adhoc

completed
2026-09-23T03:19:47.354477+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 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
467.6 s
total steps
401
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

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: 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 noteBoth arms are hovering over the middle of the table and blocking the overhead view of the objects. Pulling both back and up so I can see all the objects and the two baskets clearly before planning the sort.
move_to
left_x0.1500left_y0.0000left_z0.3500right_x0.1500right_y0.0000right_z0.3500
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]: [-0.0193, 0.7986, 0.617, -0.3801, -0.0219, -0.0322, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0132, -0.0158, 0.9998] state[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1847 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1835 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.6359, -1.4701, 9.4701, 1.7607, -0.0269, 0.1636, -0.0562, -0.7726, -1.347, 9.853, 1.7021, -0.0806, -0.0073, -0.0366] 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": 0.15, "left_y": 0.0, "left_z": 0.35, "right_x": 0.15, "right_y": 0.0, "right_z": 0.35}, "note": "Both arms are hovering over the middle of the table and blocking the overhead view of the objects. Pulling both back and up so I can see all the objects and the two baskets clearly before planning the sort."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteI can now see the scene: plush animals (grey bunny, tan teddies) in the left/centre and black marker pens on the right, plus two teal baskets at the far edge. Plan: plush toys into the left basket, pens into the right basket. Moving the left arm over the grey plush toy to line up a grasp.
move_to
left_x0.3000left_y-0.0500left_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]: [-0.5449, 0.6563, 1.4155, -1.4227, -0.4679, -0.3832, 0.9995, -0.3866, 0.6373, 1.3945, -1.3434, -0.3046, -0.2146, 0.9997] state[eef_state]: left_x=0.1516 left_y=0.0055 left_z=0.3451 left_yaw=0.0322 left_pitch=-0.0205 left_roll=-0.0213 left_gripper=0.9995 right_x=0.1543 right_y=-0.0017 right_z=0.3492 right_yaw=-0.02 right_pitch=0.0039 right_roll=-0.0087 right_gripper=0.9997 state[joint_eff]: [-0.3487, 2.8103, 5.1077, 1.5702, -0.315, -0.0024, -0.0171, -0.2393, 2.6735, 5.3265, 1.5116, -0.2759, -0.0952, -0.0171] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.15, "left_gripper": 1.0}, "note": "I can now see the scene: plush animals (grey bunny, tan teddies) in the left/centre and black marker pens on the right, plus two teal baskets at the far edge. Plan: plush toys into the left basket, pens into the right basket. Moving the left arm over the grey plush toy to line up a grasp."})
tool
executing move_to over 13 steps (1.3s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe left wrist view shows the grey plush toy off to the image-left of the jaw column, so it is to the arm's left (+y). Shifting the gripper about 4 cm toward +y to centre it before descending.
move_to
left_x0.3000left_y-0.0050left_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]: [-0.3649, 0.9012, 0.5266, -0.289, -0.3286, -0.2764, 0.9996, -0.3996, 0.6376, 1.3937, -1.3525, -0.3077, -0.2249, 0.9997] state[eef_state]: left_x=0.2955 left_y=-0.048 left_z=0.1392 left_yaw=0.0425 left_pitch=-0.0608 left_roll=-0.0089 left_gripper=0.9996 right_x=0.1534 right_y=-0.0028 right_z=0.3471 right_yaw=-0.025 right_pitch=-0.0052 right_roll=-0.0121 right_gripper=0.9997 state[joint_eff]: [0.212, -2.7556, 7.5692, 1.8242, -0.0952, 0.1001, -0.0611, 0.253, 2.8786, 4.3966, 1.7656, -0.1587, 0.0024, -0.0073] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.005, "left_z": 0.15}, "note": "The left wrist view shows the grey plush toy off to the image-left of the jaw column, so it is to the arm's left (+y). Shifting the gripper about 4 cm toward +y to centre it before descending."})
tool
executing move_to over 4 steps (0.4s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe grey plush now fills the lower-left of the wrist view, close under the jaws. Nudging 1.5 cm further toward the arm's left and descending to 5 cm to grab its body.
move_to
left_y0.0150left_z0.0500
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]: [-0.094, 0.8803, 0.527, -0.3099, -0.1402, -0.1329, 0.9995, -0.3988, 0.6376, 1.3933, -1.3529, -0.3004, -0.2249, 0.9997] state[eef_state]: left_x=0.297 left_y=0.0004 left_z=0.1364 left_yaw=0.0794 left_pitch=-0.094 left_roll=-0.0049 left_gripper=0.9995 right_x=0.1532 right_y=-0.0039 right_z=0.3467 right_yaw=-0.0302 right_pitch=-0.0074 right_roll=-0.0156 right_gripper=0.9997 state[joint_eff]: [-0.253, -3.0701, 8.7316, 1.6581, 0.0269, 0.105, -0.0171, 0.0889, 2.6188, 4.2188, 1.6825, -0.1929, -0.0562, -0.0073] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": 0.015, "left_z": 0.05}, "note": "The grey plush now fills the lower-left of the wrist view, close under the jaws. Nudging 1.5 cm further toward the arm's left and descending to 5 cm to grab its body."})
tool
executing move_to over 6 steps (0.6s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe plush body sits just to the image-left of the jaws; nudging 2 cm further left and closing the gripper to grab a handful of its fur.
move_to
left_y0.0350left_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]: [-0.0025, 1.0664, 0.2539, 0.1623, -0.0967, -0.0746, 0.9995, -0.3988, 0.6376, 1.3933, -1.3529, -0.3, -0.2253, 0.9997] state[eef_state]: left_x=0.3004 left_y=0.0199 left_z=0.0578 left_yaw=0.1027 left_pitch=-0.0853 left_roll=0.0135 left_gripper=0.9995 right_x=0.1531 right_y=-0.004 right_z=0.3467 right_yaw=-0.0303 right_pitch=-0.0074 right_roll=-0.0161 right_gripper=0.9997 state[joint_eff]: [-0.0615, -2.2359, 4.9162, 1.4042, 0.1929, -0.149, -0.0073, -0.1846, 2.5778, 4.2188, 1.6825, -0.1294, -0.0415, -0.0073] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": 0.035, "left_gripper": 0.0}, "note": "The plush body sits just to the image-left of the jaws; nudging 2 cm further left and closing the gripper to grab a handful of its fur."})
tool
executing move_to over 10 steps (1.0s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe close came back at 0.03 (empty) — the jaws went between the plush's ears. Reopening and shifting toward the base and further left, where the plush body actually lies in the wrist view.
move_to
left_gripper1.0000left_x0.2700left_y0.0500left_z0.0450
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]: [0.086, 1.0714, 0.2489, 0.2146, -0.025, -0.0254, 0.03, -0.3988, 0.6376, 1.393, -1.3529, -0.3, -0.2249, 0.9997] state[eef_state]: left_x=0.305 left_y=0.0343 left_z=0.0643 left_yaw=0.104 left_pitch=-0.0462 left_roll=0.0086 left_gripper=0.03 right_x=0.1532 right_y=-0.004 right_z=0.3466 right_yaw=-0.0305 right_pitch=-0.0078 right_roll=-0.0156 right_gripper=0.9997 state[joint_eff]: [0.4581, -2.2769, 6.8581, 1.3211, -0.0415, 0.0562, 1.033, -0.1983, 2.5915, 4.2188, 1.6679, -0.1099, -0.022, -0.0073] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.27, "left_y": 0.05, "left_z": 0.045}, "note": "The close came back at 0.03 (empty) \u2014 the jaws went between the plush's ears. Reopening and shifting toward the base and further left, where the plush body actually lies in the wrist view."})
tool
executing move_to over 10 steps (1.0s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe grey plush now fills the wrist view centred on the jaw column. Descending slightly and closing to grasp its body.
move_to
left_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]: [0.2211, 0.9325, 0.1299, 0.2268, 0.0799, 0.038, 0.9956, -0.3988, 0.6376, 1.393, -1.3529, -0.3, -0.2249, 0.9997] state[eef_state]: left_x=0.2781 left_y=0.0517 left_z=0.0556 left_yaw=0.1166 left_pitch=-0.0122 left_roll=0.0041 left_gripper=0.9956 right_x=0.1532 right_y=-0.004 right_z=0.3466 right_yaw=-0.0305 right_pitch=-0.0078 right_roll=-0.0156 right_gripper=0.9997 state[joint_eff]: [0.253, -1.6615, 5.1897, 1.619, 0.1343, 0.0904, -0.2515, -0.1436, 2.5778, 4.1915, 1.6532, -0.1587, -0.0122, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03, "left_gripper": 0.0}, "note": "The grey plush now fills the wrist view centred on the jaw column. Descending slightly and closing to grasp its body."})
tool
executing move_to over 10 steps (1.0s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteGripper settled at 0.18, so it has a fistful of the plush's fur. Lifting straight up 20 cm to confirm the toy comes with it.
move_to
left_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]: [0.207, 1.108, 0.0765, 0.5488, 0.0792, 0.0269, 0.1758, -0.3988, 0.6376, 1.393, -1.3529, -0.2996, -0.2253, 0.9997] state[eef_state]: left_x=0.2934 left_y=0.051 left_z=0.0547 left_yaw=0.1087 left_pitch=0.0804 left_roll=0.0043 left_gripper=0.1758 right_x=0.1532 right_y=-0.0041 right_z=0.3466 right_yaw=-0.0306 right_pitch=-0.0079 right_roll=-0.0162 right_gripper=0.9997 state[joint_eff]: [-0.0752, -0.8957, 3.6991, 1.2381, -0.1099, -0.0073, 1.0281, -0.1573, 2.7145, 4.1778, 1.6923, -0.1392, -0.0513, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "Gripper settled at 0.18, so it has a fistful of the plush's fur. Lifting straight up 20 cm to confirm the toy comes with it."})
tool
executing move_to over 13 steps (1.3s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteSomething fuzzy is held in the jaws (gripper holding at 0.18). The left wrist view shows the left basket forward and to the arm's right, so I'm flying over toward it at 30 cm height.
move_to
left_x0.4000left_y-0.1000left_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]: [0.2005, 0.8001, 0.7811, -0.4854, 0.075, 0.0181, 0.1767, -0.3988, 0.6388, 1.393, -1.3529, -0.2974, -0.2253, 0.9997] state[eef_state]: left_x=0.2939 left_y=0.0499 left_z=0.2379 left_yaw=0.1106 left_pitch=0.0586 left_roll=-0.0035 left_gripper=0.1767 right_x=0.1533 right_y=-0.0046 right_z=0.3464 right_yaw=-0.0325 right_pitch=-0.0094 right_roll=-0.017 right_gripper=0.9997 state[joint_eff]: [-0.3761, -1.5248, 8.9778, 1.7656, -0.0366, 0.0122, 0.0757, -0.212, 2.6872, 4.3282, 1.6581, -0.1245, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.1, "left_z": 0.3}, "note": "Something fuzzy is held in the jaws (gripper holding at 0.18). The left wrist view shows the left basket forward and to the arm's right, so I'm flying over toward it at 30 cm height."})
tool
executing move_to over 14 steps (1.4s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe left basket is centred under the jaws in the wrist view. Lowering into it and opening the gripper to release the plush toy.
move_to
left_z0.2000left_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]: [-0.448, 1.3575, 1.2861, -0.5636, -0.4656, -0.3294, 0.1768, -0.3988, 0.6388, 1.393, -1.3529, -0.2974, -0.2253, 0.9997] state[eef_state]: left_x=0.3932 left_y=-0.097 left_z=0.2774 left_yaw=0.0985 left_pitch=0.0029 left_roll=0.0075 left_gripper=0.1768 right_x=0.1533 right_y=-0.0046 right_z=0.3464 right_yaw=-0.0325 right_pitch=-0.0094 right_roll=-0.017 right_gripper=0.9997 state[joint_eff]: [-0.3487, -5.559, 9.6615, 1.7411, -0.1978, 0.2125, -0.0024, -0.212, 2.6462, 4.3692, 1.6532, -0.1734, -0.0562, -0.0073] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2, "left_gripper": 1.0}, "note": "The left basket is centred under the jaws in the wrist view. Lowering into it and opening the gripper to release the plush toy."})
tool
executing move_to over 9 steps (0.9s)
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 basket is empty — the previous grasp was only fur and nothing was carried. Moving on: flying the left arm over the tan teddy bear in the middle of the table to grasp it.
move_to
left_x0.3200left_y-0.3000left_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]: [-0.4492, 1.3594, 0.9882, -0.3107, -0.4675, -0.337, 0.9954, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997] state[eef_state]: left_x=0.3889 left_y=-0.0951 left_z=0.1938 left_yaw=0.1034 left_pitch=-0.0364 left_roll=0.0266 left_gripper=0.9954 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997 state[joint_eff]: [-0.0068, -6.2154, 7.1863, 1.7998, -0.1636, 0.0904, -0.0073, -0.0342, 2.5778, 4.4376, 1.6777, -0.1343, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_x": 0.32, "left_y": -0.3, "left_z": 0.16}, "note": "The basket is empty \u2014 the previous grasp was only fur and nothing was carried. Moving on: flying the left arm over the tan teddy bear in the middle of the table to grasp it."})
tool
executing move_to over 19 steps (1.9s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe teddy bear's head shows at the lower-right of the left wrist view, so the gripper needs to go further to the arm's right and slightly back toward the base. Repositioning above it.
move_to
left_x0.3000left_y-0.3500left_z0.1200
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]: [-1.0683, 1.8034, 1.3457, -0.6243, -0.8478, -0.9352, 0.9967, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997] state[eef_state]: left_x=0.319 left_y=-0.2981 left_z=0.1495 left_yaw=0.083 left_pitch=-0.0628 left_roll=0.0301 left_gripper=0.9967 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997 state[joint_eff]: [-0.3077, -9.1966, 8.6906, 0.823, -0.7253, 0.0757, 0.1245, -0.1846, 2.5641, 4.3556, 1.6679, -0.1294, -0.0269, -0.0073] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.35, "left_z": 0.12}, "note": "The teddy bear's head shows at the lower-right of the left wrist view, so the gripper needs to go further to the arm's right and slightly back toward the base. Repositioning above it."})
tool
executing move_to over 5 steps (0.5s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe teddy bear is now centred on the jaw column in the wrist view. Descending onto its head and closing the gripper to grip it.
move_to
left_z0.0400left_gripper0.1500
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]: [-1.1648, 1.9835, 1.4555, -0.6804, -0.8684, -1.066, 0.9968, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997] state[eef_state]: left_x=0.2982 left_y=-0.3431 left_z=0.1102 left_yaw=0.0744 left_pitch=-0.0882 left_roll=0.0494 left_gripper=0.9968 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997 state[joint_eff]: [-0.4034, -10.4684, 8.2803, 0.7106, -0.7009, 0.1441, 0.0024, -0.0068, 2.7145, 4.3419, 1.7021, -0.1001, -0.0366, -0.0073] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.04, "left_gripper": 0.15}, "note": "The teddy bear is now centred on the jaw column in the wrist view. Descending onto its head and closing the gripper to grip it."})
tool
executing move_to over 9 steps (0.9s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe descent stopped at 11 cm — the jaws are resting on the teddy's head. Closing fully to grip the plush.
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]: [-1.1728, 1.9934, 1.47, -0.6922, -0.8738, -1.0916, 0.1546, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997] state[eef_state]: left_x=0.2964 left_y=-0.3464 left_z=0.1104 left_yaw=0.0826 left_pitch=-0.085 left_roll=0.0374 left_gripper=0.1546 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997 state[joint_eff]: [-0.1846, -10.4684, 8.1846, 0.7643, -0.6081, 0.0513, 0.1392, -0.0752, 2.5778, 4.2188, 1.6532, -0.1148, -0.0611, -0.0122] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The descent stopped at 11 cm \u2014 the jaws are resting on the teddy's head. Closing fully to grip the plush."})
tool
executing move_to over 2 steps (0.2s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteClose read 0.01 = empty; the jaws were sitting on top of the bear's head and slid off. Reopening, lifting clear and moving 3 cm further out over the bear's torso for a side grasp.
move_to
left_gripper1.0000left_x0.3300left_y-0.3550left_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]: [-1.1732, 1.9934, 1.47, -0.6926, -0.8772, -1.0927, 0.0135, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997] state[eef_state]: left_x=0.2966 left_y=-0.3461 left_z=0.1108 left_yaw=0.0841 left_pitch=-0.082 left_roll=0.0379 left_gripper=0.0135 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997 state[joint_eff]: [-0.2803, -10.4684, 8.1983, 0.7888, -0.6325, 0.0611, 1.0623, -0.0889, 2.5641, 4.2051, 1.6972, -0.1197, -0.0611, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.33, "left_y": -0.355, "left_z": 0.16}, "note": "Close read 0.01 = empty; the jaws were sitting on top of the bear's head and slid off. Reopening, lifting clear and moving 3 cm further out over the bear's torso for a side grasp."})
tool
executing move_to over 10 steps (1.0s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe bear's head is centred just below the jaws. Descending here to find where the jaws meet the toy — 3 cm further out than the last attempt, so they should straddle the head rather than sit on top of it.
move_to
left_z0.0500
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]: [-1.1088, 2.0144, 1.6672, -0.8223, -0.852, -1.0473, 0.9951, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2249, 0.9997] state[eef_state]: left_x=0.3259 left_y=-0.3481 left_z=0.1521 left_yaw=0.1106 left_pitch=-0.0899 left_roll=0.0224 left_gripper=0.9951 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0327 right_pitch=-0.0101 right_roll=-0.0164 right_gripper=0.9997 state[joint_eff]: [0.0615, -9.7162, 9.0735, 1.0574, -0.4713, 0.4518, -0.0611, -0.1573, 2.5915, 4.2188, 1.6679, -0.1245, 0.0024, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.05}, "note": "The bear's head is centred just below the jaws. Descending here to find where the jaws meet the toy \u2014 3 cm further out than the last attempt, so they should straddle the head rather than sit on top of it."})
tool
executing move_to over 7 steps (0.7s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe gripper descended to 6 cm alongside the bear's head. Closing to grip the head.
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]: [-1.1053, 2.1029, 1.4349, -0.5041, -0.8482, -1.0485, 0.9967, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997] state[eef_state]: left_x=0.3263 left_y=-0.3464 left_z=0.0628 left_yaw=0.1133 left_pitch=-0.0941 left_roll=0.0228 left_gripper=0.9967 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997 state[joint_eff]: [-0.4171, -9.5111, 5.1487, 0.6422, -0.4225, -0.0415, 0.1538, -0.1162, 2.6051, 4.2872, 1.663, -0.1197, -0.0659, -0.0122] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The gripper descended to 6 cm alongside the bear's head. Closing to grip the head."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteGripper settled at 0.21 — a solid grip on the bear's head. Lifting it clear of the table.
move_to
left_z0.2800
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]: [-1.1072, 2.1105, 1.425, -0.4656, -0.8501, -1.0561, 0.2082, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2249, 0.9997] state[eef_state]: left_x=0.3273 left_y=-0.3499 left_z=0.0595 left_yaw=0.1145 left_pitch=-0.0852 left_roll=-0.0025 left_gripper=0.2082 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0327 right_pitch=-0.0101 right_roll=-0.0164 right_gripper=0.9997 state[joint_eff]: [-0.1709, -11.9453, 6.6256, 0.5397, -0.4078, -0.0024, 0.7741, -0.294, 2.5778, 4.2188, 1.7021, -0.1392, -0.0317, -0.0122] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.28}, "note": "Gripper settled at 0.21 \u2014 a solid grip on the bear's head. Lifting it clear of the table."})
tool
executing move_to over 15 steps (1.5s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe teddy bear is securely held and lifted. Carrying it over to the left-hand basket, which will hold the plush toys.
move_to
left_x0.3900left_y-0.1000left_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]: [-1.1049, 2.1029, 2.2787, -1.3033, -0.815, -1.1049, 0.2114, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997] state[eef_state]: left_x=0.3277 left_y=-0.3576 left_z=0.2688 left_yaw=0.125 left_pitch=-0.1079 left_roll=-0.0745 left_gripper=0.2114 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0101 right_roll=-0.0167 right_gripper=0.9997 state[joint_eff]: [-0.2256, -10.0718, 7.4598, 0.8327, -0.7497, 0.4664, 0.3101, -0.1983, 2.6051, 4.3556, 1.6581, -0.1099, -0.0659, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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": 0.39, "left_y": -0.1, "left_z": 0.3}, "note": "The teddy bear is securely held and lifted. Carrying it over to the left-hand basket, which will hold the plush toys."})
tool
executing move_to over 23 steps (2.3s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe bear is dangling right over the left basket. Lowering a bit and opening the jaws to drop it in.
move_to
left_z0.2400left_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]: [-0.4438, 1.4727, 1.5368, -0.8658, -0.4187, -0.4999, 0.214, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997] state[eef_state]: left_x=0.3899 left_y=-0.1019 left_z=0.2841 left_yaw=0.1636 left_pitch=-0.1555 left_roll=-0.0648 left_gripper=0.214 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0101 right_roll=-0.0167 right_gripper=0.9997 state[joint_eff]: [0.0752, -8.5265, 6.2017, 1.8193, -0.2613, 0.2564, 0.2613, -0.0068, 2.6598, 4.2462, 1.6923, -0.1197, -0.0415, -0.0122] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.24, "left_gripper": 1.0}, "note": "The bear is dangling right over the left basket. Lowering a bit and opening the jaws to drop it in."})
tool
executing move_to over 8 steps (0.8s)
step 209
top_cam
camera top_cam step 209
left_cam
camera left_cam step 209
right_cam
camera right_cam step 209
assistant
agent noteThe bear dropped just short of the basket rim and is sitting on the table in front of it — the basket is further forward than I assumed. Descending to re-grab the bear.
move_to
left_z0.0700left_x0.3700
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]: [-0.4438, 1.4628, 1.3365, -0.7265, -0.4068, -0.5056, 0.9956, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997] state[eef_state]: left_x=0.3883 left_y=-0.1033 left_z=0.2283 left_yaw=0.1626 left_pitch=-0.2026 left_roll=-0.0467 left_gripper=0.9956 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0101 right_roll=-0.0167 right_gripper=0.9997 state[joint_eff]: [-0.1983, -8.5265, 6.7487, 1.7802, -0.3248, 0.0073, -0.188, -0.0889, 2.6188, 4.1778, 1.663, -0.1392, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.07, "left_x": 0.37}, "note": "The bear dropped just short of the basket rim and is sitting on the table in front of it \u2014 the basket is further forward than I assumed. Descending to re-grab the bear."})
tool
executing move_to over 11 steps (1.1s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
right_cam
camera right_cam step 220
assistant
agent noteThe descent stopped on top of the bear, which fills the wrist view. Closing the jaws to pick it back up.
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]: [-0.4782, 1.4738, 0.8116, -0.0204, -0.4206, -0.5426, 0.9968, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997] state[eef_state]: left_x=0.3937 left_y=-0.1188 left_z=0.1256 left_yaw=0.1461 left_pitch=-0.06 left_roll=-0.1665 left_gripper=0.9968 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0101 right_roll=-0.0167 right_gripper=0.9997 state[joint_eff]: [0.3077, -1.6479, 2.865, 0.0513, -0.2271, 0.1832, 0.1148, -0.1846, 2.5368, 4.3009, 1.6972, -0.1587, -0.0562, -0.0122] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The descent stopped on top of the bear, which fills the wrist view. Closing the jaws to pick it back up."})
tool
executing move_to over 10 steps (1.0s)
step 230
top_cam
camera top_cam step 230
left_cam
camera left_cam step 230
right_cam
camera right_cam step 230
assistant
agent noteHolding the bear again (gripper 0.11). Lifting and reaching 8 cm further forward so the toy is truly over the left basket's interior this time.
move_to
left_z0.3000left_x0.4700left_y-0.1000
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]: [-0.4828, 1.4757, 0.8223, -0.0006, -0.4183, -0.5507, 0.1103, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997] state[eef_state]: left_x=0.3979 left_y=-0.1235 left_z=0.1328 left_yaw=0.1431 left_pitch=-0.0383 left_roll=-0.191 left_gripper=0.1103 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997 state[joint_eff]: [0.4444, -6.3111, 5.7778, 1.4139, -0.232, 0.0317, 0.6911, -0.0615, 2.6872, 4.3419, 1.6874, -0.0757, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.3, "left_x": 0.47, "left_y": -0.1}, "note": "Holding the bear again (gripper 0.11). Lifting and reaching 8 cm further forward so the toy is truly over the left basket's interior this time."})
tool
executing move_to over 11 steps (1.1s)
step 241
top_cam
camera top_cam step 241
left_cam
camera left_cam step 241
right_cam
camera right_cam step 241
assistant
agent noteThe bear hangs just to the right of the basket opening in the wrist view; shifting 7 cm toward the arm's left to centre it over the basket before releasing.
move_to
left_y-0.0300
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]: [-0.3244, 1.6363, 1.5845, -0.6109, -0.3054, -0.5011, 0.111, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997] state[eef_state]: left_x=0.4666 left_y=-0.0971 left_z=0.276 left_yaw=0.1829 left_pitch=-0.0779 left_roll=-0.2042 left_gripper=0.111 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997 state[joint_eff]: [0.1299, -8.3624, 9.5521, 1.7705, -0.0366, 0.4322, 0.7937, -0.0205, 2.6051, 4.2051, 1.6825, -0.1294, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.03}, "note": "The bear hangs just to the right of the basket opening in the wrist view; shifting 7 cm toward the arm's left to centre it over the basket before releasing."})
tool
executing move_to over 6 steps (0.6s)
step 247
top_cam
camera top_cam step 247
assistant
agent noteThe basket mouth is centred in the wrist view but sits above the jaw projection, so the fingertips are still short of it. Advancing 5 cm forward to get the bear over the basket interior.
move_to
left_x0.5200left_y-0.0400
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]: [-0.141, 1.6249, 1.5173, -0.6159, -0.1787, -0.4194, 0.1113, -0.3988, 0.6388, 1.3922, -1.3529, -0.2977, -0.2253, 0.9997] state[eef_state]: left_x=0.4675 left_y=-0.031 left_z=0.2476 left_yaw=0.2201 left_pitch=-0.1589 left_roll=-0.1885 left_gripper=0.1113 right_x=0.1534 right_y=-0.0045 right_z=0.3461 right_yaw=-0.0322 right_pitch=-0.01 right_roll=-0.0165 right_gripper=0.9997 state[joint_eff]: [0.2393, -11.4256, 6.9538, 1.9853, -0.0317, 0.1734, 0.315, -0.1026, 2.5778, 4.3419, 1.7363, -0.1636, -0.0708, -0.0122] camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_y": -0.04}, "note": "The basket mouth is centred in the wrist view but sits above the jaw projection, so the fingertips are still short of it. Advancing 5 cm forward to get the bear over the basket interior."})
tool
executing move_to over 5 steps (0.5s)
step 252
assistant
agent noteThe bear is now hanging inside the left basket's walls. Opening the gripper to drop it in.
move_to
left_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]: [-0.1406, 1.8435, 1.6897, -0.693, -0.1764, -0.4477, 0.111, -0.3988, 0.6395, 1.3922, -1.3529, -0.2966, -0.2253, 0.9997] state[eef_state]: left_x=0.504 left_y=-0.0364 left_z=0.2054 left_yaw=0.2437 left_pitch=-0.2767 left_roll=-0.1647 left_gripper=0.111 right_x=0.1535 right_y=-0.0048 right_z=0.346 right_yaw=-0.0332 right_pitch=-0.011 right_roll=-0.0168 right_gripper=0.9997 state[joint_eff]: [-0.3624, -11.4803, 11.3026, 1.9072, -0.1636, 0.2466, 0.8132, -0.1709, 2.6188, 4.4239, 1.6923, -0.1343, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The bear is now hanging inside the left basket's walls. Opening the gripper to drop it in."})
tool
executing move_to over 9 steps (0.9s)
step 261
assistant
agent noteThe teddy bear is in the left basket. Now switching to the pens: parking the left arm back out of the way and bringing the right arm over the nearer black pen, which will go in the right basket.
move_to
right_x0.3200right_y0.0800right_z0.1500left_x0.3000left_y-0.1000left_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]: [-0.1406, 1.8534, 1.6932, -0.6945, -0.1791, -0.4644, 0.9951, -0.3988, 0.6392, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997] state[eef_state]: left_x=0.5051 left_y=-0.0361 left_z=0.2018 left_yaw=0.256 left_pitch=-0.2848 left_roll=-0.1713 left_gripper=0.9951 right_x=0.1535 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0105 right_roll=-0.0166 right_gripper=0.9997 state[joint_eff]: [-0.0205, -10.865, 6.4615, 1.4774, -0.1148, 0.149, 0.0073, -0.0889, 2.7145, 4.2188, 1.6679, -0.1441, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_x": 0.32, "right_y": 0.08, "right_z": 0.15, "left_x": 0.3, "left_y": -0.1, "left_z": 0.3}, "note": "The teddy bear is in the left basket. Now switching to the pens: parking the left arm back out of the way and bringing the right arm over the nearer black pen, which will go in the right basket."})
tool
executing move_to over 16 steps (1.6s)
step 277
assistant
agent noteThe right wrist view shows both pens lying in front of the jaws, the black one nearly on the jaw column. Lining up just to its right and dropping to 5 cm before the final descent.
move_to
right_x0.3300right_y0.0600right_z0.0500
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]: [-0.5636, 1.3518, 1.5455, -1.1648, -0.4095, -0.7868, 0.9967, 0.4442, 1.034, 0.5987, -0.2871, 0.392, 0.2367, 0.9997] state[eef_state]: left_x=0.3121 left_y=-0.1098 left_z=0.2843 left_yaw=0.2186 left_pitch=-0.3069 left_roll=-0.1662 left_gripper=0.9967 right_x=0.3052 right_y=0.0745 right_z=0.1359 right_yaw=-0.0162 right_pitch=-0.0989 right_roll=-0.0637 right_gripper=0.9997 state[joint_eff]: [-0.0889, -6.5436, 8.8684, 1.2088, -0.3785, -0.0757, 0.1587, 0.253, -3.6718, 7.1453, 1.7705, 0.2711, 0.1685, -0.0171] 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": 0.33, "right_y": 0.06, "right_z": 0.05}, "note": "The right wrist view shows both pens lying in front of the jaws, the black one nearly on the jaw column. Lining up just to its right and dropping to 5 cm before the final descent."})
tool
executing move_to over 6 steps (0.6s)
step 283
assistant
agent noteThe black pen sits just right of the jaw column and a little beyond the fingertips. Advancing 3 cm and shifting 1 cm right while dropping to table level to straddle the pen.
move_to
right_x0.3500right_y0.0450right_z0.0000
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]: [-0.5617, 1.354, 1.552, -1.1824, -0.4107, -0.8078, 0.9968, 0.3344, 1.3163, 0.3897, 0.1436, 0.3119, 0.1696, 0.9997] state[eef_state]: left_x=0.3103 left_y=-0.1077 left_z=0.2837 left_yaw=0.236 left_pitch=-0.3174 left_roll=-0.1697 left_gripper=0.9968 right_x=0.3166 right_y=0.0564 right_z=0.0397 right_yaw=-0.028 right_pitch=-0.1791 right_roll=-0.0894 right_gripper=0.9997 state[joint_eff]: [-0.4855, -4.8342, 5.4632, 1.3993, -0.1685, 0.2027, 0.0024, -0.2393, -4.8479, 5.6137, 1.6532, 0.1294, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.045, "right_z": 0.0}, "note": "The black pen sits just right of the jaw column and a little beyond the fingertips. Advancing 3 cm and shifting 1 cm right while dropping to table level to straddle the pen."})
tool
executing move_to over 3 steps (0.3s)
step 286
assistant
agent noteThe black pen is now between the jaws at table level. Closing to grasp it.
