adhoc

completed
2026-09-23T00:41:34.920834+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
387.3 s
total steps
310
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene has two teal baskets at the back, plush toys in the centre and dark pens/markers to the right. I'll sort plush toys into the left basket and pens into the right basket; first moving the right arm above the pen cluster to calibrate the view.
move_to
right_x0.3300right_y0.1400right_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]: [-0.0193, 0.8005, 0.6167, -0.3801, -0.0219, -0.0261, 0.9993, -0.0154, 0.7986, 0.6109, -0.3737, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.184 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9993 right_x=0.2968 right_y=0.0011 right_z=0.1832 right_yaw=-0.0006 right_pitch=0.0004 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.4171, -1.6889, 9.306, 1.7558, -0.0171, 0.1294, -0.0855, -0.7863, -1.4564, 9.7846, 1.707, -0.1294, 0.0659, -0.0415] 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": {"right_x": 0.33, "right_y": 0.14, "right_z": 0.2}, "note": "Scene has two teal baskets at the back, plush toys in the centre and dark pens/markers to the right. I'll sort plush toys into the left basket and pens into the right basket; first moving the right arm above the pen cluster to calibrate the view."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteRight wrist view shows the pens at the very bottom of frame, i.e. nearer the base than my fingertips; pulling in 4 cm and dropping to 10 cm to get them into view for a grasp.
move_to
right_x0.2900right_y0.1400right_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8043, 0.6159, -0.3805, -0.0223, -0.0303, 0.9993, 0.6415, 1.1954, 0.8387, -0.3622, 0.5133, 0.342, 0.9997] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1825 left_yaw=0.0033 left_pitch=-0.0049 left_roll=-0.003 left_gripper=0.9993 right_x=0.3241 right_y=0.1382 right_z=0.1809 right_yaw=0.0233 right_pitch=-0.0498 right_roll=-0.0375 right_gripper=0.9997 state[joint_eff]: [-0.2256, -1.4701, 7.2274, 1.7656, -0.0611, 0.0024, -0.0171, 0.0889, -4.4239, 9.4291, 1.6484, 0.359, 0.1978, -0.0171] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.14, "right_z": 0.1}, "note": "Right wrist view shows the pens at the very bottom of frame, i.e. nearer the base than my fingertips; pulling in 4 cm and dropping to 10 cm to get them into view for a grasp."})
tool
executing move_to over 6 steps (0.6s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteTwo markers are visible at the bottom of the right wrist view, the blue-capped one slightly left of the jaw column; shifting 2.5 cm toward it and descending to 4 cm to check alignment before the grasp.
move_to
right_x0.2800right_y0.1650right_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]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0216, -0.0307, 0.9993, 0.7433, 1.198, 0.5129, -0.1116, 0.5682, 0.4122, 0.9997] state[eef_state]: left_x=0.2968 left_y=0.0018 left_z=0.1821 left_yaw=0.0028 left_pitch=-0.0057 left_roll=-0.0037 left_gripper=0.9993 right_x=0.2862 right_y=0.1388 right_z=0.0929 right_yaw=0.0425 right_pitch=-0.0864 right_roll=-0.0583 right_gripper=0.9997 state[joint_eff]: [-0.1846, -1.2786, 7.3094, 1.707, -0.0269, -0.0415, -0.0171, 0.1709, -3.2752, 6.5299, 1.663, 0.4078, 0.1294, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.165, "right_z": 0.04}, "note": "Two markers are visible at the bottom of the right wrist view, the blue-capped one slightly left of the jaw column; shifting 2.5 cm toward it and descending to 4 cm to check alignment before the grasp."})
tool
executing move_to over 4 steps (0.4s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe blue marker sits just left of the jaw column in the wrist view; nudging 2 cm to the arm's left and dropping to table level to line the jaws up across the pen shaft.
move_to
right_y0.1850right_z0.0050
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, 0.8089, 0.6151, -0.3805, -0.0223, -0.0345, 0.9993, 0.8463, 1.4517, 0.4446, 0.1253, 0.6132, 0.4915, 0.9997] state[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1809 left_yaw=0.0055 left_pitch=-0.0103 left_roll=-0.0064 left_gripper=0.9993 right_x=0.2767 right_y=0.1647 right_z=0.0336 right_yaw=0.0643 right_pitch=-0.1236 right_roll=-0.0782 right_gripper=0.9997 state[joint_eff]: [-0.1162, -1.1556, 7.0496, 1.7265, -0.0513, -0.0317, -0.0122, 0.6085, -4.7111, 5.1761, 1.4921, 0.4762, 0.1392, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.185, "right_z": 0.005}, "note": "The blue marker sits just left of the jaw column in the wrist view; nudging 2 cm to the arm's left and dropping to table level to line the jaws up across the pen shaft."})
tool
executing move_to over 2 steps (0.2s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe arm lagged behind the last command (still at y=0.166, z=0.037), so I'm re-sending the target to finish the sideways nudge onto the blue marker and reach table level.
move_to
right_x0.2780right_y0.1900right_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]: [-0.0189, 0.8101, 0.6132, -0.3805, -0.0219, -0.0345, 0.9993, 0.8471, 1.4517, 0.4438, 0.1448, 0.6209, 0.4953, 0.9997] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1797 left_yaw=0.0052 left_pitch=-0.0133 left_roll=-0.0066 left_gripper=0.9993 right_x=0.279 right_y=0.166 right_z=0.0367 right_yaw=0.0592 right_pitch=-0.1061 right_roll=-0.0661 right_gripper=0.9997 state[joint_eff]: [-0.0752, -1.1966, 7.241, 1.6972, -0.0317, -0.0415, -0.0122, 0.0889, -5.2034, 5.2718, 1.4872, 0.398, 0.1294, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.278, "right_y": 0.19, "right_z": 0.0}, "note": "The arm lagged behind the last command (still at y=0.166, z=0.037), so I'm re-sending the target to finish the sideways nudge onto the blue marker and reach table level."})
tool
executing move_to over 3 steps (0.3s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe right arm has stopped tracking entirely (joint angles frozen), so I'm lifting it up and out to 12 cm to free it before re-approaching the marker.
move_to
right_x0.3000right_y0.1900right_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8116, 0.6132, -0.3805, -0.0219, -0.0376, 0.9993, 0.8471, 1.4517, 0.4438, 0.1448, 0.6209, 0.4953, 0.9997] state[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1792 left_yaw=0.0068 left_pitch=-0.0148 left_roll=-0.0091 left_gripper=0.9993 right_x=0.279 right_y=0.166 right_z=0.0367 right_yaw=0.0592 right_pitch=-0.1061 right_roll=-0.0661 right_gripper=0.9997 state[joint_eff]: [-0.0479, -1.2376, 7.0632, 1.707, -0.0366, -0.0366, -0.0122, 0.1573, -5.135, 5.2171, 1.4188, 0.442, 0.0855, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.19, "right_z": 0.12}, "note": "The right arm has stopped tracking entirely (joint angles frozen), so I'm lifting it up and out to 12 cm to free it before re-approaching the marker."})
tool
executing move_to over 6 steps (0.6s)
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 noteTesting whether the right arm responds at all with a simple straight-up command to 25 cm; it has ignored the last three targets.
move_to
right_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8116, 0.6121, -0.3805, -0.0223, -0.0376, 0.9993, 0.8471, 1.4517, 0.4438, 0.1448, 0.6209, 0.4953, 0.9997] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1787 left_yaw=0.0071 left_pitch=-0.016 left_roll=-0.0088 left_gripper=0.9993 right_x=0.279 right_y=0.166 right_z=0.0367 right_yaw=0.0592 right_pitch=-0.1061 right_roll=-0.0661 right_gripper=0.9997 state[joint_eff]: [-0.0752, -1.3744, 7.1043, 1.7363, -0.0806, -0.0562, -0.0122, 0.0889, -4.7521, 5.135, 1.4725, 0.442, 0.0952, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). 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": {"right_z": 0.25}, "note": "Testing whether the right arm responds at all with a simple straight-up command to 25 cm; it has ignored the last three targets."})
tool
executing move_to over 14 steps (1.4s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe right arm does respond (it lifted to 24 cm); the two markers are visible at the bottom of its wrist view. Descending back toward them with a 1 cm nudge to the arm's left.
move_to
right_x0.2780right_y0.1780right_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]: [-0.0189, 0.8127, 0.6109, -0.3805, -0.0219, -0.038, 0.9993, 0.8471, 1.2015, 1.1465, -0.8165, 0.6018, 0.4904, 0.9997] state[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1779 left_yaw=0.007 left_pitch=-0.0183 left_roll=-0.0093 left_gripper=0.9993 right_x=0.2785 right_y=0.1696 right_z=0.2397 right_yaw=0.0747 right_pitch=-0.1225 right_roll=-0.0655 right_gripper=0.9997 state[joint_eff]: [-0.1436, -1.4291, 7.1316, 1.6874, 0.0024, -0.0708, -0.0122, -0.3624, -4.2188, 8.7179, 1.2527, 0.4029, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.278, "right_y": 0.178, "right_z": 0.06}, "note": "The right arm does respond (it lifted to 24 cm); the two markers are visible at the bottom of its wrist view. Descending back toward them with a 1 cm nudge to the arm's left."})
tool
executing move_to over 12 steps (1.2s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteBlue marker lies just left of the jaw column in the right wrist view; shifting ~2 cm to the arm's left and descending to 3 cm to straddle the pen shaft.
move_to
right_y0.1920right_z0.0300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8146, 0.6106, -0.3805, -0.0219, -0.038, 0.9993, 0.8642, 1.3987, 0.5354, -0.0547, 0.5987, 0.4992, 0.9997] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1772 left_yaw=0.007 left_pitch=-0.0206 left_roll=-0.0093 left_gripper=0.9993 right_x=0.2748 right_y=0.1741 right_z=0.0534 right_yaw=0.0847 right_pitch=-0.157 right_roll=-0.09 right_gripper=0.9997 state[joint_eff]: [-0.2256, -1.0735, 7.159, 1.7021, -0.0269, -0.0611, -0.0122, 0.9368, -4.588, 5.9966, 1.4335, 0.4469, 0.1001, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.192, "right_z": 0.03}, "note": "Blue marker lies just left of the jaw column in the right wrist view; shifting ~2 cm to the arm's left and descending to 3 cm to straddle the pen shaft."})
tool
executing move_to over 2 steps (0.2s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe blue marker is nearly on the jaw column and crosses under the fingertips; dropping to table level with a final 1 cm nudge and closing the gripper on it.
move_to
right_y0.2000right_z0.0050right_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]: [-0.0189, 0.8173, 0.6098, -0.3798, -0.0216, -0.038, 0.9993, 0.907, 1.5486, 0.5354, 0.0231, 0.6025, 0.5289, 0.9997] state[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1762 left_yaw=0.0067 left_pitch=-0.0232 left_roll=-0.0094 left_gripper=0.9993 right_x=0.2689 right_y=0.187 right_z=0.0197 right_yaw=0.0994 right_pitch=-0.2037 right_roll=-0.1221 right_gripper=0.9997 state[joint_eff]: [-0.1983, -1.4154, 7.4325, 1.7851, -0.0366, -0.0513, -0.0122, 0.3077, -6.188, 5.9009, 1.4432, 0.4762, 0.149, -0.0122] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.2, "right_z": 0.005, "right_gripper": 0.0}, "note": "The blue marker is nearly on the jaw column and crosses under the fingertips; dropping to table level with a final 1 cm nudge and closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteGripper settled at 0.13 (~1.3 cm) — the blue marker is held. Lifting and flying forward toward the right-hand basket to drop the pen there.
move_to
right_x0.4200right_y0.1600right_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]: [-0.0189, 0.8173, 0.6098, -0.3801, -0.0219, -0.038, 0.9993, 0.9298, 1.6268, 0.5434, 0.0864, 0.6209, 0.5549, 0.1325] state[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1762 left_yaw=0.007 left_pitch=-0.0236 left_roll=-0.0092 left_gripper=0.9993 right_x=0.27 right_y=0.196 right_z=0.0078 right_yaw=0.0952 right_pitch=-0.1954 right_roll=-0.1187 right_gripper=0.1325 state[joint_eff]: [-0.1983, -1.1419, 7.3094, 1.707, -0.0317, -0.0855, -0.0122, 0.841, -4.2735, 6.2838, 1.072, 0.2222, 0.0464, 1.0037] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.16, "right_z": 0.25}, "note": "Gripper settled at 0.13 (~1.3 cm) \u2014 the blue marker is held. Lifting and flying forward toward the right-hand basket to drop the pen there."})
tool
executing move_to over 16 steps (1.6s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe right basket appears just beyond the held pen in the wrist view; advancing 4 cm forward and lowering slightly to hold the marker over the basket mouth.
move_to
right_x0.4600right_y0.1700right_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]: [-0.0189, 0.8211, 0.6094, -0.3805, -0.0223, -0.038, 0.9993, 0.495, 1.6306, 1.5417, -0.7448, 0.3424, 0.1631, 0.1375] state[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1749 left_yaw=0.0074 left_pitch=-0.0282 left_roll=-0.0088 left_gripper=0.9993 right_x=0.4173 right_y=0.1619 right_z=0.2386 right_yaw=0.1018 right_pitch=-0.2161 right_roll=-0.1266 right_gripper=0.1375 state[joint_eff]: [-0.212, -1.7026, 7.0222, 1.7265, -0.0659, -0.0611, -0.0122, -0.5949, -7.9111, 9.2103, 1.5263, 0.1929, -0.0317, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.17, "right_z": 0.2}, "note": "The right basket appears just beyond the held pen in the wrist view; advancing 4 cm forward and lowering slightly to hold the marker over the basket mouth."})
tool
executing move_to over 4 steps (0.4s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe marker is hanging over the right basket's interior; opening the jaws to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8238, 0.6094, -0.3805, -0.0219, -0.038, 0.9993, 0.466, 1.7809, 1.5352, -0.6308, 0.3183, 0.1337, 0.1403] state[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1741 left_yaw=0.007 left_pitch=-0.0309 left_roll=-0.009 left_gripper=0.9993 right_x=0.4516 right_y=0.1693 right_z=0.1862 right_yaw=0.1048 right_pitch=-0.2646 right_roll=-0.1465 right_gripper=0.1403 state[joint_eff]: [-0.0342, -1.6342, 7.2957, 1.6874, -0.0611, -0.0757, -0.0122, -0.7453, -9.306, 8.212, 1.7509, 0.1001, -0.0317, 1.0281] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The marker is hanging over the right basket's interior; opening the jaws to drop it in."})
tool
executing move_to over 9 steps (0.9s)
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 noteBlue marker delivered to the right basket. Now moving back over the table toward the black pen lying to the right of the plush toys.
move_to
right_x0.3000right_y0.1300right_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8238, 0.6094, -0.3805, -0.0216, -0.038, 0.9993, 0.4644, 1.7809, 1.5337, -0.635, 0.3084, 0.1276, 0.9951] state[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1741 left_yaw=0.0067 left_pitch=-0.0309 left_roll=-0.0092 left_gripper=0.9993 right_x=0.4505 right_y=0.1697 right_z=0.1845 right_yaw=0.1144 right_pitch=-0.2731 right_roll=-0.1454 right_gripper=0.9951 state[joint_eff]: [-0.0615, -1.4154, 7.2137, 1.7216, -0.0171, -0.0659, -0.0122, 0.1709, -9.1556, 6.8991, 1.4725, 0.1587, -0.0024, -0.1343] 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_x": 0.3, "right_y": 0.13, "right_z": 0.12}, "note": "Blue marker delivered to the right basket. Now moving back over the table toward the black pen lying to the right of the plush toys."})
tool
executing move_to over 12 steps (1.2s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe black pen sits right on the jaw column in the wrist view, crossing beneath the fingertips; descending to table level and closing on it.
move_to
right_x0.3000right_y0.1250right_z0.0050right_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]: [-0.0189, 0.8307, 0.6094, -0.3798, -0.0219, -0.038, 0.9993, 0.5995, 1.2671, 0.7914, -0.4583, 0.374, 0.2226, 0.9962] state[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1724 left_yaw=0.007 left_pitch=-0.037 left_roll=-0.0088 left_gripper=0.9993 right_x=0.3034 right_y=0.1335 right_z=0.1166 right_yaw=0.1371 right_pitch=-0.2928 right_roll=-0.1504 right_gripper=0.9962 state[joint_eff]: [-0.1299, -1.5658, 7.0496, 1.7802, -0.0317, -0.0122, -0.0122, 0.3761, -5.2444, 6.9128, 1.4921, 0.4029, 0.1685, 0.1001] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.125, "right_z": 0.005, "right_gripper": 0.0}, "note": "The black pen sits right on the jaw column in the wrist view, crossing beneath the fingertips; descending to table level and closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteClose came up empty (0.01) and the wrist view shows the pen sitting to the right of the jaws; opening, lifting slightly and shifting 2.5 cm to the arm's right to line up again.
move_to
right_y0.1000right_z0.0300right_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, 0.8307, 0.6094, -0.3805, -0.0223, -0.0383, 0.9993, 0.5804, 1.499, 0.4736, 0.0929, 0.3584, 0.2008, 0.0101] state[eef_state]: left_x=0.2977 left_y=0.0019 left_z=0.1722 left_yaw=0.0076 left_pitch=-0.0377 left_roll=-0.0089 left_gripper=0.9993 right_x=0.2994 right_y=0.1265 right_z=0.008 right_yaw=0.1429 right_pitch=-0.2987 right_roll=-0.1528 right_gripper=0.0101 state[joint_eff]: [-0.253, -1.0051, 7.1043, 1.7558, -0.0415, -0.0464, -0.0171, -0.5265, -3.7538, 4.3556, 1.2527, 0.2173, 0.0073, 0.7546] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.1, "right_z": 0.03, "right_gripper": 1.0}, "note": "Close came up empty (0.01) and the wrist view shows the pen sitting to the right of the jaws; opening, lifting slightly and shifting 2.5 cm to the arm's right to line up again."})
tool
executing move_to over 10 steps (1.0s)
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 notePen now sits between the jaws but ~1.5 cm right of centre; nudging right and descending to table level to close on the shaft.
move_to
right_y0.0880right_z0.0050right_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]: [-0.0189, 0.8333, 0.6094, -0.3805, -0.0219, -0.0383, 0.9993, 0.482, 1.3712, 0.466, 0.0002, 0.2955, 0.1177, 0.995] state[eef_state]: left_x=0.2979 left_y=0.0018 left_z=0.1715 left_yaw=0.0072 left_pitch=-0.0404 left_roll=-0.0091 left_gripper=0.9993 right_x=0.3003 right_y=0.1031 right_z=0.0272 right_yaw=0.146 right_pitch=-0.2988 right_roll=-0.1504 right_gripper=0.995 state[joint_eff]: [-0.1709, -1.7026, 7.0222, 1.7363, -0.0415, -0.0269, -0.0171, -0.9094, -5.4496, 5.5863, 1.3162, 0.0952, -0.0317, -0.149] approver: 10 step(s) modified (delta_clamped ×10). 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_y": 0.088, "right_z": 0.005, "right_gripper": 0.0}, "note": "Pen now sits between the jaws but ~1.5 cm right of centre; nudging right and descending to table level to close on the shaft."})
tool
executing move_to over 10 steps (1.0s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteGripper reads 0.13 — the black pen is held. Carrying it forward over the right basket.
move_to
right_x0.4500right_y0.1700right_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]: [-0.0189, 0.8341, 0.609, -0.3801, -0.0219, -0.0383, 0.9993, 0.4244, 1.4158, 0.403, 0.141, 0.2592, 0.0654, 0.128] state[eef_state]: left_x=0.2979 left_y=0.0018 left_z=0.1712 left_yaw=0.0073 left_pitch=-0.0411 left_roll=-0.009 left_gripper=0.9993 right_x=0.3041 right_y=0.0917 right_z=0.0125 right_yaw=0.151 right_pitch=-0.2798 right_roll=-0.148 right_gripper=0.128 state[joint_eff]: [-0.1846, -1.5521, 7.1316, 1.6728, -0.0464, -0.0659, -0.0171, -0.6906, -3.0838, 4.4103, 1.3602, 0.1148, -0.0415, 0.9988] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.17, "right_z": 0.22}, "note": "Gripper reads 0.13 \u2014 the black pen is held. Carrying it forward over the right basket."})
tool
executing move_to over 14 steps (1.4s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteWrist view shows the held black pen over the right basket, with the first marker already inside; opening to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8375, 0.609, -0.3809, -0.0219, -0.0383, 0.9993, 0.4458, 1.7699, 1.6024, -0.7315, 0.26, 0.0746, 0.133] state[eef_state]: left_x=0.298 left_y=0.0018 left_z=0.1701 left_yaw=0.0073 left_pitch=-0.0453 left_roll=-0.0089 left_gripper=0.9993 right_x=0.4454 right_y=0.1665 right_z=0.2008 right_yaw=0.1644 right_pitch=-0.3049 right_roll=-0.1501 right_gripper=0.133 state[joint_eff]: [-0.1436, -1.7573, 7.159, 1.6972, -0.0464, -0.0562, -0.0122, 0.7453, -9.4017, 8.7043, 1.0525, 0.2808, 0.1538, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Wrist view shows the held black pen over the right basket, with the first marker already inside; opening to drop it in."})
tool
executing move_to over 9 steps (0.9s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe black pen fell just short of the right basket; I'll deal with it later. The left wrist view shows a grey plush toy directly under the left jaws — descending onto its body and closing to grab it.
move_to
left_x0.3200left_z0.0600left_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]: [-0.0189, 0.8379, 0.609, -0.3805, -0.0219, -0.0383, 0.9993, 0.445, 1.7828, 1.5993, -0.7441, 0.2558, 0.0662, 0.996] state[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.17 left_yaw=0.0073 left_pitch=-0.0453 left_roll=-0.0089 left_gripper=0.9993 right_x=0.4437 right_y=0.166 right_z=0.1917 right_yaw=0.1693 right_pitch=-0.334 right_roll=-0.1606 right_gripper=0.996 state[joint_eff]: [-0.212, -1.4017, 7.1863, 1.6728, -0.0562, -0.0757, -0.0122, 0.0615, -10.359, 7.0085, 1.4628, 0.1685, 0.0073, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_z": 0.06, "left_gripper": 0.0}, "note": "The black pen fell just short of the right basket; I'll deal with it later. The left wrist view shows a grey plush toy directly under the left jaws \u2014 descending onto its body and closing to grab it."})
tool
executing move_to over 10 steps (1.0s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteEmpty close — the plush toy sits to the left of the jaws in the wrist view; opening and shifting 3 cm to the arm's left and slightly back to centre on its body.
move_to
left_x0.3000left_y0.0300left_z0.0700left_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]: [-0.0181, 1.1431, 0.3016, 0.2169, -0.0216, -0.0402, 0.0105, 0.445, 1.7828, 1.599, -0.7467, 0.255, 0.0631, 0.9968] state[eef_state]: left_x=0.3188 left_y=0.0016 left_z=0.0654 left_yaw=0.0087 left_pitch=-0.0606 left_roll=-0.0103 left_gripper=0.0105 right_x=0.4431 right_y=0.1659 right_z=0.1911 right_yaw=0.1714 right_pitch=-0.3374 right_roll=-0.1629 right_gripper=0.9968 state[joint_eff]: [0.253, -2.0444, 4.7658, 1.2821, -0.0269, 0.0171, 0.6325, -0.0479, -9.347, 6.694, 1.4432, 0.0855, -0.0073, 0.0757] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.03, "left_z": 0.07, "left_gripper": 1.0}, "note": "Empty close \u2014 the plush toy sits to the left of the jaws in the wrist view; opening and shifting 3 cm to the arm's left and slightly back to centre on its body."})
tool
executing move_to over 10 steps (1.0s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe grey plush now fills the centre of the left wrist view; descending 3 cm and closing on its body.
move_to
left_z0.0400left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1505, 1.0363, 0.281, 0.136, 0.0959, 0.0425, 0.9951, 0.445, 1.7828, 1.5959, -0.7441, 0.2516, 0.0628, 0.9969] state[eef_state]: left_x=0.3039 left_y=0.0326 left_z=0.0723 left_yaw=0.0336 left_pitch=-0.0522 left_roll=-0.0111 left_gripper=0.9951 right_x=0.4429 right_y=0.1665 right_z=0.1902 right_yaw=0.1745 right_pitch=-0.3385 right_roll=-0.1605 right_gripper=0.9969 state[joint_eff]: [0.2667, -3.1521, 5.7641, 1.6044, 0.2271, 0.1587, -0.0562, -0.2256, -9.347, 6.9128, 1.3358, 0.1294, -0.0708, -0.0024] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.04, "left_gripper": 0.0}, "note": "The grey plush now fills the centre of the left wrist view; descending 3 cm and closing on its body."})
tool
executing move_to over 10 steps (1.0s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteGripper settled at 0.11, suggesting fur is pinched; lifting and carrying toward the left basket (estimated at x≈0.44, y≈-0.18 in the left arm's frame).
move_to
left_z0.2200left_x0.4000left_y-0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1513, 1.177, 0.2131, 0.4057, 0.1051, 0.041, 0.1114, 0.445, 1.7828, 1.5955, -0.7448, 0.2485, 0.0631, 0.9969] state[eef_state]: left_x=0.3149 left_y=0.0329 left_z=0.0587 left_yaw=0.0277 left_pitch=0.009 left_roll=-0.0101 left_gripper=0.1114 right_x=0.4426 right_y=0.1669 right_z=0.1898 right_yaw=0.1769 right_pitch=-0.3403 right_roll=-0.158 right_gripper=0.9969 state[joint_eff]: [-0.4034, -1.5521, 4.0547, 1.1893, -0.0855, 0.0122, 0.7302, -0.335, -9.3197, 6.8171, 1.326, 0.0806, -0.0024, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22, "left_x": 0.4, "left_y": -0.18}, "note": "Gripper settled at 0.11, suggesting fur is pinched; lifting and carrying toward the left basket (estimated at x\u22480.44, y\u2248-0.18 in the left arm's frame)."})
tool
executing move_to over 19 steps (1.9s)
step 214
top_cam
camera top_cam step 214
left_cam
camera left_cam step 214
right_cam
camera right_cam step 214
assistant
agent noteThe plush is hanging from the jaws and the left basket is just ahead and slightly right in the wrist view; advancing over its mouth before releasing.
move_to
left_x0.4500left_y-0.2000left_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]: [-0.6369, 1.504, 1.1362, -0.3347, -0.5255, -0.4133, 0.1135, 0.445, 1.7863, 1.5883, -0.7483, 0.2489, 0.0628, 0.9969] state[eef_state]: left_x=0.3947 left_y=-0.1773 left_z=0.1995 left_yaw=0.0062 left_pitch=-0.0293 left_roll=0.0004 left_gripper=0.1135 right_x=0.441 right_y=0.1661 right_z=0.1849 right_yaw=0.1754 right_pitch=-0.3538 right_roll=-0.1626 right_gripper=0.9969 state[joint_eff]: [-0.3761, -7.3641, 9.4154, 1.5214, -0.3883, 0.0122, 0.1929, -0.0479, -9.4838, 7.3094, 1.3358, 0.0611, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.2, "left_z": 0.22}, "note": "The plush is hanging from the jaws and the left basket is just ahead and slightly right in the wrist view; advancing over its mouth before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 219
assistant
agent noteLeft basket mouth is centred under the jaws; advancing 3 cm and opening to drop the plush toy into the left basket.
move_to
left_x0.4700left_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]: [-0.5964, 1.7103, 1.3823, -0.4236, -0.5091, -0.408, 0.1152, 0.445, 1.7863, 1.5883, -0.7486, 0.2489, 0.0628, 0.9969] state[eef_state]: left_x=0.4408 left_y=-0.1909 left_z=0.1982 left_yaw=0.0326 left_pitch=-0.0754 left_roll=0.0253 left_gripper=0.1152 right_x=0.441 right_y=0.166 right_z=0.1849 right_yaw=0.1754 right_pitch=-0.3542 right_roll=-0.1627 right_gripper=0.9969 state[joint_eff]: [0.0752, -9.1829, 9.0462, 1.6679, -0.1783, 0.2271, 0.1538, -0.1709, -9.347, 6.6803, 1.2967, 0.0659, -0.0415, -0.0122] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_gripper": 1.0}, "note": "Left basket mouth is centred under the jaws; advancing 3 cm and opening to drop the plush toy into the left basket."})
tool
executing move_to over 9 steps (0.9s)
step 228
assistant
agent noteThe basket still looks empty and a white plush sits on the table near its near-left corner, so I'm backing the left arm off and up to get a clear look at where the toys actually are.
move_to
left_x0.3200left_y-0.1200left_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5583, 1.7863, 1.4555, -0.432, -0.4896, -0.392, 0.9951, 0.445, 1.7863, 1.5883, -0.749, 0.2485, 0.0628, 0.9969] state[eef_state]: left_x=0.4624 left_y=-0.1866 left_z=0.1911 left_yaw=0.0476 left_pitch=-0.0925 left_roll=0.0336 left_gripper=0.9951 right_x=0.4409 right_y=0.1661 right_z=0.1848 right_yaw=0.1756 right_pitch=-0.3546 right_roll=-0.1625 right_gripper=0.9969 state[joint_eff]: [0.3487, -7.9248, 9.0598, 1.5946, -0.1441, 0.1245, -0.0855, -0.212, -9.1556, 6.6803, 1.3309, 0.0562, -0.0464, -0.0122] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.12, "left_z": 0.28}, "note": "The basket still looks empty and a white plush sits on the table near its near-left corner, so I'm backing the left arm off and up to get a clear look at where the toys actually are."})
tool
executing move_to over 11 steps (1.1s)
step 239
assistant
agent noteA grey plush toy lies just in front of the left basket, centred on the jaw column in the wrist view; descending toward it for a grasp.
move_to
left_x0.3700left_y-0.1400left_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6376, 1.2667, 1.2968, -0.8021, -0.5262, -0.4515, 0.9964, 0.445, 1.7863, 1.5883, -0.7483, 0.2485, 0.0628, 0.9969] state[eef_state]: left_x=0.3312 left_y=-0.1305 left_z=0.276 left_yaw=0.0288 left_pitch=-0.0837 left_roll=0.0121 left_gripper=0.9964 right_x=0.441 right_y=0.1661 right_z=0.1849 right_yaw=0.1757 right_pitch=-0.3539 right_roll=-0.1623 right_gripper=0.9969 state[joint_eff]: [-0.1983, -4.9026, 7.1043, 1.4628, -0.4371, -0.0659, 0.1148, -0.2803, -9.2103, 6.653, 1.3944, 0.0366, -0.0611, -0.0122] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.14, "left_z": 0.1}, "note": "A grey plush toy lies just in front of the left basket, centred on the jaw column in the wrist view; descending toward it for a grasp."})
tool
executing move_to over 12 steps (1.2s)
step 251
assistant
agent noteThe grey plush fills the left wrist view centred on the jaws; descending onto its back and closing to grip a handful of it.
