0.4591 left_roll=0.124 left_gripper=0.9968 right_x=0.2814 right_y=0.1796 right_z=0.014 right_yaw=0.0301 right_pitch=-0.1022 right_roll=-0.0579 right_gripper=0.9998 state[joint_eff]: [-0.335, -4.4239, 6.4205, 1.1209, -0.1685, -0.0024, -0.0073, -0.4444, -4.3009, 3.5487, 0.7057, 0.2418, -0.1636, -0.0122] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0, "right_y": 0.176}, "note": "A white marker is centred in the jaws at table level; closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 261
assistant
agent noteGripper settled at 0.15 — the marker is held. Lifting and moving forward over the right basket, which will be the pen/marker basket.
move_to
right_z0.2500right_x0.3700right_y0.2100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1959, 1.2907, 1.2263, -1.0313, -0.3058, -0.3332, 0.9968, 0.8837, 1.6165, 0.4568, 0.2657, 0.6437, 0.5667, 0.1521] state[eef_state]: left_x=0.3097 left_y=-0.0036 left_z=0.1978 left_yaw=0.2727 left_pitch=-0.4585 left_roll=0.1229 left_gripper=0.9968 right_x=0.2805 right_y=0.1804 right_z=0.0105 right_yaw=0.0452 right_pitch=-0.1107 right_roll=-0.0526 right_gripper=0.1521 state[joint_eff]: [-0.0752, -4.3692, 6.5299, 1.1013, -0.2369, -0.0562, -0.0073, -0.7043, -6.9538, 4.3829, 1.1502, 0.3932, -0.0171, 1.0085] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.25, "right_x": 0.37, "right_y": 0.21}, "note": "Gripper settled at 0.15 \u2014 the marker is held. Lifting and moving forward over the right basket, which will be the pen/marker basket."})
tool
executing move_to over 16 steps (1.6s)
step 277
assistant
agent noteThe right basket's interior is ahead of the held marker in the wrist view; advancing 6 cm to hover over the basket mouth before releasing.
move_to
right_x0.4300right_y0.2200right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1955, 1.2907, 1.2263, -1.0317, -0.3058, -0.3336, 0.9968, 0.7303, 1.5406, 1.3869, -0.6502, 0.5312, 0.4221, 0.1576] state[eef_state]: left_x=0.3096 left_y=-0.0034 left_z=0.1978 left_yaw=0.2734 left_pitch=-0.4588 left_roll=0.1228 left_gripper=0.9968 right_x=0.3685 right_y=0.2147 right_z=0.2377 right_yaw=0.0575 right_pitch=-0.1069 right_roll=-0.0424 right_gripper=0.1576 state[joint_eff]: [-0.0479, -4.1641, 6.3795, 1.0818, -0.2173, -0.0415, -0.0073, -0.9641, -6.9949, 9.1829, 1.1502, 0.2808, -0.0366, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.22, "right_z": 0.22}, "note": "The right basket's interior is ahead of the held marker in the wrist view; advancing 6 cm to hover over the basket mouth before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 282
assistant
agent noteThe marker is now over the right basket's interior; opening the jaws to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1955, 1.2915, 1.2263, -1.0317, -0.3058, -0.3367, 0.9968, 0.6388, 1.7222, 1.4498, -0.5968, 0.4603, 0.3515, 0.1576] state[eef_state]: left_x=0.3096 left_y=-0.0035 left_z=0.1976 left_yaw=0.2754 left_pitch=-0.4593 left_roll=0.1214 left_gripper=0.9968 right_x=0.4134 right_y=0.2138 right_z=0.1906 right_yaw=0.0522 right_pitch=-0.1932 right_roll=-0.0922 right_gripper=0.1576 state[joint_eff]: [-0.1709, -4.547, 6.3521, 1.0769, -0.1832, -0.0171, -0.0122, -0.7043, -9.4701, 10.359, 1.6239, 0.2857, 0.0073, 1.0281] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The marker is now over the right basket's interior; opening the jaws to drop it in."})
tool
executing move_to over 9 steps (0.9s)
step 291
assistant
agent noteMarker delivered to the right basket. Now moving the left arm above the brown teddy sitting on the table between the two baskets to pick it up for the plush basket.
move_to
left_x0.4000left_y-0.2800left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1955, 1.2922, 1.2263, -1.0313, -0.3058, -0.337, 0.9968, 0.6327, 1.7332, 1.4673, -0.5632, 0.4507, 0.3298, 0.9956] state[eef_state]: left_x=0.3098 left_y=-0.0035 left_z=0.1974 left_yaw=0.2757 left_pitch=-0.4596 left_roll=0.1214 left_gripper=0.9968 right_x=0.4221 right_y=0.2185 right_z=0.1973 right_yaw=0.0692 right_pitch=-0.1645 right_roll=-0.0802 right_gripper=0.9956 state[joint_eff]: [-0.1573, -4.588, 6.3521, 1.0623, -0.2271, -0.022, -0.0122, -0.5265, -9.5795, 9.6752, 1.6093, 0.232, 0.022, -0.1832] approver: 1 step(s) modified (delta_clamped). 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_x": 0.4, "left_y": -0.28, "left_z": 0.15, "left_gripper": 1}, "note": "Marker delivered to the right basket. Now moving the left arm above the brown teddy sitting on the table between the two baskets to pick it up for the plush basket."})
tool
executing move_to over 25 steps (2.5s)
step 316
assistant
agent noteThe brown teddy is centred under the jaws in the left wrist view; descending and closing on it.
move_to
left_z0.0400left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7387, 2.2204, 2.1288, -1.3388, -0.4953, -0.9447, 0.9988, 0.5865, 1.7309, 1.4662, -0.5591, 0.4706, 0.3336, 0.9964] state[eef_state]: left_x=0.3995 left_y=-0.2454 left_z=0.1365 left_yaw=0.3552 left_pitch=-0.5158 left_roll=0.1937 left_gripper=0.9988 right_x=0.4329 right_y=0.1958 right_z=0.1996 right_yaw=0.006 right_pitch=-0.152 right_roll=-0.0868 right_gripper=0.9964 state[joint_eff]: [-4.7248, -11.494, 8.9094, 1.1258, -0.5641, -0.1441, -0.1294, 4.0, -8.6359, 6.8991, 1.3993, -0.149, -0.0562, 0.0708] camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.04, "left_gripper": 0}, "note": "The brown teddy is centred under the jaws in the left wrist view; descending and closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 326
assistant
agent noteThat close came up empty (0.01) — the teddy is a few cm to the left and nearer than the jaws. Reopening and shifting left/back to line up again.
move_to
left_gripper1.0000left_y-0.2280left_x0.4000left_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.741, 2.1914, 1.8206, -0.9424, -0.4938, -0.9508, 0.0101, 0.5735, 1.7679, 1.4311, -0.6476, 0.4755, 0.3107, 0.9965] state[eef_state]: left_x=0.4138 left_y=-0.2603 left_z=0.0759 left_yaw=0.3013 left_pitch=-0.4601 left_roll=0.0732 left_gripper=0.0101 right_x=0.4186 right_y=0.1784 right_z=0.1575 right_yaw=-0.0181 right_pitch=-0.2855 right_roll=-0.1977 right_gripper=0.9965 state[joint_eff]: [0.1846, -8.4581, 3.0017, 0.1197, -0.3492, 0.0513, 0.7204, 0.6906, -11.6308, 9.5521, 2.1123, 0.0904, 0.2027, -0.0024] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_y": -0.228, "left_x": 0.4, "left_z": 0.06}, "note": "That close came up empty (0.01) \u2014 the teddy is a few cm to the left and nearer than the jaws. Reopening and shifting left/back to line up again."})
tool
executing move_to over 10 steps (1.0s)
step 336
assistant
agent noteTeddy is ~2 cm left of the jaw column; shifting left, dropping to table level and closing on it.
move_to
left_y-0.2100left_z0.0300left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7231, 2.1044, 1.5921, -0.778, -0.4866, -0.9241, 0.9951, 0.5739, 1.779, 1.4128, -0.6613, 0.4599, 0.2947, 0.9965] state[eef_state]: left_x=0.4017 left_y=-0.2396 left_z=0.0543 left_yaw=0.2901 left_pitch=-0.4554 left_roll=0.0629 left_gripper=0.9951 right_x=0.4125 right_y=0.1776 right_z=0.1432 right_yaw=-0.0046 right_pitch=-0.3305 right_roll=-0.222 right_gripper=0.9965 state[joint_eff]: [1.4838, -13.3949, 5.1897, 0.6081, -0.2466, 0.0904, -0.0611, -0.2803, -10.0444, 7.9795, 1.2967, 0.359, 0.1441, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.21, "left_z": 0.03, "left_gripper": 0}, "note": "Teddy is ~2 cm left of the jaw column; shifting left, dropping to table level and closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 346
assistant
agent noteA metal keyring is caught in the jaws, suggesting the teddy is hanging from the gripper; lifting and carrying toward the left (plush) basket.
move_to
left_z0.2200left_y-0.1400left_x0.3800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6708, 2.0926, 1.4349, -0.6327, -0.4854, -0.8749, 0.0104, 0.5739, 1.779, 1.4101, -0.6689, 0.4591, 0.2913, 0.9965] state[eef_state]: left_x=0.4018 left_y=-0.2091 left_z=0.0213 left_yaw=0.3126 left_pitch=-0.4587 left_roll=0.0911 left_gripper=0.0104 right_x=0.4107 right_y=0.1766 right_z=0.1413 right_yaw=-0.0041 right_pitch=-0.3399 right_roll=-0.2297 right_gripper=0.9965 state[joint_eff]: [0.4171, -13.6137, 5.2581, 0.823, -0.149, 0.0415, 0.8034, -0.1573, -9.0462, 6.9675, 1.2381, 0.2076, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22, "left_y": -0.14, "left_x": 0.38}, "note": "A metal keyring is caught in the jaws, suggesting the teddy is hanging from the gripper; lifting and carrying toward the left (plush) basket."})
tool
executing move_to over 13 steps (1.3s)
step 359
assistant
agent noteI classified the scene into two types — plush toys and pens/markers — and assigned the left basket to plush and the right basket to markers. The left arm placed a cream teddy bear into the left basket, and the right arm picked a white marker and dropped it into the right basket (both visible in the final images). A second small teddy and a yellow marker remain on the table; I ran out of call budget before sorting them.
done
hindsightUseful things learned: (1) The top camera maps roughly as img_x = 17 + 300·(distance in m to the arm's left of its base) at table level, i.e. left_y ≈ -(img_x-17)/300, right_y = left_y+0.65; forward x ≈ 0.29 at img_y 155 with ~3.3 px/cm vertically — but objects held above the table shift up/left noticeably, so re-check with the wrist cam. (2) The two baskets sit at about left_y ≈ -0.10..-0.15, x ≈ 0.40 (left basket) and right_y ≈ 0.21, x ≈ 0.42 (right basket); releasing at z≈0.20 over those points drops reliably into the basket. (3) Soft plush toys grasp poorly: a close reading of 0.10–0.18 can be just fur or a keyring and the toy may not lift; verify by watching whether the object translates in the top view, not by the gripper number. (4) Some commanded moves are simply not tracked (readback unchanged) when the arm is near the basket/limit — retreat up and back before retrying. (5) Budget: each pick-place cycle costs 6–9 LLM calls, so plan at most 4 objects in 40 calls.
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5591, 1.8256, 1.7786, -1.1923, -0.4454, -0.7773, 0.0104, 0.5739, 1.779, 1.4101, -0.6689, 0.4583, 0.2913, 0.9965] state[eef_state]: left_x=0.3887 left_y=-0.1492 left_z=0.1991 left_yaw=0.3227 left_pitch=-0.4639 left_roll=0.0767 left_gripper=0.0104 right_x=0.4107 right_y=0.1767 right_z=0.1413 right_yaw=-0.0035 right_pitch=-0.3402 right_roll=-0.2291 right_gripper=0.9965 state[joint_eff]: [0.4718, -11.5077, 7.7744, 0.7546, -0.3101, 0.1783, 0.7497, -0.1026, -9.0325, 6.7077, 1.1306, 0.1538, -0.0464, -0.0171] camera 'top_cam' (step 359): [image omitted: streamed camera frame] camera 'left_cam' (step 359): [image omitted: streamed camera frame] camera 'right_cam' (step 359): [image omitted: streamed camera frame]
assistant
done({"summary": "I classified the scene into two types \u2014 plush toys and pens/markers \u2014 and assigned the left basket to plush and the right basket to markers. The left arm placed a cream teddy bear into the left basket, and the right arm picked a white marker and dropped it into the right basket (both visible in the final images). A second small teddy and a yellow marker remain on the table; I ran out of call budget before sorting them.", "hindsight": "Useful things learned: (1) The top camera maps roughly as img_x = 17 + 300\u00b7(distance in m to the arm's left of its base) at table level, i.e. left_y \u2248 -(img_x-17)/300, right_y = left_y+0.65; forward x \u2248 0.29 at img_y 155 with ~3.3 px/cm vertically \u2014 but objects held above the table shift up/left noticeably, so re-check with the wrist cam. (2) The two baskets sit at about left_y \u2248 -0.10..-0.15, x \u2248 0.40 (left basket) and right_y \u2248 0.21, x \u2248 0.42 (right basket); releasing at z\u22480.20 over those points drops reliably into the basket. (3) Soft plush toys grasp poorly: a close reading of 0.10\u20130.18 can be just fur or a keyring and the toy may not lift; verify by watching whether the object translates in the top view, not by the gripper number. (4) Some commanded moves are simply not tracked (readback unchanged) when the arm is near the basket/limit \u2014 retreat up and back before retrying. (5) Budget: each pick-place cycle costs 6\u20139 LLM calls, so plan at most 4 objects in 40 calls."})
tool
done: I classified the scene into two types — plush toys and pens/markers — and assigned the left basket to plush and the right basket to markers. The left arm placed a cream teddy bear into the left basket, and the right arm picked a white marker and dropped it into the right basket (both visible in the final images). A second small teddy and a yellow marker remain on the table; I ran out of call budget before sorting them.
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: [-0.6, 0.6], left_roll: [-1.571, 1.571], 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: [-0.6, 0.6], right_roll: [-1.571, 1.571], 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 · 34.69 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3805, -0.0223, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.3779, -0.0124, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1846 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0012 right_z=0.1828 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.6479, 9.2786, 1.8437, -0.0513, 0.1392, -0.0562, -0.5812, -1.4974, 9.894, 1.7411, -0.0757, -0.0073, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8405e7995e9937feaaac6902074d36cb471d0225c110309d53dbb13e3cea5a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dbf474d219dda3adf3532053357e1d5af4341a0f2045ddffa6c6c813253513e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c22172f051556b04f9d2aaeb24e957b1aa9b94b17349cfd7b77769de7d65e124",
        "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 · 7.812 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3805, -0.0223, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.3779, -0.0124, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1846 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0012 right_z=0.1828 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.6479, 9.2786, 1.8437, -0.0513, 0.1392, -0.0562, -0.5812, -1.4974, 9.894, 1.7411, -0.0757, -0.0073, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8405e7995e9937feaaac6902074d36cb471d0225c110309d53dbb13e3cea5a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dbf474d219dda3adf3532053357e1d5af4341a0f2045ddffa6c6c813253513e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c22172f051556b04f9d2aaeb24e957b1aa9b94b17349cfd7b77769de7d65e124",
        "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_01XxFNar3JTd7QeoYJmrnnfM",
      "input": {
        "note": "Top view shows two teal baskets at the back and a cluster of furry plush toys plus some thin stick-like objects in front. I'm moving the left arm over the plush-toy cluster to inspect it with the wrist camera.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.26,
          "left_y": -0.29,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01XxFNar3JTd7QeoYJmrnnfM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.214, 1.6173, 1.1118, -0.5903, -0.8986, -1.0004, 0.9996, -0.0147, 0.7967, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2579 left_y=-0.2859 left_z=0.1496 left_yaw=-0.004 left_pitch=-0.025 left_roll=0.0063 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.1804 right_yaw=0.0006 right_pitch=-0.0092 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.1863, 8.6359, 0.8864, -0.6716, 0.0659, -0.0611, -0.1573, -0.8821, 7.2684, 1.7998, -0.0757, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76fb800d07f37431daedbf982c2df1f4191da321207bbec465ea26d2f502a362",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3676b58ed9195c111820e2a77271dcc760b87bf68030fdece2dc5e70da99f8c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:20df5cf901c5282b871f2a606dc75317a918d354013f5e6a12c214445504bbd7",
        "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 · 5.898 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3805, -0.0223, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.3779, -0.0124, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1846 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0012 right_z=0.1828 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.6479, 9.2786, 1.8437, -0.0513, 0.1392, -0.0562, -0.5812, -1.4974, 9.894, 1.7411, -0.0757, -0.0073, -0.0317]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.214, 1.6173, 1.1118, -0.5903, -0.8986, -1.0004, 0.9996, -0.0147, 0.7967, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2579 left_y=-0.2859 left_z=0.1496 left_yaw=-0.004 left_pitch=-0.025 left_roll=0.0063 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.1804 right_yaw=0.0006 right_pitch=-0.0092 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.1863, 8.6359, 0.8864, -0.6716, 0.0659, -0.0611, -0.1573, -0.8821, 7.2684, 1.7998, -0.0757, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76fb800d07f37431daedbf982c2df1f4191da321207bbec465ea26d2f502a362",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3676b58ed9195c111820e2a77271dcc760b87bf68030fdece2dc5e70da99f8c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20df5cf901c5282b871f2a606dc75317a918d354013f5e6a12c214445504bbd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5wcKjgEIEhgCKkCJRYQDPUUP6c/SLKpPrKCK+U9T1HNkv1SXFckCnI3KOP+O9R9wsQz/vFcxmITxlFM37QcEELdDAvIzO+jxDMv6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbDtzNUGEgwGWFapY6efW6Hq0jkaDP7x9Jc2c2cm6OHPCyIwv+u1e8BtD/OIXVljwXuyoD4fb7WdsOciGtiP9IB6kF/R9+TZeB1Uo9rXs+nT+zMLKoUG7cjN0xSpHWAwMEQijLgPlgLKDKlo+KFk+glZr720pThHDrsK4HBYgK+m5xBpOoHLuDTN1+1ieFRRKPeL6+AneNB7o0AvT++2l2FoxgqWsNE9d8dsqjjjyi129yoink6ch0jj8dAoEILGvJxzs2vIqnMBh2x7+rlJd7mxpIlmPC/Ov3arKjadZqe1aGonwu9C0N4V1ezcTYQhAWPVRVEXUyA+3QDVREdkNh6iRpsLTnIyEY+VIxORdPDVDwpPIZmJtryA9WxwpdpS8+6p88xYW3hJqhWOz/ntgtW5T5/1qq/tlMlnRYozYlY0l5wXiWou1YB52oAJzgajzK3PRFQ8h8oJWbtcXEaUowfpkjsAC8msYyN84A9R0v6Nvywupc3bV6lCilO7ZqjbsAXspwN6wZJUX0nF+qR/JfkwD+4K3dZ0kEAuUuIf0A8bJzvt9b6znrEp4xKDMYLTV7wqoyzB+mXoAoYLOJWVQURZ/dPhUUQUno3wlI75PMnQeFSa60Nud+8+5U9Lzm4e4ipT4zN2fkOh03XQ5fJh9Af5BpuQPTwNfGJrNpvvcba1vuVw240c75UZ9m1sRWrqAy4mooUSVTrMvucSMk06vtmGdnU8YuyTGbesn7OtB58xouqctOXCySLA+wxc95nf3Len3HegqCt5FEUYeIrGnCYc+iokR7jSl832GdIk6MPlVCx3htlMLLAKEXsABNYGKtTj1R+Rs6zW9Yax9TQbuVrIzsQKII5Uaw1rK7M/FPgVK1EgD8eBEg95bGtb8Xox+3XvtibKjqqNtLQMQ4ZeBcaxJpWdX3cJUNfVx3dbr5Uq+jMgtJ8Qd4jeU0LmukWAIw/+C9wotFnRTW0wTYzBaFOtrn8gtLjfHHJSbYfugWESpG/FKH9PgFbEe9KmYMGCq1vphT71MoBnopJ4ydLL12JO/EHcuqyntDCsiiBVJg+6ahPh38X+sskDgpBfbjMQwsWGLa862n/OoUThxIKAokg1iEsg6MWxc+vD6ScReUc5bowL+AZtFpnbehkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012cTnwShbSQWeBB38vZu3Eh",
      "input": {
        "note": "The left wrist camera shows a teddy bear directly on the jaw column between the two baskets. Advancing 2 cm and descending to 7 cm to line up a grasp on the bear.",
        "targets": {
          "left_x": 0.28,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_012cTnwShbSQWeBB38vZu3Eh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1526, 1.7523, 0.9447, -0.2111, -0.8818, -0.9241, 0.9996, -0.0143, 0.7967, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2806 left_y=-0.2868 left_z=0.0809 left_yaw=0.0071 left_pitch=-0.01 left_roll=-0.0067 left_gripper=0.9996 right_x=0.2948 right_y=0.0015 right_z=0.1803 right_yaw=0.001 right_pitch=-0.0095 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.294, -7.0769, 4.4239, 1.1258, -0.2418, 0.0269, -0.0171, -0.0889, -0.841, 7.0359, 1.7167, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0a4a3286adf1aeeb7b7939fbf6631631df4e08da3c8595414397cdaf6429e3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6d4bc5ca59214d6fa145eaf07c0cfc61ba77eb998b6fb08e43e402a8d41b5e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:add6126fd0874c99e3e52376e347769454561d975ac22f91e532430ad8a5ae82",