move_to
right_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]: [-0.5613, 1.356, 1.5517, -1.1858, -0.4072, -0.8089, 0.9968, 0.2523, 1.565, 0.4133, 0.4217, 0.2543, 0.1337, 0.9996] state[eef_state]: left_x=0.3099 left_y=-0.108 left_z=0.2824 left_yaw=0.2359 left_pitch=-0.3235 left_roll=-0.1683 left_gripper=0.9968 right_x=0.3517 right_y=0.0485 right_z=0.016 right_yaw=-0.04 right_pitch=-0.1431 right_roll=-0.0615 right_gripper=0.9996 state[joint_eff]: [0.0752, -4.4239, 5.9692, 1.2967, -0.2613, 0.0122, -0.0171, -0.3897, -3.4256, 4.0274, 0.4518, 0.1929, -0.3297, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The black pen is now between the jaws at table level. Closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 296
assistant
agent noteGripper settled at 0.16 — the pen is grasped. Lifting it clear of the table before carrying it to the right-hand basket.
move_to
right_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]: [-0.5613, 1.356, 1.5517, -1.1851, -0.4038, -0.8124, 0.9968, 0.2485, 1.578, 0.4171, 0.4282, 0.2417, 0.128, 0.1585] state[eef_state]: left_x=0.3098 left_y=-0.1086 left_z=0.2822 left_yaw=0.235 left_pitch=-0.3253 left_roll=-0.1733 left_gripper=0.9968 right_x=0.3529 right_y=0.0496 right_z=0.0138 right_yaw=-0.0303 right_pitch=-0.1482 right_roll=-0.0586 right_gripper=0.1585 state[joint_eff]: [-0.212, -4.6974, 5.9419, 1.2332, -0.3004, 0.0122, -0.0122, 0.1162, -6.4752, 4.506, 1.4872, 0.1343, 0.0366, 1.1013] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 296): [image omitted: streamed camera frame] camera 'left_cam' (step 296): [image omitted: streamed camera frame] camera 'right_cam' (step 296): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.25}, "note": "Gripper settled at 0.16 \u2014 the pen is grasped. Lifting it clear of the table before carrying it to the right-hand basket."})
tool
executing move_to over 16 steps (1.6s)
step 312
assistant
agent notePen is hanging from the jaws. The right basket appears forward and to the arm's left in the wrist view, so I'm flying there; I'll re-check alignment before releasing.
move_to
right_x0.4600right_y0.1300right_z0.2800
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]: [-0.5613, 1.356, 1.5517, -1.1851, -0.4038, -0.8127, 0.9968, 0.2481, 1.2118, 1.1252, -0.6403, 0.2314, 0.1265, 0.159] state[eef_state]: left_x=0.3098 left_y=-0.1086 left_z=0.2822 left_yaw=0.2352 left_pitch=-0.3253 left_roll=-0.1735 left_gripper=0.9968 right_x=0.3556 right_y=0.052 right_z=0.2371 right_yaw=-0.021 right_pitch=-0.1446 right_roll=-0.0515 right_gripper=0.159 state[joint_eff]: [-0.1846, -4.4786, 6.065, 1.2332, -0.2222, -0.0659, -0.0122, -0.3214, -3.535, 9.4291, 1.3993, 0.1978, -0.0171, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.13, "right_z": 0.28}, "note": "Pen is hanging from the jaws. The right basket appears forward and to the arm's left in the wrist view, so I'm flying there; I'll re-check alignment before releasing."})
tool
executing move_to over 9 steps (0.9s)
step 321
assistant
agent noteThe right basket fills the left half of the wrist view; the jaws are still over its right rim. Shifting 5 cm further to the arm's left to get the pen over the basket's interior.
move_to
right_y0.1800
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]: [-0.5617, 1.356, 1.5517, -1.1851, -0.4004, -0.8127, 0.9968, 0.3859, 1.7069, 1.7008, -0.7727, 0.3115, 0.1997, 0.159] state[eef_state]: left_x=0.3096 left_y=-0.1093 left_z=0.2821 left_yaw=0.2323 left_pitch=-0.3274 left_roll=-0.1756 left_gripper=0.9968 right_x=0.4552 right_y=0.1304 right_z=0.2649 right_yaw=0.0079 right_pitch=-0.1741 right_roll=-0.065 right_gripper=0.159 state[joint_eff]: [-0.1983, -4.6974, 5.9692, 1.2723, -0.2564, -0.0415, -0.0171, 0.1983, -9.3744, 8.8684, 1.2479, 0.3248, 0.2222, 1.0232] camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.18}, "note": "The right basket fills the left half of the wrist view; the jaws are still over its right rim. Shifting 5 cm further to the arm's left to get the pen over the basket's interior."})
tool
executing move_to over 5 steps (0.5s)
step 326
assistant
agent noteJaws are still over the basket's right rim. Shifting 4 cm further left and lowering a little so the pen is clearly inside the basket.
move_to
right_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]: [-0.5617, 1.356, 1.5517, -1.1851, -0.4, -0.8127, 0.9968, 0.5014, 1.7966, 1.7798, -0.8188, 0.3641, 0.2604, 0.1644] state[eef_state]: left_x=0.3096 left_y=-0.1093 left_z=0.282 left_yaw=0.232 left_pitch=-0.3276 left_roll=-0.1759 left_gripper=0.9968 right_x=0.4519 right_y=0.1801 right_z=0.2509 right_yaw=0.0431 right_pitch=-0.2083 right_roll=-0.0787 right_gripper=0.1644 state[joint_eff]: [-0.2256, -4.6838, 5.9829, 1.2527, -0.232, -0.0269, -0.0122, 0.1846, -9.1282, 9.853, 1.3651, 0.4127, 0.2369, 1.0281] 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": {"right_y": 0.22, "right_z": 0.22}, "note": "Jaws are still over the basket's right rim. Shifting 4 cm further left and lowering a little so the pen is clearly inside the basket."})
tool
executing move_to over 4 steps (0.4s)
step 330
assistant
agent noteThe arm stalled short of y=0.22 at that long reach. Pulling x back to 0.40 so it can swing further left, putting the pen over the middle of the right basket.
move_to
right_x0.4000right_y0.2200
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]: [-0.5613, 1.356, 1.5517, -1.1851, -0.4, -0.8127, 0.9968, 0.5102, 1.8076, 1.7878, -0.8276, 0.382, 0.2749, 0.1688] state[eef_state]: left_x=0.3096 left_y=-0.1092 left_z=0.282 left_yaw=0.2324 left_pitch=-0.3276 left_roll=-0.1759 left_gripper=0.9968 right_x=0.4519 right_y=0.1815 right_z=0.2485 right_yaw=0.0284 right_pitch=-0.2121 right_roll=-0.0857 right_gripper=0.1688 state[joint_eff]: [-0.0615, -4.6701, 5.9966, 1.2088, -0.2369, -0.0611, -0.0122, -0.0752, -9.7709, 9.5932, 1.3602, 0.2711, 0.1783, 1.0281] camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.22}, "note": "The arm stalled short of y=0.22 at that long reach. Pulling x back to 0.40 so it can swing further left, putting the pen over the middle of the right basket."})
tool
executing move_to over 4 steps (0.4s)
step 334
assistant
agent noteThe arm is stalled at the same pose, likely against a limit at that reach and height. Raising to 33 cm and swinging further left to get above the centre of the right basket.
move_to
right_z0.3300right_y0.2500right_x0.4200
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]: [-0.5613, 1.356, 1.5517, -1.1851, -0.4, -0.8127, 0.9968, 0.5102, 1.8076, 1.7878, -0.8276, 0.382, 0.2749, 0.1716] state[eef_state]: left_x=0.3096 left_y=-0.1092 left_z=0.282 left_yaw=0.2324 left_pitch=-0.3276 left_roll=-0.1759 left_gripper=0.9968 right_x=0.4519 right_y=0.1815 right_z=0.2485 right_yaw=0.0284 right_pitch=-0.2121 right_roll=-0.0857 right_gripper=0.1716 state[joint_eff]: [-0.1846, -4.6701, 5.9692, 1.243, -0.2222, -0.0317, -0.0122, -0.294, -9.5932, 9.4427, 1.3748, 0.3053, 0.1783, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.33, "right_y": 0.25, "right_x": 0.42}, "note": "The arm is stalled at the same pose, likely against a limit at that reach and height. Raising to 33 cm and swinging further left to get above the centre of the right basket."})
tool
executing move_to over 6 steps (0.6s)
step 340
assistant
agent noteThe jaws are now over the right basket's interior. Opening to drop the pen into the pens basket.
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]: [-0.5617, 1.3571, 1.5517, -1.1854, -0.3965, -0.8127, 0.9968, 0.7105, 2.1204, 2.339, -1.2091, 0.4576, 0.3878, 0.1722] state[eef_state]: left_x=0.3095 left_y=-0.1099 left_z=0.2814 left_yaw=0.2298 left_pitch=-0.3307 left_roll=-0.1769 left_gripper=0.9968 right_x=0.4347 right_y=0.2758 right_z=0.2578 right_yaw=0.0881 right_pitch=-0.2959 right_roll=-0.1358 right_gripper=0.1722 state[joint_eff]: [-0.3214, -4.4103, 5.9692, 1.2283, -0.2857, -0.0317, -0.0122, -2.2632, -12.0957, 7.1179, 0.2369, 0.6129, 0.2125, 0.5836] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The jaws are now over the right basket's interior. Opening to drop the pen into the pens basket."})
tool
executing move_to over 9 steps (0.9s)
step 349
assistant
agent notePen released over the right basket. Retracting both arms to get an unobstructed overhead view and confirm where the pen and the bear ended up.
move_to
right_x0.2000right_y0.0000right_z0.3000left_x0.1800left_y0.0000left_z0.3200
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]: [-0.5617, 1.3598, 1.5517, -1.1854, -0.3962, -0.8127, 0.9968, 0.7055, 2.1494, 2.3344, -1.2282, 0.4515, 0.3771, 0.9951] state[eef_state]: left_x=0.3098 left_y=-0.1102 left_z=0.2806 left_yaw=0.2302 left_pitch=-0.3328 left_roll=-0.1751 left_gripper=0.9968 right_x=0.4355 right_y=0.2744 right_z=0.2393 right_yaw=0.0836 right_pitch=-0.3425 right_roll=-0.1709 right_gripper=0.9951 state[joint_eff]: [-0.1573, -4.7795, 5.9419, 1.2332, -0.2369, -0.0415, -0.0122, 0.2667, -13.9009, 6.2564, 1.37, 0.2564, 0.1001, -0.022] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 349): [image omitted: streamed camera frame] camera 'left_cam' (step 349): [image omitted: streamed camera frame] camera 'right_cam' (step 349): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.2, "right_y": 0.0, "right_z": 0.3, "left_x": 0.18, "left_y": 0.0, "left_z": 0.32}, "note": "Pen released over the right basket. Retracting both arms to get an unobstructed overhead view and confirm where the pen and the bear ended up."})
tool
executing move_to over 23 steps (2.3s)
step 372
assistant
agent noteOverhead view: the teddy is draped over the left basket rather than settled inside it, and the pen fell short of the right basket. With few calls left I'll use a closed gripper to press the teddy down into the left basket.
move_to
left_gripper0.0000left_x0.4600left_y-0.0500left_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]: [-0.2161, 0.9283, 1.5009, -1.4906, -0.2119, -0.5552, 0.9968, 0.0704, 0.9306, 1.4105, -1.3518, 0.1268, -0.104, 0.9963] state[eef_state]: left_x=0.1872 left_y=0.0006 left_z=0.3138 left_yaw=0.2675 left_pitch=-0.3392 left_roll=-0.1802 left_gripper=0.9968 right_x=0.2106 right_y=-0.004 right_z=0.3024 right_yaw=0.0112 right_pitch=-0.3135 right_roll=-0.1669 right_gripper=0.9963 state[joint_eff]: [0.0889, -0.1573, 7.2, 1.2723, -0.0757, 0.1734, -0.0122, 0.2256, -0.2393, 5.7778, 1.2772, -0.0513, -0.1148, 0.1148] camera 'top_cam' (step 372): [image omitted: streamed camera frame] camera 'left_cam' (step 372): [image omitted: streamed camera frame] camera 'right_cam' (step 372): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0, "left_x": 0.46, "left_y": -0.05, "left_z": 0.22}, "note": "Overhead view: the teddy is draped over the left basket rather than settled inside it, and the pen fell short of the right basket. With few calls left I'll use a closed gripper to press the teddy down into the left basket."})
tool
executing move_to over 21 steps (2.1s)
step 393
assistant
agent noteThe closed gripper is just behind the teddy, which is hanging over the near rim of the left basket. Pushing forward and down to shove it into the basket.
move_to
left_x0.5300left_z0.1300
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]: [-0.1928, 1.7203, 1.6112, -0.8871, -0.2012, -0.5575, 0.0113, 0.0662, 0.9352, 1.4097, -1.3716, 0.1223, -0.1223, 0.9964] state[eef_state]: left_x=0.4408 left_y=-0.0464 left_z=0.202 left_yaw=0.2973 left_pitch=-0.4126 left_roll=-0.1506 left_gripper=0.0113 right_x=0.2077 right_y=-0.0042 right_z=0.2981 right_yaw=0.0208 right_pitch=-0.3405 right_roll=-0.1768 right_gripper=0.9964 state[joint_eff]: [0.0752, -8.7179, 9.2923, 1.5018, -0.0806, 0.1783, 0.8474, 0.0205, -0.3897, 5.4222, 1.5995, 0.0855, 0.1441, 0.0073] camera 'top_cam' (step 393): [image omitted: streamed camera frame] camera 'left_cam' (step 393): [image omitted: streamed camera frame] camera 'right_cam' (step 393): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.53, "left_z": 0.13}, "note": "The closed gripper is just behind the teddy, which is hanging over the near rim of the left basket. Pushing forward and down to shove it into the basket."})
tool
executing move_to over 7 steps (0.7s)
step 400
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]: [-0.149, 2.0216, 1.7573, -0.762, -0.2054, -0.5602, 0.0138, 0.0654, 0.936, 1.4097, -1.3727, 0.12, -0.1238, 0.9964] state[eef_state]: left_x=0.5132 left_y=-0.037 left_z=0.1358 left_yaw=0.3529 left_pitch=-0.4376 left_roll=-0.1331 left_gripper=0.0138 right_x=0.2076 right_y=-0.004 right_z=0.2978 right_yaw=0.0229 right_pitch=-0.3427 right_roll=-0.176 right_gripper=0.9964 state[joint_eff]: [-0.3214, -9.6479, 7.8564, 1.4872, 0.1245, 0.3394, 1.033, 0.0479, -0.3761, 5.2034, 1.3993, 0.022, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 400): [image omitted: streamed camera frame] camera 'left_cam' (step 400): [image omitted: streamed camera frame] camera 'right_cam' (step 400): [image omitted: streamed camera frame]
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 · 10.49 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]: [-0.0193, 0.7986, 0.617, -0.3801, -0.0219, -0.0322, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0132, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1847 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1835 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -1.4701, 9.4701, 1.7607, -0.0269, 0.1636, -0.0562, -0.7726, -1.347, 9.853, 1.7021, -0.0806, -0.0073, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29ffeb487e6e87b7457ee68ce054dee4eb34e0b450b11c552df38ab3af4b2e98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e640365a4374337ab9c13cdd2297e1d8179efa9f7f896da8272eb9194757009a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6bdcf38ca93f94f0c848c1c66ad80faf5bcf13253cebb5058c0ee576859ea872",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 20.61 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]: [-0.0193, 0.7986, 0.617, -0.3801, -0.0219, -0.0322, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0132, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1847 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1835 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -1.4701, 9.4701, 1.7607, -0.0269, 0.1636, -0.0562, -0.7726, -1.347, 9.853, 1.7021, -0.0806, -0.0073, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29ffeb487e6e87b7457ee68ce054dee4eb34e0b450b11c552df38ab3af4b2e98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e640365a4374337ab9c13cdd2297e1d8179efa9f7f896da8272eb9194757009a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bdcf38ca93f94f0c848c1c66ad80faf5bcf13253cebb5058c0ee576859ea872",
        "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_015LBaozJEE6Xv4GmjmPhzoA",
      "input": {
        "note": "Both arms are hovering over the middle of the table and blocking the overhead view of the objects. Pulling both back and up so I can see all the objects and the two baskets clearly before planning the sort.",
        "targets": {
          "left_x": 0.15,
          "left_y": 0.0,
          "left_z": 0.35,
          "right_x": 0.15,
          "right_y": 0.0,
          "right_z": 0.35
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_015LBaozJEE6Xv4GmjmPhzoA",
      "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]: [-0.5449, 0.6563, 1.4155, -1.4227, -0.4679, -0.3832, 0.9995, -0.3866, 0.6373, 1.3945, -1.3434, -0.3046, -0.2146, 0.9997]\nstate[eef_state]: left_x=0.1516 left_y=0.0055 left_z=0.3451 left_yaw=0.0322 left_pitch=-0.0205 left_roll=-0.0213 left_gripper=0.9995 right_x=0.1543 right_y=-0.0017 right_z=0.3492 right_yaw=-0.02 right_pitch=0.0039 right_roll=-0.0087 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, 2.8103, 5.1077, 1.5702, -0.315, -0.0024, -0.0171, -0.2393, 2.6735, 5.3265, 1.5116, -0.2759, -0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abb05d4223b97c6315d25b4a414d7c32b73d481d82950be7ec7ff468a91645cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:752b9706980e774d548babb32d8be60a281734fac7c8eeb811c4b4e14b12a4e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eef9eb1c3f91ce35591cec96d68720632fa3eab2cc60c10da93f0fa269c35519",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 14.47 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]: [-0.0193, 0.7986, 0.617, -0.3801, -0.0219, -0.0322, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0132, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1847 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1835 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -1.4701, 9.4701, 1.7607, -0.0269, 0.1636, -0.0562, -0.7726, -1.347, 9.853, 1.7021, -0.0806, -0.0073, -0.0366]",
      "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]: [-0.5449, 0.6563, 1.4155, -1.4227, -0.4679, -0.3832, 0.9995, -0.3866, 0.6373, 1.3945, -1.3434, -0.3046, -0.2146, 0.9997]\nstate[eef_state]: left_x=0.1516 left_y=0.0055 left_z=0.3451 left_yaw=0.0322 left_pitch=-0.0205 left_roll=-0.0213 left_gripper=0.9995 right_x=0.1543 right_y=-0.0017 right_z=0.3492 right_yaw=-0.02 right_pitch=0.0039 right_roll=-0.0087 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, 2.8103, 5.1077, 1.5702, -0.315, -0.0024, -0.0171, -0.2393, 2.6735, 5.3265, 1.5116, -0.2759, -0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abb05d4223b97c6315d25b4a414d7c32b73d481d82950be7ec7ff468a91645cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:752b9706980e774d548babb32d8be60a281734fac7c8eeb811c4b4e14b12a4e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eef9eb1c3f91ce35591cec96d68720632fa3eab2cc60c10da93f0fa269c35519",
        "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_01UH6o85ic7gLbd7QxhLYgR5",
      "input": {
        "note": "I can now see the scene: plush animals (grey bunny, tan teddies) in the left/centre and black marker pens on the right, plus two teal baskets at the far edge. Plan: plush toys into the left basket, pens into the right basket. Moving the left arm over the grey plush toy to line up a grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01UH6o85ic7gLbd7QxhLYgR5",
      "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]: [-0.3649, 0.9012, 0.5266, -0.289, -0.3286, -0.2764, 0.9996, -0.3996, 0.6376, 1.3937, -1.3525, -0.3077, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.2955 left_y=-0.048 left_z=0.1392 left_yaw=0.0425 left_pitch=-0.0608 left_roll=-0.0089 left_gripper=0.9996 right_x=0.1534 right_y=-0.0028 right_z=0.3471 right_yaw=-0.025 right_pitch=-0.0052 right_roll=-0.0121 right_gripper=0.9997\nstate[joint_eff]: [0.212, -2.7556, 7.5692, 1.8242, -0.0952, 0.1001, -0.0611, 0.253, 2.8786, 4.3966, 1.7656, -0.1587, 0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a5a3af6ce6b133a5ed2fc65b957cb6a65e5b3f3f7c71d135cc23424330351c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cae25e9a83ebefd196f219f57d80f742fe61c075ff1ef15a925c2d92fb6437b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91cb49bda9a78e03ad9c118fd86665def8c6f2aadaaa807306a389f4148b0a8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 7.841 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]: [-0.0193, 0.7986, 0.617, -0.3801, -0.0219, -0.0322, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0132, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1847 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1835 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -1.4701, 9.4701, 1.7607, -0.0269, 0.1636, -0.0562, -0.7726, -1.347, 9.853, 1.7021, -0.0806, -0.0073, -0.0366]",
      "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]: [-0.5449, 0.6563, 1.4155, -1.4227, -0.4679, -0.3832, 0.9995, -0.3866, 0.6373, 1.3945, -1.3434, -0.3046, -0.2146, 0.9997]\nstate[eef_state]: left_x=0.1516 left_y=0.0055 left_z=0.3451 left_yaw=0.0322 left_pitch=-0.0205 left_roll=-0.0213 left_gripper=0.9995 right_x=0.1543 right_y=-0.0017 right_z=0.3492 right_yaw=-0.02 right_pitch=0.0039 right_roll=-0.0087 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, 2.8103, 5.1077, 1.5702, -0.315, -0.0024, -0.0171, -0.2393, 2.6735, 5.3265, 1.5116, -0.2759, -0.0952, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3649, 0.9012, 0.5266, -0.289, -0.3286, -0.2764, 0.9996, -0.3996, 0.6376, 1.3937, -1.3525, -0.3077, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.2955 left_y=-0.048 left_z=0.1392 left_yaw=0.0425 left_pitch=-0.0608 left_roll=-0.0089 left_gripper=0.9996 right_x=0.1534 right_y=-0.0028 right_z=0.3471 right_yaw=-0.025 right_pitch=-0.0052 right_roll=-0.0121 right_gripper=0.9997\nstate[joint_eff]: [0.212, -2.7556, 7.5692, 1.8242, -0.0952, 0.1001, -0.0611, 0.253, 2.8786, 4.3966, 1.7656, -0.1587, 0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a5a3af6ce6b133a5ed2fc65b957cb6a65e5b3f3f7c71d135cc23424330351c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cae25e9a83ebefd196f219f57d80f742fe61c075ff1ef15a925c2d92fb6437b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91cb49bda9a78e03ad9c118fd86665def8c6f2aadaaa807306a389f4148b0a8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HDj3qV4YP1iChLcynhrSCz",
      "input": {
        "note": "The left wrist view shows the grey plush toy off to the image-left of the jaw column, so it is to the arm's left (+y). Shifting the gripper about 4 cm toward +y to centre it before descending.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.005,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HDj3qV4YP1iChLcynhrSCz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.094, 0.8803, 0.527, -0.3099, -0.1402, -0.1329, 0.9995, -0.3988, 0.6376, 1.3933, -1.3529, -0.3004, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.297 left_y=0.0004 left_z=0.1364 left_yaw=0.0794 left_pitch=-0.094 left_roll=-0.0049 left_gripper=0.9995 right_x=0.1532 right_y=-0.0039 right_z=0.3467 right_yaw=-0.0302 right_pitch=-0.0074 right_roll=-0.0156 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -3.0701, 8.7316, 1.6581, 0.0269, 0.105, -0.0171, 0.0889, 2.6188, 4.2188, 1.6825, -0.1929, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16ddde6ce1fc658690cf7faef068ef6a486f3d7bf393d3cb3a0eadc3a14b4151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:905e1cc99df9f365eaebd30a0a8f9592b6091defc46a86da9841c30439f4706a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4f1c68bbddbb482c3336e19116be9353315011c04c088113b3b4200979749fbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 7.032 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]: [-0.5449, 0.6563, 1.4155, -1.4227, -0.4679, -0.3832, 0.9995, -0.3866, 0.6373, 1.3945, -1.3434, -0.3046, -0.2146, 0.9997]\nstate[eef_state]: left_x=0.1516 left_y=0.0055 left_z=0.3451 left_yaw=0.0322 left_pitch=-0.0205 left_roll=-0.0213 left_gripper=0.9995 right_x=0.1543 right_y=-0.0017 right_z=0.3492 right_yaw=-0.02 right_pitch=0.0039 right_roll=-0.0087 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, 2.8103, 5.1077, 1.5702, -0.315, -0.0024, -0.0171, -0.2393, 2.6735, 5.3265, 1.5116, -0.2759, -0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3649, 0.9012, 0.5266, -0.289, -0.3286, -0.2764, 0.9996, -0.3996, 0.6376, 1.3937, -1.3525, -0.3077, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.2955 left_y=-0.048 left_z=0.1392 left_yaw=0.0425 left_pitch=-0.0608 left_roll=-0.0089 left_gripper=0.9996 right_x=0.1534 right_y=-0.0028 right_z=0.3471 right_yaw=-0.025 right_pitch=-0.0052 right_roll=-0.0121 right_gripper=0.9997\nstate[joint_eff]: [0.212, -2.7556, 7.5692, 1.8242, -0.0952, 0.1001, -0.0611, 0.253, 2.8786, 4.3966, 1.7656, -0.1587, 0.0024, -0.0073]",
      "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]: [-0.094, 0.8803, 0.527, -0.3099, -0.1402, -0.1329, 0.9995, -0.3988, 0.6376, 1.3933, -1.3529, -0.3004, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.297 left_y=0.0004 left_z=0.1364 left_yaw=0.0794 left_pitch=-0.094 left_roll=-0.0049 left_gripper=0.9995 right_x=0.1532 right_y=-0.0039 right_z=0.3467 right_yaw=-0.0302 right_pitch=-0.0074 right_roll=-0.0156 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -3.0701, 8.7316, 1.6581, 0.0269, 0.105, -0.0171, 0.0889, 2.6188, 4.2188, 1.6825, -0.1929, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16ddde6ce1fc658690cf7faef068ef6a486f3d7bf393d3cb3a0eadc3a14b4151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:905e1cc99df9f365eaebd30a0a8f9592b6091defc46a86da9841c30439f4706a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f1c68bbddbb482c3336e19116be9353315011c04c088113b3b4200979749fbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqQgKjgEIEhgCKkB0BNCfq5sRyFzeD8F2nIfLyMSpkawm/8s0RMXoxS+/HEQZILo6YWPahFNgMheyj9MNdeqCj8vU2JyUuOkbOxjnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ2LzdUGEgxpuf/WKObNHM7f/lwaDOT8o/R8qjhRz4QyvCIwfe8zC4qqEvkZjDdKkUKG9NmROaw3cUv7KqUla3sntbgOvaHW3FGHyScQwLV1gbIVKscGBFhd4HVeDWcm1iv3VZt2ycXaRTqbjW9MgpUOgxV/xsrVarQEEse2eAvJZLcg9I3KO3nLlwohTqGiPp/ZJrcKJtCJe3CVPaZWVS/RhFq2YM0qtcQLJHrWJ6qKZb/1BkplPTiCF8e383mgJMjD0BBRZtKQdNW2XTZwNN3+kYUHT0TDzFHqklCfR2aKUynO8CoRwrB6aHE165tHkEnceAlB7DUGNZ8YS2t4gAHLIuoRoGrl0XaRxgNlsUWmnARqZq34DlN6Y1A4LQckZE4QvJa16qYiQ8OiLjPAMCN4zNiaCSyuKD44lvLzYPpAOMP6CAkzD9ipf6By4g6+nZgG2aOACNxYKq4udEs6viUbkkylKrrhMpermFQ06zBnYxNsTvkHPJ9sqS3CoehDuyK8AckNqDPay0fOoGBDuaJz+5Atr/2hg4fbocuGhPk0GNYsxx1iGVZwHp6HBsYHjJeatEhyx3hkGRaZaG44OZIv3n5AjHts/aVwKSPPSWPhliLlZg5Wgnih8f3OVWp1c+tf5blDX6X91aw9R2fB/3rq7xPj55dGufe671wRpCidZI5CsceCzAGUUbzm29fiZUv74WE4GRVyJuDleiCmj7CjBhiXYHSIB39bpTRFdsNCQGGq7FS/lPMa6nzg7tpgwbJznGT0SioyiV92S0ZLpbixWOlij4vivDjS1Z5CA57QCLrzx9GroIcuCNcRoH206m4Uaiua4m5qqT0KrFNPyuVyTUVAkX/QVxSde/+rQLHfZQAhiUgMCqnonHgrFdPnh02idUzv/848nPhzbSlyPBzhUcDwXyVaH45jdYwMYXwu9pK0lwzRWKvOPfk2E70GESxJgXpAr4G5/0shqOmBseh81aJZqmchRQQT06tbxG5ne7M1dTYo2UyG9/WfA7yQIMb+PkthiBHoNhgDeXf+LTm5OWpiL6NXZywV/s7DM6MN3EPgDWT5k25wCjJqU9keRBXi7sCdQnh0vb3oXDXpbLllgjjmE2yicNQdxfF8MOmhmROQX5YYL9ZNoz/x+KlLhZY4+XeFey4QJLb4kVausK+Eoh3uRMvIsVyhPxBdVNApmp2O6jpVVHSPOpnXYKhSdZYUwfPztdMldb5EaPgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EaVQypx2viKzoNQGJZyJRK",
