adhoc

completed
2026-09-23T01:07:32.092749+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
362.5 s
total steps
439
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 noteScene has plush animal toys and pen-like sticks on the table, with two baskets at the far side. I'll sort toys with the left arm; first lowering the left gripper toward the white plush toy visible in its wrist view.
move_to
left_x0.3000left_y0.0300left_z0.1300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.7986, 0.6155, -0.3801, -0.0216, -0.0334, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0128, -0.0158, 0.9994] state[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.184 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.4581, -1.6342, 9.4017, 1.7851, -0.0171, 0.1685, -0.0562, -0.7726, -1.3607, 9.8667, 1.7021, -0.1392, 0.0024, -0.0708] 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": 0.3, "left_y": 0.03, "left_z": 0.13, "left_gripper": 1}, "note": "Scene has plush animal toys and pen-like sticks on the table, with two baskets at the far side. I'll sort toys with the left arm; first lowering the left gripper toward the white plush toy visible in its wrist view."})
tool
executing move_to over 4 steps (0.4s)
step 4
top_cam
camera top_cam step 4
left_cam
camera left_cam step 4
right_cam
camera right_cam step 4
assistant
agent noteThe left wrist view shows a white plush toy centred on the jaw column right below the gripper; descending to grasp height.
move_to
left_z0.0400
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]: [0.1673, 0.8623, 0.424, -0.1612, 0.1158, 0.0528, 0.9996, -0.0151, 0.7967, 0.6086, -0.3744, -0.012, -0.0158, 0.9994] state[eef_state]: left_x=0.297 left_y=0.0331 left_z=0.1244 left_yaw=0.024 left_pitch=-0.0318 left_roll=-0.0053 left_gripper=0.9996 right_x=0.2963 right_y=0.0012 right_z=0.1825 right_yaw=-0.0003 right_pitch=-0.0023 right_roll=-0.0004 right_gripper=0.9994 state[joint_eff]: [-0.0889, -1.9487, 6.5026, 1.9512, 0.1685, 0.105, -0.0562, -0.2393, -1.0598, 7.3778, 1.7118, -0.0611, -0.0464, -0.0122] camera 'top_cam' (step 4): [image omitted: streamed camera frame] camera 'left_cam' (step 4): [image omitted: streamed camera frame] camera 'right_cam' (step 4): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.04}, "note": "The left wrist view shows a white plush toy centred on the jaw column right below the gripper; descending to grasp height."})
tool
executing move_to over 6 steps (0.6s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteGripper is down at table level amid the plush toy's body; closing the jaws to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1673, 1.1641, 0.1478, 0.3813, 0.1123, 0.0521, 0.9996, -0.0151, 0.7986, 0.6086, -0.3779, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.292 left_y=0.0329 left_z=0.0322 left_yaw=0.0271 left_pitch=-0.0672 left_roll=-0.009 left_gripper=0.9996 right_x=0.2959 right_y=0.0013 right_z=0.1813 right_yaw=-0.0001 right_pitch=-0.0076 right_roll=-0.0006 right_gripper=0.9994 state[joint_eff]: [0.0752, -2.7282, 5.8462, 1.8779, 0.0171, -0.0269, -0.0122, -0.2256, -1.4017, 7.1043, 1.79, -0.0562, -0.0757, -0.0122] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Gripper is down at table level amid the plush toy's body; closing the jaws to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteGripper reads 0.42 (something ~4 cm thick held) — lifting the plush toy to check it came with the jaws.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1673, 1.1641, 0.1478, 0.3824, 0.1123, 0.0486, 0.4159, -0.0151, 0.7986, 0.6086, -0.3782, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.2922 left_y=0.0329 left_z=0.0325 left_yaw=0.0289 left_pitch=-0.0661 left_roll=-0.0116 left_gripper=0.4159 right_x=0.2959 right_y=0.0013 right_z=0.1812 right_yaw=-0.0001 right_pitch=-0.008 right_roll=-0.0006 right_gripper=0.9994 state[joint_eff]: [-0.0615, -2.4274, 5.5043, 1.6874, -0.0317, -0.022, 1.0232, -0.1436, -0.9504, 7.1863, 1.7607, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22}, "note": "Gripper reads 0.42 (something ~4 cm thick held) \u2014 lifting the plush toy to check it came with the jaws."})
tool
executing move_to over 13 steps (1.3s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteHolding the grey plush toy (gripper 0.42); moving up and over toward the left-hand basket at the far side of the table.
move_to
left_x0.4000left_y-0.2000left_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]: [0.1673, 0.8715, 0.8043, -0.6136, 0.112, 0.041, 0.4159, -0.0151, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.2882 left_y=0.0323 left_z=0.203 left_yaw=0.0328 left_pitch=-0.1126 left_roll=-0.0239 left_gripper=0.4159 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=-0.0001 right_pitch=-0.0145 right_roll=-0.0005 right_gripper=0.9994 state[joint_eff]: [-0.1709, -2.0308, 9.6752, 1.7753, -0.0366, 0.022, 1.0085, -0.294, -1.1692, 7.0769, 1.7656, -0.0513, -0.0415, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.2, "left_z": 0.25}, "note": "Holding the grey plush toy (gripper 0.42); moving up and over toward the left-hand basket at the far side of the table."})
tool
executing move_to over 21 steps (2.1s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteArm is over the left basket with the plush toy; lowering into the basket before releasing.
move_to
left_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6636, 1.6131, 1.4723, -0.7132, -0.4873, -0.5243, 0.4159, -0.0147, 0.7986, 0.6086, -0.3855, -0.0116, -0.0162, 0.9994] state[eef_state]: left_x=0.3925 left_y=-0.1974 left_z=0.2304 left_yaw=0.0147 left_pitch=-0.1658 left_roll=-0.0098 left_gripper=0.4159 right_x=0.2949 right_y=0.0013 right_z=0.1797 right_yaw=-0.0 right_pitch=-0.0153 right_roll=-0.0007 right_gripper=0.9994 state[joint_eff]: [-0.2803, -8.1436, 9.1419, 1.5165, -0.3785, 0.1294, 0.9988, -0.1709, -1.1145, 7.0906, 1.7118, -0.0269, -0.0611, -0.0122] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.14}, "note": "Arm is over the left basket with the plush toy; lowering into the basket before releasing."})
tool
executing move_to over 6 steps (0.6s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteTop view shows the gripper just short (near side) of the left basket; nudging forward to be over the basket opening.
move_to
left_x0.4300left_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]: [-0.6643, 1.6321, 1.1534, -0.4465, -0.4717, -0.532, 0.4164, -0.0147, 0.7986, 0.6083, -0.3847, -0.0116, -0.0162, 0.9994] state[eef_state]: left_x=0.3809 left_y=-0.1918 left_z=0.1344 left_yaw=0.0153 left_pitch=-0.2289 left_roll=0.0206 left_gripper=0.4164 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=-0.0 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9994 state[joint_eff]: [-0.1299, -7.1316, 7.1043, 1.5946, -0.359, 0.0366, 0.4322, -0.3214, -1.2786, 7.1726, 1.79, -0.0415, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_z": 0.16}, "note": "Top view shows the gripper just short (near side) of the left basket; nudging forward to be over the basket opening."})
tool
executing move_to over 4 steps (0.4s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteGripper is over the left basket; opening to drop the plush toy 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]: [-0.5823, 1.7557, 1.3426, -0.5098, -0.4271, -0.4938, 0.4161, -0.0147, 0.8013, 0.6083, -0.3855, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.4234 left_y=-0.1869 left_z=0.1441 left_yaw=0.0423 left_pitch=-0.2493 left_roll=0.0173 left_gripper=0.4161 right_x=0.295 right_y=0.0014 right_z=0.1788 right_yaw=0.0003 right_pitch=-0.0183 right_roll=-0.0005 right_gripper=0.9994 state[joint_eff]: [-0.5675, -9.4974, 8.9778, 1.2674, -0.2564, 0.188, 0.7643, -0.2256, -1.3197, 7.0496, 1.6972, -0.0415, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "Gripper is over the left basket; opening to drop the plush toy in."})
tool
executing move_to over 6 steps (0.6s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteReleased over the left basket; retracting the left arm so the overhead camera can show whether the toy landed inside.
move_to
left_x0.3000left_y-0.0500left_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]: [-0.5793, 1.7649, 1.3449, -0.5289, -0.4191, -0.4988, 0.9952, -0.0147, 0.8024, 0.6083, -0.3851, -0.0116, -0.0162, 0.9994] state[eef_state]: left_x=0.4212 left_y=-0.1853 left_z=0.1379 left_yaw=0.046 left_pitch=-0.2741 left_roll=0.0241 left_gripper=0.9952 right_x=0.2952 right_y=0.0013 right_z=0.1785 right_yaw=-0.0 right_pitch=-0.0191 right_roll=-0.0007 right_gripper=0.9994 state[joint_eff]: [-0.3761, -9.8256, 6.4479, 1.5214, -0.315, -0.0073, -0.0562, -0.0752, -1.4017, 7.0222, 1.7753, -0.0317, -0.0708, -0.0171] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.25}, "note": "Released over the left basket; retracting the left arm so the overhead camera can show whether the toy landed inside."})
tool
executing move_to over 13 steps (1.3s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteGrey toy is in the left basket. Now switching to the right arm to collect the pens/markers; moving above the marker pair on the right side of the table.
move_to
right_x0.2800right_y0.1400right_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]: [-0.3424, 1.1595, 1.2022, -0.9211, -0.2882, -0.3279, 0.9967, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.3097 left_y=-0.0533 left_z=0.2402 left_yaw=0.0733 left_pitch=-0.2671 left_roll=0.0136 left_gripper=0.9967 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=0.0003 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9994 state[joint_eff]: [0.0479, -3.9179, 9.347, 1.3993, -0.1783, 0.1099, 0.1392, -0.2803, -1.5248, 7.1726, 1.7656, -0.0317, -0.0317, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.14, "right_z": 0.15}, "note": "Grey toy is in the left basket. Now switching to the right arm to collect the pens/markers; moving above the marker pair on the right side of the table."})
tool
executing move_to over 12 steps (1.2s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteRight wrist view shows two markers lying on the table just ahead of the jaws; advancing slightly forward/left and dropping low to line up on the nearer marker.
move_to
right_x0.3000right_y0.1500right_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3424, 1.1641, 1.2003, -0.9272, -0.2802, -0.3294, 0.9968, 0.7734, 1.0668, 0.5987, -0.3328, 0.5758, 0.4438, 0.9993] state[eef_state]: left_x=0.3087 left_y=-0.0544 left_z=0.2369 left_yaw=0.0689 left_pitch=-0.2811 left_roll=0.0119 left_gripper=0.9968 right_x=0.2723 right_y=0.1365 right_z=0.1296 right_yaw=0.0552 right_pitch=-0.0869 right_roll=-0.0481 right_gripper=0.9993 state[joint_eff]: [-0.0615, -3.8769, 6.9402, 1.4188, -0.2173, -0.0122, 0.0024, 0.2803, -3.535, 9.853, 1.4335, 0.4664, 0.1685, -0.0171] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.15, "right_z": 0.06}, "note": "Right wrist view shows two markers lying on the table just ahead of the jaws; advancing slightly forward/left and dropping low to line up on the nearer marker."})
tool
executing move_to over 5 steps (0.5s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe blue-capped marker sits right between the open jaws in the wrist view; descending to table level to grasp it.
move_to
right_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]: [-0.3424, 1.166, 1.1999, -0.9279, -0.2798, -0.3298, 0.9968, 0.7353, 1.3495, 0.4774, 0.0002, 0.5446, 0.4183, 0.9993] state[eef_state]: left_x=0.3087 left_y=-0.0544 left_z=0.2361 left_yaw=0.0692 left_pitch=-0.284 left_roll=0.0126 left_gripper=0.9968 right_x=0.2874 right_y=0.1414 right_z=0.0514 right_yaw=0.0483 right_pitch=-0.157 right_roll=-0.0965 right_gripper=0.9993 state[joint_eff]: [-0.1846, -3.6444, 6.4889, 1.4188, -0.2076, 0.0073, -0.0122, -0.5128, -5.2308, 5.4359, 1.4432, 0.2271, -0.1294, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.0}, "note": "The blue-capped marker sits right between the open jaws in the wrist view; descending to table level to grasp it."})
tool
executing move_to over 4 steps (0.4s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteMarker lies centred 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]: [-0.3428, 1.1679, 1.1999, -0.9276, -0.2794, -0.3325, 0.9968, 0.7326, 1.5326, 0.3988, 0.2924, 0.5541, 0.424, 0.9993] state[eef_state]: left_x=0.309 left_y=-0.0547 left_z=0.2356 left_yaw=0.0701 left_pitch=-0.2855 left_roll=0.0111 left_gripper=0.9968 right_x=0.2938 right_y=0.1441 right_z=0.0151 right_yaw=0.0383 right_pitch=-0.1287 right_roll=-0.078 right_gripper=0.9993 state[joint_eff]: [-0.1573, -3.4667, 6.5436, 1.4676, -0.1197, -0.0024, -0.0122, 0.1436, -3.0427, 2.7966, 0.5446, 0.0024, -0.1001, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Marker lies centred between the jaws at table level; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteGripper reads 0.145 — the marker is held. Lifting and moving forward over the right-hand basket.
move_to
right_x0.4200right_y0.1300right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3428, 1.169, 1.1999, -0.9272, -0.2798, -0.3332, 0.9968, 0.7326, 1.562, 0.382, 0.3565, 0.5415, 0.4194, 0.1451] state[eef_state]: left_x=0.3092 left_y=-0.0547 left_z=0.2353 left_yaw=0.071 left_pitch=-0.2861 left_roll=0.0112 left_gripper=0.9968 right_x=0.2942 right_y=0.147 right_z=0.01 right_yaw=0.0515 right_pitch=-0.1209 right_roll=-0.0629 right_gripper=0.1451 state[joint_eff]: [-0.2256, -3.5897, 6.4752, 1.3748, -0.1587, -0.0562, -0.0122, 0.1846, -3.959, 3.9179, 1.2039, 0.2271, -0.0317, 1.0085] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.13, "right_z": 0.2}, "note": "Gripper reads 0.145 \u2014 the marker is held. Lifting and moving forward over the right-hand basket."})
tool
executing move_to over 13 steps (1.3s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteWrist view shows the basket's near wall straight ahead, so the jaws are still short of the opening; moving further forward and a bit higher to clear the rim.
move_to
right_x0.4700right_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]: [-0.3428, 1.169, 1.1999, -0.9276, -0.2794, -0.3328, 0.9968, 0.4263, 1.5135, 1.1419, -0.3714, 0.3183, 0.186, 0.1493] state[eef_state]: left_x=0.3091 left_y=-0.0548 left_z=0.2353 left_yaw=0.0705 left_pitch=-0.2865 left_roll=0.0114 left_gripper=0.9968 right_x=0.4131 right_y=0.1308 right_z=0.1818 right_yaw=0.0521 right_pitch=-0.1391 right_roll=-0.0666 right_gripper=0.1493 state[joint_eff]: [-0.1436, -3.5624, 6.653, 1.37, -0.1245, -0.0317, -0.0122, -0.5265, -7.0496, 9.5795, 1.453, 0.0659, 0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_z": 0.22}, "note": "Wrist view shows the basket's near wall straight ahead, so the jaws are still short of the opening; moving further forward and a bit higher to clear the rim."})
tool
executing move_to over 5 steps (0.5s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteWrist view is now filled by the basket interior; opening to drop the marker into the right 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]: [-0.3424, 1.1717, 1.1999, -0.9276, -0.2794, -0.3328, 0.9968, 0.371, 1.6978, 1.4178, -0.5121, 0.2707, 0.1444, 0.1526] state[eef_state]: left_x=0.3095 left_y=-0.0548 left_z=0.2345 left_yaw=0.0712 left_pitch=-0.289 left_roll=0.0125 left_gripper=0.9968 right_x=0.4579 right_y=0.1313 right_z=0.1929 right_yaw=0.0559 right_pitch=-0.1983 right_roll=-0.0833 right_gripper=0.1526 state[joint_eff]: [-0.0615, -3.7538, 6.4479, 1.3895, -0.1392, -0.0513, -0.0122, -0.7863, -8.8957, 10.1265, 1.4725, 0.1099, -0.0317, 1.033] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Wrist view is now filled by the basket interior; opening to drop the marker into the right basket."})
tool
executing move_to over 9 steps (0.9s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteMarker delivered into the right basket. Moving back down to the second (black) marker lying to the right of the toy cluster.
move_to
right_x0.2900right_y0.0600right_z0.0600right_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]: [-0.3424, 1.1717, 1.1992, -0.9272, -0.2798, -0.3328, 0.9968, 0.3698, 1.7058, 1.4158, -0.5232, 0.26, 0.1349, 0.995] state[eef_state]: left_x=0.3095 left_y=-0.0547 left_z=0.2343 left_yaw=0.0715 left_pitch=-0.2892 left_roll=0.0129 left_gripper=0.9968 right_x=0.4561 right_y=0.132 right_z=0.1863 right_yaw=0.0676 right_pitch=-0.221 right_roll=-0.0893 right_gripper=0.995 state[joint_eff]: [-0.0205, -3.5077, 6.6667, 1.3602, -0.1978, -0.0562, -0.0122, -0.0752, -9.306, 7.0359, 1.5604, 0.1245, 0.0366, -0.1587] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.06, "right_z": 0.06, "right_gripper": 1}, "note": "Marker delivered into the right basket. Moving back down to the second (black) marker lying to the right of the toy cluster."})
tool
executing move_to over 13 steps (1.3s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe black marker is just ahead of the jaws, slightly to the arm's left in the wrist view; nudging left and descending to table level.
move_to
right_y0.0720right_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]: [-0.3428, 1.1748, 1.1992, -0.9268, -0.2798, -0.3328, 0.9968, 0.3359, 1.1267, 0.4206, -0.1329, 0.2325, 0.1108, 0.9988] state[eef_state]: left_x=0.3099 left_y=-0.055 left_z=0.2334 left_yaw=0.0715 left_pitch=-0.2917 left_roll=0.014 left_gripper=0.9968 right_x=0.2895 right_y=0.0618 right_z=0.0572 right_yaw=0.0683 right_pitch=-0.2528 right_roll=-0.0942 right_gripper=0.9988 state[joint_eff]: [-0.212, -3.7949, 6.5436, 1.3993, -0.188, -0.0464, -0.0122, -0.6906, -2.8513, 6.9812, 1.8193, 0.0415, -0.1148, -0.1441] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.072, "right_z": 0.0}, "note": "The black marker is just ahead of the jaws, slightly to the arm's left in the wrist view; nudging left and descending to table level."})
tool
executing move_to over 4 steps (0.4s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe black marker is centred between the jaws; closing to grasp.
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]: [-0.3428, 1.1774, 1.1988, -0.9276, -0.2794, -0.3328, 0.9968, 0.3805, 1.3376, 0.3187, 0.1902, 0.2512, 0.1455, 0.9982] state[eef_state]: left_x=0.31 left_y=-0.0551 left_z=0.2324 left_yaw=0.0716 left_pitch=-0.2953 left_roll=0.0154 left_gripper=0.9968 right_x=0.295 right_y=0.0746 right_z=0.0141 right_yaw=0.0788 right_pitch=-0.2374 right_roll=-0.0801 right_gripper=0.9982 state[joint_eff]: [-0.335, -3.8222, 6.4889, 1.4237, -0.105, -0.0366, -0.0122, 0.5265, -1.935, 2.7966, 0.4176, 0.2369, -0.0904, -0.0708] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The black marker is centred between the jaws; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteBlack marker grasped (gripper 0.14); carrying it over to the right basket.
move_to
right_x0.4700right_y0.1300right_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]: [-0.3424, 1.1778, 1.1984, -0.9268, -0.2798, -0.3328, 0.9968, 0.3824, 1.3453, 0.3069, 0.2096, 0.2447, 0.1383, 0.1436] state[eef_state]: left_x=0.3101 left_y=-0.0549 left_z=0.2322 left_yaw=0.0723 left_pitch=-0.2951 left_roll=0.0156 left_gripper=0.9968 right_x=0.2932 right_y=0.0757 right_z=0.0108 right_yaw=0.0901 right_pitch=-0.2391 right_roll=-0.0806 right_gripper=0.1436 state[joint_eff]: [-0.0889, -3.6581, 6.5026, 1.409, -0.1978, -0.0708, -0.0122, -0.1983, -4.4239, 6.3111, 1.2479, 0.1245, 0.0171, 0.9988] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.13, "right_z": 0.22}, "note": "Black marker grasped (gripper 0.14); carrying it over to the right basket."})
tool
executing move_to over 14 steps (1.4s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteWrist view shows the jaws over the right basket (the first marker is visible inside); opening to release the black marker.
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]: [-0.3428, 1.1782, 1.1984, -0.9276, -0.2798, -0.3328, 0.9968, 0.35, 1.7432, 1.5513, -0.6144, 0.2142, 0.1036, 0.1478] state[eef_state]: left_x=0.31 left_y=-0.055 left_z=0.232 left_yaw=0.0721 left_pitch=-0.2962 left_roll=0.0161 left_gripper=0.9968 right_x=0.4675 right_y=0.1345 right_z=0.2093 right_yaw=0.104 right_pitch=-0.2248 right_roll=-0.0775 right_gripper=0.1478 state[joint_eff]: [-0.1299, -3.535, 6.5299, 1.3944, -0.188, -0.0562, -0.0122, -1.0325, -8.9641, 8.8821, 1.1502, 0.1343, -0.0122, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Wrist view shows the jaws over the right basket (the first marker is visible inside); opening to release the black marker."})
tool
executing move_to over 9 steps (0.9s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteBoth markers are now in the right basket. Moving the left arm above the cluster of plush toys in the middle of the table to pick the next toy.
move_to
left_x0.3300left_y-0.3500left_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]: [-0.3428, 1.1801, 1.1984, -0.9268, -0.2798, -0.3328, 0.9968, 0.3473, 1.7588, 1.549, -0.6312, 0.215, 0.0929, 0.9949] state[eef_state]: left_x=0.3104 left_y=-0.0551 left_z=0.2316 left_yaw=0.0722 left_pitch=-0.2972 left_roll=0.0166 left_gripper=0.9968 right_x=0.4661 right_y=0.1325 right_z=0.1983 right_yaw=0.1044 right_pitch=-0.2588 right_roll=-0.0943 right_gripper=0.9949 state[joint_eff]: [-0.1026, -3.4803, 6.4479, 1.37, -0.1978, -0.0122, -0.0122, 0.0342, -10.4684, 6.9949, 1.5946, 0.0317, 0.1099, -0.1197] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.35, "left_z": 0.15, "left_gripper": 1}, "note": "Both markers are now in the right basket. Moving the left arm above the cluster of plush toys in the middle of the table to pick the next toy."})
tool
executing move_to over 27 steps (2.7s)
step 218
top_cam
camera top_cam step 218
left_cam
camera left_cam step 218
right_cam
camera right_cam step 218
assistant
agent noteA teddy bear sits directly under the left jaws in the wrist view; descending onto it to grasp.
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]: [-1.0332, 2.0441, 1.7985, -0.9863, -0.6083, -1.0077, 0.9985, 0.3473, 1.7592, 1.549, -0.635, 0.215, 0.0891, 0.996] state[eef_state]: left_x=0.3274 left_y=-0.345 left_z=0.1429 left_yaw=0.0682 left_pitch=-0.3223 left_roll=0.018 left_gripper=0.9985 right_x=0.4654 right_y=0.1322 right_z=0.1975 right_yaw=0.1062 right_pitch=-0.2631 right_roll=-0.0981 right_gripper=0.996 state[joint_eff]: [-0.5538, -10.9197, 8.2803, 0.7009, -0.5739, 0.0708, -0.1783, -0.1846, -9.265, 6.7624, 1.5214, 0.0269, -0.0122, 0.1001] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.05}, "note": "A teddy bear sits directly under the left jaws in the wrist view; descending onto it to grasp."})
tool
executing move_to over 6 steps (0.6s)
step 224
top_cam
camera top_cam step 224
left_cam
camera left_cam step 224
right_cam
camera right_cam step 224
assistant
agent noteDescent stopped on the bear's body at z=0.07; closing the jaws on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0355, 2.0766, 1.5509, -0.6888, -0.6182, -1.0145, 0.9983, 0.3473, 1.7592, 1.549, -0.6357, 0.2146, 0.0891, 0.9961] state[eef_state]: left_x=0.3281 left_y=-0.3455 left_z=0.0715 left_yaw=0.0694 left_pitch=-0.306 left_roll=0.0013 left_gripper=0.9983 right_x=0.4653 right_y=0.1322 right_z=0.1974 right_yaw=0.1065 right_pitch=-0.2639 right_roll=-0.098 right_gripper=0.9961 state[joint_eff]: [0.1709, -8.6496, 4.8342, 0.6569, -0.1685, 0.0366, -0.0366, -0.212, -9.2376, 6.7624, 1.4579, 0.0171, -0.0171, -0.0024] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Descent stopped on the bear's body at z=0.07; closing the jaws on it."})
tool
executing move_to over 10 steps (1.0s)
step 234
assistant
agent noteThe close read 0.03 (essentially empty — only fur pinched). Reopening and pressing lower into the soft toy so the jaws straddle its body.
move_to
left_gripper1.0000left_z0.0200
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]: [-1.0328, 2.0884, 1.5436, -0.6525, -0.63, -1.0195, 0.0344, 0.3473, 1.7592, 1.549, -0.6353, 0.2146, 0.0887, 0.9961] state[eef_state]: left_x=0.3327 left_y=-0.3475 left_z=0.0678 left_yaw=0.0759 left_pitch=-0.2884 left_roll=-0.0129 left_gripper=0.0344 right_x=0.4654 right_y=0.1323 right_z=0.1974 right_yaw=0.1067 right_pitch=-0.2636 right_roll=-0.0981 right_gripper=0.9961 state[joint_eff]: [-0.294, -12.2051, 6.6667, 0.6276, -0.2466, -0.0415, 0.5543, -0.335, -9.0872, 6.8718, 1.4579, 0.0317, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_z": 0.02}, "note": "The close read 0.03 (essentially empty \u2014 only fur pinched). Reopening and pressing lower into the soft toy so the jaws straddle its body."})
tool
executing move_to over 10 steps (1.0s)
step 244
assistant
agent noteJaws are now sunk lower against the bear's body; closing again to get a real grip.
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]: [-1.0328, 2.1197, 1.4757, -0.477, -0.6518, -1.0286, 0.9953, 0.3473, 1.7592, 1.549, -0.6357, 0.2146, 0.0887, 0.9961] state[eef_state]: left_x=0.3416 left_y=-0.3565 left_z=0.0487 left_yaw=0.0737 left_pitch=-0.2367 left_roll=-0.0808 left_gripper=0.9953 right_x=0.4653 right_y=0.1322 right_z=0.1974 right_yaw=0.1067 right_pitch=-0.2639 right_roll=-0.0982 right_gripper=0.9961 state[joint_eff]: [-0.253, -8.3487, 4.1641, 0.6911, -0.1392, 0.0513, -0.0317, -0.1573, -9.0051, 6.7897, 1.4579, 0.022, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Jaws are now sunk lower against the bear's body; closing again to get a real grip."})
tool
executing move_to over 10 steps (1.0s)
step 254
assistant
agent noteGripper settled at 0.21 — the bear is held. Lifting and carrying it over to the left basket.
move_to
left_x0.4200left_y-0.2000left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0313, 2.1246, 1.4734, -0.4541, -0.6735, -1.0294, 0.2053, 0.3473, 1.7592, 1.549, -0.6353, 0.2146, 0.0887, 0.9961] state[eef_state]: left_x=0.346 left_y=-0.3564 left_z=0.0499 left_yaw=0.084 left_pitch=-0.2123 left_roll=-0.0868 left_gripper=0.2053 right_x=0.4654 right_y=0.1323 right_z=0.1974 right_yaw=0.1067 right_pitch=-0.2636 right_roll=-0.0981 right_gripper=0.9961 state[joint_eff]: [-0.2803, -11.9043, 6.1744, 0.8376, -0.1587, -0.0171, 0.8913, -0.294, -9.2513, 6.7624, 1.453, 0.0562, -0.0415, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.2, "left_z": 0.25}, "note": "Gripper settled at 0.21 \u2014 the bear is held. Lifting and carrying it over to the left basket."})
tool
executing move_to over 14 steps (1.4s)
step 268
assistant
agent noteOver the left basket carrying the dog toy; nudging a bit further forward so it lands well inside, then I'll release.
move_to
left_x0.4500left_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]: [-0.6277, 1.7962, 1.6791, -0.8303, -0.4545, -0.6724, 0.2077, 0.3473, 1.7592, 1.549, -0.6353, 0.2146, 0.0887, 0.9961] state[eef_state]: left_x=0.4223 left_y=-0.2062 left_z=0.2147 left_yaw=0.1199 left_pitch=-0.256 left_roll=-0.0755 left_gripper=0.2077 right_x=0.4654 right_y=0.1323 right_z=0.1974 right_yaw=0.1067 right_pitch=-0.2636 right_roll=-0.0981 right_gripper=0.9961 state[joint_eff]: [0.1436, -12.8342, 9.1556, 1.2772, -0.2808, 0.1978, 0.232, -0.335, -9.2239, 6.8581, 1.4725, 0.0269, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_z": 0.22}, "note": "Over the left basket carrying the dog toy; nudging a bit further forward so it lands well inside, then I'll release."})
tool
executing move_to over 3 steps (0.3s)
step 271
assistant
agent notePositioned over the left basket; opening the jaws to drop the dog toy in with the other plush toy.
