adhoc

completed
2026-09-23T01:59:33.043085+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
372.7 s
total steps
431
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTop view shows two teal baskets at the back, a cluster of plush toys in the middle-front and several pen-like sticks to the right. I'll sort plush into one basket and pens into the other; first hovering the right arm over the pens to look.
move_to
right_x0.2700right_y0.1900right_z0.1600right_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]: [-0.0193, 0.7986, 0.6155, -0.3805, -0.0223, -0.0338, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.012, -0.0158, 0.9998] state[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1839 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2966 right_y=0.0011 right_z=0.1836 right_yaw=-0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5675, -1.6342, 9.5248, 1.8242, -0.0317, 0.149, -0.0611, -0.8, -1.4838, 9.7846, 1.7607, -0.1294, -0.0269, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.27, "right_y": 0.19, "right_z": 0.16, "right_gripper": 1}, "note": "Top view shows two teal baskets at the back, a cluster of plush toys in the middle-front and several pen-like sticks to the right. I'll sort plush into one basket and pens into the other; first hovering the right arm over the pens to look."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe right wrist camera shows two markers lying radially just below the jaws; descending toward the table to line up on the nearer marker before closing.
move_to
right_x0.2600right_y0.1800right_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]: [-0.0181, 0.7994, 0.614, -0.3805, -0.0219, -0.0376, 0.9996, 0.9871, 1.2396, 0.7437, -0.3996, 0.7593, 0.6552, 0.9998] state[eef_state]: left_x=0.2963 left_y=0.0021 left_z=0.183 left_yaw=0.0032 left_pitch=-0.0023 left_roll=-0.0032 left_gripper=0.9996 right_x=0.265 right_y=0.1871 right_z=0.1433 right_yaw=0.0247 right_pitch=-0.0425 right_roll=-0.0383 right_gripper=0.9998 state[joint_eff]: [-0.1162, -1.3197, 7.1726, 1.746, -0.0464, -0.0366, -0.0171, -0.0068, -4.588, 9.0735, 1.3846, 0.5543, 0.1587, -0.0366] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.26, "right_y": 0.18, "right_z": 0.03}, "note": "The right wrist camera shows two markers lying radially just below the jaws; descending toward the table to line up on the nearer marker before closing."})
tool
executing move_to over 8 steps (0.8s)
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 noteBlue marker is centred between the open jaws in the right wrist view; lowering to table level and nudging slightly to centre it before closing.
move_to
right_z-0.0050right_y0.1720
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.7998, 0.6132, -0.3805, -0.0223, -0.038, 0.9996, 0.9871, 1.515, 0.4168, 0.1745, 0.7486, 0.6514, 0.9998] state[eef_state]: left_x=0.2962 left_y=0.0022 left_z=0.1825 left_yaw=0.0037 left_pitch=-0.0034 left_roll=-0.0033 left_gripper=0.9996 right_x=0.2574 right_y=0.1781 right_z=0.0257 right_yaw=0.0323 right_pitch=-0.0658 right_roll=-0.0597 right_gripper=0.9998 state[joint_eff]: [-0.0752, -1.0462, 7.1043, 1.7411, -0.0317, -0.0464, -0.0171, -0.1299, -5.1077, 4.9299, 1.3846, 0.4078, 0.0024, -0.0171] 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_z": -0.005, "right_y": 0.172}, "note": "Blue marker is centred between the open jaws in the right wrist view; lowering to table level and nudging slightly to centre it before closing."})
tool
executing move_to over 2 steps (0.2s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteMarker sits between the jaws at table level; closing the gripper on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0185, 0.8005, 0.6132, -0.3801, -0.0223, -0.038, 0.9996, 0.9749, 1.6302, 0.3717, 0.3981, 0.7654, 0.6521, 0.9997] state[eef_state]: left_x=0.2963 left_y=0.002 left_z=0.1824 left_yaw=0.0033 left_pitch=-0.0038 left_roll=-0.0033 left_gripper=0.9996 right_x=0.265 right_y=0.179 right_z=0.0113 right_yaw=0.011 right_pitch=-0.0187 right_roll=-0.0147 right_gripper=0.9997 state[joint_eff]: [-0.3214, -0.9231, 7.1863, 1.7802, -0.0415, -0.0269, -0.0171, -0.5538, -3.2479, 2.5778, 0.6129, -0.0171, -0.2222, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Marker sits between the jaws at table level; closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteGripper settled at 0.155 (~1.5 cm) — the marker is held. Lifting it clear of the table.
move_to
right_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]: [-0.0181, 0.8005, 0.6132, -0.3805, -0.0219, -0.0383, 0.9996, 0.9749, 1.6402, 0.3656, 0.4126, 0.7555, 0.6506, 0.1549] state[eef_state]: left_x=0.2963 left_y=0.0021 left_z=0.1823 left_yaw=0.0036 left_pitch=-0.0042 left_roll=-0.0038 left_gripper=0.9996 right_x=0.2637 right_y=0.1795 right_z=0.0079 right_yaw=0.0183 right_pitch=-0.0257 right_roll=-0.0129 right_gripper=0.1549 state[joint_eff]: [-0.1573, -1.265, 7.1316, 1.7558, -0.0415, -0.0415, -0.0171, -0.1299, -6.0239, 4.588, 1.16, 0.3394, -0.0171, 1.0672] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "Gripper settled at 0.155 (~1.5 cm) \u2014 the marker is held. Lifting it clear of the table."})
tool
executing move_to over 14 steps (1.4s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteMarker is held and lifted; the right basket is ahead and slightly to the arm's right in the wrist view. Moving over the right basket to drop the marker in.
move_to
right_x0.4000right_y0.1500right_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]: [-0.0181, 0.8005, 0.6128, -0.3805, -0.0223, -0.0414, 0.9995, 0.9749, 1.1778, 0.9585, -0.6575, 0.7326, 0.6468, 0.156] state[eef_state]: left_x=0.2962 left_y=0.0022 left_z=0.1821 left_yaw=0.0055 left_pitch=-0.0045 left_roll=-0.0061 left_gripper=0.9995 right_x=0.2632 right_y=0.1839 right_z=0.2064 right_yaw=0.035 right_pitch=-0.0487 right_roll=-0.018 right_gripper=0.156 state[joint_eff]: [-0.1436, -1.2513, 7.0496, 1.7607, -0.0464, -0.0024, -0.0171, -0.0889, -4.7521, 9.0051, 1.0525, 0.4762, -0.0024, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.15, "right_z": 0.26}, "note": "Marker is held and lifted; the right basket is ahead and slightly to the arm's right in the wrist view. Moving over the right basket to drop the marker in."})
tool
executing move_to over 11 steps (1.1s)
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 wrist view shows the marker hanging inside the right basket; 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]: [-0.0181, 0.8043, 0.6113, -0.3805, -0.0219, -0.0418, 0.9995, 0.5148, 1.4574, 1.2987, -0.5632, 0.3874, 0.2649, 0.1624] state[eef_state]: left_x=0.2963 left_y=0.0021 left_z=0.1804 left_yaw=0.0054 left_pitch=-0.0099 left_roll=-0.0065 left_gripper=0.9995 right_x=0.394 right_y=0.1503 right_z=0.2406 right_yaw=0.0437 right_pitch=-0.0992 right_roll=-0.0379 right_gripper=0.1624 state[joint_eff]: [-0.0615, -1.6205, 7.159, 1.707, -0.0611, -0.0317, -0.0171, -0.4171, -6.9402, 9.4291, 1.746, 0.1783, -0.0855, 1.033] 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_gripper": 1}, "note": "The wrist view shows the marker hanging inside the right basket; opening to drop it in."})
tool
executing move_to over 9 steps (0.9s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteMarker delivered into the right basket. Moving back over the remaining silver pen on the right side of the table.
move_to
right_x0.2500right_y0.1850right_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8043, 0.6113, -0.3805, -0.0223, -0.0422, 0.9995, 0.5148, 1.4574, 1.2984, -0.5667, 0.3801, 0.2581, 0.9953] state[eef_state]: left_x=0.2963 left_y=0.0022 left_z=0.1804 left_yaw=0.006 left_pitch=-0.0099 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3933 right_y=0.1513 right_z=0.2395 right_yaw=0.053 right_pitch=-0.1049 right_roll=-0.0408 right_gripper=0.9953 state[joint_eff]: [-0.1026, -1.2923, 7.0632, 1.7314, -0.0317, -0.0659, -0.0171, -0.0889, -6.5026, 6.9128, 1.6239, 0.1343, -0.0073, -0.1245] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.185, "right_z": 0.15}, "note": "Marker delivered into the right basket. Moving back over the remaining silver pen on the right side of the table."})
tool
executing move_to over 12 steps (1.2s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe silver pen appears at the lower right of the right wrist view; shifting the arm ~5 cm to its right to get over it.