      "input": {
        "note": "The grey plush now fills the lower-left of the wrist view, close under the jaws. Nudging 1.5 cm further toward the arm's left and descending to 5 cm to grab its body.",
        "targets": {
          "left_y": 0.015,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01EaVQypx2viKzoNQGJZyJRK",
      "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]: [-0.0025, 1.0664, 0.2539, 0.1623, -0.0967, -0.0746, 0.9995, -0.3988, 0.6376, 1.3933, -1.3529, -0.3, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3004 left_y=0.0199 left_z=0.0578 left_yaw=0.1027 left_pitch=-0.0853 left_roll=0.0135 left_gripper=0.9995 right_x=0.1531 right_y=-0.004 right_z=0.3467 right_yaw=-0.0303 right_pitch=-0.0074 right_roll=-0.0161 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -2.2359, 4.9162, 1.4042, 0.1929, -0.149, -0.0073, -0.1846, 2.5778, 4.2188, 1.6825, -0.1294, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afc362d6a38dfde2713c46041f0a8c7a4c72a0242353413eee5e5da619c786c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4427526f3b85c90c1b0ed8af0feac042b6a36e9bb24352bf23388f5c3217d1db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:898fb9d683c2d033281ef68433b637795c3845fdb4e5b3586ffb48747c478647",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 11.12 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]: [-0.3649, 0.9012, 0.5266, -0.289, -0.3286, -0.2764, 0.9996, -0.3996, 0.6376, 1.3937, -1.3525, -0.3077, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.2955 left_y=-0.048 left_z=0.1392 left_yaw=0.0425 left_pitch=-0.0608 left_roll=-0.0089 left_gripper=0.9996 right_x=0.1534 right_y=-0.0028 right_z=0.3471 right_yaw=-0.025 right_pitch=-0.0052 right_roll=-0.0121 right_gripper=0.9997\nstate[joint_eff]: [0.212, -2.7556, 7.5692, 1.8242, -0.0952, 0.1001, -0.0611, 0.253, 2.8786, 4.3966, 1.7656, -0.1587, 0.0024, -0.0073]",
      "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]: [-0.094, 0.8803, 0.527, -0.3099, -0.1402, -0.1329, 0.9995, -0.3988, 0.6376, 1.3933, -1.3529, -0.3004, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.297 left_y=0.0004 left_z=0.1364 left_yaw=0.0794 left_pitch=-0.094 left_roll=-0.0049 left_gripper=0.9995 right_x=0.1532 right_y=-0.0039 right_z=0.3467 right_yaw=-0.0302 right_pitch=-0.0074 right_roll=-0.0156 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -3.0701, 8.7316, 1.6581, 0.0269, 0.105, -0.0171, 0.0889, 2.6188, 4.2188, 1.6825, -0.1929, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0025, 1.0664, 0.2539, 0.1623, -0.0967, -0.0746, 0.9995, -0.3988, 0.6376, 1.3933, -1.3529, -0.3, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3004 left_y=0.0199 left_z=0.0578 left_yaw=0.1027 left_pitch=-0.0853 left_roll=0.0135 left_gripper=0.9995 right_x=0.1531 right_y=-0.004 right_z=0.3467 right_yaw=-0.0303 right_pitch=-0.0074 right_roll=-0.0161 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -2.2359, 4.9162, 1.4042, 0.1929, -0.149, -0.0073, -0.1846, 2.5778, 4.2188, 1.6825, -0.1294, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afc362d6a38dfde2713c46041f0a8c7a4c72a0242353413eee5e5da619c786c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4427526f3b85c90c1b0ed8af0feac042b6a36e9bb24352bf23388f5c3217d1db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:898fb9d683c2d033281ef68433b637795c3845fdb4e5b3586ffb48747c478647",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3QQKjgEIEhgCKkANp0iXinPu3k4JqjBEN4xjYbDKJkEN2tPS64evUeBsUHflyli4flTwWwHYt6pahIkDxAp+Gho7iLNTbSjZ3J1ZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaaLzdUGEgwmg+WV7AJdkqrHO/EaDICNI5Tj9wjtNjQJ7yIwVXIEWtrx88DR+XlAcuXBWB3Bou3lDcio+gzEyfM4EVUkud4ztr7HwJ2SEAG8fKhwKvsCZ+yO486Ba9qDiHYkzxlV7khrLc1tTHTeS2o/tw8duqF7p8ZyOBxfQVNHh3CNXMXAtGU+WE+vU7RCUGhMxZzvAHIgHFl6gTiH9JoAFfs/COl2yzw8z1YZGwyBy5COC61XiMjInv7GVa4s0/lIPzAUAzFkHUqeg/DpU5YtIMfDfQibjfrLVx7pV7/MIxqDHGWU9PA8H1E2f3Vplk7Ic1ZOP2SvCsh5vtNA0AGgJCfsypCyO0IPfauRkH4E39fQ8uMlGHGu7kSCL3YPbCcapR+FQGg0t4iD9tR57aUOSdTO8IVwPJaSBgHXpu4HV448Q4VauZ474CBZMeWxRh3kt1VBN1KGGM29M9mnXU10pWFiU1HRdRN78zR9vNzpqpzqIwoy/j6ded0RLc8v3OgFu3PCB+lk41V2U5EVkbcn0ycXvmEHsiCZLldPD5VSjI/HyFe+/Qd90PrcFgrqxHr2ERGGI0meh+Gx4tQWOX8mj0c+tgwI+PiDHE+7ZAA4xhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TvZsfXD5ctAcfKHGJLYQHH",
      "input": {
        "note": "The plush body sits just to the image-left of the jaws; nudging 2 cm further left and closing the gripper to grab a handful of its fur.",
        "targets": {
          "left_gripper": 0.0,
          "left_y": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TvZsfXD5ctAcfKHGJLYQHH",
      "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]: [0.086, 1.0714, 0.2489, 0.2146, -0.025, -0.0254, 0.03, -0.3988, 0.6376, 1.393, -1.3529, -0.3, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.305 left_y=0.0343 left_z=0.0643 left_yaw=0.104 left_pitch=-0.0462 left_roll=0.0086 left_gripper=0.03 right_x=0.1532 right_y=-0.004 right_z=0.3466 right_yaw=-0.0305 right_pitch=-0.0078 right_roll=-0.0156 right_gripper=0.9997\nstate[joint_eff]: [0.4581, -2.2769, 6.8581, 1.3211, -0.0415, 0.0562, 1.033, -0.1983, 2.5915, 4.2188, 1.6679, -0.1099, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a7debd2843ec966b77c8f622c12620c03f594126dbd51cc844cab5f496a90b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc4424ac821a8bb8ab1ba7d6840622b261e244bc80bb6922ca16043dcf69027e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9207ebb28cd18258028f309858682cafa7b15737e7c954acc10d0107f96dbad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 4.194 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]: [-0.094, 0.8803, 0.527, -0.3099, -0.1402, -0.1329, 0.9995, -0.3988, 0.6376, 1.3933, -1.3529, -0.3004, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.297 left_y=0.0004 left_z=0.1364 left_yaw=0.0794 left_pitch=-0.094 left_roll=-0.0049 left_gripper=0.9995 right_x=0.1532 right_y=-0.0039 right_z=0.3467 right_yaw=-0.0302 right_pitch=-0.0074 right_roll=-0.0156 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -3.0701, 8.7316, 1.6581, 0.0269, 0.105, -0.0171, 0.0889, 2.6188, 4.2188, 1.6825, -0.1929, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0025, 1.0664, 0.2539, 0.1623, -0.0967, -0.0746, 0.9995, -0.3988, 0.6376, 1.3933, -1.3529, -0.3, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3004 left_y=0.0199 left_z=0.0578 left_yaw=0.1027 left_pitch=-0.0853 left_roll=0.0135 left_gripper=0.9995 right_x=0.1531 right_y=-0.004 right_z=0.3467 right_yaw=-0.0303 right_pitch=-0.0074 right_roll=-0.0161 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -2.2359, 4.9162, 1.4042, 0.1929, -0.149, -0.0073, -0.1846, 2.5778, 4.2188, 1.6825, -0.1294, -0.0415, -0.0073]",
      "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]: [0.086, 1.0714, 0.2489, 0.2146, -0.025, -0.0254, 0.03, -0.3988, 0.6376, 1.393, -1.3529, -0.3, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.305 left_y=0.0343 left_z=0.0643 left_yaw=0.104 left_pitch=-0.0462 left_roll=0.0086 left_gripper=0.03 right_x=0.1532 right_y=-0.004 right_z=0.3466 right_yaw=-0.0305 right_pitch=-0.0078 right_roll=-0.0156 right_gripper=0.9997\nstate[joint_eff]: [0.4581, -2.2769, 6.8581, 1.3211, -0.0415, 0.0562, 1.033, -0.1983, 2.5915, 4.2188, 1.6679, -0.1099, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a7debd2843ec966b77c8f622c12620c03f594126dbd51cc844cab5f496a90b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc4424ac821a8bb8ab1ba7d6840622b261e244bc80bb6922ca16043dcf69027e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9207ebb28cd18258028f309858682cafa7b15737e7c954acc10d0107f96dbad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISugsKjgEIEhgCKkAS+LLDwHM7YV/NdTX5O3OFdmlBQlYAHBFkieWE8h+SpckOJdHjuCvVskcbA0JWM7mkZHWL4SgiwcehsKf1pV4aMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbuLzdUGEgzYLEZkYTH1UfVps70aDP5h1LkZfVwC1Q1bvyIw6ta9/s3MQlyWalj3uQnpWb301CN+1BTKg7TcuyjeL+dVEofQIQAtLqrpfB/VdDToKtgJjxbrJFzB08TodZi+JDcxWVlhjiygyliYqK2c8TueTWi+4HAmqEFaTENf2E5Zm75As/uL1WrOuneiFM1g1XWYgkq1A9RhTRxLPKflTEZjkq2vOoXnEx/TstaAxgdmyStL1w+wjwJUasXboWFI4va4IyNjcFkDUUIW1hPAAI2Xes1XLKCCA2S2dBB94vfoYGsaMccC1eh23x2zwNeeaOfRC1f//Um1Cd0KFkuVOiCU3ZFj6M48CjMihvGMoiD8Lcg3+LI/GLGGm3bgDD0Z6zoFm/2UzzuG7Ep70h9CuZxXNhpYkFB30a44mzTVyBBOC8xHYN7Wml24uxFw4OJLEeLarzbn7vOLsI+uZ+gPnVBwVyr/iiGrPpElU2FT9raTz6U7IFtiz+VzyLBCDbENWtbY8EnztWq+bnrYp+xc21zueGvLz5GmNaQRzXv3lGT/9F1Jcob5EY5VMnlmkUPRLFiV6xJ7y6MDw4OwA472QASpWmUE6DoKoVp9Ooopk+mJAsjx6dLXsKeLVm6a2JUD89SpZ4R6DIrJObJsnK6rSonZkcFL9SRmVqmouNXEujZPRtB/u4Apj7UInDQLVsUsA/EUkVvKoEWEOwJjkA1uf9vXVMWny48tZZtoMF5xlo4rh8qOvM/qZADAqTDvxdD7E9kpOuuS7ohOUCWZPKrGV2PjJjTD2Nh8WjVss3TfqRkzQyAdv9ez2IzQQn/LUcC8IvMl/mI363i7/VHZhYWIQulxXs+FkdwzAcz5/zu2igy2JNdrn+O97rGY7G3l0k96UpWejnshUKRU+GuoCHKBne4YVcdU+KsGgj3NKjnBbSWOQjtaL6S0CnuhthIXWaI2SBhMr55UgtUpWhELK2Zzoy0A2tTLR45TtwCuLdCPLn8LPDhHTnmPnzH5mU7lDdkxO6xMF56nk7og8mdKJZInpkbuUEn8h3qRiTn4B+4R1yPIvsUnOPJeUeTp0NZcslB7EoCcBXYXsCyvUjJ5t73jQSvwD8GfwKTH1pGqMa7LTL6rsh1YMgklmgMhDhZrI4newfbygDCLWAxWUOJ2pJ/zWrLLgzHhwY6Xby86KROR4v5xJ+BNmDKZe7zZwFyp42QETIKP6HnMuVmy3/03aOEXVmnwNAQtgQRYYQmy89mKxxipIW7AMbu9rLL16Tow8/pq8v0t+ws8J8Myc0LgZygBXVirSnjyph4od3ir2mMSVyt4Zw/7R9N90SPSLVyBLRMSW6mFIm3AqX/I4eQtEnJ5EwtTY7qFRA2EtQnl5Ri25ELK3sqLHyqMVB8l/mblAaUgZmrE355tfpyl+JeJDL4l6i6vq8ICBYofswByxWMUFZt8hfYcfRhXJfFU+lrUnJP+K1q4Gw+kWP1CHKcfJD5RtsQ0JfE8NWllpx0Uh9pL+khAgcm1wz3nNV+mc6xQ8NUnonN0v9reXXIwvBVTc45zRqheD0AV3O4UJsTvzjm491qMcdUka7YyQlmigzKnHIILu2ubSpxazNLCMc7XJMdnypY0Osc+9x87LydhJpMupthR7H9I+un/l6dNsi+1jrdnX+ldRJP4dzrDpldmJPT8amHCIoukd3iYDkfurAOgL0VGBUhExbmZtH4iQWBhl/3AN4MisB4ipguZB0lZ0QTHOCGeAvrdmKVzuk/ILBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LQzT2mErnY84jqu32jBSN2",
      "input": {
        "note": "The close came back at 0.03 (empty) — the jaws went between the plush's ears. Reopening and shifting toward the base and further left, where the plush body actually lies in the wrist view.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.27,
          "left_y": 0.05,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LQzT2mErnY84jqu32jBSN2",
      "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]: [0.2211, 0.9325, 0.1299, 0.2268, 0.0799, 0.038, 0.9956, -0.3988, 0.6376, 1.393, -1.3529, -0.3, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.2781 left_y=0.0517 left_z=0.0556 left_yaw=0.1166 left_pitch=-0.0122 left_roll=0.0041 left_gripper=0.9956 right_x=0.1532 right_y=-0.004 right_z=0.3466 right_yaw=-0.0305 right_pitch=-0.0078 right_roll=-0.0156 right_gripper=0.9997\nstate[joint_eff]: [0.253, -1.6615, 5.1897, 1.619, 0.1343, 0.0904, -0.2515, -0.1436, 2.5778, 4.1915, 1.6532, -0.1587, -0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9cc9d8a978c6f7f3dfc66a74c02f18e4d2424a60f176010d990f0c69eb3ca7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2e5afabb4f9cc9c7f17e429f2aaa312f84a505035d9b96c4b3c4f248eb22aec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6839c8fab1e053fa5abf9c7e4d500201affd798db9fb48481c6323b6844a4e20",
        "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 · 11 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]: [-0.0025, 1.0664, 0.2539, 0.1623, -0.0967, -0.0746, 0.9995, -0.3988, 0.6376, 1.3933, -1.3529, -0.3, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3004 left_y=0.0199 left_z=0.0578 left_yaw=0.1027 left_pitch=-0.0853 left_roll=0.0135 left_gripper=0.9995 right_x=0.1531 right_y=-0.004 right_z=0.3467 right_yaw=-0.0303 right_pitch=-0.0074 right_roll=-0.0161 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -2.2359, 4.9162, 1.4042, 0.1929, -0.149, -0.0073, -0.1846, 2.5778, 4.2188, 1.6825, -0.1294, -0.0415, -0.0073]",
      "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]: [0.086, 1.0714, 0.2489, 0.2146, -0.025, -0.0254, 0.03, -0.3988, 0.6376, 1.393, -1.3529, -0.3, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.305 left_y=0.0343 left_z=0.0643 left_yaw=0.104 left_pitch=-0.0462 left_roll=0.0086 left_gripper=0.03 right_x=0.1532 right_y=-0.004 right_z=0.3466 right_yaw=-0.0305 right_pitch=-0.0078 right_roll=-0.0156 right_gripper=0.9997\nstate[joint_eff]: [0.4581, -2.2769, 6.8581, 1.3211, -0.0415, 0.0562, 1.033, -0.1983, 2.5915, 4.2188, 1.6679, -0.1099, -0.022, -0.0073]",
      "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]: [0.2211, 0.9325, 0.1299, 0.2268, 0.0799, 0.038, 0.9956, -0.3988, 0.6376, 1.393, -1.3529, -0.3, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.2781 left_y=0.0517 left_z=0.0556 left_yaw=0.1166 left_pitch=-0.0122 left_roll=0.0041 left_gripper=0.9956 right_x=0.1532 right_y=-0.004 right_z=0.3466 right_yaw=-0.0305 right_pitch=-0.0078 right_roll=-0.0156 right_gripper=0.9997\nstate[joint_eff]: [0.253, -1.6615, 5.1897, 1.619, 0.1343, 0.0904, -0.2515, -0.1436, 2.5778, 4.1915, 1.6532, -0.1587, -0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9cc9d8a978c6f7f3dfc66a74c02f18e4d2424a60f176010d990f0c69eb3ca7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2e5afabb4f9cc9c7f17e429f2aaa312f84a505035d9b96c4b3c4f248eb22aec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6839c8fab1e053fa5abf9c7e4d500201affd798db9fb48481c6323b6844a4e20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlAMKjgEIEhgCKkDbdy7kcnqq6aU3Jb+nzd0m/TGU+RqHLKSZv8yw4IzqbtZjC36TMyLBiKYpKa+DCWCBGwrNa0hYHWXGMJ9k17FpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcWLzdUGEgyikHMsadxwJLzTNSYaDH+UozWIHZGfjsMLZyIwYDD4kQO0QEV/l52oskH85/M9eRL1Yayw3hSP81dbfN7D1ZuuKsSmbpnM5T9RUBOEKrIBTANrPBbmLicc3gtYCSxTESTusDQ0gcyzh8oM9vEVt1ySvT4A6EltNkL4Ir8/7fu2u1JWqVtUtAgfBacBomVLpaFR5/irr2wW1JR2sqPkl9HZRP7S8lrPkdrjBUCslTRn7PxoBru8DrKZeirdPy7EC0XBu9ZLuGZIN2BJyWs9GRJMzZTcv6U+7HddTDh5BMstms8e+b7bd0jkfCSsdjjv/f+n/bWmaGgOuI8LHqNlw1PmcBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RhSpyqn1829pibb1uLVkJg",
      "input": {
        "note": "The grey plush now fills the wrist view centred on the jaw column. Descending slightly and closing to grasp its body.",
        "targets": {
          "left_gripper": 0.0,
          "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_01RhSpyqn1829pibb1uLVkJg",
      "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]: [0.207, 1.108, 0.0765, 0.5488, 0.0792, 0.0269, 0.1758, -0.3988, 0.6376, 1.393, -1.3529, -0.2996, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.2934 left_y=0.051 left_z=0.0547 left_yaw=0.1087 left_pitch=0.0804 left_roll=0.0043 left_gripper=0.1758 right_x=0.1532 right_y=-0.0041 right_z=0.3466 right_yaw=-0.0306 right_pitch=-0.0079 right_roll=-0.0162 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -0.8957, 3.6991, 1.2381, -0.1099, -0.0073, 1.0281, -0.1573, 2.7145, 4.1778, 1.6923, -0.1392, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae60b07311298a61f435b56116ff7cf8a5969126fc66f8c451fe6dd02d94bd00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04083c927621308a4de7091d15e597ae23f940eb1c2921f2bf12474988ddecef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d59fc9a13e4afdd3debf549d026ae7db88a7d22a0a3d51a1f6e3eb4683e04ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 10.69 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]: [0.086, 1.0714, 0.2489, 0.2146, -0.025, -0.0254, 0.03, -0.3988, 0.6376, 1.393, -1.3529, -0.3, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.305 left_y=0.0343 left_z=0.0643 left_yaw=0.104 left_pitch=-0.0462 left_roll=0.0086 left_gripper=0.03 right_x=0.1532 right_y=-0.004 right_z=0.3466 right_yaw=-0.0305 right_pitch=-0.0078 right_roll=-0.0156 right_gripper=0.9997\nstate[joint_eff]: [0.4581, -2.2769, 6.8581, 1.3211, -0.0415, 0.0562, 1.033, -0.1983, 2.5915, 4.2188, 1.6679, -0.1099, -0.022, -0.0073]",
      "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]: [0.2211, 0.9325, 0.1299, 0.2268, 0.0799, 0.038, 0.9956, -0.3988, 0.6376, 1.393, -1.3529, -0.3, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.2781 left_y=0.0517 left_z=0.0556 left_yaw=0.1166 left_pitch=-0.0122 left_roll=0.0041 left_gripper=0.9956 right_x=0.1532 right_y=-0.004 right_z=0.3466 right_yaw=-0.0305 right_pitch=-0.0078 right_roll=-0.0156 right_gripper=0.9997\nstate[joint_eff]: [0.253, -1.6615, 5.1897, 1.619, 0.1343, 0.0904, -0.2515, -0.1436, 2.5778, 4.1915, 1.6532, -0.1587, -0.0122, -0.0073]\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 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]: [0.207, 1.108, 0.0765, 0.5488, 0.0792, 0.0269, 0.1758, -0.3988, 0.6376, 1.393, -1.3529, -0.2996, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.2934 left_y=0.051 left_z=0.0547 left_yaw=0.1087 left_pitch=0.0804 left_roll=0.0043 left_gripper=0.1758 right_x=0.1532 right_y=-0.0041 right_z=0.3466 right_yaw=-0.0306 right_pitch=-0.0079 right_roll=-0.0162 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -0.8957, 3.6991, 1.2381, -0.1099, -0.0073, 1.0281, -0.1573, 2.7145, 4.1778, 1.6923, -0.1392, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae60b07311298a61f435b56116ff7cf8a5969126fc66f8c451fe6dd02d94bd00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04083c927621308a4de7091d15e597ae23f940eb1c2921f2bf12474988ddecef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d59fc9a13e4afdd3debf549d026ae7db88a7d22a0a3d51a1f6e3eb4683e04ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS+goKjgEIEhgCKkCUx8YQRyesrHpOZENGhjJpO3xwH4Nm/Ua4JslYo4k/ukuDlu4ySCTPn+JVowZRTr/kpN3TAqoMPPIshPlSToa9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdGLzdUGEgxCUZmNfrDK9pHPb5waDJqr/oj+jRB90aL4KyIwub12/QVvu4bANQ8bd8SVjuhKXfQLevG0sxOfvAvnfCocL4ZwkGx0nBflaPhKCBxhKpgJHnZ+3RI815zCZuhNLtI3qferEUTBFVbwLvm9YqqBNVpc7xj7ne4CDGB3oHM2HrLQ4S5f7ZGOM2gqnrSlyD3KriNzW5n6crVbzhUitfydNAOlsVyZe7Aqp5I6yex8MNxSTrkn+6scc0dpkkfFS4uOw8UrX8e+/Y80vgUwCGqXoVCd9ASYDvt7RY4Gwg5Wgfg+G84P82CwWS1apgDjIjcpNHA9+1EDxcGOTvmb04PxhgFfYdp/NzTMDb0Jezt3gQ8KioThyO92uDzHKv5PfPDhOWfzvSXBTZjTiqlBvyJ1XM8l7xbNF6krnh30mRUcCV0aCDutEAmBwVPWPOjtf5JPb/qu9kAEAP/a7egPHEnSVHpDe63wTafYiWGNIyhQ6jIxXckAdXP6TKg+ULEs2ZcctXYzgBo9mBGJIOyk2JCVxnBYOHuWn+7Q/RZXMkg4Do6Mlhxrgn4k1PlHzlgFtQ586G0cOz43UOhBsLAf+lpYZO2RglUXyFtmQ6kWupPLwblLxYD8fa1JWs8ROYriNoZ6HK4i3bYwy0+mvQK9pVO7KFNXeQMNSnuWDdkkRjsqHyEMnies6TIs24+5rsUmicJS6tExkRmpDhQXq3vsgKW1MHZF0z2Uf8DLk3UYUMnTKZAHZ789pUByz3OLPwkxc043N8I/Y40MHkJnan5Jif8etnlOKUhju2CzM/lZhYDD5rTNKF8SWoG/JmjK20dN7w5dX111exiNknBhA4EAzN49yHZHFY1dxre7ImRmSkAmXdKGnybFcB+2/4QR2iEgnTU0/7bYSsOGyMJWWoDMilZ/egqNczwLOSZtTDYJDlFh73/4OFzi8wIbEo7velRwF/R0qHbt+m1JVA7QUi4mQ9kPPfiK3oZ/o37vc6FCzVifMWsagEDeMjlur09aojIjS2FZGeTwnDp1+AsWY+hudtlG+Z110T6ls4op/AG4+KEUeB/0KNdsBV55c50cLr7r9arp0S7TuH8xIq5/mHrErRBGvgr3OAKvhmqGCgKjZ0JI+uObEglN3DvsRK3zXVQ4w/cu+XkUWan3/rUHLE/aHIBrk0UTiHu37G4hkefxzBbsFar3mkvq3vrrR68HoNxaJBg5DhIWTZ+Zy1rqE6EnbcEtHIFwjV6+cqwCWcCG15Snfy/5jUkM7NpMAxJZi4EHojPxTzrBidD7oERMEiu5Yt9ZNhI0eyJEhlUKZXXMZfkctXVz6S8r1IbevkUrxs9CMtNqosmfPufNJz3TWXphRW22s58i9/nix3kTyTzH0hI0zZWbHVU9skEruAYTK3tnj2U2nfKd1J2aoef/Iu87beY8VF3A7nlN/tF683BAwGVzUfjnGKujLhrLar6JgShlhIaKrNy65Wi1NNrUXYZVYsDVbOBNb2PH7UqHDz82Nh2dhLbRkjXGO0PhD3I2fH7Td5A9AEcfH4jrLvUObpRsJO0kIXxX4AgemSWxzbFkoRcdw4b2ZT81jBVUBYMNFHHcvDeBE5bWJvF9HHMJF49S6WgdWG8zQyB2LoUuRgU5yvvnqiqLqQo1Y2w0Q6p0nBG1yZWx3aDSUHFrRlI4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EuSQVef61W8gRdvs7am3kG",
      "input": {
        "note": "Gripper settled at 0.18, so it has a fistful of the plush's fur. Lifting straight up 20 cm to confirm the toy comes with it.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01EuSQVef61W8gRdvs7am3kG",
      "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]: [0.2005, 0.8001, 0.7811, -0.4854, 0.075, 0.0181, 0.1767, -0.3988, 0.6388, 1.393, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.2939 left_y=0.0499 left_z=0.2379 left_yaw=0.1106 left_pitch=0.0586 left_roll=-0.0035 left_gripper=0.1767 right_x=0.1533 right_y=-0.0046 right_z=0.3464 right_yaw=-0.0325 right_pitch=-0.0094 right_roll=-0.017 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -1.5248, 8.9778, 1.7656, -0.0366, 0.0122, 0.0757, -0.212, 2.6872, 4.3282, 1.6581, -0.1245, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ea192a84e2b7351acb14153dc6d73fdc86f507cd30628e78e039b1ac236e11d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7d38403184d712ccc2b312128c143a7bc830840ab5ab1f8ccb2e8e314567105",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d061a06b49597f02c0826e671b43fca9a39c07cfd4723af1000332b1fbe95bf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 9 attempt 0 · /messages · status 200 · 8.997 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]: [0.2211, 0.9325, 0.1299, 0.2268, 0.0799, 0.038, 0.9956, -0.3988, 0.6376, 1.393, -1.3529, -0.3, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.2781 left_y=0.0517 left_z=0.0556 left_yaw=0.1166 left_pitch=-0.0122 left_roll=0.0041 left_gripper=0.9956 right_x=0.1532 right_y=-0.004 right_z=0.3466 right_yaw=-0.0305 right_pitch=-0.0078 right_roll=-0.0156 right_gripper=0.9997\nstate[joint_eff]: [0.253, -1.6615, 5.1897, 1.619, 0.1343, 0.0904, -0.2515, -0.1436, 2.5778, 4.1915, 1.6532, -0.1587, -0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [0.207, 1.108, 0.0765, 0.5488, 0.0792, 0.0269, 0.1758, -0.3988, 0.6376, 1.393, -1.3529, -0.2996, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.2934 left_y=0.051 left_z=0.0547 left_yaw=0.1087 left_pitch=0.0804 left_roll=0.0043 left_gripper=0.1758 right_x=0.1532 right_y=-0.0041 right_z=0.3466 right_yaw=-0.0306 right_pitch=-0.0079 right_roll=-0.0162 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -0.8957, 3.6991, 1.2381, -0.1099, -0.0073, 1.0281, -0.1573, 2.7145, 4.1778, 1.6923, -0.1392, -0.0513, -0.0073]\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 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]: [0.2005, 0.8001, 0.7811, -0.4854, 0.075, 0.0181, 0.1767, -0.3988, 0.6388, 1.393, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.2939 left_y=0.0499 left_z=0.2379 left_yaw=0.1106 left_pitch=0.0586 left_roll=-0.0035 left_gripper=0.1767 right_x=0.1533 right_y=-0.0046 right_z=0.3464 right_yaw=-0.0325 right_pitch=-0.0094 right_roll=-0.017 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -1.5248, 8.9778, 1.7656, -0.0366, 0.0122, 0.0757, -0.212, 2.6872, 4.3282, 1.6581, -0.1245, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ea192a84e2b7351acb14153dc6d73fdc86f507cd30628e78e039b1ac236e11d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7d38403184d712ccc2b312128c143a7bc830840ab5ab1f8ccb2e8e314567105",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d061a06b49597f02c0826e671b43fca9a39c07cfd4723af1000332b1fbe95bf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS6AcKjgEIEhgCKkAwGRhVTHMdEb66xR0rhdlkIPsM2RczrwygQHX8L5Pih7GZ9z/641jdptqcGUxyM1Foyu6qUXsNf1XLSJjO0EX6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd6LzdUGEgzvcqfIzT8o0lWhXSEaDA5OZcQ2gtCZXry6/CIw1Dw5zZygwCC1UTeFGsFZyhNtPZ4YHSAaIHuJqQ0GYIR64Vs9onPTepg8EBOEVdayKoYGkWZzU+1Atws1V+XRnzy81uGBW75uY0ax2SbvDRnG96Ysg3HzCf+nkyw7JPqzAV4agYOF+9qip7o+MszO50Ob7sJ0fAxI126z8Bu0LI1+0lpG4nxRmDUhuORHQn84/GKmL8dAd6ebrifwT2LSdNmWWw9BzPfIhTTVJ3397A+KGKzdD6DuGhy2P2mkIgzW4XWldDx1WQPnf5MbsmIQm3SqxRfYoY9p7jtuz2BqVSPgUxEqVeV3jpLXwgCUFVKV/bnWKTlpferjwD6rFEeK5vurLjYrBvGD7s2oPqagb5c7GZ0WJP4TAbHKClX1hPqzHGecOg+N7ctJoOHKywCGfy/mMGEVEI84SPDyvPaD4lMY64EhLkaNicGZjM6x543nEFM5Gx7x/lzlywy3TY00n+VzsIOSD5i2omKBdvrr1PrSZ+Q/3oCcPF95+vawg3jiR4D58N7LQJazBkcrYrsb/Jncu3N+D9Tmo2Q4OfxdoV+eUROnQdAixb9my6kmrxDDuHLo6SdYHKm2KGtcJzqdmqjlbM0VxmHQKR4vBR2zFHrIiEDt8y/FhlSaxFAB+B5XBk/CP0qpMcp31s55Y12Ky0tnp2n3HcfDE3Q1GpRRmcDb2DRmEkwaW968R9UufBOjHnomX1cuUc+vWoF2Zq4NLQDAVOklwupj994qf3zffptcNS8gcMhcjjNhg4dFy9UczFUO8Ik1HDHrJWxyG5oqGqiqwHcpOa5DHr/nbSPZrHz/Xd8914dagAEfX7IrrR5GxYv/vb4EA/tVwF5lD9bPKc60b3ZqHI01yM96lEg8sVKFmIO0ltuBQaB5889QQx7k9T/eiHVl0AkbOnn9o0iC9vO5aYkYYNcwcuMcgA4hCJ8S15FZaY6Ya4jJA7b4jGTgWD2U5KjMk/fcON/8LnRBMf+TfykDbrXEzGFVksjK8gp439FtYFBKrebVknNtPGmbq3ybUN+Iw7zuxIhXeH5cJcSFQJMbio0Yrv/GJedoTajb93mHTyBNasVUO9ZbkUaCVqFEWvNVIBWXGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A6R8sbpwsoWJaZy9LdcQRJ",
      "input": {