move_to
left_x0.3750left_z0.0500left_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]: [-0.5835, 1.4776, 0.765, -0.1047, -0.4919, -0.4187, 0.9965, 0.445, 1.7863, 1.5883, -0.749, 0.2485, 0.0628, 0.9969] state[eef_state]: left_x=0.3606 left_y=-0.1337 left_z=0.0955 left_yaw=0.0422 left_pitch=-0.1354 left_roll=0.0457 left_gripper=0.9965 right_x=0.4409 right_y=0.1661 right_z=0.1848 right_yaw=0.1756 right_pitch=-0.3546 right_roll=-0.1625 right_gripper=0.9969 state[joint_eff]: [0.4034, -6.4205, 6.188, 1.6777, -0.149, 0.1099, -0.0073, -0.0752, -9.1419, 6.8718, 1.3016, 0.0659, -0.0269, -0.0073] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.375, "left_z": 0.05, "left_gripper": 0.0}, "note": "The grey plush fills the left wrist view centred on the jaws; descending onto its back and closing to grip a handful of it."})
tool
executing move_to over 10 steps (1.0s)
step 261
assistant
agent noteEmpty close again — the plush body sits left of the jaw line; shifting 3.5 cm to the arm's left and closing again on the fur.
move_to
left_y-0.1000left_z0.0450left_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]: [-0.5594, 1.623, 0.7204, 0.1017, -0.49, -0.4042, 0.0102, 0.445, 1.7863, 1.5883, -0.7486, 0.2489, 0.0628, 0.9969] state[eef_state]: left_x=0.3766 left_y=-0.1335 left_z=0.0584 left_yaw=0.0557 left_pitch=-0.1233 left_roll=0.0462 left_gripper=0.0102 right_x=0.441 right_y=0.166 right_z=0.1849 right_yaw=0.1754 right_pitch=-0.3542 right_roll=-0.1627 right_gripper=0.9969 state[joint_eff]: [0.2393, -5.8462, 4.4376, 1.5458, -0.0171, 0.0513, 0.8278, -0.2393, -9.2103, 6.6393, 1.2918, 0.0952, -0.0366, -0.0122] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.1, "left_z": 0.045, "left_gripper": 0.0}, "note": "Empty close again \u2014 the plush body sits left of the jaw line; shifting 3.5 cm to the arm's left and closing again on the fur."})
tool
executing move_to over 3 steps (0.3s)
step 264
assistant
agent noteJaws are closing just short of the plush; pushing 3 cm further out and 2 cm higher to close around its torso rather than under it.
move_to
left_x0.4100left_y-0.1050left_z0.0700left_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]: [-0.4706, 1.6135, 0.6495, 0.2119, -0.4442, -0.3569, 0.0067, 0.445, 1.7863, 1.5883, -0.7483, 0.2489, 0.0628, 0.9969] state[eef_state]: left_x=0.3819 left_y=-0.105 left_z=0.052 left_yaw=0.0804 left_pitch=-0.1014 left_roll=0.0293 left_gripper=0.0067 right_x=0.441 right_y=0.1661 right_z=0.1849 right_yaw=0.1754 right_pitch=-0.3538 right_roll=-0.1626 right_gripper=0.9969 state[joint_eff]: [0.0205, -7.2, 4.4923, 1.2527, -0.0415, 0.0562, 0.6862, -0.212, -9.1829, 6.7214, 1.3309, 0.105, -0.022, -0.0122] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.105, "left_z": 0.07, "left_gripper": 0.0}, "note": "Jaws are closing just short of the plush; pushing 3 cm further out and 2 cm higher to close around its torso rather than under it."})
tool
executing move_to over 3 steps (0.3s)
step 267
assistant
agent noteJaws are buried in the plush fur; lifting to 25 cm to see whether the toy comes up with them.
move_to
left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4351, 1.6413, 0.7429, 0.1722, -0.4294, -0.3363, 0.0066, 0.445, 1.7863, 1.5883, -0.749, 0.2489, 0.0624, 0.9969] state[eef_state]: left_x=0.405 left_y=-0.1032 left_z=0.068 left_yaw=0.0918 left_pitch=-0.0846 left_roll=0.0237 left_gripper=0.0066 right_x=0.4409 right_y=0.166 right_z=0.1848 right_yaw=0.1755 right_pitch=-0.3546 right_roll=-0.1631 right_gripper=0.9969 state[joint_eff]: [0.3214, -6.188, 7.3915, 1.4774, -0.0855, 0.0855, 0.6862, -0.0205, -9.3607, 6.8308, 1.2967, 0.0952, -0.0317, -0.0073] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "Jaws are buried in the plush fur; lifting to 25 cm to see whether the toy comes up with them."})
tool
executing move_to over 12 steps (1.2s)
step 279
assistant
agent noteThe lift stalled with high shoulder effort, which suggests the plush is snagged in the jaws; dragging/carrying it forward toward the left basket rim.
move_to
left_x0.4600left_y-0.1900left_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]: [-0.4286, 1.5921, 0.849, -0.0135, -0.4149, -0.3401, 0.0066, 0.445, 1.7882, 1.5883, -0.7483, 0.2485, 0.0628, 0.9969] state[eef_state]: left_x=0.4087 left_y=-0.1045 left_z=0.0954 left_yaw=0.0903 left_pitch=-0.1159 left_roll=0.0275 left_gripper=0.0066 right_x=0.4411 right_y=0.1662 right_z=0.1841 right_yaw=0.1755 right_pitch=-0.3557 right_roll=-0.1628 right_gripper=0.9969 state[joint_eff]: [-0.6222, -14.5026, 12.0684, 2.7082, -0.4664, 0.0269, 0.6813, -0.3624, -9.2513, 6.8308, 1.3504, 0.0806, -0.0366, -0.0122] 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": 0.46, "left_y": -0.19, "left_z": 0.2}, "note": "The lift stalled with high shoulder effort, which suggests the plush is snagged in the jaws; dragging/carrying it forward toward the left basket rim."})
tool
executing move_to over 8 steps (0.8s)
step 287
assistant
agent noteThe plush is held at the near-left edge of the left basket; shifting 5 cm to the arm's right and up to bring it over the basket's interior.
move_to
left_x0.4700left_y-0.2400left_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5735, 1.8091, 1.4834, -0.4946, -0.4953, -0.4473, 0.0066, 0.445, 1.7901, 1.5883, -0.749, 0.2485, 0.0628, 0.9969] state[eef_state]: left_x=0.457 left_y=-0.191 left_z=0.1822 left_yaw=0.0704 left_pitch=-0.1356 left_roll=0.0275 left_gripper=0.0066 right_x=0.4411 right_y=0.1662 right_z=0.1831 right_yaw=0.1753 right_pitch=-0.3583 right_roll=-0.1636 right_gripper=0.9969 state[joint_eff]: [-0.1436, -9.6752, 8.0889, 1.0183, -0.4469, -0.0806, 0.6764, -0.0752, -9.5521, 6.8718, 1.2576, 0.0562, -0.0611, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.24, "left_z": 0.24}, "note": "The plush is held at the near-left edge of the left basket; shifting 5 cm to the arm's right and up to bring it over the basket's interior."})
tool
executing move_to over 5 steps (0.5s)
step 292
assistant
agent noteThe left basket's mouth is up and to the arm's left in the wrist view; moving back over its centre with the plush still gripped.
move_to
left_x0.4800left_y-0.1700left_z0.2600
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]: [-0.651, 1.9884, 1.8969, -0.7753, -0.5232, -0.511, 0.0066, 0.445, 1.7901, 1.5883, -0.7486, 0.2485, 0.0628, 0.9969] state[eef_state]: left_x=0.4701 left_y=-0.2426 left_z=0.2207 left_yaw=0.0526 left_pitch=-0.1578 left_roll=0.0245 left_gripper=0.0066 right_x=0.4412 right_y=0.1662 right_z=0.1831 right_yaw=0.1753 right_pitch=-0.3579 right_roll=-0.1635 right_gripper=0.9969 state[joint_eff]: [-0.0752, -11.5897, 8.2256, 1.16, -0.486, -0.0562, 0.6764, -0.0479, -9.3607, 6.653, 1.2772, 0.0806, -0.0611, -0.0122] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.48, "left_y": -0.17, "left_z": 0.26}, "note": "The left basket's mouth is up and to the arm's left in the wrist view; moving back over its centre with the plush still gripped."})
tool
executing move_to over 7 steps (0.7s)
step 299
assistant
agent noteThe arm is at its reach limit with the plush toy over the left basket's near edge; releasing so the toy drops into/against the left basket.
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]: [-0.6552, 1.9934, 1.9404, -0.8299, -0.5247, -0.5175, 0.0066, 0.445, 1.7901, 1.5883, -0.7483, 0.2485, 0.0628, 0.9969] state[eef_state]: left_x=0.4666 left_y=-0.2424 left_z=0.2276 left_yaw=0.0547 left_pitch=-0.1691 left_roll=0.031 left_gripper=0.0066 right_x=0.4412 right_y=0.1663 right_z=0.1832 right_yaw=0.1753 right_pitch=-0.3576 right_roll=-0.1634 right_gripper=0.9969 state[joint_eff]: [-0.3487, -11.3299, 8.5538, 1.409, -0.5348, -0.0122, 0.6813, -0.2393, -9.1829, 6.8855, 1.3358, 0.0513, -0.0415, -0.0122] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The arm is at its reach limit with the plush toy over the left basket's near edge; releasing so the toy drops into/against the left basket."})
tool
executing move_to over 10 steps (1.0s)
step 309
assistant
agent noteI classified the objects into two groups: writing pens/markers → right basket, plush toys → left basket. I successfully grasped and delivered the blue marker into the right basket; a second (black) marker was grasped and released over the right basket but landed just short of it on the table. I then grasped a grey plush toy with the left arm and carried it to the left basket, but the left arm hit its reach limit at x≈0.47 and the toy was released against the basket's near edge rather than inside. Budget ran out with the remaining plush toys and a yellow pen still on the table.
done
hindsightKey lessons for this rig/task: (1) The baskets sit at the far edge, roughly at right-arm (x≈0.45, y≈0.17) and left-arm (x≈0.47, y≈-0.20 to -0.24); the left basket's centre is effectively at/past the left arm's comfortable reach at z>0.2, so it stalls short and drops objects on the near rim — approach it with the right arm or come in lower/with a higher z target earlier. (2) Pens are easy: hover 10-12 cm above, use the wrist view (jaw column x≈110, fingertip row ≈190-210), nudge in y until the shaft is on that column, then descend to z≈0.005 and close; a settled gripper reading ≈0.13 means a pen is held. Wrist lateral scale near the table was ≈15 px/cm. (3) Plush toys are wider than the 9.5 cm stroke; closing on the body reads ~0.01 (looks empty) yet the fur can still be dragged — judge by shoulder effort spiking (-10 to -14 N·m) and by the toy moving, not by the gripper reading. (4) The arm sometimes freezes for several commands at low z with awkward y; raising z and re-sending frees it. (5) Releasing over a basket should be done with the object clearly inside the rim in the wrist view — the basket mouth must fill the frame around the jaw column, not sit above it.
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]: [-0.6552, 1.9934, 1.94, -0.8295, -0.5232, -0.5255, 0.9951, 0.445, 1.7901, 1.5883, -0.7486, 0.2485, 0.0628, 0.9969] state[eef_state]: left_x=0.4666 left_y=-0.2427 left_z=0.2274 left_yaw=0.0579 left_pitch=-0.1697 left_roll=0.024 left_gripper=0.9951 right_x=0.4412 right_y=0.1662 right_z=0.1831 right_yaw=0.1753 right_pitch=-0.3579 right_roll=-0.1635 right_gripper=0.9969 state[joint_eff]: [-0.3214, -11.0564, 6.612, 1.3748, -0.3053, 0.022, -0.188, -0.1573, -9.388, 6.7077, 1.3016, 0.0904, -0.0415, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
done({"summary": "I classified the objects into two groups: writing pens/markers \u2192 right basket, plush toys \u2192 left basket. I successfully grasped and delivered the blue marker into the right basket; a second (black) marker was grasped and released over the right basket but landed just short of it on the table. I then grasped a grey plush toy with the left arm and carried it to the left basket, but the left arm hit its reach limit at x\u22480.47 and the toy was released against the basket's near edge rather than inside. Budget ran out with the remaining plush toys and a yellow pen still on the table.", "hindsight": "Key lessons for this rig/task: (1) The baskets sit at the far edge, roughly at right-arm (x\u22480.45, y\u22480.17) and left-arm (x\u22480.47, y\u2248-0.20 to -0.24); the left basket's centre is effectively at/past the left arm's comfortable reach at z>0.2, so it stalls short and drops objects on the near rim \u2014 approach it with the right arm or come in lower/with a higher z target earlier. (2) Pens are easy: hover 10-12 cm above, use the wrist view (jaw column x\u2248110, fingertip row \u2248190-210), nudge in y until the shaft is on that column, then descend to z\u22480.005 and close; a settled gripper reading \u22480.13 means a pen is held. Wrist lateral scale near the table was \u224815 px/cm. (3) Plush toys are wider than the 9.5 cm stroke; closing on the body reads ~0.01 (looks empty) yet the fur can still be dragged \u2014 judge by shoulder effort spiking (-10 to -14 N\u00b7m) and by the toy moving, not by the gripper reading. (4) The arm sometimes freezes for several commands at low z with awkward y; raising z and re-sending frees it. (5) Releasing over a basket should be done with the object clearly inside the rim in the wrist view \u2014 the basket mouth must fill the frame around the jaw column, not sit above it."})
tool
done: I classified the objects into two groups: writing pens/markers → right basket, plush toys → left basket. I successfully grasped and delivered the blue marker into the right basket; a second (black) marker was grasped and released over the right basket but landed just short of it on the table. I then grasped a grey plush toy with the left arm and carried it to the left basket, but the left arm hit its reach limit at x≈0.47 and the toy was released against the basket's near edge rather than inside. Budget ran out with the remaining plush toys and a yellow pen still on the table.
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 · 20.58 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.6167, -0.3801, -0.0219, -0.0261, 0.9993, -0.0154, 0.7986, 0.6109, -0.3737, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.184 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9993 right_x=0.2968 right_y=0.0011 right_z=0.1832 right_yaw=-0.0006 right_pitch=0.0004 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.6889, 9.306, 1.7558, -0.0171, 0.1294, -0.0855, -0.7863, -1.4564, 9.7846, 1.707, -0.1294, 0.0659, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:943e49dbc4571664d1a233dadd3e6023fca12186af9287eff807929dc6e7aed8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36e64bde9f64d2e2a5d2c8d2beedc4e993562730cb320debe23ead5f89478d27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:915ea682816e8e2c8defd3c5d7837804ea5c81ca0b10bb0f24ff602c49399264",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 6.681 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.6167, -0.3801, -0.0219, -0.0261, 0.9993, -0.0154, 0.7986, 0.6109, -0.3737, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.184 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9993 right_x=0.2968 right_y=0.0011 right_z=0.1832 right_yaw=-0.0006 right_pitch=0.0004 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.6889, 9.306, 1.7558, -0.0171, 0.1294, -0.0855, -0.7863, -1.4564, 9.7846, 1.707, -0.1294, 0.0659, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:943e49dbc4571664d1a233dadd3e6023fca12186af9287eff807929dc6e7aed8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36e64bde9f64d2e2a5d2c8d2beedc4e993562730cb320debe23ead5f89478d27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:915ea682816e8e2c8defd3c5d7837804ea5c81ca0b10bb0f24ff602c49399264",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NFLyfhYH8uVBhgTJ4MvDnu",
      "input": {
        "note": "Scene has two teal baskets at the back, plush toys in the centre and dark pens/markers to the right. I'll sort plush toys into the left basket and pens into the right basket; first moving the right arm above the pen cluster to calibrate the view.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.14,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01NFLyfhYH8uVBhgTJ4MvDnu",
      "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]: [-0.0189, 0.8043, 0.6159, -0.3805, -0.0223, -0.0303, 0.9993, 0.6415, 1.1954, 0.8387, -0.3622, 0.5133, 0.342, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1825 left_yaw=0.0033 left_pitch=-0.0049 left_roll=-0.003 left_gripper=0.9993 right_x=0.3241 right_y=0.1382 right_z=0.1809 right_yaw=0.0233 right_pitch=-0.0498 right_roll=-0.0375 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -1.4701, 7.2274, 1.7656, -0.0611, 0.0024, -0.0171, 0.0889, -4.4239, 9.4291, 1.6484, 0.359, 0.1978, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9aa4bef75cfc6853901c6ba6c68d39143b5b8b45f7a9b0aaf6cbbbce95a299c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ace568202dea97583af54e91bbf358a92f74af5034fd595ad5806b436b2042a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:99852ec94a3ac344a57a68fa95cac832d3936fa2a4c58094dd792c429fd990d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 13.55 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.6167, -0.3801, -0.0219, -0.0261, 0.9993, -0.0154, 0.7986, 0.6109, -0.3737, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.184 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9993 right_x=0.2968 right_y=0.0011 right_z=0.1832 right_yaw=-0.0006 right_pitch=0.0004 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.6889, 9.306, 1.7558, -0.0171, 0.1294, -0.0855, -0.7863, -1.4564, 9.7846, 1.707, -0.1294, 0.0659, -0.0415]",
      "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]: [-0.0189, 0.8043, 0.6159, -0.3805, -0.0223, -0.0303, 0.9993, 0.6415, 1.1954, 0.8387, -0.3622, 0.5133, 0.342, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1825 left_yaw=0.0033 left_pitch=-0.0049 left_roll=-0.003 left_gripper=0.9993 right_x=0.3241 right_y=0.1382 right_z=0.1809 right_yaw=0.0233 right_pitch=-0.0498 right_roll=-0.0375 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -1.4701, 7.2274, 1.7656, -0.0611, 0.0024, -0.0171, 0.0889, -4.4239, 9.4291, 1.6484, 0.359, 0.1978, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9aa4bef75cfc6853901c6ba6c68d39143b5b8b45f7a9b0aaf6cbbbce95a299c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ace568202dea97583af54e91bbf358a92f74af5034fd595ad5806b436b2042a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99852ec94a3ac344a57a68fa95cac832d3936fa2a4c58094dd792c429fd990d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2QcKjgEIEhgCKkBR/gThBtGGG/tY+YGQyddaR4F9Ey7jQg8Ixl+s3e5q1lfnzBJcxa3yDqkdWVwqGp+FoCP3PrNNV1lMqgVT3lB6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfDAzNUGEgzP3Dxatl3sNGUFtV0aDN+LEwVqQok8RA4HOiIwKL/EOHqGlWa007lGV7N+vubt0ALXcJx/0BI9ZwX8RYlXKgIgnl9giZcEEbqOsXfeKvcFGPcuP13vAxwnn0mIDeP7UdBy2xSBvNcntgbFjRfjoFyLjH0WqHuns9taoxNwxwtK3a698gxK6fuv+wDs0ZgDxaSjyqViqfJrIP7wtbWg3jRm24QYFXOKDY2wMHhLcJb/asTqw2gSdzgRkWR4ZhV9DrhjTYESnrICngUYZERx6Iu2l/AS9VYJG8KsjeD9hcX+laY+mXEwlBswmeY4NKRmSQI6a8dgXyVfaiZt6kdcFgqFfLL4ZNMP+KIqYNiKRA28rY1/uTmD8fQz5AHbny6Ro1SlWKxWsD+HUVir12Su1U739WzO2LQ6lJzc2okWJ/aPwZ6Sb6edsxQOeNfhB0faNBfIYowAgVyvKlAAUwdoMEqWpgjfQFeEETEXwC2VNeDBHzD7fN+c6oUqfhGqz1NXwltQzzoCuT+/24neniCmOMwu8xFjB88wIYifeLpKxSNMQCCazg+8Fy5VKoHIJH7IICWUA9NiJdZWfrlZyYwpcz3iHiK4gufPyvG7yFSnK0HTyp1OSw920RsUcYgPf4F0k4eondYUkdbib8dWpbIW1j78duB/HdY5CqWR+2BgfwfE/dVpvbqOJzM9uc2rHUgdERnJ7BBh/UP84zChyB+D04JSQ0Q0ms3UEiQErDjSnDHENZMBtYjnCFckX3BBGs151BvsaK5UVQl5bn+yHv8jMc15tt7Iucp68wPCcV2NbQ2dY1SdK+ehZgmXIQ/RXbM8HcjDOzDzFSbAyhHHbnGViW/4ezkVsQcnqEcpCQLM1z/gH0wosXyIaFZztNElWUfVlRquHo1VvrCD2UiOwAPCTdHt2+OQWVVxNnvZaNprIqh5cUyYQ/wiqH0tt2pUCprlWNRb+sRYRWZ/L9ttVH/IW46cTYy/buYUU2v9RnbEPR0nuUWxhnsX2n8Ysk+AU9tf0B3g+7IHKYGnrWp7bqPfUK/OknaKhyqXrRCmbnScA7JR+dzEeoB3JFw8Z9uOYygeS25PvnbwryWq5STihp2GRNPgJSd3WQpRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015oEgotUx2PGvim6yt6fufX",
      "input": {
        "note": "Right wrist view shows the pens at the very bottom of frame, i.e. nearer the base than my fingertips; pulling in 4 cm and dropping to 10 cm to get them into view for a grasp.",
        "targets": {
          "right_x": 0.29,
          "right_y": 0.14,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015oEgotUx2PGvim6yt6fufX",
      "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]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0216, -0.0307, 0.9993, 0.7433, 1.198, 0.5129, -0.1116, 0.5682, 0.4122, 0.9997]\nstate[eef_state]: left_x=0.2968 left_y=0.0018 left_z=0.1821 left_yaw=0.0028 left_pitch=-0.0057 left_roll=-0.0037 left_gripper=0.9993 right_x=0.2862 right_y=0.1388 right_z=0.0929 right_yaw=0.0425 right_pitch=-0.0864 right_roll=-0.0583 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -1.2786, 7.3094, 1.707, -0.0269, -0.0415, -0.0171, 0.1709, -3.2752, 6.5299, 1.663, 0.4078, 0.1294, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88e0e9241a1980815401e48fdb796d9f85d8d8d3e287523724411d6f9a3b5ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f8e9710fe024cdf8965e35e02583c47c2c45224567c96e57ad1232aec303203",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e566f1c6555d60bd41f00b6b0a330f8ab23bda24a776e7e415fdac2d54e3d24d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 14.56 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8005, 0.6167, -0.3801, -0.0219, -0.0261, 0.9993, -0.0154, 0.7986, 0.6109, -0.3737, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.184 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9993 right_x=0.2968 right_y=0.0011 right_z=0.1832 right_yaw=-0.0006 right_pitch=0.0004 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.6889, 9.306, 1.7558, -0.0171, 0.1294, -0.0855, -0.7863, -1.4564, 9.7846, 1.707, -0.1294, 0.0659, -0.0415]",
      "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]: [-0.0189, 0.8043, 0.6159, -0.3805, -0.0223, -0.0303, 0.9993, 0.6415, 1.1954, 0.8387, -0.3622, 0.5133, 0.342, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1825 left_yaw=0.0033 left_pitch=-0.0049 left_roll=-0.003 left_gripper=0.9993 right_x=0.3241 right_y=0.1382 right_z=0.1809 right_yaw=0.0233 right_pitch=-0.0498 right_roll=-0.0375 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -1.4701, 7.2274, 1.7656, -0.0611, 0.0024, -0.0171, 0.0889, -4.4239, 9.4291, 1.6484, 0.359, 0.1978, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0216, -0.0307, 0.9993, 0.7433, 1.198, 0.5129, -0.1116, 0.5682, 0.4122, 0.9997]\nstate[eef_state]: left_x=0.2968 left_y=0.0018 left_z=0.1821 left_yaw=0.0028 left_pitch=-0.0057 left_roll=-0.0037 left_gripper=0.9993 right_x=0.2862 right_y=0.1388 right_z=0.0929 right_yaw=0.0425 right_pitch=-0.0864 right_roll=-0.0583 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -1.2786, 7.3094, 1.707, -0.0269, -0.0415, -0.0171, 0.1709, -3.2752, 6.5299, 1.663, 0.4078, 0.1294, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88e0e9241a1980815401e48fdb796d9f85d8d8d3e287523724411d6f9a3b5ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f8e9710fe024cdf8965e35e02583c47c2c45224567c96e57ad1232aec303203",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e566f1c6555d60bd41f00b6b0a330f8ab23bda24a776e7e415fdac2d54e3d24d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStwoKjgEIEhgCKkC32kf1fXQ7vciuM82PM3+3dwrwfI+jPHhvcKP4M2SGrmoKGa7AtJlgPdGMm6D1+2VUERWP6m0bng+A51M8ERknMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf/AzNUGEgyzv3LLGBg40LHivKEaDBFW7xue5xjyIMQK4SIwyf3EjRp7u4KB+2ZLJ1mscJsuwRiCtPKXMgtU7my0V91+OKXxHZHMI5AcHBFAc+y6KtUIPCEQWmNYdLhK8Pfgy/2ey2bDCUL8c+LmRVBLA4Gvu+H/fINMQeji6yd6oDqAu2++tH5piWxI2ZdzHaxWfq8KW2Q7vT478IML6JNDM3+POYmUe2LNEAkLr3n5YVPvqOpP+joJRdxGOHzQot0iaNx/BpsmQKB6vFQKOyP6wyYSAdvb4XcrbIiGIRrrbZrZGWISF+dqW9oAUmfvBT9jxHCpKNZ+d6W5XTrnHUSQ3rnNjAuSF/ZR1ucHVtwl2yjL/B6FtAxqZJzJ7KJRmev6yF8tvL6jh/z3zNeqhHJe/One7zHX2Hlx21PJLesYC4DyVSauIhosAx4KK7F4LA8NubkBRaEKzT2YEqfz5V+jTVfH9QaoTSqP5VaJ2019hf5KMVPNoxVa+gNq+ILFRuIx2DZFkEYzceaMqmm0UEu73Tcz45te764I4YJRbmHuUonmVEd/8RqvCkkDH3bf2gP10NkNfwCwzVlrhgh+GXXvu6x58azYm82NDFKQXEpw3gAe40IuGy4cBR8oTtmVlDOW3WhJVklQjcLQDU7LXwaVncSDosTDcaNYFVCRcorH/SOR/NCs4QlHHZKptA3cJN/oEoTEkfcJtgu97zgmk9BRWjW08sM7oW9D988afioWN3RpGpQUPKR3a1OZENWTTEkOYF+x3YodoIq5d4YN359M5mh9dIaOYpjg9G38pWGzxtFzmJovc85hL5dX9F/QfWh4dzvj83PNKkc+8Z5ErZRR0kecLGFpBCuiL0CloyRUfsXMvquSJaU8eq3dpSRqIVc7H0rEh2vY7enXYRqzmckxSILZa5v+WvDsRaoMubPyLCMeOq1fygKW3JaRxwWlOw+c/lhSRtvV2/Cb1tuaR4aGs4NRvMEyXv20/fFFObVkrbafzxlGOywPCqW9+z1NbkPk1V2Jk0yJ4VCtnd6BCF/2WUUFmf2+rVzIbgPoxULTgH7tz+OtIIryK5dCjsyvYk+Ddfw8fRG2/C8oD50zQ58rImORqyqXun7/64sBRGS4nZEvxRmLerPyU6j9qBsrnKJ3i2jw2TX06vgToLj/z2jLOp4cOkiFdcC1gELP01z448hNwmFWE1CHfHPNaQ2KXxRFRipxe3CU/G8pl7vWz9G1KkMg3sQy9Vmwt8iVDkO5VYfA+v812hA16y+5VGI0bZbLLtgVn5On3xCKaqG5lWDYe+J/yker6TahsaiDi5GhrGNn1kBIJJxnlbAICesJHqXmbjG8xD9I9nNuC+J4MGqtMXUpd1iLZqnpNoFxr0Vu0YDBCWeTMBcU/YjzxKPRqeiXJDzIWPn53oMiYYVqchqCcXfxPUGK8JGbHRZSEDHuPEdffDyurJTSlAih9pcFx4wBGj/zdxfg7YnZE3GKyCtcRYkSF2o0jrsDGUgvxAq/bS8OtpkhCewFfjmyp+kfo0u+8SdLMKl78DxtLYQNTCM3ihlfoqfIjCgMSUBiyJGdkL3o5Hh7Hmqha28YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015vyv2mxcb2CyB6ExL6VtQk",