        "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 · 6.585 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3805, -0.0223, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.3779, -0.0124, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1846 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0012 right_z=0.1828 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.6479, 9.2786, 1.8437, -0.0513, 0.1392, -0.0562, -0.5812, -1.4974, 9.894, 1.7411, -0.0757, -0.0073, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.214, 1.6173, 1.1118, -0.5903, -0.8986, -1.0004, 0.9996, -0.0147, 0.7967, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2579 left_y=-0.2859 left_z=0.1496 left_yaw=-0.004 left_pitch=-0.025 left_roll=0.0063 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.1804 right_yaw=0.0006 right_pitch=-0.0092 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.1863, 8.6359, 0.8864, -0.6716, 0.0659, -0.0611, -0.1573, -0.8821, 7.2684, 1.7998, -0.0757, -0.0659, -0.0122]",
      "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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1526, 1.7523, 0.9447, -0.2111, -0.8818, -0.9241, 0.9996, -0.0143, 0.7967, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2806 left_y=-0.2868 left_z=0.0809 left_yaw=0.0071 left_pitch=-0.01 left_roll=-0.0067 left_gripper=0.9996 right_x=0.2948 right_y=0.0015 right_z=0.1803 right_yaw=0.001 right_pitch=-0.0095 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.294, -7.0769, 4.4239, 1.1258, -0.2418, 0.0269, -0.0171, -0.0889, -0.841, 7.0359, 1.7167, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0a4a3286adf1aeeb7b7939fbf6631631df4e08da3c8595414397cdaf6429e3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6d4bc5ca59214d6fa145eaf07c0cfc61ba77eb998b6fb08e43e402a8d41b5e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:add6126fd0874c99e3e52376e347769454561d975ac22f91e532430ad8a5ae82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxwUKjgEIEhgCKkASFP7CYmYd7yHWTHaZRV8U9ybpDSo/J0ObDOa4ySBPnplxUwiUVz0T7/IOQFLHGAC8LGz425qmi5A7mP2Eb8gIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbftzNUGEgzOPfbYVMyqoro15iUaDPkiAh89mGHvPaLQFSIw8eJscDLKG2EuKwyZaOaOJu3tryc6CXiJODvemGNp6Kgi72iI1uRcsWHnidQjDCkUKuUDtejKvQUiWhTpSthdBAh1rh1AR7q2VITltDfGH7eHb19n9TtW+5OztXs0sjf4KEnW0FKgw6FcyRyqyv3cWna+Wpb3kxKXniYpTsB9fwYoMM8LtRI90FMmp0D7W1L8nAf79wL34vAoOAo+3vd37KuQU1HCJNaeDe5tLfI0CWlkt0YDhONFikHr+lJxQGwVVd8EQDVt1XNYoCumA0MB8pecDXUJL56oCFi5DaFiiaJx1j6futkeYRRMswWOuz+zrlcBB4zhMPI2liNmYL/p3bjUv7cZbdCfIpraYd/mmGnS/cWQ8miKdyFOZ/r02QQuFAUYerOsejIJcbt/crmGwcTVmwUakt2rZ7oWQXGrf57NqkW+7VfxujvNSubDw8fpa7H6rWVIIoe+pfXZjM9sLnRyIYAEccuQP+ATT6edbBsydTS2de3haCAxtLDeDqPsdf7xzdbncA4FEFLW1pzmIe19w0I1KxUvGBvGhntIZ8vAtx6GBFp5rPilnB9M/CJbEG+VYcRaSrd9mUSMUxc229B7XUB7fLIelId02atRIpEf81nlIjFycyLILLKHBAsvzVFRRekRBzpk1P4/qhopDpnzVPAWzQEa/CKwZkuM4h4q9U6kEpTw4uOQiMZrK52OOuAqtdpOeQwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H6mtgBtgZaiTJoSTeLJP69",
      "input": {
        "note": "Bear still filling the bottom of the left wrist view, so it is right at the fingertips. Lowering to 4 cm and closing the jaws on its body.",
        "targets": {
          "left_gripper": 0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01H6mtgBtgZaiTJoSTeLJP69",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1515, 1.8236, 0.9012, -0.0048, -0.9142, -0.9314, 0.1774, -0.0147, 0.7967, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2893 left_y=-0.2965 left_z=0.0664 left_yaw=0.0319 left_pitch=0.0501 left_roll=-0.0869 left_gripper=0.1774 right_x=0.2949 right_y=0.0014 right_z=0.1804 right_yaw=0.0006 right_pitch=-0.0092 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -5.9009, 3.5077, 0.8816, -0.0562, 0.0269, 1.0281, -0.1846, -0.9915, 7.0359, 1.7509, -0.0464, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afe98db6091eee94e513d1e5a9420e5507761f58a512dff40a62e3e028f5f68a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f56e1652d09db979f11a0275decad7a955a1611717b309ed73b069b419d6cd69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d8001a4b837928a1b976edb963f633d1b2867b79ac574124a939040ad558bedb",
        "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 · 9.87 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.214, 1.6173, 1.1118, -0.5903, -0.8986, -1.0004, 0.9996, -0.0147, 0.7967, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2579 left_y=-0.2859 left_z=0.1496 left_yaw=-0.004 left_pitch=-0.025 left_roll=0.0063 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.1804 right_yaw=0.0006 right_pitch=-0.0092 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.1863, 8.6359, 0.8864, -0.6716, 0.0659, -0.0611, -0.1573, -0.8821, 7.2684, 1.7998, -0.0757, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1526, 1.7523, 0.9447, -0.2111, -0.8818, -0.9241, 0.9996, -0.0143, 0.7967, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2806 left_y=-0.2868 left_z=0.0809 left_yaw=0.0071 left_pitch=-0.01 left_roll=-0.0067 left_gripper=0.9996 right_x=0.2948 right_y=0.0015 right_z=0.1803 right_yaw=0.001 right_pitch=-0.0095 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.294, -7.0769, 4.4239, 1.1258, -0.2418, 0.0269, -0.0171, -0.0889, -0.841, 7.0359, 1.7167, -0.0317, -0.0366, -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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1515, 1.8236, 0.9012, -0.0048, -0.9142, -0.9314, 0.1774, -0.0147, 0.7967, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2893 left_y=-0.2965 left_z=0.0664 left_yaw=0.0319 left_pitch=0.0501 left_roll=-0.0869 left_gripper=0.1774 right_x=0.2949 right_y=0.0014 right_z=0.1804 right_yaw=0.0006 right_pitch=-0.0092 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -5.9009, 3.5077, 0.8816, -0.0562, 0.0269, 1.0281, -0.1846, -0.9915, 7.0359, 1.7509, -0.0464, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afe98db6091eee94e513d1e5a9420e5507761f58a512dff40a62e3e028f5f68a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f56e1652d09db979f11a0275decad7a955a1611717b309ed73b069b419d6cd69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8001a4b837928a1b976edb963f633d1b2867b79ac574124a939040ad558bedb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuQQKjgEIEhgCKkDLEA2LOgevjE3w9hBNyxoLDZyVtK3LQh5Jt4+C+GF+a2DXg+BduAYjW8nO+mbHUorR1la0KsrJNZN9X+BHjftRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcHtzNUGEgwrAShE7i9ByKhjN2UaDJXe9r4sgJdq8E6PXiIwYXGOYDKN1ZgwbmD/IvVyJav461zB/rkm6/uxNnMc/d/xSAN055sRBRSr0hOpA3ctKtcCQkDqr+IhMeRcL/1Ck3zV/lYeARVLyP85D6T3nCnp7mxt96e9F+PhIUf5XJ1cjnCrJdynRv3ppQZd6Af9Aqy9uaXIaiOKLVYNzv6RaooQpJcZmfNTLp1kGTAOSc9xSEVuBCtIArwZICC4UpEoqNsxax+ifRQmed203qzK/5Pkb//m1WqUE9thj6MeUsFntI3AtAcSZ0RFS0kiNin/S6iMO4uFoLoOeU3G0w/UJmr7Thz9NZGOULtz46mHDdbpAwDfejf4mhY2hmukrth2BEyuQ8ARV/x/gwL+ukSiZ+UG1v/hKAYUFLKbJK34bP135RPhqwhKAJM8lStfV9iZxxxgKcykhj5cRXF9NaIANISzYh/Y3GW2vVWleuiL9PmRDVlocEUosf/YOcyn4r8B0qPoLsdUCDFf02PLe2YxpT8Hn5SxCwIMsK6TH5XLyvm5zh6sA5Lf0JydCBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q85N73a61LxdsFWSEdoWSU",
      "input": {
        "note": "Gripper settled at 0.18 (≈1.7 cm of material), so it likely has the bear's head. Lifting 15 cm to confirm the bear comes with it.",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Q85N73a61LxdsFWSEdoWSU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1503, 1.6371, 1.2797, -0.643, -0.8944, -0.9512, 0.1796, -0.0147, 0.7967, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2864 left_y=-0.2943 left_z=0.194 left_yaw=0.0305 left_pitch=0.0067 left_roll=-0.0423 left_gripper=0.1796 right_x=0.2948 right_y=0.0014 right_z=0.1803 right_yaw=0.0006 right_pitch=-0.0095 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -10.0991, 9.2239, 1.2186, -0.5983, 0.149, 0.6129, -0.1299, -1.2513, 7.0906, 1.7411, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ba746ecbcbea4c3c147376e54c8f528abd8b2f86b01fd01a6dd48671752bf17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a032656192c34075a10b08e79db3a86610218d629b376ce3945d6e448fe0eef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4ea5148290267a3230ba7c8184e762fa3dda721fb95d75f75703942bb1d4900",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /messages · status 200 · 7.613 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1526, 1.7523, 0.9447, -0.2111, -0.8818, -0.9241, 0.9996, -0.0143, 0.7967, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2806 left_y=-0.2868 left_z=0.0809 left_yaw=0.0071 left_pitch=-0.01 left_roll=-0.0067 left_gripper=0.9996 right_x=0.2948 right_y=0.0015 right_z=0.1803 right_yaw=0.001 right_pitch=-0.0095 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.294, -7.0769, 4.4239, 1.1258, -0.2418, 0.0269, -0.0171, -0.0889, -0.841, 7.0359, 1.7167, -0.0317, -0.0366, -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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1515, 1.8236, 0.9012, -0.0048, -0.9142, -0.9314, 0.1774, -0.0147, 0.7967, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2893 left_y=-0.2965 left_z=0.0664 left_yaw=0.0319 left_pitch=0.0501 left_roll=-0.0869 left_gripper=0.1774 right_x=0.2949 right_y=0.0014 right_z=0.1804 right_yaw=0.0006 right_pitch=-0.0092 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -5.9009, 3.5077, 0.8816, -0.0562, 0.0269, 1.0281, -0.1846, -0.9915, 7.0359, 1.7509, -0.0464, -0.0317, -0.0171]",
      "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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1503, 1.6371, 1.2797, -0.643, -0.8944, -0.9512, 0.1796, -0.0147, 0.7967, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2864 left_y=-0.2943 left_z=0.194 left_yaw=0.0305 left_pitch=0.0067 left_roll=-0.0423 left_gripper=0.1796 right_x=0.2948 right_y=0.0014 right_z=0.1803 right_yaw=0.0006 right_pitch=-0.0095 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -10.0991, 9.2239, 1.2186, -0.5983, 0.149, 0.6129, -0.1299, -1.2513, 7.0906, 1.7411, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ba746ecbcbea4c3c147376e54c8f528abd8b2f86b01fd01a6dd48671752bf17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a032656192c34075a10b08e79db3a86610218d629b376ce3945d6e448fe0eef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4ea5148290267a3230ba7c8184e762fa3dda721fb95d75f75703942bb1d4900",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0gcKjgEIEhgCKkDg9mUP4q1rynkVTtuTCkCgXXpyP6hZQkKI2PSU3YvOYPTxkyRMAXYIGmfwUCxmicD0vut3kehw07ZKe9hD0O/mMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdPtzNUGEgyj2JAk3FKXDwYrGO4aDG1yD62V9erlCdcajiIwe0wczp8Uv4jMaNCQicpRjs/RMPD9DwGiSrU9dkOU59mNkIXx5qnYGaCavkUqjfg2KvAFI2X1WGBo0PcwvCswIcXfIyqlQVwgE1DL8w9v1PHXN9pLy5X+wlwx5IXyJTxaGXNkiJNKPCa0d4QgF+1siz4v9RgFNNMrV8PwdRTotjoBCoSd+64KQwu4c/b1xNEjUkxpmbcO/W14ufqrmOsvsW0XdnITcbXPzPGmXAFv1SOmNoPCn9xZ7qMXgZwdKd+EMUgXIZqphMCOj2n44a4Ytx4QPWEJtI9irxHaDtk1GNE6AaZq7W31Mb5JPQJgshpu/woodDwLMpcjaUFfq79tlBqqllSVKoK3MdmXcq+MJ2QhmBRXkfE1e3TGygcKa2oR+/H0J0Nk0sfSOBaXW1qGB0Qdejpkv8jQFzvAWU8RgSzlVf2cKihDz8q40oHazVDoT/x/B0HQQxLpPBjt1j7OyWGWNWgSj+90oOCOUPK9hHUvswtPo0O3JtDPKJIFKhyGciWWRGNlU7Rn0pnydz3wM1OOE4bbYyY3iaA2wpXFsn75XLShL7hu4PYc4qzkbm9GW4+/4ylsB4QWo3nD2bsgjsxnaxVF3upwcb+QthofTPGrzyohThINksY6AoFnJa5p5sTfh3rROEn2OnMcz+ooN9JGAqro9avrgYGxYbCyEDn+aOkgfC2eOhVk2nbEoCBqGr9KQaIcXsSHTp4ygiTzoNNhjcY6hJedP3OJqec6LSjuUOR/cgBp3adHF6dlr9jYaxmB0DFEP+RaVzWtC/jZlQkhX2DK9t+KH8vYD+ZlhjAbtUR0DgMGfPdmBlQfESOyJpGLHRsLi5FyvrIoDHYbELqNh+yX6E6RRK/T6Vn22nHxBNdV7cEYPBWN15qeKYqh+MIAluo2JX4T4AS/blssOo2zW+nsNN5smi3MNMqX40oF0sEbMRoYGBaiskqIqDy+EHSDH6J+Vgk26ewLGQGVA+519Y+RvUP5a0JkNct1V2MSKiFQW8uIi2n5pxpCqItPSvoeRQq4ynOOcbNGFImizpglHLa/aT73OA5g/s8AhjTC+N0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y1mrR95J4rJNke5ZUN43Sg",
      "input": {
        "note": "The bear is clearly held up in the wrist view. Moving forward-left toward the left basket (the plush destination) while staying high enough to clear the rim.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.23,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Y1mrR95J4rJNke5ZUN43Sg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8211, 1.61, 1.3304, -0.5907, -0.6727, -0.6422, 0.1824, -0.0147, 0.7979, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3671 left_y=-0.2275 left_z=0.2068 left_yaw=0.0549 left_pitch=-0.0791 left_roll=0.01 left_gripper=0.1824 right_x=0.2949 right_y=0.0014 right_z=0.18 right_yaw=0.0006 right_pitch=-0.0107 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.6769, -10.0171, 11.7675, 1.7656, -0.3492, 0.4078, 0.6569, -0.1026, -1.347, 7.0359, 1.7802, -0.0708, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab0f0cd1dc932c345f8bfd7f1b2730195c275f33d9083c58bc82ccab90450495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52c56daaa47bf9ca8d7926f2bcfa13bb74d831b2336a18cab4afc6e5c1843575",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad2da62de959c0a64201dddeb7af5e1f3744e502250626c4aa22afa0cb680a4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 6.722 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1515, 1.8236, 0.9012, -0.0048, -0.9142, -0.9314, 0.1774, -0.0147, 0.7967, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2893 left_y=-0.2965 left_z=0.0664 left_yaw=0.0319 left_pitch=0.0501 left_roll=-0.0869 left_gripper=0.1774 right_x=0.2949 right_y=0.0014 right_z=0.1804 right_yaw=0.0006 right_pitch=-0.0092 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -5.9009, 3.5077, 0.8816, -0.0562, 0.0269, 1.0281, -0.1846, -0.9915, 7.0359, 1.7509, -0.0464, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1503, 1.6371, 1.2797, -0.643, -0.8944, -0.9512, 0.1796, -0.0147, 0.7967, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2864 left_y=-0.2943 left_z=0.194 left_yaw=0.0305 left_pitch=0.0067 left_roll=-0.0423 left_gripper=0.1796 right_x=0.2948 right_y=0.0014 right_z=0.1803 right_yaw=0.0006 right_pitch=-0.0095 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -10.0991, 9.2239, 1.2186, -0.5983, 0.149, 0.6129, -0.1299, -1.2513, 7.0906, 1.7411, -0.0513, -0.0366, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8211, 1.61, 1.3304, -0.5907, -0.6727, -0.6422, 0.1824, -0.0147, 0.7979, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3671 left_y=-0.2275 left_z=0.2068 left_yaw=0.0549 left_pitch=-0.0791 left_roll=0.01 left_gripper=0.1824 right_x=0.2949 right_y=0.0014 right_z=0.18 right_yaw=0.0006 right_pitch=-0.0107 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.6769, -10.0171, 11.7675, 1.7656, -0.3492, 0.4078, 0.6569, -0.1026, -1.347, 7.0359, 1.7802, -0.0708, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab0f0cd1dc932c345f8bfd7f1b2730195c275f33d9083c58bc82ccab90450495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52c56daaa47bf9ca8d7926f2bcfa13bb74d831b2336a18cab4afc6e5c1843575",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad2da62de959c0a64201dddeb7af5e1f3744e502250626c4aa22afa0cb680a4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIStwYKjgEIEhgCKkDnCEhkc6dtVyDgNxMuJbPjIzm4YAbcgB6rjdsCys+B/Ed5jeXKvPbGwz8PmwPho4uQK/WF+p0x2IRkRcL0XQF8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeHtzNUGEgxjuq0VShQICYAhL44aDNROytB9qXco9Y8qPiIwtR+iKc2rMubLVYu8x3QSbN2QpU2T5w2hs5Rd6obRN/Ek+pweU8j4g4Xo/pxvI7YpKtUEZWMpNtGI6lBr5aBr1LD7ct8jAUHq9q47LeZn5F1YlM7NrZeTlh0X/5dJI3Gp0U8TMSouP44rjYID9tu8oFjbnDx+IQ6+te4KkQyeW53TlQTE+8vclb6x7Gv+4y+YuZbURDhnzmW+UjcQGJUa7m0XR+egQKo9XqBrz3lkJJg46kZ9baHS1NB887aK/qPAHf2AGk8reBwGCpw+0Suqtwl3jOPAR6vCiIuL+CAgLbD9oARl/Sl1/u//2cpvOzALz7l0+05mERpD8cgXRjha43Io0uHaLHmBJ5zQY07sl/EqZNOHCfAExgRUittoY4qDD5m9Z5MWch/prRYpGtN8kkmvB5wuU2qtMBp17uNsV+flLdy4acBpDNpfuXJ1qVhebLtMgqtd+gWDvJduYw8p0uwA3c3sOmW7M4/gB5j6FMn+SXCX33fSCarPQf1x1SjmePN5JcQghjPpXmytNgnv8lm8Cxo5IKggtVnx2mdgjTkKPAgEB2xe5iQc9Uz6y5SkfAkXOcaoGjaKD8wOzfZ/8KIbVGvNk1mx2q4Ex/vquWUvasIbu3nEvykpRuAmAj5MjnOX6O5RRYqIG+j6aItF0BtjBUT97kRbRAo51xIeVWaUuhI1PIEqeWnick4sWoHf0OvcsRja/coPyYLAR4g8jj78M4iTIm1eF38enFKqU/a9YL82bt7L7gzZnmnsPN8oCBTj15Y4zyDLz9FviaZGeD6UMzFLr4iNziudt355hknzeogh1IplQrPvve70Ho1HY53MPN48TF3gc4dN69CTV2X8JbngNEjrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013HPrsCTdqqaoRHXoHMoG3L",
      "input": {
        "note": "Wrist view shows the left basket interior just to the left of the held bear; shifting 7 cm further left to centre over that basket before releasing.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.16,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013HPrsCTdqqaoRHXoHMoG3L",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6033, 1.562, 1.3472, -0.6453, -0.5365, -0.503, 0.1843, -0.0143, 0.7979, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3947 left_y=-0.1579 left_z=0.2144 left_yaw=0.1004 left_pitch=-0.1483 left_roll=0.0386 left_gripper=0.1843 right_x=0.295 right_y=0.0015 right_z=0.1801 right_yaw=0.001 right_pitch=-0.0103 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -9.7983, 11.0154, 1.6532, -0.1636, 0.4322, 0.4371, -0.1162, -1.1829, 7.1726, 1.7607, -0.0513, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbabbc1e8dfdadbeab01fa326b7fd6305527a6860b97f153968f04af99cdeefc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7c77dad828a8904b3f6663d14bcd1bd4a8ba82febd54d5d70e3a8a4bebdb225",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7066f1bd7bdf47f52e765c53d22e7870b7e5a0015ad5ed4556c0d92c7a9cf3b",
        "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 · 6.089 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1503, 1.6371, 1.2797, -0.643, -0.8944, -0.9512, 0.1796, -0.0147, 0.7967, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2864 left_y=-0.2943 left_z=0.194 left_yaw=0.0305 left_pitch=0.0067 left_roll=-0.0423 left_gripper=0.1796 right_x=0.2948 right_y=0.0014 right_z=0.1803 right_yaw=0.0006 right_pitch=-0.0095 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -10.0991, 9.2239, 1.2186, -0.5983, 0.149, 0.6129, -0.1299, -1.2513, 7.0906, 1.7411, -0.0513, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8211, 1.61, 1.3304, -0.5907, -0.6727, -0.6422, 0.1824, -0.0147, 0.7979, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3671 left_y=-0.2275 left_z=0.2068 left_yaw=0.0549 left_pitch=-0.0791 left_roll=0.01 left_gripper=0.1824 right_x=0.2949 right_y=0.0014 right_z=0.18 right_yaw=0.0006 right_pitch=-0.0107 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.6769, -10.0171, 11.7675, 1.7656, -0.3492, 0.4078, 0.6569, -0.1026, -1.347, 7.0359, 1.7802, -0.0708, -0.0708, -0.0171]",
      "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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6033, 1.562, 1.3472, -0.6453, -0.5365, -0.503, 0.1843, -0.0143, 0.7979, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3947 left_y=-0.1579 left_z=0.2144 left_yaw=0.1004 left_pitch=-0.1483 left_roll=0.0386 left_gripper=0.1843 right_x=0.295 right_y=0.0015 right_z=0.1801 right_yaw=0.001 right_pitch=-0.0103 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -9.7983, 11.0154, 1.6532, -0.1636, 0.4322, 0.4371, -0.1162, -1.1829, 7.1726, 1.7607, -0.0513, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbabbc1e8dfdadbeab01fa326b7fd6305527a6860b97f153968f04af99cdeefc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7c77dad828a8904b3f6663d14bcd1bd4a8ba82febd54d5d70e3a8a4bebdb225",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7066f1bd7bdf47f52e765c53d22e7870b7e5a0015ad5ed4556c0d92c7a9cf3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShgUKjgEIEhgCKkAMU8VDYhah9bvHhXtuowVObxkPTjKF4Mm7OYXQqtOraMHErwP+o2tYpwaLAsTL9iPZXSNnSgAjuFtMCxLwLHfUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAentzNUGEgwRC5dHK8NLAcNM6RwaDPvQoyt/O+FHLcncxiIwLovstAc5a9eudte4zVY/hfaLTmS3+7MRmyFwG171hUc8BoKO3DkQDDFVV6bo14ruKqQD+S3pgqzpYYCiSmxuGil30h4aPIJqfIFl9hc2rVsp1UpmSWEsKxOZqrvuyH4olArcRYtvGQB8+rqTbDK6BKkRNTQPdGT9NrSPdvgcp4W/qAPFLjnkBS1SUBBrJnWmGudjxqqpsDTUU7/pPQkmeBzHR49z7FSf6bFfOn2odd3If11ILGJqqyOlGmHDLE5qw/JacRDq9brUs+utd/96NAEUs7vxYUPO+RCahdGN7xQdyQrlaAb5H2g0elQVYtJSo2F7DzX3s24Iky4SPSFJign/tX81y0BIDXikHtlO02wifSHCZhkonydgH38WAW+8uhkkiV6rP0GlydFu1S3SnI71EgGNw28Dk47hkqKruSTVbo7iZanOXNrs2/Van/UOxqu72qdQXNb3JVSg6ib3F2eskE7O1UroCO2UvT/NZ79HcXFOR/olQ1kDYd5R5wBwfFSnwCJTHR0/yMiha5qX0Ze18I0ov0XBFh2JomSXB0FXB6QsjM+lDA5/O6zaT7IlnFMz8GyUNBrD5vh1vk7PO0oTwMH7aC56OLkK97/qY7jsb4QUqXgoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016ZHgrTny8fbSpNKBMq6ud5",
      "input": {