        "note": "Something fuzzy is held in the jaws (gripper holding at 0.18). The left wrist view shows the left basket forward and to the arm's right, so I'm flying over toward it at 30 cm height.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.1,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01A6R8sbpwsoWJaZy9LdcQRJ",
      "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]: [-0.448, 1.3575, 1.2861, -0.5636, -0.4656, -0.3294, 0.1768, -0.3988, 0.6388, 1.393, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3932 left_y=-0.097 left_z=0.2774 left_yaw=0.0985 left_pitch=0.0029 left_roll=0.0075 left_gripper=0.1768 right_x=0.1533 right_y=-0.0046 right_z=0.3464 right_yaw=-0.0325 right_pitch=-0.0094 right_roll=-0.017 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -5.559, 9.6615, 1.7411, -0.1978, 0.2125, -0.0024, -0.212, 2.6462, 4.3692, 1.6532, -0.1734, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da7b7524e1917dabf0f3bf8be0850193cc72a9c728c91529ce1a417fb954a34a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:169270455dbe01bcd8bc68dcbe669e25ba6fd4066d6ada3a9bbecd335cbdb4bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ae12e3e0298a43bbb968d7094002a19d6b4a22bef8040b0ce24321097d26938",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 15.52 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]: [0.207, 1.108, 0.0765, 0.5488, 0.0792, 0.0269, 0.1758, -0.3988, 0.6376, 1.393, -1.3529, -0.2996, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.2934 left_y=0.051 left_z=0.0547 left_yaw=0.1087 left_pitch=0.0804 left_roll=0.0043 left_gripper=0.1758 right_x=0.1532 right_y=-0.0041 right_z=0.3466 right_yaw=-0.0306 right_pitch=-0.0079 right_roll=-0.0162 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -0.8957, 3.6991, 1.2381, -0.1099, -0.0073, 1.0281, -0.1573, 2.7145, 4.1778, 1.6923, -0.1392, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [0.2005, 0.8001, 0.7811, -0.4854, 0.075, 0.0181, 0.1767, -0.3988, 0.6388, 1.393, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.2939 left_y=0.0499 left_z=0.2379 left_yaw=0.1106 left_pitch=0.0586 left_roll=-0.0035 left_gripper=0.1767 right_x=0.1533 right_y=-0.0046 right_z=0.3464 right_yaw=-0.0325 right_pitch=-0.0094 right_roll=-0.017 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -1.5248, 8.9778, 1.7656, -0.0366, 0.0122, 0.0757, -0.212, 2.6872, 4.3282, 1.6581, -0.1245, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.448, 1.3575, 1.2861, -0.5636, -0.4656, -0.3294, 0.1768, -0.3988, 0.6388, 1.393, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3932 left_y=-0.097 left_z=0.2774 left_yaw=0.0985 left_pitch=0.0029 left_roll=0.0075 left_gripper=0.1768 right_x=0.1533 right_y=-0.0046 right_z=0.3464 right_yaw=-0.0325 right_pitch=-0.0094 right_roll=-0.017 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -5.559, 9.6615, 1.7411, -0.1978, 0.2125, -0.0024, -0.212, 2.6462, 4.3692, 1.6532, -0.1734, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da7b7524e1917dabf0f3bf8be0850193cc72a9c728c91529ce1a417fb954a34a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:169270455dbe01bcd8bc68dcbe669e25ba6fd4066d6ada3a9bbecd335cbdb4bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ae12e3e0298a43bbb968d7094002a19d6b4a22bef8040b0ce24321097d26938",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpQgKjgEIEhgCKkDxPAjTs7LNTjnMD3JFh1kQr8CcaD4IOdgzxSYBMhfReaYjNaLrn8QWQZ47pIINRP4SeAkwRP/RMh/qK2zxA8OyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeyLzdUGEgwPuiUoIeC4VM95/swaDHLlqP3I3x9ckrlOcCIwoDepIYUSFhvD8kQ6KWwrm6Gq5qGpGUT0FYdZe+yequHwRKw4T8pSNIRr7AQYZCQWKsMGVzTr5QboTOCXEIkJzAvhKWNAco3qMhBLvdhBqsloDs7BK1scGsvb1a9z5GCb7OLiu5BEP2sm1vkdDj5x7gWXjL3ASd/9zw7VB843OWepWD/OiRm1xzlFgXImT/SgGxTpoqLpuYWN1ZILkZAYv7QAhSYgz0YTZXjAfv0BCtqW4gyICnfPf7zZyVDFOD3FDcRQ327vXT7rH35oFXsaElH8ztzX3WgLhkxepJXhJ9coOZCr2udgFljgY2P2i7eBbIay8vluJZ4suF921xShJWwnD4smMGdZN7vVjQ80eER0+E4Dj1EdRoeTjU7sQ9ojtMHNdEMT8umuufQtOxAvbqgHcEAVtoQL9rzz0VYUIbdgMcTutNxZwkE+b6+QyZEk74itp8soHDoR+kCwbWGOMzTbVzEZj7ti/UPYFNNGtkX4mFEYLAEXcZIny+fQmNzAOx/pD30mov4QDPoz1Ik11KG1FytKMp20b4lMQe0117MzazMxzYgwiWU5qp9mrwVFENGw0CHBGjUfRaJP7BVawmrM4lykizq313W5gbe5Xm7LXoOVMWUt453NgrIiQEoQIqR8jzKTxWv/w1eddRuOcgmtko7S/bd9F9gQdks2PcbMWqpw+aVq1UKNsUzxGr2RcgUir7YSpgrwJocy0pMz8jsFi9xVNHU5ARwTbHUuQQSHC7Qyrui5t3t8Y6u884nr3jqJkydD0sHDScW9qG2VnAWRAVU3WTnjeQtIQTaMMiIOuAaafAWL24u5bmR/4Sme8nJlQpjtURZ9/cCy4Mh95vXSk56ZcEo2O5LjZ21uGcPLN2TxPMC2CIc9kCeCDZz+3nwtUz/w8eTBcbN/RBP0POBpwd4LYUSPiXlWRDIi2yraWQmEJjSjfZNjn+rAVyYhL9hBBt5bBbR7dYdXEs0L2pVhmmZsq/OxhdUNSxALqWTS8tWntU6Jh4pheM/tEmZK9nj2cBg1yMumOdjivyTjxg3wnbZ85ocD5podb6/28I2af4qywgTJiD9zl/x12dR3gZFmhnxylc9YanY8mZiLxJ7ky4xWF16uHgzmj/3Htk6A4o69gQjXD1dWyyWgCrTHznx4D7OsUM1zM7vvw6zGZUsRj+y0PxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NmiJRqKpDuQ8dihWTAMyfK",
      "input": {
        "note": "The left basket is centred under the jaws in the wrist view. Lowering into it and opening the gripper to release the plush toy.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01NmiJRqKpDuQ8dihWTAMyfK",
      "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]: [-0.4492, 1.3594, 0.9882, -0.3107, -0.4675, -0.337, 0.9954, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3889 left_y=-0.0951 left_z=0.1938 left_yaw=0.1034 left_pitch=-0.0364 left_roll=0.0266 left_gripper=0.9954 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -6.2154, 7.1863, 1.7998, -0.1636, 0.0904, -0.0073, -0.0342, 2.5778, 4.4376, 1.6777, -0.1343, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee57bb8b4babecc26fb7b373860ea0d64cfaf85bce8f4147952b7bbe7ecb945a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2680c52430711bee228b75c89440cb4f805f7ba10f8082aa8e3a58365feb376",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:730200c3536b3925aaf53a47d5ca6103ae48c9101b806ab6674d73a6ae7a37db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 9.943 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]: [0.2005, 0.8001, 0.7811, -0.4854, 0.075, 0.0181, 0.1767, -0.3988, 0.6388, 1.393, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.2939 left_y=0.0499 left_z=0.2379 left_yaw=0.1106 left_pitch=0.0586 left_roll=-0.0035 left_gripper=0.1767 right_x=0.1533 right_y=-0.0046 right_z=0.3464 right_yaw=-0.0325 right_pitch=-0.0094 right_roll=-0.017 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -1.5248, 8.9778, 1.7656, -0.0366, 0.0122, 0.0757, -0.212, 2.6872, 4.3282, 1.6581, -0.1245, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.448, 1.3575, 1.2861, -0.5636, -0.4656, -0.3294, 0.1768, -0.3988, 0.6388, 1.393, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3932 left_y=-0.097 left_z=0.2774 left_yaw=0.0985 left_pitch=0.0029 left_roll=0.0075 left_gripper=0.1768 right_x=0.1533 right_y=-0.0046 right_z=0.3464 right_yaw=-0.0325 right_pitch=-0.0094 right_roll=-0.017 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -5.559, 9.6615, 1.7411, -0.1978, 0.2125, -0.0024, -0.212, 2.6462, 4.3692, 1.6532, -0.1734, -0.0562, -0.0073]",
      "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]: [-0.4492, 1.3594, 0.9882, -0.3107, -0.4675, -0.337, 0.9954, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3889 left_y=-0.0951 left_z=0.1938 left_yaw=0.1034 left_pitch=-0.0364 left_roll=0.0266 left_gripper=0.9954 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -6.2154, 7.1863, 1.7998, -0.1636, 0.0904, -0.0073, -0.0342, 2.5778, 4.4376, 1.6777, -0.1343, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee57bb8b4babecc26fb7b373860ea0d64cfaf85bce8f4147952b7bbe7ecb945a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2680c52430711bee228b75c89440cb4f805f7ba10f8082aa8e3a58365feb376",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:730200c3536b3925aaf53a47d5ca6103ae48c9101b806ab6674d73a6ae7a37db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0161hzXu2qUpbRG4LRBq1B8g",
      "input": {
        "note": "The basket is empty — the previous grasp was only fur and nothing was carried. Moving on: flying the left arm over the tan teddy bear in the middle of the table to grasp it.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.3,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_0161hzXu2qUpbRG4LRBq1B8g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0683, 1.8034, 1.3457, -0.6243, -0.8478, -0.9352, 0.9967, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.319 left_y=-0.2981 left_z=0.1495 left_yaw=0.083 left_pitch=-0.0628 left_roll=0.0301 left_gripper=0.9967 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -9.1966, 8.6906, 0.823, -0.7253, 0.0757, 0.1245, -0.1846, 2.5641, 4.3556, 1.6679, -0.1294, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0306934519cd34620cabd652ae92c3690deaf03c94d97c59786f3d3d214a556",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09472d220a551abfd22d063840b19c3a9dcc763116e0dfca873542e4c5c0d994",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:555ec449a425cf71efe164d5979ffa1547f8e5663f6918d344108b3d5bdc8a17",
        "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 · 4.529 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]: [-0.448, 1.3575, 1.2861, -0.5636, -0.4656, -0.3294, 0.1768, -0.3988, 0.6388, 1.393, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3932 left_y=-0.097 left_z=0.2774 left_yaw=0.0985 left_pitch=0.0029 left_roll=0.0075 left_gripper=0.1768 right_x=0.1533 right_y=-0.0046 right_z=0.3464 right_yaw=-0.0325 right_pitch=-0.0094 right_roll=-0.017 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -5.559, 9.6615, 1.7411, -0.1978, 0.2125, -0.0024, -0.212, 2.6462, 4.3692, 1.6532, -0.1734, -0.0562, -0.0073]",
      "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]: [-0.4492, 1.3594, 0.9882, -0.3107, -0.4675, -0.337, 0.9954, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3889 left_y=-0.0951 left_z=0.1938 left_yaw=0.1034 left_pitch=-0.0364 left_roll=0.0266 left_gripper=0.9954 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -6.2154, 7.1863, 1.7998, -0.1636, 0.0904, -0.0073, -0.0342, 2.5778, 4.4376, 1.6777, -0.1343, -0.0659, -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 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]: [-1.0683, 1.8034, 1.3457, -0.6243, -0.8478, -0.9352, 0.9967, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.319 left_y=-0.2981 left_z=0.1495 left_yaw=0.083 left_pitch=-0.0628 left_roll=0.0301 left_gripper=0.9967 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -9.1966, 8.6906, 0.823, -0.7253, 0.0757, 0.1245, -0.1846, 2.5641, 4.3556, 1.6679, -0.1294, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0306934519cd34620cabd652ae92c3690deaf03c94d97c59786f3d3d214a556",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09472d220a551abfd22d063840b19c3a9dcc763116e0dfca873542e4c5c0d994",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:555ec449a425cf71efe164d5979ffa1547f8e5663f6918d344108b3d5bdc8a17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2AQKjgEIEhgCKkA8tI2VzMVx3YvobHwSxthQac3uu0lLVCubw4GneL22NXSerIYrrlkb/NssfLxhAnLVkWvx1WxRJ9pkRN+gcjy9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYmMzdUGEgyDxa6EYLbukBFsX7AaDMaiK6AREo/AYi/bQiIwoXFY0aIdPAJ2qXBnbJ7CYXMOmv9pRbCrzh/iv+4d/WW2JWrlhNIg56hgobym6LZuKvYCsANv7Zpr4q+kpABQqDrUfhfUNfT8lbJ1+ULZ7wtzLSM6n7Kopts3Zb7/+RqHXDb8dK8nqvNDmunTIPfbjdLwhnEgKR6ssFrQMwGPTrGk9gX/TMEquacHwgVt5ifZCXdTaq2py2cV7koNwxiGqemFcjclkvtfVYcVyAqsheAQgbhm7vQWUBEf9BawtRhmllquNgwI16wC0dicj5/tAaSnH52/pSZqDr5Eu8gxKeXc2/33AXwZU3SpFbpdlD/pIV31IAMQ6N/hFqhdb874jfsJMBfz842G6ouePpHUswHtqDqWPdL3uUwte1VxpHFP/NMgiNVv5zAaZgEaVRJ6G/Ye07LnQfIGjHolqkV7V56jt/1QiGUFq030r8zlV1AlvR/w5RTk5IZg7jyCsF60Fk2aJZ0Y8L/niQtP9WHXqVU1RqB7TBDWiE9KhHk7NNRzNRSuorM3eCSCPx3cSX4bUgJVYoKWPDeFnm43etLKvp9mo4y3mZ4dYXgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AVvURngoGuWpY3y24fJjfa",
      "input": {
        "note": "The teddy bear's head shows at the lower-right of the left wrist view, so the gripper needs to go further to the arm's right and slightly back toward the base. Repositioning above it.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.35,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01AVvURngoGuWpY3y24fJjfa",
      "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]: [-1.1648, 1.9835, 1.4555, -0.6804, -0.8684, -1.066, 0.9968, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.2982 left_y=-0.3431 left_z=0.1102 left_yaw=0.0744 left_pitch=-0.0882 left_roll=0.0494 left_gripper=0.9968 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -10.4684, 8.2803, 0.7106, -0.7009, 0.1441, 0.0024, -0.0068, 2.7145, 4.3419, 1.7021, -0.1001, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5abe31c8847d68b9f8a44704cca49df75a2b958921fb3a48818e6bce2d49812",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc32dacbbbd4abf116e3d6da00428222bfcba53aa709e0a93fefedac70bac658",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:64d5e6efc4eb85fc5891d18fc4fed2573b46b2005ed5d4b3ef60a4cfc682c5b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 6.098 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]: [-0.4492, 1.3594, 0.9882, -0.3107, -0.4675, -0.337, 0.9954, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3889 left_y=-0.0951 left_z=0.1938 left_yaw=0.1034 left_pitch=-0.0364 left_roll=0.0266 left_gripper=0.9954 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -6.2154, 7.1863, 1.7998, -0.1636, 0.0904, -0.0073, -0.0342, 2.5778, 4.4376, 1.6777, -0.1343, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0683, 1.8034, 1.3457, -0.6243, -0.8478, -0.9352, 0.9967, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.319 left_y=-0.2981 left_z=0.1495 left_yaw=0.083 left_pitch=-0.0628 left_roll=0.0301 left_gripper=0.9967 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -9.1966, 8.6906, 0.823, -0.7253, 0.0757, 0.1245, -0.1846, 2.5641, 4.3556, 1.6679, -0.1294, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1648, 1.9835, 1.4555, -0.6804, -0.8684, -1.066, 0.9968, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.2982 left_y=-0.3431 left_z=0.1102 left_yaw=0.0744 left_pitch=-0.0882 left_roll=0.0494 left_gripper=0.9968 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -10.4684, 8.2803, 0.7106, -0.7009, 0.1441, 0.0024, -0.0068, 2.7145, 4.3419, 1.7021, -0.1001, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5abe31c8847d68b9f8a44704cca49df75a2b958921fb3a48818e6bce2d49812",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc32dacbbbd4abf116e3d6da00428222bfcba53aa709e0a93fefedac70bac658",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64d5e6efc4eb85fc5891d18fc4fed2573b46b2005ed5d4b3ef60a4cfc682c5b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1wMKjgEIEhgCKkAiPto4/oNt4CvH/bWlCinqwLYU+BV9MM19CXdsREku8zxmOc9BlVD07ttl/6F9NJkjC8oK2tfBpfIl0MmG4HXvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY6MzdUGEgyz2TgZe09S7FJiG4AaDNoMCXFNKCI3aSR0fiIwpJeGsQaCqetcFrkax/bbty0RXw6bGBjKtRFW7awSiTddqFkXk9/rMd9EF+u4BO+BKvUBWej/vWFcJLoEyrZFZOpG2pLSwXyWNcaO3PorMerIxh3Mf4tOgLNULUbj3YMx+CZ7pcPTeR9HCpi4u94uN7EuQ0XqpFDo19PmOe0VFhe4vdYFFKZmc7ID8V59Pc2hWbMjIFPTjPP2rbf7GmuI9hzSrEZMSlxftpQzJrw7+cbwjg15MKvHIoJ4mEvSB5h5a0mZg8TgeIhzvwf9jPwklE9fUvW5w40bE1NVsWMOpXXPI3OHdaIzItthgRygaiXaNWy5i9s9MGAjEeVxqS8pLDwU8h7V2PT1veWhqANhyxRiKlJoangvAdvqnWEc3oLEzB8BwKEKU94YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KYWfSjjcdPpJTbG7xBLAMA",
      "input": {
        "note": "The teddy bear is now centred on the jaw column in the wrist view. Descending onto its head and closing the gripper to grip it.",
        "targets": {
          "left_gripper": 0.15,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01KYWfSjjcdPpJTbG7xBLAMA",
      "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]: [-1.1728, 1.9934, 1.47, -0.6922, -0.8738, -1.0916, 0.1546, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.2964 left_y=-0.3464 left_z=0.1104 left_yaw=0.0826 left_pitch=-0.085 left_roll=0.0374 left_gripper=0.1546 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -10.4684, 8.1846, 0.7643, -0.6081, 0.0513, 0.1392, -0.0752, 2.5778, 4.2188, 1.6532, -0.1148, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3cc6d3c79782047dfe6f7a24cc149195da0cde0c4f790fefec39001d42f6c91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10f4dbb5358b44ab1ed5f7c9df77343ee93a201d476d6ab8340c9fb5daeb36c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:909342d128473cd003589af65196d6bda8337ccbd3e11c253b71bd786cfaf429",
        "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 · 14.47 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]: [-1.0683, 1.8034, 1.3457, -0.6243, -0.8478, -0.9352, 0.9967, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.319 left_y=-0.2981 left_z=0.1495 left_yaw=0.083 left_pitch=-0.0628 left_roll=0.0301 left_gripper=0.9967 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -9.1966, 8.6906, 0.823, -0.7253, 0.0757, 0.1245, -0.1846, 2.5641, 4.3556, 1.6679, -0.1294, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1648, 1.9835, 1.4555, -0.6804, -0.8684, -1.066, 0.9968, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.2982 left_y=-0.3431 left_z=0.1102 left_yaw=0.0744 left_pitch=-0.0882 left_roll=0.0494 left_gripper=0.9968 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -10.4684, 8.2803, 0.7106, -0.7009, 0.1441, 0.0024, -0.0068, 2.7145, 4.3419, 1.7021, -0.1001, -0.0366, -0.0073]",
      "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]: [-1.1728, 1.9934, 1.47, -0.6922, -0.8738, -1.0916, 0.1546, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.2964 left_y=-0.3464 left_z=0.1104 left_yaw=0.0826 left_pitch=-0.085 left_roll=0.0374 left_gripper=0.1546 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -10.4684, 8.1846, 0.7643, -0.6081, 0.0513, 0.1392, -0.0752, 2.5778, 4.2188, 1.6532, -0.1148, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3cc6d3c79782047dfe6f7a24cc149195da0cde0c4f790fefec39001d42f6c91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10f4dbb5358b44ab1ed5f7c9df77343ee93a201d476d6ab8340c9fb5daeb36c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:909342d128473cd003589af65196d6bda8337ccbd3e11c253b71bd786cfaf429",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzQYKjgEIEhgCKkAuathR/4MmlxWagRaKj18jhg3GWPTBn9enBVc4nNa6yob2H0xFy2XKzKmF1CFHzcuNjn4TDzVLhcYBgxF1Tfd3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZSMzdUGEgwxDyrewTlktAEhZncaDIp16KAKRI2peROnyyIwbDzkrD/8uoWVN58ptXQqOV+I7gAbyEtuIHbyoJhgDGShKWvRLX6ohGNwHjT/yNz1KusEyupdyFnN+v1Epwt+YmeyR4IxpP9kfxa5T2ji+E8JKSwxNCwVeAz4nVsABEqT4EfZoR9u6hT4XmRhYeOYxBk0Gk22tm3Qpx9J2scV3yZfd9UX4kaEWMvtco+Gh12zkQIwakHL6Y27xx99UyxLAHI3NAnbG4WGga7TKH1yrk5szhpUlAb4sMfzp4jAObQjgKfNuMq0sF0d10D53xLxwipItcF83RIwNleSStzL995CL4rTncW3Dnuc2rthPzXgoORKJ5VGlHhUhxrPn4HUIiKb2dgs+BiFNs0zfioRP4T4KEWRCsuDRWPbZpkrb56wgQC6nFfdYrx6U1eE2SdooNqnJ+1s8/GfQgtba0O+iy0QfoN6TaE/FBHW+AQnQyTRK/iuyo4OKqCKBUU7GptvD915uGYUDPq3UnAbm2mD75kzSxpFxGL086D/5oYDYw5fQnNnGxb0a7SoJVtkkoZxwUisAITmt+6Glqy+HyOdfedM72fyCAvuMzGsHQcidPrq9VdyBjHxIc+SaJ4ldxJutJlQuP79mwpJV4e9p5UD92Bg6M8YN5xCGaTeLvE39KmToYn761jssRRDTv1VPEzGh1msoseRF/B2PHpaPkZrpq2e50Fb+8cm6HCga5/V3DgMZpl4BpcbQCbdLjSRk3y222gMSJFhRJBjK760LOT3hpz+9NbBrYAksLRbgBbQ0SZQo/vAvDwjq2WoI2gOVrGHMQEewTbElqdsObsGSVMO/b8qcPZOvJeunWyz9XsfEfMEGZaGiC/Z2u7ODPLoKVUcJ/7eU+FAgpVzlZqI2zsaLjlGC0JOina6F4PyusQ3MhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BVREZC1Zf6t91qJLyqmpmn",
      "input": {
        "note": "The descent stopped at 11 cm — the jaws are resting on the teddy's head. Closing fully to grip the plush.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01BVREZC1Zf6t91qJLyqmpmn",
      "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]: [-1.1732, 1.9934, 1.47, -0.6926, -0.8772, -1.0927, 0.0135, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.2966 left_y=-0.3461 left_z=0.1108 left_yaw=0.0841 left_pitch=-0.082 left_roll=0.0379 left_gripper=0.0135 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -10.4684, 8.1983, 0.7888, -0.6325, 0.0611, 1.0623, -0.0889, 2.5641, 4.2051, 1.6972, -0.1197, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dacc6b368ba6bf9a33e07cca9c06c75b99c73d1af4773ad6ada1d148812f239a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1b57a5a12c6443b7a7e1f6b483aff9ebb12b798b4cbe1ed7a491591adc0f7b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:11927463338edc74dbd4ef8209a22ffec56bded3bc32433b5133077581ea134f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 13.15 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]: [-1.1648, 1.9835, 1.4555, -0.6804, -0.8684, -1.066, 0.9968, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.2982 left_y=-0.3431 left_z=0.1102 left_yaw=0.0744 left_pitch=-0.0882 left_roll=0.0494 left_gripper=0.9968 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -10.4684, 8.2803, 0.7106, -0.7009, 0.1441, 0.0024, -0.0068, 2.7145, 4.3419, 1.7021, -0.1001, -0.0366, -0.0073]",
      "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]: [-1.1728, 1.9934, 1.47, -0.6922, -0.8738, -1.0916, 0.1546, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.2964 left_y=-0.3464 left_z=0.1104 left_yaw=0.0826 left_pitch=-0.085 left_roll=0.0374 left_gripper=0.1546 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -10.4684, 8.1846, 0.7643, -0.6081, 0.0513, 0.1392, -0.0752, 2.5778, 4.2188, 1.6532, -0.1148, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1732, 1.9934, 1.47, -0.6926, -0.8772, -1.0927, 0.0135, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.2966 left_y=-0.3461 left_z=0.1108 left_yaw=0.0841 left_pitch=-0.082 left_roll=0.0379 left_gripper=0.0135 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -10.4684, 8.1983, 0.7888, -0.6325, 0.0611, 1.0623, -0.0889, 2.5641, 4.2051, 1.6972, -0.1197, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dacc6b368ba6bf9a33e07cca9c06c75b99c73d1af4773ad6ada1d148812f239a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1b57a5a12c6443b7a7e1f6b483aff9ebb12b798b4cbe1ed7a491591adc0f7b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11927463338edc74dbd4ef8209a22ffec56bded3bc32433b5133077581ea134f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U5o7hhYs3s4uuhdEzUBNQr",
      "input": {
        "note": "Close read 0.01 = empty; the jaws were sitting on top of the bear's head and slid off. Reopening, lifting clear and moving 3 cm further out over the bear's torso for a side grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.33,
          "left_y": -0.355,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01U5o7hhYs3s4uuhdEzUBNQr",
      "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]: [-1.1088, 2.0144, 1.6672, -0.8223, -0.852, -1.0473, 0.9951, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.3259 left_y=-0.3481 left_z=0.1521 left_yaw=0.1106 left_pitch=-0.0899 left_roll=0.0224 left_gripper=0.9951 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0327 right_pitch=-0.0101 right_roll=-0.0164 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -9.7162, 9.0735, 1.0574, -0.4713, 0.4518, -0.0611, -0.1573, 2.5915, 4.2188, 1.6679, -0.1245, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7500d138997d36d5c04ba93931be74047471bfc6c18986615e12a797dc16ce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb3ad4ad6c0175cab453d20d4f545e4e850681f6be8d236853955f09dc822195",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e1187d1baf9a46b9588b1d9b797385782690ab7d61b71d6f446188116a74fe6",
        "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 · 2.89 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]: [-1.1728, 1.9934, 1.47, -0.6922, -0.8738, -1.0916, 0.1546, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.2964 left_y=-0.3464 left_z=0.1104 left_yaw=0.0826 left_pitch=-0.085 left_roll=0.0374 left_gripper=0.1546 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -10.4684, 8.1846, 0.7643, -0.6081, 0.0513, 0.1392, -0.0752, 2.5778, 4.2188, 1.6532, -0.1148, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1732, 1.9934, 1.47, -0.6926, -0.8772, -1.0927, 0.0135, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.2966 left_y=-0.3461 left_z=0.1108 left_yaw=0.0841 left_pitch=-0.082 left_roll=0.0379 left_gripper=0.0135 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -10.4684, 8.1983, 0.7888, -0.6325, 0.0611, 1.0623, -0.0889, 2.5641, 4.2051, 1.6972, -0.1197, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-1.1088, 2.0144, 1.6672, -0.8223, -0.852, -1.0473, 0.9951, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.3259 left_y=-0.3481 left_z=0.1521 left_yaw=0.1106 left_pitch=-0.0899 left_roll=0.0224 left_gripper=0.9951 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0327 right_pitch=-0.0101 right_roll=-0.0164 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -9.7162, 9.0735, 1.0574, -0.4713, 0.4518, -0.0611, -0.1573, 2.5915, 4.2188, 1.6679, -0.1245, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7500d138997d36d5c04ba93931be74047471bfc6c18986615e12a797dc16ce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb3ad4ad6c0175cab453d20d4f545e4e850681f6be8d236853955f09dc822195",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e1187d1baf9a46b9588b1d9b797385782690ab7d61b71d6f446188116a74fe6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DYGqz7ybMiwQcfJWVDqYb3",