move_to
right_x0.2400right_y0.1400right_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8097, 0.6113, -0.3805, -0.0223, -0.0422, 0.9995, 1.0019, 1.2106, 0.7933, -0.5354, 0.6846, 0.6628, 0.9963] state[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1789 left_yaw=0.006 left_pitch=-0.0152 left_roll=-0.0065 left_gripper=0.9995 right_x=0.2501 right_y=0.1904 right_z=0.1461 right_yaw=0.0796 right_pitch=-0.1243 right_roll=-0.0434 right_gripper=0.9963 state[joint_eff]: [-0.2667, -1.7846, 7.1863, 1.7021, -0.0366, -0.0659, -0.0171, 0.1983, -4.9162, 6.2701, 1.1355, 0.4908, 0.2027, 0.0952] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.24, "right_y": 0.14, "right_z": 0.14}, "note": "The silver pen appears at the lower right of the right wrist view; shifting the arm ~5 cm to its right to get over it."})
tool
executing move_to over 5 steps (0.5s)
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 notePen lies diagonally (lower-left to upper-right) just under the jaws; yawing the tool -45° so the jaws close across the pen axis, and descending toward the table.
move_to
right_yaw-0.7800right_y0.1320right_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]: [-0.0181, 0.8116, 0.6113, -0.3805, -0.0219, -0.0422, 0.9995, 0.902, 1.0035, 0.6502, -0.5312, 0.6235, 0.5789, 0.9965] state[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1784 left_yaw=0.0056 left_pitch=-0.0171 left_roll=-0.0067 left_gripper=0.9995 right_x=0.2419 right_y=0.1455 right_z=0.1412 right_yaw=0.0719 right_pitch=-0.1195 right_roll=-0.025 right_gripper=0.9965 state[joint_eff]: [-0.1299, -1.4974, 7.2684, 1.7314, -0.0415, -0.0415, -0.0122, -0.1983, -2.2359, 6.8581, 1.326, 0.2515, -0.0611, 0.0024] 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_yaw": -0.78, "right_y": 0.132, "right_z": 0.03}, "note": "Pen lies diagonally (lower-left to upper-right) just under the jaws; yawing the tool -45\u00b0 so the jaws close across the pen axis, and descending toward the table."})
tool
executing move_to over 8 steps (0.8s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteAfter the yaw the pen runs vertically between the jaws, just right of the jaw column; nudging 1.5 cm that way and lowering to table level.
move_to
right_x0.2310right_y0.1240right_z-0.0050
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]: [-0.0181, 0.8173, 0.6106, -0.3805, -0.0223, -0.0448, 0.9996, 0.9993, 1.8553, 0.9306, -0.8906, 0.852, 1.8603, 0.9966] state[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1764 left_yaw=0.0074 left_pitch=-0.0236 left_roll=-0.0085 left_gripper=0.9996 right_x=0.2409 right_y=0.1354 right_z=0.0253 right_yaw=-0.767 right_pitch=-0.1334 right_roll=-0.0171 right_gripper=0.9966 state[joint_eff]: [-0.1299, -1.812, 7.3231, 1.6923, -0.0269, -0.0073, -0.0171, -0.5812, -7.4872, 5.1624, -0.4518, 0.4469, 0.105, -0.0073] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.231, "right_y": 0.124, "right_z": -0.005}, "note": "After the yaw the pen runs vertically between the jaws, just right of the jaw column; nudging 1.5 cm that way and lowering to table level."})
tool
executing move_to over 2 steps (0.2s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent notePen is centred between the jaws at table level; closing on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8173, 0.6106, -0.3805, -0.0223, -0.0452, 0.9995, 1.0023, 1.8652, 0.8722, -0.8101, 0.852, 1.8606, 0.9966] state[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1764 left_yaw=0.0076 left_pitch=-0.0236 left_roll=-0.0089 left_gripper=0.9995 right_x=0.2369 right_y=0.1305 right_z=0.011 right_yaw=-0.7625 right_pitch=-0.1358 right_roll=-0.0047 right_gripper=0.9966 state[joint_eff]: [-0.1162, -1.3197, 7.0632, 1.7265, -0.0464, -0.0708, -0.0122, 0.2667, -5.4632, 3.5077, -0.2564, 0.3932, 0.105, -0.0122] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Pen is centred between the jaws at table level; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteGripper settled at 0.15 — the pen is held. Lifting and straightening the wrist before carrying to the right basket.
move_to
right_z0.2600right_yaw0.0000
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, 0.8173, 0.6106, -0.3805, -0.0219, -0.0452, 0.9995, 1.0023, 1.8961, 0.8272, -0.746, 0.8368, 1.8668, 0.1495] state[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1764 left_yaw=0.0073 left_pitch=-0.0236 left_roll=-0.0091 left_gripper=0.9995 right_x=0.2308 right_y=0.1243 right_z=-0.0063 right_yaw=-0.7715 right_pitch=-0.1479 right_roll=-0.0147 right_gripper=0.1495 state[joint_eff]: [-0.1436, -1.388, 7.0222, 1.6972, -0.0269, -0.0269, -0.0171, 0.3897, -6.9812, 3.8222, -0.2076, 0.5495, 0.022, 1.0085] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.26, "right_yaw": 0.0}, "note": "Gripper settled at 0.15 \u2014 the pen is held. Lifting and straightening the wrist before carrying to the right basket."})
tool
executing move_to over 18 steps (1.8s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteCarrying the second pen over the right basket (the first marker is visible inside it).
move_to
right_x0.4000right_y0.1500right_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]: [-0.0181, 0.8181, 0.6106, -0.3805, -0.0219, -0.0452, 0.9996, 0.9054, 1.042, 1.121, -1.0481, 0.664, 0.7418, 0.1495] state[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1762 left_yaw=0.0073 left_pitch=-0.0244 left_roll=-0.0091 left_gripper=0.9996 right_x=0.2339 right_y=0.1275 right_z=0.2468 right_yaw=-0.0478 right_pitch=-0.1469 right_roll=0.0145 right_gripper=0.1495 state[joint_eff]: [-0.1299, -1.4427, 7.1453, 1.6874, -0.0611, -0.0464, -0.0171, -0.4991, -3.1521, 8.5675, 0.9255, 0.3346, -0.0562, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.15, "right_z": 0.26}, "note": "Carrying the second pen over the right basket (the first marker is visible inside it)."})
tool
executing move_to over 13 steps (1.3s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent notePen hangs over the inside of the right basket; releasing it.
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]: [-0.0181, 0.8192, 0.6106, -0.3805, -0.0219, -0.0452, 0.9996, 0.5282, 1.5257, 1.4422, -0.767, 0.4137, 0.4049, 0.1495] state[eef_state]: left_x=0.2972 left_y=0.0021 left_z=0.1759 left_yaw=0.0073 left_pitch=-0.0255 left_roll=-0.009 left_gripper=0.9996 right_x=0.3883 right_y=0.1485 right_z=0.241 right_yaw=-0.049 right_pitch=-0.1993 right_roll=-0.0118 right_gripper=0.1495 state[joint_eff]: [-0.1846, -1.4154, 7.0359, 1.6972, -0.0122, -0.0708, -0.0171, -0.7453, -7.4598, 9.306, 1.4823, 0.2466, 0.0513, 1.0281] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Pen hangs over the inside of the right basket; releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteBoth pens are now in the right basket. The left wrist view shows a yellow marker just below the jaws; lowering the left arm toward it to inspect alignment.
move_to
left_x0.3000left_y-0.0100left_z0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8192, 0.6102, -0.3805, -0.0223, -0.0452, 0.9995, 0.524, 1.5444, 1.4433, -0.7589, 0.4065, 0.3973, 0.9951] state[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1757 left_yaw=0.0076 left_pitch=-0.0259 left_roll=-0.0088 left_gripper=0.9995 right_x=0.392 right_y=0.15 right_z=0.2349 right_yaw=-0.0444 right_pitch=-0.2104 right_roll=-0.018 right_gripper=0.9951 state[joint_eff]: [-0.1026, -1.4291, 7.3231, 1.7363, -0.0269, -0.0659, -0.0171, 0.0479, -8.6359, 6.6256, 1.2967, 0.1734, 0.0708, -0.0611] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.01, "left_z": 0.05}, "note": "Both pens are now in the right basket. The left wrist view shows a yellow marker just below the jaws; lowering the left arm toward it to inspect alignment."})
tool
executing move_to over 9 steps (0.9s)
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 noteYellow marker sits vertically just right of the jaw column; nudging 1 cm right and dropping to table level to grasp it.