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]: [-0.5941, 1.8782, 1.7779, -0.8684, -0.4313, -0.6468, 0.2093, 0.3473, 1.7599, 1.549, -0.6373, 0.2146, 0.0887, 0.9961] state[eef_state]: left_x=0.4413 left_y=-0.2047 left_z=0.2089 left_yaw=0.126 left_pitch=-0.2838 left_roll=-0.0575 left_gripper=0.2093 right_x=0.4651 right_y=0.1322 right_z=0.1968 right_yaw=0.1066 right_pitch=-0.2661 right_roll=-0.0988 right_gripper=0.9961 state[joint_eff]: [0.2393, -10.6598, 9.2376, 1.2381, -0.2759, 0.1099, 0.149, -0.2803, -8.7316, 7.0359, 1.4286, 0.0464, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "Positioned over the left basket; opening the jaws to drop the dog toy in with the other plush toy."})
tool
executing move_to over 8 steps (0.8s)
step 279
assistant
agent noteReleased; pulling the left arm back out of the way to see in the overhead view where the dog toy ended up.
move_to
left_x0.2500left_y-0.0500left_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]: [-0.5858, 1.9068, 1.7824, -0.8703, -0.4183, -0.6464, 0.9956, 0.3473, 1.7603, 1.549, -0.6361, 0.2146, 0.0887, 0.9961] state[eef_state]: left_x=0.4447 left_y=-0.2046 left_z=0.1964 left_yaw=0.1297 left_pitch=-0.3105 left_roll=-0.0479 left_gripper=0.9956 right_x=0.4653 right_y=0.1323 right_z=0.1968 right_yaw=0.1066 right_pitch=-0.2654 right_roll=-0.0986 right_gripper=0.9961 state[joint_eff]: [-0.0889, -11.5624, 9.6068, 1.3895, -0.3394, 0.0757, -0.1783, -0.3624, -9.2786, 6.7624, 1.4969, 0.0171, -0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.05, "left_z": 0.25}, "note": "Released; pulling the left arm back out of the way to see in the overhead view where the dog toy ended up."})
tool
executing move_to over 15 steps (1.5s)
step 294
assistant
agent noteOverhead shows the grey rabbit inside the left basket but the tan dog toy landed just short of it on the table. Moving down onto the dog toy to re-grasp it.
move_to
left_x0.3550left_y-0.2700left_z0.0600left_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]: [-0.4511, 1.0397, 1.2129, -1.0935, -0.3511, -0.5495, 0.9967, 0.3473, 1.7618, 1.549, -0.6376, 0.2146, 0.0887, 0.9961] state[eef_state]: left_x=0.2622 left_y=-0.0555 left_z=0.2533 left_yaw=0.1445 left_pitch=-0.2823 left_roll=-0.0747 left_gripper=0.9967 right_x=0.4652 right_y=0.1322 right_z=0.1958 right_yaw=0.1064 right_pitch=-0.2684 right_roll=-0.0994 right_gripper=0.9961 state[joint_eff]: [0.212, -2.1538, 5.9692, 1.4139, -0.1441, 0.1343, 0.105, -0.0752, -9.3744, 7.0085, 1.4921, 0.0366, -0.0513, -0.0122] camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.355, "left_y": -0.27, "left_z": 0.06, "left_gripper": 1}, "note": "Overhead shows the grey rabbit inside the left basket but the tan dog toy landed just short of it on the table. Moving down onto the dog toy to re-grasp it."})
tool
executing move_to over 20 steps (2.0s)
step 314
assistant
agent noteThe dog toy is to the arm's right in both views; shifting right (−y) and slightly forward to line the jaws up over it.
move_to
left_y-0.3250left_x0.3600
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]: [-0.8715, 1.8874, 1.1961, -0.4763, -0.5697, -0.9459, 0.9984, 0.3473, 1.7618, 1.549, -0.6384, 0.2146, 0.0887, 0.9961] state[eef_state]: left_x=0.3428 left_y=-0.254 left_z=0.0518 left_yaw=0.1565 left_pitch=-0.3228 left_roll=-0.0186 left_gripper=0.9984 right_x=0.465 right_y=0.1322 right_z=0.1957 right_yaw=0.1064 right_pitch=-0.2691 right_roll=-0.0995 right_gripper=0.9961 state[joint_eff]: [-0.3897, -9.3333, 8.2667, 1.1306, -0.3785, -0.0513, -0.1783, -0.294, -9.265, 6.8308, 1.4579, 0.0269, -0.0708, -0.0073] camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.325, "left_x": 0.36}, "note": "The dog toy is to the arm's right in both views; shifting right (\u2212y) and slightly forward to line the jaws up over it."})
tool
executing move_to over 7 steps (0.7s)
step 321
assistant
agent noteThe dog toy sits further right and forward, near the gap between the baskets; moving to the left arm's y-limit and forward to try to reach over it.
move_to
left_y-0.4000left_x0.4000left_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]: [-0.9428, 2.1136, 1.5162, -0.6296, -0.5777, -1.026, 0.9983, 0.3473, 1.7618, 1.549, -0.6384, 0.215, 0.0887, 0.9961] state[eef_state]: left_x=0.3548 left_y=-0.3184 left_z=0.0447 left_yaw=0.1527 left_pitch=-0.3455 left_roll=-0.0126 left_gripper=0.9983 right_x=0.4651 right_y=0.1321 right_z=0.1957 right_yaw=0.106 right_pitch=-0.269 right_roll=-0.0998 right_gripper=0.9961 state[joint_eff]: [-0.4581, -10.9197, 8.1709, 0.7692, -0.5641, -0.0024, -0.0317, -0.0889, -9.2786, 6.7761, 1.4432, 0.0904, -0.0269, -0.0122] 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": {"left_y": -0.4, "left_x": 0.4, "left_z": 0.05}, "note": "The dog toy sits further right and forward, near the gap between the baskets; moving to the left arm's y-limit and forward to try to reach over it."})
tool
executing move_to over 8 steps (0.8s)
step 329
assistant
agent noteThe dog toy is past the left arm's y-limit, but the right wrist view shows it well within the right arm's reach; parking the left arm and bringing the right arm down beside the toy.
move_to
left_x0.2500left_y-0.0500left_z0.2500right_x0.4200right_y0.2200right_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9604, 2.4901, 2.1624, -0.9398, -0.5682, -1.0588, 0.9982, 0.3351, 1.7618, 1.549, -0.6415, 0.234, 0.0814, 0.9961] state[eef_state]: left_x=0.3941 left_y=-0.3913 left_z=0.0412 left_yaw=0.1629 left_pitch=-0.3716 left_roll=0.0006 left_gripper=0.9982 right_x=0.4667 right_y=0.123 right_z=0.1958 right_yaw=0.0812 right_pitch=-0.2689 right_roll=-0.1201 right_gripper=0.9961 state[joint_eff]: [-0.7043, -13.8872, 8.6632, 0.8034, -0.4664, 0.0415, -0.0171, 1.0325, -9.2923, 6.9265, 1.5263, -0.2613, 0.022, -0.0073] camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.05, "left_z": 0.25, "right_x": 0.42, "right_y": 0.22, "right_z": 0.06}, "note": "The dog toy is past the left arm's y-limit, but the right wrist view shows it well within the right arm's reach; parking the left arm and bringing the right arm down beside the toy."})
tool
executing move_to over 31 steps (3.1s)
step 360
assistant
agent noteThe right wrist view is filled by the tan dog toy directly below the jaws; pressing down into its soft body before closing.
move_to
right_z0.0200
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]: [-0.4728, 1.1065, 1.2453, -1.1927, -0.3767, -0.6006, 0.9983, 0.6178, 1.8954, 1.195, -0.2371, 0.3969, 0.3012, 0.9961] state[eef_state]: left_x=0.2555 left_y=-0.0537 left_z=0.2378 left_yaw=0.1988 left_pitch=-0.3782 left_roll=-0.0068 left_gripper=0.9983 right_x=0.419 right_y=0.2184 right_z=0.0625 right_yaw=0.0988 right_pitch=-0.2837 right_roll=-0.1219 right_gripper=0.9961 state[joint_eff]: [0.1299, -3.1658, 9.1692, 1.1209, -0.2125, 0.1148, -0.0073, 0.5265, -8.6632, 5.9419, 1.5165, 0.3883, 0.149, -0.0073] camera 'top_cam' (step 360): [image omitted: streamed camera frame] camera 'left_cam' (step 360): [image omitted: streamed camera frame] camera 'right_cam' (step 360): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.02}, "note": "The right wrist view is filled by the tan dog toy directly below the jaws; pressing down into its soft body before closing."})
tool
executing move_to over 3 steps (0.3s)
step 363
assistant
agent noteJaws are sunk into the plush toy; closing to grip 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]: [-0.4736, 1.1099, 1.2537, -1.2049, -0.3618, -0.5911, 0.9983, 0.6197, 1.953, 1.1389, -0.1219, 0.3996, 0.3, 0.9961] state[eef_state]: left_x=0.2537 left_y=-0.0557 left_z=0.2377 left_yaw=0.1829 left_pitch=-0.392 left_roll=-0.007 left_gripper=0.9983 right_x=0.4191 right_y=0.219 right_z=0.0327 right_yaw=0.0994 right_pitch=-0.2814 right_roll=-0.1239 right_gripper=0.9961 state[joint_eff]: [-0.2256, -2.6325, 5.4496, 1.2186, -0.3492, 0.022, -0.0171, -0.3761, -9.306, 5.5179, 1.2527, 0.1587, 0.0415, -0.0122] camera 'top_cam' (step 363): [image omitted: streamed camera frame] camera 'left_cam' (step 363): [image omitted: streamed camera frame] camera 'right_cam' (step 363): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Jaws are sunk into the plush toy; closing to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 373
assistant
agent notePlush toy held (gripper 0.21). Carrying it left across to the toy basket, going as far as the right arm's y-limit allows.
move_to
right_x0.4600right_y0.4000right_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]: [-0.4725, 1.1118, 1.2488, -1.2007, -0.3614, -0.5991, 0.9982, 0.6197, 1.9728, 1.1259, -0.0956, 0.411, 0.2928, 0.2051] state[eef_state]: left_x=0.2543 left_y=-0.0558 left_z=0.236 left_yaw=0.1891 left_pitch=-0.3943 left_roll=-0.0105 left_gripper=0.9982 right_x=0.419 right_y=0.2166 right_z=0.0236 right_yaw=0.0934 right_pitch=-0.2829 right_roll=-0.1406 right_gripper=0.2051 state[joint_eff]: [-0.1299, -2.6735, 6.3932, 1.0867, -0.2515, -0.0024, -0.0171, -0.253, -11.7128, 6.9949, 1.0623, 0.0317, 0.0366, 0.9206] camera 'top_cam' (step 373): [image omitted: streamed camera frame] camera 'left_cam' (step 373): [image omitted: streamed camera frame] camera 'right_cam' (step 373): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.4, "right_z": 0.25}, "note": "Plush toy held (gripper 0.21). Carrying it left across to the toy basket, going as far as the right arm's y-limit allows."})
tool
executing move_to over 16 steps (1.6s)
step 389
assistant
agent noteArm is stretched over the toy basket; opening to drop this plush toy in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4725, 1.1133, 1.2488, -1.2003, -0.3611, -0.6018, 0.9982, 0.841, 2.6015, 2.8597, -1.3617, 0.498, 0.4774, 0.2045] state[eef_state]: left_x=0.2545 left_y=-0.0559 left_z=0.2357 left_yaw=0.1906 left_pitch=-0.3954 left_roll=-0.0117 left_gripper=0.9982 right_x=0.4399 right_y=0.3705 right_z=0.1674 right_yaw=0.1157 right_pitch=-0.3545 right_roll=-0.179 right_gripper=0.2045 state[joint_eff]: [-0.1162, -2.7829, 6.0786, 1.1404, -0.2613, 0.0024, -0.0122, 0.9368, -19.8359, 8.4581, 0.9206, 0.6178, 0.2418, 0.8132] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 389): [image omitted: streamed camera frame] camera 'left_cam' (step 389): [image omitted: streamed camera frame] camera 'right_cam' (step 389): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Arm is stretched over the toy basket; opening to drop this plush toy in."})
tool
executing move_to over 8 steps (0.8s)
step 397
assistant
agent noteToy dropped in the left basket. Parking the right arm home and lowering the left gripper onto the last brown plush dog on the table.
move_to
left_x0.3200left_y-0.2280left_z0.0400right_x0.3000right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4725, 1.1137, 1.2488, -1.2003, -0.358, -0.6022, 0.9982, 0.844, 2.6316, 3.0379, -1.5097, 0.4896, 0.4702, 0.9948] state[eef_state]: left_x=0.2544 left_y=-0.0565 left_z=0.2354 left_yaw=0.1886 left_pitch=-0.3973 left_roll=-0.014 left_gripper=0.9982 right_x=0.4272 right_y=0.3608 right_z=0.1912 right_yaw=0.1287 right_pitch=-0.3601 right_roll=-0.1777 right_gripper=0.9948 state[joint_eff]: [-0.212, -2.4957, 5.9966, 1.1062, -0.2759, -0.022, -0.0073, -0.0752, -14.7761, 6.8444, 0.8816, 0.3883, 0.0073, -0.1685] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 397): [image omitted: streamed camera frame] camera 'left_cam' (step 397): [image omitted: streamed camera frame] camera 'right_cam' (step 397): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.228, "left_z": 0.04, "right_x": 0.3, "right_y": 0.0, "right_z": 0.2}, "note": "Toy dropped in the left basket. Parking the right arm home and lowering the left gripper onto the last brown plush dog on the table."})
tool
executing move_to over 31 steps (3.1s)
step 428
assistant
agent noteThe brown plush dog sits squarely between the open jaws; closing on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8474, 1.8061, 1.0622, -0.5358, -0.4999, -0.9779, 0.9982, 0.0174, 1.1194, 1.0504, -0.8371, 0.054, -0.2108, 0.9959] state[eef_state]: left_x=0.3091 left_y=-0.2167 left_z=0.0315 left_yaw=0.2004 left_pitch=-0.4361 left_roll=0.0292 left_gripper=0.9982 right_x=0.3055 right_y=-0.0006 right_z=0.1986 right_yaw=0.0831 right_pitch=-0.3571 right_roll=-0.1779 right_gripper=0.9959 state[joint_eff]: [-0.4444, -8.3077, 8.2393, 0.7937, -0.4322, -0.0708, -0.0122, -0.2256, -4.1504, 6.735, 1.3358, -0.1343, -0.105, 0.1001] camera 'top_cam' (step 428): [image omitted: streamed camera frame] camera 'left_cam' (step 428): [image omitted: streamed camera frame] camera 'right_cam' (step 428): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The brown plush dog sits squarely between the open jaws; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 438
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]: [-0.8478, 1.8179, 1.0657, -0.5335, -0.5014, -0.9806, 0.1093, 0.0139, 1.1221, 1.0458, -0.8436, 0.0437, -0.2272, 0.9961] state[eef_state]: left_x=0.3096 left_y=-0.2171 left_z=0.0286 left_yaw=0.2049 left_pitch=-0.4378 left_roll=0.0342 left_gripper=0.1093 right_x=0.3038 right_y=0.0001 right_z=0.195 right_yaw=0.0987 right_pitch=-0.3717 right_roll=-0.1787 right_gripper=0.9961 state[joint_eff]: [-0.1709, -9.4701, 5.4769, 0.7888, -0.2955, 0.0269, 0.7204, 0.1709, -3.2615, 7.0222, 1.4286, 0.0952, 0.149, -0.0024] camera 'top_cam' (step 438): [image omitted: streamed camera frame] camera 'left_cam' (step 438): [image omitted: streamed camera frame] camera 'right_cam' (step 438): [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 · 12.69 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6155, -0.3801, -0.0216, -0.0334, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0128, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.184 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -1.6342, 9.4017, 1.7851, -0.0171, 0.1685, -0.0562, -0.7726, -1.3607, 9.8667, 1.7021, -0.1392, 0.0024, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b12a2b545925f79ac3396073c0c7e8f88e70c5a0e11dc8fc3470f8ede477f67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15a477efaac74dcde974502380882452f9de5f102906ab0499c3aa8d23c72dff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:33134860bfaa2425dd2a17718fe3664b7b16e2c0ef8b27de7e6a0a6775f139ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 5.277 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6155, -0.3801, -0.0216, -0.0334, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0128, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.184 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -1.6342, 9.4017, 1.7851, -0.0171, 0.1685, -0.0562, -0.7726, -1.3607, 9.8667, 1.7021, -0.1392, 0.0024, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b12a2b545925f79ac3396073c0c7e8f88e70c5a0e11dc8fc3470f8ede477f67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15a477efaac74dcde974502380882452f9de5f102906ab0499c3aa8d23c72dff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33134860bfaa2425dd2a17718fe3664b7b16e2c0ef8b27de7e6a0a6775f139ca",
        "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_01PkReC5nVgsKnPYrwpbZJnV",
      "input": {
        "note": "Scene has plush animal toys and pen-like sticks on the table, with two baskets at the far side. I'll sort toys with the left arm; first lowering the left gripper toward the white plush toy visible in its wrist view.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.3,
          "left_y": 0.03,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01PkReC5nVgsKnPYrwpbZJnV",
      "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]: [0.1673, 0.8623, 0.424, -0.1612, 0.1158, 0.0528, 0.9996, -0.0151, 0.7967, 0.6086, -0.3744, -0.012, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.297 left_y=0.0331 left_z=0.1244 left_yaw=0.024 left_pitch=-0.0318 left_roll=-0.0053 left_gripper=0.9996 right_x=0.2963 right_y=0.0012 right_z=0.1825 right_yaw=-0.0003 right_pitch=-0.0023 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.9487, 6.5026, 1.9512, 0.1685, 0.105, -0.0562, -0.2393, -1.0598, 7.3778, 1.7118, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b22bf7ea849288fee4bc67ce29e941eae3448c861953102a16d9d82052379c84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7d3c0eacea031595ce3c7efe6dff063e5d428173b2a8a8f093b026b939c707c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:de9405a409bd3b2d59ad8d21ddb8efa189762b286e7c6062b2989fa1eb58a00e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 2.488 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6155, -0.3801, -0.0216, -0.0334, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0128, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.184 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -1.6342, 9.4017, 1.7851, -0.0171, 0.1685, -0.0562, -0.7726, -1.3607, 9.8667, 1.7021, -0.1392, 0.0024, -0.0708]",
      "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]: [0.1673, 0.8623, 0.424, -0.1612, 0.1158, 0.0528, 0.9996, -0.0151, 0.7967, 0.6086, -0.3744, -0.012, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.297 left_y=0.0331 left_z=0.1244 left_yaw=0.024 left_pitch=-0.0318 left_roll=-0.0053 left_gripper=0.9996 right_x=0.2963 right_y=0.0012 right_z=0.1825 right_yaw=-0.0003 right_pitch=-0.0023 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.9487, 6.5026, 1.9512, 0.1685, 0.105, -0.0562, -0.2393, -1.0598, 7.3778, 1.7118, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b22bf7ea849288fee4bc67ce29e941eae3448c861953102a16d9d82052379c84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7d3c0eacea031595ce3c7efe6dff063e5d428173b2a8a8f093b026b939c707c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de9405a409bd3b2d59ad8d21ddb8efa189762b286e7c6062b2989fa1eb58a00e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9gYKjgEIEhgCKkBuSnfRLxKwxCIMrjDa2kHSoZOuGli+K0s3Z2jlEPWnU6t21w+Cw6gxk2pTdLbN1sK0vyZ8dcKfEOJLJcTnRVgjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfTMzNUGEgz6oH7ebgMQQRWAVswaDJMdwBwGHsLVCKvEjyIwLEB5MsGZacE/KYUUdxri9rkjkpc8eByi9XvHS2EzGFM4rF5TByUX9/85caxjUxCnKpQFcr7jw5uqA4dLXjOHCO5a4E7nfkK5HBYRO5ma41M0IPPTxgXmmA8hiiSOXYsnqNDYX50xx+2XyRZPe23uqIpdQHj4g6wbwMumdCwAHJBVj8ax9OH/MQsU6BNIlUKyjRBRMKSuUhdHyKOf/+fGnKMDR6Q/Syf6j44/0aklYlp5GGtI5/76n4rkVzpFJrAl1CVmF+cTdkTiO2MVHaYbHuj1wVbTa3h5JoFbnLdtO7BPouPNnDVj6KH6CtdIHibZICXuoX0oxzxk3PBjEzPmvNVV+YdiHhsKv1zEnlr3/5LfxH8fs5vX0Qd4I8Fncc27Ys7MVALa7fbcGyRRVrGNo2Qhi11H3HRftFG0GmZ9YzSAZMVvttIQw6xQKpaxsYpEQANCcwv3oSVF5d4MAQtyK7Z+7oe/6sX674Hlyl4RSmhUq+4/h/auRtNbDpD5bq2lEVv+gv6rpzeV4D4qAcRNbMXEdlTi3dV2uVe1AEOySqb19Tlh7f2fXRjX33iyKiWrmgNNug+7i07vgS+8dUmCYsx3nJOjUaI6JRv6QQ3d7MFXxXpCy+IuMNc7i8t/fxHdOEGJg1ITw+n23BnPS4MzX/pWKfDmC+9etrNlnpO0dN9IL20iWcFw8TD9OMGIaJbg/ybR0PEZ7DtkiC9ujeQZ99aRVjLpdjx4UzLVdJCN2Q152cCyvTZluphToK8tC0y+lijA0kttCsbAhrLEuWmZUXysPbBTFzZRFTnWPrEpi5qYmKA0vrZzUYL8dl0xUiPETFiaIrzeEDtAyS5XmZotMU7WEYN14y/yQAbf3PHz3ThRDiBuNguMZH8L8FNDlCbyV5V35iuIeFHFHK7GahAihGfsxf1suJb+NaMC5sFnk3HlMu5R9OzaGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V6DWpSXaBkBbszY4t5Z51S",
      "input": {
        "note": "The left wrist view shows a white plush toy centred on the jaw column right below the gripper; descending to grasp height.",
        "targets": {
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01V6DWpSXaBkBbszY4t5Z51S",
      "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]: [0.1673, 1.1641, 0.1478, 0.3813, 0.1123, 0.0521, 0.9996, -0.0151, 0.7986, 0.6086, -0.3779, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.292 left_y=0.0329 left_z=0.0322 left_yaw=0.0271 left_pitch=-0.0672 left_roll=-0.009 left_gripper=0.9996 right_x=0.2959 right_y=0.0013 right_z=0.1813 right_yaw=-0.0001 right_pitch=-0.0076 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.0752, -2.7282, 5.8462, 1.8779, 0.0171, -0.0269, -0.0122, -0.2256, -1.4017, 7.1043, 1.79, -0.0562, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e602cd36507483467d564d315836213f317f8319fda8d37464261d617907181",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47ff1ae23863e61d52b32372445fe33c62d038fbe094e8c22e8047dc41488d5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c614206fa2578baa279b1a4bbecf88d0bf834c44a5632c6f2ce6dd73415ef138",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 12.29 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6155, -0.3801, -0.0216, -0.0334, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0128, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.184 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -1.6342, 9.4017, 1.7851, -0.0171, 0.1685, -0.0562, -0.7726, -1.3607, 9.8667, 1.7021, -0.1392, 0.0024, -0.0708]",
      "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]: [0.1673, 0.8623, 0.424, -0.1612, 0.1158, 0.0528, 0.9996, -0.0151, 0.7967, 0.6086, -0.3744, -0.012, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.297 left_y=0.0331 left_z=0.1244 left_yaw=0.024 left_pitch=-0.0318 left_roll=-0.0053 left_gripper=0.9996 right_x=0.2963 right_y=0.0012 right_z=0.1825 right_yaw=-0.0003 right_pitch=-0.0023 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.9487, 6.5026, 1.9512, 0.1685, 0.105, -0.0562, -0.2393, -1.0598, 7.3778, 1.7118, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1673, 1.1641, 0.1478, 0.3813, 0.1123, 0.0521, 0.9996, -0.0151, 0.7986, 0.6086, -0.3779, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.292 left_y=0.0329 left_z=0.0322 left_yaw=0.0271 left_pitch=-0.0672 left_roll=-0.009 left_gripper=0.9996 right_x=0.2959 right_y=0.0013 right_z=0.1813 right_yaw=-0.0001 right_pitch=-0.0076 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.0752, -2.7282, 5.8462, 1.8779, 0.0171, -0.0269, -0.0122, -0.2256, -1.4017, 7.1043, 1.79, -0.0562, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e602cd36507483467d564d315836213f317f8319fda8d37464261d617907181",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47ff1ae23863e61d52b32372445fe33c62d038fbe094e8c22e8047dc41488d5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c614206fa2578baa279b1a4bbecf88d0bf834c44a5632c6f2ce6dd73415ef138",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsAIKjgEIEhgCKkCVdi3fW/GK8QQZ6uIzKDDdji+yMFC5UgxnK5w5JJjMBROfKmj+2ojxJ0LmPizornHliZPX/v1Hpbe15QsGL0aQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfjMzNUGEgzHwULo3fWm0vfRqLQaDCAd/j+0LKU7dE0PqCIwSuzI64nKv933oGFHyD2yZZwb5TN3WEfwkI0xCyahRBxR/39VsWAhPE2pnHhXgVM/Kk/zx8j73dllrTTg3VRswnXxd0NxYtGJaiissZOI1+uDQMWQ2KBXnBNAf3Dlc4KOUykwzy2RF1ECLgtbbDrS7jNXX9ALzH4F5s8i7rAAdvo1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018T1gEUBSy8grTjf5nci4hz",
      "input": {
        "note": "Gripper is down at table level amid the plush toy's body; closing the jaws to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018T1gEUBSy8grTjf5nci4hz",