      "input": {
        "note": "The bear's head is centred just below the jaws. Descending here to find where the jaws meet the toy — 3 cm further out than the last attempt, so they should straddle the head rather than sit on top of it.",
        "targets": {
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01DYGqz7ybMiwQcfJWVDqYb3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1053, 2.1029, 1.4349, -0.5041, -0.8482, -1.0485, 0.9967, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3263 left_y=-0.3464 left_z=0.0628 left_yaw=0.1133 left_pitch=-0.0941 left_roll=0.0228 left_gripper=0.9967 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -9.5111, 5.1487, 0.6422, -0.4225, -0.0415, 0.1538, -0.1162, 2.6051, 4.2872, 1.663, -0.1197, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8906ee6bf186b870d4acae17a92c9aea010cbe6680eb024e92bc73dcb3e2ebd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3adedd019122276bcd14972ebe16d86960c517b99731c6b2abdeb0e41425204",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46ef9c0c85e53aee7f79ee9730a372008004c754cdb2f1ba381d5c24a1350c1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 11.23 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]: [-1.1732, 1.9934, 1.47, -0.6926, -0.8772, -1.0927, 0.0135, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.2966 left_y=-0.3461 left_z=0.1108 left_yaw=0.0841 left_pitch=-0.082 left_roll=0.0379 left_gripper=0.0135 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -10.4684, 8.1983, 0.7888, -0.6325, 0.0611, 1.0623, -0.0889, 2.5641, 4.2051, 1.6972, -0.1197, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-1.1088, 2.0144, 1.6672, -0.8223, -0.852, -1.0473, 0.9951, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.3259 left_y=-0.3481 left_z=0.1521 left_yaw=0.1106 left_pitch=-0.0899 left_roll=0.0224 left_gripper=0.9951 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0327 right_pitch=-0.0101 right_roll=-0.0164 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -9.7162, 9.0735, 1.0574, -0.4713, 0.4518, -0.0611, -0.1573, 2.5915, 4.2188, 1.6679, -0.1245, 0.0024, -0.0122]\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 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]: [-1.1053, 2.1029, 1.4349, -0.5041, -0.8482, -1.0485, 0.9967, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3263 left_y=-0.3464 left_z=0.0628 left_yaw=0.1133 left_pitch=-0.0941 left_roll=0.0228 left_gripper=0.9967 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -9.5111, 5.1487, 0.6422, -0.4225, -0.0415, 0.1538, -0.1162, 2.6051, 4.2872, 1.663, -0.1197, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8906ee6bf186b870d4acae17a92c9aea010cbe6680eb024e92bc73dcb3e2ebd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3adedd019122276bcd14972ebe16d86960c517b99731c6b2abdeb0e41425204",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46ef9c0c85e53aee7f79ee9730a372008004c754cdb2f1ba381d5c24a1350c1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5QIKjgEIEhgCKkBVzOuKOfohgRvkP+VEVFPWoboFCdYk1AnPF2E8nebtMMkf6weVNCAFuPdMAu8WVdWrAJkSQCmDaKz010zlBev2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbWMzdUGEgzlaaAk3cfQZW9IBrMaDAQBPlARn3FqKFCwnyIwmG+2zr/wCUA/LDlcVjDLVg2Dv4gZ8sW4+cQE2uu3mJIJQwNN4hCfbUHLgiYTDMfLKoMBo7KfQNsivG+ZgeuwgDi83HbGGeBVyfz8WA/5di1ymljZyZjLLJSdsCwR1wi/FO3Az15t07PFDQ7BqcSJNxjir5Ujk+c9dvwNLdq1XMUbDDycJZhdEuA1CpFnzHrX3RKwER4r+AjbHdbS1c6KsjPixkudY+whKhqgsQLbvYjdHeD2NdcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018QK5uw2rNkATubrnpv3pBT",
      "input": {
        "note": "The gripper descended to 6 cm alongside the bear's head. Closing to grip the head.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018QK5uw2rNkATubrnpv3pBT",
      "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]: [-1.1072, 2.1105, 1.425, -0.4656, -0.8501, -1.0561, 0.2082, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.3273 left_y=-0.3499 left_z=0.0595 left_yaw=0.1145 left_pitch=-0.0852 left_roll=-0.0025 left_gripper=0.2082 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0327 right_pitch=-0.0101 right_roll=-0.0164 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -11.9453, 6.6256, 0.5397, -0.4078, -0.0024, 0.7741, -0.294, 2.5778, 4.2188, 1.7021, -0.1392, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:312856ca3fdbe1804829bed013b7a9410c7c94de98fdeaf220a2bd2630b8e620",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a7dd7aeb264ba01de1a9b3a1942336373c4d79751bf9f66f0124a24340321d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47f039282f566857dc68f81b42e7c642fc6b841389848eabef278f62279db909",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 6.554 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]: [-1.1088, 2.0144, 1.6672, -0.8223, -0.852, -1.0473, 0.9951, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.3259 left_y=-0.3481 left_z=0.1521 left_yaw=0.1106 left_pitch=-0.0899 left_roll=0.0224 left_gripper=0.9951 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0327 right_pitch=-0.0101 right_roll=-0.0164 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -9.7162, 9.0735, 1.0574, -0.4713, 0.4518, -0.0611, -0.1573, 2.5915, 4.2188, 1.6679, -0.1245, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-1.1053, 2.1029, 1.4349, -0.5041, -0.8482, -1.0485, 0.9967, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3263 left_y=-0.3464 left_z=0.0628 left_yaw=0.1133 left_pitch=-0.0941 left_roll=0.0228 left_gripper=0.9967 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -9.5111, 5.1487, 0.6422, -0.4225, -0.0415, 0.1538, -0.1162, 2.6051, 4.2872, 1.663, -0.1197, -0.0659, -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]: [-1.1072, 2.1105, 1.425, -0.4656, -0.8501, -1.0561, 0.2082, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.3273 left_y=-0.3499 left_z=0.0595 left_yaw=0.1145 left_pitch=-0.0852 left_roll=-0.0025 left_gripper=0.2082 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0327 right_pitch=-0.0101 right_roll=-0.0164 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -11.9453, 6.6256, 0.5397, -0.4078, -0.0024, 0.7741, -0.294, 2.5778, 4.2188, 1.7021, -0.1392, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:312856ca3fdbe1804829bed013b7a9410c7c94de98fdeaf220a2bd2630b8e620",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a7dd7aeb264ba01de1a9b3a1942336373c4d79751bf9f66f0124a24340321d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47f039282f566857dc68f81b42e7c642fc6b841389848eabef278f62279db909",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShAUKjgEIEhgCKkAlKv2F0u6gFefzbLAj7Yl0wwwoOFdzKbV6+bUPME0EHSJwvlYzdRxYfxxPE+vJxlRpZLrJsXfoH4G/PM4Z6z0kMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcGMzdUGEgzmn5eR2UZ81lxlPFAaDLQlUyl6leb0n/u1OCIwG1gmg5UedOx5I8HYnFdUUOvNLN1X9Yz6CUDFHLvQbIm3g3LFTMUU2UcRBVRdDsosKqIDvVxX5AAaBJv5Q56o+xVKgZrkQNvYeLl5kSbw7hZGbYo1J6Q2WS+ZoKAKVbbIfQCy/JqALDNn6kIYFdZ/nDDhFtDX2Nxe+bDrJxVnB+VZ/ZvAdHqov2mxIvIIVetelVN5Fm4tQ/P0uWQRDJ+Wja7QuDpyhIUXGIoDJ3SRbmO6tbXfDzs0MxQGqXpFsv88GSYcdClP5bGjg9bxLpTnj4Cbbo+FQ9FBa++Ef5uoMnXa5QUmb+ACRYUnLL1Cy+S9PTDmibSHfjaBsd/VfL/aJEH0o99EFYLHUTyJEGpuI8FHAZ/fisaae9tVRFfanz3V9NzsHWG0C6qPtUAzDDrs8J0W4ZWMJqwRQYZTjBjZ+v5RPL37MDK/r1L5HMVTuT+/2h/TI/kxYbthAH2XA1UW26rJSwB3vFUM9hGVdmDT+1oUdGokX/fLhwvwbOYGHV4GZ9ABluACDHHspso8xvciyU3tHUJodVhRW0nwm7nawtXR3Q3AZ9Yftw798X0HFYS4R6J5S7yWFu4P+Fb8y3P547f0+Zx6PIp+OndWBpxNY9tvKBR+ThgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AJDphxuhDFK8MHcpy3u1Li",
      "input": {
        "note": "Gripper settled at 0.21 — a solid grip on the bear's head. Lifting it clear of the table.",
        "targets": {
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01AJDphxuhDFK8MHcpy3u1Li",
      "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]: [-1.1049, 2.1029, 2.2787, -1.3033, -0.815, -1.1049, 0.2114, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3277 left_y=-0.3576 left_z=0.2688 left_yaw=0.125 left_pitch=-0.1079 left_roll=-0.0745 left_gripper=0.2114 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0101 right_roll=-0.0167 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -10.0718, 7.4598, 0.8327, -0.7497, 0.4664, 0.3101, -0.1983, 2.6051, 4.3556, 1.6581, -0.1099, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c139465fb63e3d5de1c266d4f8f1333dbd9abb8a9a7fcaf7609481df1a0d47e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9712047875a4d8bd8412d04e006fef8000bac0d1960f6af9172d9a258d39bbb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c31ba972fd8e725b1ecfcf6b39000b9f11614d4792582ef6d2b7ec823e49761f",
        "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 · 4.494 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]: [-1.1053, 2.1029, 1.4349, -0.5041, -0.8482, -1.0485, 0.9967, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3263 left_y=-0.3464 left_z=0.0628 left_yaw=0.1133 left_pitch=-0.0941 left_roll=0.0228 left_gripper=0.9967 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -9.5111, 5.1487, 0.6422, -0.4225, -0.0415, 0.1538, -0.1162, 2.6051, 4.2872, 1.663, -0.1197, -0.0659, -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]: [-1.1072, 2.1105, 1.425, -0.4656, -0.8501, -1.0561, 0.2082, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.3273 left_y=-0.3499 left_z=0.0595 left_yaw=0.1145 left_pitch=-0.0852 left_roll=-0.0025 left_gripper=0.2082 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0327 right_pitch=-0.0101 right_roll=-0.0164 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -11.9453, 6.6256, 0.5397, -0.4078, -0.0024, 0.7741, -0.294, 2.5778, 4.2188, 1.7021, -0.1392, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1049, 2.1029, 2.2787, -1.3033, -0.815, -1.1049, 0.2114, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3277 left_y=-0.3576 left_z=0.2688 left_yaw=0.125 left_pitch=-0.1079 left_roll=-0.0745 left_gripper=0.2114 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0101 right_roll=-0.0167 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -10.0718, 7.4598, 0.8327, -0.7497, 0.4664, 0.3101, -0.1983, 2.6051, 4.3556, 1.6581, -0.1099, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c139465fb63e3d5de1c266d4f8f1333dbd9abb8a9a7fcaf7609481df1a0d47e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9712047875a4d8bd8412d04e006fef8000bac0d1960f6af9172d9a258d39bbb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c31ba972fd8e725b1ecfcf6b39000b9f11614d4792582ef6d2b7ec823e49761f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8AUKjgEIEhgCKkDsdoGQeEEIq0lPnHB/ytQB8Yx2AbvYLHui8mjkvRKpniIE94w0PvFu4mXt08UHv0JwiLJOH7gEp9ZCFcDK+ZlOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcmMzdUGEgxQ5Tappb1GYtPWduwaDGhRMa4JJAUFh/sDQyIw3qTeD8C2Yo0aY/6zfoIYrSBBjG1/FxUOqjMTPH/hEuH58jpIus5cyTVsoRDZYfgSKo4EqUa4le2IHp1c949hG4saG4NcVu/oLRtPaQB0vNiBO7lZrDTlKK7nfHRaXOZ3kVcCT1hTlJ6hudSbI1Xo5bScym7/UIWNI7ziu0Y+jr8z1hApJ+hI6SOYlB/g5wC8NIqRGpwBm48EErcbLKFMZb+TDdfAmkLQjEHgluILbVFconZ5R+xouAAFVg4/V8T6g1Tb28XpneCTtRkP29x8xmCkJG6loJk3JJ245asChrvLDGFBdFvqWnT2NnGRlFvqK+CX4o4qFuGqIJ6XlmHqraXpiLxNDSYQ+yRCm2bAku9pd6Q8fs1q13gDnqy9WUbIHbXn+24+DIdYUiplDk3oekkO54ijEOyY9xvUohKocd+TwHprC+FcANJp/pFj5DjAxqhAqWZrbzHYIcUfa54FOt4tn3xWCIuUTg4Hl5nQZhxoEEDxTQgGi1rTNC4Sbs8rAi4eUknp9Aq4OCbZESrMERxySM7yTcRvNAiSykxKs5dyf8Oc/lL1ayknW3Ss1oHuPtAnDIIVhc1Q7GIRxwI+PayW+FRRkDadkhZS4tq7P3Tb77+O8mso7J2MO4f2VsMw22xgxaKzOXG55XOGaGfug5fJBuH/dSvUTODRC2KZSc2gB+SA4TW69osWEaEz+NnWWJBoxXXRgaInM6d4Xur9trnwd1wBnKU76NigxI8H8dGs22F3kdGSKt4VO3fEysnCkBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013bCvdGdWj1WxJcfPWxogZ6",
      "input": {
        "note": "The teddy bear is securely held and lifted. Carrying it over to the left-hand basket, which will hold the plush toys.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.1,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_013bCvdGdWj1WxJcfPWxogZ6",
      "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]: [-0.4438, 1.4727, 1.5368, -0.8658, -0.4187, -0.4999, 0.214, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3899 left_y=-0.1019 left_z=0.2841 left_yaw=0.1636 left_pitch=-0.1555 left_roll=-0.0648 left_gripper=0.214 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0101 right_roll=-0.0167 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -8.5265, 6.2017, 1.8193, -0.2613, 0.2564, 0.2613, -0.0068, 2.6598, 4.2462, 1.6923, -0.1197, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6dc09225ba5aaab39d1dd7e1ccb864a9146590d19e77e42e7dfeb6dc23ac52e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92c1facaf910bb265400fc316508075f0e3072c30db607786bd5c1a488f4d470",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da979a8b70b550a732c69334ef2b6d85f42ece9da31c32d624e511592d649c46",
        "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 · 10.02 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]: [-1.1072, 2.1105, 1.425, -0.4656, -0.8501, -1.0561, 0.2082, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2249, 0.9997]\nstate[eef_state]: left_x=0.3273 left_y=-0.3499 left_z=0.0595 left_yaw=0.1145 left_pitch=-0.0852 left_roll=-0.0025 left_gripper=0.2082 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0327 right_pitch=-0.0101 right_roll=-0.0164 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -11.9453, 6.6256, 0.5397, -0.4078, -0.0024, 0.7741, -0.294, 2.5778, 4.2188, 1.7021, -0.1392, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1049, 2.1029, 2.2787, -1.3033, -0.815, -1.1049, 0.2114, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3277 left_y=-0.3576 left_z=0.2688 left_yaw=0.125 left_pitch=-0.1079 left_roll=-0.0745 left_gripper=0.2114 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0101 right_roll=-0.0167 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -10.0718, 7.4598, 0.8327, -0.7497, 0.4664, 0.3101, -0.1983, 2.6051, 4.3556, 1.6581, -0.1099, -0.0659, -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 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]: [-0.4438, 1.4727, 1.5368, -0.8658, -0.4187, -0.4999, 0.214, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3899 left_y=-0.1019 left_z=0.2841 left_yaw=0.1636 left_pitch=-0.1555 left_roll=-0.0648 left_gripper=0.214 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0101 right_roll=-0.0167 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -8.5265, 6.2017, 1.8193, -0.2613, 0.2564, 0.2613, -0.0068, 2.6598, 4.2462, 1.6923, -0.1197, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6dc09225ba5aaab39d1dd7e1ccb864a9146590d19e77e42e7dfeb6dc23ac52e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92c1facaf910bb265400fc316508075f0e3072c30db607786bd5c1a488f4d470",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da979a8b70b550a732c69334ef2b6d85f42ece9da31c32d624e511592d649c46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9wIKjgEIEhgCKkAavLZOhaGe1Tm+40FcI6bdyGno2miPuqJpNtL11RbhPob30uvSWftUK+Q8UXOlPN8MECfjbcl2V9vuh7uZmTayMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdCMzdUGEgyvLUVTMA62tqZFBfwaDEpKCbrPvDTz/Bk1HSIwpoLdVrAo2/Gqs4vHh3UnVPcALq1PMLGwRCUvZYV0KfM/MrCYRkmBW3m6RsbFQfBnKpUBJ/vx361wLl9sXJTWcEM5FJwuIyRAFDvzZAgho21LyOcNem4Z/K+1uOBKD0Qgm0lRXiRt07cmG2ckehInb4PPjmTzLjn6kYLB5kjc6KouFFHThRclyBqU3kPXPK3tto2KG08G2RpXw6evdgPVB5O1HQL8QWLOQ3/pa2SYfeLSNdJ/6dVxxoOkkxSn4av1pNHuoC/HfS0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017rk6rNFe8gT8fExNPVu3vL",
      "input": {
        "note": "The bear is dangling right over the left basket. Lowering a bit and opening the jaws to drop it in.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_017rk6rNFe8gT8fExNPVu3vL",
      "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]: [-0.4438, 1.4628, 1.3365, -0.7265, -0.4068, -0.5056, 0.9956, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3883 left_y=-0.1033 left_z=0.2283 left_yaw=0.1626 left_pitch=-0.2026 left_roll=-0.0467 left_gripper=0.9956 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0101 right_roll=-0.0167 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -8.5265, 6.7487, 1.7802, -0.3248, 0.0073, -0.188, -0.0889, 2.6188, 4.1778, 1.663, -0.1392, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45755951fdfae085306dddd240e9bb8598168f5f8b40d8a39767f59fea946e10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:322a2ef09a0a3334a3063141adbc9ff41e2d8c34a3872c68749d2e834d1c567d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c22a59eb2017347f49d172a11632352e006dde9bd700419b89581a91754acb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /messages · status 200 · 4.788 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]: [-1.1049, 2.1029, 2.2787, -1.3033, -0.815, -1.1049, 0.2114, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3277 left_y=-0.3576 left_z=0.2688 left_yaw=0.125 left_pitch=-0.1079 left_roll=-0.0745 left_gripper=0.2114 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0101 right_roll=-0.0167 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -10.0718, 7.4598, 0.8327, -0.7497, 0.4664, 0.3101, -0.1983, 2.6051, 4.3556, 1.6581, -0.1099, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.4438, 1.4727, 1.5368, -0.8658, -0.4187, -0.4999, 0.214, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3899 left_y=-0.1019 left_z=0.2841 left_yaw=0.1636 left_pitch=-0.1555 left_roll=-0.0648 left_gripper=0.214 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0101 right_roll=-0.0167 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -8.5265, 6.2017, 1.8193, -0.2613, 0.2564, 0.2613, -0.0068, 2.6598, 4.2462, 1.6923, -0.1197, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4438, 1.4628, 1.3365, -0.7265, -0.4068, -0.5056, 0.9956, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3883 left_y=-0.1033 left_z=0.2283 left_yaw=0.1626 left_pitch=-0.2026 left_roll=-0.0467 left_gripper=0.9956 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0101 right_roll=-0.0167 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -8.5265, 6.7487, 1.7802, -0.3248, 0.0073, -0.188, -0.0889, 2.6188, 4.1778, 1.663, -0.1392, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45755951fdfae085306dddd240e9bb8598168f5f8b40d8a39767f59fea946e10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:322a2ef09a0a3334a3063141adbc9ff41e2d8c34a3872c68749d2e834d1c567d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c22a59eb2017347f49d172a11632352e006dde9bd700419b89581a91754acb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlAkKjgEIEhgCKkAHNWxc33BUPxl/L0Qi46IbEIC6GK//NNifFhFS7KjlELJ18aiTfC7iPDm2tvih1UmMfQEy6SlYEhU2KWTmJC2zMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdqMzdUGEgyKsFLlS+FzSm4KtEkaDNP9T2UxUOQ9Ysod1iIw0tVhmek587hzLO6/U0MNYs2pwvjlx1RjtM8TKa1b0iSSWFd/cWev/e+E/lq+obC5KrIHXdpGqSsQmGJml/GYchir/ac5fWz3Nhdu9YkmwBAzoHxAbjKKSIC9HRE7UIbyVAVHT9u9/F93xeFF+dGRR7rynw3bZvhk/d9kOjnnp06BMsPJduK7UixiD9JgcbcChM9U0qBdzPhAH8Qi5dnEikyNlJU3CbzL1+Yda9TqDaTLGWo7xby5EJCwPEvLzPhZux3GY0cXuTx7GYEgB7zu8H04ie+ZHkSs14LjIs/PTeBZnsRF0TypW441qX5S2Cf+QqOUA0kKt8nlDrRGuoJs+NTdK1CpAmfQS6Sp6+L5oEe05z7PA0eHKHeFeyMlbzfXn4Zj9h3j2U1YDVi2bdb1y03hTqfLxUemiFX4ws9DEprzxxkISW+bstQg5b9TLuMLU8akGkZWbcYSdgG8meOwPjfnbxCm0acefHMfNSPAj9Py0KfSeNSy2VznMTRyn55dK0RXCELvBGYdAdpINrzEDzrYtNL2oMdpBoURupqYdIsqTvBBdyCPfDEIwTXP7/U7/sGyKl4/HEuiC+gAhJElALP7uWc2z5QitqQ7JKGsMQb1Mp7d36njCB61Sio+fBgWQBxWNu9CiRPINRSEDd/X9C2/j5LfcfnjtJZO51gxfufQWpaBciqsH26b0+xcPxze1lBk5F3da8QlYbg65U0pTxOQByaaDp3UOr2s9cMAHT7FNuaaN94R/cUbCQ0UoqoSpYaymzYCAxEhQw+caSpqLmn49oqk9TwrH7/B7bPaNNIBfqB0C7J1z6tJpnLflZsNdtes5as4orjvGo+ANlb3Puu/WukID5C0CR44Fd1wkEKcXkGIFrzzqLJ0BBx6pOP5Zz/plxjvohBTmkwFvuqQRkfy04IxE+gW/BtEQetsoV+7dNSPq/BktFJYWi2hNVEW7mXxip5FNl5ycdajZHoUCIN1t4Bq9APRJbwGsWCRJl3k8Rho40kogc2d7BLLDPRSLk/5DbB6vHDywQKitjbJMYuOXCfRf0UinH+LdOOguXH9r9AryyhfoXkgyeeJ1wyxsVGPxNxkAr1Dso7XYrPywF9oAIv6hC4/y3ITDvqtm/fpjPCMWzvf5Tt1ZbOVt5gt5u1twoeIVrHV6o2FFC+Pxf3QabOMdXmdbAosF/USGwl0zC4wP8buFC/mSWvj2JSvABaCM7CUESJNPbG9/yJ8zsBxOhhgKGWRk47RWuRtNOoQcm/PzgBhWOZqy8lRUt8aasH/5dgtcB4i4N7P3vZEr3qy2AENHGkXbmFM5KHnnvCkR/5umhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011cpU4FhodoV7mWowP51q9S",
      "input": {
        "note": "The bear dropped just short of the basket rim and is sitting on the table in front of it — the basket is further forward than I assumed. Descending to re-grab the bear.",
        "targets": {
          "left_x": 0.37,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_011cpU4FhodoV7mWowP51q9S",
      "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]: [-0.4782, 1.4738, 0.8116, -0.0204, -0.4206, -0.5426, 0.9968, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3937 left_y=-0.1188 left_z=0.1256 left_yaw=0.1461 left_pitch=-0.06 left_roll=-0.1665 left_gripper=0.9968 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0101 right_roll=-0.0167 right_gripper=0.9997\nstate[joint_eff]: [0.3077, -1.6479, 2.865, 0.0513, -0.2271, 0.1832, 0.1148, -0.1846, 2.5368, 4.3009, 1.6972, -0.1587, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13e1bf5602b2ac2f15b1860f16885ba118b18f556540511cf8020488536f0c02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47f92f1668abaeef617a0780803e6a20b7f418322c0834d5a0ebc1fc49b8b17a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:492cd9472d1c3d25cb88a4b4c5d2907d9c409385e72ab64856678f6004ffd303",
        "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 · 12.49 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]: [-0.4438, 1.4727, 1.5368, -0.8658, -0.4187, -0.4999, 0.214, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3899 left_y=-0.1019 left_z=0.2841 left_yaw=0.1636 left_pitch=-0.1555 left_roll=-0.0648 left_gripper=0.214 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0101 right_roll=-0.0167 right_gripper=0.9997\nstate[joint_eff]: [0.0752, -8.5265, 6.2017, 1.8193, -0.2613, 0.2564, 0.2613, -0.0068, 2.6598, 4.2462, 1.6923, -0.1197, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4438, 1.4628, 1.3365, -0.7265, -0.4068, -0.5056, 0.9956, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3883 left_y=-0.1033 left_z=0.2283 left_yaw=0.1626 left_pitch=-0.2026 left_roll=-0.0467 left_gripper=0.9956 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0101 right_roll=-0.0167 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -8.5265, 6.7487, 1.7802, -0.3248, 0.0073, -0.188, -0.0889, 2.6188, 4.1778, 1.663, -0.1392, -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]: [-0.4782, 1.4738, 0.8116, -0.0204, -0.4206, -0.5426, 0.9968, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3937 left_y=-0.1188 left_z=0.1256 left_yaw=0.1461 left_pitch=-0.06 left_roll=-0.1665 left_gripper=0.9968 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0101 right_roll=-0.0167 right_gripper=0.9997\nstate[joint_eff]: [0.3077, -1.6479, 2.865, 0.0513, -0.2271, 0.1832, 0.1148, -0.1846, 2.5368, 4.3009, 1.6972, -0.1587, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13e1bf5602b2ac2f15b1860f16885ba118b18f556540511cf8020488536f0c02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47f92f1668abaeef617a0780803e6a20b7f418322c0834d5a0ebc1fc49b8b17a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:492cd9472d1c3d25cb88a4b4c5d2907d9c409385e72ab64856678f6004ffd303",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvgQKjgEIEhgCKkDR2QO/AMvfptkkRdThPc5xY/8sz6x3WDd7R1Ez8aP4QeVrvvatsKguiQDERCZTG6gT+shc7P4uQe+zUKli1HI4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeCMzdUGEgxefSF4h53kd+NJlGEaDMRrTHEWKRp0GLaAwiIwHdSnK+pVn87p8JBvUW8ukeKrLei17Nrsk67MA5FU04VaeR7C1aRanbUS9mf3GrgsKtwCdSiEl8qjzZGSpKlD+FWVYDEGbCpRfcGq7iHapmX9Q12JcAfCABw6hs65u5kUQhR0TGQozDBAwulR4B5CNL40LHpzxZ30+kbZbpi0ZwNdc0d1+P4tl1WzUkpBW0QpWFWfSciPCZ9rNCtNZlpAv21fhqHQYFcESTP6UFaoNy2+DiX54yQRjqFeZ1/pc+ZrPZeyFaC+sq0/nCDn0tbtZEGHT3BOOKOn9mtte9ynBUrI9Tqs3loncHg/OxwTdWPXHkmlyh4mr/OLUpkMcP7YHCX6ciMK3ayWAZ6L1DksIgyyG+ZJce2EXlRhowR8pdS5Uy3MLpEHHG69GZ1vENSs2V58jCZW8AFUaMfqSH6bMCHsN+QHVZN3rX09KXnAUvHTkbhexY6mPyLgwyUPS5zOggnBPctWX81TXf3kV9rRft3KHpxOlmXyVIF5bPXctYIVi279zhYaZpN4x8WjuaZoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LszivrLdAeqPvH5WaypWnQ",
      "input": {
        "note": "The descent stopped on top of the bear, which fills the wrist view. Closing the jaws to pick it back up.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LszivrLdAeqPvH5WaypWnQ",