        "note": "Bear is centred over the left basket in the wrist view; nudging 3 cm further in and opening the jaws to drop it into the basket.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.43,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_016ZHgrTny8fbSpNKBMq6ud5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.548, 1.6619, 1.4364, -0.6689, -0.5079, -0.4915, 0.9954, -0.0147, 0.7979, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4194 left_y=-0.1511 left_z=0.2037 left_yaw=0.1321 left_pitch=-0.1891 left_roll=0.0523 left_gripper=0.9954 right_x=0.2949 right_y=0.0014 right_z=0.18 right_yaw=0.0006 right_pitch=-0.0107 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.3504, 9.9487, 1.5702, -0.1587, 0.359, -0.0122, -0.1299, -1.2376, 7.1863, 1.7411, -0.0513, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85314a224ce0cf0ee3d30f455301f0117bfef9df6e2668c65c6bc07f233b3628",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0217bc41898f8a4015399b6ec24277def291159478389e037bef7af9b237b695",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63dca972da880e399f9ffe4a27673397c39a3d56e5ce974b90729a1958c66334",
        "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 · 10.86 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8211, 1.61, 1.3304, -0.5907, -0.6727, -0.6422, 0.1824, -0.0147, 0.7979, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3671 left_y=-0.2275 left_z=0.2068 left_yaw=0.0549 left_pitch=-0.0791 left_roll=0.01 left_gripper=0.1824 right_x=0.2949 right_y=0.0014 right_z=0.18 right_yaw=0.0006 right_pitch=-0.0107 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.6769, -10.0171, 11.7675, 1.7656, -0.3492, 0.4078, 0.6569, -0.1026, -1.347, 7.0359, 1.7802, -0.0708, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6033, 1.562, 1.3472, -0.6453, -0.5365, -0.503, 0.1843, -0.0143, 0.7979, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3947 left_y=-0.1579 left_z=0.2144 left_yaw=0.1004 left_pitch=-0.1483 left_roll=0.0386 left_gripper=0.1843 right_x=0.295 right_y=0.0015 right_z=0.1801 right_yaw=0.001 right_pitch=-0.0103 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -9.7983, 11.0154, 1.6532, -0.1636, 0.4322, 0.4371, -0.1162, -1.1829, 7.1726, 1.7607, -0.0513, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.548, 1.6619, 1.4364, -0.6689, -0.5079, -0.4915, 0.9954, -0.0147, 0.7979, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4194 left_y=-0.1511 left_z=0.2037 left_yaw=0.1321 left_pitch=-0.1891 left_roll=0.0523 left_gripper=0.9954 right_x=0.2949 right_y=0.0014 right_z=0.18 right_yaw=0.0006 right_pitch=-0.0107 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.3504, 9.9487, 1.5702, -0.1587, 0.359, -0.0122, -0.1299, -1.2376, 7.1863, 1.7411, -0.0513, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85314a224ce0cf0ee3d30f455301f0117bfef9df6e2668c65c6bc07f233b3628",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0217bc41898f8a4015399b6ec24277def291159478389e037bef7af9b237b695",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63dca972da880e399f9ffe4a27673397c39a3d56e5ce974b90729a1958c66334",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5wQKjgEIEhgCKkCNkuCmms/S9Q/8BitTKnxoWI4mQ1sw4HyjAXQskUD1PCfZqPpj0IzlZKM6fnxy/oygIV9T1+hCHcNH7bAWxW1ZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfDtzNUGEgxqAaPnR5rm121gR+caDHMGyKSthNALNUERlSIwAGHQ9KmAzUZFgeSZZNKhqwevz8DaA0P+Y4ejoAibO7q19mEQfLDEwgUL9xrwHHM/KoUDWQxxtlQVdC+T8RsoUd3bmQJNskxHO27YwwsffTH5sZdG4LaG7rEoK431AgvL4Bb/ytrAW7Mo5xxe8VmSfn8R60ho6ZbVOya+cGooHhaf689SE0/gm5Na5VZqcQPNNQiNSJ72T0PipegIfjFH9khcR9cLVM36T49gcfqqJjL/8+5oX9PIoDqhHiWXlOiTft/TMNL4dSAbT6e+gOF/dcfDATCoCnufmg66birku6RXWcmqdIX+xekFiVsFJHqkYhZiqcSlPGXuQC4Aiia/gOXC6xERqqDc78ApfgwDs2ManHKv3aDUXWUzPh0ph/ojmk416EiWRXttTeKfJrCbQ2QDerIFttlgEc5os9xNdeTRZGr+kGmrZGJ02CMLapflPG0+cNOsQVrWhnI1S7e/+xA31neH0vhI2hgHhwGOT6uKQ1w4Il4uk5Pmw5m5ys7KefV+zLWR7jphLKqkDBND647P/CQvq8vjHqx2zDw2WwhwJ0cTdqthno+279cpcJQKlnfyYLuhipkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015Q9xGQ1ZmEL5TDoWn2KGBW",
      "input": {
        "note": "Jaws opened over the left basket; pulling the arm back and up to see from the top camera whether the bear landed inside the basket.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.25,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015Q9xGQ1ZmEL5TDoWn2KGBW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9989, 1.6783, 1.6619, -1.124, -0.7074, -0.9363, 0.9967, -0.0147, 0.7986, 0.6086, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3049 left_y=-0.255 left_z=0.2449 left_yaw=0.0894 left_pitch=-0.201 left_roll=0.0268 left_gripper=0.9967 right_x=0.2949 right_y=0.0014 right_z=0.1797 right_yaw=0.0006 right_pitch=-0.0118 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -6.4205, 8.1846, 0.8327, -0.6081, 0.0952, 0.1294, -0.0479, -1.3333, 7.1453, 1.7558, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7a65a26063706b9804c2912a010e80116a1f4f459127feb71f1c9b5ebbc6c7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:139c14226dd96b912de362d91160ac42fac1a6de55baaf563b0b598f70d51e31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3668edf43429a26e191f236134f63dcf6d574f7382d4ba0d9582ff1c867d2092",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 15.79 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6033, 1.562, 1.3472, -0.6453, -0.5365, -0.503, 0.1843, -0.0143, 0.7979, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3947 left_y=-0.1579 left_z=0.2144 left_yaw=0.1004 left_pitch=-0.1483 left_roll=0.0386 left_gripper=0.1843 right_x=0.295 right_y=0.0015 right_z=0.1801 right_yaw=0.001 right_pitch=-0.0103 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -9.7983, 11.0154, 1.6532, -0.1636, 0.4322, 0.4371, -0.1162, -1.1829, 7.1726, 1.7607, -0.0513, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.548, 1.6619, 1.4364, -0.6689, -0.5079, -0.4915, 0.9954, -0.0147, 0.7979, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4194 left_y=-0.1511 left_z=0.2037 left_yaw=0.1321 left_pitch=-0.1891 left_roll=0.0523 left_gripper=0.9954 right_x=0.2949 right_y=0.0014 right_z=0.18 right_yaw=0.0006 right_pitch=-0.0107 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.3504, 9.9487, 1.5702, -0.1587, 0.359, -0.0122, -0.1299, -1.2376, 7.1863, 1.7411, -0.0513, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9989, 1.6783, 1.6619, -1.124, -0.7074, -0.9363, 0.9967, -0.0147, 0.7986, 0.6086, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3049 left_y=-0.255 left_z=0.2449 left_yaw=0.0894 left_pitch=-0.201 left_roll=0.0268 left_gripper=0.9967 right_x=0.2949 right_y=0.0014 right_z=0.1797 right_yaw=0.0006 right_pitch=-0.0118 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -6.4205, 8.1846, 0.8327, -0.6081, 0.0952, 0.1294, -0.0479, -1.3333, 7.1453, 1.7558, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7a65a26063706b9804c2912a010e80116a1f4f459127feb71f1c9b5ebbc6c7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:139c14226dd96b912de362d91160ac42fac1a6de55baaf563b0b598f70d51e31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3668edf43429a26e191f236134f63dcf6d574f7382d4ba0d9582ff1c867d2092",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISqgoKjgEIEhgCKkDHmzX8UVuKiOEdzmCdgUKNl8kRIdLULJ99Kf5xCDSO2Vi9pFSd0HX05EXD4so8UT0Q5W63pyAyDqXSJQ/v2XJPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfvtzNUGEgxzF2KZ2zJeY/NGjW4aDJLA+nQupjThMr/CvSIwD2lZfzivpUmRtuXiuu44rkzFcBLM/C2BEeu1TyehhLfxvlcudIeX137E6GqpiAlRKsgICxc9Myvw9M6Hsy5EewRYt+vZ4btasLG9hKLbMDhRnmpERqucp498iM2nQhLlAu9MZtj/JSqWSSVG0+HjEW+sjVWaZbCg3xFewmLQiF1TayrPTOs84iis4QqnOlCKR+jQIdD0a6QGmQmN9gAz1VyG83AkT4oiRQXLXKYMXv7+aOOC90+e8t+OvKnRmu2Jjf8QMC8U52SRe9IQDIkbs7MqbfH6BYUIC8DwLz7h2iNWKvsnBC63b1wJSbr6cifPYycc4Begi7yvDD22m4cmIYSMsZUo+mh+LIn/nK7hF5iS8JMU1HjBsGpUakBnx+5KooASuEedBxF1BZQ9NYe5YWeFawEfr+xR6wXXgw1sIt3q3XFUpLT0JsFj6rT/GWdAYAleuc/YnYMldSzuugBUiejiVYNuP/58A1AlyTIZUMiT+ZoV9Scs+K8kVCN9sPpB5QpkTNNLIMirfn3NM6ylFbL6seUmcsewa0FFt0IDjqLSO6RXnx6o74u/QVOn6SwCzH/eJ4l340PxCesFHxlRrotmHykNwweGOrilAaUWAN+e8CFICM+dwl6+K2Wx/Uu6wXpuGeBzg6MEuxnWr/ZPISnmpS2I3z2ZoB5HoXPseg9EV25xzsFC9KNkxfR2yB7qMHszt0A+L6ypwdDzJQV7q9q+I8+kZzl0N2v7JeOhBGTAjCLHCl/tf8EXvGHCmlk2k0oKebZhETuN0dJIiSmEHB1l9pYeS9KKlicQQwpWJl+PM3YwukbMMMw9lgAJmlgitoPaW6Zjvn0e4fG8sR0ux9ASdm7Rb0QG1KQPoB+nHDbLUivtbF03tQ3P0f1eon25t5RopYxA8BniOgGF9O+l3ZSZcVpwDhbVxZy7QQrPhyyvXE/X8cuJrj7olVJd4zHT1lpbBZV3SSAyvBMUlxviV+0h/axsbjhl8K6RXR7p/w1kaAenaDOkyVS2zHH0Q2i1IcTNc76zqx5KbLA3IY6eoNRdo//nf4bl613za/d9Z/YDZOKcFS7x8dTkBOvNHQWl58o3c9sCQomn65qgMecfWfnQZvLFNZFENulwWEEIypcnvdDLT1bb4KRZGp9Ag8WZhpo56P1Tc/U/C2nkIjRK96wTBDv1ZAWH2Fx1kQLc6dhA6M209oXFDFiCSubOnAPyrSG+Pf8scFrvq4bQ4GMZkDXFywhafVo32QYe8ruCYVRLrIaoZYtNNqEBrUuZ9XUEVc5EMMqvmCdvZsjwkhMB/9OsknBjiEiAzk9TQ+zHkGz/X5SlcxvilfD1XIo1w36BjE+Q30/vxHS2Tv86cJKSjA7K/YjgV216VPypco9NAC7RA96btIfGzkTJv0NA0Hx2sAu6DyMTzwrwTLhQJs+MyxEyMvYHLcGpMoXijOslzrr9wsEcChju72CLkY34zXTPaHNAY/XFHBMoxUPyOZ8PWw4rVMycs004ElEoJ5BzlEXu7ANGOdrj3stRuhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YZqxPk54kCUy1fBgWmequX",
      "input": {
        "note": "The bear is draped over the near-left rim of the left basket rather than inside it. Moving above it to regrasp and drop it properly into the basket.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.42,
          "left_y": -0.2,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01YZqxPk54kCUy1fBgWmequX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6586, 1.7405, 1.4078, -0.6323, -0.5591, -0.6273, 0.9984, -0.0143, 0.8013, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4083 left_y=-0.1929 left_z=0.1683 left_yaw=0.1416 left_pitch=-0.2097 left_roll=0.0314 left_gripper=0.9984 right_x=0.295 right_y=0.0015 right_z=0.1788 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -7.4462, 5.6137, 1.3602, -0.0806, 0.2564, -0.1783, -0.1026, -1.5111, 7.0359, 1.7167, -0.0415, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:261b382ba097a96bdb1f266104451dd595b2b781eb63595216e728c786b2a52e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e1623bc86e5c8f2fcb3869ac732b607dc9680d628130115bb3c7ea753ed74e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e1c076dfa5191a3a0dc1dc75083676da3ad77fde54dacbc37b0c398882b93bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 59.43 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.548, 1.6619, 1.4364, -0.6689, -0.5079, -0.4915, 0.9954, -0.0147, 0.7979, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4194 left_y=-0.1511 left_z=0.2037 left_yaw=0.1321 left_pitch=-0.1891 left_roll=0.0523 left_gripper=0.9954 right_x=0.2949 right_y=0.0014 right_z=0.18 right_yaw=0.0006 right_pitch=-0.0107 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.3504, 9.9487, 1.5702, -0.1587, 0.359, -0.0122, -0.1299, -1.2376, 7.1863, 1.7411, -0.0513, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9989, 1.6783, 1.6619, -1.124, -0.7074, -0.9363, 0.9967, -0.0147, 0.7986, 0.6086, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3049 left_y=-0.255 left_z=0.2449 left_yaw=0.0894 left_pitch=-0.201 left_roll=0.0268 left_gripper=0.9967 right_x=0.2949 right_y=0.0014 right_z=0.1797 right_yaw=0.0006 right_pitch=-0.0118 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -6.4205, 8.1846, 0.8327, -0.6081, 0.0952, 0.1294, -0.0479, -1.3333, 7.1453, 1.7558, -0.0269, -0.0708, -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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6586, 1.7405, 1.4078, -0.6323, -0.5591, -0.6273, 0.9984, -0.0143, 0.8013, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4083 left_y=-0.1929 left_z=0.1683 left_yaw=0.1416 left_pitch=-0.2097 left_roll=0.0314 left_gripper=0.9984 right_x=0.295 right_y=0.0015 right_z=0.1788 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -7.4462, 5.6137, 1.3602, -0.0806, 0.2564, -0.1783, -0.1026, -1.5111, 7.0359, 1.7167, -0.0415, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:261b382ba097a96bdb1f266104451dd595b2b781eb63595216e728c786b2a52e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e1623bc86e5c8f2fcb3869ac732b607dc9680d628130115bb3c7ea753ed74e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e1c076dfa5191a3a0dc1dc75083676da3ad77fde54dacbc37b0c398882b93bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BR7agCV9ydDGwi3CHeChDZ",
      "input": {
        "note": "Wrist view puts the bear's body about 4 cm to the left of the jaw column, hanging over the basket rim. Shifting left and descending to grab its torso.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.15,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01BR7agCV9ydDGwi3CHeChDZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5781, 1.7149, 1.05, -0.3119, -0.5144, -0.5602, 0.9983, -0.0147, 0.8032, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3954 left_y=-0.1499 left_z=0.0839 left_yaw=0.1559 left_pitch=-0.2459 left_roll=0.0612 left_gripper=0.9983 right_x=0.2952 right_y=0.0014 right_z=0.1783 right_yaw=0.0006 right_pitch=-0.0168 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.294, -9.7709, 6.5026, 1.326, -0.1538, -0.0171, -0.0269, -0.1983, -1.4291, 7.3915, 1.6923, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10ec5de1546ec76fb5b61512efb0910b91510dd2dd86863db10577c959e77c3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b81715f568ccd5755756fd1ce9bf3962546c49d10f55a138c19d6809a9be4177",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3dc1aed58b9eaa0b4d68df10446b44456ae6389779927134158f4f26b982d4d",
        "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 · 11.02 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9989, 1.6783, 1.6619, -1.124, -0.7074, -0.9363, 0.9967, -0.0147, 0.7986, 0.6086, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3049 left_y=-0.255 left_z=0.2449 left_yaw=0.0894 left_pitch=-0.201 left_roll=0.0268 left_gripper=0.9967 right_x=0.2949 right_y=0.0014 right_z=0.1797 right_yaw=0.0006 right_pitch=-0.0118 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -6.4205, 8.1846, 0.8327, -0.6081, 0.0952, 0.1294, -0.0479, -1.3333, 7.1453, 1.7558, -0.0269, -0.0708, -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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6586, 1.7405, 1.4078, -0.6323, -0.5591, -0.6273, 0.9984, -0.0143, 0.8013, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4083 left_y=-0.1929 left_z=0.1683 left_yaw=0.1416 left_pitch=-0.2097 left_roll=0.0314 left_gripper=0.9984 right_x=0.295 right_y=0.0015 right_z=0.1788 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -7.4462, 5.6137, 1.3602, -0.0806, 0.2564, -0.1783, -0.1026, -1.5111, 7.0359, 1.7167, -0.0415, -0.0855, -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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5781, 1.7149, 1.05, -0.3119, -0.5144, -0.5602, 0.9983, -0.0147, 0.8032, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3954 left_y=-0.1499 left_z=0.0839 left_yaw=0.1559 left_pitch=-0.2459 left_roll=0.0612 left_gripper=0.9983 right_x=0.2952 right_y=0.0014 right_z=0.1783 right_yaw=0.0006 right_pitch=-0.0168 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.294, -9.7709, 6.5026, 1.326, -0.1538, -0.0171, -0.0269, -0.1983, -1.4291, 7.3915, 1.6923, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10ec5de1546ec76fb5b61512efb0910b91510dd2dd86863db10577c959e77c3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b81715f568ccd5755756fd1ce9bf3962546c49d10f55a138c19d6809a9be4177",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3dc1aed58b9eaa0b4d68df10446b44456ae6389779927134158f4f26b982d4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwwUKjgEIEhgCKkCBziZ+rdHB8h9V++JMY8Q/jL7Xc7s6Rnz1b00ID7sDpsnDXBLdtG+KYSK2jlNTFIiWHk18eAWTyTwecaJSBMRPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcLuzNUGEgwrtTzCrOc+vBQPI9oaDPD876NTGL5wZ5C/1yIwTDEjdYxCRZxeCGI8mVD5KoGDOO4A7zkBUFOmTsZwSQTHMlDJFH30/boUzGZQviDhKuEDOOocr+TT5HfTS2peUuwTnCgb4kDe03/C2c0HH9J5F0VRveX/33Q3LJEPasPp2i9y/glvc7A2uMWd7FHhAMH9SgehIeimgmIU2e5HaVv15c1YPGx0hw5wHK72nSp8i2x5ObcYMi3wz1xOa0FpoDqtTTpSW71BcPTZX2zxFtYdc9+ehqlUeP4b9PFHXkNG+mAY5r9QftFZLDERpRZazy9OwCoPX9SI675e3XL0TY/iCL/2WiwCHnLmRB2s8Pbzopo1L1haSE3uxscKyQyNoGmvsmcCafci+5dkC+eLIbPd6aJ8S1s0RPPoonnq9BTz5vfcpyGlc2+wFfKZwRGvIaJqvg3fRQg4CHouVN2sHVFlBOnJPYkzXso4Ib0X1VSZmaS0yoK/VsbFhzZIu6PXta7Ed/TQh5uy7r2s5Bcwk6s+dR+HnWoJBFGxaCZY75F7IY+wUWGJ/vJSep4lRlny+7xtqb2tDrYzZHBUgTgznFHfibOXfbLKMG74zIWhF7mFopJ173vViRznOFEuTcN+G0nJnBxe3Qorb5BLIYrATvT+u9BAt9rAIR8PrgMc/M8NcTpe/8snWpmYHC7wqzed/PUUsBBq12J5Z7b2tZNn5MkcNnB+33eN6U9++2Bol6nPnUZ1XhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016WR83zprEV87MXRiAQMhM7",
      "input": {
        "note": "The bear is still off to the left of the jaws, lying beside the basket's left wall; shifting 5 cm further left and lower to get over it.",
        "targets": {
          "left_y": -0.1,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_016WR83zprEV87MXRiAQMhM7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4557, 1.6772, 0.9123, -0.1398, -0.4549, -0.4629, 0.9983, -0.0147, 0.8032, 0.6083, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4019 left_y=-0.1065 left_z=0.0684 left_yaw=0.1703 left_pitch=-0.2234 left_roll=0.046 left_gripper=0.9983 right_x=0.2952 right_y=0.0013 right_z=0.1783 right_yaw=0.0003 right_pitch=-0.0164 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -7.9795, 4.1778, 1.0867, -0.1636, -0.0317, -0.0171, -0.1709, -1.0872, 7.1453, 1.7314, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:511844c509638b7a49d5b099bb3af45e1ac0777f99073a0bce381b6bcff0bce5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b33c314fe506a0a067095f6df93e3b81e0d1ce372ccfbf6a47dee26d2b549b0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c329906de9ce3b8ac28d2123e8812b480ea8fb18591e0181122de8b6e7bee4ae",
        "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 · 13.59 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6586, 1.7405, 1.4078, -0.6323, -0.5591, -0.6273, 0.9984, -0.0143, 0.8013, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4083 left_y=-0.1929 left_z=0.1683 left_yaw=0.1416 left_pitch=-0.2097 left_roll=0.0314 left_gripper=0.9984 right_x=0.295 right_y=0.0015 right_z=0.1788 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -7.4462, 5.6137, 1.3602, -0.0806, 0.2564, -0.1783, -0.1026, -1.5111, 7.0359, 1.7167, -0.0415, -0.0855, -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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5781, 1.7149, 1.05, -0.3119, -0.5144, -0.5602, 0.9983, -0.0147, 0.8032, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3954 left_y=-0.1499 left_z=0.0839 left_yaw=0.1559 left_pitch=-0.2459 left_roll=0.0612 left_gripper=0.9983 right_x=0.2952 right_y=0.0014 right_z=0.1783 right_yaw=0.0006 right_pitch=-0.0168 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.294, -9.7709, 6.5026, 1.326, -0.1538, -0.0171, -0.0269, -0.1983, -1.4291, 7.3915, 1.6923, -0.0464, -0.0757, -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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4557, 1.6772, 0.9123, -0.1398, -0.4549, -0.4629, 0.9983, -0.0147, 0.8032, 0.6083, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4019 left_y=-0.1065 left_z=0.0684 left_yaw=0.1703 left_pitch=-0.2234 left_roll=0.046 left_gripper=0.9983 right_x=0.2952 right_y=0.0013 right_z=0.1783 right_yaw=0.0003 right_pitch=-0.0164 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -7.9795, 4.1778, 1.0867, -0.1636, -0.0317, -0.0171, -0.1709, -1.0872, 7.1453, 1.7314, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:511844c509638b7a49d5b099bb3af45e1ac0777f99073a0bce381b6bcff0bce5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b33c314fe506a0a067095f6df93e3b81e0d1ce372ccfbf6a47dee26d2b549b0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c329906de9ce3b8ac28d2123e8812b480ea8fb18591e0181122de8b6e7bee4ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnggKjgEIEhgCKkBKagjucJFDoacASufRYwr9E5XaSA1CjZsPU5i51FNzxzKHbY1t1BF0lVqH1lp8HmZVZCuAWKFNINXLw9EPy5GgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdPuzNUGEgxIO+TTyAIxH0BwB20aDLX+jV1qx1c/lbhFkCIwWMILPQKnkGT1RzdHxMY3pN76YQcwCNpJU0zc7dAxiBERoYS+IJCA5dkw0PRu6ZfXKrwGnK3bU62REXI7t70K69N+HwPcG64YFE34YiWgF6XEthLMfkn7CR4mm44/SkTfNrS5DXxEkI23t6eSaYi60efskgmPgAiSTOdwQrvCkJnmOuP0UAtxfizPyAa1pCOvj5MZFBPlUcTsvy11A2s6Z5pcTrlpbgFOL+fL8ijqpvUkqcDuTcvWd8aVSMf+4jQXJAxcSNhdgUZy47hk2JWGWEvcDBJmHMgWB29XSD+s+Tk6R1kNrkV6lAxVvDFjm+RUrFGCOF3z6BE9VsVIQFdz82JiCLjg/zhJ12+YhuKrPKQcpNQ8uFWE+n6Cd5F0RtcARX0GcrI861CkAx81hsX05X2EjrUkyN54dD+Had7OBLukKVlU9fVdylXzVz8fRVzGV83uTxb6e1EAc3elJll7s0iBq1xjY0XjLSK2Jxrt8YBlgoee2+54OMKb2RM1b4WiFWscgF8fCmApni1CzZn27hzrBI0Yr2UiWzf8O2EUTascoMd6hCyJdAprwmylA3jtpJLvmYpS2Qa7uEVke4sZsRsec9W3/W98ELh5ZkYOeBG4s0NAo0ftkIWX113OIwQ+PkuXNVgkes7V0kKp9v8x9D/mJ8DYna3OvI4iS/yY62u/cuNoMnYPGPyblFvYBWlv7oaFyTOE0M1WYkFY9hTOXWNHet+VZgJkWMjOwEHIfBUj4L6ADSoOxeKIGDHG8JBHdIhcHCxw+VSQoFY0ZCgZklQ7Gikq7TaLZ5+16ZVg8tfrmwsV9mZZeBQtBRIAy/X/1lQalv4emaBiad0Ako6dHg/i202UWVRbb1qPrWw9rMf2qnzJq+Z5vOAYlblcniO+B4oSbv4aw2XQQcJKcq5eBCL2WW6zy7htZ7aMhCfElbtRU7aF5dESmKmOsgLQka5DCaAPKSgYtSmiidwIGzCcJqaCTugTEfkEYlmIhCjv3BlMWOCdUsASnPm9nnCRP1v2Zl4z3d8U90lvL+DwHujP02h2rtIcNjDirYw7VrO04uDsHaJ73h9Nhxxe2yiRIl9LK0uLc/6ZvnxFx8SQ/SuyxfG/pzXhajkMutYnO6PfZxFV8Ef7CEJZHWzdtbwEUkh0uGl3wRsP6+cqcUcVBXLYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014UHsGwKomcyUsWNrmM4ux6",