      "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]: [0.1673, 1.1641, 0.1478, 0.3824, 0.1123, 0.0486, 0.4159, -0.0151, 0.7986, 0.6086, -0.3782, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2922 left_y=0.0329 left_z=0.0325 left_yaw=0.0289 left_pitch=-0.0661 left_roll=-0.0116 left_gripper=0.4159 right_x=0.2959 right_y=0.0013 right_z=0.1812 right_yaw=-0.0001 right_pitch=-0.008 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -2.4274, 5.5043, 1.6874, -0.0317, -0.022, 1.0232, -0.1436, -0.9504, 7.1863, 1.7607, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10ec2b762efa41123f81daa8b09c6bbd59dc94294e069c5f818f330fd08129f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6411b52eaf7659dfeea93d7aa6f4b625b54dbd6d51350dbdf7402075cae70287",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd036981604420f7dd4b5be4fe7dd82b35514e6eea3ec2f8d6fd983cfc729949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 11.75 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]: [0.1673, 0.8623, 0.424, -0.1612, 0.1158, 0.0528, 0.9996, -0.0151, 0.7967, 0.6086, -0.3744, -0.012, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.297 left_y=0.0331 left_z=0.1244 left_yaw=0.024 left_pitch=-0.0318 left_roll=-0.0053 left_gripper=0.9996 right_x=0.2963 right_y=0.0012 right_z=0.1825 right_yaw=-0.0003 right_pitch=-0.0023 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.9487, 6.5026, 1.9512, 0.1685, 0.105, -0.0562, -0.2393, -1.0598, 7.3778, 1.7118, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1673, 1.1641, 0.1478, 0.3813, 0.1123, 0.0521, 0.9996, -0.0151, 0.7986, 0.6086, -0.3779, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.292 left_y=0.0329 left_z=0.0322 left_yaw=0.0271 left_pitch=-0.0672 left_roll=-0.009 left_gripper=0.9996 right_x=0.2959 right_y=0.0013 right_z=0.1813 right_yaw=-0.0001 right_pitch=-0.0076 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.0752, -2.7282, 5.8462, 1.8779, 0.0171, -0.0269, -0.0122, -0.2256, -1.4017, 7.1043, 1.79, -0.0562, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1673, 1.1641, 0.1478, 0.3824, 0.1123, 0.0486, 0.4159, -0.0151, 0.7986, 0.6086, -0.3782, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2922 left_y=0.0329 left_z=0.0325 left_yaw=0.0289 left_pitch=-0.0661 left_roll=-0.0116 left_gripper=0.4159 right_x=0.2959 right_y=0.0013 right_z=0.1812 right_yaw=-0.0001 right_pitch=-0.008 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -2.4274, 5.5043, 1.6874, -0.0317, -0.022, 1.0232, -0.1436, -0.9504, 7.1863, 1.7607, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10ec2b762efa41123f81daa8b09c6bbd59dc94294e069c5f818f330fd08129f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6411b52eaf7659dfeea93d7aa6f4b625b54dbd6d51350dbdf7402075cae70287",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd036981604420f7dd4b5be4fe7dd82b35514e6eea3ec2f8d6fd983cfc729949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnA8KjgEIEhgCKkCHM8MlQVFbdx7WkfgdXkJmC6CdP6Hohjr6s3W4cPJhv6bjTCbZYQ3F9TjIutVvVN8s7gskvpPsm5DO8pm4TglXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYXNzNUGEgyJpJwXVCRT3T1mxMwaDL81JxnMZS1RXzj0JSIwgBPQPXEFXIlKR0wddmAGoSYWA2WtRpYmpfFdMCw4sQqnkLKuLDznmFEQo29lFHnTKroNiu68g6RGd++8xLLNpWHpTzmPy69NzS/m+O5qAPjeOvObGcQOk7qSgl8VB5fiw2LU3eAZqx29Oskgkz3w69r4cXW7pfpO6YCUBJsmnBqS6C9Ux5opKma2fFd6MzsIS2hHu0zbebHlBX7MwEH19kgBJAz5uY89tV+eeVIQcGRYc/akTJQVaeEbF/UHoehQPGOzMklvXQTfOCtDEOAhF09oFiwxBScKWvgx4bxqHo1rJ2sN3hIH2skvAKS5mov4i16ioBd40T2Cmu2tPZw1hMyiWMy2zNVnP1WF10b2WWLN23O8M6gyki0pwcEDsRFxhdYpKv1WbQzdAk40oa6pt10OfJKjtTgF0/zAjD4YV9bscZYjagnEGmb/+UxnK7eDaqCtJL2hd+IBlcPccjYVzN2jGbebgBcB2Rwlbgn6NJGgO2XmTh1VmwLlMGUjKmNwaVePzb1uLXSxOWEkKEjvj+oZ7TFNkghi8lm9JEdVb4wJFW7G7fT3LsHo2EKgxdksScu9+2wB5WHZXqwquHJNWKXl1SOsB/84vOwinNkW5nFC8Hp+LQCI8QUJrF/Vwq/5M1dnKMjiCtzRBSnB3gfaafwEqZCcy5Gyk1B5JkNxg+E3fAyvKxR05WDiVU62Lx3TrWIf5vDl5xpq/jGu3SZejkNW9fLpshxiSUt51jLBc59FVQcRJZugiha7bQEFesVdZ0YiTPH6T5pYz6BaIw9WhbiwTYayHQ2kfwfFXMKJciEaviJlry+FF8LY/oxaYQ/wV9eHnwE67Xk8j4GaS8L4xLlIcZuDl4QhslcPKIyJ/YEDwk9y9zaKq7Vk8zJ4f+HSMECUCMCraHkjeSwE/0FBmdI5bcyvPLZVSITuWmjGo6I+ZwyvLtt5wzyMKR9dNkV38CmtV7ZuYhLbzf+IdoxhEYTrPGZ/bFfRdkSXy6J3uU1erqp/IKAEqyIQT/WCnAKmYAKDzSNKUgDWjyDKwpQbxrF16lnBXbLQ/BuosR46P7hGwQovl8XfVOLWnTfzJk2jFoTKo2KP2ooatRsCPrzoKW39psxGdAp6MrSVhCoyGj6pR2McG0fEVmbGZwVIMDbm4sjZVDVNFhMa211MC+YppEwKqqIhtHbQj+MWMOpan8scJKhnFeyGDMNueBdastuECd1QL3ke/RuXSpIiCr/mypUXKQqcLgVv/SwmPIVwDTiipCdW/KxVAjzc/k2YsDRrA5YITo+eWZEEHmhjRUXi8Aw+hBVw5XT29FXgeO43z2V+BNpp4+e9xNT32WHCpTAEAxWXQAX4MQl7Xi+cADSmeO1Rrj1JfjaNHbuH0uhi5XN5dWMNJxHMm5ufbasltZBf61FmIZuCex/hQyvsUtC6NATjJ7g2ZidK5fSIKWpJGdaeJaUHhCttje/7ji6EnVNpNqMZrncndXuYaAq9lOiRrMM75UVwNCfkT+UGVilqKr6qHslrKztxBZwUpp7eP5CtD2NPuPmwolKNXk5R9KYB73hHt7yPLDm4WoNlOqLWD5v2MhQd9zpmgyK7M+N3cdFStUEBdkxXvbGMIiSA7acD4eaSU7ABbgmbDtWsYPFp7mFck6Vwj7/0+yzyKNr1VtBJBMdebg9pY3nygvIYzZ9PBiArauegplenr66vc6vE+4v/Iyej9YxtBSuvntf7n2+uBjAMWllOSIiQk1+pWaPt3UtPUDWYVJOyy0dWS8p3GjV/VrW/tyJbvCB02rOrPfZK4J4V1Zmy9GZawOPeszyI9l9iZpuAwmJuJiEz71Xj9mPGkQVWsG+zOtUJrSLdhmvzcdR1mPN+djt/E3AsZk5YEQY1Q5bph1LznVfu3EkVjSVP6hUJt0FwSVNJmMe8Lm7ajWYYvHkMAxCSiDCYoAacj+Jx4+2rPDpce8G08ngc+gvqFaI4jYb09F2pkGsg8w9IxfjyDJVvXUgGkxXYqumNymjO6Zv/xYEBNhYbJfWs8D1KC4W8gUFaS6x3ZuaIHPfV40sY99kJ+T7XZwt8lp3OwfwT2XAvMrBzBRBnk0klO5jwz5Iior6CD9/4KMhKhGVUF/b0tsAsShHBkDPr/2C471U2/qtcnVSlg/skz7P4hjl0pezJFVyAyOuYm4xh2PX4/QQFjNTbaGTP3au5pTtm/OJWMvBQZEYOv+h2qntkRehKc6tsiDAImqUucMkyNaMdt48G4S5aO1i74ATd3d7vd2aZLCMCGwOSS4UWg22vLFEdqWogrBB5EhKyUo7Sj+iBEB3Uu+aW5t77oDzwH+yz7x5zIv+Tg7RUOql9GgQx8fHaGUNS6Sfk9f9sKTc0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GJajKPTs9TAQ5PSU3ZocVk",
      "input": {
        "note": "Gripper reads 0.42 (something ~4 cm thick held) — lifting the plush toy to check it came with the jaws.",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01GJajKPTs9TAQ5PSU3ZocVk",
      "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]: [0.1673, 0.8715, 0.8043, -0.6136, 0.112, 0.041, 0.4159, -0.0151, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2882 left_y=0.0323 left_z=0.203 left_yaw=0.0328 left_pitch=-0.1126 left_roll=-0.0239 left_gripper=0.4159 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=-0.0001 right_pitch=-0.0145 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -2.0308, 9.6752, 1.7753, -0.0366, 0.022, 1.0085, -0.294, -1.1692, 7.0769, 1.7656, -0.0513, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07adde2afce1bb6fbb026e747e89b52f29d69a1359e956f48b25f1fdfce75220",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a5a616456cf793f7e3a9f5ad4b658adaa5a8fb75573e81a75612ef169dbb4b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a7b6ecded99975eeac0d199e2dcd6499e3f085a041a91e9409653dafe2eec7d",
        "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 · 3.55 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]: [0.1673, 1.1641, 0.1478, 0.3813, 0.1123, 0.0521, 0.9996, -0.0151, 0.7986, 0.6086, -0.3779, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.292 left_y=0.0329 left_z=0.0322 left_yaw=0.0271 left_pitch=-0.0672 left_roll=-0.009 left_gripper=0.9996 right_x=0.2959 right_y=0.0013 right_z=0.1813 right_yaw=-0.0001 right_pitch=-0.0076 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [0.0752, -2.7282, 5.8462, 1.8779, 0.0171, -0.0269, -0.0122, -0.2256, -1.4017, 7.1043, 1.79, -0.0562, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1673, 1.1641, 0.1478, 0.3824, 0.1123, 0.0486, 0.4159, -0.0151, 0.7986, 0.6086, -0.3782, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2922 left_y=0.0329 left_z=0.0325 left_yaw=0.0289 left_pitch=-0.0661 left_roll=-0.0116 left_gripper=0.4159 right_x=0.2959 right_y=0.0013 right_z=0.1812 right_yaw=-0.0001 right_pitch=-0.008 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -2.4274, 5.5043, 1.6874, -0.0317, -0.022, 1.0232, -0.1436, -0.9504, 7.1863, 1.7607, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1673, 0.8715, 0.8043, -0.6136, 0.112, 0.041, 0.4159, -0.0151, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2882 left_y=0.0323 left_z=0.203 left_yaw=0.0328 left_pitch=-0.1126 left_roll=-0.0239 left_gripper=0.4159 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=-0.0001 right_pitch=-0.0145 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -2.0308, 9.6752, 1.7753, -0.0366, 0.022, 1.0085, -0.294, -1.1692, 7.0769, 1.7656, -0.0513, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07adde2afce1bb6fbb026e747e89b52f29d69a1359e956f48b25f1fdfce75220",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a5a616456cf793f7e3a9f5ad4b658adaa5a8fb75573e81a75612ef169dbb4b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a7b6ecded99975eeac0d199e2dcd6499e3f085a041a91e9409653dafe2eec7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017Cf17tek9ERHCnbcFPe41B",
      "input": {
        "note": "Holding the grey plush toy (gripper 0.42); moving up and over toward the left-hand basket at the far side of the table.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.2,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_017Cf17tek9ERHCnbcFPe41B",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6636, 1.6131, 1.4723, -0.7132, -0.4873, -0.5243, 0.4159, -0.0147, 0.7986, 0.6086, -0.3855, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3925 left_y=-0.1974 left_z=0.2304 left_yaw=0.0147 left_pitch=-0.1658 left_roll=-0.0098 left_gripper=0.4159 right_x=0.2949 right_y=0.0013 right_z=0.1797 right_yaw=-0.0 right_pitch=-0.0153 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -8.1436, 9.1419, 1.5165, -0.3785, 0.1294, 0.9988, -0.1709, -1.1145, 7.0906, 1.7118, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d47f7e9755d41484c56ca26957419559fbbbac71357387f97279d2f176c6bcc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:581fc8a53210b11c93143bcff26b3984f46c6b202abb3890513f8c5cf3e0cbea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aee7186670c344baad0c25b2d6086d6ccb902fc1999325e20907e68126757052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 5.993 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]: [0.1673, 1.1641, 0.1478, 0.3824, 0.1123, 0.0486, 0.4159, -0.0151, 0.7986, 0.6086, -0.3782, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2922 left_y=0.0329 left_z=0.0325 left_yaw=0.0289 left_pitch=-0.0661 left_roll=-0.0116 left_gripper=0.4159 right_x=0.2959 right_y=0.0013 right_z=0.1812 right_yaw=-0.0001 right_pitch=-0.008 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -2.4274, 5.5043, 1.6874, -0.0317, -0.022, 1.0232, -0.1436, -0.9504, 7.1863, 1.7607, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1673, 0.8715, 0.8043, -0.6136, 0.112, 0.041, 0.4159, -0.0151, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2882 left_y=0.0323 left_z=0.203 left_yaw=0.0328 left_pitch=-0.1126 left_roll=-0.0239 left_gripper=0.4159 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=-0.0001 right_pitch=-0.0145 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -2.0308, 9.6752, 1.7753, -0.0366, 0.022, 1.0085, -0.294, -1.1692, 7.0769, 1.7656, -0.0513, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6636, 1.6131, 1.4723, -0.7132, -0.4873, -0.5243, 0.4159, -0.0147, 0.7986, 0.6086, -0.3855, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3925 left_y=-0.1974 left_z=0.2304 left_yaw=0.0147 left_pitch=-0.1658 left_roll=-0.0098 left_gripper=0.4159 right_x=0.2949 right_y=0.0013 right_z=0.1797 right_yaw=-0.0 right_pitch=-0.0153 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -8.1436, 9.1419, 1.5165, -0.3785, 0.1294, 0.9988, -0.1709, -1.1145, 7.0906, 1.7118, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d47f7e9755d41484c56ca26957419559fbbbac71357387f97279d2f176c6bcc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:581fc8a53210b11c93143bcff26b3984f46c6b202abb3890513f8c5cf3e0cbea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aee7186670c344baad0c25b2d6086d6ccb902fc1999325e20907e68126757052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlgUKjgEIEhgCKkAZRpjUNzpW1NVeb2j30p2M9kXj7xGC4OPdhemqw9zBUX/08R1HnxeB4PcCOLd7cVJg15AU1dkZyCRnYKNUoQGzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAavNzNUGEgwUAQ6kPfy9OYbr9N0aDAN/2CJsZ6JuZZdDUiIwtuH8TeH8ZJ7G/fj0hDTIlj9p4gfdrFZ2peL3PturxVHzRLvggCaxXPsiSw2M43HsKrQD0hZnqA8LlCDvFQ0BpKCCUbr6UMFe2PLQVjzKCf/PLR7Xs+HaZq58z71mHAtT50mPMmH2GKLqrNfAlXOn0bIbgjVwwbw5ZsqIivjgdUK7flRU1qkmYLAhYiQnBrtqBS1o2Kr4tZ4MiDjKMliuIk4ps6du0gEol6OnBY4iByw6I+O7AB16cDR5ctx+Hpnx1VHBLzu4I5CzV5yPukcy//ggnr+PgsP+1VvhWThJG2CYVwRSTD+l8Q8rsPKlAgwMYK+ncS1gLUehab3WYQiUWgDnhwx7NYG2baeN6FNX9e/z8Hyu7uuTNv3kMqksohLkmOB21tduo7KnqhouhkN19lLz6TbsjwPSEEHAjlqnMhoTgn9/9Yfhp4VcqYrwrs5tBLcd6//c5jtmDHI7wJRZBXQE9e4yR5A5MoYD497v3XF3TSPLvSQqDPM2aqva7bR0qHXVHc6a0pwJtWdvaNqJu1wl6YuRDSNmasTvycfVWC478GKj/Wi42tpWDkCut52uPh2SGzHTqkOzA4/BfGCiLA3U0zq5XM713lHX+7vI1BM0n4xXzbhuAaz3ud5lkuJ9txI11gYzxhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QEAhbSbt3bKDyHKCCX5RPB",
      "input": {
        "note": "Arm is over the left basket with the plush toy; lowering into the basket before releasing.",
        "targets": {
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QEAhbSbt3bKDyHKCCX5RPB",
      "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]: [-0.6643, 1.6321, 1.1534, -0.4465, -0.4717, -0.532, 0.4164, -0.0147, 0.7986, 0.6083, -0.3847, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3809 left_y=-0.1918 left_z=0.1344 left_yaw=0.0153 left_pitch=-0.2289 left_roll=0.0206 left_gripper=0.4164 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=-0.0 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -7.1316, 7.1043, 1.5946, -0.359, 0.0366, 0.4322, -0.3214, -1.2786, 7.1726, 1.79, -0.0415, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:137547640c9abd1aee3cfe2225254bbe1aa4d046211ad391e60bd877463a6afe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e35da6ebc783fd51382ec77bfd0842e04c3ff4d330e62e1ba3f7421b6180a3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:624603253a5fb7ab1ce38d635dd5138d35a74326f1cd502cd568de146a877dca",
        "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 · 5.89 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]: [0.1673, 0.8715, 0.8043, -0.6136, 0.112, 0.041, 0.4159, -0.0151, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2882 left_y=0.0323 left_z=0.203 left_yaw=0.0328 left_pitch=-0.1126 left_roll=-0.0239 left_gripper=0.4159 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=-0.0001 right_pitch=-0.0145 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -2.0308, 9.6752, 1.7753, -0.0366, 0.022, 1.0085, -0.294, -1.1692, 7.0769, 1.7656, -0.0513, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.6636, 1.6131, 1.4723, -0.7132, -0.4873, -0.5243, 0.4159, -0.0147, 0.7986, 0.6086, -0.3855, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3925 left_y=-0.1974 left_z=0.2304 left_yaw=0.0147 left_pitch=-0.1658 left_roll=-0.0098 left_gripper=0.4159 right_x=0.2949 right_y=0.0013 right_z=0.1797 right_yaw=-0.0 right_pitch=-0.0153 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -8.1436, 9.1419, 1.5165, -0.3785, 0.1294, 0.9988, -0.1709, -1.1145, 7.0906, 1.7118, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6643, 1.6321, 1.1534, -0.4465, -0.4717, -0.532, 0.4164, -0.0147, 0.7986, 0.6083, -0.3847, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3809 left_y=-0.1918 left_z=0.1344 left_yaw=0.0153 left_pitch=-0.2289 left_roll=0.0206 left_gripper=0.4164 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=-0.0 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -7.1316, 7.1043, 1.5946, -0.359, 0.0366, 0.4322, -0.3214, -1.2786, 7.1726, 1.79, -0.0415, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:137547640c9abd1aee3cfe2225254bbe1aa4d046211ad391e60bd877463a6afe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e35da6ebc783fd51382ec77bfd0842e04c3ff4d330e62e1ba3f7421b6180a3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:624603253a5fb7ab1ce38d635dd5138d35a74326f1cd502cd568de146a877dca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/QUKjgEIEhgCKkBOb1HSEa/ph82S50aEeRNqsaiUErPU4l642ufTzm4g9xm+f69ZCj27IaAYi5ZBjLyJ+rxxhl4Nc6vfpn6fgl10Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbHNzNUGEgxOhSpc4459pKy83MUaDMZgHzk3UDgNyWstAyIwpA8lcpujcqS96zg8DSmuHQXSDMoei6ydMJVKCDlGOhoCj/rpuwcVsz71yIHfM/LkKpsE0G4SbXO/3zAGQWGFNS1Ec/Mbr1yDAAHm6MOGUcgjf5FEhyNTsQNSS9MKvQCSINBl8JDrIPjwtthgL3Ma5vY5BXAZMTPYlskU/u8P6Q9pfyuj/uS3+VGn1upkFHYbkhtz1YLhlMRkyQtWeV/NI7Dt7LH5jvFtO6OZEcqaTxGo0jLU6C/rEYFpKuPFWCYhfAiuB7IokX23BYe/BpNjjteUD2tttMuRTjWogrQFsO7RUQ8dR1iWztDIbteimeEIl9gG2Gp/x+GbuYhAuHcjsO6Yc36YvWIwLJ032PmLdtCRbHYukUl90GgOVXMiQ29tjlsJ+4bya5qhlmUowFxMKfQ+triPemLNb2w+3b2EyEH+01838PFiwJF755l8oT9njo1z/9fkmjjEDAYvRch8mDhmGETxYqpaOMzoQ79WBTIrxV/9X9LpXKyOjwGRKgfyrMegPEw9apqoBEJSsB4/u9xi7iJFr/jxvDcHfaJqdYYOE+IqOxpgr2EFft+ya3IybKRBKFr9GCGsREwTbQA93tnhA+avTwQKtGtFU5jFzSVs19ZWZsgSbvFaoxWexptd/aePEjoduswwZ9QfA35Ngydyuk2mBini9/sKEDuBNncH7wgwdeNhbf963ZpTDxVYaqFqFbe+OANV0V05EXHjvurO6APIP2ZsTghd9dGSEEpO1f59uVtn1cwKsfY+L9jDbqopAFzCOphS1v7SrS4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PZ1wvBzQEmARNd3wdgWSRB",
      "input": {
        "note": "Top view shows the gripper just short (near side) of the left basket; nudging forward to be over the basket opening.",
        "targets": {
          "left_x": 0.43,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01PZ1wvBzQEmARNd3wdgWSRB",
      "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]: [-0.5823, 1.7557, 1.3426, -0.5098, -0.4271, -0.4938, 0.4161, -0.0147, 0.8013, 0.6083, -0.3855, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.4234 left_y=-0.1869 left_z=0.1441 left_yaw=0.0423 left_pitch=-0.2493 left_roll=0.0173 left_gripper=0.4161 right_x=0.295 right_y=0.0014 right_z=0.1788 right_yaw=0.0003 right_pitch=-0.0183 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.5675, -9.4974, 8.9778, 1.2674, -0.2564, 0.188, 0.7643, -0.2256, -1.3197, 7.0496, 1.6972, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da7b9a9bff37be7e8202174f9e3a645c1c140608f5eb49be0f645f4aedb3dcdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4fd22da7752b7455cfc4d838a8ea9d43e2cb3565fc1db37766114358bff20b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f5d3274e5c9ca22dd3486ed8cbcba70e30c7dcc1b0000768b5c708e80daf1bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 5.992 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]: [-0.6636, 1.6131, 1.4723, -0.7132, -0.4873, -0.5243, 0.4159, -0.0147, 0.7986, 0.6086, -0.3855, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3925 left_y=-0.1974 left_z=0.2304 left_yaw=0.0147 left_pitch=-0.1658 left_roll=-0.0098 left_gripper=0.4159 right_x=0.2949 right_y=0.0013 right_z=0.1797 right_yaw=-0.0 right_pitch=-0.0153 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -8.1436, 9.1419, 1.5165, -0.3785, 0.1294, 0.9988, -0.1709, -1.1145, 7.0906, 1.7118, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6643, 1.6321, 1.1534, -0.4465, -0.4717, -0.532, 0.4164, -0.0147, 0.7986, 0.6083, -0.3847, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3809 left_y=-0.1918 left_z=0.1344 left_yaw=0.0153 left_pitch=-0.2289 left_roll=0.0206 left_gripper=0.4164 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=-0.0 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -7.1316, 7.1043, 1.5946, -0.359, 0.0366, 0.4322, -0.3214, -1.2786, 7.1726, 1.79, -0.0415, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5823, 1.7557, 1.3426, -0.5098, -0.4271, -0.4938, 0.4161, -0.0147, 0.8013, 0.6083, -0.3855, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.4234 left_y=-0.1869 left_z=0.1441 left_yaw=0.0423 left_pitch=-0.2493 left_roll=0.0173 left_gripper=0.4161 right_x=0.295 right_y=0.0014 right_z=0.1788 right_yaw=0.0003 right_pitch=-0.0183 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.5675, -9.4974, 8.9778, 1.2674, -0.2564, 0.188, 0.7643, -0.2256, -1.3197, 7.0496, 1.6972, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da7b9a9bff37be7e8202174f9e3a645c1c140608f5eb49be0f645f4aedb3dcdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4fd22da7752b7455cfc4d838a8ea9d43e2cb3565fc1db37766114358bff20b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5d3274e5c9ca22dd3486ed8cbcba70e30c7dcc1b0000768b5c708e80daf1bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStwMKjgEIEhgCKkANCHZqPNWCJUuzA0JrTkCcIVMbXkCbsguhnYtHI+/+Z+y2y+2ayJbNWy14GjxB8b3HIl/hV7vLB4bW9MtRglOxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbjNzNUGEgxW2jWBaKzqibAnhwEaDJJgpww8RizP0srMriIw/S745mX643L7uSsIrO8hkFgGuodRBswhkU1mVrdfZh990VJ3gwUNdrfsjtsUekm/KtUB6S1oe+49EW36Nz04JBLtlSmMTYNpBxws5IgjMs2MozergQIF0hx8wkaVUmBYfYnuIz1h0UMI3MNLFGM9GrvOG54ard2oFBzJ5BEKrUNNL5dEuLAOcSIg6w1XMxCbdxsWVBfSBUN4UPPdsh0i3cUMTsSB4BE7ELb8WYcfX5QSErpXNZH3FgtQoG56WtZauE43tb9JLfAL42a+5XFSNJu/ox0KqWGJh+1NLfvbgDrdoc9QAQJA9ZHPmRyhJQJd2P9cjWffW/pgMff2CX8FmEHeKKwrfJYQGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C8NrJLiDbxyp6K3F2p2JM7",
      "input": {
        "note": "Gripper is over the left basket; opening to drop the plush toy in.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01C8NrJLiDbxyp6K3F2p2JM7",
      "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]: [-0.5793, 1.7649, 1.3449, -0.5289, -0.4191, -0.4988, 0.9952, -0.0147, 0.8024, 0.6083, -0.3851, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.4212 left_y=-0.1853 left_z=0.1379 left_yaw=0.046 left_pitch=-0.2741 left_roll=0.0241 left_gripper=0.9952 right_x=0.2952 right_y=0.0013 right_z=0.1785 right_yaw=-0.0 right_pitch=-0.0191 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -9.8256, 6.4479, 1.5214, -0.315, -0.0073, -0.0562, -0.0752, -1.4017, 7.0222, 1.7753, -0.0317, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2e247308120b76cf4b36147fd51efca6a2a6d41cdd32e6cce91939f6da98c94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94bd8ac3df12fe477f6dce44de3e6306c02f2799f9083c43186e58d200219c43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0f54dcf3d20050f0ee9183a8b2f0710fcad52fff7fc12a447a92f008a9bb0f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 16.06 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]: [-0.6643, 1.6321, 1.1534, -0.4465, -0.4717, -0.532, 0.4164, -0.0147, 0.7986, 0.6083, -0.3847, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3809 left_y=-0.1918 left_z=0.1344 left_yaw=0.0153 left_pitch=-0.2289 left_roll=0.0206 left_gripper=0.4164 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=-0.0 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -7.1316, 7.1043, 1.5946, -0.359, 0.0366, 0.4322, -0.3214, -1.2786, 7.1726, 1.79, -0.0415, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5823, 1.7557, 1.3426, -0.5098, -0.4271, -0.4938, 0.4161, -0.0147, 0.8013, 0.6083, -0.3855, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.4234 left_y=-0.1869 left_z=0.1441 left_yaw=0.0423 left_pitch=-0.2493 left_roll=0.0173 left_gripper=0.4161 right_x=0.295 right_y=0.0014 right_z=0.1788 right_yaw=0.0003 right_pitch=-0.0183 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.5675, -9.4974, 8.9778, 1.2674, -0.2564, 0.188, 0.7643, -0.2256, -1.3197, 7.0496, 1.6972, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5793, 1.7649, 1.3449, -0.5289, -0.4191, -0.4988, 0.9952, -0.0147, 0.8024, 0.6083, -0.3851, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.4212 left_y=-0.1853 left_z=0.1379 left_yaw=0.046 left_pitch=-0.2741 left_roll=0.0241 left_gripper=0.9952 right_x=0.2952 right_y=0.0013 right_z=0.1785 right_yaw=-0.0 right_pitch=-0.0191 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -9.8256, 6.4479, 1.5214, -0.315, -0.0073, -0.0562, -0.0752, -1.4017, 7.0222, 1.7753, -0.0317, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2e247308120b76cf4b36147fd51efca6a2a6d41cdd32e6cce91939f6da98c94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94bd8ac3df12fe477f6dce44de3e6306c02f2799f9083c43186e58d200219c43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0f54dcf3d20050f0ee9183a8b2f0710fcad52fff7fc12a447a92f008a9bb0f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkwYKjgEIEhgCKkCf7NUkjqQyquTSktiGaJWfk+FH5Sw+P4AwGyIpUAQRcxGP9DT/fi0cqNEKp7YPkkpvbWs73OFOhyKJ/G2dBMfGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb7NzNUGEgy49MLaNnaWt2Ndc/YaDF2/8d7qOPP58ONC+SIwr/m98+EqzLqfCrIcyNm4y4iLGJICqZGy46C+Tvglx9KCC2XnfkQR1otXF2VpSSCnKrEEEVQ0o7H1Eko+aHAo7riRgAEe2cWmA7Onmaa5sms1cskR02UagL46fOWBBibfpCt/3eYci8Dp/z5ap0vCEMZDv9XwGnTEfemsP0OgVf/UGkjO1+7c9I25/yJByYa85WBr57Jfr32jhneZd+5sbbwtPIiggg4zBAhmGHaAW35xIvkpJ+gRH2pSkc56N3F5Xyneyb83ZUTEt/qWXjRFgW3ibsUT7C5FQG5Iwo61QRz578JG3mNXA+B5Zy3024PF80n6jTS3GUAF/6taEERBY4XB5LSQ9NdLVck/H7/XNxo4skhhcJeUFhFn8tCxNm0pmw+gN30xnjujeyJtKZYa1yhzcOrzaa/4RSGuvlq4/IeyWSXGiHgj6i4z8EqI8lBoJbsMWX3hGvfRsFO2I9KM2rfzrLtoWrm9N7h8tg4YkwjsjNQPmalXpWMjJEGNgwaUoGy8/5u57+iROriT8SAcuxXq1g5xMM9YVkO7yAi1IwNeTCuK980EKf57Upj7xMPNrugufS/4AoPyJ0kmHcPSc4jfqvnMHCvaemTK2G2MXD4HDYtq4qOqucdBR2xeme0Lq+1qHdozrnRF+qiDtU9Rv8lJ35hM3y7uiyMjF2pZBhpw1pO4WyJ9euftTj/5gfYHo6cNSJEq9c72KeEPEDYTJ8qfHLrTqKY9KhjJKsjS4hXKu73N+yePYpht0894iiWHXtZmAVWr5fsq/J4EZV15qkW9n2Lwr/e3Ou2EJr/jL+c9yLZeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y5Q5eXXubzrv7yS8qGUeLk",
      "input": {
        "note": "Released over the left basket; retracting the left arm so the overhead camera can show whether the toy landed inside.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01Y5Q5eXXubzrv7yS8qGUeLk",
      "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]: [-0.3424, 1.1595, 1.2022, -0.9211, -0.2882, -0.3279, 0.9967, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3097 left_y=-0.0533 left_z=0.2402 left_yaw=0.0733 left_pitch=-0.2671 left_roll=0.0136 left_gripper=0.9967 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=0.0003 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -3.9179, 9.347, 1.3993, -0.1783, 0.1099, 0.1392, -0.2803, -1.5248, 7.1726, 1.7656, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:038318d170ce130111fdd85c29552dd6541d46f2378bbe83e3b1f52472fa6714",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:893abc6286e2fdce597c21b4f3d3e54a061565960191407f5cd08d9a0d39c6f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:21e25596842b8ca0a4144e4efca15daaeb7431d43eae3a27de8e33d65014d858",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 9.017 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]: [-0.5823, 1.7557, 1.3426, -0.5098, -0.4271, -0.4938, 0.4161, -0.0147, 0.8013, 0.6083, -0.3855, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.4234 left_y=-0.1869 left_z=0.1441 left_yaw=0.0423 left_pitch=-0.2493 left_roll=0.0173 left_gripper=0.4161 right_x=0.295 right_y=0.0014 right_z=0.1788 right_yaw=0.0003 right_pitch=-0.0183 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.5675, -9.4974, 8.9778, 1.2674, -0.2564, 0.188, 0.7643, -0.2256, -1.3197, 7.0496, 1.6972, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5793, 1.7649, 1.3449, -0.5289, -0.4191, -0.4988, 0.9952, -0.0147, 0.8024, 0.6083, -0.3851, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.4212 left_y=-0.1853 left_z=0.1379 left_yaw=0.046 left_pitch=-0.2741 left_roll=0.0241 left_gripper=0.9952 right_x=0.2952 right_y=0.0013 right_z=0.1785 right_yaw=-0.0 right_pitch=-0.0191 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -9.8256, 6.4479, 1.5214, -0.315, -0.0073, -0.0562, -0.0752, -1.4017, 7.0222, 1.7753, -0.0317, -0.0708, -0.0171]",
      "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]: [-0.3424, 1.1595, 1.2022, -0.9211, -0.2882, -0.3279, 0.9967, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3097 left_y=-0.0533 left_z=0.2402 left_yaw=0.0733 left_pitch=-0.2671 left_roll=0.0136 left_gripper=0.9967 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=0.0003 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -3.9179, 9.347, 1.3993, -0.1783, 0.1099, 0.1392, -0.2803, -1.5248, 7.1726, 1.7656, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:038318d170ce130111fdd85c29552dd6541d46f2378bbe83e3b1f52472fa6714",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:893abc6286e2fdce597c21b4f3d3e54a061565960191407f5cd08d9a0d39c6f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21e25596842b8ca0a4144e4efca15daaeb7431d43eae3a27de8e33d65014d858",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UxnpHo7DAb9AddrtFEmRLu",