      "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]: [-0.4828, 1.4757, 0.8223, -0.0006, -0.4183, -0.5507, 0.1103, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3979 left_y=-0.1235 left_z=0.1328 left_yaw=0.1431 left_pitch=-0.0383 left_roll=-0.191 left_gripper=0.1103 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [0.4444, -6.3111, 5.7778, 1.4139, -0.232, 0.0317, 0.6911, -0.0615, 2.6872, 4.3419, 1.6874, -0.0757, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13911e763ecf44aa3b8f988588f75d82c81c824c0c28fb037ad90fe012c9c24d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a33c1a5403048905947f9debbb16643b74f3d0ac28b4c9c938515b9ef0263a39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3539da830658326e0b13d7753066443e0bc00cccb4d9f39642b52f33f0ee3713",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /messages · status 200 · 13.38 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]: [-0.4438, 1.4628, 1.3365, -0.7265, -0.4068, -0.5056, 0.9956, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3883 left_y=-0.1033 left_z=0.2283 left_yaw=0.1626 left_pitch=-0.2026 left_roll=-0.0467 left_gripper=0.9956 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0101 right_roll=-0.0167 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -8.5265, 6.7487, 1.7802, -0.3248, 0.0073, -0.188, -0.0889, 2.6188, 4.1778, 1.663, -0.1392, -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]: [-0.4782, 1.4738, 0.8116, -0.0204, -0.4206, -0.5426, 0.9968, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3937 left_y=-0.1188 left_z=0.1256 left_yaw=0.1461 left_pitch=-0.06 left_roll=-0.1665 left_gripper=0.9968 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0101 right_roll=-0.0167 right_gripper=0.9997\nstate[joint_eff]: [0.3077, -1.6479, 2.865, 0.0513, -0.2271, 0.1832, 0.1148, -0.1846, 2.5368, 4.3009, 1.6972, -0.1587, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4828, 1.4757, 0.8223, -0.0006, -0.4183, -0.5507, 0.1103, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3979 left_y=-0.1235 left_z=0.1328 left_yaw=0.1431 left_pitch=-0.0383 left_roll=-0.191 left_gripper=0.1103 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [0.4444, -6.3111, 5.7778, 1.4139, -0.232, 0.0317, 0.6911, -0.0615, 2.6872, 4.3419, 1.6874, -0.0757, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13911e763ecf44aa3b8f988588f75d82c81c824c0c28fb037ad90fe012c9c24d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a33c1a5403048905947f9debbb16643b74f3d0ac28b4c9c938515b9ef0263a39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3539da830658326e0b13d7753066443e0bc00cccb4d9f39642b52f33f0ee3713",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwgcKjgEIEhgCKkDQ0+hNF70JAJ8JFhhKsQ9VnRl6qFfQsg9Hkdf3KmPrPcTYH+OIp9gJtQLJeIJD8iEtk5DiJNCIEeCqztbTdVseMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeqMzdUGEgyoZQSBC4vaSCVt7V4aDKMfHFhgZorGkr69WSIwQcI6qSAh/sdluK5bzwE/NVAX2Wagf86PMqPv1/NjidT+sARU9vAeAxJZY/v8DYdlKuAFoak9nFuRRhiHkTFuHB87e42C6v9z34N6E2P8VmbVWLOWpOcxBUcHSg/1x2qRR0GnqRSvj37clpEj0cN6odHxCUmCF5W04GzGUflGEzTR+hBDU9mZhbI32mijeF0QZeQkqSUjfJqDh1lZ8H/UvPRNb/p2GqT7Cw8QW9lvxaOITAIAQ0H0LPya6u9e46tp5jicFjqDQVtPbSZrVOZv8jovv/OXVmC/ML33dYkjRH+WBuNLRFNE1bYop/DkrdMK2qCy+aUlPiaqlGs38sSEraxmoTDlSkeyJu3SuLC8MdfuiktFbCoZNzFpNdcXMLNzRRMSlOxDGc6Ew7F+32vEkmwLb9Er7iUETQe8b7s4X71gVd/MRqaXPZobH8aP4U2MT8cdt+aPZnonBUsNtB/fSA65Kk3sudH0cJQers/uTs7QzKSeQETzu5LYeCLpT7nagOrtpCPRuyYm3zWz6xb8JKKAna63eFLCkTSjhUSTMTm61BxGqjuGbbgtr2PjaNK2VxgS2y3N3fIwYvTQK8mjo8lL0bAOc6lA+9l+acoZ5PXPff9deoIsYi+mnBysjBLC7bUadpD+u5/HRn6ElTH0XqJMLG7UNw51Zh75B8Yj7XKQEDbMtSpNoE0/PMYMfGiJWm54P8ogNxPp+Fq1PDpr37fueQKtazbhIWUz7A4wjkZuX7LLnpBfvUxJ0cFdbYKKXa861YYO5dcjl0vIN6GJsFt/0l6EY9Y3scMRSE+CHVJKYt7kj8eMVqrYhqklG8Iy7HDVzgAFOJeJsGxi7Kyv82jnj8UBEjxTWE0q7MaiV9G5ukkf4kysLB0VAi0TrragawyAvEA4FVA8h1b74qQwwZP/1mu4zW9e+RcpkTxrffuoTc4jQhIZR/2j6T2UWEM4OBk+DQQZfQgAj5yxdhE62CQzhqpC8DD0sNdgdiu13dinp+naBccmfEViwmVJLQkiaQK9JjRj47HLM+/ArBJIYxGlRBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JAyLTo9AkENKdyNZQKr1BH",
      "input": {
        "note": "Holding the bear again (gripper 0.11). Lifting and reaching 8 cm further forward so the toy is truly over the left basket's interior this time.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.1,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01JAyLTo9AkENKdyNZQKr1BH",
      "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]: [-0.3244, 1.6363, 1.5845, -0.6109, -0.3054, -0.5011, 0.111, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.4666 left_y=-0.0971 left_z=0.276 left_yaw=0.1829 left_pitch=-0.0779 left_roll=-0.2042 left_gripper=0.111 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -8.3624, 9.5521, 1.7705, -0.0366, 0.4322, 0.7937, -0.0205, 2.6051, 4.2051, 1.6825, -0.1294, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdb5f3416659467803031b88ba0652a7b4bdea8e608d41d427617197304671a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ef081e135721237d88fa8e197b5292f33daebceca68e386642c7be8e654413c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b1948e38d9799d3891533f35f3691dbf0575ee90880451c2cf78c8201eeb14a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 7.084 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]: [-0.4782, 1.4738, 0.8116, -0.0204, -0.4206, -0.5426, 0.9968, -0.3988, 0.6388, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3937 left_y=-0.1188 left_z=0.1256 left_yaw=0.1461 left_pitch=-0.06 left_roll=-0.1665 left_gripper=0.9968 right_x=0.1534 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0101 right_roll=-0.0167 right_gripper=0.9997\nstate[joint_eff]: [0.3077, -1.6479, 2.865, 0.0513, -0.2271, 0.1832, 0.1148, -0.1846, 2.5368, 4.3009, 1.6972, -0.1587, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4828, 1.4757, 0.8223, -0.0006, -0.4183, -0.5507, 0.1103, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3979 left_y=-0.1235 left_z=0.1328 left_yaw=0.1431 left_pitch=-0.0383 left_roll=-0.191 left_gripper=0.1103 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [0.4444, -6.3111, 5.7778, 1.4139, -0.232, 0.0317, 0.6911, -0.0615, 2.6872, 4.3419, 1.6874, -0.0757, -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 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]: [-0.3244, 1.6363, 1.5845, -0.6109, -0.3054, -0.5011, 0.111, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.4666 left_y=-0.0971 left_z=0.276 left_yaw=0.1829 left_pitch=-0.0779 left_roll=-0.2042 left_gripper=0.111 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -8.3624, 9.5521, 1.7705, -0.0366, 0.4322, 0.7937, -0.0205, 2.6051, 4.2051, 1.6825, -0.1294, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdb5f3416659467803031b88ba0652a7b4bdea8e608d41d427617197304671a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ef081e135721237d88fa8e197b5292f33daebceca68e386642c7be8e654413c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b1948e38d9799d3891533f35f3691dbf0575ee90880451c2cf78c8201eeb14a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UHMgZXmknGTww8vHQpuQwT",
      "input": {
        "note": "The bear hangs just to the right of the basket opening in the wrist view; shifting 7 cm toward the arm's left to centre it over the basket before releasing.",
        "targets": {
          "left_y": -0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01UHMgZXmknGTww8vHQpuQwT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.141, 1.6249, 1.5173, -0.6159, -0.1787, -0.4194, 0.1113, -0.3988, 0.6388, 1.3922, -1.3529, -0.2977, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.4675 left_y=-0.031 left_z=0.2476 left_yaw=0.2201 left_pitch=-0.1589 left_roll=-0.1885 left_gripper=0.1113 right_x=0.1534 right_y=-0.0045 right_z=0.3461 right_yaw=-0.0322 right_pitch=-0.01 right_roll=-0.0165 right_gripper=0.9997\nstate[joint_eff]: [0.2393, -11.4256, 6.9538, 1.9853, -0.0317, 0.1734, 0.315, -0.1026, 2.5778, 4.3419, 1.7363, -0.1636, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86f0647a576b13b7f5f861ba8dbcce3188659e12f8c302e3520f5c38a06b8bbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ba78e46d58701fbf2e6f562cf7f753a9cca8a033b9f4c13f801a4623215cf5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:93f4c3c6b724a68829a1dac18856b22bc75195868227b9395cb76add18a33074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 3.344 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]: [-0.4828, 1.4757, 0.8223, -0.0006, -0.4183, -0.5507, 0.1103, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.3979 left_y=-0.1235 left_z=0.1328 left_yaw=0.1431 left_pitch=-0.0383 left_roll=-0.191 left_gripper=0.1103 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [0.4444, -6.3111, 5.7778, 1.4139, -0.232, 0.0317, 0.6911, -0.0615, 2.6872, 4.3419, 1.6874, -0.0757, -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 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]: [-0.3244, 1.6363, 1.5845, -0.6109, -0.3054, -0.5011, 0.111, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.4666 left_y=-0.0971 left_z=0.276 left_yaw=0.1829 left_pitch=-0.0779 left_roll=-0.2042 left_gripper=0.111 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -8.3624, 9.5521, 1.7705, -0.0366, 0.4322, 0.7937, -0.0205, 2.6051, 4.2051, 1.6825, -0.1294, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.141, 1.6249, 1.5173, -0.6159, -0.1787, -0.4194, 0.1113, -0.3988, 0.6388, 1.3922, -1.3529, -0.2977, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.4675 left_y=-0.031 left_z=0.2476 left_yaw=0.2201 left_pitch=-0.1589 left_roll=-0.1885 left_gripper=0.1113 right_x=0.1534 right_y=-0.0045 right_z=0.3461 right_yaw=-0.0322 right_pitch=-0.01 right_roll=-0.0165 right_gripper=0.9997\nstate[joint_eff]: [0.2393, -11.4256, 6.9538, 1.9853, -0.0317, 0.1734, 0.315, -0.1026, 2.5778, 4.3419, 1.7363, -0.1636, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86f0647a576b13b7f5f861ba8dbcce3188659e12f8c302e3520f5c38a06b8bbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ba78e46d58701fbf2e6f562cf7f753a9cca8a033b9f4c13f801a4623215cf5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93f4c3c6b724a68829a1dac18856b22bc75195868227b9395cb76add18a33074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4gYKjgEIEhgCKkDW6uuUvmAisxaQsvZaoR/gPzmSxWJBr2MlWy07ZbpuPyLwaquBbV21lZP1DL4XkzwvSmCVVaa5nMJiphB29b2aMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYONzdUGEgz14KmESUjmhfhi/zoaDGm3UIQ63ekJUoEv7iIwBRvJHXHGCF/4bnGPLdwZemRpDtlpAB6V8CITj/rLcaaWh5U//d5+aZKZxEFUoH05KoAFDLVyPxOhsEFKeDiLSq686bpzkWXtnOUdLBFXrBtNWf/02yu4ky7WVJqADXxXYN5QGsOeOdiOYbU0L1cxdhf9OamJQ7aZ5yX3vB1/BzVVrrSOrNkmQ8p5aLWetjpsIdRzmopSTK62KoZ7LWLmK+29VZz4xB+/DERQP+NoOLsHpF8ufykKhzROE6MaHCBo0xGmb5p+yI4Cj0kT9lo7yjXOhDYM0XmjEQTHvbs+Q6WphNV7lJ3TFAqrUtTdkZ15Q3rm5V4hWLZnGGVfxLib0EyUdtGQcR4qYjSHsstU7Q5iNQnuXRZRGUP9wA9xyuz3ja+rkIutLC596qOjTEQgZksmUM2x7ZaATRsE4TZH8NfymtSu0dl70JMuEDgVMo3RFEuIU3n1WfNjrhsQOdVLnAnphm0RcPpMcIpu6WUmsguFzaSRozDrZgmESmDmoAT8e/Bh5W8Vt7TGG/f6yURDipzXQs+SJ4km9okGv6z6alFxIJIlizLtnaZB7Y1aBnoben9JL5AiVQbDJ35gkHTnCGrtLltID0fUSVc20EcGlacRMmABmzSbsgto6o5RBX9odtxH+8kOUy8Gnm1XaDsEVhF0FS8sM9auSFwNgf8YrOa2ShlWmTSHaMbsZ+VBeaLJ3DSPJUz8n95v05TFt20ayp/6vYKhq+mZ+pXysGuMYGzZ78vNdvM5Y1RqN2um4K2+MYa07Co5OsDq81ks71jQawRO60cDP2iHH1mfcVLqz3pr0HFNY8MaNrrNNl01/NsP16bl0bOEkjsq/naRgoFLLv4Hm9K4gbHAZ7FKxm0ioQwShOi2028o8UM/li7jbuZOCptTjK1yH/vhiUbWSGomJGwhrBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A29YwWGbYGguTPgKJCYo8P",
      "input": {
        "note": "The basket mouth is centred in the wrist view but sits above the jaw projection, so the fingertips are still short of it. Advancing 5 cm forward to get the bear over the basket interior.",
        "targets": {
          "left_x": 0.52,
          "left_y": -0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01A29YwWGbYGguTPgKJCYo8P",
      "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]: [-0.1406, 1.8435, 1.6897, -0.693, -0.1764, -0.4477, 0.111, -0.3988, 0.6395, 1.3922, -1.3529, -0.2966, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.504 left_y=-0.0364 left_z=0.2054 left_yaw=0.2437 left_pitch=-0.2767 left_roll=-0.1647 left_gripper=0.111 right_x=0.1535 right_y=-0.0048 right_z=0.346 right_yaw=-0.0332 right_pitch=-0.011 right_roll=-0.0168 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -11.4803, 11.3026, 1.9072, -0.1636, 0.2466, 0.8132, -0.1709, 2.6188, 4.4239, 1.6923, -0.1343, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8af195a5403790a85f6d4d465000aafeb1c9b583b4131e323e8074717d2cb734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3a99348c19d2553dbb759e244edac234a4b43b0422dfb4170da9c42f9379f23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb3b89206e3a70b173d70c0cadf8b9435ef47b8dfe561732a1a67ca7205f6829",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /messages · status 200 · 16.24 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]: [-0.3244, 1.6363, 1.5845, -0.6109, -0.3054, -0.5011, 0.111, -0.3988, 0.6388, 1.3922, -1.3529, -0.297, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.4666 left_y=-0.0971 left_z=0.276 left_yaw=0.1829 left_pitch=-0.0779 left_roll=-0.2042 left_gripper=0.111 right_x=0.1534 right_y=-0.0047 right_z=0.3461 right_yaw=-0.0328 right_pitch=-0.0102 right_roll=-0.0169 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -8.3624, 9.5521, 1.7705, -0.0366, 0.4322, 0.7937, -0.0205, 2.6051, 4.2051, 1.6825, -0.1294, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.141, 1.6249, 1.5173, -0.6159, -0.1787, -0.4194, 0.1113, -0.3988, 0.6388, 1.3922, -1.3529, -0.2977, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.4675 left_y=-0.031 left_z=0.2476 left_yaw=0.2201 left_pitch=-0.1589 left_roll=-0.1885 left_gripper=0.1113 right_x=0.1534 right_y=-0.0045 right_z=0.3461 right_yaw=-0.0322 right_pitch=-0.01 right_roll=-0.0165 right_gripper=0.9997\nstate[joint_eff]: [0.2393, -11.4256, 6.9538, 1.9853, -0.0317, 0.1734, 0.315, -0.1026, 2.5778, 4.3419, 1.7363, -0.1636, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1406, 1.8435, 1.6897, -0.693, -0.1764, -0.4477, 0.111, -0.3988, 0.6395, 1.3922, -1.3529, -0.2966, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.504 left_y=-0.0364 left_z=0.2054 left_yaw=0.2437 left_pitch=-0.2767 left_roll=-0.1647 left_gripper=0.111 right_x=0.1535 right_y=-0.0048 right_z=0.346 right_yaw=-0.0332 right_pitch=-0.011 right_roll=-0.0168 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -11.4803, 11.3026, 1.9072, -0.1636, 0.2466, 0.8132, -0.1709, 2.6188, 4.4239, 1.6923, -0.1343, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8af195a5403790a85f6d4d465000aafeb1c9b583b4131e323e8074717d2cb734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3a99348c19d2553dbb759e244edac234a4b43b0422dfb4170da9c42f9379f23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb3b89206e3a70b173d70c0cadf8b9435ef47b8dfe561732a1a67ca7205f6829",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjAMKjgEIEhgCKkDEJoYWu+mPYTF+4Qf28o7puslAn4TNN/B+nlXsE2ZYz5BCPlcxBXnGnNgYP2ts16ZawvcSbrF+J1O3c1MMCZvYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYiNzdUGEgyTyqYf2euiZmpyujIaDB5LwcDX4z4/XsPGgiIwIhZ6AEpZPB6dj7mwO6qN4aLpqAeMzTfX82owaEp4d/OYtNgd/mmJJOFMWy/IZ6D3KqoByMvRlLGqD5C+sJk9EtwzUlReOsy8kqr3ioskP1gQJbNPBt5JIXtX7YAKLbMlXhw/S19myn4K7h0NDJEzNwxxeoC285hXq9G+fQG3uixGuh0EupokIdxYq+NGB8RJTSPOZjqFxkGZn8lGk4X0xm+FOPKcXYAZgpK9pb/ocwn77nOQ3MuOYgduHSlALnV51OiWPNpPY07ClPjyCmhMQR8m3PAzzjsQAn23IqQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UzfZDrdb5zW1zFfbaqKoP2",
      "input": {
        "note": "The bear is now hanging inside the left basket's walls. Opening the gripper to drop it in.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01UzfZDrdb5zW1zFfbaqKoP2",
      "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]: [-0.1406, 1.8534, 1.6932, -0.6945, -0.1791, -0.4644, 0.9951, -0.3988, 0.6392, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.5051 left_y=-0.0361 left_z=0.2018 left_yaw=0.256 left_pitch=-0.2848 left_roll=-0.1713 left_gripper=0.9951 right_x=0.1535 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0105 right_roll=-0.0166 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -10.865, 6.4615, 1.4774, -0.1148, 0.149, 0.0073, -0.0889, 2.7145, 4.2188, 1.6679, -0.1441, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24dff7461393c7776f50e498cc338e41c03f79e5821914ebf02ff34bbb556063",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:234318dea3e42524a4c1977a57814eb34f20ceb535bed199d5fa47324603afe4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:14442f6fb23f765375ea7c628e38ab426a9c2e7395f16c0fffe77946c3d3fc62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 9.161 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]: [-0.141, 1.6249, 1.5173, -0.6159, -0.1787, -0.4194, 0.1113, -0.3988, 0.6388, 1.3922, -1.3529, -0.2977, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.4675 left_y=-0.031 left_z=0.2476 left_yaw=0.2201 left_pitch=-0.1589 left_roll=-0.1885 left_gripper=0.1113 right_x=0.1534 right_y=-0.0045 right_z=0.3461 right_yaw=-0.0322 right_pitch=-0.01 right_roll=-0.0165 right_gripper=0.9997\nstate[joint_eff]: [0.2393, -11.4256, 6.9538, 1.9853, -0.0317, 0.1734, 0.315, -0.1026, 2.5778, 4.3419, 1.7363, -0.1636, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1406, 1.8435, 1.6897, -0.693, -0.1764, -0.4477, 0.111, -0.3988, 0.6395, 1.3922, -1.3529, -0.2966, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.504 left_y=-0.0364 left_z=0.2054 left_yaw=0.2437 left_pitch=-0.2767 left_roll=-0.1647 left_gripper=0.111 right_x=0.1535 right_y=-0.0048 right_z=0.346 right_yaw=-0.0332 right_pitch=-0.011 right_roll=-0.0168 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -11.4803, 11.3026, 1.9072, -0.1636, 0.2466, 0.8132, -0.1709, 2.6188, 4.4239, 1.6923, -0.1343, -0.0659, -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 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]: [-0.1406, 1.8534, 1.6932, -0.6945, -0.1791, -0.4644, 0.9951, -0.3988, 0.6392, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.5051 left_y=-0.0361 left_z=0.2018 left_yaw=0.256 left_pitch=-0.2848 left_roll=-0.1713 left_gripper=0.9951 right_x=0.1535 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0105 right_roll=-0.0166 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -10.865, 6.4615, 1.4774, -0.1148, 0.149, 0.0073, -0.0889, 2.7145, 4.2188, 1.6679, -0.1441, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24dff7461393c7776f50e498cc338e41c03f79e5821914ebf02ff34bbb556063",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:234318dea3e42524a4c1977a57814eb34f20ceb535bed199d5fa47324603afe4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14442f6fb23f765375ea7c628e38ab426a9c2e7395f16c0fffe77946c3d3fc62",
        "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_017iCmNtcDTosp6X35YRnepC",
      "input": {
        "note": "The teddy bear is in the left basket. Now switching to the pens: parking the left arm back out of the way and bringing the right arm over the nearer black pen, which will go in the right basket.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.1,
          "left_z": 0.3,
          "right_x": 0.32,
          "right_y": 0.08,
          "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_017iCmNtcDTosp6X35YRnepC",
      "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]: [-0.5636, 1.3518, 1.5455, -1.1648, -0.4095, -0.7868, 0.9967, 0.4442, 1.034, 0.5987, -0.2871, 0.392, 0.2367, 0.9997]\nstate[eef_state]: left_x=0.3121 left_y=-0.1098 left_z=0.2843 left_yaw=0.2186 left_pitch=-0.3069 left_roll=-0.1662 left_gripper=0.9967 right_x=0.3052 right_y=0.0745 right_z=0.1359 right_yaw=-0.0162 right_pitch=-0.0989 right_roll=-0.0637 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -6.5436, 8.8684, 1.2088, -0.3785, -0.0757, 0.1587, 0.253, -3.6718, 7.1453, 1.7705, 0.2711, 0.1685, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a948058d1f1cd61471e4b927303b449a45e24a9ba7dbf80dd5f0eab5b7153382",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:969514d43886346b8ddc988252bf445df6b9b8fea33106506cf9de02f6753a2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4786f0e5fd2cc6e5d5304278778c4544f24412669ec656e83d3d524d77b75107",
        "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 · 13.05 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]: [-0.1406, 1.8435, 1.6897, -0.693, -0.1764, -0.4477, 0.111, -0.3988, 0.6395, 1.3922, -1.3529, -0.2966, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.504 left_y=-0.0364 left_z=0.2054 left_yaw=0.2437 left_pitch=-0.2767 left_roll=-0.1647 left_gripper=0.111 right_x=0.1535 right_y=-0.0048 right_z=0.346 right_yaw=-0.0332 right_pitch=-0.011 right_roll=-0.0168 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -11.4803, 11.3026, 1.9072, -0.1636, 0.2466, 0.8132, -0.1709, 2.6188, 4.4239, 1.6923, -0.1343, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1406, 1.8534, 1.6932, -0.6945, -0.1791, -0.4644, 0.9951, -0.3988, 0.6392, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.5051 left_y=-0.0361 left_z=0.2018 left_yaw=0.256 left_pitch=-0.2848 left_roll=-0.1713 left_gripper=0.9951 right_x=0.1535 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0105 right_roll=-0.0166 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -10.865, 6.4615, 1.4774, -0.1148, 0.149, 0.0073, -0.0889, 2.7145, 4.2188, 1.6679, -0.1441, -0.0659, -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 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]: [-0.5636, 1.3518, 1.5455, -1.1648, -0.4095, -0.7868, 0.9967, 0.4442, 1.034, 0.5987, -0.2871, 0.392, 0.2367, 0.9997]\nstate[eef_state]: left_x=0.3121 left_y=-0.1098 left_z=0.2843 left_yaw=0.2186 left_pitch=-0.3069 left_roll=-0.1662 left_gripper=0.9967 right_x=0.3052 right_y=0.0745 right_z=0.1359 right_yaw=-0.0162 right_pitch=-0.0989 right_roll=-0.0637 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -6.5436, 8.8684, 1.2088, -0.3785, -0.0757, 0.1587, 0.253, -3.6718, 7.1453, 1.7705, 0.2711, 0.1685, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a948058d1f1cd61471e4b927303b449a45e24a9ba7dbf80dd5f0eab5b7153382",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:969514d43886346b8ddc988252bf445df6b9b8fea33106506cf9de02f6753a2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4786f0e5fd2cc6e5d5304278778c4544f24412669ec656e83d3d524d77b75107",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwQkKjgEIEhgCKkC7YBPIBp8RltboRrw7NsFKhEFVRHA5MoP8WDjizkg/DM+7fNNLbvnYjIkhw95Vg1im1R2mWRbfqAFiP/hQRD9FMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaONzdUGEgwOQ384r8RUP1Bp9ZYaDCBo8StU6oT/iWiZJiIwGZK63zKljypRQoHyLf8V3fyP0VYGABnzTbGjgQDJ+iBoYE6DRTIGn4VaeTgxHKEZKt8H0/gXULRTnPtOI9vBck1lkbEpQPX2Gg1unk2Na7+b8akzEAY8UrCM0TNAZes48HLeDJN2Vw0RQnhXeoTMsmj7XA7ddEeUWMS+EqoM9t6dNR83jWcvK3eACxoY4MqLlq87ieqik8bYq7wKHzhJr6D+gurqncLtEeq5zBRZ2hMtx/GrPYfFo1mvnOiE67Npej7j2SC2/mD0PQ5BKfs/3S+bsfziukSnxr7MzwKbYRjXHsZIfQCcW80nBxcsGcwuFzm3Qc8/Dz8CFcI5AxRijTK6gGYoJ+0VZ3cyjHBSBxy1lBOUvUny2sc4/zPKC4NCCTmE9yaM+cn369gAgQZ+6UZjsRN4NcpgPvVKY0gEO9bMSvo6b7lrf+ma9VcYT/xfcRO7Bv28NWFxpXRh80llze0I0W7ZedSzJB0RIBx7mvy/vAf4bvVU9fzdFF56vDohV30zrS90i910K1YfLDEXQcBAgyxDga0eAKK0E2aaxizr+7uZ8iLLJzb8/wxf7DGFeiao/hE2NseNLA1uAbxxn1Tid/3MJs2A9NLbwhwnrlNJowSc3VJL/Fh6sbS8F5vkOZgsVuKLiLD/de8acDrxxFVDw2lnvnaxUizFsC5HybBEy0co9oZgqDfgK+VbX1AX9LEAol0lGkYv87QLBZiowrXiTwCH2EVEBvm4wbbc06oY5m9g2HZD+/Ny2/imTDcOdU4VpN1Qu3KITw7yLuCKlGTlD2aiVJ3GchjcgL/sVxiSe/zPbxj0KU4Cv2Ef//igdOlLc04zezpju4VA0WeSSp1M7YOuAyqGd7J3mzMC2c4Sdmiv2YfStI5brvUheA4aOIoDo6JxvOTusGWTSWAMrtm/rJGegx0s4O6nAoDagP/wo00yYqbe7i/gZGWk1/xEQLo6G/+CIpKpNseh29j5aovqP4cPQ4mnPZaU0E5YZyoXh+w04HbJU1IKDbJTZ18S5ILEdzTeblt0ilZBLVM4TYVBbNdv4g+rcA78RZikkYoRDxhiAHzbfq0pJOyRBbGJL15FcrSvBi2Lxqx0rYZcLpeI9FDp+Q8Qq0XjYe3+WmMFBTnnQ1z2pbML8vKn0R5zPKd3sFR7U71ud8W3qPzAwyN90iQzFVzGM6u1I8f4EGaKvNMmgO/FBAdkMQOBPJqgrX6Khc7aKCiXP4V3W8J374TmzaLi4EC2n4cZc7hl6uZ73xjLW2gjF6W4H/JJ1VmWhSzZaUTvSjChblj5zZMwjDKU7Cmm9AylhVgdzDMkcKkIv9tZ2wzRQB4VM2GELh9nqbOMABtTa/GSJ9UmUMH7i87zrTZLy+aBT+WQVz/wUkhnNBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xj3DHJyoRuQRczccyra9sP",
      "input": {
        "note": "The right wrist view shows both pens lying in front of the jaws, the black one nearly on the jaw column. Lining up just to its right and dropping to 5 cm before the final descent.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.06,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Xj3DHJyoRuQRczccyra9sP",
      "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]: [-0.5617, 1.354, 1.552, -1.1824, -0.4107, -0.8078, 0.9968, 0.3344, 1.3163, 0.3897, 0.1436, 0.3119, 0.1696, 0.9997]\nstate[eef_state]: left_x=0.3103 left_y=-0.1077 left_z=0.2837 left_yaw=0.236 left_pitch=-0.3174 left_roll=-0.1697 left_gripper=0.9968 right_x=0.3166 right_y=0.0564 right_z=0.0397 right_yaw=-0.028 right_pitch=-0.1791 right_roll=-0.0894 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -4.8342, 5.4632, 1.3993, -0.1685, 0.2027, 0.0024, -0.2393, -4.8479, 5.6137, 1.6532, 0.1294, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:565d8b7bbc965008c02e2bce2589cc73756e87ced37243b39a1848ac04ff9d4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca5b7ca19ffd931ddd138bf0df43c050432755d303b2b6e2cdc18f0536d36f36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fff038938db50d48849d345c663927f2c05ea4d4238f7f16a4ec3e787bbff023",