      "input": {
        "note": "Top view shows the cream bear sitting to the left of the left basket, further left than I estimated; moving 5 cm more left to get the jaws over it.",
        "targets": {
          "left_y": -0.05,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_014UHsGwKomcyUsWNrmM4ux6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2966, 1.6249, 0.8223, -0.0055, -0.3595, -0.3462, 0.9982, -0.0143, 0.8032, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4117 left_y=-0.0571 left_z=0.071 left_yaw=0.1802 left_pitch=-0.1817 left_roll=0.0178 left_gripper=0.9982 right_x=0.2952 right_y=0.0015 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0164 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -7.1726, 4.6701, 1.0525, -0.1538, 0.0806, -0.0171, -0.0615, -1.2786, 7.0496, 1.7216, -0.0513, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab378f87bee1278c579e68049798b7933b1bf33b032718f6feaeb66494bbb928",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1a796fa07f48295254769e3c1941ef347e7bba59227351f51ce66949e0db989",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd767fa374b45d0106f8225cdcc03d04ce5f5b26a23aac3f1ec3e5bae3efb2b6",
        "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 · 13.54 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5781, 1.7149, 1.05, -0.3119, -0.5144, -0.5602, 0.9983, -0.0147, 0.8032, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3954 left_y=-0.1499 left_z=0.0839 left_yaw=0.1559 left_pitch=-0.2459 left_roll=0.0612 left_gripper=0.9983 right_x=0.2952 right_y=0.0014 right_z=0.1783 right_yaw=0.0006 right_pitch=-0.0168 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.294, -9.7709, 6.5026, 1.326, -0.1538, -0.0171, -0.0269, -0.1983, -1.4291, 7.3915, 1.6923, -0.0464, -0.0757, -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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4557, 1.6772, 0.9123, -0.1398, -0.4549, -0.4629, 0.9983, -0.0147, 0.8032, 0.6083, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4019 left_y=-0.1065 left_z=0.0684 left_yaw=0.1703 left_pitch=-0.2234 left_roll=0.046 left_gripper=0.9983 right_x=0.2952 right_y=0.0013 right_z=0.1783 right_yaw=0.0003 right_pitch=-0.0164 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -7.9795, 4.1778, 1.0867, -0.1636, -0.0317, -0.0171, -0.1709, -1.0872, 7.1453, 1.7314, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2966, 1.6249, 0.8223, -0.0055, -0.3595, -0.3462, 0.9982, -0.0143, 0.8032, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4117 left_y=-0.0571 left_z=0.071 left_yaw=0.1802 left_pitch=-0.1817 left_roll=0.0178 left_gripper=0.9982 right_x=0.2952 right_y=0.0015 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0164 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -7.1726, 4.6701, 1.0525, -0.1538, 0.0806, -0.0171, -0.0615, -1.2786, 7.0496, 1.7216, -0.0513, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab378f87bee1278c579e68049798b7933b1bf33b032718f6feaeb66494bbb928",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1a796fa07f48295254769e3c1941ef347e7bba59227351f51ce66949e0db989",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd767fa374b45d0106f8225cdcc03d04ce5f5b26a23aac3f1ec3e5bae3efb2b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjgsKjgEIEhgCKkAqEDAJDFKGWlaQJsOjr4ZgD3+cOj6GmXVDwwdHtemmNz7HBS6+CHAmjzt+UMGe6YEtV+KEDUqSrfcDjppHczxfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeHuzNUGEgzlWdss+km/VmS6hJkaDM0qntTQ4882Z0EB1yIwK0QFxf2idKs2aGc5vfbOemTX5USPX3Qpo8qoNgNP6TwcS28D7En5llbgSi37HuFvKqwJ7SYn06TXQyY/gftrkq/MiUFg1Y/+MRf2skq7FmLVaPE0nefK4MbzYXUGCa1Yn3rl346YE4Phz+8Hb1DfgmZF5mFrUnpqcw9MMKKNcYs5f6/E7Gn6ujSpgQSOjhJKLnw3x6gPw8i9UAreEMwHgrfvFYNuiC4TDcXSo8yRE+GhMe/4XRpoiQjqS5pNRpkSa6Jd3WgmfrS1yay8XFJe+rkxr2NOGKi5yKyAbRl8jFGPeEsEGCNrP1aZERwbY5R0+Uo4/5MSuuN9DcVbEy56dEccd6uXjF2wQt8XGkcWfVAMyXOo9d1TWn5jAifSoGCbHo4Aczb+rjoMYG/Oi+2n+QpGiCpFV596ElniYNiKNMHucZk2z1PsupyP4Caz9/qU6EmtJ+G2EXKg5N9KHGlp+DTFS6alPxUq+rTfPItukcU6oT/bosJC5w24bKxdMXm+kf95UE9JpVeHI4inwrGelQM2sFaAoBcGTDV8DGVfjm4NeZVsccvJDXMaLIymuqV0vKAJHVi1hTQgacPsg/BVjBtlkuiiBRMCXJQqaFfecTEetsGcd3moOcbG6X5IpugCwD0ap9pytG9jZ2liPx+71LqK7+K2RsihmIgdcAbTSD93tSNaoh4sSrNY9mQoxTONQ5X9NvIhrrJH8i6CshcUuLvScUcVhSj6z9EpYabVx6X8XZzwO481G8s7wl0ubVJgT77Dc8XffukBfHkZdip8eGrrbzjzl840ut51PN/zKEJOfNmhzIs/p8hAgIKoGVvoZicVlEMdD6Z2/jocdGLS32PtjKSYLQWUCUke3DuC+W7dG4HXqn9VN3YQshjY6qT0PwLNx6S16fYG0mM+tnSKNwYTj5avf8g7FU4RIvZ7rL8xNMSEysEfIJqjSAoxuoj99DXLtQyheGdQT+HJaEQNS8SzuQZTBiv7trvoXXrBQCEW0ZylS6usdhlPtZkvafsMnSahnpQ4jp1s5QtQXVtxNzjX0LhfRGhi2RiAssOkVDd7HMjaTGobyzhaWs7Wzdb0Rgk1aQDetei2T/6RzaR8S+XofxmQIVixM6G7de7Yeum7Ip4pXqXgGYta5bW6IccI1ac3atH2K3+4q6Mr6qfn75Cmx5J4l/trrGGkdp+XF3MTpvz2ZygzImJ7Cf+a3xw5RXDvIw3Byq1WI9OfcTQ8dRMNhKLmTeO2uWr4rT4FzHcvNkF+M1dJA0Gu16sc7SeUEG5XzaGvFj7u0qCR+x7Hzwx9t/vhvuZd9a9sKXSv9uSliWC9UuTOaZjv+AqKoP/tt5PRctzjvba7VzGVhNM9+GnHlyly/45pt2Uw5s9aeSMfVfkFXPjAnXdfB/Laxos5ZybJfHctAruGirpgGoiCQ0eJOjfMQrnbnAIxvr5M6uhPcK787afOf6gRLn81Qt09Tkuh1Nz47Wg2mFmj0DSbAnFJtDjL6EDywPx1otaTmKc9TFG62dA5KKID2x60uQ1IrV0//ddeaIbVGY24duW6wAp+A12JfXYo2bfEkhFejHVPDAtHDAiIrOD1XKB/7/KLX5izhxkyJARMlVoWDrns3B4wLNb8gNUHrGpMEmb73QYaQAU1PYWyttjA1N9jKRAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CThESvvaALQnDPfwEKGyh3",
      "input": {
        "note": "The wrist view isn't changing with my sideways moves, so I'm retracting the left arm high and back to get an unobstructed top-camera view of what's where.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.2,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01CThESvvaALQnDPfwEKGyh3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0672, 1.5192, 1.689, -1.351, -0.7376, -1.0916, 0.9982, -0.0147, 0.8078, 0.6083, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2587 left_y=-0.2159 left_z=0.2905 left_yaw=0.1272 left_pitch=-0.1924 left_roll=-0.0385 left_gripper=0.9982 right_x=0.2955 right_y=0.0013 right_z=0.177 right_yaw=0.0003 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -5.8051, 6.8308, 0.4615, -0.652, 0.0855, -0.0171, -0.1299, -1.347, 7.0359, 1.7167, -0.0415, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d39632d110c65992cf5077a772ae7916878a1f6d875b1ceeed817191c7aa64da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9712bf67763c82aa6636c8523ed9c1ba28fa200787f328f0b871c12b0ef42fcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:44fab11ab3c62c8d05383898510067242c2537fd0bb5bb3a8f1d7fb312d9f00e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 5.08 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4557, 1.6772, 0.9123, -0.1398, -0.4549, -0.4629, 0.9983, -0.0147, 0.8032, 0.6083, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4019 left_y=-0.1065 left_z=0.0684 left_yaw=0.1703 left_pitch=-0.2234 left_roll=0.046 left_gripper=0.9983 right_x=0.2952 right_y=0.0013 right_z=0.1783 right_yaw=0.0003 right_pitch=-0.0164 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -7.9795, 4.1778, 1.0867, -0.1636, -0.0317, -0.0171, -0.1709, -1.0872, 7.1453, 1.7314, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2966, 1.6249, 0.8223, -0.0055, -0.3595, -0.3462, 0.9982, -0.0143, 0.8032, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4117 left_y=-0.0571 left_z=0.071 left_yaw=0.1802 left_pitch=-0.1817 left_roll=0.0178 left_gripper=0.9982 right_x=0.2952 right_y=0.0015 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0164 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -7.1726, 4.6701, 1.0525, -0.1538, 0.0806, -0.0171, -0.0615, -1.2786, 7.0496, 1.7216, -0.0513, -0.0562, -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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0672, 1.5192, 1.689, -1.351, -0.7376, -1.0916, 0.9982, -0.0147, 0.8078, 0.6083, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2587 left_y=-0.2159 left_z=0.2905 left_yaw=0.1272 left_pitch=-0.1924 left_roll=-0.0385 left_gripper=0.9982 right_x=0.2955 right_y=0.0013 right_z=0.177 right_yaw=0.0003 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -5.8051, 6.8308, 0.4615, -0.652, 0.0855, -0.0171, -0.1299, -1.347, 7.0359, 1.7167, -0.0415, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d39632d110c65992cf5077a772ae7916878a1f6d875b1ceeed817191c7aa64da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9712bf67763c82aa6636c8523ed9c1ba28fa200787f328f0b871c12b0ef42fcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44fab11ab3c62c8d05383898510067242c2537fd0bb5bb3a8f1d7fb312d9f00e",
        "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_01UgosMxN5NUNBtQ4ik6JcNg",
      "input": {
        "note": "Clear view now: plush toys are at/in the left basket, thin pens lie on the table at right. A small brown teddy remains on the table in front of the left basket — moving above it to pick it up.",
        "targets": {
          "left_x": 0.22,
          "left_y": -0.18,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UgosMxN5NUNBtQ4ik6JcNg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.14, 1.2961, 0.91, -0.9173, -0.7479, -1.1759, 0.9982, -0.0147, 0.8101, 0.6079, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2171 left_y=-0.176 left_z=0.1371 left_yaw=0.1287 left_pitch=-0.2237 left_roll=0.0206 left_gripper=0.9982 right_x=0.2956 right_y=0.0014 right_z=0.1762 right_yaw=0.0006 right_pitch=-0.024 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -5.7231, 6.7624, 1.0525, -0.5836, -0.1001, -0.0171, -0.1983, -1.4701, 7.0906, 1.7314, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7b17d6690190ba5cac93e33efeb1b7d92d076d3cdedb9a4ab2a095f8b3e7cd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b160cbc94f119754d2b1facbe4886597c1a17926c855b64b059a320dc2234a3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:414f68321ecb1f7baa23f5f87d93757f13992f458076746f82ffc006f7aa8d1b",
        "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 · 4.293 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2966, 1.6249, 0.8223, -0.0055, -0.3595, -0.3462, 0.9982, -0.0143, 0.8032, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4117 left_y=-0.0571 left_z=0.071 left_yaw=0.1802 left_pitch=-0.1817 left_roll=0.0178 left_gripper=0.9982 right_x=0.2952 right_y=0.0015 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0164 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -7.1726, 4.6701, 1.0525, -0.1538, 0.0806, -0.0171, -0.0615, -1.2786, 7.0496, 1.7216, -0.0513, -0.0562, -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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0672, 1.5192, 1.689, -1.351, -0.7376, -1.0916, 0.9982, -0.0147, 0.8078, 0.6083, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2587 left_y=-0.2159 left_z=0.2905 left_yaw=0.1272 left_pitch=-0.1924 left_roll=-0.0385 left_gripper=0.9982 right_x=0.2955 right_y=0.0013 right_z=0.177 right_yaw=0.0003 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -5.8051, 6.8308, 0.4615, -0.652, 0.0855, -0.0171, -0.1299, -1.347, 7.0359, 1.7167, -0.0415, -0.0757, -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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.14, 1.2961, 0.91, -0.9173, -0.7479, -1.1759, 0.9982, -0.0147, 0.8101, 0.6079, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2171 left_y=-0.176 left_z=0.1371 left_yaw=0.1287 left_pitch=-0.2237 left_roll=0.0206 left_gripper=0.9982 right_x=0.2956 right_y=0.0014 right_z=0.1762 right_yaw=0.0006 right_pitch=-0.024 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -5.7231, 6.7624, 1.0525, -0.5836, -0.1001, -0.0171, -0.1983, -1.4701, 7.0906, 1.7314, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7b17d6690190ba5cac93e33efeb1b7d92d076d3cdedb9a4ab2a095f8b3e7cd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b160cbc94f119754d2b1facbe4886597c1a17926c855b64b059a320dc2234a3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:414f68321ecb1f7baa23f5f87d93757f13992f458076746f82ffc006f7aa8d1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkwQKjgEIEhgCKkBShy8eNuw2ZIXjXvWoi5a9qCSIlrON5bmGCrf6J6ZsStRpYnokbcTvwe9qCZ4hhZ1iOCkPzkdWZmIdfYGVrW78Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfbuzNUGEgxrZJcuw+XdbTkmOVYaDKRNJ8ohE4S2OjyHjSIwZKzIHDgpljSma57oAj4vxO0J4vQIowlRVJFn5dlvlwfYAmipOSPhY8Y18jqSDu0gKrEC5+pLGuZcrlsOCDnQLydIIE+jq/XlblMDYuQI6abtccqBx5BIIjz7iMGohGkvP0fdqxoiHyj3hIyxCJrLcnLJKwW+UdH4aB/Kc8rEyq+9YrypKzCsiIQn0mWvcDVMahOC4ZXGJQryWy8SaGfh5lgi5DFp6RZVrL7wgFKZ7Vqy0IqT5psXGuV6MuUK7oh13N/zLZz37gXnX+LqdFqLmgfmvTgO1sTTSeQHOLgPH2I7fmV27uDO8VSzpihgpjsIURN0w1GCrqXEeVVTUQmNwxGFfakDB4E8NSdII+/zdjADDNpjBsNXspQh7blR02r5/wvazSt6KCH9EZHthxDidQzgn1beBLEpnCrzJ8maMOtubXmgXAhVIkn9qry4WgoaCH3M3Oypl0Nc8F4xnz5wTUYQmTMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QJrp58Digk1rVjrNg9iAYi",
      "input": {
        "note": "The small brown teddy sits on the jaw column in the left wrist view; advancing 2.5 cm and descending to grasp height.",
        "targets": {
          "left_x": 0.245,
          "left_y": -0.172,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01QJrp58Digk1rVjrNg9iAYi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0267, 1.4723, 0.6292, -0.429, -0.7174, -1.0515, 0.9982, -0.0147, 0.812, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2378 left_y=-0.1618 left_z=0.0377 left_yaw=0.1561 left_pitch=-0.2445 left_roll=0.0696 left_gripper=0.9982 right_x=0.2956 right_y=0.0014 right_z=0.1755 right_yaw=0.0006 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -5.4085, 5.4085, 0.862, -0.3101, 0.0611, -0.0171, -0.1983, -1.3744, 7.2957, 1.6923, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88a4e5b77f490fd2c499c1f7a9a58c4602832f7eda7d0070251cba47744c0982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e91b258c10b8d0c16adf43c86f7fbf6b4d18955b12f750b8e922b3c83a7ffb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2960e1e7af812560e027a45d56c15810385723802a197ff6c667ae2122accc5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 4.453 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0672, 1.5192, 1.689, -1.351, -0.7376, -1.0916, 0.9982, -0.0147, 0.8078, 0.6083, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2587 left_y=-0.2159 left_z=0.2905 left_yaw=0.1272 left_pitch=-0.1924 left_roll=-0.0385 left_gripper=0.9982 right_x=0.2955 right_y=0.0013 right_z=0.177 right_yaw=0.0003 right_pitch=-0.0214 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -5.8051, 6.8308, 0.4615, -0.652, 0.0855, -0.0171, -0.1299, -1.347, 7.0359, 1.7167, -0.0415, -0.0757, -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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.14, 1.2961, 0.91, -0.9173, -0.7479, -1.1759, 0.9982, -0.0147, 0.8101, 0.6079, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2171 left_y=-0.176 left_z=0.1371 left_yaw=0.1287 left_pitch=-0.2237 left_roll=0.0206 left_gripper=0.9982 right_x=0.2956 right_y=0.0014 right_z=0.1762 right_yaw=0.0006 right_pitch=-0.024 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -5.7231, 6.7624, 1.0525, -0.5836, -0.1001, -0.0171, -0.1983, -1.4701, 7.0906, 1.7314, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0267, 1.4723, 0.6292, -0.429, -0.7174, -1.0515, 0.9982, -0.0147, 0.812, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2378 left_y=-0.1618 left_z=0.0377 left_yaw=0.1561 left_pitch=-0.2445 left_roll=0.0696 left_gripper=0.9982 right_x=0.2956 right_y=0.0014 right_z=0.1755 right_yaw=0.0006 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -5.4085, 5.4085, 0.862, -0.3101, 0.0611, -0.0171, -0.1983, -1.3744, 7.2957, 1.6923, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88a4e5b77f490fd2c499c1f7a9a58c4602832f7eda7d0070251cba47744c0982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e91b258c10b8d0c16adf43c86f7fbf6b4d18955b12f750b8e922b3c83a7ffb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2960e1e7af812560e027a45d56c15810385723802a197ff6c667ae2122accc5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4gIKjgEIEhgCKkDKQiP1R7sYMP+0toGSPHSEBm0Im9YGSDjkijqqY6aUqljgogPmAJpZc8YQr44LJPgW2B0/Pd+yrkx43Ufi/Kg3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfzuzNUGEgxxkShxPhe+BnOGyz0aDHnWXvgcfvzVQ30LyCIw9BAsYEFi52Y9OUVP+hqrbVThDfKFSfJ59NW5H60ujmQpNa15/484O/HHyFO99FmRKoABHeMPkiEkHJ/JBAjGFK8zV362URA6mkPe/xVgr/6GANB3e+qrXJUH9La3gWR2OGq8iGyrKc4F8tpIBKKdOkWSXab42qSrLzsicCW8ILGAjuwI4l73pgf8WfJMEGE/hkn37GX5Ua06hOw/s3mm9dUkpTO+3iqgbyueAgvJbEKTbrsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NQQ2jqRfk3JAGy4wwvA6g5",
      "input": {
        "note": "Teddy is right between the jaws at table level; closing to grasp it.",
        "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_01NQQ2jqRfk3JAGy4wwvA6g5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0233, 1.4849, 0.6132, -0.4068, -0.7109, -1.0477, 0.1064, -0.0147, 0.812, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2366 left_y=-0.1598 left_z=0.031 left_yaw=0.1565 left_pitch=-0.2529 left_roll=0.0761 left_gripper=0.1064 right_x=0.2956 right_y=0.0014 right_z=0.1755 right_yaw=0.0006 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -6.106, 6.4342, 0.5104, -0.4274, -0.0464, 0.8864, -0.1162, -1.0188, 7.2137, 1.7411, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:401b0b7d0cd7a67e106df612408f32e10654440ee84db25a0842e74b30ec2a0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bedd9b8aa284e21541052750af1ee47cc8cda8b1f7edeb61589df96c17904957",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aa693ea5cf45965e24933a581616a3cc29065fa195fcb1cc1a54d30a603ff5cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 9.225 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.14, 1.2961, 0.91, -0.9173, -0.7479, -1.1759, 0.9982, -0.0147, 0.8101, 0.6079, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2171 left_y=-0.176 left_z=0.1371 left_yaw=0.1287 left_pitch=-0.2237 left_roll=0.0206 left_gripper=0.9982 right_x=0.2956 right_y=0.0014 right_z=0.1762 right_yaw=0.0006 right_pitch=-0.024 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -5.7231, 6.7624, 1.0525, -0.5836, -0.1001, -0.0171, -0.1983, -1.4701, 7.0906, 1.7314, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0267, 1.4723, 0.6292, -0.429, -0.7174, -1.0515, 0.9982, -0.0147, 0.812, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2378 left_y=-0.1618 left_z=0.0377 left_yaw=0.1561 left_pitch=-0.2445 left_roll=0.0696 left_gripper=0.9982 right_x=0.2956 right_y=0.0014 right_z=0.1755 right_yaw=0.0006 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -5.4085, 5.4085, 0.862, -0.3101, 0.0611, -0.0171, -0.1983, -1.3744, 7.2957, 1.6923, -0.0317, -0.0708, -0.0122]",
      "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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0233, 1.4849, 0.6132, -0.4068, -0.7109, -1.0477, 0.1064, -0.0147, 0.812, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2366 left_y=-0.1598 left_z=0.031 left_yaw=0.1565 left_pitch=-0.2529 left_roll=0.0761 left_gripper=0.1064 right_x=0.2956 right_y=0.0014 right_z=0.1755 right_yaw=0.0006 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -6.106, 6.4342, 0.5104, -0.4274, -0.0464, 0.8864, -0.1162, -1.0188, 7.2137, 1.7411, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:401b0b7d0cd7a67e106df612408f32e10654440ee84db25a0842e74b30ec2a0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bedd9b8aa284e21541052750af1ee47cc8cda8b1f7edeb61589df96c17904957",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa693ea5cf45965e24933a581616a3cc29065fa195fcb1cc1a54d30a603ff5cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrAMKjgEIEhgCKkB/f5Ujt3G/eGyE0Jlh0A+7Hlu2lPjn5WvcbObebco0SoN4SiqcE4XqaR3fbOiHxG6MvoNfsO2FdFUxABpPIPZIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYHvzNUGEgy9xoY5ZNKjpykDAscaDJRx5xrIYeRASgLiOyIwuN+yrctf/S5bocf6+kq7C8ncVu8C0jb5U6bM3tka/aHBJgLhypkPND6OtYPIcDLkKsoBTbZPfhrtOoHCCJPFqeERi8+4VO3xW2BLNO4kuMHS2ziqTcRfYWUbEXPjmQ2pihlCFx65nqnltVxKe5kMaq/FXqNR9nNmMIiEBnLO7r0zPuV7HU2J4DuD+brSdoHDmBAAn2Z3ZjvgtUvWNpz8+lsURhXZme4oVft1U2god9DTZaC/5UIBV+zvMl6VxEwM472T9jGEmCbL6KpDinAwbdxUNs4PoxmOPj1BHMaBEtRrOhbePLflmR2Bdk7LHr3e/nka30N/NxWVEy68EBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LHEvCnvxos35xCDShaAHs3",