move_to
left_y-0.0200left_z-0.0050
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]: [-0.0963, 1.0668, 0.2089, 0.2493, -0.083, -0.0711, 0.9996, 0.5232, 1.5448, 1.4425, -0.7586, 0.4057, 0.3962, 0.9963] state[eef_state]: left_x=0.3005 left_y=-0.0107 left_z=0.0565 left_yaw=-0.0054 left_pitch=-0.0428 left_roll=0.005 left_gripper=0.9996 right_x=0.3921 right_y=0.1498 right_z=0.2345 right_yaw=-0.044 right_pitch=-0.2113 right_roll=-0.0188 right_gripper=0.9963 state[joint_eff]: [-0.1026, -2.0034, 4.3282, 1.1404, -0.0024, -0.2369, -0.0122, -0.294, -7.1863, 6.8855, 1.3797, 0.1636, -0.0464, 0.1148] 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": {"left_y": -0.02, "left_z": -0.005}, "note": "Yellow marker sits vertically just right of the jaw column; nudging 1 cm right and dropping to table level to grasp it."})
tool
executing move_to over 4 steps (0.4s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe arm overshot forward and stopped at z=0.03; the marker is now centred on the jaw column. Re-commanding the descent to table level.
move_to
left_x0.3000left_z-0.0100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.157, 1.4849, 0.1329, 0.8513, -0.1402, -0.0586, 0.9995, 0.5232, 1.5475, 1.4406, -0.7582, 0.4057, 0.3962, 0.9965] state[eef_state]: left_x=0.3246 left_y=-0.0228 left_z=0.0315 left_yaw=-0.0243 left_pitch=0.0676 left_roll=0.0337 left_gripper=0.9995 right_x=0.3922 right_y=0.1499 right_z=0.2327 right_yaw=-0.0445 right_pitch=-0.2149 right_roll=-0.0211 right_gripper=0.9965 state[joint_eff]: [0.4308, -1.6615, 0.294, -0.3004, 0.2027, -0.525, -0.0171, -0.1573, -7.1179, 6.9265, 1.409, 0.1441, -0.0708, -0.0024] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_z": -0.01}, "note": "The arm overshot forward and stopped at z=0.03; the marker is now centred on the jaw column. Re-commanding the descent to table level."})
tool
executing move_to over 3 steps (0.3s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe left arm stalled with a forward tilt instead of descending; lifting back up and levelling the wrist to retry the approach cleanly.
move_to
left_x0.3000left_y-0.0280left_z0.1200left_pitch0.0000left_roll0.0000
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]: [-0.1875, 1.7721, 0.0715, 1.293, -0.1707, -0.0124, 0.9996, 0.5232, 1.549, 1.438, -0.7589, 0.4057, 0.3962, 0.9965] state[eef_state]: left_x=0.3255 left_y=-0.0276 left_z=0.0234 left_yaw=-0.0523 left_pitch=0.16 left_roll=0.0763 left_gripper=0.9996 right_x=0.3919 right_y=0.1497 right_z=0.2309 right_yaw=-0.0451 right_pitch=-0.219 right_roll=-0.0238 right_gripper=0.9965 state[joint_eff]: [0.4991, -0.2256, -2.1128, -1.2918, 0.0562, -0.9353, -0.0171, -0.2803, -7.2547, 6.9128, 1.4042, 0.0855, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.028, "left_z": 0.12, "left_pitch": 0, "left_roll": 0}, "note": "The left arm stalled with a forward tilt instead of descending; lifting back up and levelling the wrist to retry the approach cleanly."})
tool
executing move_to over 7 steps (0.7s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe left arm is stalled in an awkward tilted pose and not tracking; pulling it back and up to recover a normal configuration.
move_to
left_x0.2200left_z0.2500left_pitch0.0000
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]: [-0.1959, 1.8587, 0.0437, 1.4693, -0.1795, 0.0078, 0.9996, 0.5232, 1.5486, 1.4372, -0.7578, 0.4057, 0.3962, 0.9965] state[eef_state]: left_x=0.3243 left_y=-0.0285 left_z=0.0304 left_yaw=-0.0625 left_pitch=0.2207 left_roll=0.0903 left_gripper=0.9996 right_x=0.3919 right_y=0.1497 right_z=0.231 right_yaw=-0.045 right_pitch=-0.2184 right_roll=-0.0234 right_gripper=0.9965 state[joint_eff]: [0.6769, -1.2513, -1.265, -0.5055, 0.1148, -0.7937, -0.0171, -0.1573, -7.1316, 6.7624, 1.4139, 0.105, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.22, "left_z": 0.25, "left_pitch": 0}, "note": "The left arm is stalled in an awkward tilted pose and not tracking; pulling it back and up to recover a normal configuration."})
tool
executing move_to over 15 steps (1.5s)
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 noteLeft arm recovered; the yellow marker is visible at the bottom of its wrist view. Moving to a hover 14 cm above it for a clean vertical approach.
move_to
left_x0.3000left_y-0.0300left_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4248, 0.5873, 0.8074, -0.7063, -0.3386, -0.1383, 0.9995, 0.5232, 1.549, 1.4315, -0.7582, 0.4057, 0.3962, 0.9965] state[eef_state]: left_x=0.2404 left_y=-0.0404 left_z=0.2599 left_yaw=-0.0822 left_pitch=0.106 left_roll=0.0507 left_gripper=0.9995 right_x=0.3912 right_y=0.1493 right_z=0.2285 right_yaw=-0.0458 right_pitch=-0.2239 right_roll=-0.027 right_gripper=0.9965 state[joint_eff]: [-0.253, 0.1026, 8.8137, 1.7802, -0.2955, 0.0024, -0.0171, -0.335, -6.8718, 7.3915, 1.3895, 0.105, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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_x": 0.3, "left_y": -0.03, "left_z": 0.14}, "note": "Left arm recovered; the yellow marker is visible at the bottom of its wrist view. Moving to a hover 14 cm above it for a clean vertical approach."})
tool
executing move_to over 8 steps (0.8s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteYellow marker is centred on the jaw column in the left wrist view; descending straight down to table level.
move_to
left_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]: [-0.1905, 0.7715, 0.3626, -0.1516, -0.1524, -0.0444, 0.9995, 0.5232, 1.549, 1.4315, -0.7582, 0.4053, 0.3965, 0.9965] state[eef_state]: left_x=0.2874 left_y=-0.0245 left_z=0.1238 left_yaw=-0.0554 left_pitch=0.0086 left_roll=0.06 left_gripper=0.9995 right_x=0.3912 right_y=0.1494 right_z=0.2285 right_yaw=-0.0457 right_pitch=-0.224 right_roll=-0.0265 right_gripper=0.9965 state[joint_eff]: [0.1573, -2.0034, 7.5282, 1.9512, 0.0513, 0.0904, -0.022, -0.3214, -7.1453, 6.694, 1.3504, 0.1441, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.0}, "note": "Yellow marker is centred on the jaw column in the left wrist view; descending straight down to table level."})
tool
executing move_to over 8 steps (0.8s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteHighlighter lies between the open jaws at table level; closing on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1871, 1.4796, 0.0322, 0.8314, -0.1486, -0.0677, 0.9994, 0.5232, 1.549, 1.4311, -0.7586, 0.4053, 0.3962, 0.9965] state[eef_state]: left_x=0.2861 left_y=-0.0239 left_z=-0.0021 left_yaw=-0.0427 left_pitch=-0.0456 left_roll=0.0462 left_gripper=0.9994 right_x=0.3911 right_y=0.1493 right_z=0.2282 right_yaw=-0.0456 right_pitch=-0.2247 right_roll=-0.0272 right_gripper=0.9965 state[joint_eff]: [-0.294, -3.2615, 1.0462, -0.3199, -0.1636, 0.4078, -0.0366, -0.3487, -6.9675, 6.694, 1.3944, 0.1001, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Highlighter lies between the open jaws at table level; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteHighlighter grasped (gripper 0.16). Lifting it; since the left arm cannot reach the right (pen) basket, I'll set it down mid-table for the right arm to collect.