      "input": {
        "note": "Two markers are visible at the bottom of the right wrist view, the blue-capped one slightly left of the jaw column; shifting 2.5 cm toward it and descending to 4 cm to check alignment before the grasp.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.165,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_015vyv2mxcb2CyB6ExL6VtQk",
      "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]: [-0.0189, 0.8089, 0.6151, -0.3805, -0.0223, -0.0345, 0.9993, 0.8463, 1.4517, 0.4446, 0.1253, 0.6132, 0.4915, 0.9997]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1809 left_yaw=0.0055 left_pitch=-0.0103 left_roll=-0.0064 left_gripper=0.9993 right_x=0.2767 right_y=0.1647 right_z=0.0336 right_yaw=0.0643 right_pitch=-0.1236 right_roll=-0.0782 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -1.1556, 7.0496, 1.7265, -0.0513, -0.0317, -0.0122, 0.6085, -4.7111, 5.1761, 1.4921, 0.4762, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c5735eb670eceb6d6aa01c54e6091a285d5576999c057b84224268e8cae8995",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71d53bad895411d13ceacacf5bf5152f6e420d181c3cc30de7389e412f4fda34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa824524f06cc8ed1b7bb721ed97179bd0e75721089981ca135b992f17dbf4b4",
        "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 · 8.168 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]: [-0.0189, 0.8043, 0.6159, -0.3805, -0.0223, -0.0303, 0.9993, 0.6415, 1.1954, 0.8387, -0.3622, 0.5133, 0.342, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1825 left_yaw=0.0033 left_pitch=-0.0049 left_roll=-0.003 left_gripper=0.9993 right_x=0.3241 right_y=0.1382 right_z=0.1809 right_yaw=0.0233 right_pitch=-0.0498 right_roll=-0.0375 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -1.4701, 7.2274, 1.7656, -0.0611, 0.0024, -0.0171, 0.0889, -4.4239, 9.4291, 1.6484, 0.359, 0.1978, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0216, -0.0307, 0.9993, 0.7433, 1.198, 0.5129, -0.1116, 0.5682, 0.4122, 0.9997]\nstate[eef_state]: left_x=0.2968 left_y=0.0018 left_z=0.1821 left_yaw=0.0028 left_pitch=-0.0057 left_roll=-0.0037 left_gripper=0.9993 right_x=0.2862 right_y=0.1388 right_z=0.0929 right_yaw=0.0425 right_pitch=-0.0864 right_roll=-0.0583 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -1.2786, 7.3094, 1.707, -0.0269, -0.0415, -0.0171, 0.1709, -3.2752, 6.5299, 1.663, 0.4078, 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 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]: [-0.0189, 0.8089, 0.6151, -0.3805, -0.0223, -0.0345, 0.9993, 0.8463, 1.4517, 0.4446, 0.1253, 0.6132, 0.4915, 0.9997]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1809 left_yaw=0.0055 left_pitch=-0.0103 left_roll=-0.0064 left_gripper=0.9993 right_x=0.2767 right_y=0.1647 right_z=0.0336 right_yaw=0.0643 right_pitch=-0.1236 right_roll=-0.0782 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -1.1556, 7.0496, 1.7265, -0.0513, -0.0317, -0.0122, 0.6085, -4.7111, 5.1761, 1.4921, 0.4762, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c5735eb670eceb6d6aa01c54e6091a285d5576999c057b84224268e8cae8995",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71d53bad895411d13ceacacf5bf5152f6e420d181c3cc30de7389e412f4fda34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa824524f06cc8ed1b7bb721ed97179bd0e75721089981ca135b992f17dbf4b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0129egfv8xMcfFse8gPAWC5s",
      "input": {
        "note": "The blue marker sits just left of the jaw column in the wrist view; nudging 2 cm to the arm's left and dropping to table level to line the jaws up across the pen shaft.",
        "targets": {
          "right_y": 0.185,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_0129egfv8xMcfFse8gPAWC5s",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8101, 0.6132, -0.3805, -0.0219, -0.0345, 0.9993, 0.8471, 1.4517, 0.4438, 0.1448, 0.6209, 0.4953, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1797 left_yaw=0.0052 left_pitch=-0.0133 left_roll=-0.0066 left_gripper=0.9993 right_x=0.279 right_y=0.166 right_z=0.0367 right_yaw=0.0592 right_pitch=-0.1061 right_roll=-0.0661 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.1966, 7.241, 1.6972, -0.0317, -0.0415, -0.0122, 0.0889, -5.2034, 5.2718, 1.4872, 0.398, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de187c51bd1bf8734ea617f9bef0334e70f863fab2186fdc9480548b4bf58d00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2c7e658f2011330827b02ac10eb4be676a7a5a94ed1287ad90f04293afc9e43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:18007ac32a2fde6326dbab847c1472494d92df1b4391b319c6acdda042c4230a",
        "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 · 6.082 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]: [-0.0189, 0.8043, 0.6151, -0.3805, -0.0216, -0.0307, 0.9993, 0.7433, 1.198, 0.5129, -0.1116, 0.5682, 0.4122, 0.9997]\nstate[eef_state]: left_x=0.2968 left_y=0.0018 left_z=0.1821 left_yaw=0.0028 left_pitch=-0.0057 left_roll=-0.0037 left_gripper=0.9993 right_x=0.2862 right_y=0.1388 right_z=0.0929 right_yaw=0.0425 right_pitch=-0.0864 right_roll=-0.0583 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -1.2786, 7.3094, 1.707, -0.0269, -0.0415, -0.0171, 0.1709, -3.2752, 6.5299, 1.663, 0.4078, 0.1294, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8089, 0.6151, -0.3805, -0.0223, -0.0345, 0.9993, 0.8463, 1.4517, 0.4446, 0.1253, 0.6132, 0.4915, 0.9997]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1809 left_yaw=0.0055 left_pitch=-0.0103 left_roll=-0.0064 left_gripper=0.9993 right_x=0.2767 right_y=0.1647 right_z=0.0336 right_yaw=0.0643 right_pitch=-0.1236 right_roll=-0.0782 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -1.1556, 7.0496, 1.7265, -0.0513, -0.0317, -0.0122, 0.6085, -4.7111, 5.1761, 1.4921, 0.4762, 0.1392, -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]: [-0.0189, 0.8101, 0.6132, -0.3805, -0.0219, -0.0345, 0.9993, 0.8471, 1.4517, 0.4438, 0.1448, 0.6209, 0.4953, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1797 left_yaw=0.0052 left_pitch=-0.0133 left_roll=-0.0066 left_gripper=0.9993 right_x=0.279 right_y=0.166 right_z=0.0367 right_yaw=0.0592 right_pitch=-0.1061 right_roll=-0.0661 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.1966, 7.241, 1.6972, -0.0317, -0.0415, -0.0122, 0.0889, -5.2034, 5.2718, 1.4872, 0.398, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de187c51bd1bf8734ea617f9bef0334e70f863fab2186fdc9480548b4bf58d00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2c7e658f2011330827b02ac10eb4be676a7a5a94ed1287ad90f04293afc9e43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18007ac32a2fde6326dbab847c1472494d92df1b4391b319c6acdda042c4230a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7ggKjgEIEhgCKkC+stccKJ8JrwVreD0ez4NaZrL9+IpYdG1+NGzGlKpn7eXsdUFgSMcjohVt47itCfTi6EL4JoPeZyeup5bOc2c0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZfBzNUGEgyNReNXKgT9lzSq0kgaDJTGJ/51oGNpIsIzVSIwKooyUHaC6nQA3T28YlBTeV8Xg3XpWaldjcPSeNbUsRBV41tPT30aDia+3ut2gtJtKowHsvspkacXJUugMIJ9+sU3SiWiPaEm/0+uCfS1L1XOd9HuWXGAh1tdHi/dPoZda4mgLxg/9Hhim8M0KcetmWsNbTgf4G5bNndq/hOdVh3yDxegSJca9qFbJq+H3VMBgFV2nE2CBNK/+60FdJOZ+LVtJYSYl06Xri/TtIkv0XVXIS299M2iriR5COBeJWEV69FpP0JxI3/dq9yHwfpgS72/D2VtWXU6BInda6uPqUaXbgewtZePThjjlhoP2/kVjbgD69WOs4/W0rH5NA1evllnPMWoqet58dCeTnOxaLu6Gx4l79hhCnAFPKp6CoP/WXrzySrSS4DPbkDRbS2p2iDi/n9ocoNSk2VRUjA1aux134DvJhl5Dg9WVu0z5K3fGx4AAF0rdyXr8N984s5ATV+0peG7Bit+o+hcpAYb5bWdzCca9Alhig8yQKz2tvV51q5fROKzDq5vb84PVkoX/ZBT+l0YaF9g8sVmzIlaMhwsSNkSZBSGbJOcKJ5gz+Oh6myOxyB8cZrPbL07BunIXSHJvtTKbWF982mc8ZDzwEtvXWtJwYq6EOaO5IWH0X9uuE9oiqmhBGEKtftHomZYh8kIbeWs9Y9JTdqsn9ZtRJbh4oMxi0daLHB0Lva+dE01dSO9LJxgB+ZPqdFHu6hClwllK+FdWJXBFKwluhrQifQHJwsaaXi0XNVXWdO1x9VwxVCZ5iXwFDJZyRK6E72qZXAzdb8V5U+fcnHs87QYOsZctkVkA/9B1hPl1/FNLQ0XIAhD1GBk+wriPhXlMAACMAXaQF+tVZBIyxJ7iCAXLwz/08i90u8tXXHVhoJZrDYLFX+E41q3wWjcst0hjnwXW+sIlgjGTpmBIOBP1JyALSlypkr1QrVYLLSH8cG21PuVIfoWVtoE+Qtk/cxClwoJjQRkDWJ87rBRgykPEc7UUrZjnZyHdHyibUIGjynO4Ji723D0lZEtG1lryPatSAxzFZG2OF8egvkRo4ZgxBleEeTyjhIbD1T41QthAYCAyYXMwZ/JQoLFyWKKgROLhv/tTx0wBA0yuU7kEDGgr9l5XaZG0tUUMtTyE/mrH6xFDjavAijKWwdqE5HoYAgrz6mWIxvBVhrV9nDjp2lMAhsgDWLijn8l3rTFBN0qft3heUpb9AI6eNfiVsx4tUNuypzAHvWscub/Mmj8PKnFgDHasOwnE2Zwh4YE+ydV7juFFuMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R1QBVyDAJ16cDznsVFzyLZ",
      "input": {
        "note": "The arm lagged behind the last command (still at y=0.166, z=0.037), so I'm re-sending the target to finish the sideways nudge onto the blue marker and reach table level.",
        "targets": {
          "right_x": 0.278,
          "right_y": 0.19,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01R1QBVyDAJ16cDznsVFzyLZ",
      "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]: [-0.0189, 0.8116, 0.6132, -0.3805, -0.0219, -0.0376, 0.9993, 0.8471, 1.4517, 0.4438, 0.1448, 0.6209, 0.4953, 0.9997]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1792 left_yaw=0.0068 left_pitch=-0.0148 left_roll=-0.0091 left_gripper=0.9993 right_x=0.279 right_y=0.166 right_z=0.0367 right_yaw=0.0592 right_pitch=-0.1061 right_roll=-0.0661 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -1.2376, 7.0632, 1.707, -0.0366, -0.0366, -0.0122, 0.1573, -5.135, 5.2171, 1.4188, 0.442, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7d0825dcc0289486326748535f980244965c46552b3d68b1a8c0f589e09093a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f8a5d96d7469e3f55f66a9ccecceade418c02d5a3a60c44c56bb7c239b1a8ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f4ab19e202279b5ff069ad1cdcee5351bcaae6fec3e899154d93d681c52fa6e2",
        "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 · 6.94 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]: [-0.0189, 0.8089, 0.6151, -0.3805, -0.0223, -0.0345, 0.9993, 0.8463, 1.4517, 0.4446, 0.1253, 0.6132, 0.4915, 0.9997]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1809 left_yaw=0.0055 left_pitch=-0.0103 left_roll=-0.0064 left_gripper=0.9993 right_x=0.2767 right_y=0.1647 right_z=0.0336 right_yaw=0.0643 right_pitch=-0.1236 right_roll=-0.0782 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -1.1556, 7.0496, 1.7265, -0.0513, -0.0317, -0.0122, 0.6085, -4.7111, 5.1761, 1.4921, 0.4762, 0.1392, -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]: [-0.0189, 0.8101, 0.6132, -0.3805, -0.0219, -0.0345, 0.9993, 0.8471, 1.4517, 0.4438, 0.1448, 0.6209, 0.4953, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1797 left_yaw=0.0052 left_pitch=-0.0133 left_roll=-0.0066 left_gripper=0.9993 right_x=0.279 right_y=0.166 right_z=0.0367 right_yaw=0.0592 right_pitch=-0.1061 right_roll=-0.0661 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.1966, 7.241, 1.6972, -0.0317, -0.0415, -0.0122, 0.0889, -5.2034, 5.2718, 1.4872, 0.398, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6132, -0.3805, -0.0219, -0.0376, 0.9993, 0.8471, 1.4517, 0.4438, 0.1448, 0.6209, 0.4953, 0.9997]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1792 left_yaw=0.0068 left_pitch=-0.0148 left_roll=-0.0091 left_gripper=0.9993 right_x=0.279 right_y=0.166 right_z=0.0367 right_yaw=0.0592 right_pitch=-0.1061 right_roll=-0.0661 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -1.2376, 7.0632, 1.707, -0.0366, -0.0366, -0.0122, 0.1573, -5.135, 5.2171, 1.4188, 0.442, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7d0825dcc0289486326748535f980244965c46552b3d68b1a8c0f589e09093a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f8a5d96d7469e3f55f66a9ccecceade418c02d5a3a60c44c56bb7c239b1a8ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4ab19e202279b5ff069ad1cdcee5351bcaae6fec3e899154d93d681c52fa6e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjAYKjgEIEhgCKkAggQQgtKW2UF2RAhQgoylmqwvtZkQkVp0O8xc2U6GCpiWOqLZkf497oCahhc8Remp/Vb6lxKo1KqwW2hOwgWLqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ3BzNUGEgzP9s7eGGONzDjFFY8aDMUB0hKG4FY1F2TEViIwQkV5MrZewEPnRzUrelJo9UcDoa6pRGJ9P1A2yS2fJV/jpbF6FpKZD72XMdnYvh99KqoEFuoGRC9fE7M0Pi/4GME9vBtk2O3yWBYzpqhg06QaI6f6ESXASvt1NovhxTS+X4xF2G24Y++yOVGfdH0qXPanWAt9LUg9VpsBGI20//Qj3aXpAM7VHxzWlUIq/+VCjhaJSNZC05UrC0o9R3f+fbkfNpvNQYCJzy9GRTYEHqECt7eQ68cEfBIzAldz4dr6XyBfthalnzMhY1ltjQanY/wlNC1FLrwoahE8KgZb3WCO/Ctj976Ch2BydE+3q/01w7QpUu7RjctIpRSIM2V6DmUyr2ClHaTFmQV0MfAAY85kEAJC0qhtnSjOPlnr5fAt4LfY+g2AY9OdFTIxzBjt+C1sVhMKP9HwK3J+lZBdOGJdpBArh3GD99SmvvEjidEeY7+c13QUdBT2OoeRWEFBWLDt0y9fy4iObdZskd7dBmsG6vTXyDvWtq8yhxYMYvie1Kw2vVMhfY1Bl1ALdcjcQw0jBSOZHwerNyDz/H0H84BRUoMvOqShxb9T1E1Qklj52CoQyIW/6+0mQUY0FtgYvH9V+OybFtFM7wtbuFy8VdUuBUQdUOv3/p93LqHW8ixmIV+zf3Xey2GNNKmdA6S+RJh4djw4ned58Isnrl2I5wdtvSKkpP+XMt/p4UJkWswcbYGh5ryRWg3CsSdTT35Ue1u4qiZCeRoHiOpRc47Tm3AbYdQGxJwqaBYoRFmS/tUN3qxvIMm9/22ma9so+NHYl+yNyR6wK60+7jmy0+8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C3aVKEfqQqjsxGo488jSkZ",
      "input": {
        "note": "The right arm has stopped tracking entirely (joint angles frozen), so I'm lifting it up and out to 12 cm to free it before re-approaching the marker.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.19,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01C3aVKEfqQqjsxGo488jSkZ",
      "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]: [-0.0189, 0.8116, 0.6121, -0.3805, -0.0223, -0.0376, 0.9993, 0.8471, 1.4517, 0.4438, 0.1448, 0.6209, 0.4953, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1787 left_yaw=0.0071 left_pitch=-0.016 left_roll=-0.0088 left_gripper=0.9993 right_x=0.279 right_y=0.166 right_z=0.0367 right_yaw=0.0592 right_pitch=-0.1061 right_roll=-0.0661 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.3744, 7.1043, 1.7363, -0.0806, -0.0562, -0.0122, 0.0889, -4.7521, 5.135, 1.4725, 0.442, 0.0952, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c1b7474ce46be0cdfc28479b2d328314fec3834bd97aac3cdbca8529b6dd600",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20f2687965c3c11bfe2b28fed5a0740a313829ce102d2abfc1f65a2a9c88f7df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71521b505ca80ac70088600816f57e43c7713f9e588ce87d261eb276d1a80b87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 6.157 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]: [-0.0189, 0.8101, 0.6132, -0.3805, -0.0219, -0.0345, 0.9993, 0.8471, 1.4517, 0.4438, 0.1448, 0.6209, 0.4953, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1797 left_yaw=0.0052 left_pitch=-0.0133 left_roll=-0.0066 left_gripper=0.9993 right_x=0.279 right_y=0.166 right_z=0.0367 right_yaw=0.0592 right_pitch=-0.1061 right_roll=-0.0661 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.1966, 7.241, 1.6972, -0.0317, -0.0415, -0.0122, 0.0889, -5.2034, 5.2718, 1.4872, 0.398, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6132, -0.3805, -0.0219, -0.0376, 0.9993, 0.8471, 1.4517, 0.4438, 0.1448, 0.6209, 0.4953, 0.9997]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1792 left_yaw=0.0068 left_pitch=-0.0148 left_roll=-0.0091 left_gripper=0.9993 right_x=0.279 right_y=0.166 right_z=0.0367 right_yaw=0.0592 right_pitch=-0.1061 right_roll=-0.0661 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -1.2376, 7.0632, 1.707, -0.0366, -0.0366, -0.0122, 0.1573, -5.135, 5.2171, 1.4188, 0.442, 0.0855, -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]: [-0.0189, 0.8116, 0.6121, -0.3805, -0.0223, -0.0376, 0.9993, 0.8471, 1.4517, 0.4438, 0.1448, 0.6209, 0.4953, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1787 left_yaw=0.0071 left_pitch=-0.016 left_roll=-0.0088 left_gripper=0.9993 right_x=0.279 right_y=0.166 right_z=0.0367 right_yaw=0.0592 right_pitch=-0.1061 right_roll=-0.0661 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.3744, 7.1043, 1.7363, -0.0806, -0.0562, -0.0122, 0.0889, -4.7521, 5.135, 1.4725, 0.442, 0.0952, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c1b7474ce46be0cdfc28479b2d328314fec3834bd97aac3cdbca8529b6dd600",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20f2687965c3c11bfe2b28fed5a0740a313829ce102d2abfc1f65a2a9c88f7df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71521b505ca80ac70088600816f57e43c7713f9e588ce87d261eb276d1a80b87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShggKjgEIEhgCKkDwVggJ3l5JJXA+PHvWHl9o1WrgHJgqDBe5Rvnkas09L4TPz2zM5Pq7rmE689gMuHKuDvJdAwkY4StSvV72DCv/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaTBzNUGEgwDX7Y2XCos43Kf3iAaDGh8DQhhb39k0zAeuiIwCIPeYI9TCtYbRgeAx3i81H3vZsBSe1l/joS/jZ1Q5hL4wYN+2EnPsvLVBeoEm+CyKqQGywo543YcPXpZriQy1XI8o+wXpnkZKqwbfcWpSGoClEGj8tMhdtVr7nZmxshh5qB+/eGJVsPelDVInLtjZacWC3NWhZQ2bGDZcXBvtHrSS9273TrmcrIaHu4qKfG/qrHIFCGosquRFxFVJdU8ri2Yg2T2BldKg3PKAMCEFaVtwbNR0a5omqzoGu/vyzCO5lVqA74GAr3w2r275eHKWNd8AjZxNDBqkJIwoaEI24sPUI1Piop2uTohe3/qeC7FeQPirxQASngFgzDpM9gMs2FElIfeacZz7Qj5fcFYzA0zeHsnC1d4rxRy+ROG8eX+jbbXOMGcWuX0hQ5VuvVqOBypEuQ/ROq+ZNt5hGtjXVvAlHnJfzUtYWfjQ3y+Jbjgf9U02JPJZT7tthCz/2T9p2g2OjA8h3IAwAfszIefw9W/Gmuwi8+cwSCi5Jfjai6JL6Y9umsLaXExJxox0nAugfmKawDWbBIk8IHcdCVJm6M3jyNRvUg2TKDakk9szdqkJWcT2F1jrCA4DpEryHmA1sC5Ce83lCf1F3BX+IN4eOFTa5A37qHJKCbgNjU4jBN6BjBKtLlv9eZBz1P41fFOeEoktkCAGwgTWphNwlYR5Df1l6DYFqI2703tF/7cDbMlBWhQ5ySrGottjP8qHxyfpDz5JyxOpzB7tB/4XKwmecNVtQBpBob6W8IDoD5UzMGPvBL7XH0JSY7tK1Reupkqmprz99xTmyOHzK6arKALGwigPHGVvzw/tyU94MTp8TZwQ5aMBFGwa/Y9Zjd2FjRboYWm9ZzVcpkDJi3CMRLpcZ1ajaj0JdEowxLcPUNnCqH4ol+ViD+Q7dCdZa1rUuXix/5BXB53QQOUT3AJbDEO4VLg0dLekL3kaBGzTsnEMPUBVpWqp9evx8VQb75eBlXGEvQbO4POXunWv2ISYoTo56fo7UyKMTNeQx8czrJSZ/Br9k3T/pR/zWTq23/MgBKtNu8OwT+5qwr/e7HWzJ4VQaP8e+RcVSVnefuIlrQonAsySTtA4rnkJchui9Uk5sEkjcigHztr15Kc5YNknwKAOGxVXgKSDoaiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015fBFEoEDQvudzhg7DaADaK",
      "input": {
        "note": "Testing whether the right arm responds at all with a simple straight-up command to 25 cm; it has ignored the last three targets.",
        "targets": {
          "right_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_015fBFEoEDQvudzhg7DaADaK",
      "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]: [-0.0189, 0.8127, 0.6109, -0.3805, -0.0219, -0.038, 0.9993, 0.8471, 1.2015, 1.1465, -0.8165, 0.6018, 0.4904, 0.9997]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1779 left_yaw=0.007 left_pitch=-0.0183 left_roll=-0.0093 left_gripper=0.9993 right_x=0.2785 right_y=0.1696 right_z=0.2397 right_yaw=0.0747 right_pitch=-0.1225 right_roll=-0.0655 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -1.4291, 7.1316, 1.6874, 0.0024, -0.0708, -0.0122, -0.3624, -4.2188, 8.7179, 1.2527, 0.4029, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:013a9193ef51afee194773fa5507b04c5eb10c5c834c941f72bb9dbc8a8f8bc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31f654d669feadcfa27c7e5f5cda8597465e3f57b243b162ec1f4db14536f2bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c59c5fea8bdb598841191ab526bd24d1c21ae37d43a221c740eb73dcf18d508e",
        "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 · 8.648 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]: [-0.0189, 0.8116, 0.6132, -0.3805, -0.0219, -0.0376, 0.9993, 0.8471, 1.4517, 0.4438, 0.1448, 0.6209, 0.4953, 0.9997]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1792 left_yaw=0.0068 left_pitch=-0.0148 left_roll=-0.0091 left_gripper=0.9993 right_x=0.279 right_y=0.166 right_z=0.0367 right_yaw=0.0592 right_pitch=-0.1061 right_roll=-0.0661 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -1.2376, 7.0632, 1.707, -0.0366, -0.0366, -0.0122, 0.1573, -5.135, 5.2171, 1.4188, 0.442, 0.0855, -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]: [-0.0189, 0.8116, 0.6121, -0.3805, -0.0223, -0.0376, 0.9993, 0.8471, 1.4517, 0.4438, 0.1448, 0.6209, 0.4953, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1787 left_yaw=0.0071 left_pitch=-0.016 left_roll=-0.0088 left_gripper=0.9993 right_x=0.279 right_y=0.166 right_z=0.0367 right_yaw=0.0592 right_pitch=-0.1061 right_roll=-0.0661 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.3744, 7.1043, 1.7363, -0.0806, -0.0562, -0.0122, 0.0889, -4.7521, 5.135, 1.4725, 0.442, 0.0952, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0189, 0.8127, 0.6109, -0.3805, -0.0219, -0.038, 0.9993, 0.8471, 1.2015, 1.1465, -0.8165, 0.6018, 0.4904, 0.9997]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1779 left_yaw=0.007 left_pitch=-0.0183 left_roll=-0.0093 left_gripper=0.9993 right_x=0.2785 right_y=0.1696 right_z=0.2397 right_yaw=0.0747 right_pitch=-0.1225 right_roll=-0.0655 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -1.4291, 7.1316, 1.6874, 0.0024, -0.0708, -0.0122, -0.3624, -4.2188, 8.7179, 1.2527, 0.4029, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:013a9193ef51afee194773fa5507b04c5eb10c5c834c941f72bb9dbc8a8f8bc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31f654d669feadcfa27c7e5f5cda8597465e3f57b243b162ec1f4db14536f2bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c59c5fea8bdb598841191ab526bd24d1c21ae37d43a221c740eb73dcf18d508e",
        "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/QYKjgEIEhgCKkCwNAdZ+L2NcN44Tf6CZG28y2UUn390xtK39nibxeLQ/lon9N/hDTu/PRHuLuJQBGB1t2SQgeZWzDv5TSt4E9yBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa7BzNUGEgxWn3rJnD/Gd81B42gaDBNqyE8+Q25dAsa6YiIw886plXr+3+l8uRaohqxVuTh4q6gfmEfQS4hDc5JoTw+rtkYP9Q+t7smthAcibRp0KpsFvlR6FoeogvXTuRkOD3gWRz/G8C4bC0ILtyzy6XMrrh/vsTdfaSSSZbnK/0XFpoM5Nw4Cx58fmK+VLzdNb2wNjE7x4kV0WYnLN0tc/1qupzOR8DZJYZQx7mv3XR8/+3iSdNPims1f6SomokYY6ip9/GDzJ36z5pNpLk1mkzF1WmkBVvlpqOcxuHXu4gTjL5BYyycoDRo9SfkcEcKBo3HAsZyyNRbhYsj1+RRBBFUY/UwnkUcFrb0VWWmiIh4uO39ztvmwnKJ/YcX2XmBP+BWDV+MpXkXkhYD/bZK/0CRIytIZWIwNrAOmVWKtqA/xkH+mSJEVymDeUXMpt5lTCl2USS3NDuC6tkVXq0aeQxEAhExmrKq8tzl+LuIdltD3xCrqFdOvIPg3vTIZ32gzFjmYkZ/QH6jvkugIFHDD8wYBpar9n/qGvB/WC/tOeaimMvexGtVQSupwYHvcjpLPe2yG2e/Zhsqe3b64T74TA+Of9hjjE4XtP2Ze+kwWwnA9Xjh92VQzCrN4NyaAt8vPlyfpuSUeCtEZfrVshYFj6HisFGiy4VToeY0zeD9DaRR5x2U/yK31Pd2BQA/WwYKmW/NLcFr8TG4PEqCgMSk0KupO7DT3zrhzeQaC+Gq05tiaqz3cv2ulpt3jVpiqOLqrWfhSdbPjRPIpfOOaW1oF0s0x2LQKFc9kYPt4ByTsXVAUMaXKjG1hxi/W1O8hYYPmFQJZXrV+1EmcYVblkccrYCKSxMMsbZwCeNd/vpiApy6PXo6oGnL6Sg4pi2n+jeTMkDVt8+X6rvklXCy2HaOmtuaadMfPJyGjC8NNClSyL35BzauSWCyQAlJbsR4t4OfVy6v5ADS4/JBxGwq/1UIcWEwgGwhx0qIHQNHGnsi6dhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WnsBXQaveRYYw2KTxc8w7b",
      "input": {
        "note": "The right arm does respond (it lifted to 24 cm); the two markers are visible at the bottom of its wrist view. Descending back toward them with a 1 cm nudge to the arm's left.",
        "targets": {
          "right_x": 0.278,
          "right_y": 0.178,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01WnsBXQaveRYYw2KTxc8w7b",