      "input": {
        "note": "Grey toy is in the left basket. Now switching to the right arm to collect the pens/markers; moving above the marker pair on the right side of the table.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.14,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01UxnpHo7DAb9AddrtFEmRLu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3424, 1.1641, 1.2003, -0.9272, -0.2802, -0.3294, 0.9968, 0.7734, 1.0668, 0.5987, -0.3328, 0.5758, 0.4438, 0.9993]\nstate[eef_state]: left_x=0.3087 left_y=-0.0544 left_z=0.2369 left_yaw=0.0689 left_pitch=-0.2811 left_roll=0.0119 left_gripper=0.9968 right_x=0.2723 right_y=0.1365 right_z=0.1296 right_yaw=0.0552 right_pitch=-0.0869 right_roll=-0.0481 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -3.8769, 6.9402, 1.4188, -0.2173, -0.0122, 0.0024, 0.2803, -3.535, 9.853, 1.4335, 0.4664, 0.1685, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:900722d131970d962bff5e78b509df1255c6b8082d22ac972818bc58c320521f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1706125368277af87372e7396c5914d04f6cabe2e01f0c901a0148c4188ddb88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:51e982c5db10ccec9e2dda7354577a96371f700abf16a80b5333005d0e6fccae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 4.641 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]: [-0.5793, 1.7649, 1.3449, -0.5289, -0.4191, -0.4988, 0.9952, -0.0147, 0.8024, 0.6083, -0.3851, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.4212 left_y=-0.1853 left_z=0.1379 left_yaw=0.046 left_pitch=-0.2741 left_roll=0.0241 left_gripper=0.9952 right_x=0.2952 right_y=0.0013 right_z=0.1785 right_yaw=-0.0 right_pitch=-0.0191 right_roll=-0.0007 right_gripper=0.9994\nstate[joint_eff]: [-0.3761, -9.8256, 6.4479, 1.5214, -0.315, -0.0073, -0.0562, -0.0752, -1.4017, 7.0222, 1.7753, -0.0317, -0.0708, -0.0171]",
      "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]: [-0.3424, 1.1595, 1.2022, -0.9211, -0.2882, -0.3279, 0.9967, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3097 left_y=-0.0533 left_z=0.2402 left_yaw=0.0733 left_pitch=-0.2671 left_roll=0.0136 left_gripper=0.9967 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=0.0003 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -3.9179, 9.347, 1.3993, -0.1783, 0.1099, 0.1392, -0.2803, -1.5248, 7.1726, 1.7656, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3424, 1.1641, 1.2003, -0.9272, -0.2802, -0.3294, 0.9968, 0.7734, 1.0668, 0.5987, -0.3328, 0.5758, 0.4438, 0.9993]\nstate[eef_state]: left_x=0.3087 left_y=-0.0544 left_z=0.2369 left_yaw=0.0689 left_pitch=-0.2811 left_roll=0.0119 left_gripper=0.9968 right_x=0.2723 right_y=0.1365 right_z=0.1296 right_yaw=0.0552 right_pitch=-0.0869 right_roll=-0.0481 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -3.8769, 6.9402, 1.4188, -0.2173, -0.0122, 0.0024, 0.2803, -3.535, 9.853, 1.4335, 0.4664, 0.1685, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:900722d131970d962bff5e78b509df1255c6b8082d22ac972818bc58c320521f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1706125368277af87372e7396c5914d04f6cabe2e01f0c901a0148c4188ddb88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51e982c5db10ccec9e2dda7354577a96371f700abf16a80b5333005d0e6fccae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzQkKjgEIEhgCKkBRVFYw0IrgiFlDCkuY/qcyGo3eSXBWG2iselZEDju9ob+E7plCagJNmY3anmhuMbTx1GZ/DaIcqsc8zgKEa4QGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdnNzNUGEgz5+ASto8Tcy9w18DEaDBTjfAwkkQ/7TtwpOiIwxR6Mp4hXgRhd3qMDZKXD5A3fFgZVawrywWvqkHE+dF54w1RHSPefUhCsR24MboO7KusH23ywe7QIKCicjpdESwiBT+FF1MxI5Z+LKUDzBFqBwXXy+rqn5QEuoCRwZpu8l0CNAO6BTrdbAn4UJSHXXVL1l/UQHrQ93423ZnfYio5IF67AUPbeqlf55Gp4fSjjzGv8yE+axepcMLKjrBDH9o+idgcHgniJ3195IjEOrQ1D/rf7Zp23+nhaAz8k+mpSJlEkJuBYjdq7vBrwhAhh+yTRljpG4HKg3myqneLNTQH8o0rPJ3sxqm9XjKQlU0MmHyM0HFjhV4X4gtvo1McBQAg46If7nAwM60v35iToo1/taiwGafyMbRnjoXUCzfoN9Os3Ofa9COD8m5kPADYcGZ3TJ2gdiw2N24O26t44cfSHIdjkOOxPWcwKi10lwihGD1Z7o8PnTdUMAB3YnVGkhhxCXNqbQcQN9bzFceLs68AijuMy5tai3bbic9uftSieaPffiwwX0BYAocRM86sjEACkqm8ZGqP1hLFgRMzh5z/AMGt1wUeP+XxxtQHceRgVu57JPxsR1oPEyH1UG/xLoAR511hOf9PH0HacyGBoZWLwypWMJEhzKw6fqgbvwjTw5UagBvg3OaCY0CUGMkglxuQb0s8J55xOW22vKKUAIgnCxQEh4WljcuAizT6jQ98Xn1jNR/aqWxjxFYKrSs7zsZTuAXSu0n47w9+8y8G/rfNKcy1iru36PR8Wjp3JsbTcD8NnDeMdrr63aRUhpoornCycW9YaQJnj2vtW9wJBS99mw0sRsmQrElIGM1Tt/R5lzvJjv2zid06UI1IAY3ZchZYwErfGYKgKuDUvXiu2e1Qtpq0m00vh3zFuyG0zohStYTPWcpwVjN+57p5subv608FO5FQK2QnGdmq5W9xEhKcainVDgEdfkj/qVadLCSJw7iFg1mpiMB++ZGZs8OYUz1wCdZwmfkhEbjE/BquLKHzMy4Zw+fh06naim2mm7tjbiZOZEhqx4TT1gYJ7Z5enoyv9IcEtu0heghbE06fWwBr5f8AOyJ3m64r+UXDxjHQS6fc46xgLqRXP8dR/DiEpmSbLuwi+Fj45zdb6zo67R0E/g1yd2kZAzXO4fQUcy7ILDJ94Q/H8NyuBahHN/B066FZ5kuAP7Jf/lOkDvnuC+QMgaQnLbQWxOsEvoIbbcYNXiEEGgvX7oMOYyiDeIryQN+lHFHD5xGpG/FvO4PSYfQzNWs5LjZgUHiUIzAgOepXHDbQv2A6cuA4UNppE0KEQ3Xnqo3p8pjxP1hoCwTbI181Cgh1ij33Jl3PhX9669M3pUwvdPZiZ0L+qSAfw+ZGgq8206dzhpkU8s1wyanMOhfuAGeeIg+1ERl0VSk13YBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PgdB4gTafp5CiYjp9irjeu",
      "input": {
        "note": "Right wrist view shows two markers lying on the table just ahead of the jaws; advancing slightly forward/left and dropping low to line up on the nearer marker.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.15,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01PgdB4gTafp5CiYjp9irjeu",
      "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]: [-0.3424, 1.166, 1.1999, -0.9279, -0.2798, -0.3298, 0.9968, 0.7353, 1.3495, 0.4774, 0.0002, 0.5446, 0.4183, 0.9993]\nstate[eef_state]: left_x=0.3087 left_y=-0.0544 left_z=0.2361 left_yaw=0.0692 left_pitch=-0.284 left_roll=0.0126 left_gripper=0.9968 right_x=0.2874 right_y=0.1414 right_z=0.0514 right_yaw=0.0483 right_pitch=-0.157 right_roll=-0.0965 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -3.6444, 6.4889, 1.4188, -0.2076, 0.0073, -0.0122, -0.5128, -5.2308, 5.4359, 1.4432, 0.2271, -0.1294, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb6cbc1f07ca00c7881d5c98c454dd10904beefb16674d47d30c2186933a6e0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23361578e9772d84539440285da4340ec243078c53241b9a963f17abbaf699f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bfda3c8de99eacd0c5f6c1ff7eb027a39b463d1afa51520e487f38d23aa3d0f3",
        "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 · 2.605 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]: [-0.3424, 1.1595, 1.2022, -0.9211, -0.2882, -0.3279, 0.9967, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3097 left_y=-0.0533 left_z=0.2402 left_yaw=0.0733 left_pitch=-0.2671 left_roll=0.0136 left_gripper=0.9967 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=0.0003 right_pitch=-0.0217 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -3.9179, 9.347, 1.3993, -0.1783, 0.1099, 0.1392, -0.2803, -1.5248, 7.1726, 1.7656, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3424, 1.1641, 1.2003, -0.9272, -0.2802, -0.3294, 0.9968, 0.7734, 1.0668, 0.5987, -0.3328, 0.5758, 0.4438, 0.9993]\nstate[eef_state]: left_x=0.3087 left_y=-0.0544 left_z=0.2369 left_yaw=0.0689 left_pitch=-0.2811 left_roll=0.0119 left_gripper=0.9968 right_x=0.2723 right_y=0.1365 right_z=0.1296 right_yaw=0.0552 right_pitch=-0.0869 right_roll=-0.0481 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -3.8769, 6.9402, 1.4188, -0.2173, -0.0122, 0.0024, 0.2803, -3.535, 9.853, 1.4335, 0.4664, 0.1685, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3424, 1.166, 1.1999, -0.9279, -0.2798, -0.3298, 0.9968, 0.7353, 1.3495, 0.4774, 0.0002, 0.5446, 0.4183, 0.9993]\nstate[eef_state]: left_x=0.3087 left_y=-0.0544 left_z=0.2361 left_yaw=0.0692 left_pitch=-0.284 left_roll=0.0126 left_gripper=0.9968 right_x=0.2874 right_y=0.1414 right_z=0.0514 right_yaw=0.0483 right_pitch=-0.157 right_roll=-0.0965 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -3.6444, 6.4889, 1.4188, -0.2076, 0.0073, -0.0122, -0.5128, -5.2308, 5.4359, 1.4432, 0.2271, -0.1294, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb6cbc1f07ca00c7881d5c98c454dd10904beefb16674d47d30c2186933a6e0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23361578e9772d84539440285da4340ec243078c53241b9a963f17abbaf699f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfda3c8de99eacd0c5f6c1ff7eb027a39b463d1afa51520e487f38d23aa3d0f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShgYKjgEIEhgCKkDd3oPeFXwlDYpNawnzWaH1K8cDfUBCdNZXL4y4ZhmphrsJeAb/Z1GGYAnejguV1RRiV3zluH+qFPGWQTpl2nXjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd7NzNUGEgyQMBEOTM+stWBcWpQaDMt64PZ/3QbnqwZqcCIwe3pc6c4PCluM6iJumu2oaHcqRjS0axOXKEZIqo9tVZko/cxwuCaYTyqL0+emt2oIKqQEZDYqPZxrWkFo4x+EcM004rzqjTbLydXQ2Is3b5ThfUs8s5ogR3bIDAjTahVVWtgrH3HAcd9IT+w4dDAAe2VhDBDlw4OsfNV34RtJGbbkmYmWSx7nGL/hRLN2lT7wwg/hr4SbnWfNKpzUJqs1QuEGGBYr2C4OlRVWzfgMduR5GpbcXUIJTHaFY1sEBSCMwm6XQ+VOkPMTdTQHAM+OhpRmVi6oi5w6GPM/0DsKcFB6pmuy8o8hkvLJpZQAUa5sq75ur20Cb4Ye1dhq4bh2TQO8Gv1JFLqiPZNk0AmtrZGGF+iI9kzLBhcZd/8gAzPSjORoo+4Wi0rE1by305NDsSARQjZFRffKnTHEyxjxfd5iel7SSAphKhsegNhWvHAsgIXnAlXjm3xfpszS61k05nPnYiXPZDGcDaR60XlcKwQYktmbPmbTkNgZJV9fwsaa1eSIWqHmBDsZG7+sRIHrtsLhoASRbF2AMLKZdc1x4h1Rl1hdr+v7LsjCIL0laLzmjpKmpfvyrKiePzAo59wqVKrFy/IXSTiqS179g0Sge2A1id0Zv5RXDWOq62IMVtak1ju65B9KFbD1xenK68G/aRP4SEM8kC71SoenmRybKlnanBT6qnS+1kOJpqeiSRxyiFiO+KYAxFrNPNI3TdzaES/cxPv4tlvKr71X/76UNeZzA3tLmrUt5sT9JTxDE/KSH5wYv8By6ahmUoJcBcwjanx8IUiMLToYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UmEgSXMVYVeyA6UdPi2CAZ",
      "input": {
        "note": "The blue-capped marker sits right between the open jaws in the wrist view; descending to table level to grasp it.",
        "targets": {
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01UmEgSXMVYVeyA6UdPi2CAZ",
      "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]: [-0.3428, 1.1679, 1.1999, -0.9276, -0.2794, -0.3325, 0.9968, 0.7326, 1.5326, 0.3988, 0.2924, 0.5541, 0.424, 0.9993]\nstate[eef_state]: left_x=0.309 left_y=-0.0547 left_z=0.2356 left_yaw=0.0701 left_pitch=-0.2855 left_roll=0.0111 left_gripper=0.9968 right_x=0.2938 right_y=0.1441 right_z=0.0151 right_yaw=0.0383 right_pitch=-0.1287 right_roll=-0.078 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -3.4667, 6.5436, 1.4676, -0.1197, -0.0024, -0.0122, 0.1436, -3.0427, 2.7966, 0.5446, 0.0024, -0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4854cf1aea6ffe18db0d23c6bf7b93b2c94b57546d0116135e3ef979006400c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae7e4402eecf58fe6e61f2bfaf83a22224951706a917cf052a67cdfcbd8cc6b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a1cba6d2b1dda7d2d77bcef91ca771c30a98da80273473f22f71015023d293b7",
        "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 · 5.988 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]: [-0.3424, 1.1641, 1.2003, -0.9272, -0.2802, -0.3294, 0.9968, 0.7734, 1.0668, 0.5987, -0.3328, 0.5758, 0.4438, 0.9993]\nstate[eef_state]: left_x=0.3087 left_y=-0.0544 left_z=0.2369 left_yaw=0.0689 left_pitch=-0.2811 left_roll=0.0119 left_gripper=0.9968 right_x=0.2723 right_y=0.1365 right_z=0.1296 right_yaw=0.0552 right_pitch=-0.0869 right_roll=-0.0481 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -3.8769, 6.9402, 1.4188, -0.2173, -0.0122, 0.0024, 0.2803, -3.535, 9.853, 1.4335, 0.4664, 0.1685, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3424, 1.166, 1.1999, -0.9279, -0.2798, -0.3298, 0.9968, 0.7353, 1.3495, 0.4774, 0.0002, 0.5446, 0.4183, 0.9993]\nstate[eef_state]: left_x=0.3087 left_y=-0.0544 left_z=0.2361 left_yaw=0.0692 left_pitch=-0.284 left_roll=0.0126 left_gripper=0.9968 right_x=0.2874 right_y=0.1414 right_z=0.0514 right_yaw=0.0483 right_pitch=-0.157 right_roll=-0.0965 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -3.6444, 6.4889, 1.4188, -0.2076, 0.0073, -0.0122, -0.5128, -5.2308, 5.4359, 1.4432, 0.2271, -0.1294, -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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3428, 1.1679, 1.1999, -0.9276, -0.2794, -0.3325, 0.9968, 0.7326, 1.5326, 0.3988, 0.2924, 0.5541, 0.424, 0.9993]\nstate[eef_state]: left_x=0.309 left_y=-0.0547 left_z=0.2356 left_yaw=0.0701 left_pitch=-0.2855 left_roll=0.0111 left_gripper=0.9968 right_x=0.2938 right_y=0.1441 right_z=0.0151 right_yaw=0.0383 right_pitch=-0.1287 right_roll=-0.078 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -3.4667, 6.5436, 1.4676, -0.1197, -0.0024, -0.0122, 0.1436, -3.0427, 2.7966, 0.5446, 0.0024, -0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4854cf1aea6ffe18db0d23c6bf7b93b2c94b57546d0116135e3ef979006400c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae7e4402eecf58fe6e61f2bfaf83a22224951706a917cf052a67cdfcbd8cc6b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1cba6d2b1dda7d2d77bcef91ca771c30a98da80273473f22f71015023d293b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxgIKjgEIEhgCKkCqQ6bRqBXPwZ6ko4iWb9K3K8g6OGhC9NKIUtVro4rbq0eG+D70kThH/w5G7gBEl54wO+4BDBUK6xAeAufUosguMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeLNzNUGEgx3CxIJEVVoRQps9DkaDCV1vBIaiq7G9j1V0yIw8raL9J/pvpzKpJFHZ12iu6ztRwNkSSgNiaN7eVhp+CwHvJ9i1GzDn0JhG5VG2k5TKmV4EX/2iCJtwxXK5P4ASAII6f8/cPjApXzvfn7xa+a3wNuYjITBfrVS2RJux45skkLTvC0WpG7ZqYJODCgdB9m3G7zabUSdERD6yCJVQx3kReg5YnrYgyei6mLRiX8lXI9nxebPgBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019xyBMZiBihfjZeKms3G2jq",
      "input": {
        "note": "Marker lies centred between the jaws at table level; closing to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019xyBMZiBihfjZeKms3G2jq",
      "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]: [-0.3428, 1.169, 1.1999, -0.9272, -0.2798, -0.3332, 0.9968, 0.7326, 1.562, 0.382, 0.3565, 0.5415, 0.4194, 0.1451]\nstate[eef_state]: left_x=0.3092 left_y=-0.0547 left_z=0.2353 left_yaw=0.071 left_pitch=-0.2861 left_roll=0.0112 left_gripper=0.9968 right_x=0.2942 right_y=0.147 right_z=0.01 right_yaw=0.0515 right_pitch=-0.1209 right_roll=-0.0629 right_gripper=0.1451\nstate[joint_eff]: [-0.2256, -3.5897, 6.4752, 1.3748, -0.1587, -0.0562, -0.0122, 0.1846, -3.959, 3.9179, 1.2039, 0.2271, -0.0317, 1.0085]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0cf8254a6873c396f91c93c498bc856157219930426743edb0933bc9af9c66b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45e77121a8f8531f6d97b109357e74e206f816bb3a481973100d5c851c5781b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:595557f5bd425582756e5a1870795094c9b7d758afbb764c95e8b6ca3f13f331",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 3.719 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3424, 1.166, 1.1999, -0.9279, -0.2798, -0.3298, 0.9968, 0.7353, 1.3495, 0.4774, 0.0002, 0.5446, 0.4183, 0.9993]\nstate[eef_state]: left_x=0.3087 left_y=-0.0544 left_z=0.2361 left_yaw=0.0692 left_pitch=-0.284 left_roll=0.0126 left_gripper=0.9968 right_x=0.2874 right_y=0.1414 right_z=0.0514 right_yaw=0.0483 right_pitch=-0.157 right_roll=-0.0965 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -3.6444, 6.4889, 1.4188, -0.2076, 0.0073, -0.0122, -0.5128, -5.2308, 5.4359, 1.4432, 0.2271, -0.1294, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3428, 1.1679, 1.1999, -0.9276, -0.2794, -0.3325, 0.9968, 0.7326, 1.5326, 0.3988, 0.2924, 0.5541, 0.424, 0.9993]\nstate[eef_state]: left_x=0.309 left_y=-0.0547 left_z=0.2356 left_yaw=0.0701 left_pitch=-0.2855 left_roll=0.0111 left_gripper=0.9968 right_x=0.2938 right_y=0.1441 right_z=0.0151 right_yaw=0.0383 right_pitch=-0.1287 right_roll=-0.078 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -3.4667, 6.5436, 1.4676, -0.1197, -0.0024, -0.0122, 0.1436, -3.0427, 2.7966, 0.5446, 0.0024, -0.1001, -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 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]: [-0.3428, 1.169, 1.1999, -0.9272, -0.2798, -0.3332, 0.9968, 0.7326, 1.562, 0.382, 0.3565, 0.5415, 0.4194, 0.1451]\nstate[eef_state]: left_x=0.3092 left_y=-0.0547 left_z=0.2353 left_yaw=0.071 left_pitch=-0.2861 left_roll=0.0112 left_gripper=0.9968 right_x=0.2942 right_y=0.147 right_z=0.01 right_yaw=0.0515 right_pitch=-0.1209 right_roll=-0.0629 right_gripper=0.1451\nstate[joint_eff]: [-0.2256, -3.5897, 6.4752, 1.3748, -0.1587, -0.0562, -0.0122, 0.1846, -3.959, 3.9179, 1.2039, 0.2271, -0.0317, 1.0085]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0cf8254a6873c396f91c93c498bc856157219930426743edb0933bc9af9c66b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45e77121a8f8531f6d97b109357e74e206f816bb3a481973100d5c851c5781b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:595557f5bd425582756e5a1870795094c9b7d758afbb764c95e8b6ca3f13f331",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsAQKjgEIEhgCKkDAMkhQS2eOVlHcp636qU15vxSNpPicehnfJkpHcr1zy3R2tqGfpgZLR4fm6aAydltyPwJ1WW5JVIjRimdtyQTvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAejNzNUGEgzp0FORvyvjs5ggMf4aDLrGauAbISJXFSgXASIw9AgdXVF5jxuz1J9CvoPSRdk9PVh7qnqfo1zXxYLrlpTqR/YxTS85W5Mc/IyswU2BKs4C/JF6c3Raq0fWnOG6FgCb6T+Qe4Eh9ysuKw4eUjDGu0GmCA8fBeHosvIbFjqjQf16Y0RJkdjQgBeJ9L6d6mV244+s7jWcyn8+pC8XX3cV3CbN03BLF+QiTart4aAEjcu+gWX+ceGrB/fimfUqmgob4ZCW8rFHqDUZNIJSSEcpPpXLb/tZHWsT5IeCkpeyhVmGVN9mzZEgNCrYbD39udW28fuG8i2jzOulr44QRHShJCbjhEGAs2FzQegeA07phveTwVqiHFn/iIB2iSgB2ZoJb/QjEROCzdk/dIjaon6aFTYHEovG7yLRd8Wca9dpg8DByttoxL+8Zv+r7LvEMjZB59e/UFDslLAIQWtoiMnsvo7fdJFPACZj59SP2bhNdnWmfdDESgs1jbG6hs3OE1ZpmwiLL41fu1DYjCSg+h/jfxpQKhPgPs9w8F2p2Guv5hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XH9Q2QcqJVFFrKyp1QXEGB",
      "input": {
        "note": "Gripper reads 0.145 — the marker is held. Lifting and moving forward over the right-hand basket.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.13,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01XH9Q2QcqJVFFrKyp1QXEGB",
      "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]: [-0.3428, 1.169, 1.1999, -0.9276, -0.2794, -0.3328, 0.9968, 0.4263, 1.5135, 1.1419, -0.3714, 0.3183, 0.186, 0.1493]\nstate[eef_state]: left_x=0.3091 left_y=-0.0548 left_z=0.2353 left_yaw=0.0705 left_pitch=-0.2865 left_roll=0.0114 left_gripper=0.9968 right_x=0.4131 right_y=0.1308 right_z=0.1818 right_yaw=0.0521 right_pitch=-0.1391 right_roll=-0.0666 right_gripper=0.1493\nstate[joint_eff]: [-0.1436, -3.5624, 6.653, 1.37, -0.1245, -0.0317, -0.0122, -0.5265, -7.0496, 9.5795, 1.453, 0.0659, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb7ef8d13586735e0f96c97a0d06dca94a23b18265d03ed326b9261003e54d3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f9980b0bd3e3cc1d027c3104ddf702050684955b515215b36ccad321a106b8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9507500380072636e412ecbda7ddf21319bdc49fa435f6f452f15f45eadf2b4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 10.32 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3428, 1.1679, 1.1999, -0.9276, -0.2794, -0.3325, 0.9968, 0.7326, 1.5326, 0.3988, 0.2924, 0.5541, 0.424, 0.9993]\nstate[eef_state]: left_x=0.309 left_y=-0.0547 left_z=0.2356 left_yaw=0.0701 left_pitch=-0.2855 left_roll=0.0111 left_gripper=0.9968 right_x=0.2938 right_y=0.1441 right_z=0.0151 right_yaw=0.0383 right_pitch=-0.1287 right_roll=-0.078 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -3.4667, 6.5436, 1.4676, -0.1197, -0.0024, -0.0122, 0.1436, -3.0427, 2.7966, 0.5446, 0.0024, -0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3428, 1.169, 1.1999, -0.9272, -0.2798, -0.3332, 0.9968, 0.7326, 1.562, 0.382, 0.3565, 0.5415, 0.4194, 0.1451]\nstate[eef_state]: left_x=0.3092 left_y=-0.0547 left_z=0.2353 left_yaw=0.071 left_pitch=-0.2861 left_roll=0.0112 left_gripper=0.9968 right_x=0.2942 right_y=0.147 right_z=0.01 right_yaw=0.0515 right_pitch=-0.1209 right_roll=-0.0629 right_gripper=0.1451\nstate[joint_eff]: [-0.2256, -3.5897, 6.4752, 1.3748, -0.1587, -0.0562, -0.0122, 0.1846, -3.959, 3.9179, 1.2039, 0.2271, -0.0317, 1.0085]",
      "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]: [-0.3428, 1.169, 1.1999, -0.9276, -0.2794, -0.3328, 0.9968, 0.4263, 1.5135, 1.1419, -0.3714, 0.3183, 0.186, 0.1493]\nstate[eef_state]: left_x=0.3091 left_y=-0.0548 left_z=0.2353 left_yaw=0.0705 left_pitch=-0.2865 left_roll=0.0114 left_gripper=0.9968 right_x=0.4131 right_y=0.1308 right_z=0.1818 right_yaw=0.0521 right_pitch=-0.1391 right_roll=-0.0666 right_gripper=0.1493\nstate[joint_eff]: [-0.1436, -3.5624, 6.653, 1.37, -0.1245, -0.0317, -0.0122, -0.5265, -7.0496, 9.5795, 1.453, 0.0659, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb7ef8d13586735e0f96c97a0d06dca94a23b18265d03ed326b9261003e54d3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f9980b0bd3e3cc1d027c3104ddf702050684955b515215b36ccad321a106b8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9507500380072636e412ecbda7ddf21319bdc49fa435f6f452f15f45eadf2b4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0gMKjgEIEhgCKkCeLIF9jMtx3RFNtJBsI9JAHo5o2DeWq8a9UJbL/tV+S1Zlw0vs7n9hjAbiOFBSFyM3Vnm2vcFGj0Q9YP+GZ4dvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe3NzNUGEgwQSdrrQBFDLMGWuvgaDNMiQlW4pvHwXa9ZwCIw+d7AYrXxrr4EwOhkIje2QRIxv6KLFIngQIgKYf49mLt2oxT+BYa8jt0NVHGVepyZKvABTBbdkAyo9xKGeERiPcryzPlQNl6eJp0Mndi7pED0C0JcQthVAvu+grmasjOJAVaS0Z4jkl9h+JL8vMGozz9jm5HCAbk7b8PMrzcL1+TDlk2qKirhKzHDRJYnyrGusujItWcBAdqFRvYS2dqt8s72KwTtmSl/oYcfLDfZZaJ9iFG+ndVMnt0T980YHjt4TOMMWG4l7JXwpLjpSKNeXNS+IRniQrUTJ/fwbjia3chb4I69eZMYloqB44XK2yLLIWH+Y5TUExUgpf8j9ZN5opiqwdgr0ZTUyk4GYmQ5ilB2RsSDffvD2aLJzaTWqIVUgFkYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RAqxwM3PUouNw69Z9r8iQ1",
      "input": {
        "note": "Wrist view shows the basket's near wall straight ahead, so the jaws are still short of the opening; moving further forward and a bit higher to clear the rim.",
        "targets": {
          "right_x": 0.47,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01RAqxwM3PUouNw69Z9r8iQ1",
      "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]: [-0.3424, 1.1717, 1.1999, -0.9276, -0.2794, -0.3328, 0.9968, 0.371, 1.6978, 1.4178, -0.5121, 0.2707, 0.1444, 0.1526]\nstate[eef_state]: left_x=0.3095 left_y=-0.0548 left_z=0.2345 left_yaw=0.0712 left_pitch=-0.289 left_roll=0.0125 left_gripper=0.9968 right_x=0.4579 right_y=0.1313 right_z=0.1929 right_yaw=0.0559 right_pitch=-0.1983 right_roll=-0.0833 right_gripper=0.1526\nstate[joint_eff]: [-0.0615, -3.7538, 6.4479, 1.3895, -0.1392, -0.0513, -0.0122, -0.7863, -8.8957, 10.1265, 1.4725, 0.1099, -0.0317, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:613f42d48da9547054f375e33783244033b0b6a76f46797b823f1ee0fcb4d30f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d203df69a0e8f46f2a508ad349efc883f1f256a472ad9f6b57f9ae626a1f2c32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dce9d4141799e42806a340220834f7d2b4ccf6663913d782c5a8bdc162ef2cf3",
        "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 · 8.664 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]: [-0.3428, 1.169, 1.1999, -0.9272, -0.2798, -0.3332, 0.9968, 0.7326, 1.562, 0.382, 0.3565, 0.5415, 0.4194, 0.1451]\nstate[eef_state]: left_x=0.3092 left_y=-0.0547 left_z=0.2353 left_yaw=0.071 left_pitch=-0.2861 left_roll=0.0112 left_gripper=0.9968 right_x=0.2942 right_y=0.147 right_z=0.01 right_yaw=0.0515 right_pitch=-0.1209 right_roll=-0.0629 right_gripper=0.1451\nstate[joint_eff]: [-0.2256, -3.5897, 6.4752, 1.3748, -0.1587, -0.0562, -0.0122, 0.1846, -3.959, 3.9179, 1.2039, 0.2271, -0.0317, 1.0085]",
      "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]: [-0.3428, 1.169, 1.1999, -0.9276, -0.2794, -0.3328, 0.9968, 0.4263, 1.5135, 1.1419, -0.3714, 0.3183, 0.186, 0.1493]\nstate[eef_state]: left_x=0.3091 left_y=-0.0548 left_z=0.2353 left_yaw=0.0705 left_pitch=-0.2865 left_roll=0.0114 left_gripper=0.9968 right_x=0.4131 right_y=0.1308 right_z=0.1818 right_yaw=0.0521 right_pitch=-0.1391 right_roll=-0.0666 right_gripper=0.1493\nstate[joint_eff]: [-0.1436, -3.5624, 6.653, 1.37, -0.1245, -0.0317, -0.0122, -0.5265, -7.0496, 9.5795, 1.453, 0.0659, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3424, 1.1717, 1.1999, -0.9276, -0.2794, -0.3328, 0.9968, 0.371, 1.6978, 1.4178, -0.5121, 0.2707, 0.1444, 0.1526]\nstate[eef_state]: left_x=0.3095 left_y=-0.0548 left_z=0.2345 left_yaw=0.0712 left_pitch=-0.289 left_roll=0.0125 left_gripper=0.9968 right_x=0.4579 right_y=0.1313 right_z=0.1929 right_yaw=0.0559 right_pitch=-0.1983 right_roll=-0.0833 right_gripper=0.1526\nstate[joint_eff]: [-0.0615, -3.7538, 6.4479, 1.3895, -0.1392, -0.0513, -0.0122, -0.7863, -8.8957, 10.1265, 1.4725, 0.1099, -0.0317, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:613f42d48da9547054f375e33783244033b0b6a76f46797b823f1ee0fcb4d30f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d203df69a0e8f46f2a508ad349efc883f1f256a472ad9f6b57f9ae626a1f2c32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dce9d4141799e42806a340220834f7d2b4ccf6663913d782c5a8bdc162ef2cf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3AQKjgEIEhgCKkDWcHNGZD+szYt9oIcHXFCloykz+2wlHtdvMSFkQeMBJkRunUaF+IqvzSUk0XOsQ47dx3qrgt71kNoSCvZHguRDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfjNzNUGEgz4oTrsrEvByBcCMt4aDL1K//YUEqTX/gEuXSIwGxkF6kUeLxYaIN+lYVZ6xuQ2GOpOOLPrwoKeY0jnMXUWAvNztRIagdg5djq2ZqK1KvoCB1WAasE3/z3GrrieFULHalUZH3NEUdhyGUeePA/99Sf5lhv2iD2PKOQ/rtjxVvrMRIq2E5QhJvo6+YRqdKxK/Ica3EozYnbAjztWeX6OS34oTF5GDLzpq3x+gUddyCEB6IZsKSsgwBWWM1BERgyCGVjRdQHIGsQHx/QAdxuwbU7Ya/2OwBR14UJJNDJ2SrhF+iC7XN+zzbQig8TbzlG84AhuVv4y+7SOd8qKiYFMv80khQnKNFFoI77Rbf+FQefw5SfFy713Jb75uQDLO2aZH4ZfNIgTnxf6woKgGeMrQ2loDOQFbDRo5UIaS5rj9HwU9bnENi4knN2TPT8YkbuRfAI1AZbujZg1frttExW2sHEWYvzSeLluuueOy94/gXJw16ruyOAk90q1J5aL6uVPWTCa0LkMXXqy0FVGOEbfsiY0fNFy1C7Nrbo8x8dK1AhA+zBgZURX6rh8bR0Mq9H15uxdIxRCKQ4BX2u2i6/JRgw12WtKPPYueDY4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UmHQnTsuwikkcNvRQhmgri",