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]: [-0.1871, 1.4826, 0.0246, 0.8574, -0.1501, -0.0711, 0.1633, 0.5232, 1.549, 1.4311, -0.7578, 0.3981, 0.3962, 0.9965] state[eef_state]: left_x=0.2866 left_y=-0.0237 left_z=0.0001 left_yaw=-0.0396 left_pitch=-0.0303 left_roll=0.042 left_gripper=0.1633 right_x=0.3909 right_y=0.1506 right_z=0.228 right_yaw=-0.0398 right_pitch=-0.227 right_roll=-0.0219 right_gripper=0.9965 state[joint_eff]: [-0.1436, -3.5761, 4.1368, 1.4237, -0.0757, -0.0024, 1.1551, -0.335, -7.1453, 6.6803, 1.3504, 0.1734, -0.0171, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "Highlighter grasped (gripper 0.16). Lifting it; since the left arm cannot reach the right (pen) basket, I'll set it down mid-table for the right arm to collect."})
tool
executing move_to over 17 steps (1.7s)
step 228
assistant
agent noteCarrying the highlighter across to a clear mid-table spot within the right arm's reach for a handoff.
move_to
left_x0.2500left_y-0.3800left_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]: [-0.1871, 0.8429, 0.87, -0.6395, -0.1532, -0.0799, 0.1638, 0.5232, 1.5517, 1.4311, -0.7578, 0.3904, 0.3962, 0.9965] state[eef_state]: left_x=0.2886 left_y=-0.0236 left_z=0.2352 left_yaw=-0.0323 left_pitch=-0.0415 left_roll=0.0382 left_gripper=0.1638 right_x=0.3908 right_y=0.152 right_z=0.2265 right_yaw=-0.0341 right_pitch=-0.2324 right_roll=-0.0183 right_gripper=0.9965 state[joint_eff]: [-0.0615, -1.4291, 8.9504, 1.6581, -0.0415, 0.0415, 1.0281, -0.2667, -7.2821, 6.6803, 1.3602, 0.2173, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.25, "left_y": -0.38, "left_z": 0.2}, "note": "Carrying the highlighter across to a clear mid-table spot within the right arm's reach for a handoff."})
tool
executing move_to over 32 steps (3.2s)
step 260
assistant
agent noteSetting the highlighter down on the clear mid-table spot so the right arm can pick it up and put it in the pen basket.
move_to
left_z0.0050left_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]: [-1.3033, 1.9335, 1.6913, -0.9894, -0.8848, -1.1187, 0.1708, 0.5232, 1.5517, 1.4311, -0.7578, 0.387, 0.3962, 0.9965] state[eef_state]: left_x=0.248 left_y=-0.3741 left_z=0.1868 left_yaw=-0.0288 left_pitch=-0.0773 left_roll=0.035 left_gripper=0.1708 right_x=0.3907 right_y=0.1525 right_z=0.2263 right_yaw=-0.0314 right_pitch=-0.2338 right_roll=-0.016 right_gripper=0.9965 state[joint_eff]: [-0.5675, -10.2085, 8.7863, 0.6471, -0.7595, 0.2466, 1.0281, -0.0889, -7.2137, 6.653, 1.3846, 0.1587, -0.0659, -0.0122] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.005, "left_gripper": 1}, "note": "Setting the highlighter down on the clear mid-table spot so the right arm can pick it up and put it in the pen basket."})
tool
executing move_to over 12 steps (1.2s)
step 272
assistant
agent noteHighlighter released mid-table. Parking the left arm out of the way so the right arm can see and pick it up.
move_to
left_x0.2500left_y-0.0500left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.3109, 2.0968, 1.2995, -0.3748, -0.971, -1.0916, 0.9971, 0.5232, 1.5517, 1.4311, -0.7578, 0.3801, 0.3962, 0.9965] state[eef_state]: left_x=0.2555 left_y=-0.3796 left_z=0.0506 left_yaw=-0.0208 left_pitch=0.0161 left_roll=0.0234 left_gripper=0.9971 right_x=0.3903 right_y=0.1536 right_z=0.226 right_yaw=-0.0259 right_pitch=-0.2365 right_roll=-0.0113 right_gripper=0.9965 state[joint_eff]: [0.4308, -6.0376, 2.8376, 0.7009, 0.6618, -0.3492, 0.0171, -0.2803, -7.1863, 6.8308, 1.3504, 0.1832, -0.0513, -0.0122] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.05, "left_z": 0.25}, "note": "Highlighter released mid-table. Parking the left arm out of the way so the right arm can see and pick it up."})
tool
executing move_to over 30 steps (3.0s)
step 302
assistant
agent notePens are in the right basket; now sorting the plush toys into the left basket. Hovering the left arm over the nearest teddy bear.
move_to
left_x0.2600left_y-0.1000left_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]: [-0.5285, 0.725, 0.8291, -0.7437, -0.4892, -0.3431, 0.9981, 0.5232, 1.5517, 1.4311, -0.7582, 0.379, 0.3962, 0.9965] state[eef_state]: left_x=0.252 left_y=-0.0469 left_z=0.2375 left_yaw=0.0437 left_pitch=0.0085 left_roll=0.0112 left_gripper=0.9981 right_x=0.3902 right_y=0.1538 right_z=0.2259 right_yaw=-0.025 right_pitch=-0.2373 right_roll=-0.0108 right_gripper=0.9965 state[joint_eff]: [-0.0615, -0.3624, 9.3333, 1.6142, -0.2613, 0.188, 0.0904, -0.335, -7.1726, 6.6667, 1.37, 0.1441, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.26, "left_y": -0.1, "left_z": 0.12}, "note": "Pens are in the right basket; now sorting the plush toys into the left basket. Hovering the left arm over the nearest teddy bear."})
tool
executing move_to over 8 steps (0.8s)
step 310
assistant
agent noteThe brown teddy fills the lower-right of the left wrist view; shifting ~4 cm to the arm's right and lowering onto it.
move_to
left_y-0.1400left_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]: [-0.7937, 0.9024, 0.4473, -0.3679, -0.6609, -0.5259, 0.9982, 0.5232, 1.5517, 1.4311, -0.7582, 0.3794, 0.3962, 0.9965] state[eef_state]: left_x=0.2519 left_y=-0.0964 left_z=0.1119 left_yaw=0.0098 left_pitch=-0.0556 left_roll=0.0639 left_gripper=0.9982 right_x=0.3903 right_y=0.1537 right_z=0.2259 right_yaw=-0.0253 right_pitch=-0.2372 right_roll=-0.011 right_gripper=0.9965 state[joint_eff]: [-0.1573, -2.3863, 7.1863, 1.58, -0.6178, -0.1734, -0.0073, -0.1709, -7.2137, 6.653, 1.3846, 0.1197, -0.0415, -0.0122] camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.14, "left_z": 0.04}, "note": "The brown teddy fills the lower-right of the left wrist view; shifting ~4 cm to the arm's right and lowering onto it."})
tool
executing move_to over 5 steps (0.5s)
step 315
assistant
agent noteThe teddy is centred between the jaws; closing to grip its plush body.
move_to
left_gripper0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9508, 1.2949, 0.35, -0.0612, -0.7341, -0.6582, 0.9982, 0.5232, 1.5517, 1.4311, -0.7582, 0.3748, 0.3962, 0.9965] state[eef_state]: left_x=0.2433 left_y=-0.1309 left_z=0.0328 left_yaw=-0.0158 left_pitch=-0.1217 left_roll=0.1363 left_gripper=0.9982 right_x=0.39 right_y=0.1545 right_z=0.2257 right_yaw=-0.0217 right_pitch=-0.239 right_roll=-0.0079 right_gripper=0.9965 state[joint_eff]: [-0.212, -4.7521, 5.0256, 1.2381, -0.6813, -0.0952, -0.022, -0.2803, -7.2137, 6.7897, 1.3651, 0.188, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.05}, "note": "The teddy is centred between the jaws; closing to grip its plush body."})
tool
executing move_to over 10 steps (1.0s)
step 325
assistant
agent noteClosed on the teddy (soft, so gripper reads 0.05); lifting and moving toward the left basket, which sits ahead of the arm in the wrist view.