        "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 · 4.223 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]: [-0.1406, 1.8534, 1.6932, -0.6945, -0.1791, -0.4644, 0.9951, -0.3988, 0.6392, 1.3922, -1.3529, -0.2974, -0.2253, 0.9997]\nstate[eef_state]: left_x=0.5051 left_y=-0.0361 left_z=0.2018 left_yaw=0.256 left_pitch=-0.2848 left_roll=-0.1713 left_gripper=0.9951 right_x=0.1535 right_y=-0.0046 right_z=0.3461 right_yaw=-0.0325 right_pitch=-0.0105 right_roll=-0.0166 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -10.865, 6.4615, 1.4774, -0.1148, 0.149, 0.0073, -0.0889, 2.7145, 4.2188, 1.6679, -0.1441, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5636, 1.3518, 1.5455, -1.1648, -0.4095, -0.7868, 0.9967, 0.4442, 1.034, 0.5987, -0.2871, 0.392, 0.2367, 0.9997]\nstate[eef_state]: left_x=0.3121 left_y=-0.1098 left_z=0.2843 left_yaw=0.2186 left_pitch=-0.3069 left_roll=-0.1662 left_gripper=0.9967 right_x=0.3052 right_y=0.0745 right_z=0.1359 right_yaw=-0.0162 right_pitch=-0.0989 right_roll=-0.0637 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -6.5436, 8.8684, 1.2088, -0.3785, -0.0757, 0.1587, 0.253, -3.6718, 7.1453, 1.7705, 0.2711, 0.1685, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5617, 1.354, 1.552, -1.1824, -0.4107, -0.8078, 0.9968, 0.3344, 1.3163, 0.3897, 0.1436, 0.3119, 0.1696, 0.9997]\nstate[eef_state]: left_x=0.3103 left_y=-0.1077 left_z=0.2837 left_yaw=0.236 left_pitch=-0.3174 left_roll=-0.1697 left_gripper=0.9968 right_x=0.3166 right_y=0.0564 right_z=0.0397 right_yaw=-0.028 right_pitch=-0.1791 right_roll=-0.0894 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -4.8342, 5.4632, 1.3993, -0.1685, 0.2027, 0.0024, -0.2393, -4.8479, 5.6137, 1.6532, 0.1294, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:565d8b7bbc965008c02e2bce2589cc73756e87ced37243b39a1848ac04ff9d4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca5b7ca19ffd931ddd138bf0df43c050432755d303b2b6e2cdc18f0536d36f36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fff038938db50d48849d345c663927f2c05ea4d4238f7f16a4ec3e787bbff023",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkgkKjgEIEhgCKkBodWvNUyak0J7asNFZuOJPsgQ5EXmkk6qFvIMVgmRua1W+upOGl1KN1TawDwoMbxcXPcyWbVgQxeYPwcdMBcsEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbCNzdUGEgw04uM2EPClx5LAMJkaDFlBsAlMXmmz4pDeoiIwpUqP7bdWHswQSBslD4qonblgsLkjIyIQpG9VsjQ7B+fMuxwFKC6tY6Y0TP4RlppBKrAHqZ2ZN6m5yaijoIvhdkls6mZs3MXOofwiwsEHDK+SKXp+2H4p9jhD3Uq628h2+Zt0ihbVP/IJKkO6QN+B4BBKQ8AFXzURkDDK4/veZn8z4Zt6uWan/o1JTyTzE/wZkSjtZl+5bPsHvK/TwE526OOYIHuPLlk7cW84k8tyH27Q6d3FSWIGq30uPof0LKNaCrUYtL2/VuqKVhtOdQxVqp8UwViHVy4oy1V7w6OEEC3oum/n/JHBCSiPdWnx4lU8nvAwBF9kjNr5HTanWFNdu2OlKn9+MzmTdbasqKvBK9gqY2NzK7S3E4xAfMZTQbcVJ93T57s7n4I0/DN44McgdPtsqfkSq2VL8oX81wY5QQNRNONlGh49Sabzo/90jO1Mho5chc7B9bjhmg2LxGeD5ed9rgHBMq3wMFcu6Sgd1vxasH/wQX+ettmh2nB1FuvqMbepZ9qNzALG/aC1ispgrk803Iq9SVHKBgDgXGjhh5l9hHsNTPNRNjj1r1cmMLn32N9b0w+ySa4R+Vuv+ZfrmyMX+xwL+ZWcDoxL1gZ/8xh4b/r6Y/pbk6zaHHJa6Qr8iKLZQRaOnh+N408Z2eH8sXHj2mpRBeZEhMmNUU9PNiy5RzvsWxsi7IvHG3sd4acVgiwIXltD1LqcaFt9Y6RPo9PEON+SxO41l5C7bpWLZCAAmbFmWge8L/K8eNszdX2ivDwe3Geeb2X5sukTEo9dHiG2JI/DCPFnLsarXmeIw8vPZo3rjWlfx29OsuRmEGhusblnMt8N9SU5XOXSKW7bthizTVCEYJP8o/YKjPGfp/VbVTV7VrWWksWjGW8GTMdcP4y5XWUiSS10kGwKo0TDy/1n2dyeXNV1tk1+WC81D7xrbEtKG09y5DGPWmAyilHLCgeSZnQ+Rp4mcrM+y6D3dJhqGAoDhRYIyMkuziGzYF7lg/qKL1WO6VG9Uhzp1pvXBUl1n9Cq8LaKEyc/13BOkDxmQk7Dvd6Cq+aBePGfxbYFpjZpHQtsF/t6YjnRntCTH9jMg+MWuAHsaDVRI8WOO15WHAzqVQbebBt/AkmiBo6SpEQ/zPoUeopCUtL7vrP6G3+PoHnnct7TIbp+SU203u6nTm1S23L9O1fLaWY13dtYPd8X0bSm/BraNT/DsRHkl3vfr0FOMZ4r1BhlECtiV+8iUixC2vz3Sha73yIBRrk169j2arE6o/E3loACrwg5N5uY179bA/E73MyYEqf7KEHsRtRfqw3LgkURf+hAgpixNeYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VEHuYtQxzQrXe9jChRV5zE",
      "input": {
        "note": "The black pen sits just right of the jaw column and a little beyond the fingertips. Advancing 3 cm and shifting 1 cm right while dropping to table level to straddle the pen.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.045,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VEHuYtQxzQrXe9jChRV5zE",
      "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]: [-0.5613, 1.356, 1.5517, -1.1858, -0.4072, -0.8089, 0.9968, 0.2523, 1.565, 0.4133, 0.4217, 0.2543, 0.1337, 0.9996]\nstate[eef_state]: left_x=0.3099 left_y=-0.108 left_z=0.2824 left_yaw=0.2359 left_pitch=-0.3235 left_roll=-0.1683 left_gripper=0.9968 right_x=0.3517 right_y=0.0485 right_z=0.016 right_yaw=-0.04 right_pitch=-0.1431 right_roll=-0.0615 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -4.4239, 5.9692, 1.2967, -0.2613, 0.0122, -0.0171, -0.3897, -3.4256, 4.0274, 0.4518, 0.1929, -0.3297, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45dc7d597bca158acad760ff0a9a21e6f004d92d0af1e925461811139c348b4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fd3d47389848d02f93f56bb6e9a131b53588a30f003708b764738facc6497d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:99b57bf4b827de04a1633d1063d11ef457e059bafa3df1f870bf8da7efeb2f1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 11.17 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]: [-0.5636, 1.3518, 1.5455, -1.1648, -0.4095, -0.7868, 0.9967, 0.4442, 1.034, 0.5987, -0.2871, 0.392, 0.2367, 0.9997]\nstate[eef_state]: left_x=0.3121 left_y=-0.1098 left_z=0.2843 left_yaw=0.2186 left_pitch=-0.3069 left_roll=-0.1662 left_gripper=0.9967 right_x=0.3052 right_y=0.0745 right_z=0.1359 right_yaw=-0.0162 right_pitch=-0.0989 right_roll=-0.0637 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -6.5436, 8.8684, 1.2088, -0.3785, -0.0757, 0.1587, 0.253, -3.6718, 7.1453, 1.7705, 0.2711, 0.1685, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5617, 1.354, 1.552, -1.1824, -0.4107, -0.8078, 0.9968, 0.3344, 1.3163, 0.3897, 0.1436, 0.3119, 0.1696, 0.9997]\nstate[eef_state]: left_x=0.3103 left_y=-0.1077 left_z=0.2837 left_yaw=0.236 left_pitch=-0.3174 left_roll=-0.1697 left_gripper=0.9968 right_x=0.3166 right_y=0.0564 right_z=0.0397 right_yaw=-0.028 right_pitch=-0.1791 right_roll=-0.0894 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -4.8342, 5.4632, 1.3993, -0.1685, 0.2027, 0.0024, -0.2393, -4.8479, 5.6137, 1.6532, 0.1294, -0.0659, -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 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]: [-0.5613, 1.356, 1.5517, -1.1858, -0.4072, -0.8089, 0.9968, 0.2523, 1.565, 0.4133, 0.4217, 0.2543, 0.1337, 0.9996]\nstate[eef_state]: left_x=0.3099 left_y=-0.108 left_z=0.2824 left_yaw=0.2359 left_pitch=-0.3235 left_roll=-0.1683 left_gripper=0.9968 right_x=0.3517 right_y=0.0485 right_z=0.016 right_yaw=-0.04 right_pitch=-0.1431 right_roll=-0.0615 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -4.4239, 5.9692, 1.2967, -0.2613, 0.0122, -0.0171, -0.3897, -3.4256, 4.0274, 0.4518, 0.1929, -0.3297, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45dc7d597bca158acad760ff0a9a21e6f004d92d0af1e925461811139c348b4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fd3d47389848d02f93f56bb6e9a131b53588a30f003708b764738facc6497d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99b57bf4b827de04a1633d1063d11ef457e059bafa3df1f870bf8da7efeb2f1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7QMKjgEIEhgCKkAH96kixtpbvn6FpWj763iFJwk3ETUX1LgcgSNbqbNvl7yQOVS2L1E42HaKZTRmxC35hK9+16TeXvRTC7uHrKLNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbWNzdUGEgyRZ92LSIBIx4TbS0saDNOjrc3PZIks8HMtfyIw7yyJ5tZ/rI+SWZXWpZVNtLhL+9CVzG8zWXg4Qmoy2nEpBRBiPl1UljkYfZ5RWy8pKosCywCw/NzwK48lLk0n5UyaNQER2CDhXyu5VVzEAEnM6kX4aP2fKE6Y5CI9XvokT9xcdljizv16gnHvzMgz/6myM7gKPDXA6yFUl6UIrXnJh+q9t/O4BKh6Vnm8//imjeVGHrfJRF1wIAwsvXtsdtFh0QCJ33xSiNEP8TLo+PAutGNFheNmJvQJp873X+eCL2ukkRWgo3YgoGNDAgnm5GT3AzbIWGYUZNI2vvZw1smWY8c99+kE1zJD9Wb+fE1MPxD1hAxUu/so324pZf4Vy7BCmoi+CMUx5LcMX83Y8UTWthaTMi7s8xP0cFdoc2jc/v2xOYFfs/6TuiHQAyeNEsIc31lXZZ3ys8yiut0MGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SVm9GWEUPkq3EKD9vtM5ar",
      "input": {
        "note": "The black pen is now between the jaws at table level. Closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SVm9GWEUPkq3EKD9vtM5ar",
      "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]: [-0.5613, 1.356, 1.5517, -1.1851, -0.4038, -0.8124, 0.9968, 0.2485, 1.578, 0.4171, 0.4282, 0.2417, 0.128, 0.1585]\nstate[eef_state]: left_x=0.3098 left_y=-0.1086 left_z=0.2822 left_yaw=0.235 left_pitch=-0.3253 left_roll=-0.1733 left_gripper=0.9968 right_x=0.3529 right_y=0.0496 right_z=0.0138 right_yaw=-0.0303 right_pitch=-0.1482 right_roll=-0.0586 right_gripper=0.1585\nstate[joint_eff]: [-0.212, -4.6974, 5.9419, 1.2332, -0.3004, 0.0122, -0.0122, 0.1162, -6.4752, 4.506, 1.4872, 0.1343, 0.0366, 1.1013]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0029c902238febfb057143427b75b0033f7b1061a997209763bb7c3d2abd6d4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:528c02b848d0caaa9dbff8ef5743ab4b738891ce6d7f81471c64441e3d9b951e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:31ed17cdcefa963704fe7df965544b93e75048de5e1fe5fce8416fcf627e61db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 13.39 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]: [-0.5617, 1.354, 1.552, -1.1824, -0.4107, -0.8078, 0.9968, 0.3344, 1.3163, 0.3897, 0.1436, 0.3119, 0.1696, 0.9997]\nstate[eef_state]: left_x=0.3103 left_y=-0.1077 left_z=0.2837 left_yaw=0.236 left_pitch=-0.3174 left_roll=-0.1697 left_gripper=0.9968 right_x=0.3166 right_y=0.0564 right_z=0.0397 right_yaw=-0.028 right_pitch=-0.1791 right_roll=-0.0894 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -4.8342, 5.4632, 1.3993, -0.1685, 0.2027, 0.0024, -0.2393, -4.8479, 5.6137, 1.6532, 0.1294, -0.0659, -0.0122]\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]: [-0.5613, 1.356, 1.5517, -1.1858, -0.4072, -0.8089, 0.9968, 0.2523, 1.565, 0.4133, 0.4217, 0.2543, 0.1337, 0.9996]\nstate[eef_state]: left_x=0.3099 left_y=-0.108 left_z=0.2824 left_yaw=0.2359 left_pitch=-0.3235 left_roll=-0.1683 left_gripper=0.9968 right_x=0.3517 right_y=0.0485 right_z=0.016 right_yaw=-0.04 right_pitch=-0.1431 right_roll=-0.0615 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -4.4239, 5.9692, 1.2967, -0.2613, 0.0122, -0.0171, -0.3897, -3.4256, 4.0274, 0.4518, 0.1929, -0.3297, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5613, 1.356, 1.5517, -1.1851, -0.4038, -0.8124, 0.9968, 0.2485, 1.578, 0.4171, 0.4282, 0.2417, 0.128, 0.1585]\nstate[eef_state]: left_x=0.3098 left_y=-0.1086 left_z=0.2822 left_yaw=0.235 left_pitch=-0.3253 left_roll=-0.1733 left_gripper=0.9968 right_x=0.3529 right_y=0.0496 right_z=0.0138 right_yaw=-0.0303 right_pitch=-0.1482 right_roll=-0.0586 right_gripper=0.1585\nstate[joint_eff]: [-0.212, -4.6974, 5.9419, 1.2332, -0.3004, 0.0122, -0.0122, 0.1162, -6.4752, 4.506, 1.4872, 0.1343, 0.0366, 1.1013]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0029c902238febfb057143427b75b0033f7b1061a997209763bb7c3d2abd6d4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:528c02b848d0caaa9dbff8ef5743ab4b738891ce6d7f81471c64441e3d9b951e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31ed17cdcefa963704fe7df965544b93e75048de5e1fe5fce8416fcf627e61db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISowsKjgEIEhgCKkB8cwNCDP5zDXsdJfseFJNtcd1PbJJErWiTRKb6mJWe/Yct016mBSMJ1oxdpR+IMNEd5qcoEZsF5UubUGc7BRM0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcGNzdUGEgy4CF5DgeCDjFnDHa8aDLZk9WoK0JAKEnSSYSIw83J+zvLpp5uP9N+4DTa8MNviZXPP12yHMmoflOoDdo3Xim+ToMRSK0pQHTaeLtVzKsEJAL4eQY4uxzSU4fsdVxAMVKlOzRCf2e6hnl99eI3myjk5bEbqQXvhv1JCjIsq6C64L+0yWlBIi+Q0IgXFSKGpZJq9Fo/GU85Ue0+36RyVtMZ3gS2RjfSScprHxo5sdDoZnzZRdwaIJqe+GMo3RXI/IZEkQEUa27DGaNSYahJXF+8Ye52Vv/YGZ5MSBR3oO7ES0ZoPoRiSts0gHdbUyyS0KQ9hqBCvXBka8wcNPg/yEXjS2KCiW7LH3gC8gVrR2rL8yH1GSOiDw7EmpRQaAS7yCRbsOz/i1Z8VTxhOztfQ5cTvjIB08eY96GFHs1BU+lIhTn9VlyAFwbnWscwG37ZrpUNlbdZzJCfiymV7N7Tiw8fPxDzTSzLXwYNGdlGuqA3RowrjFSKSMtjR1rtwgwUYCQiGXyJzXIjJq/G20scgmthhDOF49kZjaEvBAAO+3zeiWycx6qhC+DAEyr08jg+kHFT9WHBBFYlpCYTrxFghxTLOx0+wCNv0milaQWNe6eVy9Jqc7bT6RJ71MQeBTGR+fqVhwtmPjn35d6gkTt3fg4AFaU3JG9EpRPq562DcBr7Kj7KwMO96Uk4j7B9EC51AwnE43Hs8QTb6w+4IDwhZkwRB0aJQ9o8EOxu3dx/p2AnSJd6E07+5ckQqaTxl9CXqCiljjgBbGU5YRmuswwsAPHFQaHxW0r/HP1ybcQj0UosHSR2XJ5jTFj803JrZe5QcnOEugLXLo7VB2k98/twVz+NXi6Q6cuAi85yVzGriTxz1pxVTMxhEKyP15N6N2pWLWVffQR7C9bnSHADSdbvmf9mpLjHpkLDCX/1jlQ8NuLtiOfPO2y4ibOqQwfwiS+zSn5+YfdAFZMm4NGVCQogCb0chvT/LuhLn0ibnuP3Z+7F7T+2O6TNzRi846aOdVgTXh/mTjErCgnp+On2rwUKxqVmP5SJZ6g9ktUQl4xzfzuST0dkAaG0SydNtYoexKDFlPX65xKZamPmgG7dXn8jS/IvALIcu+c5q1s5iG+9H9ZLBT33GjwFAu4p+EPdZ/aAQh7X8ScD+9j+EyIqPI3RwUE9IscMLp6PHSOb+9bmRf5zebKrhlVPQz8yjS2+drevp/F3XbhNUTqercI2v73/tkFGIIN9hEz/8VGxR5LLL7k4yj8fJOHNWDe+tBZ6bNyz6gM91lKaS0HS/S18Q142quW9tWq6rIIGZc4CjAYl7Rq62twLuYMRUrdTKbTNqHnO7dHYYMvMM5SkQ9l5QgakUZMJz5RoSax9fgpp1ufgU/OEJy2YELfFM0YydTbneeliP/YJCS9zF20zjluhRyvaCiCjg3m4UcEfh0qmA4Xeo4TlVd+puS5v/4hV5HmxxYxK7if/0LgwM0+3MbXqqnONENDFe0NuupjwvyXmHmwzAkXjG0ZIdIDSKE4p0SqDHxiRt33XB9ehyL2Ya0kfkiKwoo1nJmVXvFGykdXX8jIJOuL5sLGmKp7UWSitkNfujKWKsL0DVffrWKs/1uacbxUsKr8hiAvt1VjTHAFkS3UTl0yf5sm6hNxYvX3is+q1ncyM6YJiDyxIPw9hzpBKJRI+3lvzq7P0C++9lcu+s154lW1gLilAz7XKLxZ5atFveKATRyhAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YSkA2Z1HfRtoEmgL6YR85C",
      "input": {
        "note": "Gripper settled at 0.16 — the pen is grasped. Lifting it clear of the table before carrying it to the right-hand basket.",
        "targets": {
          "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_01YSkA2Z1HfRtoEmgL6YR85C",
      "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]: [-0.5613, 1.356, 1.5517, -1.1851, -0.4038, -0.8127, 0.9968, 0.2481, 1.2118, 1.1252, -0.6403, 0.2314, 0.1265, 0.159]\nstate[eef_state]: left_x=0.3098 left_y=-0.1086 left_z=0.2822 left_yaw=0.2352 left_pitch=-0.3253 left_roll=-0.1735 left_gripper=0.9968 right_x=0.3556 right_y=0.052 right_z=0.2371 right_yaw=-0.021 right_pitch=-0.1446 right_roll=-0.0515 right_gripper=0.159\nstate[joint_eff]: [-0.1846, -4.4786, 6.065, 1.2332, -0.2222, -0.0659, -0.0122, -0.3214, -3.535, 9.4291, 1.3993, 0.1978, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:045584d21bcdcefd9e5db2772372da43e5561bca0aeda3c4560ddf5ff377b1f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7be83be04d6e6fc6f40cfe23c217cd0ede32fbd17c61128b3deb002932ab160",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:219ab88d2bf9899142a86d899ac36292c2042c41d051c0c314f3dfb6b358dc8b",
        "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 · 18.04 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]: [-0.5613, 1.356, 1.5517, -1.1858, -0.4072, -0.8089, 0.9968, 0.2523, 1.565, 0.4133, 0.4217, 0.2543, 0.1337, 0.9996]\nstate[eef_state]: left_x=0.3099 left_y=-0.108 left_z=0.2824 left_yaw=0.2359 left_pitch=-0.3235 left_roll=-0.1683 left_gripper=0.9968 right_x=0.3517 right_y=0.0485 right_z=0.016 right_yaw=-0.04 right_pitch=-0.1431 right_roll=-0.0615 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -4.4239, 5.9692, 1.2967, -0.2613, 0.0122, -0.0171, -0.3897, -3.4256, 4.0274, 0.4518, 0.1929, -0.3297, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5613, 1.356, 1.5517, -1.1851, -0.4038, -0.8124, 0.9968, 0.2485, 1.578, 0.4171, 0.4282, 0.2417, 0.128, 0.1585]\nstate[eef_state]: left_x=0.3098 left_y=-0.1086 left_z=0.2822 left_yaw=0.235 left_pitch=-0.3253 left_roll=-0.1733 left_gripper=0.9968 right_x=0.3529 right_y=0.0496 right_z=0.0138 right_yaw=-0.0303 right_pitch=-0.1482 right_roll=-0.0586 right_gripper=0.1585\nstate[joint_eff]: [-0.212, -4.6974, 5.9419, 1.2332, -0.3004, 0.0122, -0.0122, 0.1162, -6.4752, 4.506, 1.4872, 0.1343, 0.0366, 1.1013]\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]: [-0.5613, 1.356, 1.5517, -1.1851, -0.4038, -0.8127, 0.9968, 0.2481, 1.2118, 1.1252, -0.6403, 0.2314, 0.1265, 0.159]\nstate[eef_state]: left_x=0.3098 left_y=-0.1086 left_z=0.2822 left_yaw=0.2352 left_pitch=-0.3253 left_roll=-0.1735 left_gripper=0.9968 right_x=0.3556 right_y=0.052 right_z=0.2371 right_yaw=-0.021 right_pitch=-0.1446 right_roll=-0.0515 right_gripper=0.159\nstate[joint_eff]: [-0.1846, -4.4786, 6.065, 1.2332, -0.2222, -0.0659, -0.0122, -0.3214, -3.535, 9.4291, 1.3993, 0.1978, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:045584d21bcdcefd9e5db2772372da43e5561bca0aeda3c4560ddf5ff377b1f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7be83be04d6e6fc6f40cfe23c217cd0ede32fbd17c61128b3deb002932ab160",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:219ab88d2bf9899142a86d899ac36292c2042c41d051c0c314f3dfb6b358dc8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UzoUKg2YqKxJHnkdXiHzZT",
      "input": {
        "note": "Pen is hanging from the jaws. The right basket appears forward and to the arm's left in the wrist view, so I'm flying there; I'll re-check alignment before releasing.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.13,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01UzoUKg2YqKxJHnkdXiHzZT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5617, 1.356, 1.5517, -1.1851, -0.4004, -0.8127, 0.9968, 0.3859, 1.7069, 1.7008, -0.7727, 0.3115, 0.1997, 0.159]\nstate[eef_state]: left_x=0.3096 left_y=-0.1093 left_z=0.2821 left_yaw=0.2323 left_pitch=-0.3274 left_roll=-0.1756 left_gripper=0.9968 right_x=0.4552 right_y=0.1304 right_z=0.2649 right_yaw=0.0079 right_pitch=-0.1741 right_roll=-0.065 right_gripper=0.159\nstate[joint_eff]: [-0.1983, -4.6974, 5.9692, 1.2723, -0.2564, -0.0415, -0.0171, 0.1983, -9.3744, 8.8684, 1.2479, 0.3248, 0.2222, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:380cd7871a47147ef367eeda72ed535afbc42fd87ec208614e23797422bece24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1774a00365fbbbacfc65b9228b8e7f42fc2062c4a314d73c19ce41708a054322",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d302eb73817988eda70b03cb09bb5c6a0d3093c97bd6d4c21e106256ab655e9",
        "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 · 6.09 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]: [-0.5613, 1.356, 1.5517, -1.1851, -0.4038, -0.8124, 0.9968, 0.2485, 1.578, 0.4171, 0.4282, 0.2417, 0.128, 0.1585]\nstate[eef_state]: left_x=0.3098 left_y=-0.1086 left_z=0.2822 left_yaw=0.235 left_pitch=-0.3253 left_roll=-0.1733 left_gripper=0.9968 right_x=0.3529 right_y=0.0496 right_z=0.0138 right_yaw=-0.0303 right_pitch=-0.1482 right_roll=-0.0586 right_gripper=0.1585\nstate[joint_eff]: [-0.212, -4.6974, 5.9419, 1.2332, -0.3004, 0.0122, -0.0122, 0.1162, -6.4752, 4.506, 1.4872, 0.1343, 0.0366, 1.1013]\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]: [-0.5613, 1.356, 1.5517, -1.1851, -0.4038, -0.8127, 0.9968, 0.2481, 1.2118, 1.1252, -0.6403, 0.2314, 0.1265, 0.159]\nstate[eef_state]: left_x=0.3098 left_y=-0.1086 left_z=0.2822 left_yaw=0.2352 left_pitch=-0.3253 left_roll=-0.1735 left_gripper=0.9968 right_x=0.3556 right_y=0.052 right_z=0.2371 right_yaw=-0.021 right_pitch=-0.1446 right_roll=-0.0515 right_gripper=0.159\nstate[joint_eff]: [-0.1846, -4.4786, 6.065, 1.2332, -0.2222, -0.0659, -0.0122, -0.3214, -3.535, 9.4291, 1.3993, 0.1978, -0.0171, 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 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]: [-0.5617, 1.356, 1.5517, -1.1851, -0.4004, -0.8127, 0.9968, 0.3859, 1.7069, 1.7008, -0.7727, 0.3115, 0.1997, 0.159]\nstate[eef_state]: left_x=0.3096 left_y=-0.1093 left_z=0.2821 left_yaw=0.2323 left_pitch=-0.3274 left_roll=-0.1756 left_gripper=0.9968 right_x=0.4552 right_y=0.1304 right_z=0.2649 right_yaw=0.0079 right_pitch=-0.1741 right_roll=-0.065 right_gripper=0.159\nstate[joint_eff]: [-0.1983, -4.6974, 5.9692, 1.2723, -0.2564, -0.0415, -0.0171, 0.1983, -9.3744, 8.8684, 1.2479, 0.3248, 0.2222, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:380cd7871a47147ef367eeda72ed535afbc42fd87ec208614e23797422bece24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1774a00365fbbbacfc65b9228b8e7f42fc2062c4a314d73c19ce41708a054322",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d302eb73817988eda70b03cb09bb5c6a0d3093c97bd6d4c21e106256ab655e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0gsKjgEIEhgCKkCZPZT38Q5sNJ6uGOOqgQVgBowz2uZkO7JHxbTLB7ppGLP0larz1a3MxoDYJBG6VMmXjS81Q+/DBwHI6/RsyQJPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeONzdUGEgxoBlcSJaB8BB62+XAaDHExlx610Be6ZjvsViIwCFNkrTOuIZM+mG0qjfYQzWJQKeRxd3EsvYynTQY3c9YgpBi/7C+cuNGnm0wx4SBLKvAJlGr8XVa8JbLAQM0dqP4yKMBZkwavu30KZKp46j8JOOEvB8ZFJnKNWZHYuaUd+2Wd5Cav/2Y0MwlCH721OXUEyZ3Sw9jZpRsVouS/qzDX/k3PXwpMzOFatjy5Vacc6sq40x9mKmG/UpyBErfLwDxxd0EzGGGBYlfLly3j1KZci62HmfjY+g/w/VP+TbQiHcF1+N91JMTzFSagajvnClhcUuouGm9TIEsFyqevPSSUYxYOyeVdqfo57Tz8KtWtP25gOzNBn5Z4+y5PwgGuORecCAaKp2gukJwc4zNFd3ilIUIfhIr1PAm8XoNj0Eipzx4ZhPRjNSYWAVpSFXYoP+Ho5M1vrAekM/0ywHiGF/mTmWwI8jq+3rZNg6W68QBvfOJvC+mtm8mafs1vFaR0Lv0xx/0mJHj7Gi0iSMLOqC0sXmwLs1diaiNtTGDdPhXDW0sBmjvkM+MRnWwHvxH93dPSup4Q0T/Fd15WfUIxicIv9aGjjlXFGbMT1sSSDhWngrX27TNV4HMm88hJWHBnrnc5gfTJ0c/ua3YyQAsdqjuy0y1/uUN0BkguSFD9uA7FkRTRt3qvpSnxvsbqCtESJi61xu7qcjm/qCJ/icj2Bl+ycEALhZz9s2HOqVZf0Jw3PUxam7Kh6lmH4yn1ggEp3CK27T1+zMpl8xWBJzZBWFHXZcq64zmD9nd/iTEQcR4B4q9pL9LecLrOPKH7FOorAp57Vh45HLlEayMTrR68fR8F23S3jm5zrPm17B0ePmEoJgLuTFtszxiOBgbDsijGwBPyICxDluOEdNhzHPZvrXsgLvNQ/gBpvX+RsGls85ogsTxyL/JaVgpliZ/hhg8Mn2M2vFcTWtOCldTWQElX94yn58E+zI4HlnlvavA/DWJejXscjPJmE/YCglFDbqRwcs0mJBhIeJX2lJTOK5ia/z7kQsmN08LG0EHd07fEceylDJWRwVF0+SwNeLchChUuc8WUP0vSG8nvN5UvZ30N/ebKv7aNoIoXv5SA1omqqIvnvRu/cGaCaa/BwdWMtUXRlbyMbWu+/7pubi2z67LYyiMkC//XG7LBNcKE6CZMludxfEqltllZpjEiJow85zu8/NWBsbaIJmO5b9GTlVkIl2+qQEBOFPid+wUlyvT+gjGQweWybuGLRs2rDxkz23j5iLHm+kfGC1h/MdsLEI4t8kRKDbvOhlXA+iVGHjMnQ/5U15qNlnXvZ/8q3VlN5WNppQQMA0X+SNt6xyutqlbWNBeVeMyfzCfMN5u4a2gZLqEotA8mUYe6FYY1BwTN06DSWDblhld0D5X3VQSRYvUg6+ZubkuNXVngP6ApM+lFnywAnbdLjOaLj8vFYeW1zKbao4IKvGaMJWtVOk78elnXp7LLCxAUFVduiyGCozqPdYB6JF7snI9aNlLC+sX2MwoJC7v3kbsKQurelR5C24Ozs8Na1gf3V4EVfZ8vF7Eh4D/n+rZM0Gk5E1sW6QeGU9XdtNHf1+thLlzKz/7NBV3lPfGVmGkzjsaRGWlsrQzznZbTi8YFiPEemB//MQPeOx+mX8gKfpEARcXy9LjOJ/9WdsgWDA+/IiBHJ9xSg302p02NDSsegJav2IsE6r5qaODyzDf/wlkRPtRZAphMmTIVmj0GQ0Xper25IfCsEY2jncDq2Mo7VrA2aaBlxKgBxPs1YWbOmxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019FJzeJYZeopfLEbF7CwXhk",
      "input": {
        "note": "The right basket fills the left half of the wrist view; the jaws are still over its right rim. Shifting 5 cm further to the arm's left to get the pen over the basket's interior.",
        "targets": {
          "right_y": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_019FJzeJYZeopfLEbF7CwXhk",
      "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]: [-0.5617, 1.356, 1.5517, -1.1851, -0.4, -0.8127, 0.9968, 0.5014, 1.7966, 1.7798, -0.8188, 0.3641, 0.2604, 0.1644]\nstate[eef_state]: left_x=0.3096 left_y=-0.1093 left_z=0.282 left_yaw=0.232 left_pitch=-0.3276 left_roll=-0.1759 left_gripper=0.9968 right_x=0.4519 right_y=0.1801 right_z=0.2509 right_yaw=0.0431 right_pitch=-0.2083 right_roll=-0.0787 right_gripper=0.1644\nstate[joint_eff]: [-0.2256, -4.6838, 5.9829, 1.2527, -0.232, -0.0269, -0.0122, 0.1846, -9.1282, 9.853, 1.3651, 0.4127, 0.2369, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb6813db13d90014e8989367918e9998bab4911f089feed747e109cf437ee1d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1e235ebab1f0999083d8a568b7180fed6add928f294dc0e68ece7313c46db6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a62e386f40a83ddb86bf8217a1075df1d14db15e8a0de58cd603d3f4ea548d8",
        "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 · 7.822 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]: [-0.5613, 1.356, 1.5517, -1.1851, -0.4038, -0.8127, 0.9968, 0.2481, 1.2118, 1.1252, -0.6403, 0.2314, 0.1265, 0.159]\nstate[eef_state]: left_x=0.3098 left_y=-0.1086 left_z=0.2822 left_yaw=0.2352 left_pitch=-0.3253 left_roll=-0.1735 left_gripper=0.9968 right_x=0.3556 right_y=0.052 right_z=0.2371 right_yaw=-0.021 right_pitch=-0.1446 right_roll=-0.0515 right_gripper=0.159\nstate[joint_eff]: [-0.1846, -4.4786, 6.065, 1.2332, -0.2222, -0.0659, -0.0122, -0.3214, -3.535, 9.4291, 1.3993, 0.1978, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5617, 1.356, 1.5517, -1.1851, -0.4004, -0.8127, 0.9968, 0.3859, 1.7069, 1.7008, -0.7727, 0.3115, 0.1997, 0.159]\nstate[eef_state]: left_x=0.3096 left_y=-0.1093 left_z=0.2821 left_yaw=0.2323 left_pitch=-0.3274 left_roll=-0.1756 left_gripper=0.9968 right_x=0.4552 right_y=0.1304 right_z=0.2649 right_yaw=0.0079 right_pitch=-0.1741 right_roll=-0.065 right_gripper=0.159\nstate[joint_eff]: [-0.1983, -4.6974, 5.9692, 1.2723, -0.2564, -0.0415, -0.0171, 0.1983, -9.3744, 8.8684, 1.2479, 0.3248, 0.2222, 1.0232]",