      "input": {
        "note": "Wrist view is now filled by the basket interior; opening to drop the marker into the right basket.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01UmHQnTsuwikkcNvRQhmgri",
      "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]: [-0.3424, 1.1717, 1.1992, -0.9272, -0.2798, -0.3328, 0.9968, 0.3698, 1.7058, 1.4158, -0.5232, 0.26, 0.1349, 0.995]\nstate[eef_state]: left_x=0.3095 left_y=-0.0547 left_z=0.2343 left_yaw=0.0715 left_pitch=-0.2892 left_roll=0.0129 left_gripper=0.9968 right_x=0.4561 right_y=0.132 right_z=0.1863 right_yaw=0.0676 right_pitch=-0.221 right_roll=-0.0893 right_gripper=0.995\nstate[joint_eff]: [-0.0205, -3.5077, 6.6667, 1.3602, -0.1978, -0.0562, -0.0122, -0.0752, -9.306, 7.0359, 1.5604, 0.1245, 0.0366, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ceb68bf8b0513a94e834bdbc07aeb7883573f1666ca524f6d6228137ee56e47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a3aa5ae0d485e396a08427ac47e87ec20dd6a159e0dc23d744266b86bdab02c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4537fd8f9dce1803792390f6aaca57ad243e2fd874c76e02196f305903676b3b",
        "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 · 5.479 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]: [-0.3428, 1.169, 1.1999, -0.9276, -0.2794, -0.3328, 0.9968, 0.4263, 1.5135, 1.1419, -0.3714, 0.3183, 0.186, 0.1493]\nstate[eef_state]: left_x=0.3091 left_y=-0.0548 left_z=0.2353 left_yaw=0.0705 left_pitch=-0.2865 left_roll=0.0114 left_gripper=0.9968 right_x=0.4131 right_y=0.1308 right_z=0.1818 right_yaw=0.0521 right_pitch=-0.1391 right_roll=-0.0666 right_gripper=0.1493\nstate[joint_eff]: [-0.1436, -3.5624, 6.653, 1.37, -0.1245, -0.0317, -0.0122, -0.5265, -7.0496, 9.5795, 1.453, 0.0659, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3424, 1.1717, 1.1999, -0.9276, -0.2794, -0.3328, 0.9968, 0.371, 1.6978, 1.4178, -0.5121, 0.2707, 0.1444, 0.1526]\nstate[eef_state]: left_x=0.3095 left_y=-0.0548 left_z=0.2345 left_yaw=0.0712 left_pitch=-0.289 left_roll=0.0125 left_gripper=0.9968 right_x=0.4579 right_y=0.1313 right_z=0.1929 right_yaw=0.0559 right_pitch=-0.1983 right_roll=-0.0833 right_gripper=0.1526\nstate[joint_eff]: [-0.0615, -3.7538, 6.4479, 1.3895, -0.1392, -0.0513, -0.0122, -0.7863, -8.8957, 10.1265, 1.4725, 0.1099, -0.0317, 1.033]",
      "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]: [-0.3424, 1.1717, 1.1992, -0.9272, -0.2798, -0.3328, 0.9968, 0.3698, 1.7058, 1.4158, -0.5232, 0.26, 0.1349, 0.995]\nstate[eef_state]: left_x=0.3095 left_y=-0.0547 left_z=0.2343 left_yaw=0.0715 left_pitch=-0.2892 left_roll=0.0129 left_gripper=0.9968 right_x=0.4561 right_y=0.132 right_z=0.1863 right_yaw=0.0676 right_pitch=-0.221 right_roll=-0.0893 right_gripper=0.995\nstate[joint_eff]: [-0.0205, -3.5077, 6.6667, 1.3602, -0.1978, -0.0562, -0.0122, -0.0752, -9.306, 7.0359, 1.5604, 0.1245, 0.0366, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ceb68bf8b0513a94e834bdbc07aeb7883573f1666ca524f6d6228137ee56e47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a3aa5ae0d485e396a08427ac47e87ec20dd6a159e0dc23d744266b86bdab02c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4537fd8f9dce1803792390f6aaca57ad243e2fd874c76e02196f305903676b3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzwkKjgEIEhgCKkAH1jB8kYpiIziJfzxP6dnkXkXVaiMbkg6Gf+J0I1PPuAruSW2C0g3gjtl5/YeSy7k5JaLIIlIT6xKLdy9xZn9lMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYHOzNUGEgxlDjtPLlO037OQbpkaDPxMBTit5nRP/Rr9OiIwDeOTjOOxlRXKPULyXyE+/Nhm1WWU37jPgxlrsdH76a6/9h3dzLImAaPLkdIP4xF7Ku0H3BrcLvkLdZdTgb7IYEd243oxOIdNdkL0/z/WzPjfK+g8DHalep+NmyBJtOfdaom9mG/FbgxT90j7y50W/N5NCV3HSDvzljVz/jopeTsYOUZb3K0qNtO7UTEZISmPoUZZC9b4PIOXiELphP/EnNu/qEnUyE+bZGjjmu8mdcluEX2OkKCdECNkjuNFbT0mZotVx9mQbNL4nbHhynr3IeQIZEqoS17K6iqW7nw/z1fWW2INJl8l1iYa3yQOuGVvWs6lZSU+JGs/a1aGtfYCi6XCJ4On2y+tVFGNFtVlYcd1D3sIrppGAJq3XPS+1v3nSQBcMPmWZ/N1/xYn0HRqc/DrxGkFR6uFlb/OlX0TCGX7Z19y18gMwwNN+9YJLDYZz//ftkEa3pf85P95Ix9T/9/+5AekDPonxclWnNpRc/p8Pz5cU/6czZfTEWkoHgthx1IuYbhFqedPn4RLgSqctim9QNl0hgwCDBIR7DLJf3Jp+kb8KB6ynTx0lLvJwu7eZbgm8ASwIhAO2A65qoVzLf/do7V9J/RGWYgnHHqAD6aTl/1VUY6aoZWCKIK1uLs/wnWd0yGm2xSnnMLlBu3bJM7sudh79nXuMNfkF5qdkofIQIopRwbf4C0mVdlzMLSf6NSqQWxH3Blx4PtlENZq+7Dq5R+xRT83T8MHxuDCw7NyPyzIzHa4ulBIk5FF3oY0HZmJIbFzBghhTXJ9mMZuhz4D1jJiypdchls/CV8sQrZDk7xEHV34r2ZmaG9vnREx4hvIJ2RlgXDSxfRKrZYfTYfIXjg/hnM34G8hRFR1pV0pxhvaDt5raDpa0c91k0sePSseR3Nolu1kjVcxbhNRhNFRqa6qA3Q9vX85QtT3GDRPAz317c48pf19mcHgB6CXW+hux5ALfkPL2raUZvu8l2L3nh83VFXMMuhC1XF55FNVu1/R+hGDfTWLTGnvX7yilMlCE0sDvua8aeDmrsrAGuvUt1afrPZ4haH5Oc0ODMLxudTLvf/N57t/Yrbt0ibzvSTBwHhAGGYK93Aneh6f64B8qYkClmKh42dDix0qDDpoPIlIAU9+P541CNyFy/6vMKCQPC6WAiajVjdsL2gCHQ3spkjztxDnD6S74vu8YD94JLX8BfRXx/C1/ziLkTf2Y2a6cZi6uACI1TEKtJOz77sOU4E64HNfFGiRhJyI+lBkfhRyDBKz1WIbIQVifD1e4Rhuet0pG+D696Mwl3nX0dJlE0I/LLBK1LqUEJlXLQ/KK7ZaYstcWKN0sfujlRVYjLW8BCBR+ph1es6crX3ojzNOh37FvHcrici9F2pLATGp3LUHNrgXf5RjS1/miKypGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H2XZiXsnpaXAPq9CQpLTbH",
      "input": {
        "note": "Marker delivered into the right basket. Moving back down to the second (black) marker lying to the right of the toy cluster.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.29,
          "right_y": 0.06,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01H2XZiXsnpaXAPq9CQpLTbH",
      "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]: [-0.3428, 1.1748, 1.1992, -0.9268, -0.2798, -0.3328, 0.9968, 0.3359, 1.1267, 0.4206, -0.1329, 0.2325, 0.1108, 0.9988]\nstate[eef_state]: left_x=0.3099 left_y=-0.055 left_z=0.2334 left_yaw=0.0715 left_pitch=-0.2917 left_roll=0.014 left_gripper=0.9968 right_x=0.2895 right_y=0.0618 right_z=0.0572 right_yaw=0.0683 right_pitch=-0.2528 right_roll=-0.0942 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -3.7949, 6.5436, 1.3993, -0.188, -0.0464, -0.0122, -0.6906, -2.8513, 6.9812, 1.8193, 0.0415, -0.1148, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90127792be332858342a8bd7d976aa22623ab221789cff27339449d5fa7e1900",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48b499b7b68fc41b8fada21af3911ada6fa294f075e6d875e5638b11c51f08b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7448d97c2ae4c4c8627ff193407b89e96baa109b04a28f4bfe7f75a29a43bad1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 3.334 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]: [-0.3424, 1.1717, 1.1999, -0.9276, -0.2794, -0.3328, 0.9968, 0.371, 1.6978, 1.4178, -0.5121, 0.2707, 0.1444, 0.1526]\nstate[eef_state]: left_x=0.3095 left_y=-0.0548 left_z=0.2345 left_yaw=0.0712 left_pitch=-0.289 left_roll=0.0125 left_gripper=0.9968 right_x=0.4579 right_y=0.1313 right_z=0.1929 right_yaw=0.0559 right_pitch=-0.1983 right_roll=-0.0833 right_gripper=0.1526\nstate[joint_eff]: [-0.0615, -3.7538, 6.4479, 1.3895, -0.1392, -0.0513, -0.0122, -0.7863, -8.8957, 10.1265, 1.4725, 0.1099, -0.0317, 1.033]",
      "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]: [-0.3424, 1.1717, 1.1992, -0.9272, -0.2798, -0.3328, 0.9968, 0.3698, 1.7058, 1.4158, -0.5232, 0.26, 0.1349, 0.995]\nstate[eef_state]: left_x=0.3095 left_y=-0.0547 left_z=0.2343 left_yaw=0.0715 left_pitch=-0.2892 left_roll=0.0129 left_gripper=0.9968 right_x=0.4561 right_y=0.132 right_z=0.1863 right_yaw=0.0676 right_pitch=-0.221 right_roll=-0.0893 right_gripper=0.995\nstate[joint_eff]: [-0.0205, -3.5077, 6.6667, 1.3602, -0.1978, -0.0562, -0.0122, -0.0752, -9.306, 7.0359, 1.5604, 0.1245, 0.0366, -0.1587]",
      "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]: [-0.3428, 1.1748, 1.1992, -0.9268, -0.2798, -0.3328, 0.9968, 0.3359, 1.1267, 0.4206, -0.1329, 0.2325, 0.1108, 0.9988]\nstate[eef_state]: left_x=0.3099 left_y=-0.055 left_z=0.2334 left_yaw=0.0715 left_pitch=-0.2917 left_roll=0.014 left_gripper=0.9968 right_x=0.2895 right_y=0.0618 right_z=0.0572 right_yaw=0.0683 right_pitch=-0.2528 right_roll=-0.0942 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -3.7949, 6.5436, 1.3993, -0.188, -0.0464, -0.0122, -0.6906, -2.8513, 6.9812, 1.8193, 0.0415, -0.1148, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90127792be332858342a8bd7d976aa22623ab221789cff27339449d5fa7e1900",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48b499b7b68fc41b8fada21af3911ada6fa294f075e6d875e5638b11c51f08b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7448d97c2ae4c4c8627ff193407b89e96baa109b04a28f4bfe7f75a29a43bad1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkQYKjgEIEhgCKkBG7EYb0Ps70AOmL5TEC8yshpXTTg562777vMHP2nrDW0U03+A3Rr6Vh5rssucM2mDsyVUwVw4J5cZd1MPgUUZdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYjOzNUGEgzhjA5dNIDaKygW32YaDGfr6i50tkfYxXASgCIwd7bbEY4+MGtfqmQn59fIheSsBYpZFc/RXauXI5rcYKJLnUyEXE3FVQZO8jo2YhPhKq8EYsQR2xEB1VO6UEvmCVIFYyW7xo9V91QAi4wSVDuAQrcSFQ0oCI75NvSdtxY1tz15vl0/gwBZYVaawrIrHCYZzZuZyIUH8OfZPw2NqTOZrdaBrLIyeiclPQclW1jTb/+NFXKIF1StSUz5/d4Zatxob+9VIYA8RkxjAODMErQyWerqXPp5W5PV/Y7oUcuNg+iZ37gCyOxaV5U+CXT5QLirU++/gzrbDbJTjQFZOJsmkGCVVq2XduZtr9cdMDbWkFM/ZAG8gdUvftsXAawSPrU0bwKCS5R8zykRZnpmI9xSGAX5XjViTn6Z19GnITFkHXJX1QmQLh9pyWq4N2FSmwYLb727ZGm2MiyZv/WLJJHFURoPSTwt5qUIfQOknCZWBOtpiXZuP6neSF2uUb+Apy7KijX2EApZ1LfSimVw6JpIm3urHhfK4ubDnffWF9niSvfLnyKdK0r0yPEjREyHvUPt7jlDez7bAyrcyn+bdsmGWSPgX66yCToj3fMsZrahEmEm9pbVb1I8kejeuCBg1/Pg/joZT4p2punVie69ssYjoNqlE85AGMBHKXTB/RpfYBmS7bRXfuMQRevlhyFYLzAoSwTAwHRhFN6hsg4pBML20XZZTuinKrO2+j39S3Os5AgKK3HhgYaZrgDSo6D3hLq7NAtfiyw1wW0SGcug0sC9R+NZxVqCHggKyWNbCsXZFVLAADPbHIDi9gbVHhR+earlwNmMtXv8fQVweLoIJ27suRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PyXuFoVhi5WCHVZFmK9v5o",
      "input": {
        "note": "The black marker is just ahead of the jaws, slightly to the arm's left in the wrist view; nudging left and descending to table level.",
        "targets": {
          "right_y": 0.072,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01PyXuFoVhi5WCHVZFmK9v5o",
      "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]: [-0.3428, 1.1774, 1.1988, -0.9276, -0.2794, -0.3328, 0.9968, 0.3805, 1.3376, 0.3187, 0.1902, 0.2512, 0.1455, 0.9982]\nstate[eef_state]: left_x=0.31 left_y=-0.0551 left_z=0.2324 left_yaw=0.0716 left_pitch=-0.2953 left_roll=0.0154 left_gripper=0.9968 right_x=0.295 right_y=0.0746 right_z=0.0141 right_yaw=0.0788 right_pitch=-0.2374 right_roll=-0.0801 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -3.8222, 6.4889, 1.4237, -0.105, -0.0366, -0.0122, 0.5265, -1.935, 2.7966, 0.4176, 0.2369, -0.0904, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58e37b6d44df696999ccd2edc41ab310d296845cb88a9327578f86bbf729c9a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57a448a9507c8df2e1f96c927f54e3937d700f0758f48c65e05f1eb9348c3630",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c731a25ceadd2a387ead2cf469571ac8baf224a0cc98738aed807209aae70785",
        "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 · 10.59 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]: [-0.3424, 1.1717, 1.1992, -0.9272, -0.2798, -0.3328, 0.9968, 0.3698, 1.7058, 1.4158, -0.5232, 0.26, 0.1349, 0.995]\nstate[eef_state]: left_x=0.3095 left_y=-0.0547 left_z=0.2343 left_yaw=0.0715 left_pitch=-0.2892 left_roll=0.0129 left_gripper=0.9968 right_x=0.4561 right_y=0.132 right_z=0.1863 right_yaw=0.0676 right_pitch=-0.221 right_roll=-0.0893 right_gripper=0.995\nstate[joint_eff]: [-0.0205, -3.5077, 6.6667, 1.3602, -0.1978, -0.0562, -0.0122, -0.0752, -9.306, 7.0359, 1.5604, 0.1245, 0.0366, -0.1587]",
      "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]: [-0.3428, 1.1748, 1.1992, -0.9268, -0.2798, -0.3328, 0.9968, 0.3359, 1.1267, 0.4206, -0.1329, 0.2325, 0.1108, 0.9988]\nstate[eef_state]: left_x=0.3099 left_y=-0.055 left_z=0.2334 left_yaw=0.0715 left_pitch=-0.2917 left_roll=0.014 left_gripper=0.9968 right_x=0.2895 right_y=0.0618 right_z=0.0572 right_yaw=0.0683 right_pitch=-0.2528 right_roll=-0.0942 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -3.7949, 6.5436, 1.3993, -0.188, -0.0464, -0.0122, -0.6906, -2.8513, 6.9812, 1.8193, 0.0415, -0.1148, -0.1441]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3428, 1.1774, 1.1988, -0.9276, -0.2794, -0.3328, 0.9968, 0.3805, 1.3376, 0.3187, 0.1902, 0.2512, 0.1455, 0.9982]\nstate[eef_state]: left_x=0.31 left_y=-0.0551 left_z=0.2324 left_yaw=0.0716 left_pitch=-0.2953 left_roll=0.0154 left_gripper=0.9968 right_x=0.295 right_y=0.0746 right_z=0.0141 right_yaw=0.0788 right_pitch=-0.2374 right_roll=-0.0801 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -3.8222, 6.4889, 1.4237, -0.105, -0.0366, -0.0122, 0.5265, -1.935, 2.7966, 0.4176, 0.2369, -0.0904, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58e37b6d44df696999ccd2edc41ab310d296845cb88a9327578f86bbf729c9a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57a448a9507c8df2e1f96c927f54e3937d700f0758f48c65e05f1eb9348c3630",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c731a25ceadd2a387ead2cf469571ac8baf224a0cc98738aed807209aae70785",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmAIKjgEIEhgCKkDehyyIuSqPvyyrWArmTOaf85MvafjWBmGoH7NfQ7Jlgee7kQrhb7TCedRkzSVmvJcauUpSJRA4rOB/OoVCl/xYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYzOzNUGEgySMVELAmjyr38rkhEaDJsmLNuLyjY0l4PiKyIw/7b5Zdv012Yf5gxAmlLErhVMl4DWp9Lzm0bt5jVlGfouGo/Q9TeOlQmoFiOl5+baKjcvUoGV0tst5ueX+oET2zSGIMQ+HTzvRrBvcXDkO0D5/Px84Rk4xA2weRPUO3VoD/yhLSEtl465GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016HHDiPjHXAUtymqDFtTyb2",
      "input": {
        "note": "The black marker is centred between the jaws; closing to grasp.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016HHDiPjHXAUtymqDFtTyb2",
      "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]: [-0.3424, 1.1778, 1.1984, -0.9268, -0.2798, -0.3328, 0.9968, 0.3824, 1.3453, 0.3069, 0.2096, 0.2447, 0.1383, 0.1436]\nstate[eef_state]: left_x=0.3101 left_y=-0.0549 left_z=0.2322 left_yaw=0.0723 left_pitch=-0.2951 left_roll=0.0156 left_gripper=0.9968 right_x=0.2932 right_y=0.0757 right_z=0.0108 right_yaw=0.0901 right_pitch=-0.2391 right_roll=-0.0806 right_gripper=0.1436\nstate[joint_eff]: [-0.0889, -3.6581, 6.5026, 1.409, -0.1978, -0.0708, -0.0122, -0.1983, -4.4239, 6.3111, 1.2479, 0.1245, 0.0171, 0.9988]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae6ea4925f7f6cc346c78bbdbd33ba8985f73417102b824399c65d7815e03bea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9dbdeba34824059d6a9456b13f5400f3bd374908b95eb691d543bf74d770c3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:96afef94b7ab5bffb23a5597bb90d2fade62c43a653e0017f36329cd0a19a3d5",
        "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 · 2.661 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]: [-0.3428, 1.1748, 1.1992, -0.9268, -0.2798, -0.3328, 0.9968, 0.3359, 1.1267, 0.4206, -0.1329, 0.2325, 0.1108, 0.9988]\nstate[eef_state]: left_x=0.3099 left_y=-0.055 left_z=0.2334 left_yaw=0.0715 left_pitch=-0.2917 left_roll=0.014 left_gripper=0.9968 right_x=0.2895 right_y=0.0618 right_z=0.0572 right_yaw=0.0683 right_pitch=-0.2528 right_roll=-0.0942 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -3.7949, 6.5436, 1.3993, -0.188, -0.0464, -0.0122, -0.6906, -2.8513, 6.9812, 1.8193, 0.0415, -0.1148, -0.1441]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3428, 1.1774, 1.1988, -0.9276, -0.2794, -0.3328, 0.9968, 0.3805, 1.3376, 0.3187, 0.1902, 0.2512, 0.1455, 0.9982]\nstate[eef_state]: left_x=0.31 left_y=-0.0551 left_z=0.2324 left_yaw=0.0716 left_pitch=-0.2953 left_roll=0.0154 left_gripper=0.9968 right_x=0.295 right_y=0.0746 right_z=0.0141 right_yaw=0.0788 right_pitch=-0.2374 right_roll=-0.0801 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -3.8222, 6.4889, 1.4237, -0.105, -0.0366, -0.0122, 0.5265, -1.935, 2.7966, 0.4176, 0.2369, -0.0904, -0.0708]",
      "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]: [-0.3424, 1.1778, 1.1984, -0.9268, -0.2798, -0.3328, 0.9968, 0.3824, 1.3453, 0.3069, 0.2096, 0.2447, 0.1383, 0.1436]\nstate[eef_state]: left_x=0.3101 left_y=-0.0549 left_z=0.2322 left_yaw=0.0723 left_pitch=-0.2951 left_roll=0.0156 left_gripper=0.9968 right_x=0.2932 right_y=0.0757 right_z=0.0108 right_yaw=0.0901 right_pitch=-0.2391 right_roll=-0.0806 right_gripper=0.1436\nstate[joint_eff]: [-0.0889, -3.6581, 6.5026, 1.409, -0.1978, -0.0708, -0.0122, -0.1983, -4.4239, 6.3111, 1.2479, 0.1245, 0.0171, 0.9988]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae6ea4925f7f6cc346c78bbdbd33ba8985f73417102b824399c65d7815e03bea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9dbdeba34824059d6a9456b13f5400f3bd374908b95eb691d543bf74d770c3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96afef94b7ab5bffb23a5597bb90d2fade62c43a653e0017f36329cd0a19a3d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mp7GwDcJy6s93rwAXckQP2",
      "input": {
        "note": "Black marker grasped (gripper 0.14); carrying it over to the right basket.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.13,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01Mp7GwDcJy6s93rwAXckQP2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3428, 1.1782, 1.1984, -0.9276, -0.2798, -0.3328, 0.9968, 0.35, 1.7432, 1.5513, -0.6144, 0.2142, 0.1036, 0.1478]\nstate[eef_state]: left_x=0.31 left_y=-0.055 left_z=0.232 left_yaw=0.0721 left_pitch=-0.2962 left_roll=0.0161 left_gripper=0.9968 right_x=0.4675 right_y=0.1345 right_z=0.2093 right_yaw=0.104 right_pitch=-0.2248 right_roll=-0.0775 right_gripper=0.1478\nstate[joint_eff]: [-0.1299, -3.535, 6.5299, 1.3944, -0.188, -0.0562, -0.0122, -1.0325, -8.9641, 8.8821, 1.1502, 0.1343, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8134a752adea9718a709271b5bd2709afb9f6310adc17a616682044a9fac0580",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2db5d485784fcce083221ae942a3cdf0923e1ec6831c96fe7692f87dd073f04b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35fa457fd5e542f784f05568b46da3ea901263efb5e63336ceb4701fe42b18e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 10.98 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3428, 1.1774, 1.1988, -0.9276, -0.2794, -0.3328, 0.9968, 0.3805, 1.3376, 0.3187, 0.1902, 0.2512, 0.1455, 0.9982]\nstate[eef_state]: left_x=0.31 left_y=-0.0551 left_z=0.2324 left_yaw=0.0716 left_pitch=-0.2953 left_roll=0.0154 left_gripper=0.9968 right_x=0.295 right_y=0.0746 right_z=0.0141 right_yaw=0.0788 right_pitch=-0.2374 right_roll=-0.0801 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -3.8222, 6.4889, 1.4237, -0.105, -0.0366, -0.0122, 0.5265, -1.935, 2.7966, 0.4176, 0.2369, -0.0904, -0.0708]",
      "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]: [-0.3424, 1.1778, 1.1984, -0.9268, -0.2798, -0.3328, 0.9968, 0.3824, 1.3453, 0.3069, 0.2096, 0.2447, 0.1383, 0.1436]\nstate[eef_state]: left_x=0.3101 left_y=-0.0549 left_z=0.2322 left_yaw=0.0723 left_pitch=-0.2951 left_roll=0.0156 left_gripper=0.9968 right_x=0.2932 right_y=0.0757 right_z=0.0108 right_yaw=0.0901 right_pitch=-0.2391 right_roll=-0.0806 right_gripper=0.1436\nstate[joint_eff]: [-0.0889, -3.6581, 6.5026, 1.409, -0.1978, -0.0708, -0.0122, -0.1983, -4.4239, 6.3111, 1.2479, 0.1245, 0.0171, 0.9988]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3428, 1.1782, 1.1984, -0.9276, -0.2798, -0.3328, 0.9968, 0.35, 1.7432, 1.5513, -0.6144, 0.2142, 0.1036, 0.1478]\nstate[eef_state]: left_x=0.31 left_y=-0.055 left_z=0.232 left_yaw=0.0721 left_pitch=-0.2962 left_roll=0.0161 left_gripper=0.9968 right_x=0.4675 right_y=0.1345 right_z=0.2093 right_yaw=0.104 right_pitch=-0.2248 right_roll=-0.0775 right_gripper=0.1478\nstate[joint_eff]: [-0.1299, -3.535, 6.5299, 1.3944, -0.188, -0.0562, -0.0122, -1.0325, -8.9641, 8.8821, 1.1502, 0.1343, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8134a752adea9718a709271b5bd2709afb9f6310adc17a616682044a9fac0580",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2db5d485784fcce083221ae942a3cdf0923e1ec6831c96fe7692f87dd073f04b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35fa457fd5e542f784f05568b46da3ea901263efb5e63336ceb4701fe42b18e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017xjxa76awa2hMjCAXF1aWn",
      "input": {
        "note": "Wrist view shows the jaws over the right basket (the first marker is visible inside); opening to release the black marker.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_017xjxa76awa2hMjCAXF1aWn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3428, 1.1801, 1.1984, -0.9268, -0.2798, -0.3328, 0.9968, 0.3473, 1.7588, 1.549, -0.6312, 0.215, 0.0929, 0.9949]\nstate[eef_state]: left_x=0.3104 left_y=-0.0551 left_z=0.2316 left_yaw=0.0722 left_pitch=-0.2972 left_roll=0.0166 left_gripper=0.9968 right_x=0.4661 right_y=0.1325 right_z=0.1983 right_yaw=0.1044 right_pitch=-0.2588 right_roll=-0.0943 right_gripper=0.9949\nstate[joint_eff]: [-0.1026, -3.4803, 6.4479, 1.37, -0.1978, -0.0122, -0.0122, 0.0342, -10.4684, 6.9949, 1.5946, 0.0317, 0.1099, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8831d7e8ca0d35582dc77456365e04f35a0a206fd1413fe5be8af065fcbc4d69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e816b3c3b68552ee909e9a6da90fc14b09a49636bb4a55e3dd1113d3eb87eb12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c77b8bf09f95020fdd0b549f1b3e740c93799357cf2ccc51fbe790694ea9f91a",
        "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 · 4.025 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]: [-0.3424, 1.1778, 1.1984, -0.9268, -0.2798, -0.3328, 0.9968, 0.3824, 1.3453, 0.3069, 0.2096, 0.2447, 0.1383, 0.1436]\nstate[eef_state]: left_x=0.3101 left_y=-0.0549 left_z=0.2322 left_yaw=0.0723 left_pitch=-0.2951 left_roll=0.0156 left_gripper=0.9968 right_x=0.2932 right_y=0.0757 right_z=0.0108 right_yaw=0.0901 right_pitch=-0.2391 right_roll=-0.0806 right_gripper=0.1436\nstate[joint_eff]: [-0.0889, -3.6581, 6.5026, 1.409, -0.1978, -0.0708, -0.0122, -0.1983, -4.4239, 6.3111, 1.2479, 0.1245, 0.0171, 0.9988]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.3428, 1.1782, 1.1984, -0.9276, -0.2798, -0.3328, 0.9968, 0.35, 1.7432, 1.5513, -0.6144, 0.2142, 0.1036, 0.1478]\nstate[eef_state]: left_x=0.31 left_y=-0.055 left_z=0.232 left_yaw=0.0721 left_pitch=-0.2962 left_roll=0.0161 left_gripper=0.9968 right_x=0.4675 right_y=0.1345 right_z=0.2093 right_yaw=0.104 right_pitch=-0.2248 right_roll=-0.0775 right_gripper=0.1478\nstate[joint_eff]: [-0.1299, -3.535, 6.5299, 1.3944, -0.188, -0.0562, -0.0122, -1.0325, -8.9641, 8.8821, 1.1502, 0.1343, -0.0122, 1.0281]\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]: [-0.3428, 1.1801, 1.1984, -0.9268, -0.2798, -0.3328, 0.9968, 0.3473, 1.7588, 1.549, -0.6312, 0.215, 0.0929, 0.9949]\nstate[eef_state]: left_x=0.3104 left_y=-0.0551 left_z=0.2316 left_yaw=0.0722 left_pitch=-0.2972 left_roll=0.0166 left_gripper=0.9968 right_x=0.4661 right_y=0.1325 right_z=0.1983 right_yaw=0.1044 right_pitch=-0.2588 right_roll=-0.0943 right_gripper=0.9949\nstate[joint_eff]: [-0.1026, -3.4803, 6.4479, 1.37, -0.1978, -0.0122, -0.0122, 0.0342, -10.4684, 6.9949, 1.5946, 0.0317, 0.1099, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8831d7e8ca0d35582dc77456365e04f35a0a206fd1413fe5be8af065fcbc4d69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e816b3c3b68552ee909e9a6da90fc14b09a49636bb4a55e3dd1113d3eb87eb12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c77b8bf09f95020fdd0b549f1b3e740c93799357cf2ccc51fbe790694ea9f91a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TjJWqP3nvvhyQbMFHyKCEW",
      "input": {
        "note": "Both markers are now in the right basket. Moving the left arm above the cluster of plush toys in the middle of the table to pick the next toy.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.33,
          "left_y": -0.35,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 27 steps (2.7s)",
      "tool_use_id": "toolu_01TjJWqP3nvvhyQbMFHyKCEW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0332, 2.0441, 1.7985, -0.9863, -0.6083, -1.0077, 0.9985, 0.3473, 1.7592, 1.549, -0.635, 0.215, 0.0891, 0.996]\nstate[eef_state]: left_x=0.3274 left_y=-0.345 left_z=0.1429 left_yaw=0.0682 left_pitch=-0.3223 left_roll=0.018 left_gripper=0.9985 right_x=0.4654 right_y=0.1322 right_z=0.1975 right_yaw=0.1062 right_pitch=-0.2631 right_roll=-0.0981 right_gripper=0.996\nstate[joint_eff]: [-0.5538, -10.9197, 8.2803, 0.7009, -0.5739, 0.0708, -0.1783, -0.1846, -9.265, 6.7624, 1.5214, 0.0269, -0.0122, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9faa97da8ec1127ed84bb027380f6f6169c04943b32f635d35bf08f8c0d531d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ee6fe6cb3224dce4d5a74bd440b6613997ddcbbba7b9ba7fe3b90700950c539",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d193e66ef5d487f69ea9136b400006968172be665c0c46e9eb0184a1847c8fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 2.338 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]: [-0.3428, 1.1782, 1.1984, -0.9276, -0.2798, -0.3328, 0.9968, 0.35, 1.7432, 1.5513, -0.6144, 0.2142, 0.1036, 0.1478]\nstate[eef_state]: left_x=0.31 left_y=-0.055 left_z=0.232 left_yaw=0.0721 left_pitch=-0.2962 left_roll=0.0161 left_gripper=0.9968 right_x=0.4675 right_y=0.1345 right_z=0.2093 right_yaw=0.104 right_pitch=-0.2248 right_roll=-0.0775 right_gripper=0.1478\nstate[joint_eff]: [-0.1299, -3.535, 6.5299, 1.3944, -0.188, -0.0562, -0.0122, -1.0325, -8.9641, 8.8821, 1.1502, 0.1343, -0.0122, 1.0281]\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]: [-0.3428, 1.1801, 1.1984, -0.9268, -0.2798, -0.3328, 0.9968, 0.3473, 1.7588, 1.549, -0.6312, 0.215, 0.0929, 0.9949]\nstate[eef_state]: left_x=0.3104 left_y=-0.0551 left_z=0.2316 left_yaw=0.0722 left_pitch=-0.2972 left_roll=0.0166 left_gripper=0.9968 right_x=0.4661 right_y=0.1325 right_z=0.1983 right_yaw=0.1044 right_pitch=-0.2588 right_roll=-0.0943 right_gripper=0.9949\nstate[joint_eff]: [-0.1026, -3.4803, 6.4479, 1.37, -0.1978, -0.0122, -0.0122, 0.0342, -10.4684, 6.9949, 1.5946, 0.0317, 0.1099, -0.1197]",