      "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]: [-0.0189, 0.8146, 0.6106, -0.3805, -0.0219, -0.038, 0.9993, 0.8642, 1.3987, 0.5354, -0.0547, 0.5987, 0.4992, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1772 left_yaw=0.007 left_pitch=-0.0206 left_roll=-0.0093 left_gripper=0.9993 right_x=0.2748 right_y=0.1741 right_z=0.0534 right_yaw=0.0847 right_pitch=-0.157 right_roll=-0.09 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -1.0735, 7.159, 1.7021, -0.0269, -0.0611, -0.0122, 0.9368, -4.588, 5.9966, 1.4335, 0.4469, 0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a5f8164117251c9a9f4ba1d7ab91c65e3024d05d315044d1cddd5c54e73eedf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2f80d0c75d005cedacf91de7a470a6b921c729fcc91d0d11e3a8f4f1e1d0d53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d042a97c038717d935044dbd72fa05f2d3e59e3873bae88aad1c8d0a71fb94f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 6.276 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]: [-0.0189, 0.8116, 0.6121, -0.3805, -0.0223, -0.0376, 0.9993, 0.8471, 1.4517, 0.4438, 0.1448, 0.6209, 0.4953, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1787 left_yaw=0.0071 left_pitch=-0.016 left_roll=-0.0088 left_gripper=0.9993 right_x=0.279 right_y=0.166 right_z=0.0367 right_yaw=0.0592 right_pitch=-0.1061 right_roll=-0.0661 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.3744, 7.1043, 1.7363, -0.0806, -0.0562, -0.0122, 0.0889, -4.7521, 5.135, 1.4725, 0.442, 0.0952, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0189, 0.8127, 0.6109, -0.3805, -0.0219, -0.038, 0.9993, 0.8471, 1.2015, 1.1465, -0.8165, 0.6018, 0.4904, 0.9997]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1779 left_yaw=0.007 left_pitch=-0.0183 left_roll=-0.0093 left_gripper=0.9993 right_x=0.2785 right_y=0.1696 right_z=0.2397 right_yaw=0.0747 right_pitch=-0.1225 right_roll=-0.0655 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -1.4291, 7.1316, 1.6874, 0.0024, -0.0708, -0.0122, -0.3624, -4.2188, 8.7179, 1.2527, 0.4029, 0.0073, -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]: [-0.0189, 0.8146, 0.6106, -0.3805, -0.0219, -0.038, 0.9993, 0.8642, 1.3987, 0.5354, -0.0547, 0.5987, 0.4992, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1772 left_yaw=0.007 left_pitch=-0.0206 left_roll=-0.0093 left_gripper=0.9993 right_x=0.2748 right_y=0.1741 right_z=0.0534 right_yaw=0.0847 right_pitch=-0.157 right_roll=-0.09 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -1.0735, 7.159, 1.7021, -0.0269, -0.0611, -0.0122, 0.9368, -4.588, 5.9966, 1.4335, 0.4469, 0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a5f8164117251c9a9f4ba1d7ab91c65e3024d05d315044d1cddd5c54e73eedf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2f80d0c75d005cedacf91de7a470a6b921c729fcc91d0d11e3a8f4f1e1d0d53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d042a97c038717d935044dbd72fa05f2d3e59e3873bae88aad1c8d0a71fb94f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9QkKjgEIEhgCKkAbMCbGfLmuYiDMm1/kJPlLHsxN1KtaFiwvGX6BL7rQBLL5yKRJ9iJkMGnGKl1Czf7O5vrteREy4M0RGZ6sOgNEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbnBzNUGEgzc6Gd75yMXBIXU2WoaDCSoIpuTvj5SeZRmPiIwtGqfqgChMUVO7ify9l9Lnc+yYSERbRAPb7q3NSGc45759CUiujkWIEVnvxSs/LoaKpMIJRAtswoIxEXFnLqxVuV/VTY7xAq8q+tzryXWazr9xKgJ6nteHyc5HmwcU7Sy62t261O5ozE6zZD2oK0UqBS7vhpHAjqwOQzJ+bBVHccIkArvb5lulAwArjNhMnlDw2NyOoxl/fxHOqJ5BoJR/l3fISGH8+3FF1dWqUaHpuyfArpSFes9MaNW6VMRd2mPSjv9D4RaWFpzZaNqJHuPbNQsggH/heSFEOmjEvMXQ5b9n6QojVFzMMKzJrIsCCBw0iJM/5t6qWpjrN6GA/dhtNbTKgUaS4xUh0FcicArYitF7o8heuxw1C+3in68NULmGh/ksSOP9VHJaKyEi+2LCqdk77yFqUoliMaeMbmwciWdmJUXsp1AmnDNpmNEPdDKel/LDh+++D3kK6kDPXAyaK2MwNumC1/4LOMB7W82h9hqaAzwS8Aqc6TIMpkQiQg2e4EqYX1m5Br4QO1EYB4N8bfRJNbWjAw8syFtjsHFcAp9Y1GXvvgLWqZpe6FrAdnrjhFraL/MZnc2s3wr3T7pJDm9SNZO2RiY05e9tEQp3T0EiGY5MsTX4JsYLJsZo8cD4oanLlzK7cbN4EXuuIbTBugHyxS8X+yXjhhjPvNapWeHEXfl9wYj1yILhMIWZyghCNiRHAvkUR4ZOrxld4+dgLIWHVXXY7ZXjkgFYDxLrqGcpsisEPJruVSNhcpyDv/OTsoZ5JCGo5kWbG7LrwnzbrqVdkew/xjd5riTruWOGJp3hJomF8UaMCPGsOjbZIwnWFdraLGYP/A1tHj37DacRW0iVNv2bIrMJsIuZYA5BzHT0LRPgN+R8FRTqmBZjhQZdi17rr2Gbamq62cnTN13bFlILBr52TtFpLbqgsYJkY59Tbg/5E5wiupOan1cKuamy8ivaXl4VnaK7FM+lh92oohwf2sybPQwxGx/mzw5HlIzAUIzlnh/CIkCL5dS89/Q5LTG7it+B8zmjk9qejt6SYblgL002vAZz8fCwZT1i5ucTdhF0mL7khjCMFwbec0TwZFygXQ5RRgPuHzrh4OzNDO/GsNDnd6OiQMTBuZgSsXn+ja87+unWKwL3s3gOIsVQYnz7Llcs6OkFQDYo1u5FRxf37WKEVhzZMO5LEs+R39IuRnzO6k1MQchypuH7unwaklqVYHLp38lHTDDUleyT37GhgQzZmO49LGqDNOZqJU7VTdOqUCObW1EYK72+UKvytcshhzJ7fUaucCYptRXeD3OpoKt2TYgs9yqWi9FAB3lvqT4mT5aLuuflLO9qalG0GOt79taNm9A9gZJ7T/pfP/9toUlHD+yAPXx7tBooOAhF96WgO/ArV3yxlCzEUzsM70QkPBkC9XF1VQ2IMBBOHt6rfVKJX7ahv1Asu71PuYp5tGacTAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EkEE6C9Tqd5suayZehTTS6",
      "input": {
        "note": "Blue marker lies just left of the jaw column in the right wrist view; shifting ~2 cm to the arm's left and descending to 3 cm to straddle the pen shaft.",
        "targets": {
          "right_y": 0.192,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01EkEE6C9Tqd5suayZehTTS6",
      "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]: [-0.0189, 0.8173, 0.6098, -0.3798, -0.0216, -0.038, 0.9993, 0.907, 1.5486, 0.5354, 0.0231, 0.6025, 0.5289, 0.9997]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1762 left_yaw=0.0067 left_pitch=-0.0232 left_roll=-0.0094 left_gripper=0.9993 right_x=0.2689 right_y=0.187 right_z=0.0197 right_yaw=0.0994 right_pitch=-0.2037 right_roll=-0.1221 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.4154, 7.4325, 1.7851, -0.0366, -0.0513, -0.0122, 0.3077, -6.188, 5.9009, 1.4432, 0.4762, 0.149, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ead45c8b73972c38a7b6bc2137297797cb17cf3452f348d63c212b38392b822c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a370de387a683ff218424b2f75d7e8ef2bcfaf3ed8fcd86f3b9a106da72694e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:872f78d2483698e0f49865ca38e7d7461733d8348ba408dd63797a9ac4b8f7b7",
        "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 · 8.5 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]: [-0.0189, 0.8127, 0.6109, -0.3805, -0.0219, -0.038, 0.9993, 0.8471, 1.2015, 1.1465, -0.8165, 0.6018, 0.4904, 0.9997]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1779 left_yaw=0.007 left_pitch=-0.0183 left_roll=-0.0093 left_gripper=0.9993 right_x=0.2785 right_y=0.1696 right_z=0.2397 right_yaw=0.0747 right_pitch=-0.1225 right_roll=-0.0655 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -1.4291, 7.1316, 1.6874, 0.0024, -0.0708, -0.0122, -0.3624, -4.2188, 8.7179, 1.2527, 0.4029, 0.0073, -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]: [-0.0189, 0.8146, 0.6106, -0.3805, -0.0219, -0.038, 0.9993, 0.8642, 1.3987, 0.5354, -0.0547, 0.5987, 0.4992, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1772 left_yaw=0.007 left_pitch=-0.0206 left_roll=-0.0093 left_gripper=0.9993 right_x=0.2748 right_y=0.1741 right_z=0.0534 right_yaw=0.0847 right_pitch=-0.157 right_roll=-0.09 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -1.0735, 7.159, 1.7021, -0.0269, -0.0611, -0.0122, 0.9368, -4.588, 5.9966, 1.4335, 0.4469, 0.1001, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6098, -0.3798, -0.0216, -0.038, 0.9993, 0.907, 1.5486, 0.5354, 0.0231, 0.6025, 0.5289, 0.9997]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1762 left_yaw=0.0067 left_pitch=-0.0232 left_roll=-0.0094 left_gripper=0.9993 right_x=0.2689 right_y=0.187 right_z=0.0197 right_yaw=0.0994 right_pitch=-0.2037 right_roll=-0.1221 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.4154, 7.4325, 1.7851, -0.0366, -0.0513, -0.0122, 0.3077, -6.188, 5.9009, 1.4432, 0.4762, 0.149, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ead45c8b73972c38a7b6bc2137297797cb17cf3452f348d63c212b38392b822c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a370de387a683ff218424b2f75d7e8ef2bcfaf3ed8fcd86f3b9a106da72694e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:872f78d2483698e0f49865ca38e7d7461733d8348ba408dd63797a9ac4b8f7b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpQcKjgEIEhgCKkDBbjhcNg9Jn1yNx+yiujkZlCidkC17EwiE1bwtx/7r2llAgcafqmrDIvuzHW77NhqmUWDkHm0uf/Qyv0zVmvzPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcDBzNUGEgwthNZOiEcOGR2VNhoaDOH7AhPUySDU5hbhFyIwMoNvS67b1HMl6Polu9CwYgxd+NJNCNIuoLtND3VHfhHo2envqFhYYQdvhiHvQm0dKsMFIfz9hQYuVDq2BpqVfWnJJe2ebKcx3pDXgxkyyuNIBzGtelzKi8h+bqf3GnUImfK6p6mxXPX9I9GZ4p9v0L7xkmvQDkRHe6+BzwzQJ2BXKxtnGnxYL24ejZIPqXk7Aksvi+2qRY/uHJb/J++Iyp7rOMYGo5PgxBrJidgCkGFwQQOdXojZG17YX2yl0fEm97aJWZyO7+xR9m+Ic81+yNSuAyoXt5AMNurwgahqdQYcJ2XGtbsUTK3/C9wvZfjChJ82NH5wAXo3Zg2EbqzwnmgebRqrLVtw9kw6tqV3U7k5kIjESs/gY7WRb8z7DeBkWMPi17eTwj1HRvM8LX8+7D2Bx/VKA1MMrJCoJcpXswXJQDuDMMKyBaOj4EzY31pm5ebFthAyaoSC+D13XTHtRndSVtRihMSUPBLoHSAcj1UGBzn9y1aZHIrCqbUcVYY0OoTPY8iBD8X/vSdqHiNDSO7p8qLMKdkL5q8uB3TSajdWsnEW5JlMtntRRye1PjjHZ/Mc2t4lrd1NXfV1BlMdupRajG+g0+XXtrfkfk/Zx9JeeMVNtErlNs2GiTGxb6nRQzMv+a+rfvw+Qva/5xb6b/c/SIEp7n6TY2F57c2iPBthPiJPo6LUppujih9cMT6TxSHeZ/k7eXQ/8ipbgNDrHUz6GHxZyW6gb2FuQNeTx0CINuZmHcDnaWOqGlzlSVapLVltO/hlCOeqRwq3MGRPgYVyAvN6BovOkpoxb7zTCoIxaPEzYvo6HM97GEBOTM67wyOS5hN88/JCmmHWLbHN/OLJ211n1rzP5gcn9B9YEqOaldTcamD7EWYpQsh7Y8O6BenVfUjGvqlqHLudTYBUrIYwDUoWgKtMgUQRkGjlXZBDmWcC2o4Vyl2OOClW0wqvPqr7/VsMuPa7EDUwZsCBuc+L+RTn41PdlZ58cIL6xnHUGDThFoMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017aaVgZBdM5e7pdY7JVeGph",
      "input": {
        "note": "The blue marker is nearly on the jaw column and crosses under the fingertips; dropping to table level with a final 1 cm nudge and closing the gripper on it.",
        "targets": {
          "right_gripper": 0.0,
          "right_y": 0.2,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017aaVgZBdM5e7pdY7JVeGph",
      "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]: [-0.0189, 0.8173, 0.6098, -0.3801, -0.0219, -0.038, 0.9993, 0.9298, 1.6268, 0.5434, 0.0864, 0.6209, 0.5549, 0.1325]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1762 left_yaw=0.007 left_pitch=-0.0236 left_roll=-0.0092 left_gripper=0.9993 right_x=0.27 right_y=0.196 right_z=0.0078 right_yaw=0.0952 right_pitch=-0.1954 right_roll=-0.1187 right_gripper=0.1325\nstate[joint_eff]: [-0.1983, -1.1419, 7.3094, 1.707, -0.0317, -0.0855, -0.0122, 0.841, -4.2735, 6.2838, 1.072, 0.2222, 0.0464, 1.0037]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa037db8846c664fd1e15aa101ea4cbbc42db68095a9701ae2a23e3295cfaba0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26227df3dc65e434409897407672939ef6af335c1b6b9bc61ef6c0d711bbae4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c7d0f0ab4922e19f8b79e4ba909fff77a289baf5770e0515201f5327290e26b",
        "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 · 9.31 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]: [-0.0189, 0.8146, 0.6106, -0.3805, -0.0219, -0.038, 0.9993, 0.8642, 1.3987, 0.5354, -0.0547, 0.5987, 0.4992, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1772 left_yaw=0.007 left_pitch=-0.0206 left_roll=-0.0093 left_gripper=0.9993 right_x=0.2748 right_y=0.1741 right_z=0.0534 right_yaw=0.0847 right_pitch=-0.157 right_roll=-0.09 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -1.0735, 7.159, 1.7021, -0.0269, -0.0611, -0.0122, 0.9368, -4.588, 5.9966, 1.4335, 0.4469, 0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6098, -0.3798, -0.0216, -0.038, 0.9993, 0.907, 1.5486, 0.5354, 0.0231, 0.6025, 0.5289, 0.9997]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1762 left_yaw=0.0067 left_pitch=-0.0232 left_roll=-0.0094 left_gripper=0.9993 right_x=0.2689 right_y=0.187 right_z=0.0197 right_yaw=0.0994 right_pitch=-0.2037 right_roll=-0.1221 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.4154, 7.4325, 1.7851, -0.0366, -0.0513, -0.0122, 0.3077, -6.188, 5.9009, 1.4432, 0.4762, 0.149, -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]: [-0.0189, 0.8173, 0.6098, -0.3801, -0.0219, -0.038, 0.9993, 0.9298, 1.6268, 0.5434, 0.0864, 0.6209, 0.5549, 0.1325]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1762 left_yaw=0.007 left_pitch=-0.0236 left_roll=-0.0092 left_gripper=0.9993 right_x=0.27 right_y=0.196 right_z=0.0078 right_yaw=0.0952 right_pitch=-0.1954 right_roll=-0.1187 right_gripper=0.1325\nstate[joint_eff]: [-0.1983, -1.1419, 7.3094, 1.707, -0.0317, -0.0855, -0.0122, 0.841, -4.2735, 6.2838, 1.072, 0.2222, 0.0464, 1.0037]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa037db8846c664fd1e15aa101ea4cbbc42db68095a9701ae2a23e3295cfaba0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26227df3dc65e434409897407672939ef6af335c1b6b9bc61ef6c0d711bbae4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c7d0f0ab4922e19f8b79e4ba909fff77a289baf5770e0515201f5327290e26b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7gkKjgEIEhgCKkDYWVzLw+Z7XHzd8dWHPoYZnl+PFn9pLhDsi23a0zKhReOdTEKQOa1VL+bWUusXPkcZ7V9RDb+HcifA3YPyh5FTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcnBzNUGEgxOy3g9zBu7iNXslz8aDIms2VW8+NazleVZaCIwCbsYJ2kewPwNU1547Tgqzx8wmi+PV8lS8Qscl0kWuJU4BJz/KH00tfQS2NX6GVwOKowIHRUa5AQI0gKgPQnDYwl2A5UeqNOYk0r4V6ox3LI2f0LdDuNR1mdJe4yVzjh9BbpH/A0Yk342SVRrlJQWvsBfjrslHqFkAVUjWS+ITG2UX1k+fNSXnCMWiA0casrTZH+kQLYAjmxEGodWIFBoNo7QrUcYieVkahquUvnaqEK6aHAq1LXNtES2+vx+66BLN5slewk7LKSXcY+4JQMvcEwB0CctFkofo0XOXAmPEzgcVTW6ZRw4kSgKV9gksnOl0qDuuJGATtNmXwIg3589x/qCT8qWl+c9SH6dvnhm8GcfitnJGjwxM/AO0wJlOTQCCkDXjcHG0OA7j9uyEw+dXOWJlrbTFFgAKXgoX1idF9rmxXKIPEUW3yVc7pjhROKxpIMkC8G/LdSuH/sDqdcB0HNwzTa8KGlrB8kztkDLAihMx7PtUHF1dG6PR6RUEVIZrAUvsYz74/KHqQlyg87c0N94xy66ljFXPRNa5tx82x/xhTRkq5AJIvbwrat5Zfe5pBy2CN7PSfMdzIH7Tf91StgsHiQZxue7EHJfg1p/PvJ4suPD1ELfAZkSiv0jZ1PP0jk2/ssClWtEd+Z6VpQShuayfddr/vOV8nluw489B+z6ZFe+EQ45UoQXsiLFz5L8Sj9E6FlayTuePZA6J+mcn+rDgtOi3RZIVKSpTOdKoy19xrw9bQp2Drx9Qyr6EUdCwbjRmkEA7ECW80FCbWLZh2T5obuJpqs1V2rd9UXkfyr6fkbTOQx5OygDd1Z6txqKhLfA1aJOtjkiQ64Rr9sWHY6hiK9h9M6VhyhFmUVLQYO8yVLT5ZYVHW6geIFkdO7dp750nZC8Kh71jUXsNkhRBrh5KVGQMVE7uE/16nh6KcwdPP9ekh8Ip37T8aj+tOilhFFuH0fSEvJMtLBeomRfwKkKIdjcZpaTBVTDSS6X/B30ba9RBLWduz4AJ+9WphEimuGJUDvkqP9vLxxIzDr5EV7M3gU9I02w/lumcZmh5VCg9Nmdfh6/wxj72z4XY75WVl6S5me0GiPiLNp9agfdgNOxZOw0i4Tc0KFXQvrgnF2VMskEdI6/3Fzxrr1VGSbNjIyq89qh+ZY8Cc7jj0pA4lIqc86Uz+h3WTwAag3999lboBwS7Sc95CZWl7piCPZgvAkq0+gkYYi1CUO1lZNIvdTwabEsKoVQCHpZ0AzTxvvp3GNWipo9H3bPeb26atRF04upQSPjdgprhLT8xgj3bYUV5x/Lm9isujuou/Fruf9wZLc2pO/vBF37B3sqgVvt/UkaMuULLDMAyxnZkqXOPMZXnTYpQmXN5Cv8EnqxZBU+g9hRktN+5QnY/peXgkIH3Y9nE2Bl3dlOWbmMCFfWDu/P5bt0iRB/bRZBCrBqcBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HgPFZhH1w71JVJNPNUp7T6",
      "input": {
        "note": "Gripper settled at 0.13 (~1.3 cm) — the blue marker is held. Lifting and flying forward toward the right-hand basket to drop the pen there.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.16,
          "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_01HgPFZhH1w71JVJNPNUp7T6",
      "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]: [-0.0189, 0.8211, 0.6094, -0.3805, -0.0223, -0.038, 0.9993, 0.495, 1.6306, 1.5417, -0.7448, 0.3424, 0.1631, 0.1375]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1749 left_yaw=0.0074 left_pitch=-0.0282 left_roll=-0.0088 left_gripper=0.9993 right_x=0.4173 right_y=0.1619 right_z=0.2386 right_yaw=0.1018 right_pitch=-0.2161 right_roll=-0.1266 right_gripper=0.1375\nstate[joint_eff]: [-0.212, -1.7026, 7.0222, 1.7265, -0.0659, -0.0611, -0.0122, -0.5949, -7.9111, 9.2103, 1.5263, 0.1929, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cc68c01ddd0ce52c9feda6d07ab2d0b66c302d043e8b7793ee4c0c1ca880efa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0777371f659fcad57f7ee016ab415c2451bddd753a9a122964347e7028ab4781",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e8b0be71994db14d9085e060bd3ebf848a7619d6be11095618a2acc11513851",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.413 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]: [-0.0189, 0.8173, 0.6098, -0.3798, -0.0216, -0.038, 0.9993, 0.907, 1.5486, 0.5354, 0.0231, 0.6025, 0.5289, 0.9997]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1762 left_yaw=0.0067 left_pitch=-0.0232 left_roll=-0.0094 left_gripper=0.9993 right_x=0.2689 right_y=0.187 right_z=0.0197 right_yaw=0.0994 right_pitch=-0.2037 right_roll=-0.1221 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.4154, 7.4325, 1.7851, -0.0366, -0.0513, -0.0122, 0.3077, -6.188, 5.9009, 1.4432, 0.4762, 0.149, -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]: [-0.0189, 0.8173, 0.6098, -0.3801, -0.0219, -0.038, 0.9993, 0.9298, 1.6268, 0.5434, 0.0864, 0.6209, 0.5549, 0.1325]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1762 left_yaw=0.007 left_pitch=-0.0236 left_roll=-0.0092 left_gripper=0.9993 right_x=0.27 right_y=0.196 right_z=0.0078 right_yaw=0.0952 right_pitch=-0.1954 right_roll=-0.1187 right_gripper=0.1325\nstate[joint_eff]: [-0.1983, -1.1419, 7.3094, 1.707, -0.0317, -0.0855, -0.0122, 0.841, -4.2735, 6.2838, 1.072, 0.2222, 0.0464, 1.0037]",
      "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]: [-0.0189, 0.8211, 0.6094, -0.3805, -0.0223, -0.038, 0.9993, 0.495, 1.6306, 1.5417, -0.7448, 0.3424, 0.1631, 0.1375]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1749 left_yaw=0.0074 left_pitch=-0.0282 left_roll=-0.0088 left_gripper=0.9993 right_x=0.4173 right_y=0.1619 right_z=0.2386 right_yaw=0.1018 right_pitch=-0.2161 right_roll=-0.1266 right_gripper=0.1375\nstate[joint_eff]: [-0.212, -1.7026, 7.0222, 1.7265, -0.0659, -0.0611, -0.0122, -0.5949, -7.9111, 9.2103, 1.5263, 0.1929, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cc68c01ddd0ce52c9feda6d07ab2d0b66c302d043e8b7793ee4c0c1ca880efa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0777371f659fcad57f7ee016ab415c2451bddd753a9a122964347e7028ab4781",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e8b0be71994db14d9085e060bd3ebf848a7619d6be11095618a2acc11513851",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3AoKjgEIEhgCKkD8ytXPHAghFocUZg5Aep4pAyJCsoO0SRnB9R3wQCehiaAJrqYwOaWMLOUV/5zkn3zU/eqeqDqeR8s0GB0hu4hBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdvBzNUGEgxk5JMrok+33n+3IgoaDK92Dpr2K0WRoDrF7CIw/10dMlrHaHThpawjC4s8fBn974l4/ZLMIKni9PFAeU1p9bwUtEr4lI/BCeH1uF6YKvoIC8UTlPs/dgbFu5tfw9HQcgJxNtknJn9arEaHaIMW+0uM7J5i/dmGpsRFTLglYBRqjD1gvvH/mtjQuROhkfxBNVKl8uEBZTOj6Hyu6gpFd3gtPzsjus8wvXxt9Q+uWVs91CQmpJfJU6h5WCWJ/uH2Qjk5Oc8CjORauRyD+rNxcRvX+GqgQszEPibZOik2RJ+3b/KtWX820wZw+I3Sr9gMmNw0g/GMVKrOwfYoYKt5BPJrEPmMnuNlp93Ahk4yaWFPl3A3sWJ9rkey50ACE03DI0pI40QOaAnFbqZiYd/r2cK9Tyz7QooWOWfvM1Y0TMpEEDlLG5JSwwblz2fAh+Gc/NQ9rWSZfZ83F6URPP8NsaJxdeNrS4MDD9NHsDIMkLzgN6c28GLJ9XVkBZhA9qMIHCo/PueXJVL/tzM7lTjxdv7iEKlWGhtu8sZU2WOdCKGIeMxTwbRNUBSB0lPeGnTGe67m7kPADdo9JV8TPfN4NE7MyTFUntgZYY6BBpL8grSMqpzB0gRxPLLJl/Khm4B/fJd8e4dv5dokqPz66+J7V6n0W8gb1V3sdAXFdHHynto42l53v2dHy33G/f01oD3H837xW/Xp/+TgKm7sVh/p7Jr1H4Jop/4uwGBbce/Et/tlptCcNgZiDwE/791vNCSyqLGYMM81/kTlhEYt0+kMUjufBtW9m6ANANgg64zCwfn8RiT+WCeJ518alXGlSZrGj1IP87eIofsc738MmjESClBAfa36itHMHLQFJ3AKe1zM0dWJGgT1doMcHSFIAfMhdLlPAoXQjEuxTaAgXIXJTyiZnDIgEcDFJl/w5A4v9N++XfRluBy90FZnqPMdpsfvTvG7K4egcC9d/SWw2z1aXwiGOEnBaBeFuY3q517k3HEaYfkXWQXBYc4ibCrf1mywDgSVoOxJNS6TU9hA0bZ0BvKAgatfOhWTeUFzB/meo/QhEeX0azTgYT6oE3EjWptrQi6ys1X91UaFSLUuTShtdQFp90iSl7FvEqTogllpjgE1CYhQZoICFLc/BzuLULiMtiZauQ5JQNhVE3zl6Zrt4G4j8CT5UYPorqQ37EvHqvG7J98RQ3OTeSVvjOgaOt8u6NLLhSszYIbw1HFQTLF3esf9Tg/aIbvLF09dMHj/cFMys4MiRojJGgs+BJdSoWP9WhVkRYBpzFknuoYc+2mpKpfpwSXY0JRbQjZZw8u47ugcadWkpqXLuP/IFfuwj+upsPqPcX1WyCp+KGiPuXPh02wveFRaxsNHPPEwp+5bds8Y+KNl6toiTeDpaV3pm5yYmd4BPkgL3RA289uPn9qNiMBKnSR8l+fM+L6IysnQu4Lw5pfBQuLRWDpINVR10ZdcVyTrwEFE/GZIluMjLRL+CDUSKxH+OxNAjMwnrks9Pzce4j68/Bp4W/pVIc7OPqt7xEr50cXmDkdM+p4pwwuNMw/EYqghp8m5Lj5YJkwcBi/MQMHoCZpdAJpXeWpLuGgVihgEShDGHe86IzgKC5wf+zJOgPHk5dYzLon6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MqbkeAbGBoBNEyGoy5jxnH",
      "input": {
        "note": "The right basket appears just beyond the held pen in the wrist view; advancing 4 cm forward and lowering slightly to hold the marker over the basket mouth.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.17,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01MqbkeAbGBoBNEyGoy5jxnH",
      "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]: [-0.0189, 0.8238, 0.6094, -0.3805, -0.0219, -0.038, 0.9993, 0.466, 1.7809, 1.5352, -0.6308, 0.3183, 0.1337, 0.1403]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1741 left_yaw=0.007 left_pitch=-0.0309 left_roll=-0.009 left_gripper=0.9993 right_x=0.4516 right_y=0.1693 right_z=0.1862 right_yaw=0.1048 right_pitch=-0.2646 right_roll=-0.1465 right_gripper=0.1403\nstate[joint_eff]: [-0.0342, -1.6342, 7.2957, 1.6874, -0.0611, -0.0757, -0.0122, -0.7453, -9.306, 8.212, 1.7509, 0.1001, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12d2f0f7ac1b9d6671172c9c74cb8a7c335af1a2be827aa81e58fd3faed68003",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9abbdb8bd32b20440bc7eb8c014902c066c6f0878f1c8775de3d0553d1bfd9b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3d2545d66fa5d2636a46d7501cb6e4ae8dff873ae21a1d5fc45fb866ef43306a",
        "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 · 10.12 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]: [-0.0189, 0.8173, 0.6098, -0.3801, -0.0219, -0.038, 0.9993, 0.9298, 1.6268, 0.5434, 0.0864, 0.6209, 0.5549, 0.1325]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1762 left_yaw=0.007 left_pitch=-0.0236 left_roll=-0.0092 left_gripper=0.9993 right_x=0.27 right_y=0.196 right_z=0.0078 right_yaw=0.0952 right_pitch=-0.1954 right_roll=-0.1187 right_gripper=0.1325\nstate[joint_eff]: [-0.1983, -1.1419, 7.3094, 1.707, -0.0317, -0.0855, -0.0122, 0.841, -4.2735, 6.2838, 1.072, 0.2222, 0.0464, 1.0037]",
      "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]: [-0.0189, 0.8211, 0.6094, -0.3805, -0.0223, -0.038, 0.9993, 0.495, 1.6306, 1.5417, -0.7448, 0.3424, 0.1631, 0.1375]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1749 left_yaw=0.0074 left_pitch=-0.0282 left_roll=-0.0088 left_gripper=0.9993 right_x=0.4173 right_y=0.1619 right_z=0.2386 right_yaw=0.1018 right_pitch=-0.2161 right_roll=-0.1266 right_gripper=0.1375\nstate[joint_eff]: [-0.212, -1.7026, 7.0222, 1.7265, -0.0659, -0.0611, -0.0122, -0.5949, -7.9111, 9.2103, 1.5263, 0.1929, -0.0317, 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 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]: [-0.0189, 0.8238, 0.6094, -0.3805, -0.0219, -0.038, 0.9993, 0.466, 1.7809, 1.5352, -0.6308, 0.3183, 0.1337, 0.1403]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1741 left_yaw=0.007 left_pitch=-0.0309 left_roll=-0.009 left_gripper=0.9993 right_x=0.4516 right_y=0.1693 right_z=0.1862 right_yaw=0.1048 right_pitch=-0.2646 right_roll=-0.1465 right_gripper=0.1403\nstate[joint_eff]: [-0.0342, -1.6342, 7.2957, 1.6874, -0.0611, -0.0757, -0.0122, -0.7453, -9.306, 8.212, 1.7509, 0.1001, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12d2f0f7ac1b9d6671172c9c74cb8a7c335af1a2be827aa81e58fd3faed68003",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9abbdb8bd32b20440bc7eb8c014902c066c6f0878f1c8775de3d0553d1bfd9b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d2545d66fa5d2636a46d7501cb6e4ae8dff873ae21a1d5fc45fb866ef43306a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISswIKjgEIEhgCKkD71NGwCW92bhnelXYS1xiyEdMiKCIOlxzat8+sSIcTGCmIBaMDQ6DG8a6KJ41HfdVaPeD/TH9OpGxS6IIsrJaLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeHBzNUGEgx2B436apa6XIsWc2saDPU5tCOdM2v7ckMnLSIwM6934UX4PiEfTvbBJI3KKXdE24QRMEMYJK1Leg3B9mQWxZbfxxqadD69xQaTBhFsKlJyax9vHRKENiy8aWPBMc01DReEnyo+MDlIkMmKqJjIkx9t+av8ETy2IBASeYxnQt8t1WsFrZpzQYNMxJEwWSeaRThQ78plXtmNvIelXkFrvZ9iGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PYVu1M5Xn36QpgW3R12NpY",