      "input": {
        "note": "Jaws closed on about 1 cm of the teddy; lifting to see if the toy comes with it.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01LHEvCnvxos35xCDShaAHs3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0229, 1.3132, 1.132, -1.0714, -0.696, -1.0554, 0.1085, -0.0147, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2398 left_y=-0.1686 left_z=0.187 left_yaw=0.1489 left_pitch=-0.2557 left_roll=0.0403 left_gripper=0.1085 right_x=0.2957 right_y=0.0014 right_z=0.1756 right_yaw=0.0006 right_pitch=-0.0259 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -5.1214, 7.8838, 0.6569, -0.5104, 0.0611, 0.6178, -0.0889, -1.1145, 7.159, 1.7363, -0.0415, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b016536ad94fb04728f107b8f31b3b3aa85f1c9f0cd7e2efbef43d057e39863",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c581c871eee6c29d1ccbc6ced82119c06d746e5364c1657d9da6761ef20e0f0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:670e54b55baa3ef033f19094200e661f3ef6b37ef88039bb39eddf4c5e94cd22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 12.62 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0267, 1.4723, 0.6292, -0.429, -0.7174, -1.0515, 0.9982, -0.0147, 0.812, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2378 left_y=-0.1618 left_z=0.0377 left_yaw=0.1561 left_pitch=-0.2445 left_roll=0.0696 left_gripper=0.9982 right_x=0.2956 right_y=0.0014 right_z=0.1755 right_yaw=0.0006 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -5.4085, 5.4085, 0.862, -0.3101, 0.0611, -0.0171, -0.1983, -1.3744, 7.2957, 1.6923, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0233, 1.4849, 0.6132, -0.4068, -0.7109, -1.0477, 0.1064, -0.0147, 0.812, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2366 left_y=-0.1598 left_z=0.031 left_yaw=0.1565 left_pitch=-0.2529 left_roll=0.0761 left_gripper=0.1064 right_x=0.2956 right_y=0.0014 right_z=0.1755 right_yaw=0.0006 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -6.106, 6.4342, 0.5104, -0.4274, -0.0464, 0.8864, -0.1162, -1.0188, 7.2137, 1.7411, -0.0464, -0.0806, -0.0122]",
      "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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0229, 1.3132, 1.132, -1.0714, -0.696, -1.0554, 0.1085, -0.0147, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2398 left_y=-0.1686 left_z=0.187 left_yaw=0.1489 left_pitch=-0.2557 left_roll=0.0403 left_gripper=0.1085 right_x=0.2957 right_y=0.0014 right_z=0.1756 right_yaw=0.0006 right_pitch=-0.0259 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -5.1214, 7.8838, 0.6569, -0.5104, 0.0611, 0.6178, -0.0889, -1.1145, 7.159, 1.7363, -0.0415, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b016536ad94fb04728f107b8f31b3b3aa85f1c9f0cd7e2efbef43d057e39863",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c581c871eee6c29d1ccbc6ced82119c06d746e5364c1657d9da6761ef20e0f0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:670e54b55baa3ef033f19094200e661f3ef6b37ef88039bb39eddf4c5e94cd22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIStgkKjgEIEhgCKkCYYDVJOA2RF8AdEUy6d8S5pFveGedmRJMi3m7iEfqVQc/y9mFEeFKehSnk2R/RzkoO7Q8SpFOt8DUHob1JQSC1Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYvvzNUGEgziOR5Cn2Sn7feq5LMaDEJXKHg//1weLjQUeSIwz1Rw7ja8Sjju+U0YXaXe5kuwYClnPCVJVZ1MSQsofztOepHg+uQDGTDXeKVPNbweKtQH0sDnRngVsycof5zqul6sfkFqQn32DcERjRasWA6lRKUhw+JwjbYyyBTgbcOPHdfxwFViR780IVO2KVJg+oQqifvkr8ZtARYxAK2XwNbyBsv8+h37H3YYAlqRSh7RrKQKNgi0IeZcKLmEp+ECawAnBqmtTercKWWjx939I0dTOVDiLIYzHCFiQCA1s+vjqyIZIhch1RgmYiKHI4236qT0ZEGZWDDLzEMCfHnozXkQAItxR34ZCqI0wBkAg5jZytakP6IBXrKMG08HfaFlyKFr6Ut19FfKLV/MAPJGhDUMlvDJKd/HrgSZm9/sJArKDvUdrb7uxGV1kHGlPXgmxZ7d6JVo5Gj4yV0dETs4yfbkGYULFe8m5gpUfxr2Xh5XxAI+g0Xy8bqPvnzNit5i38IOvta/4j6tDL1IYzY4Pwday5H1sPEEwHIOBXWln4kz8Flr4G4aro4l84D8MTlCIFu/TyVwksM/kc9LxQ0kdsooR2XtSYL2t4BdZE4HlsbPrVm+z5pDp4sH74oSOqZ5/6gs1/xDwQ3iTQUslS+/qIRRzIxnGOUh8tYGB1NoxARUFPXZLUKlOANiW1cendWFihsefkV2VMm3dIAv6yPiYKRXWxgFJI3iTGIfGlN0nbiRC96bjQNibnMNbgUpMxZNLs6325aFbcqpQZkpyRfBJDMTvSC4oYEjc7D0AJTzDN3GaxwqxGiRWvcGBLrHhxFX+PA8Z6KV2714qhqJSGzWsWZ+v4v8lqqKMlAv+8OV6O25uW79+fxmInEsKCS6uS8CnoKJeB9Ub4sDNzPU0Lxw2IG/THE25eE90dVoJFzb3ZBfyZlAyuEhiQbnGWTV9kNGtoKlT9Df968FNhj43M65NNWtQ8LAN4ei2pzHwKIFkeWXVnO+3KcmI8XTENp1QfzQcKPsKfeCQJPnpIvV/h3cduVQy9GACOwOfzNylg6t/ySw81ssz2+2zT9dW6pMI6VmYPVW8TPRqjrfz4tadvSxT7y6/o8YPPO23geDINnEL084YFgyPpZhAccB8aW78T+dZXu/SAmX6/CF7pX4fAujrzkXOW38Yp7/Mu3zUV52tggzZ2cAMHJ8AUOiYcdFrUsiyD6+dxjPqq8FuonTTQmoPqltxIW6A5z09Wf8GErfjTh60zZ0FsRdY1/bSdxDZ/FQOOX8f9VT9vF8ufXH5Iy+uQ1zl+3spd+GaXL2U5dp5hqaxKRFtkkr3upl9YDCEt12ko/QI6CLhRQveiEc1yM0beSYV9PGwmsumI4cieeGHaNFxM0eej7MKzjoHsLQhnCXcqho1H75Q3gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011WJWaMdXebRHTcfcM39bwA",
      "input": {
        "note": "The teddy stayed fixed in the wrist view as I lifted, so it is held. Carrying it high over the left basket (the plush basket).",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.15,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_011WJWaMdXebRHTcfcM39bwA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5697, 1.7317, 1.9232, -1.1709, -0.4927, -0.6056, 0.109, -0.0147, 0.8154, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3983 left_y=-0.1517 left_z=0.2909 left_yaw=0.1742 left_pitch=-0.2588 left_roll=0.0171 left_gripper=0.109 right_x=0.2958 right_y=0.0014 right_z=0.1742 right_yaw=0.0007 right_pitch=-0.0305 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -8.0615, 7.241, 0.9255, -0.2662, 0.2222, 0.2955, -0.1983, -1.6479, 7.0906, 1.6777, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10573ffbfb3321ba881934c0b7c6348bbc40743ffa418183696480124e629ac0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:431dcd1d22b8cc99c0e4ad93832298cd56be248745326f1de35cef60f800476f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:99b669699e33e08effba7e0e52560f60df5751920253180ec26a196854ca7f31",
        "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 · 28.16 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0233, 1.4849, 0.6132, -0.4068, -0.7109, -1.0477, 0.1064, -0.0147, 0.812, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2366 left_y=-0.1598 left_z=0.031 left_yaw=0.1565 left_pitch=-0.2529 left_roll=0.0761 left_gripper=0.1064 right_x=0.2956 right_y=0.0014 right_z=0.1755 right_yaw=0.0006 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -6.106, 6.4342, 0.5104, -0.4274, -0.0464, 0.8864, -0.1162, -1.0188, 7.2137, 1.7411, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0229, 1.3132, 1.132, -1.0714, -0.696, -1.0554, 0.1085, -0.0147, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2398 left_y=-0.1686 left_z=0.187 left_yaw=0.1489 left_pitch=-0.2557 left_roll=0.0403 left_gripper=0.1085 right_x=0.2957 right_y=0.0014 right_z=0.1756 right_yaw=0.0006 right_pitch=-0.0259 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -5.1214, 7.8838, 0.6569, -0.5104, 0.0611, 0.6178, -0.0889, -1.1145, 7.159, 1.7363, -0.0415, -0.0855, -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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5697, 1.7317, 1.9232, -1.1709, -0.4927, -0.6056, 0.109, -0.0147, 0.8154, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3983 left_y=-0.1517 left_z=0.2909 left_yaw=0.1742 left_pitch=-0.2588 left_roll=0.0171 left_gripper=0.109 right_x=0.2958 right_y=0.0014 right_z=0.1742 right_yaw=0.0007 right_pitch=-0.0305 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -8.0615, 7.241, 0.9255, -0.2662, 0.2222, 0.2955, -0.1983, -1.6479, 7.0906, 1.6777, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10573ffbfb3321ba881934c0b7c6348bbc40743ffa418183696480124e629ac0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:431dcd1d22b8cc99c0e4ad93832298cd56be248745326f1de35cef60f800476f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99b669699e33e08effba7e0e52560f60df5751920253180ec26a196854ca7f31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016Xz66DTZvKzNpSgL1taju3",
      "input": {
        "note": "In the wrist view the left basket is still up and to the left of the held teddy, so reaching 6 cm further forward and 2 cm left to centre over it.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.13,
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_016Xz66DTZvKzNpSgL1taju3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.437, 1.8652, 1.9514, -1.0992, -0.4255, -0.5247, 0.109, -0.0147, 0.8165, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4471 left_y=-0.1244 left_z=0.2497 left_yaw=0.219 left_pitch=-0.3227 left_roll=0.0502 left_gripper=0.109 right_x=0.2958 right_y=0.0014 right_z=0.1739 right_yaw=0.0007 right_pitch=-0.0317 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -10.2769, 9.8667, 1.5165, -0.232, 0.1587, 0.2418, -0.1436, -1.4427, 7.2274, 1.7167, -0.0366, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a01059f0914e0fa61c7c7cfb64c029af594f2cff1a6b43943e36614723daabda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c18f60d9300d2298f5781e87e28abe075ff0dc1ebc8326058067ca69588c52b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:268f170675876f3960fa66bb613627ed7a759a37a0993a6cc09b36792c177a5b",
        "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 · 7 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0229, 1.3132, 1.132, -1.0714, -0.696, -1.0554, 0.1085, -0.0147, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2398 left_y=-0.1686 left_z=0.187 left_yaw=0.1489 left_pitch=-0.2557 left_roll=0.0403 left_gripper=0.1085 right_x=0.2957 right_y=0.0014 right_z=0.1756 right_yaw=0.0006 right_pitch=-0.0259 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -5.1214, 7.8838, 0.6569, -0.5104, 0.0611, 0.6178, -0.0889, -1.1145, 7.159, 1.7363, -0.0415, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5697, 1.7317, 1.9232, -1.1709, -0.4927, -0.6056, 0.109, -0.0147, 0.8154, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3983 left_y=-0.1517 left_z=0.2909 left_yaw=0.1742 left_pitch=-0.2588 left_roll=0.0171 left_gripper=0.109 right_x=0.2958 right_y=0.0014 right_z=0.1742 right_yaw=0.0007 right_pitch=-0.0305 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -8.0615, 7.241, 0.9255, -0.2662, 0.2222, 0.2955, -0.1983, -1.6479, 7.0906, 1.6777, -0.0464, -0.0415, -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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.437, 1.8652, 1.9514, -1.0992, -0.4255, -0.5247, 0.109, -0.0147, 0.8165, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4471 left_y=-0.1244 left_z=0.2497 left_yaw=0.219 left_pitch=-0.3227 left_roll=0.0502 left_gripper=0.109 right_x=0.2958 right_y=0.0014 right_z=0.1739 right_yaw=0.0007 right_pitch=-0.0317 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -10.2769, 9.8667, 1.5165, -0.232, 0.1587, 0.2418, -0.1436, -1.4427, 7.2274, 1.7167, -0.0366, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a01059f0914e0fa61c7c7cfb64c029af594f2cff1a6b43943e36614723daabda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c18f60d9300d2298f5781e87e28abe075ff0dc1ebc8326058067ca69588c52b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:268f170675876f3960fa66bb613627ed7a759a37a0993a6cc09b36792c177a5b",
        "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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UUac0DTpipGpx5bray9p8nXtm/X0EijXvk0puJzjEk8TjQ43/BFSyxVSXMUi2HseFMA8lTxn/c0H+0l3OwWLpEdzqlRY894zKE1XaR+NrhXxd1jix/xrJFyVNgVsmNKJGNDs02sgyPcf8u7GBBuo10rDu/zW9WviySAkTxIeMoyazTUSvC1xnq2QwKQerh9JqXp5MR6HuU76ot3XdDGNmK8V4jBThVyhjzDkK/tThil0l21rCHBNY6H0o97LZ2XqT/m3n9kfs85RkVqbwet5xrxJ9sMiXuADHa+YdRqGekNcxA+u1AlWDAa0x8CaiUlu5R/lMGu1Mp9M3E3eojBnAGOwKwC50uIZ8zmALaUlGrRwaC9O2nWUo9Jq97AkpMKLaOuF8MiKdgGMJmEFyG3qnjFW1t8SeOzQwXSEB0T66dVrsL4gJKBTBr0juOTukmuMwiJyqy2bxCMLYnXXMabDOLvTgVwYhwx9spJVWvzpsTDtqAJFfuvsJB2xF6GKIjOulOgq4F/7c1fROkF5XMpeHBcXJnpNsXorJosPahMzH1X430iosFjLFiOJyCy2c0yuEkDwvweEKM2ER5252lTGWGw76kc5Wa8CICQoySP44++Q3biRbuyrhdzwVhoKEqloT+l6EGBnODi83DlPQ6v3m92P56wlxx4ojThRqXEIK/pY//kR9fdXCjxgZUNBNqxpB8R45q9ACtT/s+216TdMGNTbrAXq1VWvzDP7jBFhOchBeAFOpstUk5BpmrtJYFoCv18gn+1Pv0mACZExU2tZuWdF/cgSATIUKtTVnlUzB9DNWlgBZDt9P0y+/W7Nk3Y02lJ60DntQrgHrV/6loJDTzbqb4dBLQLyeLFfsxHslir4d9VDjHAB7enke08LTy0tGNisr2y7p7ADNX5qx0hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QStU77oKBzbPJJQfowQTx4",
      "input": {
        "note": "Comparing top-camera rows, the left basket is actually nearer to the base than my gripper; pulling back 9 cm to hover over the basket mouth.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.12,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01QStU77oKBzbPJJQfowQTx4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4313, 1.8816, 1.9625, -1.079, -0.4095, -0.5045, 0.1109, -0.0147, 0.8165, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4541 left_y=-0.1276 left_z=0.248 left_yaw=0.1983 left_pitch=-0.3196 left_roll=0.0429 left_gripper=0.1109 right_x=0.2958 right_y=0.0014 right_z=0.1739 right_yaw=0.0007 right_pitch=-0.0317 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -10.8923, 8.9778, 1.5116, -0.2222, 0.1978, 0.525, -0.1709, -1.3333, 7.0359, 1.6874, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:017b8e591b0f066a14ab1bbd3844bf0196418e4e1f36a81d0c97077ba31cea87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c5c7b456dc6a368f4a51772ac373187f24de11ea5b916692ff911622e9c2b28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:740df514edfd118925c50041821ff0cf172fde3d9ff4d3842584f69e04e6d168",
        "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 · 12.03 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5697, 1.7317, 1.9232, -1.1709, -0.4927, -0.6056, 0.109, -0.0147, 0.8154, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3983 left_y=-0.1517 left_z=0.2909 left_yaw=0.1742 left_pitch=-0.2588 left_roll=0.0171 left_gripper=0.109 right_x=0.2958 right_y=0.0014 right_z=0.1742 right_yaw=0.0007 right_pitch=-0.0305 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -8.0615, 7.241, 0.9255, -0.2662, 0.2222, 0.2955, -0.1983, -1.6479, 7.0906, 1.6777, -0.0464, -0.0415, -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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.437, 1.8652, 1.9514, -1.0992, -0.4255, -0.5247, 0.109, -0.0147, 0.8165, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4471 left_y=-0.1244 left_z=0.2497 left_yaw=0.219 left_pitch=-0.3227 left_roll=0.0502 left_gripper=0.109 right_x=0.2958 right_y=0.0014 right_z=0.1739 right_yaw=0.0007 right_pitch=-0.0317 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -10.2769, 9.8667, 1.5165, -0.232, 0.1587, 0.2418, -0.1436, -1.4427, 7.2274, 1.7167, -0.0366, -0.0317, -0.0171]",
      "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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4313, 1.8816, 1.9625, -1.079, -0.4095, -0.5045, 0.1109, -0.0147, 0.8165, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4541 left_y=-0.1276 left_z=0.248 left_yaw=0.1983 left_pitch=-0.3196 left_roll=0.0429 left_gripper=0.1109 right_x=0.2958 right_y=0.0014 right_z=0.1739 right_yaw=0.0007 right_pitch=-0.0317 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -10.8923, 8.9778, 1.5116, -0.2222, 0.1978, 0.525, -0.1709, -1.3333, 7.0359, 1.6874, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:017b8e591b0f066a14ab1bbd3844bf0196418e4e1f36a81d0c97077ba31cea87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c5c7b456dc6a368f4a51772ac373187f24de11ea5b916692ff911622e9c2b28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:740df514edfd118925c50041821ff0cf172fde3d9ff4d3842584f69e04e6d168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISygUKjgEIEhgCKkC1oXSOFlKrW3RHyEoqp4Gfy1KpaQJ7LIJB0IhZXpUkHe4AlxTl1zcivf34geaffP7u5+KYAou7uxSTLGUGcSHwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb3vzNUGEgxuJssi0ZEq00VxMyUaDGgeuvc029n/ztIOmiIwH2fN2hsChkolg7/v77koWhoLMFDvKDzTM5YD91eNw7F0a8BblYu4Ii1VsZMyUsMbKugDa9SxfjHbWAGCUNrB/u5Qx/PvMmzSMCX3ZYtjmw79kO9oKMADs9IQOYoJ5lAUYGOD9Blf35QsOSnkwjpYiWd5fX4YQymPi1/svgZYiEpCsB1/x5adplug/iPsNyomiT6Fl90bTCy4TxsjTtz18HZ9MEaXsXRe86MRO8gQYuEgTJwdTE+5u/T8n1GnVrPr98qm6LQDPAjhqxlsjVq7m9nT4rkByw+2/bgJtV6bRM17IxOYRg9gTN7SlifZXisAkPmxEl1UsGJpugqtkyQkR3BZAjjeOYSp6LarpFAfKhOGb56+kK4lG5HEXqh7T/wSgotu12WjLMAiQ38yQULVAu2RVSB4eEMCMfUA62Pp+YEI2loPaNOcGT9Ho/1Rtc5UkPbvZKU5zNTYnNBAMRu6nqPD00AIkZiXMVp1C3IWONdDfPxswTTUykWzkP1Bu/Gxt7mxMvfr532n1HqBq/z/1ngD35Ts4quRmRpRS4+hL8zyNEJyc8fm+P2CaQ8KkMD2lY5vXlWgXwxntnmH4HC2HJ60D/nWZPrxLGbHfbtEepbdZT2h21nTxCeBImLCUHo2nn4nz+hnPD7/VT6NTmroB2b80LaApFgM07lDE1wNZiJ9iJY97PCUWo87EAehwA+odiAYA2/Mqkxl/+8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G5y6aiftyPNJmwufgV4ao5",
      "input": {
        "note": "The last command wasn't tracked (arm held position), so I'm commanding a clear retreat back and up to unstick it before re-approaching the basket.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.2,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01G5y6aiftyPNJmwufgV4ao5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8703, 1.739, 1.9659, -1.4574, -0.5743, -0.9127, 0.1133, -0.0147, 0.8192, 0.6067, -0.392, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3096 left_y=-0.2128 left_z=0.2802 left_yaw=0.1598 left_pitch=-0.3533 left_roll=0.0619 left_gripper=0.1133 right_x=0.2951 right_y=0.0014 right_z=0.1718 right_yaw=0.0007 right_pitch=-0.0408 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -10.1812, 7.9521, 0.779, -0.5446, -0.022, 0.2369, -0.2256, -1.2923, 7.0359, 1.7753, -0.0366, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fbc9306484c80daf05f6b319a1e8352baf490ddbedbdc9668659016715313fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:486d96098ee2abe7feaa235f9e7a2e08cd4075d46eb53318914e4a82685c956e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72d4a89871ac250e9f7388da2345c3c6aca03e93dc9b50c11a8b70de612aecdf",