      "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]: [-1.0332, 2.0441, 1.7985, -0.9863, -0.6083, -1.0077, 0.9985, 0.3473, 1.7592, 1.549, -0.635, 0.215, 0.0891, 0.996]\nstate[eef_state]: left_x=0.3274 left_y=-0.345 left_z=0.1429 left_yaw=0.0682 left_pitch=-0.3223 left_roll=0.018 left_gripper=0.9985 right_x=0.4654 right_y=0.1322 right_z=0.1975 right_yaw=0.1062 right_pitch=-0.2631 right_roll=-0.0981 right_gripper=0.996\nstate[joint_eff]: [-0.5538, -10.9197, 8.2803, 0.7009, -0.5739, 0.0708, -0.1783, -0.1846, -9.265, 6.7624, 1.5214, 0.0269, -0.0122, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9faa97da8ec1127ed84bb027380f6f6169c04943b32f635d35bf08f8c0d531d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ee6fe6cb3224dce4d5a74bd440b6613997ddcbbba7b9ba7fe3b90700950c539",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d193e66ef5d487f69ea9136b400006968172be665c0c46e9eb0184a1847c8fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxgUKjgEIEhgCKkDCCitXB1yqntsrCbLCizWFE7zeEQ84357cvc1wMepYz7H+M00TYsRa9LeFfCGwmde0SGK270ejJ/ghIxNsG70OMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa7OzNUGEgwKS0+ivR2AyU2qptgaDAf2uHdduIYdEgTz+CIwUOqINNkgpObkQdr/pokDPK6HtNyAQBPXGz3Twp1ACthRr9IbrNfSWtNuNWNKu3sjKuQDWjsQMRmoXFxaulrLGzxAZF7UzkjCgGJQReVyX2Wz6ryllct9tON1rWq/GZSoSJwEB4L4nbLNuViUxRIvpRPevnIJTZMoiERtpWUdKZPabb4+K3B/+JXU7S1j8Xm5iaNZl34DYyCGnwsPBIjnAbnbZEFTBXCdn3oPLv6fxOgL04FfkValwtrtapPTvcO4yIfuqFeim7wU4IjXtfnTA4gqK6mPgcR47dlNHSHh4J/VGb33BoK36siPcMgvkPMYt/Af55bI+Dh3chOLfHYYF0yVNUZ/EH9ovBYY1u6ABTVBl58cJXw5FRzVD55qofHB9lzICCq0x1IT/Pq6Ft1TtvDhe4QUOIZBoVwIqj/Jjaa/zdzT0cDxd+gaxdvC4oNcfE6s5FhzLHFAIb9L9os0U9BM4iwtjGEtToKw8lX5FbtfJUgzxYQKRT13fjif9ZMzF+hMRc85ioOYtkQ0d1nEF5CrU9XeJ/mjS3XfTzmanw5w1jub1Nq+gWABkj85GOMKWr48mwZtFoa69WA2rkJPVQsj04uDueuol+aGQv71d+KO5P34FHmwoqwx8rRb9JuLRkFQTC/TRWDoGSLFVf+tkMqjeKXTR2IlQSDo3eMaOJUOyn7TD9d3lXiaf5D1/e9GYl9pvnc29RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017ksHvPmgtccccPHRhg63ad",
      "input": {
        "note": "A teddy bear sits directly under the left jaws in the wrist view; descending onto it to grasp.",
        "targets": {
          "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_017ksHvPmgtccccPHRhg63ad",
      "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]: [-1.0355, 2.0766, 1.5509, -0.6888, -0.6182, -1.0145, 0.9983, 0.3473, 1.7592, 1.549, -0.6357, 0.2146, 0.0891, 0.9961]\nstate[eef_state]: left_x=0.3281 left_y=-0.3455 left_z=0.0715 left_yaw=0.0694 left_pitch=-0.306 left_roll=0.0013 left_gripper=0.9983 right_x=0.4653 right_y=0.1322 right_z=0.1974 right_yaw=0.1065 right_pitch=-0.2639 right_roll=-0.098 right_gripper=0.9961\nstate[joint_eff]: [0.1709, -8.6496, 4.8342, 0.6569, -0.1685, 0.0366, -0.0366, -0.212, -9.2376, 6.7624, 1.4579, 0.0171, -0.0171, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60f231ca3c2b6fbbd83390040e4ca273c9052ad17563833ed6a2791c0d8d7402",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bd8841452fd38030d4d073f8af9249d778603344cc9634a237afe9be94b4673",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:36f09a94599d5ea3ac778d23401bf40ecb3bc2414d562b32b737a48fd8de1d93",
        "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 · 7.687 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]: [-0.3428, 1.1801, 1.1984, -0.9268, -0.2798, -0.3328, 0.9968, 0.3473, 1.7588, 1.549, -0.6312, 0.215, 0.0929, 0.9949]\nstate[eef_state]: left_x=0.3104 left_y=-0.0551 left_z=0.2316 left_yaw=0.0722 left_pitch=-0.2972 left_roll=0.0166 left_gripper=0.9968 right_x=0.4661 right_y=0.1325 right_z=0.1983 right_yaw=0.1044 right_pitch=-0.2588 right_roll=-0.0943 right_gripper=0.9949\nstate[joint_eff]: [-0.1026, -3.4803, 6.4479, 1.37, -0.1978, -0.0122, -0.0122, 0.0342, -10.4684, 6.9949, 1.5946, 0.0317, 0.1099, -0.1197]",
      "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]: [-1.0332, 2.0441, 1.7985, -0.9863, -0.6083, -1.0077, 0.9985, 0.3473, 1.7592, 1.549, -0.635, 0.215, 0.0891, 0.996]\nstate[eef_state]: left_x=0.3274 left_y=-0.345 left_z=0.1429 left_yaw=0.0682 left_pitch=-0.3223 left_roll=0.018 left_gripper=0.9985 right_x=0.4654 right_y=0.1322 right_z=0.1975 right_yaw=0.1062 right_pitch=-0.2631 right_roll=-0.0981 right_gripper=0.996\nstate[joint_eff]: [-0.5538, -10.9197, 8.2803, 0.7009, -0.5739, 0.0708, -0.1783, -0.1846, -9.265, 6.7624, 1.5214, 0.0269, -0.0122, 0.1001]",
      "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]: [-1.0355, 2.0766, 1.5509, -0.6888, -0.6182, -1.0145, 0.9983, 0.3473, 1.7592, 1.549, -0.6357, 0.2146, 0.0891, 0.9961]\nstate[eef_state]: left_x=0.3281 left_y=-0.3455 left_z=0.0715 left_yaw=0.0694 left_pitch=-0.306 left_roll=0.0013 left_gripper=0.9983 right_x=0.4653 right_y=0.1322 right_z=0.1974 right_yaw=0.1065 right_pitch=-0.2639 right_roll=-0.098 right_gripper=0.9961\nstate[joint_eff]: [0.1709, -8.6496, 4.8342, 0.6569, -0.1685, 0.0366, -0.0366, -0.212, -9.2376, 6.7624, 1.4579, 0.0171, -0.0171, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60f231ca3c2b6fbbd83390040e4ca273c9052ad17563833ed6a2791c0d8d7402",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bd8841452fd38030d4d073f8af9249d778603344cc9634a237afe9be94b4673",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36f09a94599d5ea3ac778d23401bf40ecb3bc2414d562b32b737a48fd8de1d93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwgIKjgEIEhgCKkCSNe5T+cm1jwqM3TfY17Z+V7/mI4PDTJcW6pCTyTYaYvVtl8X1sS4/ASrdci0wD6HvOg3N5rA76prJndU+q00vMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbHOzNUGEgwdTezYG7BL0+Ta/noaDKfzuGyAJ6CmD+pXkSIw8M1+u2JEFyeuPMAf50d0CTUuW61CSytaq/yNVTNxM53R96qXwYa7S64+8K7IYcDqKmEvyA5qgBNoXZWUxLdqJnN5pO3I8PFKI50er6HYj0+Rbuy3DnT9Jgz8N6Apx7ntQFInAOwhkZ2n+OsHfGyB5Gj1kGqLtd1sNaxEf+mHa8wYUlNddoqpthawLj3/CLa0LsTrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PuQUTPjvFnBmJkibZMEzw9",
      "input": {
        "note": "Descent stopped on the bear's body at z=0.07; closing the jaws on it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PuQUTPjvFnBmJkibZMEzw9",
      "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]: [-1.0328, 2.0884, 1.5436, -0.6525, -0.63, -1.0195, 0.0344, 0.3473, 1.7592, 1.549, -0.6353, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.3327 left_y=-0.3475 left_z=0.0678 left_yaw=0.0759 left_pitch=-0.2884 left_roll=-0.0129 left_gripper=0.0344 right_x=0.4654 right_y=0.1323 right_z=0.1974 right_yaw=0.1067 right_pitch=-0.2636 right_roll=-0.0981 right_gripper=0.9961\nstate[joint_eff]: [-0.294, -12.2051, 6.6667, 0.6276, -0.2466, -0.0415, 0.5543, -0.335, -9.0872, 6.8718, 1.4579, 0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca336fb418ebe1939680196fd571139f33aa5c4053b1c70ee2fb3c52bdb26208",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b77e4d17dbb84f7217757c321d7fa87292a9650adba0dfafdced7a25183f28df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1df545ce01c1ca9da2c1f51c05828953c345743f6c8037710abbd748707fcc90",
        "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 · 9.3 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]: [-1.0332, 2.0441, 1.7985, -0.9863, -0.6083, -1.0077, 0.9985, 0.3473, 1.7592, 1.549, -0.635, 0.215, 0.0891, 0.996]\nstate[eef_state]: left_x=0.3274 left_y=-0.345 left_z=0.1429 left_yaw=0.0682 left_pitch=-0.3223 left_roll=0.018 left_gripper=0.9985 right_x=0.4654 right_y=0.1322 right_z=0.1975 right_yaw=0.1062 right_pitch=-0.2631 right_roll=-0.0981 right_gripper=0.996\nstate[joint_eff]: [-0.5538, -10.9197, 8.2803, 0.7009, -0.5739, 0.0708, -0.1783, -0.1846, -9.265, 6.7624, 1.5214, 0.0269, -0.0122, 0.1001]",
      "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]: [-1.0355, 2.0766, 1.5509, -0.6888, -0.6182, -1.0145, 0.9983, 0.3473, 1.7592, 1.549, -0.6357, 0.2146, 0.0891, 0.9961]\nstate[eef_state]: left_x=0.3281 left_y=-0.3455 left_z=0.0715 left_yaw=0.0694 left_pitch=-0.306 left_roll=0.0013 left_gripper=0.9983 right_x=0.4653 right_y=0.1322 right_z=0.1974 right_yaw=0.1065 right_pitch=-0.2639 right_roll=-0.098 right_gripper=0.9961\nstate[joint_eff]: [0.1709, -8.6496, 4.8342, 0.6569, -0.1685, 0.0366, -0.0366, -0.212, -9.2376, 6.7624, 1.4579, 0.0171, -0.0171, -0.0024]",
      "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]: [-1.0328, 2.0884, 1.5436, -0.6525, -0.63, -1.0195, 0.0344, 0.3473, 1.7592, 1.549, -0.6353, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.3327 left_y=-0.3475 left_z=0.0678 left_yaw=0.0759 left_pitch=-0.2884 left_roll=-0.0129 left_gripper=0.0344 right_x=0.4654 right_y=0.1323 right_z=0.1974 right_yaw=0.1067 right_pitch=-0.2636 right_roll=-0.0981 right_gripper=0.9961\nstate[joint_eff]: [-0.294, -12.2051, 6.6667, 0.6276, -0.2466, -0.0415, 0.5543, -0.335, -9.0872, 6.8718, 1.4579, 0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca336fb418ebe1939680196fd571139f33aa5c4053b1c70ee2fb3c52bdb26208",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b77e4d17dbb84f7217757c321d7fa87292a9650adba0dfafdced7a25183f28df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1df545ce01c1ca9da2c1f51c05828953c345743f6c8037710abbd748707fcc90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiwkKjgEIEhgCKkCYrdgX1auS67e4r9X/7AtZcSWckGXewnMA17VcaH6jb9CHGmjjUU/czjVtrAqbaFX01oe7QpDa5AtPLQqGsK/PMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbnOzNUGEgzVnrXzuLye57TSf10aDBcmhjdILcEfWcxzwCIwtj4uyR3OKzFF1uQOq2Y5FHJNsqLkCSCH1fal1siQGU79Bd6MOtjVkK7V2eeFbBxbKqkHqm30UrJwztcJcvlVZw6Y3dI/Se39xpsmmAL8WZKImFqblt3Dwd38uusR+cFChk9Cd3s4qQKGxmpfCLAbwzYVdgp6+diYFnal5pwYWoJs1HmCeMRzRq3+DDTOOu7q/cp05VDaL7TxNQStPVb8HLEDqnTlobcdwuhTaySLJYr73qKvJ7/5e5L14oxcw0bFh3uY7fie1bJDZjD3R8N48Ef4xrXuu75OgOhNvzfM6OW/cs3Y2KZXwqxr4vP9DEkDo3Diush6CT8Or6s1kABYQiXIGIyX8HVTjfcnxoCuCC9sMHSf0M8pgIXhL5zbIoGO1Fgv1ElIMXkvoSqVJmtO+hXWjwEt+1dos8yiHHZAD0nW/osgOaemV7kQUhjizVHof4BueFapvSsmTNnKumDBaVY1H5m6+jDwl3di5oCl4TKYxifwcyoI8YXBOuW4Acy+yqr/7sSqTRvLyytpyZOCgrZlvwtUdIb2P1X2sdotruhrbuXMLwTzNX0WqoABwR97BVuu9D3cqpnYaQ754DWOj+t38NYEYCL2VXiaHYXh6QXezoYmqaqkk/dSrXAxpB3Db+KdyBhzYg9YQp7C1WmEKobCcf1wn5Lqy8zGt9yt6/8UMg9d6m8y7mGlOJpvcREJMIf5iq0Ic43lCHN1DvA80JV5LOGv+9jDMPAwtRflIV/lapENmvwfGwZyo2ZHExMVF3Nrbla6AL1q7tj++iEVksDGShUeqLCDRky8kvNgdPy4EguutNUfDkrYqaVH6MEX/9+sBmjbH73zihuAPmwR+vWr0qIz5rUyfatWx3MKXR5syBIZKVXoMjXB829xrqOzYRpQV3DPgAEEN8Xk0Nm+BtZuaMeryin8FUA0DhJ7VCprw8x/ihfdh+g3pTyT3gX4Ky6C0SS/HQ+wzw/xqigqMohmvgOBzCUHdIxYxZZPHB3OCCn1raXa6NiXfMvv9snmLcv6+YtI/khx4DcZwepn4rAARQqxZs5wwikqz5fDWo1KZe+ATHBOJHBmUX8cwHnQ6fCsJQgo2Pb665rFbmBy67efJuM/73okC/rUKycRVXUfdjeqYi4qqhpCFKrMhK8BAhcESJ8iSnixQ2dAWyOKzVxVXBC3h0PYRjC6eSseed7WVbkwkVCDCuUVH1JpDat8G27znEKT+U2hLwLfL25NWi1SwLKbTNEFUTf2pZs3W518sNRxjo2YEZYLwP8AH0GWQCnJDFDeyKNyBwZ2FQ0Y79ydL2UapCtKZCHEZBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018hHmBL9ou757CLbtBAgCqM",
      "input": {
        "note": "The close read 0.03 (essentially empty — only fur pinched). Reopening and pressing lower into the soft toy so the jaws straddle its body.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018hHmBL9ou757CLbtBAgCqM",
      "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]: [-1.0328, 2.1197, 1.4757, -0.477, -0.6518, -1.0286, 0.9953, 0.3473, 1.7592, 1.549, -0.6357, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.3416 left_y=-0.3565 left_z=0.0487 left_yaw=0.0737 left_pitch=-0.2367 left_roll=-0.0808 left_gripper=0.9953 right_x=0.4653 right_y=0.1322 right_z=0.1974 right_yaw=0.1067 right_pitch=-0.2639 right_roll=-0.0982 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -8.3487, 4.1641, 0.6911, -0.1392, 0.0513, -0.0317, -0.1573, -9.0051, 6.7897, 1.4579, 0.022, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c348a7bc620a278deb2c96ccd2ccd364e5fb34b213b777724d8cd7d6b624a7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9845526f24914f9d995521e378e8d19536eb50d9d39ebea95c113618f15de67d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:359fffe0eca542062f4cd34a10688c6683a2e676c6f920680c5ca49e4487c0af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 3.067 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]: [-1.0355, 2.0766, 1.5509, -0.6888, -0.6182, -1.0145, 0.9983, 0.3473, 1.7592, 1.549, -0.6357, 0.2146, 0.0891, 0.9961]\nstate[eef_state]: left_x=0.3281 left_y=-0.3455 left_z=0.0715 left_yaw=0.0694 left_pitch=-0.306 left_roll=0.0013 left_gripper=0.9983 right_x=0.4653 right_y=0.1322 right_z=0.1974 right_yaw=0.1065 right_pitch=-0.2639 right_roll=-0.098 right_gripper=0.9961\nstate[joint_eff]: [0.1709, -8.6496, 4.8342, 0.6569, -0.1685, 0.0366, -0.0366, -0.212, -9.2376, 6.7624, 1.4579, 0.0171, -0.0171, -0.0024]",
      "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]: [-1.0328, 2.0884, 1.5436, -0.6525, -0.63, -1.0195, 0.0344, 0.3473, 1.7592, 1.549, -0.6353, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.3327 left_y=-0.3475 left_z=0.0678 left_yaw=0.0759 left_pitch=-0.2884 left_roll=-0.0129 left_gripper=0.0344 right_x=0.4654 right_y=0.1323 right_z=0.1974 right_yaw=0.1067 right_pitch=-0.2636 right_roll=-0.0981 right_gripper=0.9961\nstate[joint_eff]: [-0.294, -12.2051, 6.6667, 0.6276, -0.2466, -0.0415, 0.5543, -0.335, -9.0872, 6.8718, 1.4579, 0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-1.0328, 2.1197, 1.4757, -0.477, -0.6518, -1.0286, 0.9953, 0.3473, 1.7592, 1.549, -0.6357, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.3416 left_y=-0.3565 left_z=0.0487 left_yaw=0.0737 left_pitch=-0.2367 left_roll=-0.0808 left_gripper=0.9953 right_x=0.4653 right_y=0.1322 right_z=0.1974 right_yaw=0.1067 right_pitch=-0.2639 right_roll=-0.0982 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -8.3487, 4.1641, 0.6911, -0.1392, 0.0513, -0.0317, -0.1573, -9.0051, 6.7897, 1.4579, 0.022, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c348a7bc620a278deb2c96ccd2ccd364e5fb34b213b777724d8cd7d6b624a7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9845526f24914f9d995521e378e8d19536eb50d9d39ebea95c113618f15de67d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:359fffe0eca542062f4cd34a10688c6683a2e676c6f920680c5ca49e4487c0af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISigQKjgEIEhgCKkBRNJzgNFbp0/nE52P0Y/xlm+5CburgejwfJ1pg8SuspZazuIId8z8plK7NjtdnMm7WDkvOH5Ch/GEji9EV8EZ+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcPOzNUGEgxOVgXMGjJngaYGqv0aDBPApAjg+5GXIfO2RyIw8pcSqTz0mQ5yeJv2td9gPYK0dIG9aBw/kMM+VxZNM4LxQEVgHvNeSqdkw/oOKe1nKqgCvM4vFxO9H8WKkO7QSIkSRZtmlc0rVlJnhssKnneZ9V/o0jbQEt/pFJuJhCl79mxqngCxuYL/ZDA6tlMfhHOAmoC0kxK+Qdbe8VLcsEUj0XkbtMeuC5NBmoLgd7w0neuLhbEwGrWJ4uvArtUcoWL2Wg+5biE5bcp81ibafOjo3upmNcCy03uA4ftDwaDD4peRcz1TMeYKsn7i75RCdwim14Q+OOuzEBjMS1tns8NviOyW8spwaUDwLjOQzQL10cLElc5qOT1eXov8bnF00PZzyJvoNbNfO+AJmx0Oy/Pk38cOZLBqnOM4+RQDm0J1MdIx++6cLgZIn8pdk4rXEEdGAkheSgUgIyEUrZhB3HwmXVpqofIBwqo3ejoqzu3mkJGcDMT73LlHwm4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GgZBE2bqQ1EAW2zr8BwV3G",
      "input": {
        "note": "Jaws are now sunk lower against the bear's body; closing again to get a real grip.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GgZBE2bqQ1EAW2zr8BwV3G",
      "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]: [-1.0313, 2.1246, 1.4734, -0.4541, -0.6735, -1.0294, 0.2053, 0.3473, 1.7592, 1.549, -0.6353, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.346 left_y=-0.3564 left_z=0.0499 left_yaw=0.084 left_pitch=-0.2123 left_roll=-0.0868 left_gripper=0.2053 right_x=0.4654 right_y=0.1323 right_z=0.1974 right_yaw=0.1067 right_pitch=-0.2636 right_roll=-0.0981 right_gripper=0.9961\nstate[joint_eff]: [-0.2803, -11.9043, 6.1744, 0.8376, -0.1587, -0.0171, 0.8913, -0.294, -9.2513, 6.7624, 1.453, 0.0562, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf24eaf4c03c0d89a4298b7d8f9b56ef1e01ed66a71447b065520eeba568b032",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b5a95909a25ca44dc8714e093bedacd4dd50ae8b882ad59ef11f80576641c03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7452ef0a56b3b6df253af7f342a112826185726aca0da858423b6b81235fb0a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 8.748 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]: [-1.0328, 2.0884, 1.5436, -0.6525, -0.63, -1.0195, 0.0344, 0.3473, 1.7592, 1.549, -0.6353, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.3327 left_y=-0.3475 left_z=0.0678 left_yaw=0.0759 left_pitch=-0.2884 left_roll=-0.0129 left_gripper=0.0344 right_x=0.4654 right_y=0.1323 right_z=0.1974 right_yaw=0.1067 right_pitch=-0.2636 right_roll=-0.0981 right_gripper=0.9961\nstate[joint_eff]: [-0.294, -12.2051, 6.6667, 0.6276, -0.2466, -0.0415, 0.5543, -0.335, -9.0872, 6.8718, 1.4579, 0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-1.0328, 2.1197, 1.4757, -0.477, -0.6518, -1.0286, 0.9953, 0.3473, 1.7592, 1.549, -0.6357, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.3416 left_y=-0.3565 left_z=0.0487 left_yaw=0.0737 left_pitch=-0.2367 left_roll=-0.0808 left_gripper=0.9953 right_x=0.4653 right_y=0.1322 right_z=0.1974 right_yaw=0.1067 right_pitch=-0.2639 right_roll=-0.0982 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -8.3487, 4.1641, 0.6911, -0.1392, 0.0513, -0.0317, -0.1573, -9.0051, 6.7897, 1.4579, 0.022, -0.022, -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 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]: [-1.0313, 2.1246, 1.4734, -0.4541, -0.6735, -1.0294, 0.2053, 0.3473, 1.7592, 1.549, -0.6353, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.346 left_y=-0.3564 left_z=0.0499 left_yaw=0.084 left_pitch=-0.2123 left_roll=-0.0868 left_gripper=0.2053 right_x=0.4654 right_y=0.1323 right_z=0.1974 right_yaw=0.1067 right_pitch=-0.2636 right_roll=-0.0981 right_gripper=0.9961\nstate[joint_eff]: [-0.2803, -11.9043, 6.1744, 0.8376, -0.1587, -0.0171, 0.8913, -0.294, -9.2513, 6.7624, 1.453, 0.0562, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf24eaf4c03c0d89a4298b7d8f9b56ef1e01ed66a71447b065520eeba568b032",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b5a95909a25ca44dc8714e093bedacd4dd50ae8b882ad59ef11f80576641c03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7452ef0a56b3b6df253af7f342a112826185726aca0da858423b6b81235fb0a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3QIKjgEIEhgCKkCsMIqr0IyhOzIGJ/9tgd4F+l0h0PesmxiwgPdJsiKBjnbwBt/c6Lm4S3RLlvRdIfFVP74G84FS70ykxk+0bDAVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcfOzNUGEgwoCIoN6HeLa35qgRkaDJEEeRSj7Dfd63fE8CIwxQFx584vuqm1bgOClgEvy3RkU5DVMoB6KDhwTHu4canaDDGLe7TCJr915tAysgjVKnwDkb/TQENGnJjsTUPwOkJHViiFjPbxo4HJbcwD4cDSKOKyYDL7+GlqEqZ9yGBVUcO74MTja3B9TaECoBqS1SID2ex8dsLiUGQWjOvoEc57GBerTQzbgrdhILb9qulgk3v282L2/U5Y6sHebt7YQHpycp4Z9cUx4T2UmyKhGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GFRTDxTK3KUYDqh79JWFYh",
      "input": {
        "note": "Gripper settled at 0.21 — the bear is held. Lifting and carrying it over to the left basket.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.2,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01GFRTDxTK3KUYDqh79JWFYh",
      "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]: [-0.6277, 1.7962, 1.6791, -0.8303, -0.4545, -0.6724, 0.2077, 0.3473, 1.7592, 1.549, -0.6353, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.4223 left_y=-0.2062 left_z=0.2147 left_yaw=0.1199 left_pitch=-0.256 left_roll=-0.0755 left_gripper=0.2077 right_x=0.4654 right_y=0.1323 right_z=0.1974 right_yaw=0.1067 right_pitch=-0.2636 right_roll=-0.0981 right_gripper=0.9961\nstate[joint_eff]: [0.1436, -12.8342, 9.1556, 1.2772, -0.2808, 0.1978, 0.232, -0.335, -9.2239, 6.8581, 1.4725, 0.0269, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cddaf24859bd4e4036e1520be7bd72f50998aad09c0a6cf72848a6b353966ab2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b00b83526271ae92c9ec1d979c5ecf573394ec62e641342be721c974d0905380",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fc48787672c9a2d11173327373fe7b1f6ee238d2a44955836096685f60c18965",
        "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 · 3.226 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]: [-1.0328, 2.1197, 1.4757, -0.477, -0.6518, -1.0286, 0.9953, 0.3473, 1.7592, 1.549, -0.6357, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.3416 left_y=-0.3565 left_z=0.0487 left_yaw=0.0737 left_pitch=-0.2367 left_roll=-0.0808 left_gripper=0.9953 right_x=0.4653 right_y=0.1322 right_z=0.1974 right_yaw=0.1067 right_pitch=-0.2639 right_roll=-0.0982 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -8.3487, 4.1641, 0.6911, -0.1392, 0.0513, -0.0317, -0.1573, -9.0051, 6.7897, 1.4579, 0.022, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-1.0313, 2.1246, 1.4734, -0.4541, -0.6735, -1.0294, 0.2053, 0.3473, 1.7592, 1.549, -0.6353, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.346 left_y=-0.3564 left_z=0.0499 left_yaw=0.084 left_pitch=-0.2123 left_roll=-0.0868 left_gripper=0.2053 right_x=0.4654 right_y=0.1323 right_z=0.1974 right_yaw=0.1067 right_pitch=-0.2636 right_roll=-0.0981 right_gripper=0.9961\nstate[joint_eff]: [-0.2803, -11.9043, 6.1744, 0.8376, -0.1587, -0.0171, 0.8913, -0.294, -9.2513, 6.7624, 1.453, 0.0562, -0.0415, -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 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]: [-0.6277, 1.7962, 1.6791, -0.8303, -0.4545, -0.6724, 0.2077, 0.3473, 1.7592, 1.549, -0.6353, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.4223 left_y=-0.2062 left_z=0.2147 left_yaw=0.1199 left_pitch=-0.256 left_roll=-0.0755 left_gripper=0.2077 right_x=0.4654 right_y=0.1323 right_z=0.1974 right_yaw=0.1067 right_pitch=-0.2636 right_roll=-0.0981 right_gripper=0.9961\nstate[joint_eff]: [0.1436, -12.8342, 9.1556, 1.2772, -0.2808, 0.1978, 0.232, -0.335, -9.2239, 6.8581, 1.4725, 0.0269, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cddaf24859bd4e4036e1520be7bd72f50998aad09c0a6cf72848a6b353966ab2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b00b83526271ae92c9ec1d979c5ecf573394ec62e641342be721c974d0905380",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc48787672c9a2d11173327373fe7b1f6ee238d2a44955836096685f60c18965",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4QkKjgEIEhgCKkBJ8PjW7bQDZUZeRMbhGazx0Raa/Oqz7FI28kZu2QNmbGq25JH5CyjziwgIwSqGNTDqm27q6SGmQ48IAy6RdvpNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdHOzNUGEgxWP6BdQq7KRl5mBDwaDMmPP66nPNnRdkYO+CIw4Gdh4dEbXmiLR9fbJcccldSkJKK55U8xQlv00hxzxUVKognD6Da4qkpHXEEW4HIiKv8HsgSIkYiBe1jjaD5G92MUZTFRnPVz0SwjOitxyhV/Z0sw8HFZcFpJue7gxOaIXCGYjBPJiNiHOKzADnd5PzxXlssu8vK9eWz1XSQUS1JFlyQdBc2rVJ5alHmZ3umxog+Cak7OapVGypd4zQ6eVvJMuBb+EsVtB0ol2y2aohLgXWrMuxhhK3tVbBIEawR+M+QuVQRY/rB/oo6dOoWLMYCUCXkEStf+z4QcT+s9LmlckRvonVtLs4gvc3KnN+q83fbHlEwl9zZq8MCPMnkwAvYcbHflECw6h/34JYyDr3/o1Kz5XChDJLWRawOKz8iBEluAfG1HuYvLaw8JvOWFXaEPtCvGT+8ngg3Ciyj8AAecEbkJ7L3g4Ciq92OD7bq4xZVtj+w6gfm3qkGLrjeMcx86Vs1Zi7tKdVpomSFooN9RFClBwkQVM2Q4nQrl+/mzfWArG1LfcrmW4SkSN3WJsKfxtBlNXKBEURKAwmOVRjeCiJNDSUi/mEsofTxN0/8tWma+95CIL7WPD8se3hjEhPJdUPrUmU8tIji11Jg9d2h6Nt57gjYrM151R3TKw0e+DMIn20/GmNGuxYgNVlc1YGaL0R+qDfeeMKw0Kj8+ZBDGvl/efeh6s7XP6bbXIwySUsLeU3swwVFOZIAHim7+n8ERCNTR3jm7ed6TJXrDY1mPoRLgRb/V7QpRK4WWblVEXRr/VjSVrXjPgCTDm0ZbNlGaWPcVQDjh+DFvYp3kUZsU0N1Bj3jTsHfKCiU2DUixtAfta6dIY78AzqyJLJR5gKFK9Mq/EbKd1aNDxrAJf8kmLKdNjr7QiPmKgkvc5FT4rvYNyni1Ae7ezWLafAmMqQT5MM5LDMvwUX4DABoAevv+MCGi9W/WaVPmi0LmpdWgiQSlmRrFlMrpW89lIJ0d1AqV9mANedS0uJtZYO+FxENJiZZqfcxzwZDgb24ekMlCM6Jq8fZADSEUKyUXxESBW3rOKcmLL1HaKiFf8MW4ih9ICzcjrROJ6vBI2kmrUPrnFslHsZ4uQ+lOtyePYNZnRhqZ46RClOPMHwOOqmu0gpgrSiHH92UqG7Y25uxyYWlNqFz/r1df0UFn9VPqgnKIf0eHIbaV0Jt8qRWUPwNg5b8fmNKAl9KL3C3XK1aVkMg53ACR74tsmTeoFZAdaE1bCIAwzs8nkDiDHmjYFkdHAasmnrdZ8jiYzfGKhz6yAxgzhOJ9EOzoAxaEyDUvYqKMvab2DybUVCe60G/fbPa3Wvx9vQsE5h0gdQ/1MDrBiuSOddng382x0oSIEqBnuFq0xwMpwu12zwyJVC7eC8pnaZKNQpeQinnbXSo6hxsTMPzykiq4OhwOWjEohddCSJMt8L0nGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019dsPtkBepaFQzA31VyEN4N",
      "input": {
        "note": "Over the left basket carrying the dog toy; nudging a bit further forward so it lands well inside, then I'll release.",
        "targets": {
          "left_x": 0.45,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_019dsPtkBepaFQzA31VyEN4N",
      "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]: [-0.5941, 1.8782, 1.7779, -0.8684, -0.4313, -0.6468, 0.2093, 0.3473, 1.7599, 1.549, -0.6373, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.4413 left_y=-0.2047 left_z=0.2089 left_yaw=0.126 left_pitch=-0.2838 left_roll=-0.0575 left_gripper=0.2093 right_x=0.4651 right_y=0.1322 right_z=0.1968 right_yaw=0.1066 right_pitch=-0.2661 right_roll=-0.0988 right_gripper=0.9961\nstate[joint_eff]: [0.2393, -10.6598, 9.2376, 1.2381, -0.2759, 0.1099, 0.149, -0.2803, -8.7316, 7.0359, 1.4286, 0.0464, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:341eb7b23e81abb7674c3b2ab2e4a7982c5e3178c53bab821b9be0a0515b7b6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6932441b79c53b38caab9f6e639cea5eb7424b28ae6bb3f99c2605b78b9e2052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34a9821c8e5d0b9108b635ab5c228b386d2965096c87eb07383024034ff77c93",