move_to
left_z0.2200left_x0.3500left_y-0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.96, 1.3289, 0.3466, 0.0319, -0.7567, -0.6964, 0.0549, 0.5232, 1.5524, 1.4311, -0.7582, 0.3717, 0.3962, 0.9965] state[eef_state]: left_x=0.2503 left_y=-0.1398 left_z=0.0364 left_yaw=0.0046 left_pitch=-0.0718 left_roll=0.0714 left_gripper=0.0549 right_x=0.39 right_y=0.155 right_z=0.2252 right_yaw=-0.0193 right_pitch=-0.2409 right_roll=-0.0063 right_gripper=0.9965 state[joint_eff]: [-0.4171, -4.1915, 5.2855, 1.3065, -0.4664, 0.0024, 0.232, -0.2803, -7.241, 6.9675, 1.3895, 0.1294, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22, "left_x": 0.35, "left_y": -0.16}, "note": "Closed on the teddy (soft, so gripper reads 0.05); lifting and moving toward the left basket, which sits ahead of the arm in the wrist view."})
tool
executing move_to over 12 steps (1.2s)
step 337
assistant
agent noteThe teddy slipped out of the jaws. Repositioning over the cluster of plush toys in the middle of the table for another grasp.
move_to
left_x0.2800left_y-0.2600left_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]: [-0.6991, 1.3563, 1.0847, -0.5198, -0.5972, -0.4786, 0.0546, 0.5232, 1.5524, 1.4311, -0.7582, 0.3649, 0.3962, 0.9965] state[eef_state]: left_x=0.3479 left_y=-0.158 left_z=0.2084 left_yaw=0.0317 left_pitch=-0.0664 left_roll=0.0471 left_gripper=0.0546 right_x=0.3897 right_y=0.1561 right_z=0.2249 right_yaw=-0.0138 right_pitch=-0.2436 right_roll=-0.0016 right_gripper=0.9965 state[joint_eff]: [0.212, -5.1897, 8.5265, 1.2234, -0.1392, 0.2759, -0.0611, -0.1573, -7.241, 6.653, 1.3504, 0.2027, -0.0513, -0.0122] camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.28, "left_y": -0.26, "left_z": 0.1}, "note": "The teddy slipped out of the jaws. Repositioning over the cluster of plush toys in the middle of the table for another grasp."})
tool
executing move_to over 10 steps (1.0s)
step 347
assistant
agent noteA large plush bear lies under the left gripper; opening the jaws and lowering onto its limb/body for a grasp.
move_to
left_gripper1.0000left_y-0.2800left_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]: [-1.0969, 1.6428, 0.9684, -0.4137, -0.8135, -0.8669, 0.0545, 0.5232, 1.5524, 1.4311, -0.7578, 0.3607, 0.3962, 0.9965] state[eef_state]: left_x=0.2802 left_y=-0.2571 left_z=0.0998 left_yaw=0.0006 left_pitch=-0.0933 left_roll=0.0783 left_gripper=0.0545 right_x=0.3895 right_y=0.1568 right_z=0.2247 right_yaw=-0.0104 right_pitch=-0.2449 right_roll=0.0015 right_gripper=0.9965 state[joint_eff]: [-0.2667, -7.3504, 6.2154, 1.1746, -0.5739, -0.0806, -0.0171, -0.3077, -7.159, 6.8718, 1.3602, 0.1636, -0.0415, -0.0122] camera 'top_cam' (step 347): [image omitted: streamed camera frame] camera 'left_cam' (step 347): [image omitted: streamed camera frame] camera 'right_cam' (step 347): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_y": -0.28, "left_z": 0.03}, "note": "A large plush bear lies under the left gripper; opening the jaws and lowering onto its limb/body for a grasp."})
tool
executing move_to over 10 steps (1.0s)
step 357
assistant
agent noteJaws straddle the bear's head/neck; closing firmly on the plush.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1244, 1.8511, 0.9344, -0.1955, -0.8314, -0.9157, 0.9954, 0.5232, 1.5524, 1.4311, -0.7578, 0.3538, 0.3962, 0.9965] state[eef_state]: left_x=0.2822 left_y=-0.2789 left_z=0.0383 left_yaw=0.01 left_pitch=-0.0873 left_roll=0.0681 left_gripper=0.9954 right_x=0.3892 right_y=0.158 right_z=0.2244 right_yaw=-0.0049 right_pitch=-0.2476 right_roll=0.0062 right_gripper=0.9965 state[joint_eff]: [-0.4718, -7.2, 4.506, 0.9451, -0.3394, 0.0806, -0.1245, -0.253, -7.2137, 6.8308, 1.3553, 0.1783, -0.0513, -0.0122] camera 'top_cam' (step 357): [image omitted: streamed camera frame] camera 'left_cam' (step 357): [image omitted: streamed camera frame] camera 'right_cam' (step 357): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Jaws straddle the bear's head/neck; closing firmly on the plush."})
tool
executing move_to over 10 steps (1.0s)
step 367
assistant
agent noteClosed on the bear; lifting and carrying it forward-left toward the empty left basket for the plush category.
move_to
left_x0.4000left_y-0.1800left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1244, 1.8591, 0.9337, -0.1932, -0.831, -0.9203, 0.0124, 0.5232, 1.5524, 1.4311, -0.7578, 0.3534, 0.3962, 0.9965] state[eef_state]: left_x=0.2819 left_y=-0.2785 left_z=0.0354 left_yaw=0.0128 left_pitch=-0.0902 left_roll=0.0702 left_gripper=0.0124 right_x=0.3892 right_y=0.158 right_z=0.2244 right_yaw=-0.0046 right_pitch=-0.2477 right_roll=0.0065 right_gripper=0.9965 state[joint_eff]: [-0.0205, -9.1829, 5.2718, 0.9939, -0.4567, 0.0415, 1.0623, -0.253, -7.0906, 6.6803, 1.4139, 0.105, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.18, "left_z": 0.25}, "note": "Closed on the bear; lifting and carrying it forward-left toward the empty left basket for the plush category."})
tool
executing move_to over 14 steps (1.4s)
step 381
assistant
agent noteThe bear slipped free again; going back over the plush cluster with jaws wide open and lower down to get a deeper bite on its body.
move_to
left_gripper1.0000left_x0.3000left_y-0.3000left_z0.0200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6518, 1.5894, 1.401, -0.646, -0.569, -0.4828, 0.0146, 0.5232, 1.5524, 1.4311, -0.7578, 0.3534, 0.3962, 0.9965] state[eef_state]: left_x=0.3969 left_y=-0.1786 left_z=0.2269 left_yaw=0.063 left_pitch=-0.1122 left_roll=0.057 left_gripper=0.0146 right_x=0.3892 right_y=0.158 right_z=0.2244 right_yaw=-0.0046 right_pitch=-0.2477 right_roll=0.0065 right_gripper=0.9965 state[joint_eff]: [0.0615, -8.4718, 9.3197, 1.4628, -0.1245, 0.4469, 1.0232, -0.0752, -7.1043, 6.9128, 1.3553, 0.0904, -0.0708, -0.0122] camera 'top_cam' (step 381): [image omitted: streamed camera frame] camera 'left_cam' (step 381): [image omitted: streamed camera frame] camera 'right_cam' (step 381): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_x": 0.3, "left_y": -0.3, "left_z": 0.02}, "note": "The bear slipped free again; going back over the plush cluster with jaws wide open and lower down to get a deeper bite on its body."})
tool
executing move_to over 14 steps (1.4s)
step 395
assistant
agent noteThe bear's head/body is right between the open jaws at table level; closing on it.
move_to
left_gripper0.0200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0893, 1.9701, 1.0805, -0.2623, -0.8066, -0.9352, 0.9969, 0.5232, 1.5524, 1.4311, -0.7578, 0.3531, 0.3962, 0.9965] state[eef_state]: left_x=0.3022 left_y=-0.2953 left_z=0.0272 left_yaw=0.0478 left_pitch=-0.1235 left_roll=0.0794 left_gripper=0.9969 right_x=0.3891 right_y=0.1581 right_z=0.2244 right_yaw=-0.0043 right_pitch=-0.2479 right_roll=0.0067 right_gripper=0.9965 state[joint_eff]: [-0.4718, -8.5128, 6.106, 1.0085, -0.4078, 0.0415, 0.022, -0.2256, -7.0222, 6.694, 1.3602, 0.105, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 395): [image omitted: streamed camera frame] camera 'left_cam' (step 395): [image omitted: streamed camera frame] camera 'right_cam' (step 395): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.02}, "note": "The bear's head/body is right between the open jaws at table level; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 405
assistant
agent noteGripper holds the bear's fur (0.033); carrying it over to the left basket.