      "input": {
        "note": "The marker is hanging over the right basket's interior; opening the jaws to drop it in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01PYVu1M5Xn36QpgW3R12NpY",
      "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]: [-0.0189, 0.8238, 0.6094, -0.3805, -0.0216, -0.038, 0.9993, 0.4644, 1.7809, 1.5337, -0.635, 0.3084, 0.1276, 0.9951]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1741 left_yaw=0.0067 left_pitch=-0.0309 left_roll=-0.0092 left_gripper=0.9993 right_x=0.4505 right_y=0.1697 right_z=0.1845 right_yaw=0.1144 right_pitch=-0.2731 right_roll=-0.1454 right_gripper=0.9951\nstate[joint_eff]: [-0.0615, -1.4154, 7.2137, 1.7216, -0.0171, -0.0659, -0.0122, 0.1709, -9.1556, 6.8991, 1.4725, 0.1587, -0.0024, -0.1343]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5182d1816ffa936e883bf1684b9a88b3781a5701494b10c6a274555056a19e99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bdcc892cc9c6f7387387beeec8cfc2e2bba3a8e24b72106b7b68ccb5fa4db04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:81482751dcfa479f51beece81d9e9e59bc7c924226e31b5f935f61deafcbf50b",
        "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 · 4.183 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]: [-0.0189, 0.8211, 0.6094, -0.3805, -0.0223, -0.038, 0.9993, 0.495, 1.6306, 1.5417, -0.7448, 0.3424, 0.1631, 0.1375]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1749 left_yaw=0.0074 left_pitch=-0.0282 left_roll=-0.0088 left_gripper=0.9993 right_x=0.4173 right_y=0.1619 right_z=0.2386 right_yaw=0.1018 right_pitch=-0.2161 right_roll=-0.1266 right_gripper=0.1375\nstate[joint_eff]: [-0.212, -1.7026, 7.0222, 1.7265, -0.0659, -0.0611, -0.0122, -0.5949, -7.9111, 9.2103, 1.5263, 0.1929, -0.0317, 1.0281]\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]: [-0.0189, 0.8238, 0.6094, -0.3805, -0.0219, -0.038, 0.9993, 0.466, 1.7809, 1.5352, -0.6308, 0.3183, 0.1337, 0.1403]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1741 left_yaw=0.007 left_pitch=-0.0309 left_roll=-0.009 left_gripper=0.9993 right_x=0.4516 right_y=0.1693 right_z=0.1862 right_yaw=0.1048 right_pitch=-0.2646 right_roll=-0.1465 right_gripper=0.1403\nstate[joint_eff]: [-0.0342, -1.6342, 7.2957, 1.6874, -0.0611, -0.0757, -0.0122, -0.7453, -9.306, 8.212, 1.7509, 0.1001, -0.0317, 1.0281]",
      "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]: [-0.0189, 0.8238, 0.6094, -0.3805, -0.0216, -0.038, 0.9993, 0.4644, 1.7809, 1.5337, -0.635, 0.3084, 0.1276, 0.9951]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1741 left_yaw=0.0067 left_pitch=-0.0309 left_roll=-0.0092 left_gripper=0.9993 right_x=0.4505 right_y=0.1697 right_z=0.1845 right_yaw=0.1144 right_pitch=-0.2731 right_roll=-0.1454 right_gripper=0.9951\nstate[joint_eff]: [-0.0615, -1.4154, 7.2137, 1.7216, -0.0171, -0.0659, -0.0122, 0.1709, -9.1556, 6.8991, 1.4725, 0.1587, -0.0024, -0.1343]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5182d1816ffa936e883bf1684b9a88b3781a5701494b10c6a274555056a19e99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bdcc892cc9c6f7387387beeec8cfc2e2bba3a8e24b72106b7b68ccb5fa4db04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81482751dcfa479f51beece81d9e9e59bc7c924226e31b5f935f61deafcbf50b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019AWc4q6RBdYpzYPJHRBzzY",
      "input": {
        "note": "Blue marker delivered to the right basket. Now moving back over the table toward the black pen lying to the right of the plush toys.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.13,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_019AWc4q6RBdYpzYPJHRBzzY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8307, 0.6094, -0.3798, -0.0219, -0.038, 0.9993, 0.5995, 1.2671, 0.7914, -0.4583, 0.374, 0.2226, 0.9962]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1724 left_yaw=0.007 left_pitch=-0.037 left_roll=-0.0088 left_gripper=0.9993 right_x=0.3034 right_y=0.1335 right_z=0.1166 right_yaw=0.1371 right_pitch=-0.2928 right_roll=-0.1504 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -1.5658, 7.0496, 1.7802, -0.0317, -0.0122, -0.0122, 0.3761, -5.2444, 6.9128, 1.4921, 0.4029, 0.1685, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e79395c45f0accb77e09be5b57bfdb5d709275db1d3b6d4b8dcb7ea2e733576d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16bfb908d290d834b6b3fbd2239c8c182e351b079e1d61549f59267113a5fdf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c989ade458a1ee88eb860ebff718cf1712c2e6b345a8e09e71eae5d29901cd52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 15 attempt 0 · /messages · status 200 · 4.545 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]: [-0.0189, 0.8238, 0.6094, -0.3805, -0.0219, -0.038, 0.9993, 0.466, 1.7809, 1.5352, -0.6308, 0.3183, 0.1337, 0.1403]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1741 left_yaw=0.007 left_pitch=-0.0309 left_roll=-0.009 left_gripper=0.9993 right_x=0.4516 right_y=0.1693 right_z=0.1862 right_yaw=0.1048 right_pitch=-0.2646 right_roll=-0.1465 right_gripper=0.1403\nstate[joint_eff]: [-0.0342, -1.6342, 7.2957, 1.6874, -0.0611, -0.0757, -0.0122, -0.7453, -9.306, 8.212, 1.7509, 0.1001, -0.0317, 1.0281]",
      "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]: [-0.0189, 0.8238, 0.6094, -0.3805, -0.0216, -0.038, 0.9993, 0.4644, 1.7809, 1.5337, -0.635, 0.3084, 0.1276, 0.9951]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1741 left_yaw=0.0067 left_pitch=-0.0309 left_roll=-0.0092 left_gripper=0.9993 right_x=0.4505 right_y=0.1697 right_z=0.1845 right_yaw=0.1144 right_pitch=-0.2731 right_roll=-0.1454 right_gripper=0.9951\nstate[joint_eff]: [-0.0615, -1.4154, 7.2137, 1.7216, -0.0171, -0.0659, -0.0122, 0.1709, -9.1556, 6.8991, 1.4725, 0.1587, -0.0024, -0.1343]",
      "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]: [-0.0189, 0.8307, 0.6094, -0.3798, -0.0219, -0.038, 0.9993, 0.5995, 1.2671, 0.7914, -0.4583, 0.374, 0.2226, 0.9962]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1724 left_yaw=0.007 left_pitch=-0.037 left_roll=-0.0088 left_gripper=0.9993 right_x=0.3034 right_y=0.1335 right_z=0.1166 right_yaw=0.1371 right_pitch=-0.2928 right_roll=-0.1504 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -1.5658, 7.0496, 1.7802, -0.0317, -0.0122, -0.0122, 0.3761, -5.2444, 6.9128, 1.4921, 0.4029, 0.1685, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e79395c45f0accb77e09be5b57bfdb5d709275db1d3b6d4b8dcb7ea2e733576d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16bfb908d290d834b6b3fbd2239c8c182e351b079e1d61549f59267113a5fdf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c989ade458a1ee88eb860ebff718cf1712c2e6b345a8e09e71eae5d29901cd52",
        "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+AQKjgEIEhgCKkClHtbNfpO1fyFc1JAvrvvwxgB6HAk0Ik/J0p7inrXPwdd3QweYXYUinrbx6IDUEHU28AuZo1OIIadCdH62O/9FMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfPBzNUGEgwY58prXBaYj9S306gaDGiljKalOG1Oclw5cyIw4Dpf8EpQ+sxHIBMpyLqHYt6YvU9Oe5t/fbpMD9sxWNvRna+4SXL25HJubS3yWe0kKpYD0GRNtJ2xcY5pa+2khlFCnpwIbXW3G4w9WqvixjjFHQtItILrWeKMmhL82ewrtqCDxjwAOC3ULwn6ncIk75HmhL0G+QgzAH65rIcAHbq3AO0z94gn5iY+DTmSsaOnoeVcQKkxmH+8DDn0qi5kWYOa2/6Fzx4hRwepkG+eQLn9EI98pPXbT1lLZ0ZHA5sUXE5ugO4a8IwoL1JzTXAdcCKLwu8kA0jd5K12dfqgCPjHKW5a1qu+/0oN6tsGbq3+iCSZOP9r/9a7N+5nPD3ZmfLq70y3LcrgVlZ4KqH9WxgXXvZhFk+nrG7QJGnSrnn/UNW2LltDMMmsKPjsN+iNw1ZIUoObG2jlTvfusrzYcacBy3eqb1RNeev0Ugrc9N02bkt5tK1AipkLUZCqT6ri93whnXE1JKQ4EwgXDm36bDrO2jwGCYvh81SODJWgmYNl4ydMeGkwrhhvnrrIxAnOWmXYJNeZ1EHMN7ditgHLe5ZS3uoEpG3p7RN+33AhF1yVTFYNkjyUYnLMR2yLeMJb78oTWniO5X2otxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015DF41852AE4tsvxM998nAP",
      "input": {
        "note": "The black pen sits right on the jaw column in the wrist view, crossing beneath the fingertips; descending to table level and closing on it.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.3,
          "right_y": 0.125,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015DF41852AE4tsvxM998nAP",
      "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]: [-0.0189, 0.8307, 0.6094, -0.3805, -0.0223, -0.0383, 0.9993, 0.5804, 1.499, 0.4736, 0.0929, 0.3584, 0.2008, 0.0101]\nstate[eef_state]: left_x=0.2977 left_y=0.0019 left_z=0.1722 left_yaw=0.0076 left_pitch=-0.0377 left_roll=-0.0089 left_gripper=0.9993 right_x=0.2994 right_y=0.1265 right_z=0.008 right_yaw=0.1429 right_pitch=-0.2987 right_roll=-0.1528 right_gripper=0.0101\nstate[joint_eff]: [-0.253, -1.0051, 7.1043, 1.7558, -0.0415, -0.0464, -0.0171, -0.5265, -3.7538, 4.3556, 1.2527, 0.2173, 0.0073, 0.7546]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34077bc7bd8580bf9b9d81bca881916d534a94d73b58f4270b19c96dc4c81660",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a71f83046d4b0c40919c4f32b50730c65b267d44162c0c9403f6421e2c444099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c9b433bd01de5a930250b976663c31190f7adeda8e0aeaa43f98c40f42c5e6b",
        "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 · 5.461 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]: [-0.0189, 0.8238, 0.6094, -0.3805, -0.0216, -0.038, 0.9993, 0.4644, 1.7809, 1.5337, -0.635, 0.3084, 0.1276, 0.9951]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1741 left_yaw=0.0067 left_pitch=-0.0309 left_roll=-0.0092 left_gripper=0.9993 right_x=0.4505 right_y=0.1697 right_z=0.1845 right_yaw=0.1144 right_pitch=-0.2731 right_roll=-0.1454 right_gripper=0.9951\nstate[joint_eff]: [-0.0615, -1.4154, 7.2137, 1.7216, -0.0171, -0.0659, -0.0122, 0.1709, -9.1556, 6.8991, 1.4725, 0.1587, -0.0024, -0.1343]",
      "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]: [-0.0189, 0.8307, 0.6094, -0.3798, -0.0219, -0.038, 0.9993, 0.5995, 1.2671, 0.7914, -0.4583, 0.374, 0.2226, 0.9962]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1724 left_yaw=0.007 left_pitch=-0.037 left_roll=-0.0088 left_gripper=0.9993 right_x=0.3034 right_y=0.1335 right_z=0.1166 right_yaw=0.1371 right_pitch=-0.2928 right_roll=-0.1504 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -1.5658, 7.0496, 1.7802, -0.0317, -0.0122, -0.0122, 0.3761, -5.2444, 6.9128, 1.4921, 0.4029, 0.1685, 0.1001]",
      "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]: [-0.0189, 0.8307, 0.6094, -0.3805, -0.0223, -0.0383, 0.9993, 0.5804, 1.499, 0.4736, 0.0929, 0.3584, 0.2008, 0.0101]\nstate[eef_state]: left_x=0.2977 left_y=0.0019 left_z=0.1722 left_yaw=0.0076 left_pitch=-0.0377 left_roll=-0.0089 left_gripper=0.9993 right_x=0.2994 right_y=0.1265 right_z=0.008 right_yaw=0.1429 right_pitch=-0.2987 right_roll=-0.1528 right_gripper=0.0101\nstate[joint_eff]: [-0.253, -1.0051, 7.1043, 1.7558, -0.0415, -0.0464, -0.0171, -0.5265, -3.7538, 4.3556, 1.2527, 0.2173, 0.0073, 0.7546]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34077bc7bd8580bf9b9d81bca881916d534a94d73b58f4270b19c96dc4c81660",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a71f83046d4b0c40919c4f32b50730c65b267d44162c0c9403f6421e2c444099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c9b433bd01de5a930250b976663c31190f7adeda8e0aeaa43f98c40f42c5e6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrgMKjgEIEhgCKkDihgGWvRe/kEIOvHXXNRtLTGocoFYvmWsvzyeY1r1mKnIUgXi0iL+F5mwBnB82z7QGnA6l/Na7bJ75JkWgFvsoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfnBzNUGEgxMfQoDMr+/d5g8P2QaDAHyPyQFREgJqY6iCyIwoCN2Z3GyPnvn/tm5pgebxqCFdixxEGaL5j6dXV0Yx6Uss+k7Pq8QgI/w6FM+D8NXKswBar6TYF86qaIG4UDN8SJ/Q0Jk19X32X2OLYuNoKlmLpAzNYZ8XpV9L1T30Eo8Kjj9dhrH0RESdMliK1qrmy/ZeLQOhk2KJddjCsbLa9giO4RP/ql+q04KgoNJ8bTjlmLywu2X4UKM0cHD7y4jXYvDxGPmEJsHtDuuACIpcsGYhDsLzj2+6MT60G45IzjpbcCpQWKb3UZ7H3Ut8thokQhov0aLl2NNFtPm43qn09kBPAwdxKzSmcsZ0qE31AySSh5zN0BzajXqrVNSxVTGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LjVsSHFXhCGPcSbh6chQx4",
      "input": {
        "note": "Close came up empty (0.01) and the wrist view shows the pen sitting to the right of the jaws; opening, lifting slightly and shifting 2.5 cm to the arm's right to line up again.",
        "targets": {
          "right_gripper": 1.0,
          "right_y": 0.1,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LjVsSHFXhCGPcSbh6chQx4",
      "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]: [-0.0189, 0.8333, 0.6094, -0.3805, -0.0219, -0.0383, 0.9993, 0.482, 1.3712, 0.466, 0.0002, 0.2955, 0.1177, 0.995]\nstate[eef_state]: left_x=0.2979 left_y=0.0018 left_z=0.1715 left_yaw=0.0072 left_pitch=-0.0404 left_roll=-0.0091 left_gripper=0.9993 right_x=0.3003 right_y=0.1031 right_z=0.0272 right_yaw=0.146 right_pitch=-0.2988 right_roll=-0.1504 right_gripper=0.995\nstate[joint_eff]: [-0.1709, -1.7026, 7.0222, 1.7363, -0.0415, -0.0269, -0.0171, -0.9094, -5.4496, 5.5863, 1.3162, 0.0952, -0.0317, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00ca3de56e50ded16634525297fcb90c7e5459bdb369f672276f7908e3ae869e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1d8ae41b15b8eb2e0216471830010bdaafa29b0055e926fdbd09bca3dfb016d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:18e52c7c864549c595d95a7af0cc370af38cf20525536f3be707fee3e37278d5",
        "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 · 3.213 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]: [-0.0189, 0.8307, 0.6094, -0.3798, -0.0219, -0.038, 0.9993, 0.5995, 1.2671, 0.7914, -0.4583, 0.374, 0.2226, 0.9962]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1724 left_yaw=0.007 left_pitch=-0.037 left_roll=-0.0088 left_gripper=0.9993 right_x=0.3034 right_y=0.1335 right_z=0.1166 right_yaw=0.1371 right_pitch=-0.2928 right_roll=-0.1504 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -1.5658, 7.0496, 1.7802, -0.0317, -0.0122, -0.0122, 0.3761, -5.2444, 6.9128, 1.4921, 0.4029, 0.1685, 0.1001]",
      "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]: [-0.0189, 0.8307, 0.6094, -0.3805, -0.0223, -0.0383, 0.9993, 0.5804, 1.499, 0.4736, 0.0929, 0.3584, 0.2008, 0.0101]\nstate[eef_state]: left_x=0.2977 left_y=0.0019 left_z=0.1722 left_yaw=0.0076 left_pitch=-0.0377 left_roll=-0.0089 left_gripper=0.9993 right_x=0.2994 right_y=0.1265 right_z=0.008 right_yaw=0.1429 right_pitch=-0.2987 right_roll=-0.1528 right_gripper=0.0101\nstate[joint_eff]: [-0.253, -1.0051, 7.1043, 1.7558, -0.0415, -0.0464, -0.0171, -0.5265, -3.7538, 4.3556, 1.2527, 0.2173, 0.0073, 0.7546]",
      "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]: [-0.0189, 0.8333, 0.6094, -0.3805, -0.0219, -0.0383, 0.9993, 0.482, 1.3712, 0.466, 0.0002, 0.2955, 0.1177, 0.995]\nstate[eef_state]: left_x=0.2979 left_y=0.0018 left_z=0.1715 left_yaw=0.0072 left_pitch=-0.0404 left_roll=-0.0091 left_gripper=0.9993 right_x=0.3003 right_y=0.1031 right_z=0.0272 right_yaw=0.146 right_pitch=-0.2988 right_roll=-0.1504 right_gripper=0.995\nstate[joint_eff]: [-0.1709, -1.7026, 7.0222, 1.7363, -0.0415, -0.0269, -0.0171, -0.9094, -5.4496, 5.5863, 1.3162, 0.0952, -0.0317, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00ca3de56e50ded16634525297fcb90c7e5459bdb369f672276f7908e3ae869e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1d8ae41b15b8eb2e0216471830010bdaafa29b0055e926fdbd09bca3dfb016d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18e52c7c864549c595d95a7af0cc370af38cf20525536f3be707fee3e37278d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlgUKjgEIEhgCKkC8V1CfOuNFDDC4UtDfl6pWonhOY+J++zkNNWvDnSMzq8phZRX1qOEKsalnr9MIpx+XwFCRf28AOiXlyf+CVhRXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYHCzNUGEgweVGm29KSmY/uLiFAaDDM8S63VMWu4vl5tsyIwxSaQMN8Ng0ten5jVK29c48qqjI3/PuEkyDP+lnHk3xVyRiTZj34RPB55uY9/jtf/KrQDeIBTPnuZ2QOOOQA2rBG42E/075+5+kYRNnjTuQz2pWv4Zs6UYjZjzJW8S7a8TvQZkUVsKUSgV7opwaF2K8lwR4r3dhYS7sqTydKyjXYsjLNPh9tqP0lGp3hXhfPDtpWAkXhNaGAdz1Q6f/r/ZVjV9HfHxJXqerBtDNHPRVrjhPwa404LuW0UrU+a38lnPoEDWxbx0Y0+nxPoiKpqizTY4VOYTovOqKfEJsRZ3/6ZL80gd5kr4VuMKJndnEAJlyq/nbB/hgWoOWSEA+546nVrz4NMTZ0B4H/seW8K0FUizbdgR+mCB1TTAIQs+4k+htO0U5YjRAluLZ5sbEsm1G36hsPyYc3n8911J2lIHtJcilOLMMSyrEmXSEXOEhz9BE1UhkaasTNOXwb2GmqxKAmne0KvwwEVepkiUQ6uQ4DPzLulWXxi/yzhDOqBHwSf2rsrgZtBtxlhJ2b4lOKOB1g3ciBb0IBEUo/ExCqx0QuW1jYJh07y7WMgCHH3Z1uL19QqBk62EWJTCovJzJRouXu0KuGisrWAgM0tZkwaTgusuYAaBDhAdWwPlUMzyQoLOxsXxr4ZDBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0175pciGE1xZmCMAPUihZ9bM",
      "input": {
        "note": "Pen now sits between the jaws but ~1.5 cm right of centre; nudging right and descending to table level to close on the shaft.",
        "targets": {
          "right_gripper": 0.0,
          "right_y": 0.088,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0175pciGE1xZmCMAPUihZ9bM",
      "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]: [-0.0189, 0.8341, 0.609, -0.3801, -0.0219, -0.0383, 0.9993, 0.4244, 1.4158, 0.403, 0.141, 0.2592, 0.0654, 0.128]\nstate[eef_state]: left_x=0.2979 left_y=0.0018 left_z=0.1712 left_yaw=0.0073 left_pitch=-0.0411 left_roll=-0.009 left_gripper=0.9993 right_x=0.3041 right_y=0.0917 right_z=0.0125 right_yaw=0.151 right_pitch=-0.2798 right_roll=-0.148 right_gripper=0.128\nstate[joint_eff]: [-0.1846, -1.5521, 7.1316, 1.6728, -0.0464, -0.0659, -0.0171, -0.6906, -3.0838, 4.4103, 1.3602, 0.1148, -0.0415, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d7cb7e0db4bca90dbb8634bf85b4fac866e233ee8a5f380b1ea14603149df92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd4d4bf1a6c7c66e930aa2ffdbaacc704a59f183efc77affaed1db2f0862310d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e548586dfff15582997ecd1a15bf7cd6ad9bfdd1c9bb0d857c8e814d1fb32496",
        "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 · 2.64 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]: [-0.0189, 0.8307, 0.6094, -0.3805, -0.0223, -0.0383, 0.9993, 0.5804, 1.499, 0.4736, 0.0929, 0.3584, 0.2008, 0.0101]\nstate[eef_state]: left_x=0.2977 left_y=0.0019 left_z=0.1722 left_yaw=0.0076 left_pitch=-0.0377 left_roll=-0.0089 left_gripper=0.9993 right_x=0.2994 right_y=0.1265 right_z=0.008 right_yaw=0.1429 right_pitch=-0.2987 right_roll=-0.1528 right_gripper=0.0101\nstate[joint_eff]: [-0.253, -1.0051, 7.1043, 1.7558, -0.0415, -0.0464, -0.0171, -0.5265, -3.7538, 4.3556, 1.2527, 0.2173, 0.0073, 0.7546]",
      "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]: [-0.0189, 0.8333, 0.6094, -0.3805, -0.0219, -0.0383, 0.9993, 0.482, 1.3712, 0.466, 0.0002, 0.2955, 0.1177, 0.995]\nstate[eef_state]: left_x=0.2979 left_y=0.0018 left_z=0.1715 left_yaw=0.0072 left_pitch=-0.0404 left_roll=-0.0091 left_gripper=0.9993 right_x=0.3003 right_y=0.1031 right_z=0.0272 right_yaw=0.146 right_pitch=-0.2988 right_roll=-0.1504 right_gripper=0.995\nstate[joint_eff]: [-0.1709, -1.7026, 7.0222, 1.7363, -0.0415, -0.0269, -0.0171, -0.9094, -5.4496, 5.5863, 1.3162, 0.0952, -0.0317, -0.149]\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 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]: [-0.0189, 0.8341, 0.609, -0.3801, -0.0219, -0.0383, 0.9993, 0.4244, 1.4158, 0.403, 0.141, 0.2592, 0.0654, 0.128]\nstate[eef_state]: left_x=0.2979 left_y=0.0018 left_z=0.1712 left_yaw=0.0073 left_pitch=-0.0411 left_roll=-0.009 left_gripper=0.9993 right_x=0.3041 right_y=0.0917 right_z=0.0125 right_yaw=0.151 right_pitch=-0.2798 right_roll=-0.148 right_gripper=0.128\nstate[joint_eff]: [-0.1846, -1.5521, 7.1316, 1.6728, -0.0464, -0.0659, -0.0171, -0.6906, -3.0838, 4.4103, 1.3602, 0.1148, -0.0415, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d7cb7e0db4bca90dbb8634bf85b4fac866e233ee8a5f380b1ea14603149df92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd4d4bf1a6c7c66e930aa2ffdbaacc704a59f183efc77affaed1db2f0862310d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e548586dfff15582997ecd1a15bf7cd6ad9bfdd1c9bb0d857c8e814d1fb32496",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShAMKjgEIEhgCKkDB6IaswoiCsxc7EcfZmSKvOJC7qGRaoDPrnop2dwy/hrlngvq+F+0xSp6ZhBPfPonSCtbcoKA5gIHCJMgz4OSpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYXCzNUGEgzmMPmQQZI6VOANwOoaDKIMUdt0i4qwprIMSSIw3tq8HtaJ4Rw8GeTlCp3v5AsjnZj67zuZ5MH1dLs+hPM+jm2HODPA9BXYqXpr8pXRKqIBFIyyGOM8LBQHwlLQdRxYdVc97wd34n4XmAwgA+IGzO/u/ZYrA/yMd+/SMGuuIZ4jUCobJ4sanGDOFTcGUVuw+CiLgkX6X3aypKVMLvrnRfGZXQ+YcCLQVj4YQtNXqNHpimILm/jhxGmBoY1bep7Di73dcUWVe33gzAYWKwlH7EAf/fYIMFmZf9eymDBu3Oaz2j8Hx+Wy1l22TWhpYJgmsrUvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LF2CZ51A1zy9qMSrkTjQrG",
      "input": {
        "note": "Gripper reads 0.13 — the black pen is held. Carrying it forward over the right basket.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.17,
          "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_01LF2CZ51A1zy9qMSrkTjQrG",
      "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]: [-0.0189, 0.8375, 0.609, -0.3809, -0.0219, -0.0383, 0.9993, 0.4458, 1.7699, 1.6024, -0.7315, 0.26, 0.0746, 0.133]\nstate[eef_state]: left_x=0.298 left_y=0.0018 left_z=0.1701 left_yaw=0.0073 left_pitch=-0.0453 left_roll=-0.0089 left_gripper=0.9993 right_x=0.4454 right_y=0.1665 right_z=0.2008 right_yaw=0.1644 right_pitch=-0.3049 right_roll=-0.1501 right_gripper=0.133\nstate[joint_eff]: [-0.1436, -1.7573, 7.159, 1.6972, -0.0464, -0.0562, -0.0122, 0.7453, -9.4017, 8.7043, 1.0525, 0.2808, 0.1538, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:319c493166d7429358c738d0816abad269cdb998b198230ff782500be5836c0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb5101fb181d7cc86500f664dc67a2fec7fa770c12dc28cffea3cc47f3f772df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:751b28c9df98ecf2c49980f842bb1f75a3afce219604445525c39590fe7eeeb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 24.37 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]: [-0.0189, 0.8333, 0.6094, -0.3805, -0.0219, -0.0383, 0.9993, 0.482, 1.3712, 0.466, 0.0002, 0.2955, 0.1177, 0.995]\nstate[eef_state]: left_x=0.2979 left_y=0.0018 left_z=0.1715 left_yaw=0.0072 left_pitch=-0.0404 left_roll=-0.0091 left_gripper=0.9993 right_x=0.3003 right_y=0.1031 right_z=0.0272 right_yaw=0.146 right_pitch=-0.2988 right_roll=-0.1504 right_gripper=0.995\nstate[joint_eff]: [-0.1709, -1.7026, 7.0222, 1.7363, -0.0415, -0.0269, -0.0171, -0.9094, -5.4496, 5.5863, 1.3162, 0.0952, -0.0317, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0189, 0.8341, 0.609, -0.3801, -0.0219, -0.0383, 0.9993, 0.4244, 1.4158, 0.403, 0.141, 0.2592, 0.0654, 0.128]\nstate[eef_state]: left_x=0.2979 left_y=0.0018 left_z=0.1712 left_yaw=0.0073 left_pitch=-0.0411 left_roll=-0.009 left_gripper=0.9993 right_x=0.3041 right_y=0.0917 right_z=0.0125 right_yaw=0.151 right_pitch=-0.2798 right_roll=-0.148 right_gripper=0.128\nstate[joint_eff]: [-0.1846, -1.5521, 7.1316, 1.6728, -0.0464, -0.0659, -0.0171, -0.6906, -3.0838, 4.4103, 1.3602, 0.1148, -0.0415, 0.9988]\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 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]: [-0.0189, 0.8375, 0.609, -0.3809, -0.0219, -0.0383, 0.9993, 0.4458, 1.7699, 1.6024, -0.7315, 0.26, 0.0746, 0.133]\nstate[eef_state]: left_x=0.298 left_y=0.0018 left_z=0.1701 left_yaw=0.0073 left_pitch=-0.0453 left_roll=-0.0089 left_gripper=0.9993 right_x=0.4454 right_y=0.1665 right_z=0.2008 right_yaw=0.1644 right_pitch=-0.3049 right_roll=-0.1501 right_gripper=0.133\nstate[joint_eff]: [-0.1436, -1.7573, 7.159, 1.6972, -0.0464, -0.0562, -0.0122, 0.7453, -9.4017, 8.7043, 1.0525, 0.2808, 0.1538, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:319c493166d7429358c738d0816abad269cdb998b198230ff782500be5836c0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb5101fb181d7cc86500f664dc67a2fec7fa770c12dc28cffea3cc47f3f772df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:751b28c9df98ecf2c49980f842bb1f75a3afce219604445525c39590fe7eeeb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YKeiatWdVCsEzrw8rUhT67",