        "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 · 10.01 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.437, 1.8652, 1.9514, -1.0992, -0.4255, -0.5247, 0.109, -0.0147, 0.8165, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4471 left_y=-0.1244 left_z=0.2497 left_yaw=0.219 left_pitch=-0.3227 left_roll=0.0502 left_gripper=0.109 right_x=0.2958 right_y=0.0014 right_z=0.1739 right_yaw=0.0007 right_pitch=-0.0317 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -10.2769, 9.8667, 1.5165, -0.232, 0.1587, 0.2418, -0.1436, -1.4427, 7.2274, 1.7167, -0.0366, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4313, 1.8816, 1.9625, -1.079, -0.4095, -0.5045, 0.1109, -0.0147, 0.8165, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4541 left_y=-0.1276 left_z=0.248 left_yaw=0.1983 left_pitch=-0.3196 left_roll=0.0429 left_gripper=0.1109 right_x=0.2958 right_y=0.0014 right_z=0.1739 right_yaw=0.0007 right_pitch=-0.0317 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -10.8923, 8.9778, 1.5116, -0.2222, 0.1978, 0.525, -0.1709, -1.3333, 7.0359, 1.6874, -0.0366, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8703, 1.739, 1.9659, -1.4574, -0.5743, -0.9127, 0.1133, -0.0147, 0.8192, 0.6067, -0.392, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3096 left_y=-0.2128 left_z=0.2802 left_yaw=0.1598 left_pitch=-0.3533 left_roll=0.0619 left_gripper=0.1133 right_x=0.2951 right_y=0.0014 right_z=0.1718 right_yaw=0.0007 right_pitch=-0.0408 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -10.1812, 7.9521, 0.779, -0.5446, -0.022, 0.2369, -0.2256, -1.2923, 7.0359, 1.7753, -0.0366, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fbc9306484c80daf05f6b319a1e8352baf490ddbedbdc9668659016715313fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:486d96098ee2abe7feaa235f9e7a2e08cd4075d46eb53318914e4a82685c956e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72d4a89871ac250e9f7388da2345c3c6aca03e93dc9b50c11a8b70de612aecdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStwsKjgEIEhgCKkCzNH7oU7neBfYUK5bd+zxRsiz9TlASQkixGuC9VxFHJjPJcD3YZXsrKHgdXAOLn3upfAmfxBjP/zUydH/Voh22Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcrvzNUGEgxkhmG0r7yPjDN3UjsaDB3Xoe/Q8IEsDwjz8yIwQMqmlhiWvbNOUDMhKOohKEqRBhoFHWnm1ipK3VrLj++fvTbjUt4ldqr6/TYk66fWKtUJ01WeFiUhLwithCCGWO9xHd+E0zAJFkjw3xPE1Z/w9Wy1VF0a3eKwpuy0hQ16W5fKGursrcDjboky0/bkgqYdEFMdjI76wlW9DkAOoQMZe3bmV0b81vAzWrum8SutumT9MrA5/sBhGVgO7XleaLjnOmye5szL0rqFt3vQO904PVuSDw4Gw+PzpW0pl5gZug6qsLOjxqInmfE/0a2Qnv+hSB354OtOHKU/LwpLcGpmjp9jg5CTD4RCY2RIYuJOlDwLkS+ErG8Fi0hK3WifzNOab7YHWcst/wGr304akj+NwjC1H8gSK3x/E6jqMxvKVVJkGtmjoZFXcSSqRQzHi3eCHgRykZiA6QpoIx/N9hjhEasITMGdbOjsNsFY8Ab22W2abb3choOVUL6P2F2Fv3RZgFosZ/bn4msTzkKM+v8cwhEIprOy67w111+Tyi6dvJZK1oNiWOF6i2DfKEMll/xFijfJcqtReIXDmhCcbo4cw1u9BPDCq/GpeEXJ/xOBQZg+msEDYyA12V/aR0pIYlC2eTee/zQY54YPjiuc6yitaW4N8Yl1+5VxIbAC53k6DmM5QMTVcyJE6g22K+O0XWVuSBPUYgb4QE9X5gxHod+5r+LrvDvPZLZ+RjDc022gB15j0c5DE3hnF5FzGlmZk1k1v42oNCmEPKF8IXupxlGc+PRYor6FMq4OPx7BLOuUd/soBE7c4kuhe/dcSiq+k+LQybR8fedGNg1ydBlEkNPPEDF0aY2Xjpbr9/GMJm0SyuqcGGjNzXgP6s3FrjHj80K/bEcOMy9avmJIncFALXUzS8oGVvXpjqkS34jW4mgzQlpGNigGGxWvnM29SxfpwOtIf34UUafkptvRO/6uL/U+1Id3R3Cv3fY4TTDHgHC0fE0Z2ho5dG5hLKekRTDT5WiOHG0AJHSzPsMsF+yNoiDuVDZfWrV/USiXTyFMmxR7hPGtHfKBjHCX+D1OEI7WeHm3jC+4qUY4vH6SgTV5hWL124C0iP0xEN79Vs/CGN2LXsXQXakRgAqecxQD3y5QlraLUwq06GewC8Rv+2oMoJWU1pomX9NLbaytH9RQA5zKHhLTBFkQuMVPy3U6aPa9tneY+wWQLRmO8rhgBVFHfBoFy1T2qNJ4UuDj3LMBAKUyEwUvsRHxSdpp+aCXv+Q6NvOnKShJ0mn1ECaG7i1D3sisydCdalp/fRxF4J0re730sDyS0S+apIgy5/QGF9ujF5cf0S+EegoxndScUh5Jubig5kuqVchQcOYJ6sM+SxjAEdIK8H/bA5MugR0Hn8rhyi4OB8f2TUGLXgx7qIjZl8CrTD6c5IyqOYW41MGZfy4EKA6QyDnqcwaEbVVpzlobpoUMpyNuiOfynKL2FA7fJo0JD0bhZ0VtSqnVllSDT2FGH6voPtydvmx4Z8AoUbw/YXkxuBghPk1aRknIVYzUtpWzXoigXkuHHVVVZJnd62kL3T3Cs/wYl2c/TOx+oSEFCF1D1bWpQBEuaxDhEe4cUlP1AM3zc1/DE9LjYyvSjS+vcl7CCoIXp/ZcZzD3Wa78B1axEQauh/jmSyJ3KCiv4l9IWQnCn2RhEBK4PHLLFqyLd0wgH6FjLgzC0Rxl2iyeyjutwII5n880i+Z0lGG9S28mclOwChWPARgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Thyjk6pm6j3YN2AayDyiP",
      "input": {
        "note": "Top view shows the plush basket (with the cream bear) up-left of the gripper; moving forward and slightly left, and dropping to 15 cm so the top-camera parallax is small before I release the teddy.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.17,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_011Thyjk6pm6j3YN2AayDyiP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6689, 1.6642, 1.3258, -0.8738, -0.4961, -0.7242, 0.1151, -0.0143, 0.8204, 0.6067, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3483 left_y=-0.1636 left_z=0.1392 left_yaw=0.2036 left_pitch=-0.4129 left_roll=0.1191 left_gripper=0.1151 right_x=0.2951 right_y=0.0015 right_z=0.1714 right_yaw=0.001 right_pitch=-0.0423 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -9.7846, 6.8581, 0.9695, -0.3639, 0.0904, 0.1685, -0.0615, -0.9231, 7.2274, 1.6923, -0.022, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7b54c0198e0e202d6f54c47913491f6a51764c5954117df79e0997d2206f101",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e60a56a0a7b78ba0fd3d758dc05b07f14662e50cdbdf18ad4221049bd418990",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:06014fe6b50fbbe084edeede668d6a32b4115c31a38b1aeb948e62db8b74bcb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 23 attempt 0 · /messages · status 200 · 5.557 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4313, 1.8816, 1.9625, -1.079, -0.4095, -0.5045, 0.1109, -0.0147, 0.8165, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4541 left_y=-0.1276 left_z=0.248 left_yaw=0.1983 left_pitch=-0.3196 left_roll=0.0429 left_gripper=0.1109 right_x=0.2958 right_y=0.0014 right_z=0.1739 right_yaw=0.0007 right_pitch=-0.0317 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -10.8923, 8.9778, 1.5116, -0.2222, 0.1978, 0.525, -0.1709, -1.3333, 7.0359, 1.6874, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8703, 1.739, 1.9659, -1.4574, -0.5743, -0.9127, 0.1133, -0.0147, 0.8192, 0.6067, -0.392, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3096 left_y=-0.2128 left_z=0.2802 left_yaw=0.1598 left_pitch=-0.3533 left_roll=0.0619 left_gripper=0.1133 right_x=0.2951 right_y=0.0014 right_z=0.1718 right_yaw=0.0007 right_pitch=-0.0408 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -10.1812, 7.9521, 0.779, -0.5446, -0.022, 0.2369, -0.2256, -1.2923, 7.0359, 1.7753, -0.0366, -0.0366, -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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6689, 1.6642, 1.3258, -0.8738, -0.4961, -0.7242, 0.1151, -0.0143, 0.8204, 0.6067, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3483 left_y=-0.1636 left_z=0.1392 left_yaw=0.2036 left_pitch=-0.4129 left_roll=0.1191 left_gripper=0.1151 right_x=0.2951 right_y=0.0015 right_z=0.1714 right_yaw=0.001 right_pitch=-0.0423 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -9.7846, 6.8581, 0.9695, -0.3639, 0.0904, 0.1685, -0.0615, -0.9231, 7.2274, 1.6923, -0.022, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7b54c0198e0e202d6f54c47913491f6a51764c5954117df79e0997d2206f101",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e60a56a0a7b78ba0fd3d758dc05b07f14662e50cdbdf18ad4221049bd418990",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06014fe6b50fbbe084edeede668d6a32b4115c31a38b1aeb948e62db8b74bcb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISzAkKjgEIEhgCKkA5BDf5oczLuU13MIfuVnAcgn8HXSCMLm2td6OsXDAOR17cVc/UOJvVoFrcrsKvOPsUoSBI1NTJ60r2f7LSiE/UMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdXvzNUGEgzGAj00/NZq6IzC1xcaDHMMQ6VPWttyzTRLESIw411SOFATf0m8w6OpN/H5yA8DnqlE3PGB9py4x+Of+RzhYuOWb5TKb4Fy9J66MkZ5KuoH72OmPhwR4y2IzTfytIPnQB1pryRywC+1ONIcNJiYTkxvGgWm51rr310d6mpjgF9ZrKYE6R3k2wgcMsM1/qZglT7vDl791CtxmajT55U1ns6u/lEHpzK4EHnlgPtJ5fEV0fN0dGpxgBlMxAK9mr9xzbq5VWaz5cFFL6q6xvznt9oUH46N8acxsYHDydF4Mwz+0WnvXSkAuuxWbGKR100zLW81r9jgpEu8rXy1NaZVaMRLy3kxP6W6VcNHf196IIHlK6aVDfNL/aSyEgNLgu+9c2Olb9/CTJc36xEU5G5q0kivQcgCOvJCLNPpbXS9e8QwWyUqE6i1iyYg4dP344WkrPNIEfbaDoEa6LE4LtSblF13UjC3IQ4s2HyeiDz2/IiAosDCW6fWKQYJfuIJEPf/6v5K3jJ7rareIy1Jl+8DiRIn9v5bUsChGffaU7LNRZaxHz8UYV23lGe9m9gd1zDBEUVIi2nCmX+l8PSEnnGQCPnce2SnAE6GQXeMZVVmzNKi1bfhP4fUPLOhJe/wsvYtlPoS2Ffp/Tqw/BYuEprT8MG8qLFPcusbsKHb829HMI7HMjKGKMAfbUt8Iya5OeK1uXpbOR38q9uWnxrC6vEU8dgUl2k6BW/AacAe3NJLdYGkCCKfmQ59u7Wvf3M6tmPCchKMNX005NQrxvjRSW9+0dp9Bg1z3SqAXkZ8wk9RIijz3fuphRGRJzWabun9FYB4gkUzljc+ryzoRqZrG4jvmFEatf0tGMIxBY6UVZfQ0T6ZLzPVEltAn41aNsCfJKIWwkFNZ+STFaTN7AojWmMjiESRNMxmJonmNv5YgiRMActjgKIMisCdYZKRZ7OTCBz1JFSrG8Bi/IJy/NwxDbqZkqQVb4A5tKLIW4aqoWR6MeueD28mGC7Qta91uBh447nP8TQF1LwTcIkM6Tod98k9yCkw+EadBV5TWLa3/Dr0AvHmnoLE51bGfekVc9Eu6gmVdR7C1EMzYFVHQ0szPwfw0SfeAxjpU8gCCapg7DPB+wPRweWTvWAKHBbtXe6QYmZGoflKE4S5vLxbjbfM3befzuMGrA5EbNFB/Ue4s/LtzgAfQl6CxfmZqc2TVnLewYMPfcIclTjJCDrcR/68uWl3SKuetLC7IM4btYQcT0OYOJhzMY5luD1eEgnCYZzO+3LcQl4hiGrlWLlSJgd1dx298bsB+a6l6MB/U9x7XeXKFKfU8goYvptlVbqE3r5IR5y+xTlcQvFSBwB6qHX0FvRhtmgPk7bka6f/VM2H6I8Iz4l4MRSF6tDo81hYqe5gkE77y5ZMWbVjpRfs5JYax4gw4gXeAYcHHEfIo55dGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UuBDpgUB2ufQmW28HEsUCL",
      "input": {
        "note": "Wrist view shows the plush basket rim just left of the held teddy; shifting ~6 cm left (+y) to hover over the basket interior.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.105,
          "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_01UuBDpgUB2ufQmW28HEsUCL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4778, 1.6611, 1.3186, -0.8478, -0.416, -0.5632, 0.118, -0.0147, 0.8211, 0.6067, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3725 left_y=-0.1085 left_z=0.1342 left_yaw=0.2401 left_pitch=-0.4633 left_roll=0.1406 left_gripper=0.118 right_x=0.2951 right_y=0.0014 right_z=0.1712 right_yaw=0.0007 right_pitch=-0.0431 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -10.8786, 9.2786, 0.8962, -0.2662, 0.1587, 0.2857, -0.0752, -1.347, 7.0222, 1.7118, -0.0513, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:304a5db3f0e640d812a8b8d22c6cb03ab62a934229a74fc18bb07964176ffbf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:964f12bd491fb26e101a5aece8f7ac538cc73b2c2630d70d1685e19e9df3b515",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba3d13b225ce2d54bb393a2d8ea59393b0f304fe6349e792b18c610f500e7953",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 12.04 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8703, 1.739, 1.9659, -1.4574, -0.5743, -0.9127, 0.1133, -0.0147, 0.8192, 0.6067, -0.392, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3096 left_y=-0.2128 left_z=0.2802 left_yaw=0.1598 left_pitch=-0.3533 left_roll=0.0619 left_gripper=0.1133 right_x=0.2951 right_y=0.0014 right_z=0.1718 right_yaw=0.0007 right_pitch=-0.0408 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -10.1812, 7.9521, 0.779, -0.5446, -0.022, 0.2369, -0.2256, -1.2923, 7.0359, 1.7753, -0.0366, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6689, 1.6642, 1.3258, -0.8738, -0.4961, -0.7242, 0.1151, -0.0143, 0.8204, 0.6067, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3483 left_y=-0.1636 left_z=0.1392 left_yaw=0.2036 left_pitch=-0.4129 left_roll=0.1191 left_gripper=0.1151 right_x=0.2951 right_y=0.0015 right_z=0.1714 right_yaw=0.001 right_pitch=-0.0423 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -9.7846, 6.8581, 0.9695, -0.3639, 0.0904, 0.1685, -0.0615, -0.9231, 7.2274, 1.6923, -0.022, -0.0366, -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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4778, 1.6611, 1.3186, -0.8478, -0.416, -0.5632, 0.118, -0.0147, 0.8211, 0.6067, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3725 left_y=-0.1085 left_z=0.1342 left_yaw=0.2401 left_pitch=-0.4633 left_roll=0.1406 left_gripper=0.118 right_x=0.2951 right_y=0.0014 right_z=0.1712 right_yaw=0.0007 right_pitch=-0.0431 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -10.8786, 9.2786, 0.8962, -0.2662, 0.1587, 0.2857, -0.0752, -1.347, 7.0222, 1.7118, -0.0513, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:304a5db3f0e640d812a8b8d22c6cb03ab62a934229a74fc18bb07964176ffbf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:964f12bd491fb26e101a5aece8f7ac538cc73b2c2630d70d1685e19e9df3b515",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba3d13b225ce2d54bb393a2d8ea59393b0f304fe6349e792b18c610f500e7953",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShwUKjgEIEhgCKkBJrKVenP6qZ3l8NEeZa3ofVbeSId/oBQmUgueC5lHG1k2fwxwlsjpSbroSGEDe2SjesMPKB7INt4g6n/2BtOueMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdvvzNUGEgwWJtDw+2Y5Kx78T9caDOOJNhmhSXnbOkYasiIwA/6KkDNVQxz7CkGwZ2ew45T3dl9L6PNaJkgARxQlSfb5F2UT45/I6c7C2xDo928XKqUDQafjUBSZ8MnuH3mIRoM1902V9koLgzQwoswDecY1XK5MaM3GVJN8fgB5cdPdQZK1jB656A1Zl/hRFJUGk5nAXIAIpPObRceiu+pmR7o1gtaVByNk45CWeFRz42pJo4UZgejV2qMpFMJDlfc7rRisRH/tNiuXczmJrbbyphxxb7U28yikm5sy6MHiJBMmWK24Z6VyTMO2kP7yQyv79QEaZ5hB0/p5NA+hbj/byVIGAiIeuXkRwHLPnIt8GdmkVCu/UbPviPvx2OvoPJXPWEIFlxVFQn/LWnge/qX/Fszxp8FghUDPK7/J+e4H6Fa3KH0+uTQmRNbFOxCYYd+5GJqq1l1S3xBXELsc/3Vc7bwXH6Z9OpWsDVF2yjgtxL540Qjesk04+aW4soQmGbZcpx8T2J0ccoIKNn4ldcktVuBVssilpsjeUrDaQ594vrYkWLP2XfAgNjJi+Af+Y1WRG1JDDYkiq8y6jPDCtjkOGelbvV8uLbX9YGqWWWYph1rsjP2sgV5iF4nxeHL599mhQAyj/Iu+ploLsoqcezuXAKjEgAFWbzMz1BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DJaYmeFNRhMWYwVYqsjpNT",
      "input": {
        "note": "Teddy is right at the basket rim; shifting 4 cm further left over the basket interior and opening the jaws to drop it in.",
        "targets": {
          "left_gripper": 1,
          "left_y": -0.07,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01DJaYmeFNRhMWYwVYqsjpNT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3706, 1.6176, 1.3098, -0.8509, -0.3763, -0.4778, 0.9953, -0.0147, 0.8211, 0.6067, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.377 left_y=-0.073 left_z=0.144 left_yaw=0.2573 left_pitch=-0.4682 left_roll=0.1362 left_gripper=0.9953 right_x=0.2951 right_y=0.0014 right_z=0.1711 right_yaw=0.0007 right_pitch=-0.0435 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -9.6342, 5.5726, 0.9304, -0.2222, 0.1636, 0.022, -0.1573, -1.1692, 7.0496, 1.7216, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1586675d759308166c96a905fef5c61be8fdb50eb9a45b0101481661fc467509",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:394053fa958dda52b491a74906d4e0d4d5f2350c194e895206dcf29e0448c99a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:caa08e18f2e4b3dc41756201d72866ca2c356c22fc13ec986255b23616ae4e87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /messages · status 200 · 10.18 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6689, 1.6642, 1.3258, -0.8738, -0.4961, -0.7242, 0.1151, -0.0143, 0.8204, 0.6067, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3483 left_y=-0.1636 left_z=0.1392 left_yaw=0.2036 left_pitch=-0.4129 left_roll=0.1191 left_gripper=0.1151 right_x=0.2951 right_y=0.0015 right_z=0.1714 right_yaw=0.001 right_pitch=-0.0423 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -9.7846, 6.8581, 0.9695, -0.3639, 0.0904, 0.1685, -0.0615, -0.9231, 7.2274, 1.6923, -0.022, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4778, 1.6611, 1.3186, -0.8478, -0.416, -0.5632, 0.118, -0.0147, 0.8211, 0.6067, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3725 left_y=-0.1085 left_z=0.1342 left_yaw=0.2401 left_pitch=-0.4633 left_roll=0.1406 left_gripper=0.118 right_x=0.2951 right_y=0.0014 right_z=0.1712 right_yaw=0.0007 right_pitch=-0.0431 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -10.8786, 9.2786, 0.8962, -0.2662, 0.1587, 0.2857, -0.0752, -1.347, 7.0222, 1.7118, -0.0513, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3706, 1.6176, 1.3098, -0.8509, -0.3763, -0.4778, 0.9953, -0.0147, 0.8211, 0.6067, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.377 left_y=-0.073 left_z=0.144 left_yaw=0.2573 left_pitch=-0.4682 left_roll=0.1362 left_gripper=0.9953 right_x=0.2951 right_y=0.0014 right_z=0.1711 right_yaw=0.0007 right_pitch=-0.0435 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -9.6342, 5.5726, 0.9304, -0.2222, 0.1636, 0.022, -0.1573, -1.1692, 7.0496, 1.7216, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1586675d759308166c96a905fef5c61be8fdb50eb9a45b0101481661fc467509",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:394053fa958dda52b491a74906d4e0d4d5f2350c194e895206dcf29e0448c99a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caa08e18f2e4b3dc41756201d72866ca2c356c22fc13ec986255b23616ae4e87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISpwsKjgEIEhgCKkBSzFdpnq0qctT7tpN2SQo5T5AOBZbMUV2ycV2iE/RT4/ugvlDgPs3NjbQ6Tq6CfYnKk6k15nAACY1C6A85WFoUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAejvzNUGEgzDztEzZ1GjHjajtiQaDJz8GgUY/753Gc38ViIwtwlWgCo5Ek+yCsrEuUii78hy86DmeBUH4HOMStENkMfephaAdQ80AkSGjR94W5UJKsUJ8lrsPsSu3a1YM8EyuA3jp779ZW5IQEl5CX/dM4u0ZsU/YK2KxYud0siYTTY1jjZ4IBsITuT73Sx6TTau2iyeKyU/i6gatEIx8kA4PjFOM9xCaod7YU338CQFa5L8vcviahJQweA9AmUUkbFFG/zzRLsBoy6cSrTPeaeH2qk/BhDU0pyZV1EkRtF7h/RIZcWSSpBpUGPnI1rtb7iPFZHEGHabA0fWUdCT8blHDC/XhSwWnbevohnGCoAAJKQGZUqL7xU6poVErOJ6s3Mz8pyswQzqDNUPbl/2NQLwBOZQvpcRWfByspur0q2+olqIOu/cftoloPN96r4An4JphY4bc0d6gsV3F8nuwivCv+9Q2BQxpZrdwKSzFWDmtukCP+Jw6YsIZTsz0elWJdT55fgX/DeSm9VrredhQIyCuDmLEdF1GzPR54TKI0uPPnLBMXpPGD9sKs8S5WFVLS6GFhQVj/YY1iBSrybZwWS3COgyr+cgmNaZXBNe/KMmfnF1Vdu+BBslLbqBudZQV1r0uTUKqAQO/BGvlpWz4mEu8q8UjCbLRtAytPKjPQq0rsnIEaRbQsxZW/2/SECmWgXR8XfpJgK2YUEMkgP+TXuVrC6jr9xmBhjrA9ZHs/5hdwvluFKZrxR4241YbplHFTqC4fal3W5J5uBLevxIov/VP9Ca8PzV58q2ljwel/u+AAAkhpMGzcGf+G/hmQTH3X4cDdL6yLm3K7hLkvvrbcWyJqo+MbJQaMtNfJmXWEM/P9Fl3fC/ST3cgP+FtBzzTGv09RcOSfrDelZJE5YvwG376XtgWDlcf4+LgEXIMAJwDyCQnIPd32UWOJGxsEYrtYcDrdnE5UG72k0AY/Q31kqTEKNtYDeQrLwHIJBi4SiC76Qjc4g27PLN6N/bBJsksf3HcQDUY1656BI1b/HjNrrXwUyaED9H3zBeP1aaRs0boCR7uMd9Zu446xBRpBukWE/gn//WX4wj9tijPtmmENKenc+fVzm72dJS4QvKmDj+raI2gRhsBEymDL7OXi/mJwBD1CAM2EcpI68+z8hsmMGYiQ/hgkk1FLelPrZVV94heLN5OYm6amTjZ94iLxlEAcqlLKKgm3WS7l4LqO/jexsn0xLfD7E3k3oYrnvu3D505VGoiT3yuTu5YjKov3BjMIbE+mK77NRUR6Rme4U6wgJwP/RBD+fFgQDuf7vFqeW7ixM54+oaoSJGaQpfNojiUDQxZkVQyd+SQssYme4aJm/tjK9buF+W+5oLvKYylg8rgRyJq2PvrKnmai7L1aisV3GvM5KRJhiOUxD2sLhOlBHPADGJp6OScM65kvYdUAPtGeRO8PN0H/SN7PzXkId9Bl1ZXMAO/OuSt0gWwETEEG2twBEVT6ZAm6sM5HvQXahvM6Sskp98jL/ARU2YS3s1Kxw4M9H3hMvIWPuo9dXyd+8ZMGmkjSisEhaZRcz8nG7o6vKAFKAY847RdND+YOyO/gzEv930UZ5zdC0+rfT3oa8iCCxYhlrmZAmVuzYuub9PkDyHojqU2ejbV6VKPqHOwKI+5Gu907OnUOyGV4DWw0+2gzTpAQGxLEcq6w7LVqOe/hxApAwCGh1wtdOt0F5dnjrmJxXi/1dyOO1MGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HqKEm4gBKZnFF8WKmR4fyj",
      "input": {
        "note": "Teddy released into the plush basket. Parking the left arm at home and bringing the right arm over the group of markers/pens lying in front of the right basket.",
        "targets": {
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.2,
          "right_gripper": 1,
          "right_x": 0.26,
          "right_y": 0.19,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01HqKEm4gBKZnFF8WKmR4fyj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1963, 1.29, 1.227, -1.0286, -0.3092, -0.3279, 0.9967, 0.9855, 1.2171, 0.7334, -0.445, 0.717, 0.6628, 0.9998]\nstate[eef_state]: left_x=0.3103 left_y=-0.0032 left_z=0.1988 left_yaw=0.2712 left_pitch=-0.4538 left_roll=0.1269 left_gripper=0.9967 right_x=0.2568 right_y=0.1838 right_z=0.1362 right_yaw=0.0443 right_pitch=-0.0851 right_roll=-0.04 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -6.188, 5.5726, 1.0427, -0.0659, 0.1636, 0.1294, 0.6085, -3.9863, 9.3744, 1.1209, 0.5836, 0.1734, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94746dc71d54d223c8504a884a4bc5b6da9216df0999e7bbadf82300aeb23232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c76ffc0a21563879763e07b5690cb0156f80bf0cbd273569e577567e55337c8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69faf80c7c2241193e99320dafbb987dc9bcfa4c2b754a70890c4ec061406438",
        "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 · 52.15 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4778, 1.6611, 1.3186, -0.8478, -0.416, -0.5632, 0.118, -0.0147, 0.8211, 0.6067, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3725 left_y=-0.1085 left_z=0.1342 left_yaw=0.2401 left_pitch=-0.4633 left_roll=0.1406 left_gripper=0.118 right_x=0.2951 right_y=0.0014 right_z=0.1712 right_yaw=0.0007 right_pitch=-0.0431 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -10.8786, 9.2786, 0.8962, -0.2662, 0.1587, 0.2857, -0.0752, -1.347, 7.0222, 1.7118, -0.0513, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3706, 1.6176, 1.3098, -0.8509, -0.3763, -0.4778, 0.9953, -0.0147, 0.8211, 0.6067, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.377 left_y=-0.073 left_z=0.144 left_yaw=0.2573 left_pitch=-0.4682 left_roll=0.1362 left_gripper=0.9953 right_x=0.2951 right_y=0.0014 right_z=0.1711 right_yaw=0.0007 right_pitch=-0.0435 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -9.6342, 5.5726, 0.9304, -0.2222, 0.1636, 0.022, -0.1573, -1.1692, 7.0496, 1.7216, -0.0464, -0.0366, -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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1963, 1.29, 1.227, -1.0286, -0.3092, -0.3279, 0.9967, 0.9855, 1.2171, 0.7334, -0.445, 0.717, 0.6628, 0.9998]\nstate[eef_state]: left_x=0.3103 left_y=-0.0032 left_z=0.1988 left_yaw=0.2712 left_pitch=-0.4538 left_roll=0.1269 left_gripper=0.9967 right_x=0.2568 right_y=0.1838 right_z=0.1362 right_yaw=0.0443 right_pitch=-0.0851 right_roll=-0.04 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -6.188, 5.5726, 1.0427, -0.0659, 0.1636, 0.1294, 0.6085, -3.9863, 9.3744, 1.1209, 0.5836, 0.1734, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94746dc71d54d223c8504a884a4bc5b6da9216df0999e7bbadf82300aeb23232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c76ffc0a21563879763e07b5690cb0156f80bf0cbd273569e577567e55337c8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69faf80c7c2241193e99320dafbb987dc9bcfa4c2b754a70890c4ec061406438",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStwoKjgEIEhgCKkD1Y8sYH0yS5x9a8G+M9j3s5K7f96k1/4WN1aVBejFToRCQnF5Qh5ZJwfUWVK7tCLlZ6Fj5Fc6ufSDJSG2fdJZCMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfTvzNUGEgxH7JpClUjqPGxAgnQaDEqGfRVV/vMDC51FaCIwxvYWhrMWwPmUr8OX6c1oA6A6QhgWmglhyYHQYCF6Z6Qs51HnBwaoJ6QqeNZpKhoZKtUIebo7aFR1P4L33RDVfLKR6Lmy8M9jpY5qoS0S5oT+7Zo/wxdNls5o3KJ+FoeH3BppXerdWql9xT1oeDJsxJTm8mb53rMgxTemc5iqAvTI3POF2tzl+hRldOG9FOlP3kgV5kAb9ounR2W8SMfy6qu6pQHDMqM5SfNMbDuDk79FNWS1wCwopTzBvQ/QJaAKFI4F2JTYwZAGk1oNor6didsgNPACpBrYKi4cUSpeWw5sDmsaKiDrLbcHF5T63vxAC41tNva4/bJKu5oKQkZUmhku777OIqIlz0lGlaXEHqE9lHtiBQQ/mMvs1+mekTexaCEyFy8wJ0x2BISPFPaJzKHQvrmFRRi9Qc2S3bXCXWJUvIpcLMS8tUWvn2GHMySF74u2O4xN2b4adgOC1AnrFdcz17jNqQrOAJOI2DNAcxueParLEVlwUOkt3tZ16zFHGPdhvzQZ9YoYItnJc2TEYKo+12BNUBH9CBp19oygU/i0JJin29Kfyds7PPOJiqWCMgT7VtX+DpIELKkbCyXOCKIdKFFmeJMsoPADDhnGQ2xs9onj5ipZEbYkSTGrGJPHcFJKLE4Z6zqshXWPLUeNonTZfFH8688/JUIo5PJHesyUnvHjMKCeAXc5cz1/zH0E850BkIO+P0yMCOLdygA24233EGhb8Xgw2bJPdxdMg7zA8tmZ+NRontPowEzc/1IXILxPaAZ4ZYFdTRxy7/FOpU44n4bP7ESoEjAF//jTkiAZcBOyfwwZ74DCocmH+lOdvuDxfuIKhhJXfYJq1qSKTVQXHwxMDTKPDeaVlmpgtb4KiMZDDy7ipxqfRjy2nwNOBcsLbAvYE38Q1psKspzRCfXOsKtKl8nXCDf7rS7CSmQBYn/sQSW3skMlLv6TtvzVqM/AQzA5EkjjiZkKy8L1n2Gc3BcjQGFWCv8bn6S99Iqa3ALc1qF08gp+WQx9kGQGsEw/DRiA0VDUZVgHCPd7PUV31+qtf62Ahdf6cJleORdasFwbFHhKceMHG11RfBBLq8H04tAocgtyJDAJmrfjsGvk78bbIWZXFBmQ1NanI0ogNIZ1/VWm5ztuZKyKj84oF/xpkqspU+Kuk/lFPUEB3YHC3FRZZNEALoz+JutmtYhlNY66xOjk9xr9MAyBqVYp9100PrZnx5FqWopdIIgl1katUYmE/quudkAIcDX/tQhJ79j1GhjJZuMiDlquwz/1ANpkti1CHgGX7o57Zz0vH7li7eFDfw0/8VyO60ICxC4s425ZjQWwdHGsNWbIbT62W4u26bqBoC1wY+rm57Z9iV8+efQ7HCCV7cZcuRdtM60unQ1KW2Uxwy3GlelYoKTA7G8LjA5bFVBa+EioBVabR3RNEH4C3Pqye7xWXMSTdcJuFeVtHXV/9CMiWp/RZTw3Pr+n46V+lZ9LZlU+49gkULXzzhsXOqHwQFB7f4aKxRzziZG+A87J0aryU4Co8cD9lTWuokFzXTgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SmWS4eVmCRMLvaisQZF6e1",