move_to
left_x0.4000left_y-0.1800left_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]: [-1.0916, 1.9949, 1.0805, -0.2462, -0.8104, -0.9417, 0.0333, 0.5232, 1.5524, 1.4311, -0.7578, 0.3534, 0.3965, 0.9965] state[eef_state]: left_x=0.3022 left_y=-0.2962 left_z=0.0194 left_yaw=0.0517 left_pitch=-0.1237 left_roll=0.0839 left_gripper=0.0333 right_x=0.3892 right_y=0.158 right_z=0.2244 right_yaw=-0.0048 right_pitch=-0.2477 right_roll=0.0067 right_gripper=0.9965 state[joint_eff]: [0.1846, -11.6581, 5.1624, 0.7839, -0.3883, 0.0659, 0.4078, -0.253, -7.0632, 6.6803, 1.3846, 0.1148, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 405): [image omitted: streamed camera frame] camera 'left_cam' (step 405): [image omitted: streamed camera frame] camera 'right_cam' (step 405): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.18, "left_z": 0.24}, "note": "Gripper holds the bear's fur (0.033); carrying it over to the left basket."})
tool
executing move_to over 15 steps (1.5s)
step 420
assistant
agent noteThe held bear hangs just right of the left basket; sliding left over the basket while opening the jaws to drop it in.
move_to
left_y-0.1000left_z0.2600left_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]: [-0.6594, 1.6608, 1.4258, -0.717, -0.5678, -0.5243, 0.0354, 0.5232, 1.5524, 1.4311, -0.7582, 0.3534, 0.3962, 0.9965] state[eef_state]: left_x=0.3947 left_y=-0.1812 left_z=0.198 left_yaw=0.0893 left_pitch=-0.1982 left_roll=0.1041 left_gripper=0.0354 right_x=0.3891 right_y=0.158 right_z=0.2243 right_yaw=-0.0046 right_pitch=-0.2481 right_roll=0.0063 right_gripper=0.9965 state[joint_eff]: [0.1709, -11.5897, 9.6068, 1.6337, -0.3883, 0.3736, 0.9353, -0.1846, -7.1179, 6.6803, 1.3651, 0.1148, -0.0562, -0.0122] camera 'top_cam' (step 420): [image omitted: streamed camera frame] camera 'left_cam' (step 420): [image omitted: streamed camera frame] camera 'right_cam' (step 420): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.1, "left_z": 0.26, "left_gripper": 1}, "note": "The held bear hangs just right of the left basket; sliding left over the basket while opening the jaws to drop it in."})
tool
executing move_to over 10 steps (1.0s)
step 430
assistant
agent noteI classified the objects into pens/markers vs. plush toys. Both markers on the right side were picked and placed in the right basket (visible in the right wrist view). A yellow highlighter was picked by the left arm but had to be relayed mid-table because the left arm cannot reach the right basket, and I ran out of budget before the right arm could collect it. Plush toys proved very hard to grip (fur slips out of the jaws); the last bear was carried to the left basket but released just beside it.</summary> <parameter name="hindsight">Key facts learned: (1) Each arm can only reach its own basket — the left basket sits at left_x≈0.40, left_y≈-0.18 and the right basket at right_x≈0.40, right_y≈0.15; converting either to the other arm's frame exceeds the y bound, so decide the basket-to-category assignment by which arm will pick each object, and relay via a mid-table drop if needed. (2) Top-view pixel→metre mapping that worked: x_arm ≈ 0.10 + (224 - img_y)*0.0021 m, lateral ≈ 3 px/cm about the image centre column (centre line = left_y -0.32 / right_y +0.33). (3) Pens/markers grasp easily: hover at z≈0.15, align on jaw column x≈110 in the wrist view, descend to z≈0 and close fully — a settled reading of ~0.15 confirms a 1.5 cm marker. Yaw the tool to put the jaw-closing axis perpendicular to the pen. (4) Plush toys are the hard part: a full close reads ~0.01–0.05 and the fur slips out on lift. Grab a narrow part (ear, arm, neck) rather than the body, and verify the lift in the top view before transporting. (5) The left arm stalled in a tilted pose when commanded x and z together at low height; recover by raising z and reducing x, then approach purely vertically.
done
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]: [-0.4477, 1.5394, 1.4643, -0.8482, -0.4454, -0.3737, 0.9953, 0.5232, 1.5524, 1.4311, -0.7582, 0.3534, 0.3962, 0.9965] state[eef_state]: left_x=0.3942 left_y=-0.1009 left_z=0.2344 left_yaw=0.1249 left_pitch=-0.246 left_roll=0.1155 left_gripper=0.9953 right_x=0.3891 right_y=0.158 right_z=0.2243 right_yaw=-0.0046 right_pitch=-0.2481 right_roll=0.0063 right_gripper=0.9965 state[joint_eff]: [0.1573, -8.8, 9.6752, 1.5116, -0.2173, 0.2955, -0.1441, -0.335, -7.0085, 6.6667, 1.4188, 0.1294, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 430): [image omitted: streamed camera frame] camera 'left_cam' (step 430): [image omitted: streamed camera frame] camera 'right_cam' (step 430): [image omitted: streamed camera frame]
assistant
done({"summary": "I classified the objects into pens/markers vs. plush toys. Both markers on the right side were picked and placed in the right basket (visible in the right wrist view). A yellow highlighter was picked by the left arm but had to be relayed mid-table because the left arm cannot reach the right basket, and I ran out of budget before the right arm could collect it. Plush toys proved very hard to grip (fur slips out of the jaws); the last bear was carried to the left basket but released just beside it.</summary>\n<parameter name=\"hindsight\">Key facts learned: (1) Each arm can only reach its own basket \u2014 the left basket sits at left_x\u22480.40, left_y\u2248-0.18 and the right basket at right_x\u22480.40, right_y\u22480.15; converting either to the other arm's frame exceeds the y bound, so decide the basket-to-category assignment by which arm will pick each object, and relay via a mid-table drop if needed. (2) Top-view pixel\u2192metre mapping that worked: x_arm \u2248 0.10 + (224 - img_y)*0.0021 m, lateral \u2248 3 px/cm about the image centre column (centre line = left_y -0.32 / right_y +0.33). (3) Pens/markers grasp easily: hover at z\u22480.15, align on jaw column x\u2248110 in the wrist view, descend to z\u22480 and close fully \u2014 a settled reading of ~0.15 confirms a 1.5 cm marker. Yaw the tool to put the jaw-closing axis perpendicular to the pen. (4) Plush toys are the hard part: a full close reads ~0.01\u20130.05 and the fur slips out on lift. Grab a narrow part (ear, arm, neck) rather than the body, and verify the lift in the top view before transporting. (5) The left arm stalled in a tilted pose when commanded x and z together at low height; recover by raising z and reducing x, then approach purely vertically."})
tool
done: I classified the objects into pens/markers vs. plush toys. Both markers on the right side were picked and placed in the right basket (visible in the right wrist view). A yellow highlighter was picked by the left arm but had to be relayed mid-table because the left arm cannot reach the right basket, and I ran out of budget before the right arm could collect it. Plush toys proved very hard to grip (fur slips out of the jaws); the last bear was carried to the left basket but released just beside it.</summary> <parameter name="hindsight">Key facts learned: (1) Each arm can only reach its own basket — the left basket sits at left_x≈0.40, left_y≈-0.18 and the right basket at right_x≈0.40, right_y≈0.15; converting either to the other arm's frame exceeds the y bound, so decide the basket-to-category assignment by which arm will pick each object, and relay via a mid-table drop if needed. (2) Top-view pixel→metre mapping that worked: x_arm ≈ 0.10 + (224 - img_y)*0.0021 m, lateral ≈ 3 px/cm about the image centre column (centre line = left_y -0.32 / right_y +0.33). (3) Pens/markers grasp easily: hover at z≈0.15, align on jaw column x≈110 in the wrist view, descend to z≈0 and close fully — a settled reading of ~0.15 confirms a 1.5 cm marker. Yaw the tool to put the jaw-closing axis perpendicular to the pen. (4) Plush toys are the hard part: a full close reads ~0.01–0.05 and the fur slips out on lift. Grab a narrow part (ear, arm, neck) rather than the body, and verify the lift in the top view before transporting. (5) The left arm stalled in a tilted pose when commanded x and z together at low height; recover by raising z and reducing x, then approach purely vertically.