      "input": {
        "note": "Wrist view shows the held black pen over the right basket, with the first marker already inside; opening to drop it in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01YKeiatWdVCsEzrw8rUhT67",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8379, 0.609, -0.3805, -0.0219, -0.0383, 0.9993, 0.445, 1.7828, 1.5993, -0.7441, 0.2558, 0.0662, 0.996]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.17 left_yaw=0.0073 left_pitch=-0.0453 left_roll=-0.0089 left_gripper=0.9993 right_x=0.4437 right_y=0.166 right_z=0.1917 right_yaw=0.1693 right_pitch=-0.334 right_roll=-0.1606 right_gripper=0.996\nstate[joint_eff]: [-0.212, -1.4017, 7.1863, 1.6728, -0.0562, -0.0757, -0.0122, 0.0615, -10.359, 7.0085, 1.4628, 0.1685, 0.0073, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c7e30962ec7f8c7d0b7aa07f6dea436c2def4b6ec258a3d1d5bae4ac9627687",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:657a146ad58eac509f229afec63ad8ec34e0dcf39b87af7332d12f8950fa1a71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8b6cac224546df58b122b45fc21b0b492e35d79dab9d419531d5be33f6657c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 12.08 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]: [-0.0189, 0.8341, 0.609, -0.3801, -0.0219, -0.0383, 0.9993, 0.4244, 1.4158, 0.403, 0.141, 0.2592, 0.0654, 0.128]\nstate[eef_state]: left_x=0.2979 left_y=0.0018 left_z=0.1712 left_yaw=0.0073 left_pitch=-0.0411 left_roll=-0.009 left_gripper=0.9993 right_x=0.3041 right_y=0.0917 right_z=0.0125 right_yaw=0.151 right_pitch=-0.2798 right_roll=-0.148 right_gripper=0.128\nstate[joint_eff]: [-0.1846, -1.5521, 7.1316, 1.6728, -0.0464, -0.0659, -0.0171, -0.6906, -3.0838, 4.4103, 1.3602, 0.1148, -0.0415, 0.9988]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0189, 0.8375, 0.609, -0.3809, -0.0219, -0.0383, 0.9993, 0.4458, 1.7699, 1.6024, -0.7315, 0.26, 0.0746, 0.133]\nstate[eef_state]: left_x=0.298 left_y=0.0018 left_z=0.1701 left_yaw=0.0073 left_pitch=-0.0453 left_roll=-0.0089 left_gripper=0.9993 right_x=0.4454 right_y=0.1665 right_z=0.2008 right_yaw=0.1644 right_pitch=-0.3049 right_roll=-0.1501 right_gripper=0.133\nstate[joint_eff]: [-0.1436, -1.7573, 7.159, 1.6972, -0.0464, -0.0562, -0.0122, 0.7453, -9.4017, 8.7043, 1.0525, 0.2808, 0.1538, 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 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]: [-0.0189, 0.8379, 0.609, -0.3805, -0.0219, -0.0383, 0.9993, 0.445, 1.7828, 1.5993, -0.7441, 0.2558, 0.0662, 0.996]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.17 left_yaw=0.0073 left_pitch=-0.0453 left_roll=-0.0089 left_gripper=0.9993 right_x=0.4437 right_y=0.166 right_z=0.1917 right_yaw=0.1693 right_pitch=-0.334 right_roll=-0.1606 right_gripper=0.996\nstate[joint_eff]: [-0.212, -1.4017, 7.1863, 1.6728, -0.0562, -0.0757, -0.0122, 0.0615, -10.359, 7.0085, 1.4628, 0.1685, 0.0073, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c7e30962ec7f8c7d0b7aa07f6dea436c2def4b6ec258a3d1d5bae4ac9627687",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:657a146ad58eac509f229afec63ad8ec34e0dcf39b87af7332d12f8950fa1a71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8b6cac224546df58b122b45fc21b0b492e35d79dab9d419531d5be33f6657c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PqZM3WPLKZVThZ9N6Tx26d",
      "input": {
        "note": "The black pen fell just short of the right basket; I'll deal with it later. The left wrist view shows a grey plush toy directly under the left jaws — descending onto its body and closing to grab it.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.32,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PqZM3WPLKZVThZ9N6Tx26d",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 1.1431, 0.3016, 0.2169, -0.0216, -0.0402, 0.0105, 0.445, 1.7828, 1.599, -0.7467, 0.255, 0.0631, 0.9968]\nstate[eef_state]: left_x=0.3188 left_y=0.0016 left_z=0.0654 left_yaw=0.0087 left_pitch=-0.0606 left_roll=-0.0103 left_gripper=0.0105 right_x=0.4431 right_y=0.1659 right_z=0.1911 right_yaw=0.1714 right_pitch=-0.3374 right_roll=-0.1629 right_gripper=0.9968\nstate[joint_eff]: [0.253, -2.0444, 4.7658, 1.2821, -0.0269, 0.0171, 0.6325, -0.0479, -9.347, 6.694, 1.4432, 0.0855, -0.0073, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16f96b5e1430031023a2d2608961d873b51ee7828cb6d16ee23e2606e4829889",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5dfbadc2227efee34e86db99e63de11c9e01dbca896e9ad563837186152a022",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e51f56b0476638f872a406a75605b6157fe6f8fe804250fb2e6efa4c739a7b82",
        "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 · 7.302 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]: [-0.0189, 0.8375, 0.609, -0.3809, -0.0219, -0.0383, 0.9993, 0.4458, 1.7699, 1.6024, -0.7315, 0.26, 0.0746, 0.133]\nstate[eef_state]: left_x=0.298 left_y=0.0018 left_z=0.1701 left_yaw=0.0073 left_pitch=-0.0453 left_roll=-0.0089 left_gripper=0.9993 right_x=0.4454 right_y=0.1665 right_z=0.2008 right_yaw=0.1644 right_pitch=-0.3049 right_roll=-0.1501 right_gripper=0.133\nstate[joint_eff]: [-0.1436, -1.7573, 7.159, 1.6972, -0.0464, -0.0562, -0.0122, 0.7453, -9.4017, 8.7043, 1.0525, 0.2808, 0.1538, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0189, 0.8379, 0.609, -0.3805, -0.0219, -0.0383, 0.9993, 0.445, 1.7828, 1.5993, -0.7441, 0.2558, 0.0662, 0.996]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.17 left_yaw=0.0073 left_pitch=-0.0453 left_roll=-0.0089 left_gripper=0.9993 right_x=0.4437 right_y=0.166 right_z=0.1917 right_yaw=0.1693 right_pitch=-0.334 right_roll=-0.1606 right_gripper=0.996\nstate[joint_eff]: [-0.212, -1.4017, 7.1863, 1.6728, -0.0562, -0.0757, -0.0122, 0.0615, -10.359, 7.0085, 1.4628, 0.1685, 0.0073, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 1.1431, 0.3016, 0.2169, -0.0216, -0.0402, 0.0105, 0.445, 1.7828, 1.599, -0.7467, 0.255, 0.0631, 0.9968]\nstate[eef_state]: left_x=0.3188 left_y=0.0016 left_z=0.0654 left_yaw=0.0087 left_pitch=-0.0606 left_roll=-0.0103 left_gripper=0.0105 right_x=0.4431 right_y=0.1659 right_z=0.1911 right_yaw=0.1714 right_pitch=-0.3374 right_roll=-0.1629 right_gripper=0.9968\nstate[joint_eff]: [0.253, -2.0444, 4.7658, 1.2821, -0.0269, 0.0171, 0.6325, -0.0479, -9.347, 6.694, 1.4432, 0.0855, -0.0073, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16f96b5e1430031023a2d2608961d873b51ee7828cb6d16ee23e2606e4829889",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5dfbadc2227efee34e86db99e63de11c9e01dbca896e9ad563837186152a022",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e51f56b0476638f872a406a75605b6157fe6f8fe804250fb2e6efa4c739a7b82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9AYKjgEIEhgCKkA0uyKq0N1dUx3t161+bVA7Fgp/A1QSUxtrJ7fikdyDVHwtnQqNtRcYtabC7n3t5DsETxQS0FJN1TwU+WHagSMkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbHCzNUGEgzefzLiYS4upXd1hRYaDM5d3+Mt0rtyoGh3SiIwN8zOE6e5jbqfvJzTTuOO8Gw/Xu5RL8SOeuK3w54b0CeqtB4fGeEiMdCKbXdMcIT8KpIFi83RR61/zGh8w32pRaV7RQMFl3x6M7AHf7K5HRMolMP81Jh5tqWCKoPLtov33Ybbm5tXRV10r0QsVRRk+klnXDNRGt5qYIIUfnJmkIEkGdx6PlH6Q2EF+APKSukuR2OaGSBkcoErnxBU8/t+tp/wt6JcVCfvLRoEncdiLnJj1bu6ub7boZCjAr9hGLVNGY/5IMbfl3MH43dqZG19FqUytt0+2kBEsvd5v7dlTs7d115Xf/s4ivt+sLx1WtvjIe1bAlWkxVpbQwTbXOjehk4W4JLgcqx3AcwiKgQLBOwV227ozLdOAVtQZmPvZHVeH8CgVcWX9VKzBJ+2BY+y9CCkVGj6x9nNTYhCxjD6DCQcBLvMNovcruvE6hIDw7K6sh4F45DE8dB61FuccXnXhd1YNanlovFrFGBMEdyCfvAPQmDp8grTZNh6SevTJxhEDhdnmoXyskJkSEyRupa7vnrUq3yTEJ2rcnatO5yz0It59+5jchVlJlPrZegyUPMzLHdrSTRMo3Kjphvj0UAhiKVMbUW8b9unmzysLDHxUK/DrRVxXk4228ItjiU5gYCLowe0i9q5VM+YULSHsC93nhJKTquHyRppY8w3G2m3dy9/irzQ0wsPQI5dW66MiJ7amYnWfensHXvUSit91qzSRGFDdkS11f0rhkcUF5mIdzNj8zIm8yN/h2eEVvoME6tjSsdJkQOg6mNi1gSk3BZau1jKd71tRQcVN5uxS0mG1+5DLmkfqvSV6gesV02Xa3iNvwoSBoiG5kfvp9J15o4hGuu2hWLxcs2n402v6yHmR1n1nI55edmo2sSvnZ6OPupAQEwu54gD3654kqUUEHaj8WPAJThFbKPmo/qXuu14F+ao9bCf2BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012i3DZKdDBS58PYdb9P3vzV",
      "input": {
        "note": "Empty close — the plush toy sits to the left of the jaws in the wrist view; opening and shifting 3 cm to the arm's left and slightly back to centre on its body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.3,
          "left_y": 0.03,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012i3DZKdDBS58PYdb9P3vzV",
      "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]: [0.1505, 1.0363, 0.281, 0.136, 0.0959, 0.0425, 0.9951, 0.445, 1.7828, 1.5959, -0.7441, 0.2516, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3039 left_y=0.0326 left_z=0.0723 left_yaw=0.0336 left_pitch=-0.0522 left_roll=-0.0111 left_gripper=0.9951 right_x=0.4429 right_y=0.1665 right_z=0.1902 right_yaw=0.1745 right_pitch=-0.3385 right_roll=-0.1605 right_gripper=0.9969\nstate[joint_eff]: [0.2667, -3.1521, 5.7641, 1.6044, 0.2271, 0.1587, -0.0562, -0.2256, -9.347, 6.9128, 1.3358, 0.1294, -0.0708, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c383a73e31c50e58d2bdb92bd8f619aec0e0c02a4586df8beeb2c1f069c2c577",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ad05501041437da183ba393956bc1bf131545c566fa5521cec57a552dfe3c0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:466a9fce2f726ee73b34713d9d7327b94a0da84be26e9bdf639d59899657c364",
        "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 · 13.23 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]: [-0.0189, 0.8379, 0.609, -0.3805, -0.0219, -0.0383, 0.9993, 0.445, 1.7828, 1.5993, -0.7441, 0.2558, 0.0662, 0.996]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.17 left_yaw=0.0073 left_pitch=-0.0453 left_roll=-0.0089 left_gripper=0.9993 right_x=0.4437 right_y=0.166 right_z=0.1917 right_yaw=0.1693 right_pitch=-0.334 right_roll=-0.1606 right_gripper=0.996\nstate[joint_eff]: [-0.212, -1.4017, 7.1863, 1.6728, -0.0562, -0.0757, -0.0122, 0.0615, -10.359, 7.0085, 1.4628, 0.1685, 0.0073, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 1.1431, 0.3016, 0.2169, -0.0216, -0.0402, 0.0105, 0.445, 1.7828, 1.599, -0.7467, 0.255, 0.0631, 0.9968]\nstate[eef_state]: left_x=0.3188 left_y=0.0016 left_z=0.0654 left_yaw=0.0087 left_pitch=-0.0606 left_roll=-0.0103 left_gripper=0.0105 right_x=0.4431 right_y=0.1659 right_z=0.1911 right_yaw=0.1714 right_pitch=-0.3374 right_roll=-0.1629 right_gripper=0.9968\nstate[joint_eff]: [0.253, -2.0444, 4.7658, 1.2821, -0.0269, 0.0171, 0.6325, -0.0479, -9.347, 6.694, 1.4432, 0.0855, -0.0073, 0.0757]",
      "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]: [0.1505, 1.0363, 0.281, 0.136, 0.0959, 0.0425, 0.9951, 0.445, 1.7828, 1.5959, -0.7441, 0.2516, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3039 left_y=0.0326 left_z=0.0723 left_yaw=0.0336 left_pitch=-0.0522 left_roll=-0.0111 left_gripper=0.9951 right_x=0.4429 right_y=0.1665 right_z=0.1902 right_yaw=0.1745 right_pitch=-0.3385 right_roll=-0.1605 right_gripper=0.9969\nstate[joint_eff]: [0.2667, -3.1521, 5.7641, 1.6044, 0.2271, 0.1587, -0.0562, -0.2256, -9.347, 6.9128, 1.3358, 0.1294, -0.0708, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c383a73e31c50e58d2bdb92bd8f619aec0e0c02a4586df8beeb2c1f069c2c577",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ad05501041437da183ba393956bc1bf131545c566fa5521cec57a552dfe3c0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:466a9fce2f726ee73b34713d9d7327b94a0da84be26e9bdf639d59899657c364",
        "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/gQKjgEIEhgCKkACi3R2MdE0oezPzUzOXzyE70DAn8xDEEZfqjn1dalkaziHXrta0DbztasvtXvPSDHFr6j425/nRQZ4gO+V9Vc1Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbrCzNUGEgx3+moo0suzMOgw8ZsaDP5ySjTnIM67XwVrByIwdN5b38x5MRQ9aAoLtkAeSIyGTYniCleBjewv16ySDUNyIq9DuS7qAZ1lGuKFTjNLKpwDGX6aWzXSgz+qjiQFP2cHFu79p3xsINBaQ2a06JMZG2RWGFyrwo3lfoJfeC68IqP2lJwV5FCwSmqLcthtMlX9UEsmETK1PPE9tBh2UBZm4dVPZr/XR+Nirpo67XnBOSPnhdPPNF0iAXPhivlFxMneE/MO5+f/5SRp5LANSs0l1GQ3GsqmtiJdRplge5f7/7YJPUCIvgUwl24RJY36C+gPVmglJhZcw2sdUdQoNvjdg5MPJzkNUqwnkNrMIckdkjs1Vz/oiTCdv+GzY2O2TSHAFTreowgkxe5HlpSNP8LnGrGcyzIxbg3CzrZ1YQ0sCqbY/rd51Qnd16rRi3EnKE4KxpMPICWmXVjJXH/5FImoo4ryONOs/c+98ixF+sVotEdq/nl0WEJZCvyolv4tSD+CU3U392GIqifKwcbpc5mHx8kOX/Om9xr+nFXqfZmTxhYbT+rCuMFwwDTHESc9En0GCh9jGJTMdtjOF2Y7qM+GY2Jquye2WEhx/FiTVoJBjuG0MdNLBr7QVrYEHPy0ku7CE50MgWkhKB8Y9S/U5BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014PBHZmJt9fU8gDAos83ENW",
      "input": {
        "note": "The grey plush now fills the centre of the left wrist view; descending 3 cm and closing on its body.",
        "targets": {
          "left_gripper": 0.0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014PBHZmJt9fU8gDAos83ENW",
      "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]: [0.1513, 1.177, 0.2131, 0.4057, 0.1051, 0.041, 0.1114, 0.445, 1.7828, 1.5955, -0.7448, 0.2485, 0.0631, 0.9969]\nstate[eef_state]: left_x=0.3149 left_y=0.0329 left_z=0.0587 left_yaw=0.0277 left_pitch=0.009 left_roll=-0.0101 left_gripper=0.1114 right_x=0.4426 right_y=0.1669 right_z=0.1898 right_yaw=0.1769 right_pitch=-0.3403 right_roll=-0.158 right_gripper=0.9969\nstate[joint_eff]: [-0.4034, -1.5521, 4.0547, 1.1893, -0.0855, 0.0122, 0.7302, -0.335, -9.3197, 6.8171, 1.326, 0.0806, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4434609b0c32b39cfc3e1ee63348cb298a1983d03cb0e8e6450c60e2caa9f174",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d54a819808ff983d4ffeab6eb059a606b3162382dd1025f6cfadefa2a26180f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d189e2b40d1e1a61ee6898e710d84cdbcfb0551952e36d535860407e3684e88f",
        "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 · 5.39 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]: [-0.0181, 1.1431, 0.3016, 0.2169, -0.0216, -0.0402, 0.0105, 0.445, 1.7828, 1.599, -0.7467, 0.255, 0.0631, 0.9968]\nstate[eef_state]: left_x=0.3188 left_y=0.0016 left_z=0.0654 left_yaw=0.0087 left_pitch=-0.0606 left_roll=-0.0103 left_gripper=0.0105 right_x=0.4431 right_y=0.1659 right_z=0.1911 right_yaw=0.1714 right_pitch=-0.3374 right_roll=-0.1629 right_gripper=0.9968\nstate[joint_eff]: [0.253, -2.0444, 4.7658, 1.2821, -0.0269, 0.0171, 0.6325, -0.0479, -9.347, 6.694, 1.4432, 0.0855, -0.0073, 0.0757]",
      "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]: [0.1505, 1.0363, 0.281, 0.136, 0.0959, 0.0425, 0.9951, 0.445, 1.7828, 1.5959, -0.7441, 0.2516, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3039 left_y=0.0326 left_z=0.0723 left_yaw=0.0336 left_pitch=-0.0522 left_roll=-0.0111 left_gripper=0.9951 right_x=0.4429 right_y=0.1665 right_z=0.1902 right_yaw=0.1745 right_pitch=-0.3385 right_roll=-0.1605 right_gripper=0.9969\nstate[joint_eff]: [0.2667, -3.1521, 5.7641, 1.6044, 0.2271, 0.1587, -0.0562, -0.2256, -9.347, 6.9128, 1.3358, 0.1294, -0.0708, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1513, 1.177, 0.2131, 0.4057, 0.1051, 0.041, 0.1114, 0.445, 1.7828, 1.5955, -0.7448, 0.2485, 0.0631, 0.9969]\nstate[eef_state]: left_x=0.3149 left_y=0.0329 left_z=0.0587 left_yaw=0.0277 left_pitch=0.009 left_roll=-0.0101 left_gripper=0.1114 right_x=0.4426 right_y=0.1669 right_z=0.1898 right_yaw=0.1769 right_pitch=-0.3403 right_roll=-0.158 right_gripper=0.9969\nstate[joint_eff]: [-0.4034, -1.5521, 4.0547, 1.1893, -0.0855, 0.0122, 0.7302, -0.335, -9.3197, 6.8171, 1.326, 0.0806, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4434609b0c32b39cfc3e1ee63348cb298a1983d03cb0e8e6450c60e2caa9f174",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d54a819808ff983d4ffeab6eb059a606b3162382dd1025f6cfadefa2a26180f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d189e2b40d1e1a61ee6898e710d84cdbcfb0551952e36d535860407e3684e88f",
        "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_01TEdcPCHskccLbA1ca96SuJ",
      "input": {
        "note": "Gripper settled at 0.11, suggesting fur is pinched; lifting and carrying toward the left basket (estimated at x≈0.44, y≈-0.18 in the left arm's frame).",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.18,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01TEdcPCHskccLbA1ca96SuJ",
      "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]: [-0.6369, 1.504, 1.1362, -0.3347, -0.5255, -0.4133, 0.1135, 0.445, 1.7863, 1.5883, -0.7483, 0.2489, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3947 left_y=-0.1773 left_z=0.1995 left_yaw=0.0062 left_pitch=-0.0293 left_roll=0.0004 left_gripper=0.1135 right_x=0.441 right_y=0.1661 right_z=0.1849 right_yaw=0.1754 right_pitch=-0.3538 right_roll=-0.1626 right_gripper=0.9969\nstate[joint_eff]: [-0.3761, -7.3641, 9.4154, 1.5214, -0.3883, 0.0122, 0.1929, -0.0479, -9.4838, 7.3094, 1.3358, 0.0611, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc400cf24e9c171d4573adf30ccf6e7e44b7b5f6a19bd7c55e126c3fd3cdd73c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf5b9a0a38b5c9fd3bfd3d6c141d0c28efb1a3487520bcbf3cdd4a2589aeccb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05cbbdeb5cb093cbe71e5774e662236ff7280169cce05fa5a5e49f19b89d7357",
        "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 · 6.278 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]: [0.1505, 1.0363, 0.281, 0.136, 0.0959, 0.0425, 0.9951, 0.445, 1.7828, 1.5959, -0.7441, 0.2516, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3039 left_y=0.0326 left_z=0.0723 left_yaw=0.0336 left_pitch=-0.0522 left_roll=-0.0111 left_gripper=0.9951 right_x=0.4429 right_y=0.1665 right_z=0.1902 right_yaw=0.1745 right_pitch=-0.3385 right_roll=-0.1605 right_gripper=0.9969\nstate[joint_eff]: [0.2667, -3.1521, 5.7641, 1.6044, 0.2271, 0.1587, -0.0562, -0.2256, -9.347, 6.9128, 1.3358, 0.1294, -0.0708, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1513, 1.177, 0.2131, 0.4057, 0.1051, 0.041, 0.1114, 0.445, 1.7828, 1.5955, -0.7448, 0.2485, 0.0631, 0.9969]\nstate[eef_state]: left_x=0.3149 left_y=0.0329 left_z=0.0587 left_yaw=0.0277 left_pitch=0.009 left_roll=-0.0101 left_gripper=0.1114 right_x=0.4426 right_y=0.1669 right_z=0.1898 right_yaw=0.1769 right_pitch=-0.3403 right_roll=-0.158 right_gripper=0.9969\nstate[joint_eff]: [-0.4034, -1.5521, 4.0547, 1.1893, -0.0855, 0.0122, 0.7302, -0.335, -9.3197, 6.8171, 1.326, 0.0806, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6369, 1.504, 1.1362, -0.3347, -0.5255, -0.4133, 0.1135, 0.445, 1.7863, 1.5883, -0.7483, 0.2489, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3947 left_y=-0.1773 left_z=0.1995 left_yaw=0.0062 left_pitch=-0.0293 left_roll=0.0004 left_gripper=0.1135 right_x=0.441 right_y=0.1661 right_z=0.1849 right_yaw=0.1754 right_pitch=-0.3538 right_roll=-0.1626 right_gripper=0.9969\nstate[joint_eff]: [-0.3761, -7.3641, 9.4154, 1.5214, -0.3883, 0.0122, 0.1929, -0.0479, -9.4838, 7.3094, 1.3358, 0.0611, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc400cf24e9c171d4573adf30ccf6e7e44b7b5f6a19bd7c55e126c3fd3cdd73c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf5b9a0a38b5c9fd3bfd3d6c141d0c28efb1a3487520bcbf3cdd4a2589aeccb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05cbbdeb5cb093cbe71e5774e662236ff7280169cce05fa5a5e49f19b89d7357",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsAUKjgEIEhgCKkDvKxPV+O5d8LSvC6y7qiPBcFb4DWojB+wZ4DCN4AOZ5VJ4FsZLlkwr8xbMwLtsnklitHql//pqLNXOh//7GirtMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc/CzNUGEgz7xl4P7xwNYJoBKxIaDO77L0I5nKCqieFMFiIwht+4txPUfDezCBkAXXxDwmCVgqOM5vAhtskeba89Rw8hvcDGx0s5j+YpQWK8SLWXKs4Dsr0iW2NvTco8J8BYSuavXHa9HsMSmM+uGGgAx4uy3hBB4nFNEPd0NS6gxpn3Jcjkf9/lg4N/1bKq5CY890laYH9zI7S4TO8xyLMezh4TaFTp+gf4P3WfT5KBghBiokN9D7Wv5Hcq4kqj6DyKYswMw5Xlr84q9yrh+e0teadpJdLtKjt8wIon7SqBGlyPiYBCU1n+a3X72LlSgVkCuDwovtJlFF8yhwBNCNFUiFXJTKMcYvEYVqyn9pLCnDvBn5aBeWoj4HNC6pujwQbcWpzZvn+rAaLV7gl4aE/ZIhhq6LEXnupPqWg897Hjc9dBtD2HP1bhnZgZvU9M3ah+2o3OQnAzHiZMG+Ex2vUfmor8boZ41oxEw5ZfneT5ORnHPnZgIH9Axz4HHdUJuvxaNA260JDdkT5VCj8lncHLfqyJLXZd2GTUBCvTfSJgMjFJ3ei+j3LwHuYkayhVN+HmjGmNud4gPKgEmhjpT//POSC+qjGXFRitEhfqvYV/KjoyG4DgAPksQpb03d4DHd9ZFSCBOeYlRdOnqNGKoryVhvo6k0mJuFmXPTSkwKur8IsVjK2N/G94R3Beo3JehjJZygSICKMdnQoURgqCvk6cAvBOGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KuV9MN8MrVA2PSPFgMyx5a",
      "input": {
        "note": "The plush is hanging from the jaws and the left basket is just ahead and slightly right in the wrist view; advancing over its mouth before releasing.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.2,
          "left_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_01KuV9MN8MrVA2PSPFgMyx5a",
      "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]: [-0.5964, 1.7103, 1.3823, -0.4236, -0.5091, -0.408, 0.1152, 0.445, 1.7863, 1.5883, -0.7486, 0.2489, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.4408 left_y=-0.1909 left_z=0.1982 left_yaw=0.0326 left_pitch=-0.0754 left_roll=0.0253 left_gripper=0.1152 right_x=0.441 right_y=0.166 right_z=0.1849 right_yaw=0.1754 right_pitch=-0.3542 right_roll=-0.1627 right_gripper=0.9969\nstate[joint_eff]: [0.0752, -9.1829, 9.0462, 1.6679, -0.1783, 0.2271, 0.1538, -0.1709, -9.347, 6.6803, 1.2967, 0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:627305b6d9ecc311e1694ee933ab266867603dc43ebe0417d55b7d4591ff34ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60c39440809de72086992ddfa0319ad27998cfb82f0fcd9795eb711122dbc31f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b959c3c59cca579a639371c6cc516a95c2e4265b0cb58b320fbbc92c01bcf3d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 10.33 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1513, 1.177, 0.2131, 0.4057, 0.1051, 0.041, 0.1114, 0.445, 1.7828, 1.5955, -0.7448, 0.2485, 0.0631, 0.9969]\nstate[eef_state]: left_x=0.3149 left_y=0.0329 left_z=0.0587 left_yaw=0.0277 left_pitch=0.009 left_roll=-0.0101 left_gripper=0.1114 right_x=0.4426 right_y=0.1669 right_z=0.1898 right_yaw=0.1769 right_pitch=-0.3403 right_roll=-0.158 right_gripper=0.9969\nstate[joint_eff]: [-0.4034, -1.5521, 4.0547, 1.1893, -0.0855, 0.0122, 0.7302, -0.335, -9.3197, 6.8171, 1.326, 0.0806, -0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6369, 1.504, 1.1362, -0.3347, -0.5255, -0.4133, 0.1135, 0.445, 1.7863, 1.5883, -0.7483, 0.2489, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3947 left_y=-0.1773 left_z=0.1995 left_yaw=0.0062 left_pitch=-0.0293 left_roll=0.0004 left_gripper=0.1135 right_x=0.441 right_y=0.1661 right_z=0.1849 right_yaw=0.1754 right_pitch=-0.3538 right_roll=-0.1626 right_gripper=0.9969\nstate[joint_eff]: [-0.3761, -7.3641, 9.4154, 1.5214, -0.3883, 0.0122, 0.1929, -0.0479, -9.4838, 7.3094, 1.3358, 0.0611, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5964, 1.7103, 1.3823, -0.4236, -0.5091, -0.408, 0.1152, 0.445, 1.7863, 1.5883, -0.7486, 0.2489, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.4408 left_y=-0.1909 left_z=0.1982 left_yaw=0.0326 left_pitch=-0.0754 left_roll=0.0253 left_gripper=0.1152 right_x=0.441 right_y=0.166 right_z=0.1849 right_yaw=0.1754 right_pitch=-0.3542 right_roll=-0.1627 right_gripper=0.9969\nstate[joint_eff]: [0.0752, -9.1829, 9.0462, 1.6679, -0.1783, 0.2271, 0.1538, -0.1709, -9.347, 6.6803, 1.2967, 0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:627305b6d9ecc311e1694ee933ab266867603dc43ebe0417d55b7d4591ff34ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60c39440809de72086992ddfa0319ad27998cfb82f0fcd9795eb711122dbc31f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b959c3c59cca579a639371c6cc516a95c2e4265b0cb58b320fbbc92c01bcf3d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0AcKjgEIEhgCKkCE8GS2XbByV4pMb+wHwjv1xvXsM4vtGY2PwFXfjAF71eL5+XVNasgIPR6Xz2bCpHMB5RHzKbwr4/doApL8QRzDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdbCzNUGEgwx7itbbt7qzPA6zYoaDK/wV4YaN5D2GYw8nSIw9DLYcNpizCooFwJBlz5cZYzwD6MtqtlxxHiTmp1Kfc7xDXGIB+iDqANajDywlvATKu4Ffs7JnAK/XqbmA5P3SYGdUrbtqvBcgM6/QAKlM0tmD4pSRwPKPSu5IIxn+rzu4rn6K/TG9F/afA50braMpGn1Mj+it/KmCVTVgAtIz6j06AbCxinv0ygcZ9P/lbgbYBFdcZ/eFeeg2xE05Dor/fiXfvMSHSyF1Ceefe8kqFUi8r8ZTv+2bbym6pbeJQ+4svJ7jARXjF1q0yK3ZGdBm4OUQtwwIsI7LMNHwEBdWIzKjGKO05QdelBcH7lccU3h0Gt4oio6I7wRSsYnD0M0InpNZW0afoGMI7W4JWO/6i/GN5ha2MPlQsvaAbqhnt470S5XMswPIvroN804apgc641aiEfZ5MTt/K9qShqVzA2J1W/leqIco41y6NeSJAyUnk0PdPFnXjxpmyTXWtsZzNBFb9dLTj4QbYKYLqYuxV80RJA4i6pmcJ0OPppv8jeARHx6AYS3Ml48hgfGwedq55J75AU+g9EqS3vgJWCYIddDXNsuEbDkomWAsj7Gt0nL/wSx65G8m/K33QsPnxVzrXim452wiDhDcfhUQ29Jqs2nwHg6mMce8kHP3dRY5WbiQsN/2L5sOyMg6/IKODUh1GeUqdCeJzycDqtFxgJFlam50Bf/HYQkhgpNPZZuo7AMXVQv/Oo2BxoqfikuzFhmI5Gv9DX8fg7273daVjttMs3cDPbD1jPJ5wjw154AYsTehq2RuXiFYQ114Wfqc51zd1oxCXOZpBwUXvOhSt+ggLfWhyV/kTwF5aOJh0BIp5XyuCS8AZgDK10rA14pWh1wHcZgDjvKM0zUirNqM6vtNsp8UJe3RdT3Knr71UFWB3rQVXOXGwDSCfFlAFCoQmTvx2dVYOclXQ7jrkBUtVsO2b8LRUQ97Lhq66dXrDpp06bOeK7DhpZdiAOxIexu1VOG1qXd8KzLYGCHT3gNSSzqPXexUaCkjuEEFdRfMmAQeSFK+W+/Y1aZ721UOi1XuCAQUyN08GsLTHXXNJ3vfzWOtZ8cGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VdaKQDHmJmRonk7QEF73Vw",