      "input": {
        "note": "Right wrist view shows two white markers lying radially just below the jaws; advancing 3 cm and descending to table level to grasp one across its barrel.",
        "targets": {
          "right_x": 0.285,
          "right_y": 0.183,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01SmWS4eVmCRMLvaisQZF6e1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1959, 1.2907, 1.2263, -1.0321, -0.3061, -0.3325, 0.9968, 0.8886, 1.6108, 0.4671, 0.2443, 0.6636, 0.5781, 0.9998]\nstate[eef_state]: left_x=0.3095 left_y=-0.0035 left_z=0.1977 left_yaw=0.2728 left_pitch=-0.4591 left_roll=0.124 left_gripper=0.9968 right_x=0.2814 right_y=0.1796 right_z=0.014 right_yaw=0.0301 right_pitch=-0.1022 right_roll=-0.0579 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -4.4239, 6.4205, 1.1209, -0.1685, -0.0024, -0.0073, -0.4444, -4.3009, 3.5487, 0.7057, 0.2418, -0.1636, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db9cf04fedea64a70fd47fb54d8c268697d0f70542b9de04564a50dd2cd17dc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fedaeab7beaccf1462a838981a4f8a12f3997ebb980cfab18c672dbd2061846",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43e68606268018a8a13f94864555d7263a2e675fcbc3a87c8b5a63cfc70325bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 5.671 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3706, 1.6176, 1.3098, -0.8509, -0.3763, -0.4778, 0.9953, -0.0147, 0.8211, 0.6067, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.377 left_y=-0.073 left_z=0.144 left_yaw=0.2573 left_pitch=-0.4682 left_roll=0.1362 left_gripper=0.9953 right_x=0.2951 right_y=0.0014 right_z=0.1711 right_yaw=0.0007 right_pitch=-0.0435 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -9.6342, 5.5726, 0.9304, -0.2222, 0.1636, 0.022, -0.1573, -1.1692, 7.0496, 1.7216, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1963, 1.29, 1.227, -1.0286, -0.3092, -0.3279, 0.9967, 0.9855, 1.2171, 0.7334, -0.445, 0.717, 0.6628, 0.9998]\nstate[eef_state]: left_x=0.3103 left_y=-0.0032 left_z=0.1988 left_yaw=0.2712 left_pitch=-0.4538 left_roll=0.1269 left_gripper=0.9967 right_x=0.2568 right_y=0.1838 right_z=0.1362 right_yaw=0.0443 right_pitch=-0.0851 right_roll=-0.04 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -6.188, 5.5726, 1.0427, -0.0659, 0.1636, 0.1294, 0.6085, -3.9863, 9.3744, 1.1209, 0.5836, 0.1734, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1959, 1.2907, 1.2263, -1.0321, -0.3061, -0.3325, 0.9968, 0.8886, 1.6108, 0.4671, 0.2443, 0.6636, 0.5781, 0.9998]\nstate[eef_state]: left_x=0.3095 left_y=-0.0035 left_z=0.1977 left_yaw=0.2728 left_pitch=-0.4591 left_roll=0.124 left_gripper=0.9968 right_x=0.2814 right_y=0.1796 right_z=0.014 right_yaw=0.0301 right_pitch=-0.1022 right_roll=-0.0579 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -4.4239, 6.4205, 1.1209, -0.1685, -0.0024, -0.0073, -0.4444, -4.3009, 3.5487, 0.7057, 0.2418, -0.1636, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db9cf04fedea64a70fd47fb54d8c268697d0f70542b9de04564a50dd2cd17dc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fedaeab7beaccf1462a838981a4f8a12f3997ebb980cfab18c672dbd2061846",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43e68606268018a8a13f94864555d7263a2e675fcbc3a87c8b5a63cfc70325bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiwMKjgEIEhgCKkDR+d7hMsIlBHUPVh9y8cgEr8L9gR12Q7TmD/x1mN/VG6623ocR96KBJS3PyV7YhdFpIBr3gdW/YbeVrKIrmv0xMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaXwzNUGEgxreCzSW5ngBzlIfFkaDEg8tg6d58MrjtGAvSIwobhTBG1jgtdYs+ImkrPHm2x1uizgXOhctAr2CqZLHPcU0Heyvs5zTu2wmtSeDYytKqkBAD1at44hJhqLjWro1weRmQ39OlTzhC0jiNfBUwfYTjZ4igWhuuuG844ATt+43IVSNDmJwacZ162tU/+XAS6TzbwTXULn/+7Pl33bjPCW8xWbdPlIC6Cw+Pc9Hoso8E+0IezaRyqLzGo5bZdkWX/2bDm2LPC12Vzjyvf2E+W0GHfmam4YQa8z5X/LSDRjgO6tsuVV1UFjvMbE+urkpGMlrOuwwIvAffDkQhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011dycEeSEqXW5nmjJM6UXNF",
      "input": {
        "note": "A white marker is centred in the jaws at table level; closing the gripper on it.",
        "targets": {
          "right_gripper": 0,
          "right_y": 0.176
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011dycEeSEqXW5nmjJM6UXNF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1959, 1.2907, 1.2263, -1.0313, -0.3058, -0.3332, 0.9968, 0.8837, 1.6165, 0.4568, 0.2657, 0.6437, 0.5667, 0.1521]\nstate[eef_state]: left_x=0.3097 left_y=-0.0036 left_z=0.1978 left_yaw=0.2727 left_pitch=-0.4585 left_roll=0.1229 left_gripper=0.9968 right_x=0.2805 right_y=0.1804 right_z=0.0105 right_yaw=0.0452 right_pitch=-0.1107 right_roll=-0.0526 right_gripper=0.1521\nstate[joint_eff]: [-0.0752, -4.3692, 6.5299, 1.1013, -0.2369, -0.0562, -0.0073, -0.7043, -6.9538, 4.3829, 1.1502, 0.3932, -0.0171, 1.0085]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04a9d89e36d4cc7eb2e00f27af45e4908d6b761c8b59b67b3f1404671e562d50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79ec0c3e25d789539e4931e4902554a88051432222aa2ea633f2198e0512213d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a55e1650354593ce396e457b7b11913d480ff6ec963341f489109e7ac59e1ca5",
        "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 · 6.706 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1963, 1.29, 1.227, -1.0286, -0.3092, -0.3279, 0.9967, 0.9855, 1.2171, 0.7334, -0.445, 0.717, 0.6628, 0.9998]\nstate[eef_state]: left_x=0.3103 left_y=-0.0032 left_z=0.1988 left_yaw=0.2712 left_pitch=-0.4538 left_roll=0.1269 left_gripper=0.9967 right_x=0.2568 right_y=0.1838 right_z=0.1362 right_yaw=0.0443 right_pitch=-0.0851 right_roll=-0.04 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -6.188, 5.5726, 1.0427, -0.0659, 0.1636, 0.1294, 0.6085, -3.9863, 9.3744, 1.1209, 0.5836, 0.1734, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1959, 1.2907, 1.2263, -1.0321, -0.3061, -0.3325, 0.9968, 0.8886, 1.6108, 0.4671, 0.2443, 0.6636, 0.5781, 0.9998]\nstate[eef_state]: left_x=0.3095 left_y=-0.0035 left_z=0.1977 left_yaw=0.2728 left_pitch=-0.4591 left_roll=0.124 left_gripper=0.9968 right_x=0.2814 right_y=0.1796 right_z=0.014 right_yaw=0.0301 right_pitch=-0.1022 right_roll=-0.0579 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -4.4239, 6.4205, 1.1209, -0.1685, -0.0024, -0.0073, -0.4444, -4.3009, 3.5487, 0.7057, 0.2418, -0.1636, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1959, 1.2907, 1.2263, -1.0313, -0.3058, -0.3332, 0.9968, 0.8837, 1.6165, 0.4568, 0.2657, 0.6437, 0.5667, 0.1521]\nstate[eef_state]: left_x=0.3097 left_y=-0.0036 left_z=0.1978 left_yaw=0.2727 left_pitch=-0.4585 left_roll=0.1229 left_gripper=0.9968 right_x=0.2805 right_y=0.1804 right_z=0.0105 right_yaw=0.0452 right_pitch=-0.1107 right_roll=-0.0526 right_gripper=0.1521\nstate[joint_eff]: [-0.0752, -4.3692, 6.5299, 1.1013, -0.2369, -0.0562, -0.0073, -0.7043, -6.9538, 4.3829, 1.1502, 0.3932, -0.0171, 1.0085]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04a9d89e36d4cc7eb2e00f27af45e4908d6b761c8b59b67b3f1404671e562d50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79ec0c3e25d789539e4931e4902554a88051432222aa2ea633f2198e0512213d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a55e1650354593ce396e457b7b11913d480ff6ec963341f489109e7ac59e1ca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0wQKjgEIEhgCKkC41beXsfqvnMZR8+3VXE6GX/VjTL4W3kFujN8s1uiFl1EgyLRNkAdSJdnWrto3/IZv9zThFfc2wcirgAzfwjlPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa/wzNUGEgxb3ouLmQy/uetNJlQaDCXXzTXCcPGVDw0ZCCIwh0j3ul3hycDFYfiR905ACm03+PvPidhqTzyl0yNIfUIfjDXzGcM9NlSx6YWr3Fq8KvECw/QtP5B6n0vreGqHEIgzvqKEyikvAN/R8CoRKFmiOzt8FEiX1wUX2Ia2o4G0+xjfBHCKCdcpEBbYxIW6lGqUCgszceQNKitlBVw/4fsshVAD4x77UX7s9DYVx8OGlioqDb3pKd6UI7KDGDnLaaGFQmpFIgWbJ8lSaAyA+L+CGdpBo03nd+1545ztnSC3n3LDWhd56A/iMbrz+TjHQEKSfrJu9cjVr34kBEEkzeeEWO/qOvg1CncvlCP0GK9xvOr5m5jvnsaqQXtz2/qBNYfTDLNaaq3kcUU2EH7ZigwPaQVoAE69HqhOGh6MZ4ri1HtTS3BM3pHLZ6fFuBEIp8BgnhrBIWffmSYs4ERPrUYy5plc0f+2xn6fwpLbza3VmnoiMqcUyjOgytWqdciBYK/P+ZnIC1xppBSUf6pvL5Zyc7VwMPgfEakJUqSyccldnx90oHfcUm0r77UbAgSs1VfII4Bss5h848EVrRMR9YOKDMR+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RqNTSbPKmMH83sThYiRYD6",
      "input": {
        "note": "Gripper settled at 0.15 — the marker is held. Lifting and moving forward over the right basket, which will be the pen/marker basket.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.21,
          "right_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_01RqNTSbPKmMH83sThYiRYD6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1955, 1.2907, 1.2263, -1.0317, -0.3058, -0.3336, 0.9968, 0.7303, 1.5406, 1.3869, -0.6502, 0.5312, 0.4221, 0.1576]\nstate[eef_state]: left_x=0.3096 left_y=-0.0034 left_z=0.1978 left_yaw=0.2734 left_pitch=-0.4588 left_roll=0.1228 left_gripper=0.9968 right_x=0.3685 right_y=0.2147 right_z=0.2377 right_yaw=0.0575 right_pitch=-0.1069 right_roll=-0.0424 right_gripper=0.1576\nstate[joint_eff]: [-0.0479, -4.1641, 6.3795, 1.0818, -0.2173, -0.0415, -0.0073, -0.9641, -6.9949, 9.1829, 1.1502, 0.2808, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a9715342bc04e9c4c4ba226f27332d5dcf921f67390dfc121e1832ff39d4c58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad026a67d81ef7e3c3195962179d7f187be316b6afcae384dff6631b80eeeb19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77da1af314517fcd20048e04f2907103d2b2c39aa3b49349cc1eb5d607b371d8",
        "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 · 2.887 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1959, 1.2907, 1.2263, -1.0321, -0.3061, -0.3325, 0.9968, 0.8886, 1.6108, 0.4671, 0.2443, 0.6636, 0.5781, 0.9998]\nstate[eef_state]: left_x=0.3095 left_y=-0.0035 left_z=0.1977 left_yaw=0.2728 left_pitch=-0.4591 left_roll=0.124 left_gripper=0.9968 right_x=0.2814 right_y=0.1796 right_z=0.014 right_yaw=0.0301 right_pitch=-0.1022 right_roll=-0.0579 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -4.4239, 6.4205, 1.1209, -0.1685, -0.0024, -0.0073, -0.4444, -4.3009, 3.5487, 0.7057, 0.2418, -0.1636, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1959, 1.2907, 1.2263, -1.0313, -0.3058, -0.3332, 0.9968, 0.8837, 1.6165, 0.4568, 0.2657, 0.6437, 0.5667, 0.1521]\nstate[eef_state]: left_x=0.3097 left_y=-0.0036 left_z=0.1978 left_yaw=0.2727 left_pitch=-0.4585 left_roll=0.1229 left_gripper=0.9968 right_x=0.2805 right_y=0.1804 right_z=0.0105 right_yaw=0.0452 right_pitch=-0.1107 right_roll=-0.0526 right_gripper=0.1521\nstate[joint_eff]: [-0.0752, -4.3692, 6.5299, 1.1013, -0.2369, -0.0562, -0.0073, -0.7043, -6.9538, 4.3829, 1.1502, 0.3932, -0.0171, 1.0085]",
      "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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1955, 1.2907, 1.2263, -1.0317, -0.3058, -0.3336, 0.9968, 0.7303, 1.5406, 1.3869, -0.6502, 0.5312, 0.4221, 0.1576]\nstate[eef_state]: left_x=0.3096 left_y=-0.0034 left_z=0.1978 left_yaw=0.2734 left_pitch=-0.4588 left_roll=0.1228 left_gripper=0.9968 right_x=0.3685 right_y=0.2147 right_z=0.2377 right_yaw=0.0575 right_pitch=-0.1069 right_roll=-0.0424 right_gripper=0.1576\nstate[joint_eff]: [-0.0479, -4.1641, 6.3795, 1.0818, -0.2173, -0.0415, -0.0073, -0.9641, -6.9949, 9.1829, 1.1502, 0.2808, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a9715342bc04e9c4c4ba226f27332d5dcf921f67390dfc121e1832ff39d4c58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad026a67d81ef7e3c3195962179d7f187be316b6afcae384dff6631b80eeeb19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77da1af314517fcd20048e04f2907103d2b2c39aa3b49349cc1eb5d607b371d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5QYKjgEIEhgCKkA5i5FSxClQBqZBl4n5Ol9AmGf5fPdeNtbuisq6RheX5EsRc0TvCGnQPhtz61JzmNaXB4qsD3XpL+u5nurg5OZUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbfwzNUGEgw17dmWbcVTjA8KoNEaDPqUTvfU2fSVkKokFiIw9+IpHdIySeanSLiR+KgNLZZ0KZNp9W1mQPaAiHo5keHin65q3BkZlFbzxG48g2joKoMFT1XzrksycXdDBjEojWu25XXM10ra1haDtbZlqDTMvUX+uO8KfnPBV2gL0Nx8B1RreuFHFcx+hbM4JbiMg4qMF8hEPu8fvGLq0vLgYqmzvD67wySAb+XHSWGNyVk/EQ5yD3Sv8qyx0ZdPSlaPFxX2C1IwPIRBg80Gf2uX0EO/L3+gxW7XooDG6pFoM3Cz+Fznc5pDECdeRLKej890Ow21W834Tcaaakbe5bQnV8WmFeBze7Tj01WHxhNTTTFddnRHnTTJj0RY9/m0AzlUTll1WwGZ71lIJ3eU/ifdiA2Wie5yTgmKNi/AYoIYW4sxlj94ZTUeZbWjst39qWuqYM+XGKT8Q5TyqIuhAmhU7ngQUGjo2DrL7osAZ/sO3GcU+7Mbo/rCvakYHehb+N4eDisQXwgJdJV/MfXdX2gPA7gS7FouXll6xZwZjGKvA0sRE++OnDMfMpuwZP9rYE1wYaMe23gpSZ7I5jEC2h1hXO94U+ACHZUZl4nNCy/a/MsTj9DsO9umahkbtYqgAGMRMsFQL6frePz5zWI5fe59xG1TyqR8DEWb4xyCXd0wLkXRZnEixQyQCkIasJQ3jlRsrb1HmoxGqtlfaC+0AXUZdpiugYRkhynTGcEu0UftoCBOrOWSSZqjg1hZfyNw2wzhe7ERFB6P2hFyanJqtoJm1wDA/LSiaxXuYLj5/zJ6jHqT+w7dbPvPWkw5udJyCUC77KDmmN+E30tmRznP85jXd535dBvMhQRFHPKyV1yg6VjxWCh1+AdAaWPS8KUp/37EhtQYZuJljkM2ms/aQY7wMDfaK9UWxoCwfjI/F9ECB0x9Co89xquz7NXD2CiHn8vrAUu4zm9kIRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NhNoNMxU9A4gqFLdsp7gBa",
      "input": {
        "note": "The right basket's interior is ahead of the held marker in the wrist view; advancing 6 cm to hover over the basket mouth before releasing.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.22,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01NhNoNMxU9A4gqFLdsp7gBa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1955, 1.2915, 1.2263, -1.0317, -0.3058, -0.3367, 0.9968, 0.6388, 1.7222, 1.4498, -0.5968, 0.4603, 0.3515, 0.1576]\nstate[eef_state]: left_x=0.3096 left_y=-0.0035 left_z=0.1976 left_yaw=0.2754 left_pitch=-0.4593 left_roll=0.1214 left_gripper=0.9968 right_x=0.4134 right_y=0.2138 right_z=0.1906 right_yaw=0.0522 right_pitch=-0.1932 right_roll=-0.0922 right_gripper=0.1576\nstate[joint_eff]: [-0.1709, -4.547, 6.3521, 1.0769, -0.1832, -0.0171, -0.0122, -0.7043, -9.4701, 10.359, 1.6239, 0.2857, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:823de881138c8482b72cc812f7d543a60f278242277c1719d7eb547895be0aaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fedd680fb94492ae6f8e69d2d045864e8a22cfb405c7c2269515d1a991cb5826",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0100e2403fa4b9837a791a29da6876a43ffbdd70d5cff1a4b81de5f8340ea99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 17.12 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1959, 1.2907, 1.2263, -1.0313, -0.3058, -0.3332, 0.9968, 0.8837, 1.6165, 0.4568, 0.2657, 0.6437, 0.5667, 0.1521]\nstate[eef_state]: left_x=0.3097 left_y=-0.0036 left_z=0.1978 left_yaw=0.2727 left_pitch=-0.4585 left_roll=0.1229 left_gripper=0.9968 right_x=0.2805 right_y=0.1804 right_z=0.0105 right_yaw=0.0452 right_pitch=-0.1107 right_roll=-0.0526 right_gripper=0.1521\nstate[joint_eff]: [-0.0752, -4.3692, 6.5299, 1.1013, -0.2369, -0.0562, -0.0073, -0.7043, -6.9538, 4.3829, 1.1502, 0.3932, -0.0171, 1.0085]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1955, 1.2907, 1.2263, -1.0317, -0.3058, -0.3336, 0.9968, 0.7303, 1.5406, 1.3869, -0.6502, 0.5312, 0.4221, 0.1576]\nstate[eef_state]: left_x=0.3096 left_y=-0.0034 left_z=0.1978 left_yaw=0.2734 left_pitch=-0.4588 left_roll=0.1228 left_gripper=0.9968 right_x=0.3685 right_y=0.2147 right_z=0.2377 right_yaw=0.0575 right_pitch=-0.1069 right_roll=-0.0424 right_gripper=0.1576\nstate[joint_eff]: [-0.0479, -4.1641, 6.3795, 1.0818, -0.2173, -0.0415, -0.0073, -0.9641, -6.9949, 9.1829, 1.1502, 0.2808, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1955, 1.2915, 1.2263, -1.0317, -0.3058, -0.3367, 0.9968, 0.6388, 1.7222, 1.4498, -0.5968, 0.4603, 0.3515, 0.1576]\nstate[eef_state]: left_x=0.3096 left_y=-0.0035 left_z=0.1976 left_yaw=0.2754 left_pitch=-0.4593 left_roll=0.1214 left_gripper=0.9968 right_x=0.4134 right_y=0.2138 right_z=0.1906 right_yaw=0.0522 right_pitch=-0.1932 right_roll=-0.0922 right_gripper=0.1576\nstate[joint_eff]: [-0.1709, -4.547, 6.3521, 1.0769, -0.1832, -0.0171, -0.0122, -0.7043, -9.4701, 10.359, 1.6239, 0.2857, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:823de881138c8482b72cc812f7d543a60f278242277c1719d7eb547895be0aaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fedd680fb94492ae6f8e69d2d045864e8a22cfb405c7c2269515d1a991cb5826",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0100e2403fa4b9837a791a29da6876a43ffbdd70d5cff1a4b81de5f8340ea99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzwIKjgEIEhgCKkDKoWK+xH6tBLHIavC+cjRZiBvbU0kjNrLosHIs9I1JwmIvdg4rVGeV27vkpMtusRpyBk80FMtTM8i/heOrEVU7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbvwzNUGEgxjz0UICggTSJbiDPEaDNpuvyWfYVGQoFF29yIwtmtndBv8os70hPBi4odrq+oh8ie3g7yJhZG1WQi/jOIC3U8V7hfRGcGAaV9/ps4VKm44ch/oiSED8qgwmPg+b91nR2q476klzagBUgru+nj5wDsK8lQ5Gd7saXGPrADVU+cIDdWNhdqDnM/Kmoog4Wh1uOa6Glns7QtCxJU8mJ9VAHhT3/a8oxQGAyRmOcIeFjgqCE3QszKwSTxNJnYAahgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tf9VpA11jyT7AvXuexn5CE",
      "input": {
        "note": "The marker is now over the right basket's interior; opening the jaws to drop it in.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Tf9VpA11jyT7AvXuexn5CE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1955, 1.2922, 1.2263, -1.0313, -0.3058, -0.337, 0.9968, 0.6327, 1.7332, 1.4673, -0.5632, 0.4507, 0.3298, 0.9956]\nstate[eef_state]: left_x=0.3098 left_y=-0.0035 left_z=0.1974 left_yaw=0.2757 left_pitch=-0.4596 left_roll=0.1214 left_gripper=0.9968 right_x=0.4221 right_y=0.2185 right_z=0.1973 right_yaw=0.0692 right_pitch=-0.1645 right_roll=-0.0802 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -4.588, 6.3521, 1.0623, -0.2271, -0.022, -0.0122, -0.5265, -9.5795, 9.6752, 1.6093, 0.232, 0.022, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9bc3ac1ffb95cca2da4ea15063442c5187dd833430c0f0886c821aedbcba5f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d078eb92654847c04bfca2a644e536921e0be6087a0c4fb912f1179a0dd88c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7abded83ba29deb693e5c6a1cf749ccba3003f747c132bbea5dd298b436a3d00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 5.283 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1955, 1.2907, 1.2263, -1.0317, -0.3058, -0.3336, 0.9968, 0.7303, 1.5406, 1.3869, -0.6502, 0.5312, 0.4221, 0.1576]\nstate[eef_state]: left_x=0.3096 left_y=-0.0034 left_z=0.1978 left_yaw=0.2734 left_pitch=-0.4588 left_roll=0.1228 left_gripper=0.9968 right_x=0.3685 right_y=0.2147 right_z=0.2377 right_yaw=0.0575 right_pitch=-0.1069 right_roll=-0.0424 right_gripper=0.1576\nstate[joint_eff]: [-0.0479, -4.1641, 6.3795, 1.0818, -0.2173, -0.0415, -0.0073, -0.9641, -6.9949, 9.1829, 1.1502, 0.2808, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1955, 1.2915, 1.2263, -1.0317, -0.3058, -0.3367, 0.9968, 0.6388, 1.7222, 1.4498, -0.5968, 0.4603, 0.3515, 0.1576]\nstate[eef_state]: left_x=0.3096 left_y=-0.0035 left_z=0.1976 left_yaw=0.2754 left_pitch=-0.4593 left_roll=0.1214 left_gripper=0.9968 right_x=0.4134 right_y=0.2138 right_z=0.1906 right_yaw=0.0522 right_pitch=-0.1932 right_roll=-0.0922 right_gripper=0.1576\nstate[joint_eff]: [-0.1709, -4.547, 6.3521, 1.0769, -0.1832, -0.0171, -0.0122, -0.7043, -9.4701, 10.359, 1.6239, 0.2857, 0.0073, 1.0281]",