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 · 16.72 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6155, -0.3805, -0.0223, -0.0338, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1839 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2966 right_y=0.0011 right_z=0.1836 right_yaw=-0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.6342, 9.5248, 1.8242, -0.0317, 0.149, -0.0611, -0.8, -1.4838, 9.7846, 1.7607, -0.1294, -0.0269, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b046bcd951a6ef88dcffa5af7949a406db09a84e67881dcf05b6d47eac816169",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef9279a81fb7675962156cb58edbc4cdccc31aba797d27f3ca5f0948d1d11cea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:edcd99a58d751606c6a6719ab55b37141bfa9d031d3e501d2c1ce3f9b1d5f6f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 12.61 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6155, -0.3805, -0.0223, -0.0338, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1839 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2966 right_y=0.0011 right_z=0.1836 right_yaw=-0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.6342, 9.5248, 1.8242, -0.0317, 0.149, -0.0611, -0.8, -1.4838, 9.7846, 1.7607, -0.1294, -0.0269, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b046bcd951a6ef88dcffa5af7949a406db09a84e67881dcf05b6d47eac816169",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef9279a81fb7675962156cb58edbc4cdccc31aba797d27f3ca5f0948d1d11cea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edcd99a58d751606c6a6719ab55b37141bfa9d031d3e501d2c1ce3f9b1d5f6f4",
        "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_01WmeapB9cTj8sCWpPQM7jo9",
      "input": {
        "note": "Top view shows two teal baskets at the back, a cluster of plush toys in the middle-front and several pen-like sticks to the right. I'll sort plush into one basket and pens into the other; first hovering the right arm over the pens to look.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.27,
          "right_y": 0.19,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01WmeapB9cTj8sCWpPQM7jo9",
      "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, 0.7994, 0.614, -0.3805, -0.0219, -0.0376, 0.9996, 0.9871, 1.2396, 0.7437, -0.3996, 0.7593, 0.6552, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0021 left_z=0.183 left_yaw=0.0032 left_pitch=-0.0023 left_roll=-0.0032 left_gripper=0.9996 right_x=0.265 right_y=0.1871 right_z=0.1433 right_yaw=0.0247 right_pitch=-0.0425 right_roll=-0.0383 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.3197, 7.1726, 1.746, -0.0464, -0.0366, -0.0171, -0.0068, -4.588, 9.0735, 1.3846, 0.5543, 0.1587, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d83ac89bd670f31295c9d37ffdfa62361919345b2fd5da60c12a16f42250cb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d121b74302497160cb1192b3d80f7fad33b9963c595244a0efed31441f550fc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0259dd61f492237148669343d67f64e7d6e4cffadb4874f19e1c1f5383f11531",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 8.51 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6155, -0.3805, -0.0223, -0.0338, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1839 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2966 right_y=0.0011 right_z=0.1836 right_yaw=-0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.6342, 9.5248, 1.8242, -0.0317, 0.149, -0.0611, -0.8, -1.4838, 9.7846, 1.7607, -0.1294, -0.0269, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.7994, 0.614, -0.3805, -0.0219, -0.0376, 0.9996, 0.9871, 1.2396, 0.7437, -0.3996, 0.7593, 0.6552, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0021 left_z=0.183 left_yaw=0.0032 left_pitch=-0.0023 left_roll=-0.0032 left_gripper=0.9996 right_x=0.265 right_y=0.1871 right_z=0.1433 right_yaw=0.0247 right_pitch=-0.0425 right_roll=-0.0383 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.3197, 7.1726, 1.746, -0.0464, -0.0366, -0.0171, -0.0068, -4.588, 9.0735, 1.3846, 0.5543, 0.1587, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d83ac89bd670f31295c9d37ffdfa62361919345b2fd5da60c12a16f42250cb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d121b74302497160cb1192b3d80f7fad33b9963c595244a0efed31441f550fc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0259dd61f492237148669343d67f64e7d6e4cffadb4874f19e1c1f5383f11531",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PengnhzynJFq8MPdpjPN2C",
      "input": {
        "note": "The right wrist camera shows two markers lying radially just below the jaws; descending toward the table to line up on the nearer marker before closing.",
        "targets": {
          "right_x": 0.26,
          "right_y": 0.18,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01PengnhzynJFq8MPdpjPN2C",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.7998, 0.6132, -0.3805, -0.0223, -0.038, 0.9996, 0.9871, 1.515, 0.4168, 0.1745, 0.7486, 0.6514, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0022 left_z=0.1825 left_yaw=0.0037 left_pitch=-0.0034 left_roll=-0.0033 left_gripper=0.9996 right_x=0.2574 right_y=0.1781 right_z=0.0257 right_yaw=0.0323 right_pitch=-0.0658 right_roll=-0.0597 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.0462, 7.1043, 1.7411, -0.0317, -0.0464, -0.0171, -0.1299, -5.1077, 4.9299, 1.3846, 0.4078, 0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fc6cce52adb2876cb4a734c38cef7d646c3245a6434d62170e5f9bd2247db5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc5edb01c038ba237d69cd03de745f8882cea10cec0be5bced7fdeee8baa4986",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eccf22b9a7589653db75e049b11d0d72a1c08478830b3381119c08e635eb3546",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /messages · status 200 · 2.184 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6155, -0.3805, -0.0223, -0.0338, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1839 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2966 right_y=0.0011 right_z=0.1836 right_yaw=-0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.6342, 9.5248, 1.8242, -0.0317, 0.149, -0.0611, -0.8, -1.4838, 9.7846, 1.7607, -0.1294, -0.0269, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.7994, 0.614, -0.3805, -0.0219, -0.0376, 0.9996, 0.9871, 1.2396, 0.7437, -0.3996, 0.7593, 0.6552, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0021 left_z=0.183 left_yaw=0.0032 left_pitch=-0.0023 left_roll=-0.0032 left_gripper=0.9996 right_x=0.265 right_y=0.1871 right_z=0.1433 right_yaw=0.0247 right_pitch=-0.0425 right_roll=-0.0383 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.3197, 7.1726, 1.746, -0.0464, -0.0366, -0.0171, -0.0068, -4.588, 9.0735, 1.3846, 0.5543, 0.1587, -0.0366]",