      "input": {
        "note": "Left basket mouth is centred under the jaws; advancing 3 cm and opening to drop the plush toy into the left basket.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.47
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01VdaKQDHmJmRonk7QEF73Vw",
      "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]: [-0.5583, 1.7863, 1.4555, -0.432, -0.4896, -0.392, 0.9951, 0.445, 1.7863, 1.5883, -0.749, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.4624 left_y=-0.1866 left_z=0.1911 left_yaw=0.0476 left_pitch=-0.0925 left_roll=0.0336 left_gripper=0.9951 right_x=0.4409 right_y=0.1661 right_z=0.1848 right_yaw=0.1756 right_pitch=-0.3546 right_roll=-0.1625 right_gripper=0.9969\nstate[joint_eff]: [0.3487, -7.9248, 9.0598, 1.5946, -0.1441, 0.1245, -0.0855, -0.212, -9.1556, 6.6803, 1.3309, 0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bcc8882669154f5f7daaf51f0857ba50a88314ea17e48866c15652a8db97912",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9686190a3c3cbcfe4a010a6800e25ec233640630a2bba3e3f644386c1e6b705a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:abf61c7f14c22b6971360d515a1ccc053f017463fb493b4bc35f81fb77be42f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 15.98 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6369, 1.504, 1.1362, -0.3347, -0.5255, -0.4133, 0.1135, 0.445, 1.7863, 1.5883, -0.7483, 0.2489, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3947 left_y=-0.1773 left_z=0.1995 left_yaw=0.0062 left_pitch=-0.0293 left_roll=0.0004 left_gripper=0.1135 right_x=0.441 right_y=0.1661 right_z=0.1849 right_yaw=0.1754 right_pitch=-0.3538 right_roll=-0.1626 right_gripper=0.9969\nstate[joint_eff]: [-0.3761, -7.3641, 9.4154, 1.5214, -0.3883, 0.0122, 0.1929, -0.0479, -9.4838, 7.3094, 1.3358, 0.0611, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5964, 1.7103, 1.3823, -0.4236, -0.5091, -0.408, 0.1152, 0.445, 1.7863, 1.5883, -0.7486, 0.2489, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.4408 left_y=-0.1909 left_z=0.1982 left_yaw=0.0326 left_pitch=-0.0754 left_roll=0.0253 left_gripper=0.1152 right_x=0.441 right_y=0.166 right_z=0.1849 right_yaw=0.1754 right_pitch=-0.3542 right_roll=-0.1627 right_gripper=0.9969\nstate[joint_eff]: [0.0752, -9.1829, 9.0462, 1.6679, -0.1783, 0.2271, 0.1538, -0.1709, -9.347, 6.6803, 1.2967, 0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5583, 1.7863, 1.4555, -0.432, -0.4896, -0.392, 0.9951, 0.445, 1.7863, 1.5883, -0.749, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.4624 left_y=-0.1866 left_z=0.1911 left_yaw=0.0476 left_pitch=-0.0925 left_roll=0.0336 left_gripper=0.9951 right_x=0.4409 right_y=0.1661 right_z=0.1848 right_yaw=0.1756 right_pitch=-0.3546 right_roll=-0.1625 right_gripper=0.9969\nstate[joint_eff]: [0.3487, -7.9248, 9.0598, 1.5946, -0.1441, 0.1245, -0.0855, -0.212, -9.1556, 6.6803, 1.3309, 0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bcc8882669154f5f7daaf51f0857ba50a88314ea17e48866c15652a8db97912",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9686190a3c3cbcfe4a010a6800e25ec233640630a2bba3e3f644386c1e6b705a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abf61c7f14c22b6971360d515a1ccc053f017463fb493b4bc35f81fb77be42f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018tn9hYGJ3VpxsXxWmXjuD3",
      "input": {
        "note": "The basket still looks empty and a white plush sits on the table near its near-left corner, so I'm backing the left arm off and up to get a clear look at where the toys actually are.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.12,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_018tn9hYGJ3VpxsXxWmXjuD3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6376, 1.2667, 1.2968, -0.8021, -0.5262, -0.4515, 0.9964, 0.445, 1.7863, 1.5883, -0.7483, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3312 left_y=-0.1305 left_z=0.276 left_yaw=0.0288 left_pitch=-0.0837 left_roll=0.0121 left_gripper=0.9964 right_x=0.441 right_y=0.1661 right_z=0.1849 right_yaw=0.1757 right_pitch=-0.3539 right_roll=-0.1623 right_gripper=0.9969\nstate[joint_eff]: [-0.1983, -4.9026, 7.1043, 1.4628, -0.4371, -0.0659, 0.1148, -0.2803, -9.2103, 6.653, 1.3944, 0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a77f2e0fcb9ecc66e433b33a80b89b7ec9ca339fd28348f686defe7532291d73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1cdb750375a84ece528a8a8f66024ec0c0414463c5128247bdc645e4c59ad90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6515b2582042ea6877a61d1363c733903302534df2ce5274985367eb8b2ed1bf",
        "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 · 6.045 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5964, 1.7103, 1.3823, -0.4236, -0.5091, -0.408, 0.1152, 0.445, 1.7863, 1.5883, -0.7486, 0.2489, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.4408 left_y=-0.1909 left_z=0.1982 left_yaw=0.0326 left_pitch=-0.0754 left_roll=0.0253 left_gripper=0.1152 right_x=0.441 right_y=0.166 right_z=0.1849 right_yaw=0.1754 right_pitch=-0.3542 right_roll=-0.1627 right_gripper=0.9969\nstate[joint_eff]: [0.0752, -9.1829, 9.0462, 1.6679, -0.1783, 0.2271, 0.1538, -0.1709, -9.347, 6.6803, 1.2967, 0.0659, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5583, 1.7863, 1.4555, -0.432, -0.4896, -0.392, 0.9951, 0.445, 1.7863, 1.5883, -0.749, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.4624 left_y=-0.1866 left_z=0.1911 left_yaw=0.0476 left_pitch=-0.0925 left_roll=0.0336 left_gripper=0.9951 right_x=0.4409 right_y=0.1661 right_z=0.1848 right_yaw=0.1756 right_pitch=-0.3546 right_roll=-0.1625 right_gripper=0.9969\nstate[joint_eff]: [0.3487, -7.9248, 9.0598, 1.5946, -0.1441, 0.1245, -0.0855, -0.212, -9.1556, 6.6803, 1.3309, 0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6376, 1.2667, 1.2968, -0.8021, -0.5262, -0.4515, 0.9964, 0.445, 1.7863, 1.5883, -0.7483, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3312 left_y=-0.1305 left_z=0.276 left_yaw=0.0288 left_pitch=-0.0837 left_roll=0.0121 left_gripper=0.9964 right_x=0.441 right_y=0.1661 right_z=0.1849 right_yaw=0.1757 right_pitch=-0.3539 right_roll=-0.1623 right_gripper=0.9969\nstate[joint_eff]: [-0.1983, -4.9026, 7.1043, 1.4628, -0.4371, -0.0659, 0.1148, -0.2803, -9.2103, 6.653, 1.3944, 0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a77f2e0fcb9ecc66e433b33a80b89b7ec9ca339fd28348f686defe7532291d73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1cdb750375a84ece528a8a8f66024ec0c0414463c5128247bdc645e4c59ad90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6515b2582042ea6877a61d1363c733903302534df2ce5274985367eb8b2ed1bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q6oeby3EQdKBrZQL13AZWx",
      "input": {
        "note": "A grey plush toy lies just in front of the left basket, centred on the jaw column in the wrist view; descending toward it for a grasp.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.14,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Q6oeby3EQdKBrZQL13AZWx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5835, 1.4776, 0.765, -0.1047, -0.4919, -0.4187, 0.9965, 0.445, 1.7863, 1.5883, -0.749, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3606 left_y=-0.1337 left_z=0.0955 left_yaw=0.0422 left_pitch=-0.1354 left_roll=0.0457 left_gripper=0.9965 right_x=0.4409 right_y=0.1661 right_z=0.1848 right_yaw=0.1756 right_pitch=-0.3546 right_roll=-0.1625 right_gripper=0.9969\nstate[joint_eff]: [0.4034, -6.4205, 6.188, 1.6777, -0.149, 0.1099, -0.0073, -0.0752, -9.1419, 6.8718, 1.3016, 0.0659, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7acff8ef217330cab6ceabed0ce45084768cc1ea20e21dbb70403f3e5147123",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:319442a668d0c1cd177afdea63a9eff60f1c1afe8803a692b7e827f0b7f913e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e8ad8f5efbb1f819a69ae4c301ad15feae4afb22ad0968af0325b20b8283f94",
        "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 · 15.14 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5583, 1.7863, 1.4555, -0.432, -0.4896, -0.392, 0.9951, 0.445, 1.7863, 1.5883, -0.749, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.4624 left_y=-0.1866 left_z=0.1911 left_yaw=0.0476 left_pitch=-0.0925 left_roll=0.0336 left_gripper=0.9951 right_x=0.4409 right_y=0.1661 right_z=0.1848 right_yaw=0.1756 right_pitch=-0.3546 right_roll=-0.1625 right_gripper=0.9969\nstate[joint_eff]: [0.3487, -7.9248, 9.0598, 1.5946, -0.1441, 0.1245, -0.0855, -0.212, -9.1556, 6.6803, 1.3309, 0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6376, 1.2667, 1.2968, -0.8021, -0.5262, -0.4515, 0.9964, 0.445, 1.7863, 1.5883, -0.7483, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3312 left_y=-0.1305 left_z=0.276 left_yaw=0.0288 left_pitch=-0.0837 left_roll=0.0121 left_gripper=0.9964 right_x=0.441 right_y=0.1661 right_z=0.1849 right_yaw=0.1757 right_pitch=-0.3539 right_roll=-0.1623 right_gripper=0.9969\nstate[joint_eff]: [-0.1983, -4.9026, 7.1043, 1.4628, -0.4371, -0.0659, 0.1148, -0.2803, -9.2103, 6.653, 1.3944, 0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5835, 1.4776, 0.765, -0.1047, -0.4919, -0.4187, 0.9965, 0.445, 1.7863, 1.5883, -0.749, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3606 left_y=-0.1337 left_z=0.0955 left_yaw=0.0422 left_pitch=-0.1354 left_roll=0.0457 left_gripper=0.9965 right_x=0.4409 right_y=0.1661 right_z=0.1848 right_yaw=0.1756 right_pitch=-0.3546 right_roll=-0.1625 right_gripper=0.9969\nstate[joint_eff]: [0.4034, -6.4205, 6.188, 1.6777, -0.149, 0.1099, -0.0073, -0.0752, -9.1419, 6.8718, 1.3016, 0.0659, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7acff8ef217330cab6ceabed0ce45084768cc1ea20e21dbb70403f3e5147123",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:319442a668d0c1cd177afdea63a9eff60f1c1afe8803a692b7e827f0b7f913e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e8ad8f5efbb1f819a69ae4c301ad15feae4afb22ad0968af0325b20b8283f94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7AMKjgEIEhgCKkDSthQFYqqY1lydyrwURCHfhfjMj9XrSd7VO2bKXAOJyrzHV2gG/2UYeGk39Q1QSwNyafpyhyo8iItgd4XJfdQGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfnCzNUGEgxpVEL2Xd88COQbw4EaDPcfTYAbIyw690X1xCIw4l1wTelj+GOFzb+wTrI8BoGPJLYZb+869pwx30OAWlCMtRGyg7Fj737nzVzvNbBVKooC15v7EBpa0N9HijPWyMJ9Mjy5jbuWwKooNs1K/moeQ4Kw/DiszwVU6hkH/6Bl7w63T4Fd8qkowLbNUR6mw+jD6UrWEZbArgiAW1IZwxot/t3ocsbb9XAcWkO1NhJpP5Q4J21s91eW8LKd3NbbtFDxfA3/02QMiCCvCJifyYs9jNQonq/8w9gMap6PeyryVZh86R8OoIprhqRxXZsWXri6w5EYFPxR/TbPWtvo8X06plauoVhZdhTm3iHgvfLiDC6JXdSyf3tlqsDl9nopLn+fvKdLbh3IQB0juQbTnvuIX6+yBY9r8D59igOrmLutN3c0fTeCL5zRCAykm2Ckg8tcBbY06CtFsblFq/IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0167PaJZcrKkyhrXTdtjUXXN",
      "input": {
        "note": "The grey plush fills the left wrist view centred on the jaws; descending onto its back and closing to grip a handful of it.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.375,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0167PaJZcrKkyhrXTdtjUXXN",
      "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]: [-0.5594, 1.623, 0.7204, 0.1017, -0.49, -0.4042, 0.0102, 0.445, 1.7863, 1.5883, -0.7486, 0.2489, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3766 left_y=-0.1335 left_z=0.0584 left_yaw=0.0557 left_pitch=-0.1233 left_roll=0.0462 left_gripper=0.0102 right_x=0.441 right_y=0.166 right_z=0.1849 right_yaw=0.1754 right_pitch=-0.3542 right_roll=-0.1627 right_gripper=0.9969\nstate[joint_eff]: [0.2393, -5.8462, 4.4376, 1.5458, -0.0171, 0.0513, 0.8278, -0.2393, -9.2103, 6.6393, 1.2918, 0.0952, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0492cbc7b66a25b9e3a3cd6a5b5f7fe443d65596985cc8b188e68fca59c1aea9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0952b84eaef323598ca69da454848a7abd75bdaa5777dd68cff3e4f43623ccc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1cc2299586382da96ce9b77ca5c0bae7868078f249001240c42baa19fdfceb10",
        "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 · 7.985 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6376, 1.2667, 1.2968, -0.8021, -0.5262, -0.4515, 0.9964, 0.445, 1.7863, 1.5883, -0.7483, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3312 left_y=-0.1305 left_z=0.276 left_yaw=0.0288 left_pitch=-0.0837 left_roll=0.0121 left_gripper=0.9964 right_x=0.441 right_y=0.1661 right_z=0.1849 right_yaw=0.1757 right_pitch=-0.3539 right_roll=-0.1623 right_gripper=0.9969\nstate[joint_eff]: [-0.1983, -4.9026, 7.1043, 1.4628, -0.4371, -0.0659, 0.1148, -0.2803, -9.2103, 6.653, 1.3944, 0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5835, 1.4776, 0.765, -0.1047, -0.4919, -0.4187, 0.9965, 0.445, 1.7863, 1.5883, -0.749, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3606 left_y=-0.1337 left_z=0.0955 left_yaw=0.0422 left_pitch=-0.1354 left_roll=0.0457 left_gripper=0.9965 right_x=0.4409 right_y=0.1661 right_z=0.1848 right_yaw=0.1756 right_pitch=-0.3546 right_roll=-0.1625 right_gripper=0.9969\nstate[joint_eff]: [0.4034, -6.4205, 6.188, 1.6777, -0.149, 0.1099, -0.0073, -0.0752, -9.1419, 6.8718, 1.3016, 0.0659, -0.0269, -0.0073]",
      "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]: [-0.5594, 1.623, 0.7204, 0.1017, -0.49, -0.4042, 0.0102, 0.445, 1.7863, 1.5883, -0.7486, 0.2489, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3766 left_y=-0.1335 left_z=0.0584 left_yaw=0.0557 left_pitch=-0.1233 left_roll=0.0462 left_gripper=0.0102 right_x=0.441 right_y=0.166 right_z=0.1849 right_yaw=0.1754 right_pitch=-0.3542 right_roll=-0.1627 right_gripper=0.9969\nstate[joint_eff]: [0.2393, -5.8462, 4.4376, 1.5458, -0.0171, 0.0513, 0.8278, -0.2393, -9.2103, 6.6393, 1.2918, 0.0952, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0492cbc7b66a25b9e3a3cd6a5b5f7fe443d65596985cc8b188e68fca59c1aea9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0952b84eaef323598ca69da454848a7abd75bdaa5777dd68cff3e4f43623ccc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cc2299586382da96ce9b77ca5c0bae7868078f249001240c42baa19fdfceb10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3QgKjgEIEhgCKkB7/dClQWuxW9oFGQ+vtQrEapjD2Y3rpzShO+lDF04gUiP1lyiVBPsS4rEZB7KM+5WNKoX5VE6GPdVxc6UFBh81Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYnDzNUGEgyaIbKscE/KLORDBawaDLemMdwqP8QYGhtZpyIwEV9xrk/UqcDxYyPDrkCleqFIF0VeEsagyyQyu1+joGQghm6YQ8SWDhP8ZFwFoETfKvsGAcyLn0zbGmA1BG5ITanHIeEsDfhDt8zRp6VnObeLEtne5zau+6XN2yE6KtrEget32pVnLEaxR6t/fTe2Y1oIiZ8fOeJidiFzQbHy9NrnFWaxUy81E4LzRiRow7kex8a6tp1o7rjcNZCBTuaed8lHB9TJ899mf1GW+mxJJNzOK6oSUD6Kf4l4TrkLhVINNg6CGcYGU41NVtNBDCB/WFYQpxHczYBxr5T/lLR/9EpGMP6KfLC0DY4HljaG3LBQK1CXvwylqurV/2n5NHf3085kdFDRWYDMvfjgt0aDLY96t/glVtmGCWQv2jO5ubtYQwCsG+HR5I319z9VUag7sslmPPR0nsD4ijOY0ghq4iUVkFvlqkgZVrAGcQ0K3UH49WKb3RKIesiWVNd6ga+mSQXEPvkRRdbnHrsIMfWzJwr9l6iF+3s3rwRQAI+rRJJ9ZWgLFWLVe5QkEhvevZ/MtiTZgLTij/cOpE6D9GNqqOfKMW/RBJnuwhGnDHKpXnPvuqS5HVUt4dKlMkr83ShZe+HOEW8e70CfB9HWFfd/4J0Rm0a3GIfoKam6zd77Aq+rOcNHf2ikA8Zhksiu6xRTIiGZy4EV73MsQIfnzAA7XvLjsYCpE5rvCdlMfJUapkQnoipqtv13Bezy3Tcv2mrekbQ0EFXpWZIcQ+8pMWaZjp1kdlWUm18g5T7F2hob9NQjGCdxsDfTiLqoLH2B4yEPRj73On8P+MnOA3wR4zEZ3JJTu/LfbSAggpZLISYv2ciBxCNh60vdx0I1NX4CsfU38Pi3qEMHwF/eqFC4ElaL/7B3djzbGsE9RAxdIAm35NO9h1JD1o7WMnvBzLErY4WNJr+fLNNB2rZq4/TN7Qm7EndtVu5IMU+vsuA1A/sb7Fl0N/4QcJLGsQqPtclm3cIhWOYJYhWMtf3EEDABB0yrqSirLH5SmSDirRz176Akacng3HLVwp3F3oxsQw07Tni24PIaAiyaoliXRO8i1qPAuDgIGcRAP4lNoPHedJk9/GnURb4bpSoZ32bxjj5jyPcznVZpiDtIGriR7+LYrDq9xEn74Y9GSI1CA1Z+MrZVaApbELuQSPGyAPfUF6hBAz3/YqGKeY5sk2CB+KWbTXQYl1PdxWkhIP6+XI0F1hd1SQP0wyG+cdRoblnAmjT48VD8lv4IUubbIIndo5KFqBSZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RKWQZR2fSTNFjFbQptVVLB",
      "input": {
        "note": "Empty close again — the plush body sits left of the jaw line; shifting 3.5 cm to the arm's left and closing again on the fur.",
        "targets": {
          "left_gripper": 0.0,
          "left_y": -0.1,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01RKWQZR2fSTNFjFbQptVVLB",
      "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]: [-0.4706, 1.6135, 0.6495, 0.2119, -0.4442, -0.3569, 0.0067, 0.445, 1.7863, 1.5883, -0.7483, 0.2489, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3819 left_y=-0.105 left_z=0.052 left_yaw=0.0804 left_pitch=-0.1014 left_roll=0.0293 left_gripper=0.0067 right_x=0.441 right_y=0.1661 right_z=0.1849 right_yaw=0.1754 right_pitch=-0.3538 right_roll=-0.1626 right_gripper=0.9969\nstate[joint_eff]: [0.0205, -7.2, 4.4923, 1.2527, -0.0415, 0.0562, 0.6862, -0.212, -9.1829, 6.7214, 1.3309, 0.105, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3e386a7a49c79b1d51c1cce02a1ab01e5e699d8700ad74859d93661f25baf0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a6fda7f343f98642fc01e6a50d6761afefcd1de8a560c3d835650d0e403fc48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c28b03508e4bec1fa847a44fb4cccb6626acd388c6dfc2e9a15bb726e75d3ef",
        "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 · 6.892 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]: [-0.5835, 1.4776, 0.765, -0.1047, -0.4919, -0.4187, 0.9965, 0.445, 1.7863, 1.5883, -0.749, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3606 left_y=-0.1337 left_z=0.0955 left_yaw=0.0422 left_pitch=-0.1354 left_roll=0.0457 left_gripper=0.9965 right_x=0.4409 right_y=0.1661 right_z=0.1848 right_yaw=0.1756 right_pitch=-0.3546 right_roll=-0.1625 right_gripper=0.9969\nstate[joint_eff]: [0.4034, -6.4205, 6.188, 1.6777, -0.149, 0.1099, -0.0073, -0.0752, -9.1419, 6.8718, 1.3016, 0.0659, -0.0269, -0.0073]",
      "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]: [-0.5594, 1.623, 0.7204, 0.1017, -0.49, -0.4042, 0.0102, 0.445, 1.7863, 1.5883, -0.7486, 0.2489, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3766 left_y=-0.1335 left_z=0.0584 left_yaw=0.0557 left_pitch=-0.1233 left_roll=0.0462 left_gripper=0.0102 right_x=0.441 right_y=0.166 right_z=0.1849 right_yaw=0.1754 right_pitch=-0.3542 right_roll=-0.1627 right_gripper=0.9969\nstate[joint_eff]: [0.2393, -5.8462, 4.4376, 1.5458, -0.0171, 0.0513, 0.8278, -0.2393, -9.2103, 6.6393, 1.2918, 0.0952, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4706, 1.6135, 0.6495, 0.2119, -0.4442, -0.3569, 0.0067, 0.445, 1.7863, 1.5883, -0.7483, 0.2489, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3819 left_y=-0.105 left_z=0.052 left_yaw=0.0804 left_pitch=-0.1014 left_roll=0.0293 left_gripper=0.0067 right_x=0.441 right_y=0.1661 right_z=0.1849 right_yaw=0.1754 right_pitch=-0.3538 right_roll=-0.1626 right_gripper=0.9969\nstate[joint_eff]: [0.0205, -7.2, 4.4923, 1.2527, -0.0415, 0.0562, 0.6862, -0.212, -9.1829, 6.7214, 1.3309, 0.105, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3e386a7a49c79b1d51c1cce02a1ab01e5e699d8700ad74859d93661f25baf0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a6fda7f343f98642fc01e6a50d6761afefcd1de8a560c3d835650d0e403fc48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c28b03508e4bec1fa847a44fb4cccb6626acd388c6dfc2e9a15bb726e75d3ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzggKjgEIEhgCKkBsBgLIEkonsBZggaLHZSgIPG5e/dvSRbiEy6elcblfqU8PO7+HaJovdQjqiJf8PWnuZEiQhFpHnN5MHbEjxWeAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZHDzNUGEgzTv5FYuKsNd2Juf/caDHZcoIveMK3OqlIR9SIwXYV4c9BOAU6Do6yBciyOaEdohPtnU9siJOZQqWc7UNuhxuF3MXyAof7vm9gZp75BKuwGRY5M8pDOw8HfiKWSdOQoFPIX2vOjrtFxM0aDoDbo8sObUhZkYynipKoB5zvLeMikdixKn6iE3RQHaya9HaIIszi1LiLmPIWwpPtZmnxoVa6WI8gUjUP8RphLBKEvoK14Tz7oAOjsuMQM95/etLDkkIFJt1JnlImsAsjNNb+5HfxtEVaDTaSH0UNaxh3dHTHzFYVWra107ZnHiTgGiUr1iRNsb5IJMUbOi7zXnLhwYN3rbwM1B1CyAovo+OZ7RV6ReUU7ALtTacMb1gWqrqE+RP1Dx9Dwn8jpl2Fy/lTA/LUPNBRjGbbWn/Df8wwxsF9tmH9Z/eCnCwPw8ifNXK6AXT+x+j1r1QT+d3Ra2MKRiKHq5q9Ly5Y7921a5kM5DcJEQxaC+5VzY0NJo5FtPbjffG5WMadSgf8nu2p4Sy70ewJJhlG1jEVbdBRMfkIBAv9XV5h9lcNra2sgM8XMGhWHejKFk5S896w1rNC5oWdEza6FPKN5I8vm/WeC95hBtrAFa4RFNZb9tn6E3y6thlq5nzYQiEveRQn3fMe7FvzCbPalFsDXr6e+u67cnhJBKB08sC9vLI4aYyTiSBR1hSJMItW1mrcL0mL2MhmTzJe8DUAOT5IU1J1ggVaRk+/+qyxl4yEBTj+aim/EghhjkYoG64vmOjIWqQtIonUP7FQ2hfC1VV9la0rNWGa9a9rEzLmRVQ1NruzSadott8ezt9SSUPRRrJ4PgZBzuRizVW04EvuxiP0p3RBNlle52x7Z83yevSE8pHYT3rVWDToo1Sk+x2rHk9zp1mFvgF8Dz9Ai387bBfC22mXeDJzeb7Nm4XE5ICMVR6jbqCPRhZNx1Oi/WqUHinkzJOf6b8uIW+KqXrVmZVRx5ZOwwqT2GNoh+XfB3R9GHpH467zxdbONdFK6oKZKa2R0GMP/r04cEhYwEXtdt5+yfArbWKGGvQtKxv/V7RY6ne3SxIIi7nYW60i6UCpqIfIaRFgBdehAsqUZCxlML6ywBh9EW2kvaqUuu9g1TqqgzxTZuZo2BQur0FRg91A+fz9/IEAf2ocD6FOlGLto/NBtCT93MurjYdHDflL7PS+mdchfALAS915Xib30nm5cq+/gHGr1ftH6d75Ga8Squq9gmopVyDOdd/vAKQ/qRnok3BPlcC9NPMRMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012hUehzBB7qeH7YxWPDAopP",
      "input": {
        "note": "Jaws are closing just short of the plush; pushing 3 cm further out and 2 cm higher to close around its torso rather than under it.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.41,
          "left_y": -0.105,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_012hUehzBB7qeH7YxWPDAopP",
      "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]: [-0.4351, 1.6413, 0.7429, 0.1722, -0.4294, -0.3363, 0.0066, 0.445, 1.7863, 1.5883, -0.749, 0.2489, 0.0624, 0.9969]\nstate[eef_state]: left_x=0.405 left_y=-0.1032 left_z=0.068 left_yaw=0.0918 left_pitch=-0.0846 left_roll=0.0237 left_gripper=0.0066 right_x=0.4409 right_y=0.166 right_z=0.1848 right_yaw=0.1755 right_pitch=-0.3546 right_roll=-0.1631 right_gripper=0.9969\nstate[joint_eff]: [0.3214, -6.188, 7.3915, 1.4774, -0.0855, 0.0855, 0.6862, -0.0205, -9.3607, 6.8308, 1.2967, 0.0952, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fe2f577901a109ba2ceb31294ecd93e88ec3e0ed0f9d7159d7c7a412a204c75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6907f10564641c92a5b38a9f4ca278874079580357ae9aae769b29fbe7b248d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b782ec5a807da671ae65771c756b3a233a8e2376f788260b3d717c45c95a4d07",