      "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]: [-0.5617, 1.356, 1.5517, -1.1851, -0.4, -0.8127, 0.9968, 0.5014, 1.7966, 1.7798, -0.8188, 0.3641, 0.2604, 0.1644]\nstate[eef_state]: left_x=0.3096 left_y=-0.1093 left_z=0.282 left_yaw=0.232 left_pitch=-0.3276 left_roll=-0.1759 left_gripper=0.9968 right_x=0.4519 right_y=0.1801 right_z=0.2509 right_yaw=0.0431 right_pitch=-0.2083 right_roll=-0.0787 right_gripper=0.1644\nstate[joint_eff]: [-0.2256, -4.6838, 5.9829, 1.2527, -0.232, -0.0269, -0.0122, 0.1846, -9.1282, 9.853, 1.3651, 0.4127, 0.2369, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb6813db13d90014e8989367918e9998bab4911f089feed747e109cf437ee1d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1e235ebab1f0999083d8a568b7180fed6add928f294dc0e68ece7313c46db6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a62e386f40a83ddb86bf8217a1075df1d14db15e8a0de58cd603d3f4ea548d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3wQKjgEIEhgCKkC4sOpvyfkVWDh0r+evyhtk9Ui4x8OsorDL/yfu56d27ehHXjSn7fHmZ/o7l6ksy7FWDcQYnPN2v6VvKWLKg/JdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAemNzdUGEgyQwWbeKA9duhDOHd0aDDKuwmyMUAVDHNNJ0SIwcqA/OJZR+8Fx+AAZy+TDjW1bxjbI7bhy2+R4QbRZMqcYaPLkvzCE572VW6uE6zKLKv0CrhcGyUygQqotslNltd0EkU0sqAcm0lFVuqZBlIpC4Bd55zSnn2NGX/52cNVegXc2hOAq/SZ43JfKXtqlSBNfg25I4kATP5uF5QtDNAvLLw/U2KPwCwfg5gTQqpS9C7ImNgQgwSmluLWv4oItKVf7EjYElZV8kirjwi7owN27bn8aL22h5SOnp7t945Dfzj2c6cBsFTNfcVj7kUZnLQZxh4A812yQhgCpaDoIDGFp98giqI/CWJEB2SgdU+mmfbZIUgu3QEKEZ9qlyFJVkym8TxMlWlZVWDUkZ40atyYdZOMJ4ibRJzq4QePbuBekTY1t0+rRN2oQL8F1U6cZsMTzceUvWbrC26GYz/dWaAQTVdKoTLXkJUvqmB9DMNLBuwnhp1KIQ6YZFvfe87arfQpNjlyXFeJaIb+kmp12W+teCIzjdV8vf6ke8hNjK1GzW7cmxZrh0tKSftNk9hVtiKO9dl2m343UHGBVGyOWxY8d8dWBHKP52CSHPqbs2XuTGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jat3KfZt3Jp19KzaK9nYth",
      "input": {
        "note": "Jaws are still over the basket's right rim. Shifting 4 cm further left and lowering a little so the pen is clearly inside the basket.",
        "targets": {
          "right_y": 0.22,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Jat3KfZt3Jp19KzaK9nYth",
      "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]: [-0.5613, 1.356, 1.5517, -1.1851, -0.4, -0.8127, 0.9968, 0.5102, 1.8076, 1.7878, -0.8276, 0.382, 0.2749, 0.1688]\nstate[eef_state]: left_x=0.3096 left_y=-0.1092 left_z=0.282 left_yaw=0.2324 left_pitch=-0.3276 left_roll=-0.1759 left_gripper=0.9968 right_x=0.4519 right_y=0.1815 right_z=0.2485 right_yaw=0.0284 right_pitch=-0.2121 right_roll=-0.0857 right_gripper=0.1688\nstate[joint_eff]: [-0.0615, -4.6701, 5.9966, 1.2088, -0.2369, -0.0611, -0.0122, -0.0752, -9.7709, 9.5932, 1.3602, 0.2711, 0.1783, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca90ed160c9af86e691cc28c0e39fee6d58c67a05a92a3c85ea0e8a8d3e1e442",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4d55b7b7351278450ad1d53be0e81329230e5abed8f83277cd36ae2d5c39d3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba8b4482d23a685683a1925675f9f7f66d745caae130657dd37663c0e9166bd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 12.99 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]: [-0.5617, 1.356, 1.5517, -1.1851, -0.4004, -0.8127, 0.9968, 0.3859, 1.7069, 1.7008, -0.7727, 0.3115, 0.1997, 0.159]\nstate[eef_state]: left_x=0.3096 left_y=-0.1093 left_z=0.2821 left_yaw=0.2323 left_pitch=-0.3274 left_roll=-0.1756 left_gripper=0.9968 right_x=0.4552 right_y=0.1304 right_z=0.2649 right_yaw=0.0079 right_pitch=-0.1741 right_roll=-0.065 right_gripper=0.159\nstate[joint_eff]: [-0.1983, -4.6974, 5.9692, 1.2723, -0.2564, -0.0415, -0.0171, 0.1983, -9.3744, 8.8684, 1.2479, 0.3248, 0.2222, 1.0232]",
      "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]: [-0.5617, 1.356, 1.5517, -1.1851, -0.4, -0.8127, 0.9968, 0.5014, 1.7966, 1.7798, -0.8188, 0.3641, 0.2604, 0.1644]\nstate[eef_state]: left_x=0.3096 left_y=-0.1093 left_z=0.282 left_yaw=0.232 left_pitch=-0.3276 left_roll=-0.1759 left_gripper=0.9968 right_x=0.4519 right_y=0.1801 right_z=0.2509 right_yaw=0.0431 right_pitch=-0.2083 right_roll=-0.0787 right_gripper=0.1644\nstate[joint_eff]: [-0.2256, -4.6838, 5.9829, 1.2527, -0.232, -0.0269, -0.0122, 0.1846, -9.1282, 9.853, 1.3651, 0.4127, 0.2369, 1.0281]",
      "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]: [-0.5613, 1.356, 1.5517, -1.1851, -0.4, -0.8127, 0.9968, 0.5102, 1.8076, 1.7878, -0.8276, 0.382, 0.2749, 0.1688]\nstate[eef_state]: left_x=0.3096 left_y=-0.1092 left_z=0.282 left_yaw=0.2324 left_pitch=-0.3276 left_roll=-0.1759 left_gripper=0.9968 right_x=0.4519 right_y=0.1815 right_z=0.2485 right_yaw=0.0284 right_pitch=-0.2121 right_roll=-0.0857 right_gripper=0.1688\nstate[joint_eff]: [-0.0615, -4.6701, 5.9966, 1.2088, -0.2369, -0.0611, -0.0122, -0.0752, -9.7709, 9.5932, 1.3602, 0.2711, 0.1783, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca90ed160c9af86e691cc28c0e39fee6d58c67a05a92a3c85ea0e8a8d3e1e442",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4d55b7b7351278450ad1d53be0e81329230e5abed8f83277cd36ae2d5c39d3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba8b4482d23a685683a1925675f9f7f66d745caae130657dd37663c0e9166bd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjQgKjgEIEhgCKkCZheTuUyk3WQ0FdbYyQNFnH2V6Kez1/9gcG3w09nVSkpJTcYY6FfYHz1fQ61u5O6lHmnmad0npBZCuXisqUFp6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfGNzdUGEgxbF4ZAWRwAAzaK0wwaDKUB2y4RAnbHr0slQyIw/PW+9xivHZFfYticfPaUGb5s5lui8qy53lHIP0EU3rPUUjrsNjaQgQku210/GfuSKqsGe/hK+cisQdD2OX5ey4Dugzy1WN6SuPmsan+YVnSJsQqBTXD20P3pFxORnk/PQQwRBao4RMO9yL76BGZ5ZhguA+eAqkbd3a2I9hoVpTPnvEHRBw2Q1znFqL7HOXD0xIi4WQsXloAJBD57ebB23hpouFQmh1oihIpkvDrw77D6uyanKoeWqYOffopU8UT5l1UpxIRTX/i304uLoZIYSad6/xO2IoZsHUogH0mwIb5dt8eo5yoHPJ7vNQShVi7lyrf1L3IBJ9etIX6iaT1JVVNXiQ0925slpSM7uS8MqEru2tSzxlKMfbYSlAozlCamTJdr+KiXpQEdDDxicvheiOsjzojyCDCJSKKpcDCdc0G2CWgeuttLPBM4W+cSxm8zPoRYT3YgKdQ5vB7kpXx8GNQNysUNldAkma5Rx8u7BpiDb0Gy+sAkSAx8ze3PdQhlt3/Bw8vCaSFE4w4hlZDfEUhzDEQiQdDqfoaRebj4io+OBAj8jt0vqWUs02LWFOAQd7HBwNtlRSqj6oMnpxwA9RZNh8uXQ+pMed9z5aI+e4cG0cNOtw05LQdZ45KdPti5VtLsEkQDL0aPu1c8tgYTduZvAjiebMdQwB7gbb9WFWuQ58q3pcGwf+DVoLSLa9lqbV/FpJqFIEiLOFx3QcB0T2SqgaqJrXM+rsOKIMNaeFPOVrqZsqRmnKw26yxDnfKhIeCiejtFaTVi19Ohz0miGs3rxpNsRmPvpuG+Nwr2cEWTTo7Y0/1Av06kHeB6kDXAiaxjsAP/m5ESDuHxXrCnbBR9N17kpjqafFUWQYMAPEpL9BHnhba4rPsK6PHFJNHCG5z5HpW/ciW3ohJKHl7x8l+hNImDxahH0pmLdimE+CQrvJbOGd684BQWDt6UMa5Bwj8namRhVNEcy0su+Ww3G/W1z+wv84b8NBmPEhOpPrp5p+UKXGkI5C6R9spvUmnX0EFjcfzCZCMIRc0T+uCJfOm/pcInAz6MjegDwlKkRbr1kWZ3G9Zzi0Bne1QWyTSEdwf6eE31A7n0TeVcSlDnNBjOc41EKjBdvoehxA6Izt7gX2+ahMNrYhrGt/ts6BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CFzR7Mj6byVSWic89kMwv9",
      "input": {
        "note": "The arm stalled short of y=0.22 at that long reach. Pulling x back to 0.40 so it can swing further left, putting the pen over the middle of the right basket.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01CFzR7Mj6byVSWic89kMwv9",
      "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]: [-0.5613, 1.356, 1.5517, -1.1851, -0.4, -0.8127, 0.9968, 0.5102, 1.8076, 1.7878, -0.8276, 0.382, 0.2749, 0.1716]\nstate[eef_state]: left_x=0.3096 left_y=-0.1092 left_z=0.282 left_yaw=0.2324 left_pitch=-0.3276 left_roll=-0.1759 left_gripper=0.9968 right_x=0.4519 right_y=0.1815 right_z=0.2485 right_yaw=0.0284 right_pitch=-0.2121 right_roll=-0.0857 right_gripper=0.1716\nstate[joint_eff]: [-0.1846, -4.6701, 5.9692, 1.243, -0.2222, -0.0317, -0.0122, -0.294, -9.5932, 9.4427, 1.3748, 0.3053, 0.1783, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0393dd53185645f62aab2ed3b4aa4ffa53482b5755507a68543755ab3dd56af5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b27d6c70b262de3500f5f870b466c8ff2cc2c519242f8625b71ec085d5bdc6ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19320ab44540b8a858bfa72daa5d30f4e32f479c5f28900a4a339be1ef301b3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 4.136 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5617, 1.356, 1.5517, -1.1851, -0.4, -0.8127, 0.9968, 0.5014, 1.7966, 1.7798, -0.8188, 0.3641, 0.2604, 0.1644]\nstate[eef_state]: left_x=0.3096 left_y=-0.1093 left_z=0.282 left_yaw=0.232 left_pitch=-0.3276 left_roll=-0.1759 left_gripper=0.9968 right_x=0.4519 right_y=0.1801 right_z=0.2509 right_yaw=0.0431 right_pitch=-0.2083 right_roll=-0.0787 right_gripper=0.1644\nstate[joint_eff]: [-0.2256, -4.6838, 5.9829, 1.2527, -0.232, -0.0269, -0.0122, 0.1846, -9.1282, 9.853, 1.3651, 0.4127, 0.2369, 1.0281]",
      "type": "text"
    },
    {
      "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]: [-0.5613, 1.356, 1.5517, -1.1851, -0.4, -0.8127, 0.9968, 0.5102, 1.8076, 1.7878, -0.8276, 0.382, 0.2749, 0.1688]\nstate[eef_state]: left_x=0.3096 left_y=-0.1092 left_z=0.282 left_yaw=0.2324 left_pitch=-0.3276 left_roll=-0.1759 left_gripper=0.9968 right_x=0.4519 right_y=0.1815 right_z=0.2485 right_yaw=0.0284 right_pitch=-0.2121 right_roll=-0.0857 right_gripper=0.1688\nstate[joint_eff]: [-0.0615, -4.6701, 5.9966, 1.2088, -0.2369, -0.0611, -0.0122, -0.0752, -9.7709, 9.5932, 1.3602, 0.2711, 0.1783, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5613, 1.356, 1.5517, -1.1851, -0.4, -0.8127, 0.9968, 0.5102, 1.8076, 1.7878, -0.8276, 0.382, 0.2749, 0.1716]\nstate[eef_state]: left_x=0.3096 left_y=-0.1092 left_z=0.282 left_yaw=0.2324 left_pitch=-0.3276 left_roll=-0.1759 left_gripper=0.9968 right_x=0.4519 right_y=0.1815 right_z=0.2485 right_yaw=0.0284 right_pitch=-0.2121 right_roll=-0.0857 right_gripper=0.1716\nstate[joint_eff]: [-0.1846, -4.6701, 5.9692, 1.243, -0.2222, -0.0317, -0.0122, -0.294, -9.5932, 9.4427, 1.3748, 0.3053, 0.1783, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0393dd53185645f62aab2ed3b4aa4ffa53482b5755507a68543755ab3dd56af5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b27d6c70b262de3500f5f870b466c8ff2cc2c519242f8625b71ec085d5bdc6ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19320ab44540b8a858bfa72daa5d30f4e32f479c5f28900a4a339be1ef301b3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9QcKjgEIEhgCKkDL/L3MK0DF7JNC59k3Y+KuwZGHO8jeBTfv8RzKq6GThXJD9EgHLnVmoHlopXv29WdjdrsWFCdSnVaVHLOqc20wMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf6NzdUGEgwqS/NQ+Ml0Tf14nTYaDMhGfrQODV1knKZanSIwDRAwB0D2teSIfsqiEWEW7v28JYWXg7z3a06uC4wAPKe7GWI8CYVk65yHqMiGVlmIKpMGhd7FYEdqeLHhGqoMhWNQq1vQV7Tm/qKeF+OBJYBK5+HQ6LSDLmORmbDoe2u2WCwc9inqFDDHb1wKIN6lzjKN95e7e6f7Vm9Nyk3KFT/JucNoAmzihb6kaNOXL0lyAUi6YpgnjqU+TkuofGd9Fj7UXXkbwAh69Nz4Q+uhQCjBtDX/mRtsznTgWlQc4s3KmhILWNFeIsNHZF0UKZQGXYy5Pk2Wa9Q4at4anZNrWYw0I4SXK4TathFlo7AvMV1ZgeiDT+WDCiBvsS3KAMYrM5rR+8xUPAyfX+rToUuuxaTDMfx+W3YeJshXuOPouTs1Q9c//FkyWzaZJPSZIiNQbmPpMqnPt+u31TCApQdXK1I+mRJQdLy/Hu+N2a5NtA5Ejv1/4KfAwNnA5EDalTLNT/gdvkc9wV89eP9ej9FMkKMjlg/30Sqtnr5jMC2d2hExMkQeoDMdcCZ966Yd1BsNxZX3TnjV8oaqVQeXmrbtvx4jNuBySbPo63EzxQhmlKdcgIYD+kolYsp8a/u/sOhBmYZp38qh+A0acO3DN+2TDOk0Ax9lswIwT9WiSIGG7NExpLeQ9AqBKxZN0dMw8FSljA3dfYYr3N7jWcUnU97QcVDOmCTWkrBVGur0TvwSjM4wQ38weyVg3nrNjFSdfW/ZNUUOWabomFl5Nqt5DSTWBXy4oICTdjYvqONdrDb1nVNcs4OixAMGVm6qhwNYdyTR56KOP9uEM0vEu9ssZON/HNGJQJCZTaoU3autRY1x/UD6jGhgeOd9KJ9NBpyTE3vPbPoK+h4enF0aX/Gyr/dA1eGonrlqUzSjGtoadsaOub41U/EAHn5zFX5GJraewLn4PlpphXMO0W678Pquo3tAsTNNxanW+3tRec6Y96FBxNEU7tFW2KQPUSQFyyy4PkqdaoT3gEJzP3kscyBn3PW5RhgimgWGbeG60JTFvqFx6R19o4KzzflHEIgQKORtJRNOtcQSLyhMxda6+oisBJ9iIpNyBmqeYezDaKfIYEBhExxIPaXNMnV/MZe4fhjl3RBuh2zWZi5TZxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KW5sTbKHK8XWcteebr8MUZ",
      "input": {
        "note": "The arm is stalled at the same pose, likely against a limit at that reach and height. Raising to 33 cm and swinging further left to get above the centre of the right basket.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.25,
          "right_z": 0.33
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01KW5sTbKHK8XWcteebr8MUZ",
      "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]: [-0.5617, 1.3571, 1.5517, -1.1854, -0.3965, -0.8127, 0.9968, 0.7105, 2.1204, 2.339, -1.2091, 0.4576, 0.3878, 0.1722]\nstate[eef_state]: left_x=0.3095 left_y=-0.1099 left_z=0.2814 left_yaw=0.2298 left_pitch=-0.3307 left_roll=-0.1769 left_gripper=0.9968 right_x=0.4347 right_y=0.2758 right_z=0.2578 right_yaw=0.0881 right_pitch=-0.2959 right_roll=-0.1358 right_gripper=0.1722\nstate[joint_eff]: [-0.3214, -4.4103, 5.9692, 1.2283, -0.2857, -0.0317, -0.0122, -2.2632, -12.0957, 7.1179, 0.2369, 0.6129, 0.2125, 0.5836]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:281e22bde8281f301c05be5562795820f8e7949075e2cb3ced5969bf287c511f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bef5d3be4d8db4dc2fecc74b7d931389d1b61582ab09d14abd36ef61fa37d263",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2b2fc27c257845b57f0b12b26d850b87afbfabc1ac33ec832db87515552f523",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 8.797 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5613, 1.356, 1.5517, -1.1851, -0.4, -0.8127, 0.9968, 0.5102, 1.8076, 1.7878, -0.8276, 0.382, 0.2749, 0.1688]\nstate[eef_state]: left_x=0.3096 left_y=-0.1092 left_z=0.282 left_yaw=0.2324 left_pitch=-0.3276 left_roll=-0.1759 left_gripper=0.9968 right_x=0.4519 right_y=0.1815 right_z=0.2485 right_yaw=0.0284 right_pitch=-0.2121 right_roll=-0.0857 right_gripper=0.1688\nstate[joint_eff]: [-0.0615, -4.6701, 5.9966, 1.2088, -0.2369, -0.0611, -0.0122, -0.0752, -9.7709, 9.5932, 1.3602, 0.2711, 0.1783, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 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]: [-0.5613, 1.356, 1.5517, -1.1851, -0.4, -0.8127, 0.9968, 0.5102, 1.8076, 1.7878, -0.8276, 0.382, 0.2749, 0.1716]\nstate[eef_state]: left_x=0.3096 left_y=-0.1092 left_z=0.282 left_yaw=0.2324 left_pitch=-0.3276 left_roll=-0.1759 left_gripper=0.9968 right_x=0.4519 right_y=0.1815 right_z=0.2485 right_yaw=0.0284 right_pitch=-0.2121 right_roll=-0.0857 right_gripper=0.1716\nstate[joint_eff]: [-0.1846, -4.6701, 5.9692, 1.243, -0.2222, -0.0317, -0.0122, -0.294, -9.5932, 9.4427, 1.3748, 0.3053, 0.1783, 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 109 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]: [-0.5617, 1.3571, 1.5517, -1.1854, -0.3965, -0.8127, 0.9968, 0.7105, 2.1204, 2.339, -1.2091, 0.4576, 0.3878, 0.1722]\nstate[eef_state]: left_x=0.3095 left_y=-0.1099 left_z=0.2814 left_yaw=0.2298 left_pitch=-0.3307 left_roll=-0.1769 left_gripper=0.9968 right_x=0.4347 right_y=0.2758 right_z=0.2578 right_yaw=0.0881 right_pitch=-0.2959 right_roll=-0.1358 right_gripper=0.1722\nstate[joint_eff]: [-0.3214, -4.4103, 5.9692, 1.2283, -0.2857, -0.0317, -0.0122, -2.2632, -12.0957, 7.1179, 0.2369, 0.6129, 0.2125, 0.5836]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:281e22bde8281f301c05be5562795820f8e7949075e2cb3ced5969bf287c511f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bef5d3be4d8db4dc2fecc74b7d931389d1b61582ab09d14abd36ef61fa37d263",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2b2fc27c257845b57f0b12b26d850b87afbfabc1ac33ec832db87515552f523",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6wMKjgEIEhgCKkCjUh7jBiHzicbLcTYbwCxJzd6BVaDxWZ335sBphRQfT1ltGJ+JvwdqBAXa1SIIE7jRwuKOs1H1m9fD2BCLZoCAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYSOzdUGEgxCA5AsUyxYVBna49UaDCeoI9kC0f6dzMrh9SIwWeLQpmxfExXI7LBG0Zxf3SpZcnYXHYjOjgilfA9En2RTBEy/m0/hHF891HmFnbnUKokCgcQBfx4r2rnQt3yzDoIfT6IHT3z9+zyNyTl8njjoi+0gIyIQ8XtjtlGDObiOCnW+23yW1qCTDZUn8AwGaKmIvOwx2Xqzvf4tB6p5s4+7aXtXDxpi5O7RaKgLbRkjWWAilhXCwFkWiVzq86R7HRG0oMdoi5rIfUP73uxOiUgwAvmBCMrdhRDvBOqjsxdzz+CwLmPVKHmQZsZ4fqgdzj2fLps3QgngmwIg2r2cfjE4faGHfrC3UV3bCR+I24yTOyBm+eikDqgoiUEJ8MfmYIcFR+fyc8khm6GrWzyul6nMjVGakE9qJYIrrne0AkeJvX5XWlHI5/Bg1/QJjIKF1kbBdgpZ5Wq+XYFTYxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M3sDrhaEETLoN1jBCsze5D",
      "input": {
        "note": "The jaws are now over the right basket's interior. Opening to drop the pen into the pens basket.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01M3sDrhaEETLoN1jBCsze5D",
      "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]: [-0.5617, 1.3598, 1.5517, -1.1854, -0.3962, -0.8127, 0.9968, 0.7055, 2.1494, 2.3344, -1.2282, 0.4515, 0.3771, 0.9951]\nstate[eef_state]: left_x=0.3098 left_y=-0.1102 left_z=0.2806 left_yaw=0.2302 left_pitch=-0.3328 left_roll=-0.1751 left_gripper=0.9968 right_x=0.4355 right_y=0.2744 right_z=0.2393 right_yaw=0.0836 right_pitch=-0.3425 right_roll=-0.1709 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -4.7795, 5.9419, 1.2332, -0.2369, -0.0415, -0.0122, 0.2667, -13.9009, 6.2564, 1.37, 0.2564, 0.1001, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a84dfefb70b6269ec775eb6be5810f1c7b1b7fa5dc632e93dd850042c3a12c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17ab96885a3774a69cdf69abfa4bd0f3cc7c5b31d80b5df0403ec88db6f5e17d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:565f455c4cbd5b68e4121b9cb724295d338f6ba0d95f8b7afcc47c0e78c7d696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /messages · status 200 · 14.8 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5613, 1.356, 1.5517, -1.1851, -0.4, -0.8127, 0.9968, 0.5102, 1.8076, 1.7878, -0.8276, 0.382, 0.2749, 0.1716]\nstate[eef_state]: left_x=0.3096 left_y=-0.1092 left_z=0.282 left_yaw=0.2324 left_pitch=-0.3276 left_roll=-0.1759 left_gripper=0.9968 right_x=0.4519 right_y=0.1815 right_z=0.2485 right_yaw=0.0284 right_pitch=-0.2121 right_roll=-0.0857 right_gripper=0.1716\nstate[joint_eff]: [-0.1846, -4.6701, 5.9692, 1.243, -0.2222, -0.0317, -0.0122, -0.294, -9.5932, 9.4427, 1.3748, 0.3053, 0.1783, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5617, 1.3571, 1.5517, -1.1854, -0.3965, -0.8127, 0.9968, 0.7105, 2.1204, 2.339, -1.2091, 0.4576, 0.3878, 0.1722]\nstate[eef_state]: left_x=0.3095 left_y=-0.1099 left_z=0.2814 left_yaw=0.2298 left_pitch=-0.3307 left_roll=-0.1769 left_gripper=0.9968 right_x=0.4347 right_y=0.2758 right_z=0.2578 right_yaw=0.0881 right_pitch=-0.2959 right_roll=-0.1358 right_gripper=0.1722\nstate[joint_eff]: [-0.3214, -4.4103, 5.9692, 1.2283, -0.2857, -0.0317, -0.0122, -2.2632, -12.0957, 7.1179, 0.2369, 0.6129, 0.2125, 0.5836]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5617, 1.3598, 1.5517, -1.1854, -0.3962, -0.8127, 0.9968, 0.7055, 2.1494, 2.3344, -1.2282, 0.4515, 0.3771, 0.9951]\nstate[eef_state]: left_x=0.3098 left_y=-0.1102 left_z=0.2806 left_yaw=0.2302 left_pitch=-0.3328 left_roll=-0.1751 left_gripper=0.9968 right_x=0.4355 right_y=0.2744 right_z=0.2393 right_yaw=0.0836 right_pitch=-0.3425 right_roll=-0.1709 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -4.7795, 5.9419, 1.2332, -0.2369, -0.0415, -0.0122, 0.2667, -13.9009, 6.2564, 1.37, 0.2564, 0.1001, -0.022]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a84dfefb70b6269ec775eb6be5810f1c7b1b7fa5dc632e93dd850042c3a12c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17ab96885a3774a69cdf69abfa4bd0f3cc7c5b31d80b5df0403ec88db6f5e17d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:565f455c4cbd5b68e4121b9cb724295d338f6ba0d95f8b7afcc47c0e78c7d696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9ggKjgEIEhgCKkDOGWh51fMimkrM2o6vETLo3sdd78ZYROWtJ4QHGF5yUOR5JoOz4Iur5ZBPbJrVDb/wn763Nr2Y+pCPzXs95zXIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY2OzdUGEgyOc8wSI5a6IXkMlZ8aDG+lHiQ4moPQ5o4Q/SIwW7vYSxQ/d9c+OpKFPROop4LI55e1X+fOBeTKXd71swBX3x5FOH3xaldrt3Viw0/QKpQHJE6dQL5bWjQBC5VhTg6dVJmOLCRreu/ZcFhG/lA5o6c6ND9nvH24FUEII4UeQx//l9/961fpEtiei/PY6foXzO9kuVUx/SGqKxqdkuct9y7F3uGKBXnV01d26y0RNcTgDiK74FT9k7Itm0w83oUbm1CtPHYf/aArmAiMszGeluddo3kE+Bca0nsUUytsRGXQ3KqZ/dzx2qe5hohWY8yH71GoulRvSgq80jTmkxURnFs1nTHXJQ8yhYdzGjMTw0xXMYuV0UATF0OPSt8+WrHC3qMHca1D6y6zPkfZSn1dBNP2l/r6uai0uErz803iv3zHzHiOTQBhVmGgdPoVchNzvZI3N08UiHJ5pxpiHAib4uTLax4pny5D8YjG1cMS7edTIERlnjnsYIXiLpeOeK182SM7TznpES3+fmjto1qnLdRrJUx+QTamsZw3idcL6VwHjisrG6maBo+KFru5esSKoQRChlgJ+ol3xj9r9dqCuulT4BhTxnA5DOWh8MX9iSVQfb8E83JjqHC5FaywP2p00WsDwh4hT9xTgsZiLmicZ6zuIRXhoMnhXwREODpl3x3LN3HFXhsUrgQ3TrYB3ZVHM7i5Ibqd2Hu3b0na5Yv1bBGslyXV0VbyjrqM8GOTSNhB6vGGdQ5W4CRglnFy1tsMuO3NKVtWDMwX/U/OLFy0XNBJasH+p0ISrBSerjSP4iEcRNDOkntqQv0W7BmFKKrENgVx6uKuUTQpfWOIN8j8LUzNc1Fwg4R0iWBzwjUyyoG1gCeTsNevh2HQMmLFADu0+biwVye30G3qN2CC/sBUy2JeASChgXkDtMn6hImcm4MsIEG3dV7QaTl7xl5dm+bvI1MBPvKN9MaHpyqyOX9y7QpimOHTmIBBiUKzdJVekW8roref7RR65r9iqQtCovaj+HxiYgNts1q9XopzzbTxXQRI3pduwLuJPJzDxCwhcW5OUj6VDZKSgEEpIE5gS0elQsJb3oFnJk9iyp2YBWcWD79JioZcrk7eD3ZRkrAOubXWrZ4oPfxFaVqFkGkuELqrBrf3hyy8y98tnN8xewP+AuMXzSfGi2r9i50ox79W8pyOQFXmq9axOZya6IEhEW4G5MbrsEzRU7YUgQ+Dq0rH2RLecjSyz2cTKoHDRnGW2JCyzM/CpoP0popE+szdcSVrU1eINOMi1xOCgdr/IUryd0A/2TzU26A2B9PvsHQj6qGal6tmvhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L2Dw2GsUJkgzfBt8yLWjWF",
      "input": {
        "note": "Pen released over the right basket. Retracting both arms to get an unobstructed overhead view and confirm where the pen and the bear ended up.",
        "targets": {
          "left_x": 0.18,
          "left_y": 0.0,
          "left_z": 0.32,
          "right_x": 0.2,
          "right_y": 0.0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01L2Dw2GsUJkgzfBt8yLWjWF",
      "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]: [-0.2161, 0.9283, 1.5009, -1.4906, -0.2119, -0.5552, 0.9968, 0.0704, 0.9306, 1.4105, -1.3518, 0.1268, -0.104, 0.9963]\nstate[eef_state]: left_x=0.1872 left_y=0.0006 left_z=0.3138 left_yaw=0.2675 left_pitch=-0.3392 left_roll=-0.1802 left_gripper=0.9968 right_x=0.2106 right_y=-0.004 right_z=0.3024 right_yaw=0.0112 right_pitch=-0.3135 right_roll=-0.1669 right_gripper=0.9963\nstate[joint_eff]: [0.0889, -0.1573, 7.2, 1.2723, -0.0757, 0.1734, -0.0122, 0.2256, -0.2393, 5.7778, 1.2772, -0.0513, -0.1148, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b6210c1007acd3fa53190623bac6d978f895a83eae095f78019c4ff5ac70e79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15d68c9ef4217b1c354847c7c273ba6b862fba6a93d99b96f7462909bc6564b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f64fb0c7503769815c5cc612f20bdb1abb2c561b6d295ba7f4247909630937c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 39 attempt 0 · /messages · status 200 · 9.472 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 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]: [-0.5617, 1.3571, 1.5517, -1.1854, -0.3965, -0.8127, 0.9968, 0.7105, 2.1204, 2.339, -1.2091, 0.4576, 0.3878, 0.1722]\nstate[eef_state]: left_x=0.3095 left_y=-0.1099 left_z=0.2814 left_yaw=0.2298 left_pitch=-0.3307 left_roll=-0.1769 left_gripper=0.9968 right_x=0.4347 right_y=0.2758 right_z=0.2578 right_yaw=0.0881 right_pitch=-0.2959 right_roll=-0.1358 right_gripper=0.1722\nstate[joint_eff]: [-0.3214, -4.4103, 5.9692, 1.2283, -0.2857, -0.0317, -0.0122, -2.2632, -12.0957, 7.1179, 0.2369, 0.6129, 0.2125, 0.5836]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 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]: [-0.5617, 1.3598, 1.5517, -1.1854, -0.3962, -0.8127, 0.9968, 0.7055, 2.1494, 2.3344, -1.2282, 0.4515, 0.3771, 0.9951]\nstate[eef_state]: left_x=0.3098 left_y=-0.1102 left_z=0.2806 left_yaw=0.2302 left_pitch=-0.3328 left_roll=-0.1751 left_gripper=0.9968 right_x=0.4355 right_y=0.2744 right_z=0.2393 right_yaw=0.0836 right_pitch=-0.3425 right_roll=-0.1709 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -4.7795, 5.9419, 1.2332, -0.2369, -0.0415, -0.0122, 0.2667, -13.9009, 6.2564, 1.37, 0.2564, 0.1001, -0.022]\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 115 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]: [-0.2161, 0.9283, 1.5009, -1.4906, -0.2119, -0.5552, 0.9968, 0.0704, 0.9306, 1.4105, -1.3518, 0.1268, -0.104, 0.9963]\nstate[eef_state]: left_x=0.1872 left_y=0.0006 left_z=0.3138 left_yaw=0.2675 left_pitch=-0.3392 left_roll=-0.1802 left_gripper=0.9968 right_x=0.2106 right_y=-0.004 right_z=0.3024 right_yaw=0.0112 right_pitch=-0.3135 right_roll=-0.1669 right_gripper=0.9963\nstate[joint_eff]: [0.0889, -0.1573, 7.2, 1.2723, -0.0757, 0.1734, -0.0122, 0.2256, -0.2393, 5.7778, 1.2772, -0.0513, -0.1148, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b6210c1007acd3fa53190623bac6d978f895a83eae095f78019c4ff5ac70e79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15d68c9ef4217b1c354847c7c273ba6b862fba6a93d99b96f7462909bc6564b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f64fb0c7503769815c5cc612f20bdb1abb2c561b6d295ba7f4247909630937c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GuMJbEEpSVUxMa3oU5dUJk",
      "input": {
        "note": "Overhead view: the teddy is draped over the left basket rather than settled inside it, and the pen fell short of the right basket. With few calls left I'll use a closed gripper to press the teddy down into the left basket.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.46,
          "left_y": -0.05,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01GuMJbEEpSVUxMa3oU5dUJk",
      "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]: [-0.1928, 1.7203, 1.6112, -0.8871, -0.2012, -0.5575, 0.0113, 0.0662, 0.9352, 1.4097, -1.3716, 0.1223, -0.1223, 0.9964]\nstate[eef_state]: left_x=0.4408 left_y=-0.0464 left_z=0.202 left_yaw=0.2973 left_pitch=-0.4126 left_roll=-0.1506 left_gripper=0.0113 right_x=0.2077 right_y=-0.0042 right_z=0.2981 right_yaw=0.0208 right_pitch=-0.3405 right_roll=-0.1768 right_gripper=0.9964\nstate[joint_eff]: [0.0752, -8.7179, 9.2923, 1.5018, -0.0806, 0.1783, 0.8474, 0.0205, -0.3897, 5.4222, 1.5995, 0.0855, 0.1441, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4560494b90688d1d09556389d239bd05683f930d69a10f7630bec254ffba486d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ca1fd78f77e9a30ce87da2ad50d03fadbe03941b4e650ac6c8118792c93105c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 393):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:efd4a721c221f49a8ba3af4c067faff0c7983b7e7de0195dfedc130770872660",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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