      "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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1955, 1.2922, 1.2263, -1.0313, -0.3058, -0.337, 0.9968, 0.6327, 1.7332, 1.4673, -0.5632, 0.4507, 0.3298, 0.9956]\nstate[eef_state]: left_x=0.3098 left_y=-0.0035 left_z=0.1974 left_yaw=0.2757 left_pitch=-0.4596 left_roll=0.1214 left_gripper=0.9968 right_x=0.4221 right_y=0.2185 right_z=0.1973 right_yaw=0.0692 right_pitch=-0.1645 right_roll=-0.0802 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -4.588, 6.3521, 1.0623, -0.2271, -0.022, -0.0122, -0.5265, -9.5795, 9.6752, 1.6093, 0.232, 0.022, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9bc3ac1ffb95cca2da4ea15063442c5187dd833430c0f0886c821aedbcba5f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d078eb92654847c04bfca2a644e536921e0be6087a0c4fb912f1179a0dd88c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7abded83ba29deb693e5c6a1cf749ccba3003f747c132bbea5dd298b436a3d00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ELwwxD42PLbxMZEqMNFs4J",
      "input": {
        "note": "Marker delivered to the right basket. Now moving the left arm above the brown teddy sitting on the table between the two baskets to pick it up for the plush basket.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.4,
          "left_y": -0.28,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 25 steps (2.5s)",
      "tool_use_id": "toolu_01ELwwxD42PLbxMZEqMNFs4J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7387, 2.2204, 2.1288, -1.3388, -0.4953, -0.9447, 0.9988, 0.5865, 1.7309, 1.4662, -0.5591, 0.4706, 0.3336, 0.9964]\nstate[eef_state]: left_x=0.3995 left_y=-0.2454 left_z=0.1365 left_yaw=0.3552 left_pitch=-0.5158 left_roll=0.1937 left_gripper=0.9988 right_x=0.4329 right_y=0.1958 right_z=0.1996 right_yaw=0.006 right_pitch=-0.152 right_roll=-0.0868 right_gripper=0.9964\nstate[joint_eff]: [-4.7248, -11.494, 8.9094, 1.1258, -0.5641, -0.1441, -0.1294, 4.0, -8.6359, 6.8991, 1.3993, -0.149, -0.0562, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c25473cb3d4b9348f88a75cd21e912ec8b4c71a707dbe1696998afa4afbd096",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe05174cfe45afd4cba35b3455b9c5475ae5279855f07fda9578a58e6180c362",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dd848b91807da4ca3dc17e85ed16b08b904560a31669975a1727d2433b106058",
        "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 · 6.063 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1955, 1.2915, 1.2263, -1.0317, -0.3058, -0.3367, 0.9968, 0.6388, 1.7222, 1.4498, -0.5968, 0.4603, 0.3515, 0.1576]\nstate[eef_state]: left_x=0.3096 left_y=-0.0035 left_z=0.1976 left_yaw=0.2754 left_pitch=-0.4593 left_roll=0.1214 left_gripper=0.9968 right_x=0.4134 right_y=0.2138 right_z=0.1906 right_yaw=0.0522 right_pitch=-0.1932 right_roll=-0.0922 right_gripper=0.1576\nstate[joint_eff]: [-0.1709, -4.547, 6.3521, 1.0769, -0.1832, -0.0171, -0.0122, -0.7043, -9.4701, 10.359, 1.6239, 0.2857, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1955, 1.2922, 1.2263, -1.0313, -0.3058, -0.337, 0.9968, 0.6327, 1.7332, 1.4673, -0.5632, 0.4507, 0.3298, 0.9956]\nstate[eef_state]: left_x=0.3098 left_y=-0.0035 left_z=0.1974 left_yaw=0.2757 left_pitch=-0.4596 left_roll=0.1214 left_gripper=0.9968 right_x=0.4221 right_y=0.2185 right_z=0.1973 right_yaw=0.0692 right_pitch=-0.1645 right_roll=-0.0802 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -4.588, 6.3521, 1.0623, -0.2271, -0.022, -0.0122, -0.5265, -9.5795, 9.6752, 1.6093, 0.232, 0.022, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7387, 2.2204, 2.1288, -1.3388, -0.4953, -0.9447, 0.9988, 0.5865, 1.7309, 1.4662, -0.5591, 0.4706, 0.3336, 0.9964]\nstate[eef_state]: left_x=0.3995 left_y=-0.2454 left_z=0.1365 left_yaw=0.3552 left_pitch=-0.5158 left_roll=0.1937 left_gripper=0.9988 right_x=0.4329 right_y=0.1958 right_z=0.1996 right_yaw=0.006 right_pitch=-0.152 right_roll=-0.0868 right_gripper=0.9964\nstate[joint_eff]: [-4.7248, -11.494, 8.9094, 1.1258, -0.5641, -0.1441, -0.1294, 4.0, -8.6359, 6.8991, 1.3993, -0.149, -0.0562, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c25473cb3d4b9348f88a75cd21e912ec8b4c71a707dbe1696998afa4afbd096",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe05174cfe45afd4cba35b3455b9c5475ae5279855f07fda9578a58e6180c362",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd848b91807da4ca3dc17e85ed16b08b904560a31669975a1727d2433b106058",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISggUKjgEIEhgCKkC3jo+5jufyjpnAQNRJ4tKGmlkkFT94DyPTTzSyjttzNKzeFNuMwT5cNIZMTetd7nCVHc5/JDlp+0EklgTWOmfhMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdXwzNUGEgycQhx7syLhbEtTQQIaDCCux7zUT0rvRgb1ByIwdOzYpc+Xiu83ZBxWogrwFXk6RqFGpKGJ7T1SSmTfvHj6FENEv8zaJDyCDy09S83NKqAD8JWXuTMxg04PL5ZZhJy7Mt7KxOLGmGH8veVGU7CipgjwXhioS+qN4P0XVtbPJBfLMy2RCcRdURrsxoCqwgLa/gXbNJlsT2FVEFAJOHkiU0sB9cDvtAXd+LFkVkGqoweWbOcJNJGZGv76GiACUYyqXLUOJGCdHZw5qXCXDZ0cVwGDqdm/jpFadRp2aXX3/o5gp23b92hpeHhu50EHw4OyDxjfBCK1G8Hlw+Is0KFN5r4QYCKQkfrej7fvQWasmXzTPeKm4IHcpCgPB25JgCpSUGqEQdP979N4RWU0zsLy/9d5yO58dl2vuSWl/g62+9GOFjRbfbHCVE3136WHLdeNtYQEqZPAx8XLv10Hj+7hAzm2j2raPBKAdOyD4XuLFw0uBOzIP3zXHjuk4zbfXbcvK2sI7UmtygU1o+JJgfoCpUDk3QgnVDAfr91NV293nUxt1KtbF8ZpWcjUXw/ONPmA5M3vQL8IzHeUx9/9bjda92KXa3BHeBnY03+cdh2neLRNEJSV+bPYAi1v53qEqZkGDFur3TWmC+TrfN9n3++5y9kYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BG549gbiMhRQZR5iXtpFpN",
      "input": {
        "note": "The brown teddy is centred under the jaws in the left wrist view; descending and closing on it.",
        "targets": {
          "left_gripper": 0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BG549gbiMhRQZR5iXtpFpN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.741, 2.1914, 1.8206, -0.9424, -0.4938, -0.9508, 0.0101, 0.5735, 1.7679, 1.4311, -0.6476, 0.4755, 0.3107, 0.9965]\nstate[eef_state]: left_x=0.4138 left_y=-0.2603 left_z=0.0759 left_yaw=0.3013 left_pitch=-0.4601 left_roll=0.0732 left_gripper=0.0101 right_x=0.4186 right_y=0.1784 right_z=0.1575 right_yaw=-0.0181 right_pitch=-0.2855 right_roll=-0.1977 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -8.4581, 3.0017, 0.1197, -0.3492, 0.0513, 0.7204, 0.6906, -11.6308, 9.5521, 2.1123, 0.0904, 0.2027, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edb22c84a83d7f10bf22f3997521f0c7b109d0355687bfb13adbbd48f1f4b344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5c9feb96f188ee5ec8fb7981468bd0a628c7195321e9f8bf3a428184a6fa240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d800defecd4fcf0a5abe128a140338d95e1af104b5c6a0f417eace949aba1a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 5.578 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1955, 1.2922, 1.2263, -1.0313, -0.3058, -0.337, 0.9968, 0.6327, 1.7332, 1.4673, -0.5632, 0.4507, 0.3298, 0.9956]\nstate[eef_state]: left_x=0.3098 left_y=-0.0035 left_z=0.1974 left_yaw=0.2757 left_pitch=-0.4596 left_roll=0.1214 left_gripper=0.9968 right_x=0.4221 right_y=0.2185 right_z=0.1973 right_yaw=0.0692 right_pitch=-0.1645 right_roll=-0.0802 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -4.588, 6.3521, 1.0623, -0.2271, -0.022, -0.0122, -0.5265, -9.5795, 9.6752, 1.6093, 0.232, 0.022, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7387, 2.2204, 2.1288, -1.3388, -0.4953, -0.9447, 0.9988, 0.5865, 1.7309, 1.4662, -0.5591, 0.4706, 0.3336, 0.9964]\nstate[eef_state]: left_x=0.3995 left_y=-0.2454 left_z=0.1365 left_yaw=0.3552 left_pitch=-0.5158 left_roll=0.1937 left_gripper=0.9988 right_x=0.4329 right_y=0.1958 right_z=0.1996 right_yaw=0.006 right_pitch=-0.152 right_roll=-0.0868 right_gripper=0.9964\nstate[joint_eff]: [-4.7248, -11.494, 8.9094, 1.1258, -0.5641, -0.1441, -0.1294, 4.0, -8.6359, 6.8991, 1.3993, -0.149, -0.0562, 0.0708]",
      "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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.741, 2.1914, 1.8206, -0.9424, -0.4938, -0.9508, 0.0101, 0.5735, 1.7679, 1.4311, -0.6476, 0.4755, 0.3107, 0.9965]\nstate[eef_state]: left_x=0.4138 left_y=-0.2603 left_z=0.0759 left_yaw=0.3013 left_pitch=-0.4601 left_roll=0.0732 left_gripper=0.0101 right_x=0.4186 right_y=0.1784 right_z=0.1575 right_yaw=-0.0181 right_pitch=-0.2855 right_roll=-0.1977 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -8.4581, 3.0017, 0.1197, -0.3492, 0.0513, 0.7204, 0.6906, -11.6308, 9.5521, 2.1123, 0.0904, 0.2027, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edb22c84a83d7f10bf22f3997521f0c7b109d0355687bfb13adbbd48f1f4b344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5c9feb96f188ee5ec8fb7981468bd0a628c7195321e9f8bf3a428184a6fa240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d800defecd4fcf0a5abe128a140338d95e1af104b5c6a0f417eace949aba1a95",
        "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/gQKjgEIEhgCKkBVfdfqPIJAZg2yuxJ7rzMUy5Ch/z5bygENP0OFLABmxcFcnFu/AiEcSph/l3fWngy/Dq24jrG1xlEopKs6Pst5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdvwzNUGEgzF69M64P/dcC7TyFEaDIUl8vkSLZdfsbMFQyIwueXblwaqvDUjJDxpitgqn44pjINBJ6WRyN/iHN3VLZs86sLc+RUK9uGKd0o5OEiUKpwDzxW+cFX23UpPp09A9UYNVloZzmA9fpB/Ss39ceN6ewdw6pKJQG/ww0ClAbkp8NjLYBBa5J+Cf6v56cNinXkwMJ+S44gVScJFnhMknzvOwO8z4UoqDIbBXUZsYNOBhi1EoyPTSbqL4NJPZT0yU/tpNyr6ZT5ZJoG6VXXK2LUewceqqEFTVykQvgzWmG0kVNSQB5sarIOT2vHvJRcM4cXt1+G5tK0eI9q51ZcOPfyC7swN6LaW5JTdovzNvqSGyNMlGjEah9uJGVwDs+Xp8fYCvv10r/wuYn7FlaF/wquQRm3TRrOLf7ZjlpOPmeSkNAEbby+W2xolwQruWs9s90iSMRK7sr3hpLNm96P1v05O869WX1piYNrbS2IuC79yUa+fohN7SVe8U2g6AgRXeKY0DyPktTLPATgry06owRNJy6DtUFS1YeQGwbhdKw9GWjCi7WWG0i7bn6LwmHYXaClXELd0dfn94cnkJgyaeS90/TTtJNQ9T+F98mXgGPXslQ9THiLNPX3YwZN/n6Zb4P0xegCRfBd3XcovNN0SGhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EZPUStu42NNtD3BGXTz5zL",
      "input": {
        "note": "That close came up empty (0.01) — the teddy is a few cm to the left and nearer than the jaws. Reopening and shifting left/back to line up again.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.4,
          "left_y": -0.228,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EZPUStu42NNtD3BGXTz5zL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7231, 2.1044, 1.5921, -0.778, -0.4866, -0.9241, 0.9951, 0.5739, 1.779, 1.4128, -0.6613, 0.4599, 0.2947, 0.9965]\nstate[eef_state]: left_x=0.4017 left_y=-0.2396 left_z=0.0543 left_yaw=0.2901 left_pitch=-0.4554 left_roll=0.0629 left_gripper=0.9951 right_x=0.4125 right_y=0.1776 right_z=0.1432 right_yaw=-0.0046 right_pitch=-0.3305 right_roll=-0.222 right_gripper=0.9965\nstate[joint_eff]: [1.4838, -13.3949, 5.1897, 0.6081, -0.2466, 0.0904, -0.0611, -0.2803, -10.0444, 7.9795, 1.2967, 0.359, 0.1441, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb0533184c33510456b6afa1f20f6c40f0d24c917710f2d7c7dcb76a21738039",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de6eb29e256e69659499c72e9bc2084e09811e600f781beaf643081880253c69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:97fb120e43b74250120ec9769ee68743cd95e71bf059c092a70445bde68d625b",
        "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 · 6.598 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7387, 2.2204, 2.1288, -1.3388, -0.4953, -0.9447, 0.9988, 0.5865, 1.7309, 1.4662, -0.5591, 0.4706, 0.3336, 0.9964]\nstate[eef_state]: left_x=0.3995 left_y=-0.2454 left_z=0.1365 left_yaw=0.3552 left_pitch=-0.5158 left_roll=0.1937 left_gripper=0.9988 right_x=0.4329 right_y=0.1958 right_z=0.1996 right_yaw=0.006 right_pitch=-0.152 right_roll=-0.0868 right_gripper=0.9964\nstate[joint_eff]: [-4.7248, -11.494, 8.9094, 1.1258, -0.5641, -0.1441, -0.1294, 4.0, -8.6359, 6.8991, 1.3993, -0.149, -0.0562, 0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.741, 2.1914, 1.8206, -0.9424, -0.4938, -0.9508, 0.0101, 0.5735, 1.7679, 1.4311, -0.6476, 0.4755, 0.3107, 0.9965]\nstate[eef_state]: left_x=0.4138 left_y=-0.2603 left_z=0.0759 left_yaw=0.3013 left_pitch=-0.4601 left_roll=0.0732 left_gripper=0.0101 right_x=0.4186 right_y=0.1784 right_z=0.1575 right_yaw=-0.0181 right_pitch=-0.2855 right_roll=-0.1977 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -8.4581, 3.0017, 0.1197, -0.3492, 0.0513, 0.7204, 0.6906, -11.6308, 9.5521, 2.1123, 0.0904, 0.2027, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7231, 2.1044, 1.5921, -0.778, -0.4866, -0.9241, 0.9951, 0.5739, 1.779, 1.4128, -0.6613, 0.4599, 0.2947, 0.9965]\nstate[eef_state]: left_x=0.4017 left_y=-0.2396 left_z=0.0543 left_yaw=0.2901 left_pitch=-0.4554 left_roll=0.0629 left_gripper=0.9951 right_x=0.4125 right_y=0.1776 right_z=0.1432 right_yaw=-0.0046 right_pitch=-0.3305 right_roll=-0.222 right_gripper=0.9965\nstate[joint_eff]: [1.4838, -13.3949, 5.1897, 0.6081, -0.2466, 0.0904, -0.0611, -0.2803, -10.0444, 7.9795, 1.2967, 0.359, 0.1441, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb0533184c33510456b6afa1f20f6c40f0d24c917710f2d7c7dcb76a21738039",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de6eb29e256e69659499c72e9bc2084e09811e600f781beaf643081880253c69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97fb120e43b74250120ec9769ee68743cd95e71bf059c092a70445bde68d625b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgQUKjgEIEhgCKkAOx5pHAZ3yKOq62d9GWctbMkJF4bFG9jpYw56wmPW/e+hpOeT5DK7aQHxbA1SKFk15HPqcqrIWgRG04GV/w8wnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeLwzNUGEgyK2TLiESd4qo5k79oaDDS627jmU1+dQZzXdyIwLtJeTRAIxPhnNWnFpjfXycOSk4b4nqvDW+t337tJi5LnIsaB6GviwCCzrS2+onSpKp8Dq2xy5Krj83oU3+vCRhkCzw6sw3+LTQwntb5EMP7PByam5Gc5daRr3b7+inAcCUWcf/rBzUEZpuNrjPmb1T2xl03l+fGoLgUA8DtCberpLlwbZxtzXVzFncWnijejLXdL9lzQ/jbBW/bl8bLoubHOdL9DtYx4ntFGU97aTmOEOFjkeaHs5OakJ0uxDxzZ3noy8qI//oXrhElZkWJtmxDwgKVbjolIxW2UGscxUT2k/ydrdyd2cL/bGSxkQMI5i8eV4CiY+ambuTAjs6/7z9BIZJt6g9oGpmZnABFBe+n8ud2E6vLrG6eGxiOu7UO/QP3IoDyjmRlp/RtzzUxaMMjbyRqzlc43Y38kha6M6mnvcRE5jFuXT9pXis4KNwPywpO4aKDnJoYhQbwmIavOkkQ+p4+K5nQvmuNLq6ffeSSqUYsz6J2cnmUIv+HisUOBBUzvCQVgd1p2Uupijw+Or80ClLHnyvgJT9hyxx41UBkSpBRO5dFjqag4NOTUKEV51ALx6wcXB4qY/a/mIEexY/qV/dBcbuPP5xUj6ycUNQdDahgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CrnJxcagk7AUo4bSeHrADk",
      "input": {
        "note": "Teddy is ~2 cm left of the jaw column; shifting left, dropping to table level and closing on it.",
        "targets": {
          "left_gripper": 0,
          "left_y": -0.21,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CrnJxcagk7AUo4bSeHrADk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6708, 2.0926, 1.4349, -0.6327, -0.4854, -0.8749, 0.0104, 0.5739, 1.779, 1.4101, -0.6689, 0.4591, 0.2913, 0.9965]\nstate[eef_state]: left_x=0.4018 left_y=-0.2091 left_z=0.0213 left_yaw=0.3126 left_pitch=-0.4587 left_roll=0.0911 left_gripper=0.0104 right_x=0.4107 right_y=0.1766 right_z=0.1413 right_yaw=-0.0041 right_pitch=-0.3399 right_roll=-0.2297 right_gripper=0.9965\nstate[joint_eff]: [0.4171, -13.6137, 5.2581, 0.823, -0.149, 0.0415, 0.8034, -0.1573, -9.0462, 6.9675, 1.2381, 0.2076, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f8144d7cc09a3fd259a837114732647ec74ee2bf1b1869948d924c9e5eb317c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd7f9e4ba74838d05f660801d5e3ace4bff5d44247b7ed3bef36eac0c3fe1bc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a8381a0c85b7e279e5d8d6f389ad29cf5519a4161bacd9e6e95be1845050ba90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /messages · status 200 · 12.89 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: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.741, 2.1914, 1.8206, -0.9424, -0.4938, -0.9508, 0.0101, 0.5735, 1.7679, 1.4311, -0.6476, 0.4755, 0.3107, 0.9965]\nstate[eef_state]: left_x=0.4138 left_y=-0.2603 left_z=0.0759 left_yaw=0.3013 left_pitch=-0.4601 left_roll=0.0732 left_gripper=0.0101 right_x=0.4186 right_y=0.1784 right_z=0.1575 right_yaw=-0.0181 right_pitch=-0.2855 right_roll=-0.1977 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -8.4581, 3.0017, 0.1197, -0.3492, 0.0513, 0.7204, 0.6906, -11.6308, 9.5521, 2.1123, 0.0904, 0.2027, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7231, 2.1044, 1.5921, -0.778, -0.4866, -0.9241, 0.9951, 0.5739, 1.779, 1.4128, -0.6613, 0.4599, 0.2947, 0.9965]\nstate[eef_state]: left_x=0.4017 left_y=-0.2396 left_z=0.0543 left_yaw=0.2901 left_pitch=-0.4554 left_roll=0.0629 left_gripper=0.9951 right_x=0.4125 right_y=0.1776 right_z=0.1432 right_yaw=-0.0046 right_pitch=-0.3305 right_roll=-0.222 right_gripper=0.9965\nstate[joint_eff]: [1.4838, -13.3949, 5.1897, 0.6081, -0.2466, 0.0904, -0.0611, -0.2803, -10.0444, 7.9795, 1.2967, 0.359, 0.1441, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6708, 2.0926, 1.4349, -0.6327, -0.4854, -0.8749, 0.0104, 0.5739, 1.779, 1.4101, -0.6689, 0.4591, 0.2913, 0.9965]\nstate[eef_state]: left_x=0.4018 left_y=-0.2091 left_z=0.0213 left_yaw=0.3126 left_pitch=-0.4587 left_roll=0.0911 left_gripper=0.0104 right_x=0.4107 right_y=0.1766 right_z=0.1413 right_yaw=-0.0041 right_pitch=-0.3399 right_roll=-0.2297 right_gripper=0.9965\nstate[joint_eff]: [0.4171, -13.6137, 5.2581, 0.823, -0.149, 0.0415, 0.8034, -0.1573, -9.0462, 6.9675, 1.2381, 0.2076, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f8144d7cc09a3fd259a837114732647ec74ee2bf1b1869948d924c9e5eb317c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd7f9e4ba74838d05f660801d5e3ace4bff5d44247b7ed3bef36eac0c3fe1bc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8381a0c85b7e279e5d8d6f389ad29cf5519a4161bacd9e6e95be1845050ba90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISqAYKjgEIEhgCKkCXobFQPRjmbOqovCzL72+8IEs65aTYYicbSRFwd7n1TjZz2LZfTaH03NEiEWHLh/CIeM7yoYv2mUxtYQ+T/CVEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAenwzNUGEgzuaQOHr6bHCQYYnjcaDDRmYqhrw/eXxX5siSIwMkXJPNWx0LSkdyjY3pK/kKC4dGbmFwT6f2EPm9BrA4hTblTFZokhEjyNo3ZZlncLKsYEpwNel8+Dl/mnTQYYf1OHcSXC+y0u+Eisd9V7r4/qw2+O73cbqPaOpxF2c1qA1E1RKNCDKB/FpGjwR8kwEmnN94e9mDXJg9ewJpVIboM68rnSQLWW4Xyin1Enpvv8fxM6zIqsxbCgQbv2hMJUKX8T416RfGFqcFCtLKfHlHBJHboOW2gt7TDd+HHUaH/BdLPhG6W2+Rtu/jznk7huvAEd+BPF0gHU0GboiJ3iktEvwMrSHAVUji+R+Dwem7EuIo3xVfIA/efhROO51PkVks9iQG3ucXx0+ssqI7xmUG9/w5fvSfsefHoNNdbaLyUaaKkEG4giACHBaZZ3sek3Wb65vzMNqv99ibWcKHpRMsAB/Tbauh1FAnhixJHvuiOjJ97PLgWlAj+yUyZpPci1CZK5HuX9oXk006dnmWQUN8zuQsVJBfcKbxu8LRZ3WAEEhtDif2ej/w01FnoMANXqa8rF1LxNLFBk4pARoerZjNQRHRfsKswXdIx1yYEmMZ1awEFNqb5OcYzQ/HHvq7fZr8/laIOQoUqQ0O7LnXb4SBPu2iS0imqafCybpwwhaoLIyBX6MFsfmg+a/tbnip2sFRbXRV0REAmInrBD2OBPPqaeCGYg64F+bb4M/fPdv/9OOAHrJjPg3ihi3+cpiQ6YKJx61QSd4EnPAs8zAf6emGl3LkK+phHJM19KYjc+AcpfzrXRGdMI1+uA+swzveRqFoo0Pg3dnfKOG7WCtfXh4Q0APSTqpH4y54irZpFZ4IAIHbCfoACP/skkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mvv1zytB9ezCeLPxhCMeHn",
      "input": {
        "note": "A metal keyring is caught in the jaws, suggesting the teddy is hanging from the gripper; lifting and carrying toward the left (plush) basket.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.14,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01Mvv1zytB9ezCeLPxhCMeHn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5591, 1.8256, 1.7786, -1.1923, -0.4454, -0.7773, 0.0104, 0.5739, 1.779, 1.4101, -0.6689, 0.4583, 0.2913, 0.9965]\nstate[eef_state]: left_x=0.3887 left_y=-0.1492 left_z=0.1991 left_yaw=0.3227 left_pitch=-0.4639 left_roll=0.0767 left_gripper=0.0104 right_x=0.4107 right_y=0.1767 right_z=0.1413 right_yaw=-0.0035 right_pitch=-0.3402 right_roll=-0.2291 right_gripper=0.9965\nstate[joint_eff]: [0.4718, -11.5077, 7.7744, 0.7546, -0.3101, 0.1783, 0.7497, -0.1026, -9.0325, 6.7077, 1.1306, 0.1538, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35a3f093da5be1641edb2ddec92d6fa9f8252d6100000b948469b048c55b856c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:199001c511465550a81730749cf87022f5e257be26c2bb31de1621c2464d65b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:378cc88684b2fd7ad55d4876f53b799ad3ae5fd6ddf8a9a97970ea43a349d5c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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