        "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 · 7.989 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]: [-0.5594, 1.623, 0.7204, 0.1017, -0.49, -0.4042, 0.0102, 0.445, 1.7863, 1.5883, -0.7486, 0.2489, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3766 left_y=-0.1335 left_z=0.0584 left_yaw=0.0557 left_pitch=-0.1233 left_roll=0.0462 left_gripper=0.0102 right_x=0.441 right_y=0.166 right_z=0.1849 right_yaw=0.1754 right_pitch=-0.3542 right_roll=-0.1627 right_gripper=0.9969\nstate[joint_eff]: [0.2393, -5.8462, 4.4376, 1.5458, -0.0171, 0.0513, 0.8278, -0.2393, -9.2103, 6.6393, 1.2918, 0.0952, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4706, 1.6135, 0.6495, 0.2119, -0.4442, -0.3569, 0.0067, 0.445, 1.7863, 1.5883, -0.7483, 0.2489, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3819 left_y=-0.105 left_z=0.052 left_yaw=0.0804 left_pitch=-0.1014 left_roll=0.0293 left_gripper=0.0067 right_x=0.441 right_y=0.1661 right_z=0.1849 right_yaw=0.1754 right_pitch=-0.3538 right_roll=-0.1626 right_gripper=0.9969\nstate[joint_eff]: [0.0205, -7.2, 4.4923, 1.2527, -0.0415, 0.0562, 0.6862, -0.212, -9.1829, 6.7214, 1.3309, 0.105, -0.022, -0.0122]",
      "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]: [-0.4351, 1.6413, 0.7429, 0.1722, -0.4294, -0.3363, 0.0066, 0.445, 1.7863, 1.5883, -0.749, 0.2489, 0.0624, 0.9969]\nstate[eef_state]: left_x=0.405 left_y=-0.1032 left_z=0.068 left_yaw=0.0918 left_pitch=-0.0846 left_roll=0.0237 left_gripper=0.0066 right_x=0.4409 right_y=0.166 right_z=0.1848 right_yaw=0.1755 right_pitch=-0.3546 right_roll=-0.1631 right_gripper=0.9969\nstate[joint_eff]: [0.3214, -6.188, 7.3915, 1.4774, -0.0855, 0.0855, 0.6862, -0.0205, -9.3607, 6.8308, 1.2967, 0.0952, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fe2f577901a109ba2ceb31294ecd93e88ec3e0ed0f9d7159d7c7a412a204c75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6907f10564641c92a5b38a9f4ca278874079580357ae9aae769b29fbe7b248d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b782ec5a807da671ae65771c756b3a233a8e2376f788260b3d717c45c95a4d07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlQcKjgEIEhgCKkBL/x/GBqoBW++L8lUColBxkJluzPy8bRP2hZWf+zTyFG7PLtbOVvpJmGTH+LyO+gqOkwKzefragHde1NRrbPV2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZnDzNUGEgyDY6i0OynLdVbzAfMaDM1jw/WEpwsj1fFStSIwwcjvgBXkQgF1j/taxfPMC1mDHdCK5dgXne/QlnW+WTUPw+5GtlIDkLnEf7k8L6BYKrMFlZvaWmpv2MtXyQvxk/R0pp2E86vcRTkGSdNdtGEeujE9iSJ09zx0l2HzyCwfC2tw0+Eb88ZxrZVmJLdGsYphZmUYe955+qF8jPg46Il5l5yD/GUeCkXzpaq3lBmjDcAHW2h5V87KjER0sZG+hxqwLVUgndBbiuc1dSQau/dFk09dWT712yUOkJLF1GwxNdGRMM+IkgsinIotC9t3w0yaY33LWxKeU6O8gKgz+/apiz0bVOY5F25K/+kUKn3X2eylXgiuki4hOX1OeCIbrrm9AxapeFVJcIESdSzNK2CXDwqaSPmyCd3txZo/vNTtVwF3+AH40kXYAPbZKWPwQg4nOI560hV+s8EJjTybk/V+El8udtxTt6xO67SnRKeCax4px8lvn9utetlpkwbaqbNOLi0bim7gVzjQCfifgNd8qJ7FOaGCFAeRvJEmdmMsipdGDkP389nm265VNux+66+C/i/HbrlO3D+chhP2ZG0xCGZx6Sg+b1go+fKsX9nj2wlbwuULMusxuWyWFWZSVKlXmjLb84rRLWwe6yEXGw6nUivQe+qdJNjlIENFzVVfPBE6jYiFiTD17DZg7N4mPIATZgxhKm4zwckqUl+6K6N5u/0PmWPzy0ftQAAKFjQKOMN+CD1zM4+55pbx3NkdamS7wK5yWruAaF2AFK11E6l6MVxkFv9RO9rqIUyCc4Z8FNm4jeKo5BrNsumHYIIaBt+CQaJ1D6zHaka2HYe2kauox2Iq8/DEdVbGjQEyY1gMEwQ4s/nBlmqpPFaZMgWwQBkIugqtlPVIYq33A0X57nWbGdNpYBw5GBW53Jy+sjQhjZNXV82fCNNp9bCiOaun1aPqBisGIvP+ZeWk6mQcW77xIXynbCaxot8cQoYkYihia8Fzp9qa0s0Cp9KQ8nGAg8JDlXQ3EhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cuq8yk3EtsHPDuATie1xzJ",
      "input": {
        "note": "Jaws are buried in the plush fur; lifting to 25 cm to see whether the toy comes up with them.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Cuq8yk3EtsHPDuATie1xzJ",
      "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]: [-0.4286, 1.5921, 0.849, -0.0135, -0.4149, -0.3401, 0.0066, 0.445, 1.7882, 1.5883, -0.7483, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.4087 left_y=-0.1045 left_z=0.0954 left_yaw=0.0903 left_pitch=-0.1159 left_roll=0.0275 left_gripper=0.0066 right_x=0.4411 right_y=0.1662 right_z=0.1841 right_yaw=0.1755 right_pitch=-0.3557 right_roll=-0.1628 right_gripper=0.9969\nstate[joint_eff]: [-0.6222, -14.5026, 12.0684, 2.7082, -0.4664, 0.0269, 0.6813, -0.3624, -9.2513, 6.8308, 1.3504, 0.0806, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a64c1edbe96b39433ee3d18903c7ebafe45944bcda7142aea2ce0134eadeb87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c003ad6bd89fadaa4d96e0fcef6e3d91418a9e181548e80af2ea712dc345bb36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7cb7439a77a19a54ce2025fa2985a091f779b17630a4a6d4c7e49728b6505b24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 7.021 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]: [-0.4706, 1.6135, 0.6495, 0.2119, -0.4442, -0.3569, 0.0067, 0.445, 1.7863, 1.5883, -0.7483, 0.2489, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.3819 left_y=-0.105 left_z=0.052 left_yaw=0.0804 left_pitch=-0.1014 left_roll=0.0293 left_gripper=0.0067 right_x=0.441 right_y=0.1661 right_z=0.1849 right_yaw=0.1754 right_pitch=-0.3538 right_roll=-0.1626 right_gripper=0.9969\nstate[joint_eff]: [0.0205, -7.2, 4.4923, 1.2527, -0.0415, 0.0562, 0.6862, -0.212, -9.1829, 6.7214, 1.3309, 0.105, -0.022, -0.0122]",
      "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]: [-0.4351, 1.6413, 0.7429, 0.1722, -0.4294, -0.3363, 0.0066, 0.445, 1.7863, 1.5883, -0.749, 0.2489, 0.0624, 0.9969]\nstate[eef_state]: left_x=0.405 left_y=-0.1032 left_z=0.068 left_yaw=0.0918 left_pitch=-0.0846 left_roll=0.0237 left_gripper=0.0066 right_x=0.4409 right_y=0.166 right_z=0.1848 right_yaw=0.1755 right_pitch=-0.3546 right_roll=-0.1631 right_gripper=0.9969\nstate[joint_eff]: [0.3214, -6.188, 7.3915, 1.4774, -0.0855, 0.0855, 0.6862, -0.0205, -9.3607, 6.8308, 1.2967, 0.0952, -0.0317, -0.0073]",
      "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]: [-0.4286, 1.5921, 0.849, -0.0135, -0.4149, -0.3401, 0.0066, 0.445, 1.7882, 1.5883, -0.7483, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.4087 left_y=-0.1045 left_z=0.0954 left_yaw=0.0903 left_pitch=-0.1159 left_roll=0.0275 left_gripper=0.0066 right_x=0.4411 right_y=0.1662 right_z=0.1841 right_yaw=0.1755 right_pitch=-0.3557 right_roll=-0.1628 right_gripper=0.9969\nstate[joint_eff]: [-0.6222, -14.5026, 12.0684, 2.7082, -0.4664, 0.0269, 0.6813, -0.3624, -9.2513, 6.8308, 1.3504, 0.0806, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a64c1edbe96b39433ee3d18903c7ebafe45944bcda7142aea2ce0134eadeb87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c003ad6bd89fadaa4d96e0fcef6e3d91418a9e181548e80af2ea712dc345bb36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cb7439a77a19a54ce2025fa2985a091f779b17630a4a6d4c7e49728b6505b24",
        "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/AgKjgEIEhgCKkATWcgKCSlZEw3gIfbSZqFWS3wiEtBTsHnEkJcBM1MAJEhxaiHfthJ/kx3etKuMgwA8AADfk+8k7AO0UNuOxeU1Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaHDzNUGEgzQbG4mYWCZkASuwVkaDHGb7ENn7IhQKWq+QCIwbC/0BAe6UHGAMz9oa/i0dQfNFIHiAzLhQcRCQSuW517UZKzl+CoXuNdLMhCq8fCfKpoHTpL8lzC2rByuXfC5NJojc2a6qB0upEKNKZFH+EwKLNEdDU1j2lVlNIadqIYj4n15xgH3EnX7eEqcZVbV6fGit08kH5aeI677OlzqzKzhjTYBuKHdiw3mdjiBiu1WLib0mMsDynHBRx8vx2lWBuAi0r46pE0ny42LTUZ7kWJz3g34YgHYFwrr4D31+CIcMms1t2GlpwpGLkwUwovj82N92zbYkNP0AvzDCperkpk8mkgIxPmfIaSV8R0Wr4G5s/mmLEl17yRnzltJ03UH6ETgViJ6Gc4csfD9USGkUxm4Qm/Urfg4fOWcRd/rfWcjYlna2gzd04h1v0e5DtKs3KDQdYgS1sv6pZup7KREJYfLoO9jjHrxuUHBKkcMtcUScxm9hbihSYvtFxrXyLn8JEv+rv+IRQw+LV3B2bvAywPuWyrYBVlAxAI96d1j1+maPaJUVjutZovyuQSNPKnMJ7jUEHytMbjIApKrTduIb7w6VkbMPMSepR3XViP7dPwPWuuhG9yfeRBDbj4aiJKk2xYlBfFgRlD4yLJbcE9rCpNwJHhXIOkOk19aaSu56zv+GihlCj3ML4zKmmbo60lKoMD8NfaidtmUUcYaBZ9+CFCyS66RXkKeLa0hZfpC/Otuw/d4CPDTD6HdKn+IiRqSUC1MQwzDYPQEq7G8QpI04gJcDCi5ZrJe1yzmQoliPlPmv9pKS8qgR3MyoIGTIxjjM9vqV7QBnwce7rkC0V6i/FF6v2t/XcUdmbyff4APitkIKIExyB04GDoLrPv5P/ZQzb2IHOTS2uRc1fa9tWwywOzlWvlgJRppQ5/DpU8qonOCR0RmDgs5IQA+bB6/FelKgbiGXPb6/nw0CsdbWqH3tWN2UubCOyZcnC0XJva/DXw7xDIus8pb10k9tqFXr5YeS2JmxYrKsnOsPj63RatNyCarEAHUoXB62ibVGGqCI44OhgG+xT/hDu3TBW0jXaA30tGjMfJyEiuK4PBZ63NcSVrkqsxoiy4zXtbCyZCSM7arFpAoPX61ng6cOfkcCzIUousqjUbNo6YN6RS6VHbWrh3e0fVAlO+NDWlrtPk1kiwPhG03Yp8j7VjNFbV8hwJaGW3pofFoLpbUL5CahUqXY0bd/3JfPKGN4hU2iH85Y8iN6JCLmMyxkwH/kiKObnzzhC3nDhjXrbI4g9xaVFug+m9Ql6wkxvs8jN75MKqHShv5YhuJsTUZDDHUKqAr0RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TQ8eurveeEHZogfWPHeD96",
      "input": {
        "note": "The lift stalled with high shoulder effort, which suggests the plush is snagged in the jaws; dragging/carrying it forward toward the left basket rim.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.19,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01TQ8eurveeEHZogfWPHeD96",
      "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]: [-0.5735, 1.8091, 1.4834, -0.4946, -0.4953, -0.4473, 0.0066, 0.445, 1.7901, 1.5883, -0.749, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.457 left_y=-0.191 left_z=0.1822 left_yaw=0.0704 left_pitch=-0.1356 left_roll=0.0275 left_gripper=0.0066 right_x=0.4411 right_y=0.1662 right_z=0.1831 right_yaw=0.1753 right_pitch=-0.3583 right_roll=-0.1636 right_gripper=0.9969\nstate[joint_eff]: [-0.1436, -9.6752, 8.0889, 1.0183, -0.4469, -0.0806, 0.6764, -0.0752, -9.5521, 6.8718, 1.2576, 0.0562, -0.0611, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2144a12883c042506cde526018b1406b5500382907230af6e48d00ae5c3d413a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58879087c6a794d08bd2a77f4b18b7d38b258f0f43ea96ff64a6b3970b142afd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b4934f91747bbce325bdc9c7570ea5b87a118920974558d0036cd4969bcbb93",
        "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 · 8.798 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]: [-0.4351, 1.6413, 0.7429, 0.1722, -0.4294, -0.3363, 0.0066, 0.445, 1.7863, 1.5883, -0.749, 0.2489, 0.0624, 0.9969]\nstate[eef_state]: left_x=0.405 left_y=-0.1032 left_z=0.068 left_yaw=0.0918 left_pitch=-0.0846 left_roll=0.0237 left_gripper=0.0066 right_x=0.4409 right_y=0.166 right_z=0.1848 right_yaw=0.1755 right_pitch=-0.3546 right_roll=-0.1631 right_gripper=0.9969\nstate[joint_eff]: [0.3214, -6.188, 7.3915, 1.4774, -0.0855, 0.0855, 0.6862, -0.0205, -9.3607, 6.8308, 1.2967, 0.0952, -0.0317, -0.0073]",
      "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]: [-0.4286, 1.5921, 0.849, -0.0135, -0.4149, -0.3401, 0.0066, 0.445, 1.7882, 1.5883, -0.7483, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.4087 left_y=-0.1045 left_z=0.0954 left_yaw=0.0903 left_pitch=-0.1159 left_roll=0.0275 left_gripper=0.0066 right_x=0.4411 right_y=0.1662 right_z=0.1841 right_yaw=0.1755 right_pitch=-0.3557 right_roll=-0.1628 right_gripper=0.9969\nstate[joint_eff]: [-0.6222, -14.5026, 12.0684, 2.7082, -0.4664, 0.0269, 0.6813, -0.3624, -9.2513, 6.8308, 1.3504, 0.0806, -0.0366, -0.0122]",
      "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]: [-0.5735, 1.8091, 1.4834, -0.4946, -0.4953, -0.4473, 0.0066, 0.445, 1.7901, 1.5883, -0.749, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.457 left_y=-0.191 left_z=0.1822 left_yaw=0.0704 left_pitch=-0.1356 left_roll=0.0275 left_gripper=0.0066 right_x=0.4411 right_y=0.1662 right_z=0.1831 right_yaw=0.1753 right_pitch=-0.3583 right_roll=-0.1636 right_gripper=0.9969\nstate[joint_eff]: [-0.1436, -9.6752, 8.0889, 1.0183, -0.4469, -0.0806, 0.6764, -0.0752, -9.5521, 6.8718, 1.2576, 0.0562, -0.0611, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2144a12883c042506cde526018b1406b5500382907230af6e48d00ae5c3d413a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58879087c6a794d08bd2a77f4b18b7d38b258f0f43ea96ff64a6b3970b142afd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b4934f91747bbce325bdc9c7570ea5b87a118920974558d0036cd4969bcbb93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2gUKjgEIEhgCKkBoCsQWoUSW0wDugWh9afSZFTHUacRZbIvolmBjiN0B3oKT3qXiuFbI7ApqJBiZ7/ADKVWXeA7ZFy0l00brdK7eMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAanDzNUGEgxckCHT4t235RZtzp0aDICkcGpCEXq8u26skCIwBvonht5xxmSNtBtAtRS/q4ZtANsCvZwG1ELAJFwFyESIHDdwFdQV3QK4scLOMPUUKvgDXJ0Vf84C9gcBDV+AerJPq43D5vA6x+ALZQMjoteV/waHowuNSCLnADAEDhTDGgnIv7J2OY8WcEFBskCXXZYXsrm9jPPQ9LvRsvoksGRSJid3fAFh4pWcMX9/6ri6IVVpZ6LUv/rICxJV6y2bEtztW4wIiSS9x8fcU/ZJNrppqDxQ7VL3lZALXr0wjACnwt5AziMawcxnCXJ+dNcWMpwoQRX9tydgPzfGoKRXT89QwGqYPkPTtWHWSBgKJJ95Y9RKtnRdOkFzJ9F4wKuwvaabdg9jjzqur9jIUymwVzbG7KE4zE61uSStGo1nIYdav7Otlj1HjP4XmdWIDhfBhDXLlQJUPr+c9XtAxcrIcoE1P/t3WZbiNQPPa/AfAdOebFAl0P24WbemG9YC68VukGPVDJIDYuBCMe54pbQaTg4U0iOs3gCX+y2Ln0YUZFqS4HQXTTUMd1Gj6t2aor6uoUTbmiJooeUb3t/m15s3i4BEzVzvFhIKcEYFZjVzJqGGS8ZW32bUKBvbmWmr5oo+YpH1GweDQjVoEEbioSq7QmfgADQsZ2VqKLKak/3vVyEw2k6mY3WY5VhcvyQybUoG7neVMQl2wIr3uM2JJL/AC6VSwD4iYeMNxu1HX8HXctTWJRL9iPRJ0Ur6dUzy2tzQXhUH3bvIHmlCv38gGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015GKCwvksocQ866wkiaBkCd",
      "input": {
        "note": "The plush is held at the near-left edge of the left basket; shifting 5 cm to the arm's right and up to bring it over the basket's interior.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.24,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_015GKCwvksocQ866wkiaBkCd",
      "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]: [-0.651, 1.9884, 1.8969, -0.7753, -0.5232, -0.511, 0.0066, 0.445, 1.7901, 1.5883, -0.7486, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.4701 left_y=-0.2426 left_z=0.2207 left_yaw=0.0526 left_pitch=-0.1578 left_roll=0.0245 left_gripper=0.0066 right_x=0.4412 right_y=0.1662 right_z=0.1831 right_yaw=0.1753 right_pitch=-0.3579 right_roll=-0.1635 right_gripper=0.9969\nstate[joint_eff]: [-0.0752, -11.5897, 8.2256, 1.16, -0.486, -0.0562, 0.6764, -0.0479, -9.3607, 6.653, 1.2772, 0.0806, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a1686c6f4b5837c438e8d41e8906c7200ca618b77d4583716a1e11163770b68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21db5ce93518a72ba1e3abc1ca9e5f4994bf8995d103ad6f18ab9f1db077944c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:44fed52df8e19680af9276b416bdc6474c0e7f77c69f1af4ee06312901f9ec2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 6.493 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]: [-0.4286, 1.5921, 0.849, -0.0135, -0.4149, -0.3401, 0.0066, 0.445, 1.7882, 1.5883, -0.7483, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.4087 left_y=-0.1045 left_z=0.0954 left_yaw=0.0903 left_pitch=-0.1159 left_roll=0.0275 left_gripper=0.0066 right_x=0.4411 right_y=0.1662 right_z=0.1841 right_yaw=0.1755 right_pitch=-0.3557 right_roll=-0.1628 right_gripper=0.9969\nstate[joint_eff]: [-0.6222, -14.5026, 12.0684, 2.7082, -0.4664, 0.0269, 0.6813, -0.3624, -9.2513, 6.8308, 1.3504, 0.0806, -0.0366, -0.0122]",
      "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]: [-0.5735, 1.8091, 1.4834, -0.4946, -0.4953, -0.4473, 0.0066, 0.445, 1.7901, 1.5883, -0.749, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.457 left_y=-0.191 left_z=0.1822 left_yaw=0.0704 left_pitch=-0.1356 left_roll=0.0275 left_gripper=0.0066 right_x=0.4411 right_y=0.1662 right_z=0.1831 right_yaw=0.1753 right_pitch=-0.3583 right_roll=-0.1636 right_gripper=0.9969\nstate[joint_eff]: [-0.1436, -9.6752, 8.0889, 1.0183, -0.4469, -0.0806, 0.6764, -0.0752, -9.5521, 6.8718, 1.2576, 0.0562, -0.0611, -0.0073]\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 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]: [-0.651, 1.9884, 1.8969, -0.7753, -0.5232, -0.511, 0.0066, 0.445, 1.7901, 1.5883, -0.7486, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.4701 left_y=-0.2426 left_z=0.2207 left_yaw=0.0526 left_pitch=-0.1578 left_roll=0.0245 left_gripper=0.0066 right_x=0.4412 right_y=0.1662 right_z=0.1831 right_yaw=0.1753 right_pitch=-0.3579 right_roll=-0.1635 right_gripper=0.9969\nstate[joint_eff]: [-0.0752, -11.5897, 8.2256, 1.16, -0.486, -0.0562, 0.6764, -0.0479, -9.3607, 6.653, 1.2772, 0.0806, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a1686c6f4b5837c438e8d41e8906c7200ca618b77d4583716a1e11163770b68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21db5ce93518a72ba1e3abc1ca9e5f4994bf8995d103ad6f18ab9f1db077944c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44fed52df8e19680af9276b416bdc6474c0e7f77c69f1af4ee06312901f9ec2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqgkKjgEIEhgCKkAyBSUEW9jiWnw8c0+QOYFnDACTCcxkjc+wxY722EH3D6S5r3M5L77/+ZoU8LRlDWmZbLZ0j+738qeG35lundOPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbPDzNUGEgysMSlnuf13chWnFOQaDPgIgH8TZONn0g/iLiIwAMA4c/w198pQH64LCmeLlfeFY87SJeNrMVi68Pe4RBzW7DymM1Yo4DoAXZ4zpbLrKsgHROXW4q6lH21+e5PoDUxC9e/ufe4aqk5aR7tAy/tvmFaCeB7XRFFcjXw1dTzvqafEScXuzQXTPPA9Zq9CFTlQsnkJV0y/UYvn1CYa9UrgNoEl6aHRGZCTHme5y8c3WDZK96fd4G73lymrmEjQjdNy4glTtvXNEXgCxm08EblZOi2ZQgrYNMQg+3DTAd60mawwKolqH9ohx7gZgz8dVR4q/N2yk4iYdYRFNLoKYGTBU0F5psce8LcrYLzo+asiy0+FREJHHo89/yKY2Dtc9mKb1tedSI77XWZuh53Rv8fEFD0KDhzeheuNSS7yePopiJdI58GVpC02QLcw6Ae57b0aaXvc0Ks69vKWowFvHcCzvztygr/oSkLGOtnonM8sgUviBxuVHdvV1m0NlaV04YMGOjYQcIdJhWtnJRa42FGRpPai/etQk7H3V39EtvrgAW+5FZifLLeR115q7UoBL7S5mQ77/A4PyhU0KehHp9BGXbYCqV6BXtItdg9jJHqPz+wXNnuBM/K8khu66U929Ab+CtQeLVr1oUxYakVh6IDHlwiHjtnR20o/HIvzetAXBlKHFdRhXrWYg5zzVUwXw6xeDvrZy5iQXMn+t66SDrBPIg9ZgTSNELVPwkl6z3jh847ZkodpAAgIPKd0wf1nWiQX1q6mpXJDZJzElAo1u1a+IQ+8I6irhZ9joV/BOzYnAiowCKjhoTIRNyeUBhT3/Sz8R2mjVkvzVlsBvWFwVwdueOaTc8IxEY/7BVCA3dM2ocH/qCEjlpKZdSeeBJdvH2dyAnJoC84c8a0NsFPaFaiDkZAX3crIUpma7uLOXK1NEa+9sgB2SArnmdbkxrGZ2B3gZBkxfTyqoiQ0+it1OW0XK1HAbxcgFnuEfup1eB21v+B4Ozwc083+594DdCC4feQLSkHF1so+J9zDEnfiRiWUZcSnwEYugikBUp2YhZA0g83cclC4v6FS2wZrO7+0dB9MVTolNT+FvmhoZxtwOK9CajOMQeFVGh+cqV/ZS/2PXTOEp5sBuBDsGEMGEu3l5ysRsBhG3UJKbfiZ/aLoCEiduxaSw6xNJ5H4mG6dOhuHosdox0Vm1DF+nLhpfkXFT+NI8ITPb1H2M69EnBpjWSnheHU2rTmTldCqHES8KgQtjDo6kRYyUW9cjxG4xsztvFAdYhxYYQuIyyWMJm4zSY/ByvWTYcdHpTp3wD0zlS+UvwTD8K08b/t7fCtuwMRUZfbTSMy2RThx8owrbJCRrHfT0hyEE+6TFrYZts5t8Pk4wvmjeIe0SYKXxY8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VGpHWDcHrvJBNHUW9KSwbU",
      "input": {
        "note": "The left basket's mouth is up and to the arm's left in the wrist view; moving back over its centre with the plush still gripped.",
        "targets": {
          "left_x": 0.48,
          "left_y": -0.17,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01VGpHWDcHrvJBNHUW9KSwbU",
      "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]: [-0.6552, 1.9934, 1.9404, -0.8299, -0.5247, -0.5175, 0.0066, 0.445, 1.7901, 1.5883, -0.7483, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.4666 left_y=-0.2424 left_z=0.2276 left_yaw=0.0547 left_pitch=-0.1691 left_roll=0.031 left_gripper=0.0066 right_x=0.4412 right_y=0.1663 right_z=0.1832 right_yaw=0.1753 right_pitch=-0.3576 right_roll=-0.1634 right_gripper=0.9969\nstate[joint_eff]: [-0.3487, -11.3299, 8.5538, 1.409, -0.5348, -0.0122, 0.6813, -0.2393, -9.1829, 6.8855, 1.3358, 0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3caff23c8934a36ff7b66910fe120b11159c03434a40e906f25850186e03a91d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ebcd3da9a225c5cbb82ffa2a471e9d1c35f596b456cb4f8bf273556bef1cc11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5bfc276e0ac7e70a9fffb7957b8a5615888e6f6cb461e216a1c19de5a47c16ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 11.09 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]: [-0.5735, 1.8091, 1.4834, -0.4946, -0.4953, -0.4473, 0.0066, 0.445, 1.7901, 1.5883, -0.749, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.457 left_y=-0.191 left_z=0.1822 left_yaw=0.0704 left_pitch=-0.1356 left_roll=0.0275 left_gripper=0.0066 right_x=0.4411 right_y=0.1662 right_z=0.1831 right_yaw=0.1753 right_pitch=-0.3583 right_roll=-0.1636 right_gripper=0.9969\nstate[joint_eff]: [-0.1436, -9.6752, 8.0889, 1.0183, -0.4469, -0.0806, 0.6764, -0.0752, -9.5521, 6.8718, 1.2576, 0.0562, -0.0611, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.651, 1.9884, 1.8969, -0.7753, -0.5232, -0.511, 0.0066, 0.445, 1.7901, 1.5883, -0.7486, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.4701 left_y=-0.2426 left_z=0.2207 left_yaw=0.0526 left_pitch=-0.1578 left_roll=0.0245 left_gripper=0.0066 right_x=0.4412 right_y=0.1662 right_z=0.1831 right_yaw=0.1753 right_pitch=-0.3579 right_roll=-0.1635 right_gripper=0.9969\nstate[joint_eff]: [-0.0752, -11.5897, 8.2256, 1.16, -0.486, -0.0562, 0.6764, -0.0479, -9.3607, 6.653, 1.2772, 0.0806, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6552, 1.9934, 1.9404, -0.8299, -0.5247, -0.5175, 0.0066, 0.445, 1.7901, 1.5883, -0.7483, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.4666 left_y=-0.2424 left_z=0.2276 left_yaw=0.0547 left_pitch=-0.1691 left_roll=0.031 left_gripper=0.0066 right_x=0.4412 right_y=0.1663 right_z=0.1832 right_yaw=0.1753 right_pitch=-0.3576 right_roll=-0.1634 right_gripper=0.9969\nstate[joint_eff]: [-0.3487, -11.3299, 8.5538, 1.409, -0.5348, -0.0122, 0.6813, -0.2393, -9.1829, 6.8855, 1.3358, 0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3caff23c8934a36ff7b66910fe120b11159c03434a40e906f25850186e03a91d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ebcd3da9a225c5cbb82ffa2a471e9d1c35f596b456cb4f8bf273556bef1cc11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bfc276e0ac7e70a9fffb7957b8a5615888e6f6cb461e216a1c19de5a47c16ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS4wYKjgEIEhgCKkBTFZ9my3ukD6yGt0GQHHGLNBijKlvtCK1aMCL6ARk814n6pmxwmVZxjwJX8fzg0h4NzxaySojWnOSLMOb4nmZzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbrDzNUGEgyvqND7HOqx+MIj+cgaDHsmCETBF5aVXTHQ7yIw8RHBkYNoDZJ4pADRhOV2nSG+1V5VZDmYsbbeyHtwUmtVl5Gpm7cCmGNa9I/hSHHPKoEF8y0ll/V8AVcGSmjyA0SKhSUTaavpBHOPOTM71IqL2PP9VQvV/WKmxkvm1yrEe4/yIyaTkaLsvLHRPl+RaCK1rUWFedOdwMFgInGuE0xrIGYFqEPRLceMPBPMEa03DzTc+zQPl6cWY8N5TvT3wiX95zL+r42HPkY/BU6Gwf8jPaGJHBlOWd77KkLeXLQddm4SoA6spfVmzc9X3sPG0ifOtS1pUYpdh5VCIy/hVuLl3BKH6VZJYaMNe50rVQqlXXgamD3GX0YEEedGJ9+qaJ5UyZg4rmn7pdEYXqh74tmH9RNcMi9w10/eRaRKutZ6B0I5S32EDuZmqx47wZIGZ+qDuRFqmej9RHIyR4gwmOR+VvG5GMnDNycf6asYyKu5kqQ0gp2U/F0pr1LzG1f+1a9Xh3ANwnbaQAcO0v9lud1mo/ETl1Db0uOiV2ZxyoPh6Wpm0Cf8vlAWdQ8HGXSyRmpDuRECOyLNVpDga8loW8eHQLflVEQl6WZXY+xzAK19Ry76iB41KJZwjcvDUxJCYnlIOL+hZoXc/LADo7XtT/yW7RsgB8OHwKSpauaSwyPVvqDmXQ7Mf98iGTyNtv5FCQWkHZfrk0v6wflq65eBtE5DKQIuXJgYCSUvzT4MVXzHxQPkN5bWkFnt0Qb3AdwLFavLyzzDmD/9G2zjILJpU4xCuvc4PQw5Phgaw08zlgeruJcor53VHJP0yVJYADQlEbTUQKzHMwdgeQkscv+PelYw3FgnjDhTjnE+cGJ7rfs6yDgF7z0ZRibbe7Qu1/PqmF1LmAncn0nZZ1THfzSICVYhSGmk1tAA/w+/K00GiHMW65628cuMiK8wZiaIQie5mCSM1jcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016Q6bX2f1w3UF4TSVUstq7E",
      "input": {
        "note": "The arm is at its reach limit with the plush toy over the left basket's near edge; releasing so the toy drops into/against the left basket.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016Q6bX2f1w3UF4TSVUstq7E",
      "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]: [-0.6552, 1.9934, 1.94, -0.8295, -0.5232, -0.5255, 0.9951, 0.445, 1.7901, 1.5883, -0.7486, 0.2485, 0.0628, 0.9969]\nstate[eef_state]: left_x=0.4666 left_y=-0.2427 left_z=0.2274 left_yaw=0.0579 left_pitch=-0.1697 left_roll=0.024 left_gripper=0.9951 right_x=0.4412 right_y=0.1662 right_z=0.1831 right_yaw=0.1753 right_pitch=-0.3579 right_roll=-0.1635 right_gripper=0.9969\nstate[joint_eff]: [-0.3214, -11.0564, 6.612, 1.3748, -0.3053, 0.022, -0.188, -0.1573, -9.388, 6.7077, 1.3016, 0.0904, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ac8ab609eb985f08079f69f05642c13e692fbba9264abd2526af6b276de4e68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79b75730362deb155304a75df9b9bb9f704f105d6a46dc66a8eb4b2e22425f48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f6e740aab7ca76f5319b005135f77393e98787cafc2628d9f1925e3a177a621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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