        "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 · 10.49 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]: [-1.0313, 2.1246, 1.4734, -0.4541, -0.6735, -1.0294, 0.2053, 0.3473, 1.7592, 1.549, -0.6353, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.346 left_y=-0.3564 left_z=0.0499 left_yaw=0.084 left_pitch=-0.2123 left_roll=-0.0868 left_gripper=0.2053 right_x=0.4654 right_y=0.1323 right_z=0.1974 right_yaw=0.1067 right_pitch=-0.2636 right_roll=-0.0981 right_gripper=0.9961\nstate[joint_eff]: [-0.2803, -11.9043, 6.1744, 0.8376, -0.1587, -0.0171, 0.8913, -0.294, -9.2513, 6.7624, 1.453, 0.0562, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.6277, 1.7962, 1.6791, -0.8303, -0.4545, -0.6724, 0.2077, 0.3473, 1.7592, 1.549, -0.6353, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.4223 left_y=-0.2062 left_z=0.2147 left_yaw=0.1199 left_pitch=-0.256 left_roll=-0.0755 left_gripper=0.2077 right_x=0.4654 right_y=0.1323 right_z=0.1974 right_yaw=0.1067 right_pitch=-0.2636 right_roll=-0.0981 right_gripper=0.9961\nstate[joint_eff]: [0.1436, -12.8342, 9.1556, 1.2772, -0.2808, 0.1978, 0.232, -0.335, -9.2239, 6.8581, 1.4725, 0.0269, -0.0708, -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 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]: [-0.5941, 1.8782, 1.7779, -0.8684, -0.4313, -0.6468, 0.2093, 0.3473, 1.7599, 1.549, -0.6373, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.4413 left_y=-0.2047 left_z=0.2089 left_yaw=0.126 left_pitch=-0.2838 left_roll=-0.0575 left_gripper=0.2093 right_x=0.4651 right_y=0.1322 right_z=0.1968 right_yaw=0.1066 right_pitch=-0.2661 right_roll=-0.0988 right_gripper=0.9961\nstate[joint_eff]: [0.2393, -10.6598, 9.2376, 1.2381, -0.2759, 0.1099, 0.149, -0.2803, -8.7316, 7.0359, 1.4286, 0.0464, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:341eb7b23e81abb7674c3b2ab2e4a7982c5e3178c53bab821b9be0a0515b7b6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6932441b79c53b38caab9f6e639cea5eb7424b28ae6bb3f99c2605b78b9e2052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34a9821c8e5d0b9108b635ab5c228b386d2965096c87eb07383024034ff77c93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/AMKjgEIEhgCKkDAcviI0GbUDbs3Wv5hgQUzKRm4lJ0ID/8aD7/xLkYPIsoefdacSazlegBHFrIaSD6AipbM2uUjLyEQYJez1cFjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdXOzNUGEgwK50+SMMPkhqz+uEEaDKWMCxeB9W5WSxWQhCIwHqfXHq6UmWIvcYPxva2Y2nkVN2SG2hGGlaKCGLVw3VKRzwBjNYhlWO6o6rekMHljKpoCoivSG4dbNGVVSiFtqo5ZXBXBB9hnGgvqhOjOyon1oGDwRWrFpjfs1AB07VOVZvFq083ic8L+bhU6Qd92wrsnQtkp7a+tW+HNT0hQNGjveB9iG8QW3jxwNpC092369yu1F4huHj9T+SbthdHlPS/FA6/VlHMlpf5vvnGNa6ywsIYH5EK5OOvb7zvNxsYv79lPcYdjG5gb/MtOfnkvmBgKlUTpLDco0Ok19OFBTMJ0JEk6snSEf7zTXg5Eoi6dTmkqRzuXMXiYCl3VnSokOM7kr0jYqFp7KVV9vbpYtJcJrUbA9lIipRQyM/VuQrd3MyhZUvnlMTFL5DdikDDENO8eQZN9NxEVIgWn34uHyyN6CTyw7AvuVgyC/QaoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PBBohUdgQ78pjye7k1Ycqp",
      "input": {
        "note": "Positioned over the left basket; opening the jaws to drop the dog toy in with the other plush toy.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01PBBohUdgQ78pjye7k1Ycqp",
      "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]: [-0.5858, 1.9068, 1.7824, -0.8703, -0.4183, -0.6464, 0.9956, 0.3473, 1.7603, 1.549, -0.6361, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.4447 left_y=-0.2046 left_z=0.1964 left_yaw=0.1297 left_pitch=-0.3105 left_roll=-0.0479 left_gripper=0.9956 right_x=0.4653 right_y=0.1323 right_z=0.1968 right_yaw=0.1066 right_pitch=-0.2654 right_roll=-0.0986 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -11.5624, 9.6068, 1.3895, -0.3394, 0.0757, -0.1783, -0.3624, -9.2786, 6.7624, 1.4969, 0.0171, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e679cc1a6ffdfc3f3e1c19c9e319b205a098c90aad1f0eff0611c0c96737526b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed051329c7565a8f6ade009fd50cc0c829b075e2848258a773bbc47e73bf2158",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:311d1ba226fe8757c8141c7773ed755d08eb8751adb4a33cae0371ad6cd5614c",
        "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 · 8.495 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]: [-0.6277, 1.7962, 1.6791, -0.8303, -0.4545, -0.6724, 0.2077, 0.3473, 1.7592, 1.549, -0.6353, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.4223 left_y=-0.2062 left_z=0.2147 left_yaw=0.1199 left_pitch=-0.256 left_roll=-0.0755 left_gripper=0.2077 right_x=0.4654 right_y=0.1323 right_z=0.1974 right_yaw=0.1067 right_pitch=-0.2636 right_roll=-0.0981 right_gripper=0.9961\nstate[joint_eff]: [0.1436, -12.8342, 9.1556, 1.2772, -0.2808, 0.1978, 0.232, -0.335, -9.2239, 6.8581, 1.4725, 0.0269, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.5941, 1.8782, 1.7779, -0.8684, -0.4313, -0.6468, 0.2093, 0.3473, 1.7599, 1.549, -0.6373, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.4413 left_y=-0.2047 left_z=0.2089 left_yaw=0.126 left_pitch=-0.2838 left_roll=-0.0575 left_gripper=0.2093 right_x=0.4651 right_y=0.1322 right_z=0.1968 right_yaw=0.1066 right_pitch=-0.2661 right_roll=-0.0988 right_gripper=0.9961\nstate[joint_eff]: [0.2393, -10.6598, 9.2376, 1.2381, -0.2759, 0.1099, 0.149, -0.2803, -8.7316, 7.0359, 1.4286, 0.0464, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5858, 1.9068, 1.7824, -0.8703, -0.4183, -0.6464, 0.9956, 0.3473, 1.7603, 1.549, -0.6361, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.4447 left_y=-0.2046 left_z=0.1964 left_yaw=0.1297 left_pitch=-0.3105 left_roll=-0.0479 left_gripper=0.9956 right_x=0.4653 right_y=0.1323 right_z=0.1968 right_yaw=0.1066 right_pitch=-0.2654 right_roll=-0.0986 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -11.5624, 9.6068, 1.3895, -0.3394, 0.0757, -0.1783, -0.3624, -9.2786, 6.7624, 1.4969, 0.0171, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e679cc1a6ffdfc3f3e1c19c9e319b205a098c90aad1f0eff0611c0c96737526b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed051329c7565a8f6ade009fd50cc0c829b075e2848258a773bbc47e73bf2158",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:311d1ba226fe8757c8141c7773ed755d08eb8751adb4a33cae0371ad6cd5614c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwQUKjgEIEhgCKkB4gkx/IABisjqf8FsLJG7UB7XDB8uivPDskdYAvgVYBOrCqdLx0jCJI2lOPg/UkEAukOWHYerahQcD+CdCITJvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeDOzNUGEgz4/94cm1pSBTvF7AsaDP7HULhLOHtXoocfoCIwOQYiEHGh72yLrcAAxhzAsflz+XRMTRvrCVRYDgYBKFCCTLnzvz5HgPIF2G/hEgDqKt8DDcFc7vG3SlG0aPy8rbKi8rEpYDQKyuJe76P97GAHsisbaOymz6k0BFzCZGhKgKK8v9n6B3cBfhW84OEuGyEW0+ubPkropk2RqAR9MEUg0l2LFA5HM2bHn1+iutp0Vcht9Z3ZN0XhdgyqJRVI6Gz+ZOaz920DuB3SqVAi0cLHdWmC8TwNATGqJuYOI+TydqX3+LN/sViRl4UP/W/Dm7/zzTfGW3rKr/NJM2ydsbfTUQhn5wsFqv8HcBpmx3/PYGYvS4gDCSlZcnEZb3kPV/tP2La06jJkWjKLdeGz4jFTPql99IswgVJpGdRpMk5MnYKK1r3V8S1Y/visWCiCubxPSBMTozJoi7pyD1bLsu8hzbyDU+RSUJhKytc187kFYDi4pJt4QQmNQAcFuFJ5U44G8Oz0QdfpowD4pTsA6xAUwWQNBnxoaPGPe1rNj+rCn6HmmtKmO5dUQdCKRhsDSHNjUkPQV5iY6f5unRrJ0pyE80yyXRoifPfaVNLY1xGrjxj7AtoeUfviZEgZN1EDlXM5+PRv3JoW7/fAYQSSXZloBeRCFtWjB33AtUCXtyuZSDuOMM17VsRhMwevyagQ24wWr5B2vQ4LCFKBDCGcVSunzZfy3rrGlEiTaYz8nyfTCSIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017bPDpgJKaqS48GwPLppfBX",
      "input": {
        "note": "Released; pulling the left arm back out of the way to see in the overhead view where the dog toy ended up.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.05,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_017bPDpgJKaqS48GwPLppfBX",
      "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]: [-0.4511, 1.0397, 1.2129, -1.0935, -0.3511, -0.5495, 0.9967, 0.3473, 1.7618, 1.549, -0.6376, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.2622 left_y=-0.0555 left_z=0.2533 left_yaw=0.1445 left_pitch=-0.2823 left_roll=-0.0747 left_gripper=0.9967 right_x=0.4652 right_y=0.1322 right_z=0.1958 right_yaw=0.1064 right_pitch=-0.2684 right_roll=-0.0994 right_gripper=0.9961\nstate[joint_eff]: [0.212, -2.1538, 5.9692, 1.4139, -0.1441, 0.1343, 0.105, -0.0752, -9.3744, 7.0085, 1.4921, 0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02810b57c8714edf24889c3c37f2fb5870eedf70af70b2a1f96347843b5f6723",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:540dc07c00b0e0c4cdea0bc473989959b375ddaa50516977af64058c4cee48dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b93c0900cf7351462174f9c58f7fcbf96a78fab3af4bd8f4f4f53911b24d2c5",
        "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 · 8.26 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]: [-0.5941, 1.8782, 1.7779, -0.8684, -0.4313, -0.6468, 0.2093, 0.3473, 1.7599, 1.549, -0.6373, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.4413 left_y=-0.2047 left_z=0.2089 left_yaw=0.126 left_pitch=-0.2838 left_roll=-0.0575 left_gripper=0.2093 right_x=0.4651 right_y=0.1322 right_z=0.1968 right_yaw=0.1066 right_pitch=-0.2661 right_roll=-0.0988 right_gripper=0.9961\nstate[joint_eff]: [0.2393, -10.6598, 9.2376, 1.2381, -0.2759, 0.1099, 0.149, -0.2803, -8.7316, 7.0359, 1.4286, 0.0464, -0.0562, -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]: [-0.5858, 1.9068, 1.7824, -0.8703, -0.4183, -0.6464, 0.9956, 0.3473, 1.7603, 1.549, -0.6361, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.4447 left_y=-0.2046 left_z=0.1964 left_yaw=0.1297 left_pitch=-0.3105 left_roll=-0.0479 left_gripper=0.9956 right_x=0.4653 right_y=0.1323 right_z=0.1968 right_yaw=0.1066 right_pitch=-0.2654 right_roll=-0.0986 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -11.5624, 9.6068, 1.3895, -0.3394, 0.0757, -0.1783, -0.3624, -9.2786, 6.7624, 1.4969, 0.0171, -0.0562, -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 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]: [-0.4511, 1.0397, 1.2129, -1.0935, -0.3511, -0.5495, 0.9967, 0.3473, 1.7618, 1.549, -0.6376, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.2622 left_y=-0.0555 left_z=0.2533 left_yaw=0.1445 left_pitch=-0.2823 left_roll=-0.0747 left_gripper=0.9967 right_x=0.4652 right_y=0.1322 right_z=0.1958 right_yaw=0.1064 right_pitch=-0.2684 right_roll=-0.0994 right_gripper=0.9961\nstate[joint_eff]: [0.212, -2.1538, 5.9692, 1.4139, -0.1441, 0.1343, 0.105, -0.0752, -9.3744, 7.0085, 1.4921, 0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02810b57c8714edf24889c3c37f2fb5870eedf70af70b2a1f96347843b5f6723",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:540dc07c00b0e0c4cdea0bc473989959b375ddaa50516977af64058c4cee48dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b93c0900cf7351462174f9c58f7fcbf96a78fab3af4bd8f4f4f53911b24d2c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShgoKjgEIEhgCKkBjVU7GH8NUJSacNTvzZHDdQqK/vLwDITzpKPJoTOr3DgX1RpSmEB6QTT6+cItoNYxi04B/mOq9elsL2Qfdwu8vMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAerOzNUGEgzWngy7xq8RfmJCxs8aDCV2/GIoXwt/enwEbyIwPxfG1b9paGjUrnrFR3DKMyrr3CRAEMWIDkObIeAEBbXPvX6COcrKWE/Xda+hFFuaKqQI8uCsI2Zd94kK1M2AB1CR5WMLU8xx3BixxwyEJorNFUK0soA8d93r57W8ozVDyOhFerdJ8rrCeOUiJ5rngiS4VjiZewYhQWYF8dtXHAs+imC46UyTfozjES6qm3qvH96rI8jZqnEq/EIUhIx/fO6XRePUIxQfKkO2Oba1rQ0dQX2XF/gXr0dvfMA/5ZxYREGcW11zplIo24TUBkOzfzJL02EAXNDD+snLWMieG9vi3MkZ6n+pCRWFJilpDCfywMuMKSwIokVNtu/JZiTuXMrNo6Zxlrl7NV70yvFsZ9efYywRklL7RCPLsb6RfiLoojQMmW+wYwrFupbBL38XvSVsxARgyBiz0y6Bt1+jwnx0p+mcoqtTQUZe/CMbLa3VMoaJmFgPCiG7QadC/6HXyqZU3FryGmd+/BXuSkSnGBf4H/iYFdPj4dqAwJinZ280hNQtIRn8O9rpfHN2d/dFA0fFr9LEq/DkN5C6c6IDkOT/D0xaiesF9ZeUL8HQiLtqYVgZL8CLOsr1E5w20cpVlEwXorcllX8ODqVGWeVyilDA4jV1ZnpXMmw7Xt2cvU4sw56AKV6HaEW6CfuFk5+2iwtIJlhXGUbY0e/GwhXW0e/xZdg3Q6Y3rsPjjzCViOTBeUfyQmWJvRXDmnClpKorWAyHzXGDWlw5YghtHfanb6nWZAIJFEVvb+p3bNC4woNG0mJVRrIIVOkhysCooKQYmrjzY2orqrZTrNfEE2FDXZKfm5fjeIrIgXxnGbesc1ttwMl9+jJvfIUyyoGJY3do/2C9k91L4wbMApZy37op/75Ln76wZggCwG6uzghj7Sco7AKjcVoqQyU6zOs/aPHcraDH2SKLe86SQAH+n58TIWz8NRkGSYY2emxBCbBbZpK4eDmzjjH4DWIISc3dhRc1vo60A9msu0tE1vZcFvDd7hCa4eRc2uf4mItuh1tyleC/lsPMZ7giZ3NsSADsFVSmZYTSjPlS0bmkmSMgrTsCwMBiUdw3R5dNoMO4+xmq2NtxZ4zZ66bnXpMXV+1d4RxKoJjsHTxNiy/Juewe+xbasGN+hXyw8t7T/5p5SN5896ItuAlZH5oUJyoIUC/9Y28zvammsmlKqIJGWHi7Bpe7M15oaz5k9Bw3G0fV/ZVHMia7vH3jLU5t5uXeKUtDHfdu6RHPmu5h+TfUXOVo0CL5uQyiY1opPyYYrbXDkAc7ztL0JlGoQ8yJfRUbGLfYINC34Nw5Ging9Ic5XA9sbVRQoMvo1qCPWCLZT4IfA61kQ2wegVfY8JtjpJTkedp5Erlz4obXBpFnvR3gItVPLXDqzzPuvT+85sXOYu7FGHI1Mo9vhfr5raHzLKQiT68k1D6e5GdbpklrPj97LX/3+x6HMiR3dEqoyK60PIQGtdt0B2/ERiE9BQ2OuBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NuekrWcBB6wrYb4LM77WQ6",
      "input": {
        "note": "Overhead shows the grey rabbit inside the left basket but the tan dog toy landed just short of it on the table. Moving down onto the dog toy to re-grasp it.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.355,
          "left_y": -0.27,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01NuekrWcBB6wrYb4LM77WQ6",
      "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]: [-0.8715, 1.8874, 1.1961, -0.4763, -0.5697, -0.9459, 0.9984, 0.3473, 1.7618, 1.549, -0.6384, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.3428 left_y=-0.254 left_z=0.0518 left_yaw=0.1565 left_pitch=-0.3228 left_roll=-0.0186 left_gripper=0.9984 right_x=0.465 right_y=0.1322 right_z=0.1957 right_yaw=0.1064 right_pitch=-0.2691 right_roll=-0.0995 right_gripper=0.9961\nstate[joint_eff]: [-0.3897, -9.3333, 8.2667, 1.1306, -0.3785, -0.0513, -0.1783, -0.294, -9.265, 6.8308, 1.4579, 0.0269, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c52c459fbc1433ad4fdf2e45d32dce08d782da426969d9599f4d39d1b21dbbb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:729f9b71d845483cf52ca2799f17c2c0da24581804d3d53372068f7e514de766",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:824eec5968c6fdaa3dbb5809ff6f0617d21e3fe18eed4a1ae75507042f5bc561",
        "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 · 16.64 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]: [-0.5858, 1.9068, 1.7824, -0.8703, -0.4183, -0.6464, 0.9956, 0.3473, 1.7603, 1.549, -0.6361, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.4447 left_y=-0.2046 left_z=0.1964 left_yaw=0.1297 left_pitch=-0.3105 left_roll=-0.0479 left_gripper=0.9956 right_x=0.4653 right_y=0.1323 right_z=0.1968 right_yaw=0.1066 right_pitch=-0.2654 right_roll=-0.0986 right_gripper=0.9961\nstate[joint_eff]: [-0.0889, -11.5624, 9.6068, 1.3895, -0.3394, 0.0757, -0.1783, -0.3624, -9.2786, 6.7624, 1.4969, 0.0171, -0.0562, -0.0073]\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]: [-0.4511, 1.0397, 1.2129, -1.0935, -0.3511, -0.5495, 0.9967, 0.3473, 1.7618, 1.549, -0.6376, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.2622 left_y=-0.0555 left_z=0.2533 left_yaw=0.1445 left_pitch=-0.2823 left_roll=-0.0747 left_gripper=0.9967 right_x=0.4652 right_y=0.1322 right_z=0.1958 right_yaw=0.1064 right_pitch=-0.2684 right_roll=-0.0994 right_gripper=0.9961\nstate[joint_eff]: [0.212, -2.1538, 5.9692, 1.4139, -0.1441, 0.1343, 0.105, -0.0752, -9.3744, 7.0085, 1.4921, 0.0366, -0.0513, -0.0122]",
      "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]: [-0.8715, 1.8874, 1.1961, -0.4763, -0.5697, -0.9459, 0.9984, 0.3473, 1.7618, 1.549, -0.6384, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.3428 left_y=-0.254 left_z=0.0518 left_yaw=0.1565 left_pitch=-0.3228 left_roll=-0.0186 left_gripper=0.9984 right_x=0.465 right_y=0.1322 right_z=0.1957 right_yaw=0.1064 right_pitch=-0.2691 right_roll=-0.0995 right_gripper=0.9961\nstate[joint_eff]: [-0.3897, -9.3333, 8.2667, 1.1306, -0.3785, -0.0513, -0.1783, -0.294, -9.265, 6.8308, 1.4579, 0.0269, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c52c459fbc1433ad4fdf2e45d32dce08d782da426969d9599f4d39d1b21dbbb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:729f9b71d845483cf52ca2799f17c2c0da24581804d3d53372068f7e514de766",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:824eec5968c6fdaa3dbb5809ff6f0617d21e3fe18eed4a1ae75507042f5bc561",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgAgKjgEIEhgCKkDvwhlgdIGBhUfFNYPdMyHdEWSzL4lOPw/LQ9SGc+Of4AvAo6o3X+8nGg1IMFl6O73IjwpYKmswS4U2VP2nEgGdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfTOzNUGEgycsL0dQMBwL3InAskaDLBQnoXYRQebDik4JCIwrFlbOiAfh5I8wjfo+/eoEjIL3vdMTJ+oEPhyZrn8JB+TTewF31OcbQmN2CVCIOU7Kp4GiP0ASFXK4+4kifq2kr3arsQZpWjtfobGgeYc5AtDFD/1D9PFtdk2nOse+9FDXr+yQ0lJcTf0AvQ+fhjZb3IaF/tMgaqjyb9uq9zUVMqi8uqswiTy9dKA7FCr1wv8FUs1U+OJZdjDbJX+pGcrg5VCnw2jxHvLejcaPwikjavKB2LhsaprOIGfDxKxL9ufeEzOQI1vcXtAY8vw6keoFDbRNPqYIc8YeMuXMCtlWw8uvC7HP/TUhHrXSEpm0v0/xamn518p+o3rAF6P4bH4XrY07MEAGrKPGbX4XlGHdRemuYjlpxxmn5KjYwITlURhctNTpnabG7te72wVZd0HHIbepy+AH/B73fvdr2FOBf/vj3KnGe5n6EXRk7iC93c26Z9u7Ow/ponwSlvH5Z3eoeX29bWncqdTFlr6dIvmWybmy0hUM+Hhv+uhfnQyPJ8n5Yv6mLmbYCjuXP7HHSRP8B56ZHTdKrTCFi7vlJHsXxmdFNu1W0WmLr32tyF07heyWo+btb1cYh/m07wCpxbF2p+vA+ZVWdPU8RqOVO8npuGJ2Jw/DH4NUIZZUDzWdnbFDmoZ1QD4pHaDD1ywJbDLnaiImW7uh+fP6t9yDxqshBeMGDNos+cpz9YJ6osnh4gGd5QOt7NJ5VjfY27lD71PeyVt2etJVOi5vCiI1Llv1p7xvMB9ktHRXVlqq+J4y/jvdKddSBKomi/CeRtUcyM4/RUmNBRY2hI/X0yKvnMMrEPYLa/lie1JmLA3WjB9Q4VQPpyhvlHBFIgfCBlfgN7Ip1Z9aaby02ujltTupgerY4YZwrI2BzaXZYKPlTssfSw+BNMxkKexf3Nmr4JLFIj8910I5lvpLIn/76/yYYqeNpibz0st1NR2wdemeg8ttgcLQNVXTZtOEZUag1EL4762Gae+jnqegHXdr/dlSetLF5dSxiAZiHgWf5fsip2G09wcMhFPMY6FyCofb7796pYf1DAZFb5ImFe0AJ47RgCsFEnd87lCW1xHUl10mED455mxInIBS6lyNYUEeUvMzCPxfGF58HKqMEj28cniM9E/kR+VGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UBxej4peSfVBZrgQT3MhMB",
      "input": {
        "note": "The dog toy is to the arm's right in both views; shifting right (−y) and slightly forward to line the jaws up over it.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.325
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01UBxej4peSfVBZrgQT3MhMB",
      "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]: [-0.9428, 2.1136, 1.5162, -0.6296, -0.5777, -1.026, 0.9983, 0.3473, 1.7618, 1.549, -0.6384, 0.215, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.3548 left_y=-0.3184 left_z=0.0447 left_yaw=0.1527 left_pitch=-0.3455 left_roll=-0.0126 left_gripper=0.9983 right_x=0.4651 right_y=0.1321 right_z=0.1957 right_yaw=0.106 right_pitch=-0.269 right_roll=-0.0998 right_gripper=0.9961\nstate[joint_eff]: [-0.4581, -10.9197, 8.1709, 0.7692, -0.5641, -0.0024, -0.0317, -0.0889, -9.2786, 6.7761, 1.4432, 0.0904, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:746b437c68eac2e3cc52a79fa89eac79e2cd4fca3dc0224cbae7b86e23d0adb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:441ff0b7735dcde7d49f72d9b3f42dbc480d963ccc1f2bd026ca44a382b30768",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7570bafae0f305a667c15fbde44265e2cd38fee610fe9d8e147bbdbafd070a8",
        "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 · 10.1 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4511, 1.0397, 1.2129, -1.0935, -0.3511, -0.5495, 0.9967, 0.3473, 1.7618, 1.549, -0.6376, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.2622 left_y=-0.0555 left_z=0.2533 left_yaw=0.1445 left_pitch=-0.2823 left_roll=-0.0747 left_gripper=0.9967 right_x=0.4652 right_y=0.1322 right_z=0.1958 right_yaw=0.1064 right_pitch=-0.2684 right_roll=-0.0994 right_gripper=0.9961\nstate[joint_eff]: [0.212, -2.1538, 5.9692, 1.4139, -0.1441, 0.1343, 0.105, -0.0752, -9.3744, 7.0085, 1.4921, 0.0366, -0.0513, -0.0122]",
      "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]: [-0.8715, 1.8874, 1.1961, -0.4763, -0.5697, -0.9459, 0.9984, 0.3473, 1.7618, 1.549, -0.6384, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.3428 left_y=-0.254 left_z=0.0518 left_yaw=0.1565 left_pitch=-0.3228 left_roll=-0.0186 left_gripper=0.9984 right_x=0.465 right_y=0.1322 right_z=0.1957 right_yaw=0.1064 right_pitch=-0.2691 right_roll=-0.0995 right_gripper=0.9961\nstate[joint_eff]: [-0.3897, -9.3333, 8.2667, 1.1306, -0.3785, -0.0513, -0.1783, -0.294, -9.265, 6.8308, 1.4579, 0.0269, -0.0708, -0.0073]",
      "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]: [-0.9428, 2.1136, 1.5162, -0.6296, -0.5777, -1.026, 0.9983, 0.3473, 1.7618, 1.549, -0.6384, 0.215, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.3548 left_y=-0.3184 left_z=0.0447 left_yaw=0.1527 left_pitch=-0.3455 left_roll=-0.0126 left_gripper=0.9983 right_x=0.4651 right_y=0.1321 right_z=0.1957 right_yaw=0.106 right_pitch=-0.269 right_roll=-0.0998 right_gripper=0.9961\nstate[joint_eff]: [-0.4581, -10.9197, 8.1709, 0.7692, -0.5641, -0.0024, -0.0317, -0.0889, -9.2786, 6.7761, 1.4432, 0.0904, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:746b437c68eac2e3cc52a79fa89eac79e2cd4fca3dc0224cbae7b86e23d0adb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:441ff0b7735dcde7d49f72d9b3f42dbc480d963ccc1f2bd026ca44a382b30768",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7570bafae0f305a667c15fbde44265e2cd38fee610fe9d8e147bbdbafd070a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Tc7K76nfbupgoCr5JdECW",
      "input": {
        "note": "The dog toy sits further right and forward, near the gap between the baskets; moving to the left arm's y-limit and forward to try to reach over it.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.4,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_011Tc7K76nfbupgoCr5JdECW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9604, 2.4901, 2.1624, -0.9398, -0.5682, -1.0588, 0.9982, 0.3351, 1.7618, 1.549, -0.6415, 0.234, 0.0814, 0.9961]\nstate[eef_state]: left_x=0.3941 left_y=-0.3913 left_z=0.0412 left_yaw=0.1629 left_pitch=-0.3716 left_roll=0.0006 left_gripper=0.9982 right_x=0.4667 right_y=0.123 right_z=0.1958 right_yaw=0.0812 right_pitch=-0.2689 right_roll=-0.1201 right_gripper=0.9961\nstate[joint_eff]: [-0.7043, -13.8872, 8.6632, 0.8034, -0.4664, 0.0415, -0.0171, 1.0325, -9.2923, 6.9265, 1.5263, -0.2613, 0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d187442be579401d4e8e1191193c6002efd68d93f001de8295bc21ef0793103",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2e9e87774cda673db6ebd6d533fb5a793cd18c1edf3013c9e2612c13c504cbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3d6fc801c2a3821146ad790b9cf95e40c6c389f2ae05a7a03ff5bdf06d31e6bf",
        "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 · 5.836 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]: [-0.8715, 1.8874, 1.1961, -0.4763, -0.5697, -0.9459, 0.9984, 0.3473, 1.7618, 1.549, -0.6384, 0.2146, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.3428 left_y=-0.254 left_z=0.0518 left_yaw=0.1565 left_pitch=-0.3228 left_roll=-0.0186 left_gripper=0.9984 right_x=0.465 right_y=0.1322 right_z=0.1957 right_yaw=0.1064 right_pitch=-0.2691 right_roll=-0.0995 right_gripper=0.9961\nstate[joint_eff]: [-0.3897, -9.3333, 8.2667, 1.1306, -0.3785, -0.0513, -0.1783, -0.294, -9.265, 6.8308, 1.4579, 0.0269, -0.0708, -0.0073]",
      "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]: [-0.9428, 2.1136, 1.5162, -0.6296, -0.5777, -1.026, 0.9983, 0.3473, 1.7618, 1.549, -0.6384, 0.215, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.3548 left_y=-0.3184 left_z=0.0447 left_yaw=0.1527 left_pitch=-0.3455 left_roll=-0.0126 left_gripper=0.9983 right_x=0.4651 right_y=0.1321 right_z=0.1957 right_yaw=0.106 right_pitch=-0.269 right_roll=-0.0998 right_gripper=0.9961\nstate[joint_eff]: [-0.4581, -10.9197, 8.1709, 0.7692, -0.5641, -0.0024, -0.0317, -0.0889, -9.2786, 6.7761, 1.4432, 0.0904, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9604, 2.4901, 2.1624, -0.9398, -0.5682, -1.0588, 0.9982, 0.3351, 1.7618, 1.549, -0.6415, 0.234, 0.0814, 0.9961]\nstate[eef_state]: left_x=0.3941 left_y=-0.3913 left_z=0.0412 left_yaw=0.1629 left_pitch=-0.3716 left_roll=0.0006 left_gripper=0.9982 right_x=0.4667 right_y=0.123 right_z=0.1958 right_yaw=0.0812 right_pitch=-0.2689 right_roll=-0.1201 right_gripper=0.9961\nstate[joint_eff]: [-0.7043, -13.8872, 8.6632, 0.8034, -0.4664, 0.0415, -0.0171, 1.0325, -9.2923, 6.9265, 1.5263, -0.2613, 0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d187442be579401d4e8e1191193c6002efd68d93f001de8295bc21ef0793103",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2e9e87774cda673db6ebd6d533fb5a793cd18c1edf3013c9e2612c13c504cbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d6fc801c2a3821146ad790b9cf95e40c6c389f2ae05a7a03ff5bdf06d31e6bf",
        "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_011JwGcmmRVvTe9CtnXandkt",
      "input": {
        "note": "The dog toy is past the left arm's y-limit, but the right wrist view shows it well within the right arm's reach; parking the left arm and bringing the right arm down beside the toy.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.05,
          "left_z": 0.25,
          "right_x": 0.42,
          "right_y": 0.22,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 31 steps (3.1s)",
      "tool_use_id": "toolu_011JwGcmmRVvTe9CtnXandkt",
      "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]: [-0.4728, 1.1065, 1.2453, -1.1927, -0.3767, -0.6006, 0.9983, 0.6178, 1.8954, 1.195, -0.2371, 0.3969, 0.3012, 0.9961]\nstate[eef_state]: left_x=0.2555 left_y=-0.0537 left_z=0.2378 left_yaw=0.1988 left_pitch=-0.3782 left_roll=-0.0068 left_gripper=0.9983 right_x=0.419 right_y=0.2184 right_z=0.0625 right_yaw=0.0988 right_pitch=-0.2837 right_roll=-0.1219 right_gripper=0.9961\nstate[joint_eff]: [0.1299, -3.1658, 9.1692, 1.1209, -0.2125, 0.1148, -0.0073, 0.5265, -8.6632, 5.9419, 1.5165, 0.3883, 0.149, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eea64c8b80b0763b9b52eaa3d4357f577e110009fe762318385f739e30dafd68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89a75e8865e4d77ededf623b5d56563484a0eb32710e9520437b87564792db64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:982e482e026e4e642a96f9f881edfa171457f1bbc32acbaf55ca3e2a68a575e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 1.89 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9428, 2.1136, 1.5162, -0.6296, -0.5777, -1.026, 0.9983, 0.3473, 1.7618, 1.549, -0.6384, 0.215, 0.0887, 0.9961]\nstate[eef_state]: left_x=0.3548 left_y=-0.3184 left_z=0.0447 left_yaw=0.1527 left_pitch=-0.3455 left_roll=-0.0126 left_gripper=0.9983 right_x=0.4651 right_y=0.1321 right_z=0.1957 right_yaw=0.106 right_pitch=-0.269 right_roll=-0.0998 right_gripper=0.9961\nstate[joint_eff]: [-0.4581, -10.9197, 8.1709, 0.7692, -0.5641, -0.0024, -0.0317, -0.0889, -9.2786, 6.7761, 1.4432, 0.0904, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9604, 2.4901, 2.1624, -0.9398, -0.5682, -1.0588, 0.9982, 0.3351, 1.7618, 1.549, -0.6415, 0.234, 0.0814, 0.9961]\nstate[eef_state]: left_x=0.3941 left_y=-0.3913 left_z=0.0412 left_yaw=0.1629 left_pitch=-0.3716 left_roll=0.0006 left_gripper=0.9982 right_x=0.4667 right_y=0.123 right_z=0.1958 right_yaw=0.0812 right_pitch=-0.2689 right_roll=-0.1201 right_gripper=0.9961\nstate[joint_eff]: [-0.7043, -13.8872, 8.6632, 0.8034, -0.4664, 0.0415, -0.0171, 1.0325, -9.2923, 6.9265, 1.5263, -0.2613, 0.022, -0.0073]",
      "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]: [-0.4728, 1.1065, 1.2453, -1.1927, -0.3767, -0.6006, 0.9983, 0.6178, 1.8954, 1.195, -0.2371, 0.3969, 0.3012, 0.9961]\nstate[eef_state]: left_x=0.2555 left_y=-0.0537 left_z=0.2378 left_yaw=0.1988 left_pitch=-0.3782 left_roll=-0.0068 left_gripper=0.9983 right_x=0.419 right_y=0.2184 right_z=0.0625 right_yaw=0.0988 right_pitch=-0.2837 right_roll=-0.1219 right_gripper=0.9961\nstate[joint_eff]: [0.1299, -3.1658, 9.1692, 1.1209, -0.2125, 0.1148, -0.0073, 0.5265, -8.6632, 5.9419, 1.5165, 0.3883, 0.149, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eea64c8b80b0763b9b52eaa3d4357f577e110009fe762318385f739e30dafd68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89a75e8865e4d77ededf623b5d56563484a0eb32710e9520437b87564792db64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:982e482e026e4e642a96f9f881edfa171457f1bbc32acbaf55ca3e2a68a575e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2QcKjgEIEhgCKkBVIXjy7Ace5ZeOdtvCQMJ786z6zmj5mOOM9fh8jM5b6ANUCKK9yARHztLDONWzYdcJgVvK8yi7WpULx3yjtorBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZnPzNUGEgyzC4NhX+mxY+/lcgMaDBm7TITXdR3INyZ4GyIw/R/lJN5EiUrk+YTOswX4MH6nf6Kf7nnzmqLvrpe+WfiU4Zppk/P4MVpkS+ydvdWQKvcFdGbTu1LcB5YGnrHB2JROPXSAGCaISVPDObkE+k+HTrwzVCOaLArMebDd0n8MBAkp06dkXviDuqCUtvRspZhn3AOuNKHPrAykE7+5WNi2nWfSB+8kvVOK0FRZKCAnBs0P3Cbtspxzew3kG8VykwghCFxp2e7gtgMUA6pWTW3J++Q+rYUnB2BtK1PkjUbs5kpEmqXvPUUZyWm4WS8IkGv156r7GVYXfv4UDHdNXLMVioJlgZx8NFxDM7qpFzYov65tN+MSoEChl0sWexDufoSo/cNHQoLF1BnPEHM18PWUqpf9hWI+yKlpHude6YYdcZIjplHxEcBE4nYPPIYaW5KUF0Es8tezZO3dckSkPJe2CPvFAkBpoMc4yOkICBR7nk+r+4jHqHnA0AVtibp9G/40D1mtZB+ZYyP4/n1y0GgDEadIrC0wTSQ67m8DF5v5cjGPYzxjy6mkO3/HKyiNQmLp2/35Sf/8dImPoMyJ84t7vZTU25VyG+NiECcutnLfJeN3jwaXeSbSDZNnq/RL4HbQ+e6mXaAd7CevmtAcIff8r4QKCkqxsC/zdl6T9dOnHiaOd9gsrKrEULvYRNIhHFRxymGhF0YbnhsNctsmgkEIOgndHIgebqjI8IU9HdzBsO9hd4a8DItGoEPLKexaVavDi8Qsbi0vVw+csR2Kt4OzZfpDCisGTqlQ1rBDedK7BcXoZ5M+gCtYbAFJmKrxiXp9UZdy4t7qW2mDwaI0Hxq677UoCtsfyqrVqOMHgm1bh+ySgxLf65bMp23uU1Qr18qFywbDQS5e9Vudkq8839hJ/5Xv2z1/scc7w+MuvEQXBUxPdzREFvD0q+xx/Yh1ik3IfT5FibFlBlqjExRhMb4dJjstzsom/cwoknl8sFYdX087h+flR0EnJ46clcsStYQQq88OHtZCRmVnHoL93am7sxu/1+Qw2fNCdKSwBFpkpTVrFHi+1q8qYVwytiNhFK6ruOlpXXfO3NDCwbnURMGhaOAsSLSQVoEfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FiBuZS1baJ5ceKiCfH3mBZ",
      "input": {
        "note": "The right wrist view is filled by the tan dog toy directly below the jaws; pressing down into its soft body before closing.",
        "targets": {
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FiBuZS1baJ5ceKiCfH3mBZ",
      "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]: [-0.4736, 1.1099, 1.2537, -1.2049, -0.3618, -0.5911, 0.9983, 0.6197, 1.953, 1.1389, -0.1219, 0.3996, 0.3, 0.9961]\nstate[eef_state]: left_x=0.2537 left_y=-0.0557 left_z=0.2377 left_yaw=0.1829 left_pitch=-0.392 left_roll=-0.007 left_gripper=0.9983 right_x=0.4191 right_y=0.219 right_z=0.0327 right_yaw=0.0994 right_pitch=-0.2814 right_roll=-0.1239 right_gripper=0.9961\nstate[joint_eff]: [-0.2256, -2.6325, 5.4496, 1.2186, -0.3492, 0.022, -0.0171, -0.3761, -9.306, 5.5179, 1.2527, 0.1587, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef72d483c55d92783c50d326a9b9e34e3140bc8ad0d69745dea61c776663012d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:772260b9abb039c96f7396ec187e038f9e4ce66d9d616ffd09f9384fd67ff485",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e3f17ddaa36cbfabdcb02633f579ba2f7a4732c99c6f4e11b255dc18d1dc3236",
        "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 · 4.834 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]: [-0.9604, 2.4901, 2.1624, -0.9398, -0.5682, -1.0588, 0.9982, 0.3351, 1.7618, 1.549, -0.6415, 0.234, 0.0814, 0.9961]\nstate[eef_state]: left_x=0.3941 left_y=-0.3913 left_z=0.0412 left_yaw=0.1629 left_pitch=-0.3716 left_roll=0.0006 left_gripper=0.9982 right_x=0.4667 right_y=0.123 right_z=0.1958 right_yaw=0.0812 right_pitch=-0.2689 right_roll=-0.1201 right_gripper=0.9961\nstate[joint_eff]: [-0.7043, -13.8872, 8.6632, 0.8034, -0.4664, 0.0415, -0.0171, 1.0325, -9.2923, 6.9265, 1.5263, -0.2613, 0.022, -0.0073]",
      "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]: [-0.4728, 1.1065, 1.2453, -1.1927, -0.3767, -0.6006, 0.9983, 0.6178, 1.8954, 1.195, -0.2371, 0.3969, 0.3012, 0.9961]\nstate[eef_state]: left_x=0.2555 left_y=-0.0537 left_z=0.2378 left_yaw=0.1988 left_pitch=-0.3782 left_roll=-0.0068 left_gripper=0.9983 right_x=0.419 right_y=0.2184 right_z=0.0625 right_yaw=0.0988 right_pitch=-0.2837 right_roll=-0.1219 right_gripper=0.9961\nstate[joint_eff]: [0.1299, -3.1658, 9.1692, 1.1209, -0.2125, 0.1148, -0.0073, 0.5265, -8.6632, 5.9419, 1.5165, 0.3883, 0.149, -0.0073]",
      "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]: [-0.4736, 1.1099, 1.2537, -1.2049, -0.3618, -0.5911, 0.9983, 0.6197, 1.953, 1.1389, -0.1219, 0.3996, 0.3, 0.9961]\nstate[eef_state]: left_x=0.2537 left_y=-0.0557 left_z=0.2377 left_yaw=0.1829 left_pitch=-0.392 left_roll=-0.007 left_gripper=0.9983 right_x=0.4191 right_y=0.219 right_z=0.0327 right_yaw=0.0994 right_pitch=-0.2814 right_roll=-0.1239 right_gripper=0.9961\nstate[joint_eff]: [-0.2256, -2.6325, 5.4496, 1.2186, -0.3492, 0.022, -0.0171, -0.3761, -9.306, 5.5179, 1.2527, 0.1587, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef72d483c55d92783c50d326a9b9e34e3140bc8ad0d69745dea61c776663012d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:772260b9abb039c96f7396ec187e038f9e4ce66d9d616ffd09f9384fd67ff485",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3f17ddaa36cbfabdcb02633f579ba2f7a4732c99c6f4e11b255dc18d1dc3236",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YGgQa5vQFPH9ocr9uDiQDw",
      "input": {
        "note": "Jaws are sunk into the plush toy; closing to grip it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YGgQa5vQFPH9ocr9uDiQDw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4725, 1.1118, 1.2488, -1.2007, -0.3614, -0.5991, 0.9982, 0.6197, 1.9728, 1.1259, -0.0956, 0.411, 0.2928, 0.2051]\nstate[eef_state]: left_x=0.2543 left_y=-0.0558 left_z=0.236 left_yaw=0.1891 left_pitch=-0.3943 left_roll=-0.0105 left_gripper=0.9982 right_x=0.419 right_y=0.2166 right_z=0.0236 right_yaw=0.0934 right_pitch=-0.2829 right_roll=-0.1406 right_gripper=0.2051\nstate[joint_eff]: [-0.1299, -2.6735, 6.3932, 1.0867, -0.2515, -0.0024, -0.0171, -0.253, -11.7128, 6.9949, 1.0623, 0.0317, 0.0366, 0.9206]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3b8f0980b9f96e18761eacdbde834ac381121a8a41958899b9e628d30cb4762",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83ebaecce97fe89f282fc890775d4ca6e5fd66c266d44a5ad3d5d4c01e762bb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:585c14f87d42c4769ccb38eed11f5c57249772e8bce918b0bb167b9e7ba16dc5",
        "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 · 5.015 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]: [-0.4728, 1.1065, 1.2453, -1.1927, -0.3767, -0.6006, 0.9983, 0.6178, 1.8954, 1.195, -0.2371, 0.3969, 0.3012, 0.9961]\nstate[eef_state]: left_x=0.2555 left_y=-0.0537 left_z=0.2378 left_yaw=0.1988 left_pitch=-0.3782 left_roll=-0.0068 left_gripper=0.9983 right_x=0.419 right_y=0.2184 right_z=0.0625 right_yaw=0.0988 right_pitch=-0.2837 right_roll=-0.1219 right_gripper=0.9961\nstate[joint_eff]: [0.1299, -3.1658, 9.1692, 1.1209, -0.2125, 0.1148, -0.0073, 0.5265, -8.6632, 5.9419, 1.5165, 0.3883, 0.149, -0.0073]",
      "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]: [-0.4736, 1.1099, 1.2537, -1.2049, -0.3618, -0.5911, 0.9983, 0.6197, 1.953, 1.1389, -0.1219, 0.3996, 0.3, 0.9961]\nstate[eef_state]: left_x=0.2537 left_y=-0.0557 left_z=0.2377 left_yaw=0.1829 left_pitch=-0.392 left_roll=-0.007 left_gripper=0.9983 right_x=0.4191 right_y=0.219 right_z=0.0327 right_yaw=0.0994 right_pitch=-0.2814 right_roll=-0.1239 right_gripper=0.9961\nstate[joint_eff]: [-0.2256, -2.6325, 5.4496, 1.2186, -0.3492, 0.022, -0.0171, -0.3761, -9.306, 5.5179, 1.2527, 0.1587, 0.0415, -0.0122]",
      "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]: [-0.4725, 1.1118, 1.2488, -1.2007, -0.3614, -0.5991, 0.9982, 0.6197, 1.9728, 1.1259, -0.0956, 0.411, 0.2928, 0.2051]\nstate[eef_state]: left_x=0.2543 left_y=-0.0558 left_z=0.236 left_yaw=0.1891 left_pitch=-0.3943 left_roll=-0.0105 left_gripper=0.9982 right_x=0.419 right_y=0.2166 right_z=0.0236 right_yaw=0.0934 right_pitch=-0.2829 right_roll=-0.1406 right_gripper=0.2051\nstate[joint_eff]: [-0.1299, -2.6735, 6.3932, 1.0867, -0.2515, -0.0024, -0.0171, -0.253, -11.7128, 6.9949, 1.0623, 0.0317, 0.0366, 0.9206]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3b8f0980b9f96e18761eacdbde834ac381121a8a41958899b9e628d30cb4762",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83ebaecce97fe89f282fc890775d4ca6e5fd66c266d44a5ad3d5d4c01e762bb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:585c14f87d42c4769ccb38eed11f5c57249772e8bce918b0bb167b9e7ba16dc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5AMKjgEIEhgCKkDwo1bDGwe5Mqq5j6/S6he6zffyBlrbxj1BM8iu6YdVJiQTZVVIi14JrXkevYqQd75WuZlQ6eFKdidenubmN9TmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaHPzNUGEgy61ymAp/ET7LXYpWAaDJVls6wbkWJRevqURCIwt3aRIt2JiUG3xZKUZ+CtCAfTNZDwT1H7snpufrHCTN/J+isSJ+onO3ahZ2rcnIHoKoICEqQ4CVIsh0BVESQWj2LVag+XNv3lxOrJOiTcxK27wX5cVz5l/ELKmnbBwrGDjf08fvreKvABxp5ohM4mL1D9rYyAGrb1uSqjotwh5IdnM50ZlCRpJecvkU4oBUo1CFKQhDgXT6VRQfjQKvgQXBpyfe+6ZwqYkarjgVLacXv+1xfAa9ECEBswazo0HC54gzh2eTRQnFrjSahEvec1NLkVcoy77UOIy4yCmx+99TpkoBeI4xk/ku63G+QDbbkBcajufkC/QUrtkMoPezEFB85bf1Rf6oFTKbivUM8TjJ1QJDmwmMVPzfiidOZzDumRUa5TduSTs/0kMObAHfhl6cvfv610GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vi7LZBRzXB45J6WD2RsphJ",
      "input": {
        "note": "Plush toy held (gripper 0.21). Carrying it left across to the toy basket, going as far as the right arm's y-limit allows.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.4,
          "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_01Vi7LZBRzXB45J6WD2RsphJ",
      "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]: [-0.4725, 1.1133, 1.2488, -1.2003, -0.3611, -0.6018, 0.9982, 0.841, 2.6015, 2.8597, -1.3617, 0.498, 0.4774, 0.2045]\nstate[eef_state]: left_x=0.2545 left_y=-0.0559 left_z=0.2357 left_yaw=0.1906 left_pitch=-0.3954 left_roll=-0.0117 left_gripper=0.9982 right_x=0.4399 right_y=0.3705 right_z=0.1674 right_yaw=0.1157 right_pitch=-0.3545 right_roll=-0.179 right_gripper=0.2045\nstate[joint_eff]: [-0.1162, -2.7829, 6.0786, 1.1404, -0.2613, 0.0024, -0.0122, 0.9368, -19.8359, 8.4581, 0.9206, 0.6178, 0.2418, 0.8132]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 389):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10bfeeedd502f00b49d52443cc33f2678863a3b2d20d2abf58f0a7c295dfc222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 389):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8df2427638afe24e9726b29fa8cdffb99d98ddcd1a1ded1381925b6c40dbb9dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 389):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:abad01c0a7b80ae0a79c4c7bc5e26cdcdfbbc9bfcbe61f7b4d8a02d96a6a0bcf",
        "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 · 18.14 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]: [-0.4736, 1.1099, 1.2537, -1.2049, -0.3618, -0.5911, 0.9983, 0.6197, 1.953, 1.1389, -0.1219, 0.3996, 0.3, 0.9961]\nstate[eef_state]: left_x=0.2537 left_y=-0.0557 left_z=0.2377 left_yaw=0.1829 left_pitch=-0.392 left_roll=-0.007 left_gripper=0.9983 right_x=0.4191 right_y=0.219 right_z=0.0327 right_yaw=0.0994 right_pitch=-0.2814 right_roll=-0.1239 right_gripper=0.9961\nstate[joint_eff]: [-0.2256, -2.6325, 5.4496, 1.2186, -0.3492, 0.022, -0.0171, -0.3761, -9.306, 5.5179, 1.2527, 0.1587, 0.0415, -0.0122]",
      "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]: [-0.4725, 1.1118, 1.2488, -1.2007, -0.3614, -0.5991, 0.9982, 0.6197, 1.9728, 1.1259, -0.0956, 0.411, 0.2928, 0.2051]\nstate[eef_state]: left_x=0.2543 left_y=-0.0558 left_z=0.236 left_yaw=0.1891 left_pitch=-0.3943 left_roll=-0.0105 left_gripper=0.9982 right_x=0.419 right_y=0.2166 right_z=0.0236 right_yaw=0.0934 right_pitch=-0.2829 right_roll=-0.1406 right_gripper=0.2051\nstate[joint_eff]: [-0.1299, -2.6735, 6.3932, 1.0867, -0.2515, -0.0024, -0.0171, -0.253, -11.7128, 6.9949, 1.0623, 0.0317, 0.0366, 0.9206]",
      "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]: [-0.4725, 1.1133, 1.2488, -1.2003, -0.3611, -0.6018, 0.9982, 0.841, 2.6015, 2.8597, -1.3617, 0.498, 0.4774, 0.2045]\nstate[eef_state]: left_x=0.2545 left_y=-0.0559 left_z=0.2357 left_yaw=0.1906 left_pitch=-0.3954 left_roll=-0.0117 left_gripper=0.9982 right_x=0.4399 right_y=0.3705 right_z=0.1674 right_yaw=0.1157 right_pitch=-0.3545 right_roll=-0.179 right_gripper=0.2045\nstate[joint_eff]: [-0.1162, -2.7829, 6.0786, 1.1404, -0.2613, 0.0024, -0.0122, 0.9368, -19.8359, 8.4581, 0.9206, 0.6178, 0.2418, 0.8132]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 389):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10bfeeedd502f00b49d52443cc33f2678863a3b2d20d2abf58f0a7c295dfc222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 389):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8df2427638afe24e9726b29fa8cdffb99d98ddcd1a1ded1381925b6c40dbb9dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 389):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abad01c0a7b80ae0a79c4c7bc5e26cdcdfbbc9bfcbe61f7b4d8a02d96a6a0bcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8AUKjgEIEhgCKkAP2huV00Oub/6TlOoO4DQimhfJnqlCtGf8SNSDkbZzTZO+MK4vEA0Bz3HvWw/pl2Wo847N6pAcSjJmCfF9qDMtMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAajPzNUGEgwihFE/gtu81efCy7gaDK4UgjtEd6kIFcK6dSIwh9bB0pzwVAlTsYzDRjZXvPQfEjg0jFJ76eljPBF19CqLoHYO+V8MX5EF12Nn4HKwKo4EdikBGvxojqOcZ8rBy0TxmHzJCUgpsbN091dfrYykbPA8c7bvSgUNT2vTQaoW1L5RsTan4uIB4Z7JLifg5cZkJA49yYGT+gDeqYbFZzQE38+DYksJyzVRMIHusXaDyvhcEUqEypS701KKE0oXY2ZlrPtFaQvQlQdMCt+n626TY1iF08f9AD+Ka1EzYLTINvnIKAbtlZZbVZxHa/izcGmZDp3Mv9zxwqTclPZMRNt1TVvfEV3nXSCrFchFpFK1oiX/LIlqDiar6L/MK+/CDy75xvswoQbXl1/IDIw3Svy52srRbE7i0fA7Tksqg1/VrFroEK9aSk3yjJovnYjNFa9QPFImwKU5M+C4q5Am5dBOApwAsInDMjzwc1WTHJp/xrPzXBzhUvLOSh7RPda/lseS92xyvmIyntxdr0P81F+fUs+YFmuEsT/53eaWDreAoM+mXxBurT/ph4WKaFjThv2lE0APPY7O+2aoCkGTrtPqYrAb+BoRBGbhAl61nRTH7XJuWy3mNiT8sEpOdYwlj8m8lB7Cg8tC4C3Qrdmi7ijs9+Zjpo4sxAY4IKiXEHlaj7dd/+ZPPcTeTS+d4sn7upTaBE+M+A5ZiOMXEhqwMh4l2zEnS/OwGAjJl/7z83lwz8L/HomO8za6CFN8L5PJj4KGcSTHw/rtPApZPwWw0II8xGFMiaOoYqRtgA9kXNdYghgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JNqcJjK18XciNc4327yU1s",
      "input": {
        "note": "Arm is stretched over the toy basket; opening to drop this plush toy in.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01JNqcJjK18XciNc4327yU1s",
      "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]: [-0.4725, 1.1137, 1.2488, -1.2003, -0.358, -0.6022, 0.9982, 0.844, 2.6316, 3.0379, -1.5097, 0.4896, 0.4702, 0.9948]\nstate[eef_state]: left_x=0.2544 left_y=-0.0565 left_z=0.2354 left_yaw=0.1886 left_pitch=-0.3973 left_roll=-0.014 left_gripper=0.9982 right_x=0.4272 right_y=0.3608 right_z=0.1912 right_yaw=0.1287 right_pitch=-0.3601 right_roll=-0.1777 right_gripper=0.9948\nstate[joint_eff]: [-0.212, -2.4957, 5.9966, 1.1062, -0.2759, -0.022, -0.0073, -0.0752, -14.7761, 6.8444, 0.8816, 0.3883, 0.0073, -0.1685]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 397):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfa713adb5b41c6816315fa483fa7d717bf30dbcfca9e922296126a24ff26520",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 397):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14f63daad4807afa2d3015abd27a1533434fb36b215ced5c1cebd995d60ba29a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 397):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3803cf58c5cf340ae0dd82b87210ad1ebf0dbddfd031b5b22fc4e3b8e5675cfe",
        "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 · 3.763 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]: [-0.4725, 1.1118, 1.2488, -1.2007, -0.3614, -0.5991, 0.9982, 0.6197, 1.9728, 1.1259, -0.0956, 0.411, 0.2928, 0.2051]\nstate[eef_state]: left_x=0.2543 left_y=-0.0558 left_z=0.236 left_yaw=0.1891 left_pitch=-0.3943 left_roll=-0.0105 left_gripper=0.9982 right_x=0.419 right_y=0.2166 right_z=0.0236 right_yaw=0.0934 right_pitch=-0.2829 right_roll=-0.1406 right_gripper=0.2051\nstate[joint_eff]: [-0.1299, -2.6735, 6.3932, 1.0867, -0.2515, -0.0024, -0.0171, -0.253, -11.7128, 6.9949, 1.0623, 0.0317, 0.0366, 0.9206]",
      "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]: [-0.4725, 1.1133, 1.2488, -1.2003, -0.3611, -0.6018, 0.9982, 0.841, 2.6015, 2.8597, -1.3617, 0.498, 0.4774, 0.2045]\nstate[eef_state]: left_x=0.2545 left_y=-0.0559 left_z=0.2357 left_yaw=0.1906 left_pitch=-0.3954 left_roll=-0.0117 left_gripper=0.9982 right_x=0.4399 right_y=0.3705 right_z=0.1674 right_yaw=0.1157 right_pitch=-0.3545 right_roll=-0.179 right_gripper=0.2045\nstate[joint_eff]: [-0.1162, -2.7829, 6.0786, 1.1404, -0.2613, 0.0024, -0.0122, 0.9368, -19.8359, 8.4581, 0.9206, 0.6178, 0.2418, 0.8132]\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]: [-0.4725, 1.1137, 1.2488, -1.2003, -0.358, -0.6022, 0.9982, 0.844, 2.6316, 3.0379, -1.5097, 0.4896, 0.4702, 0.9948]\nstate[eef_state]: left_x=0.2544 left_y=-0.0565 left_z=0.2354 left_yaw=0.1886 left_pitch=-0.3973 left_roll=-0.014 left_gripper=0.9982 right_x=0.4272 right_y=0.3608 right_z=0.1912 right_yaw=0.1287 right_pitch=-0.3601 right_roll=-0.1777 right_gripper=0.9948\nstate[joint_eff]: [-0.212, -2.4957, 5.9966, 1.1062, -0.2759, -0.022, -0.0073, -0.0752, -14.7761, 6.8444, 0.8816, 0.3883, 0.0073, -0.1685]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 397):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfa713adb5b41c6816315fa483fa7d717bf30dbcfca9e922296126a24ff26520",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 397):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14f63daad4807afa2d3015abd27a1533434fb36b215ced5c1cebd995d60ba29a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 397):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3803cf58c5cf340ae0dd82b87210ad1ebf0dbddfd031b5b22fc4e3b8e5675cfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmBgKjgEIEhgCKkDnxlhbx5dscZ1U8jAF8jXpq910/zdaAm6OiZR5td6Pa9q6RiAOJpuL2iAovSIAfDtKGyP0/5w/t8mhEhPDAnuJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbrPzNUGEgzkWBv5JHmIZxu9ZzAaDHyTdJPAgS66SQwsTCIwk3H/p74cXGUEQ5yQR7dBgFRCnpfhqdmwyLVaBHQm/EDzeoVEtsV9W5TpxLpH9L5MKrYWIOazXmBMUs4uDF1yIirjQKKq5buSAg5U4m94MjQfH9eqiScm6JektHBnlfdaGS2Za5/5Jc0c5Ty67VwlNU26vpKcAXdjxMcTjHzGrkBGSGlAVYicsco5Yt4zxaq5laFtD0k9wR3B3c/vUPoz4Pj2JUosOUyBDiW0MNjiMAswXb3dHggvcI2np51gWK4X7hl4qr6v89XfIU2e1JD20tbbA+9DQpyuK86wOX8YhHzRA3jlhbdufz0h/eLh73voGcXt67h2d07LhpYmL+gzZy9KqwcbwpAZjkZamlvNy7ToAQBvMUjkABgOxfK5d513zUCQB5grZdeTYpzmtfnWdf2nk/ahYnHRgtMcldgHAPU2WRzCLf5rVz9j90G10RPjQR7Jz4TFdqcSBlO7Mnoe5u76F0vGWWvaVJ7V4HavR2ReAssEzW6d8SlJFFXfp0HXPsM3FewvgYWR50ZpGppu/r/fsSpd3TIGGBgFU344uMqX+qj+r3Sa+YZdoB0D7rsZzZdMNoz4lq1dYbnkQX5vlOTRE3GACsUBJ3MUWh9qvu+DNJLM1ui42sVgsZ/2EtuLUz3/WVnW0N83a786sUq9hp7mQkdRKdD8hqc/CmqVRMs2rbJt8jROYqCFQD3IvWvmuuplOW5huXeWEQ2GCjKkPsfQAay/dqQJUtqh33jVHrZgq/4eAil831BWYvC6iadrrVpeBgm28o76RqPNNEi6x/xkiYb67fr2lIZEUHKd6dPomIdzlp2j+NQza/oF4SnxP4/L6C60L2+f3BbJ69+lRmKdtJ8iimPNKL4nJ1g3Eadg9d88R6VK2YJSlC6uHiqLfTK6QlQnPSruak0nsq4zsdwycq6MU5fr6RLFV0Pq1fKtdmFTR2TQmWSWb6r8yFZy1jVi9ArVlUBsQILhpWexw9HNXKnXIUdFf3AXqcqXGVYmKVULCufvFFXlftCOs6eMhuTGxeUl5iIQWclq3eO3GqJhFILD+OECh/D2X8oRUVSiGOU14AoGp038PqoBUMCKnh+9ld+EEGcPM+iDDLYhyEkCs0Mjx5U51T3YgdtzVGkt6IhdFXwFlXxRh1FeH+6tCP6F2QzF4Ms0ChhIJp3MJfBZO+G2BWWk9PlpubloAoPCN8hbQ6rz48JZJg12vaJRmpG8XASQtcMFckDhhOuVIDIeFPJZmo4w2XCaQkC1vG1YX7eak2lAyu2cTDa1s3SeNJO04m2cOm9BjASUZlzYgdVBQfAZxOpVI70GGmef1j5XNuscRzuqsq3/LUtLwCf1pZ/k1bGA9+uCtuFJirGtoxM3RjTBRp90dZpEV/mdSQfmxv62EyfJ2xI14cIJiDrzCmZPCry1gZJZLozd4BUSQJHkicwI0UxQp6ckgdOTgXVRJdRcI6dB7PLmh9PTM+C3Zlm/WoihhP+/XqqKROBG53XXXPMzDdrV7ut8hvyKwLACw/hZ06V8L+IolTIT+uvscGY/uwVBRsGuOsI3XKG++hto3JCNVB7PgbjeifXq2cZC6CYWC2bKwJbIQDdMurBp2qnILCOSWqAX7v7OfEb4qPoUKb2cHL99D2oo62k+DrfoIeiNAA7vFocs4bIQ3fry2JoKt63woADPwpZabt9iUKsizfGALkjM4INGJ9hnbCJcvU+obsPMVp5Jnw4aM31M40J1s9jcYfkFDUpta6afH1Hakx7tJCH8UcShM90KyH04NeYmxb0+bV1E5C1FR8/UZSQtX85Dls2hXzd19YStCSkCOhg/EJ1flyDKd3ja7G1zHCNv0nwo89P2uur2ltDxIa416oUJybCuaAZAJmZaveZN+TtAnw2BMtIXVyMK+qakSUg2YtiFfsAPzzSr1Y3vai22Vlhoy2fCx71vG5nc+P0jB9fvsv5c7L2Y+H+Ehw0a3MKEfGtaYNxaHge88tr10xIWq9X6aWNuIFKOrUqMEXMum4OFeIMi6RCv0FxBXOF7ZA9vLjl0of+geih8xkmnr1iSKZdOqJ4PHwW0npdM06p8uQf2PmjNentAiOVBR7XpsIV8noRqgetDLJamn4BCLJ142bJw782ylddOAc7TFs/K8IR9VMhubUP1gc6DadrF6z93nhoI6Q2AsOenB08NVqdQrm5YFviP8e3NooXVp1Nqr8ejZ4xCkXw5D/6pWmnWD6uubbIlqIKJCzhfpNNolHx5Ix6mA5fH3EltXka9QMiUpF0fKyILYzy04PSOx3fTTl3Vd9F59rwnPvpQ55DIlglgeCTMbfVlwWekdX380iydh++8LrUbtiSEQ4jZwX6VFQriqFDCVree4kRdSc1r+WJWMQnsgefbR4JyEVNdMtP7/oWqjlEMDTH6aNB2F8/Ryaf/3dBD2ro/R56Vk0bZBs2mAu+UuXEwA7zQSchZYUaEL/hltMwnQfinpXwk47/OSgSYNaJROHP8OciAo2bpdkRwK8tnIEEUE6npimRmsW4j/dddg8cHz2+xaD/O2/46HelpK51ULqxyFdOML8tY3ZjT1TfpiLHWn3jEmUC3p2J30XqQzQSuqyAznpvynTmx+niyCi5XaNF2NxZt0OGTHoqLMiVJVfnWYLIMy4JFO/3ulct4zDaIzN2sJcf3VDF8EK8hz19KJ8/QQrHpi0d9xXfquzDEZkFo4qkbNNJftFY2S84t5PTou30QoLA5K5fKY/e4d9Y+cqcQ8yK+8vc/h1RUb+gNjRjHdW9d3ZQJeSXgT7OCOc2920jnNev4vrS+0lKEwYnTlraVvoDbQozQyf6MjX9gjeWg2exmJCTIeteO7GAu/J1ZFkJTHE7jgWq8MXbGic0xR+iCJKVLjldKKzhoRnx1O7FVEwH95xNzrUy2hmq5j1cF4U4li2MpQkeU8Q6O/OJfHHAYB2j4rD6M6OsbPx4HGWse4iqcWz9R6whM+9Az/TB17yKi6Vy1CP7ieZGmtYGtAXj1BZUfDqq4uTKuLNLjsltaDofLHerWkgtrATWD2+4iuUHCtBj8N6+cjLfJv31byODFWRf5o9hB13KCo8CC656kFxXr7YuWiiv6xoiobVN9ncoUiAYFc+Zsk2p9cGYuw88WJV6R2XhOcQL+XWcfdK0xiTAFiJb2ZKwMmku2+31EYaitWkf25KM6c/BPBl9TsH8v0sGFaWKWWeENzYiP52RNc+EHz4beslKU97O0mXz5+cm+qkKI+o6Iel5oVtQ04UKwbGqHFvi9p755RgeXyK3TSXRZVV8mU/ooSQh3iUjtKyF6r8D4LqxfOQYomzv8fumhMiwtekI7CcNws+xn/ZaCA0vz+Nr0aw4VRbbOg8dyQEUuZvj9HLpkQgZ+7rvvlTi2Rp1TtjOo/fpx3WyYVfZANjL/53N8lZUKMZwNs+upzzvXcBcnpMjtAkiYuOwC/ALqfmLq1c3fi6gQZpJ6y3ZRwcf9+1YkFm311vpgGj4V/O0ab4oSK8I5HhP7MVgmtfM0cNkE8iRHt4reh2XRt6rr8/XnwcxerlbnobdUi07UItSswPNHdS4VMHpnDpRZTQR7jAjrWx+nOf8FFWM2YLnxxYp4B9YbKFZpvOaM+goHaTPrRwNtvaSyqcVKpVZ0yKtwg1gVB+Sce7goxOnX58cV2bhegQrtlafxtAiXDS7D54/cMlucq35QVmRhnAxb0znjuzOITIM25vftapRfHP5UbtFYjHE0n1OUDvO0LUOxzL5uWiOtvIIzP2+zm5UuIi6XAd+DE7w1uUaF/662yTlRqlTR7RRg028/aRsOWYmM29ixxWxnyFZq3edPz+aJZtj1IX4tdlGzIFdPNy2VReDwuPTxmyPYJaM180Mh0li8Zm5QoWpaSPlKtcq2gsJ8T24YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PTu2sH5fhLpgLaUHVCBYpr",
      "input": {
        "note": "Toy dropped in the left basket. Parking the right arm home and lowering the left gripper onto the last brown plush dog on the table.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.228,
          "left_z": 0.04,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 31 steps (3.1s)",
      "tool_use_id": "toolu_01PTu2sH5fhLpgLaUHVCBYpr",
      "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]: [-0.8474, 1.8061, 1.0622, -0.5358, -0.4999, -0.9779, 0.9982, 0.0174, 1.1194, 1.0504, -0.8371, 0.054, -0.2108, 0.9959]\nstate[eef_state]: left_x=0.3091 left_y=-0.2167 left_z=0.0315 left_yaw=0.2004 left_pitch=-0.4361 left_roll=0.0292 left_gripper=0.9982 right_x=0.3055 right_y=-0.0006 right_z=0.1986 right_yaw=0.0831 right_pitch=-0.3571 right_roll=-0.1779 right_gripper=0.9959\nstate[joint_eff]: [-0.4444, -8.3077, 8.2393, 0.7937, -0.4322, -0.0708, -0.0122, -0.2256, -4.1504, 6.735, 1.3358, -0.1343, -0.105, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 428):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8413adf1f7538c5d523722beabf931b249fe948e58fd8d9558c9832a83763db5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 428):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04a7fd12df88b4d21be115d3f7bc4489b1149d2fc632341b1ec76a9e2793f721",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 428):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af6d739b956711727461e2759bcb6d524e5e1604c35421c45bc490ef112ff05a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]