      "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]: [-0.0181, 0.7998, 0.6132, -0.3805, -0.0223, -0.038, 0.9996, 0.9871, 1.515, 0.4168, 0.1745, 0.7486, 0.6514, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0022 left_z=0.1825 left_yaw=0.0037 left_pitch=-0.0034 left_roll=-0.0033 left_gripper=0.9996 right_x=0.2574 right_y=0.1781 right_z=0.0257 right_yaw=0.0323 right_pitch=-0.0658 right_roll=-0.0597 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.0462, 7.1043, 1.7411, -0.0317, -0.0464, -0.0171, -0.1299, -5.1077, 4.9299, 1.3846, 0.4078, 0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fc6cce52adb2876cb4a734c38cef7d646c3245a6434d62170e5f9bd2247db5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc5edb01c038ba237d69cd03de745f8882cea10cec0be5bced7fdeee8baa4986",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eccf22b9a7589653db75e049b11d0d72a1c08478830b3381119c08e635eb3546",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnwgKjgEIEhgCKkAg7IZs739/nByregBxDnzErJSoJJNTGNlLUgpF/xM9eCIWuLROBSO32iBQ+SP7aGhz8AMV31TtFpovDxn6ACwdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcDlzNUGEgz4QqKNyYGVYPFs0fEaDIZi5XRQsY+I2dO6ISIwK08pXtGwwPyJFytkwncU0Gp36KHvSH8CnYnziYEbj0ROU4BHYnaT4OF0QsbqRgZqKr0GKvCxRYxSY/QWJpAgPUPjQ6yENF/yArLZVxRKBtIqTQCj1PV0pH2V/i+xPJjqEZ33pxZQq3ZQQ6zLS5UAwBfDUg4bHsQUWPQCp30R4iA/tRgqzwT/M0FkOWhU3IUnTTp4WgVw9ypJXKtx4cMoRdc5sLrzmaFqVPOqJmSeQcCRwGi3eharCQwpPJYXrmQWAECuHgbIRg5U6TKwqOo8DhZdfvpN+HZ2ZWQlMFYBuq7CYB0JJCE1okkT2LKd0VpXNqcyV/ZxhZrnfMMk2TzfscN3oLfQFkuew41TVzXCiSnJSJufd8y5cH3CvPyRWnjdAZok2g9MPHNx6TS4A2O5hpOd0eadOoankvjMOHUSImzHu0Jjz9ZV9DbZIQX8BkcTqJSNif+Udrb80UIxzISJgIHiLHYNBPItS8Q21zQkAse4NRcNzC7l1fzUnAd1pFelgjisb5Deywq16UrqaGazjT2soLs4KU1G+UeDU8OCHFcOFvWsVHNFAJdaye+Rak0WVP7e43ChKi1X/zbn08XkXKq63+HqZmSEnots4Z5OMrIPbCeUMwDrpPlapLVT1rljnlpGBsRSVmQj8lUEy8HTMv47/GkZBS/b5JJop3PZpnNHOmUCR5w2UxgWEGNHv8UDjhgH9ht2R64nrzfUgyMZlalOggqwRdnkJ0rwIetNENDnVzAE5hDl6q8M2nsoe7/5zJUlC9Xv6/EQ1QRlPytnY7aRONfLx00Az7U2rnIWR16vsQyP4LV6AcM0u/yxae2JdKr9ep9+1HE9wAoIQKSd0j6N0fBq9NPiIfWJDzG0yBYikWMa+VMdxl/cuj8z6Q4huI7fr6vf/+8D44NdW/wSju6o8yHCWCLC5nCBCak1gLJD1XNIizUVwwz3rJU8UzB/YQp60gzT4H+87occTD4uo+pimRGRs8/jjgWbJZGnNVU/XDAqey4x4ULDWWpq7th+oFFYkQ16WzcpO5bB3RQLHBh0VtPsrlobUhzLuLzEALac9hrCOdzZUQqGUqvCkChja4J2R4yYzXGJh0x860/fHmXfU9U3GtcvWfTQC9UzSwN17bUiHOK0+6LbSTYs7FyMmTwWdFyzDBcImLQ9JkWn3BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XKTq1LyBWXSgdArbaBJAM3",
      "input": {
        "note": "Blue marker is centred between the open jaws in the right wrist view; lowering to table level and nudging slightly to centre it before closing.",
        "targets": {
          "right_y": 0.172,
          "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_01XKTq1LyBWXSgdArbaBJAM3",
      "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]: [-0.0185, 0.8005, 0.6132, -0.3801, -0.0223, -0.038, 0.9996, 0.9749, 1.6302, 0.3717, 0.3981, 0.7654, 0.6521, 0.9997]\nstate[eef_state]: left_x=0.2963 left_y=0.002 left_z=0.1824 left_yaw=0.0033 left_pitch=-0.0038 left_roll=-0.0033 left_gripper=0.9996 right_x=0.265 right_y=0.179 right_z=0.0113 right_yaw=0.011 right_pitch=-0.0187 right_roll=-0.0147 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -0.9231, 7.1863, 1.7802, -0.0415, -0.0269, -0.0171, -0.5538, -3.2479, 2.5778, 0.6129, -0.0171, -0.2222, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ceca9cc99643972c0ef36714dfa4d059c58a6b0751a1f32579d841fcfbb789a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e918c3ff2c50f3c3aa4c521ca9a3eeda16eb6c747471c64a2fff4c37ac2d56f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63691631e5fb97fde70fde6e678ed6145fddc8f6d635978caf555fadf38373d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 4.438 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]: [-0.0181, 0.7994, 0.614, -0.3805, -0.0219, -0.0376, 0.9996, 0.9871, 1.2396, 0.7437, -0.3996, 0.7593, 0.6552, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0021 left_z=0.183 left_yaw=0.0032 left_pitch=-0.0023 left_roll=-0.0032 left_gripper=0.9996 right_x=0.265 right_y=0.1871 right_z=0.1433 right_yaw=0.0247 right_pitch=-0.0425 right_roll=-0.0383 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.3197, 7.1726, 1.746, -0.0464, -0.0366, -0.0171, -0.0068, -4.588, 9.0735, 1.3846, 0.5543, 0.1587, -0.0366]",
      "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]: [-0.0181, 0.7998, 0.6132, -0.3805, -0.0223, -0.038, 0.9996, 0.9871, 1.515, 0.4168, 0.1745, 0.7486, 0.6514, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0022 left_z=0.1825 left_yaw=0.0037 left_pitch=-0.0034 left_roll=-0.0033 left_gripper=0.9996 right_x=0.2574 right_y=0.1781 right_z=0.0257 right_yaw=0.0323 right_pitch=-0.0658 right_roll=-0.0597 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.0462, 7.1043, 1.7411, -0.0317, -0.0464, -0.0171, -0.1299, -5.1077, 4.9299, 1.3846, 0.4078, 0.0024, -0.0171]",
      "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]: [-0.0185, 0.8005, 0.6132, -0.3801, -0.0223, -0.038, 0.9996, 0.9749, 1.6302, 0.3717, 0.3981, 0.7654, 0.6521, 0.9997]\nstate[eef_state]: left_x=0.2963 left_y=0.002 left_z=0.1824 left_yaw=0.0033 left_pitch=-0.0038 left_roll=-0.0033 left_gripper=0.9996 right_x=0.265 right_y=0.179 right_z=0.0113 right_yaw=0.011 right_pitch=-0.0187 right_roll=-0.0147 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -0.9231, 7.1863, 1.7802, -0.0415, -0.0269, -0.0171, -0.5538, -3.2479, 2.5778, 0.6129, -0.0171, -0.2222, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ceca9cc99643972c0ef36714dfa4d059c58a6b0751a1f32579d841fcfbb789a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e918c3ff2c50f3c3aa4c521ca9a3eeda16eb6c747471c64a2fff4c37ac2d56f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63691631e5fb97fde70fde6e678ed6145fddc8f6d635978caf555fadf38373d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnAIKjgEIEhgCKkBORWIGkX33s4coI/OfGxTPpUbUJe0tIPw1OGMIQgDA8YCezpphlQnAi4ggzubzC8YPpltmbL6nxeUUWEmCuUX6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcPlzNUGEgzoG+9L+s9IxksL3iAaDHAshSNs3Dw8aI3NsyIwKF11uhOAn+e4GL9ExlZoh28KmwTK51ta0cABy2pt+zqxMJ22ZPzkpHVMHxrGd48/KjveXomeH5GuuaEl+zzWFuroW/E2ZXGrPl7O76g5+WKoXsbsdB0kpo7W5WP958bjaexGQwWPl/u65Njy1xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MC6uPfyHyZ2hdEUW6wmdZg",
      "input": {
        "note": "Marker sits between the jaws at table level; closing the gripper on it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MC6uPfyHyZ2hdEUW6wmdZg",
      "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, 0.8005, 0.6132, -0.3805, -0.0219, -0.0383, 0.9996, 0.9749, 1.6402, 0.3656, 0.4126, 0.7555, 0.6506, 0.1549]\nstate[eef_state]: left_x=0.2963 left_y=0.0021 left_z=0.1823 left_yaw=0.0036 left_pitch=-0.0042 left_roll=-0.0038 left_gripper=0.9996 right_x=0.2637 right_y=0.1795 right_z=0.0079 right_yaw=0.0183 right_pitch=-0.0257 right_roll=-0.0129 right_gripper=0.1549\nstate[joint_eff]: [-0.1573, -1.265, 7.1316, 1.7558, -0.0415, -0.0415, -0.0171, -0.1299, -6.0239, 4.588, 1.16, 0.3394, -0.0171, 1.0672]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5f7eada546d51c6be034bbff7ffcbe1b8468295ed2f2226a104905fee45d77a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97c4c6ad8bb36b2a39f7671d0df7a7b6787735a235148e2724016302f079297b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb8061627a4ec126341ed58e0491ad155b2192b5a9036c972baf43e3427628e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 5.511 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]: [-0.0181, 0.7998, 0.6132, -0.3805, -0.0223, -0.038, 0.9996, 0.9871, 1.515, 0.4168, 0.1745, 0.7486, 0.6514, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0022 left_z=0.1825 left_yaw=0.0037 left_pitch=-0.0034 left_roll=-0.0033 left_gripper=0.9996 right_x=0.2574 right_y=0.1781 right_z=0.0257 right_yaw=0.0323 right_pitch=-0.0658 right_roll=-0.0597 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.0462, 7.1043, 1.7411, -0.0317, -0.0464, -0.0171, -0.1299, -5.1077, 4.9299, 1.3846, 0.4078, 0.0024, -0.0171]",
      "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]: [-0.0185, 0.8005, 0.6132, -0.3801, -0.0223, -0.038, 0.9996, 0.9749, 1.6302, 0.3717, 0.3981, 0.7654, 0.6521, 0.9997]\nstate[eef_state]: left_x=0.2963 left_y=0.002 left_z=0.1824 left_yaw=0.0033 left_pitch=-0.0038 left_roll=-0.0033 left_gripper=0.9996 right_x=0.265 right_y=0.179 right_z=0.0113 right_yaw=0.011 right_pitch=-0.0187 right_roll=-0.0147 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -0.9231, 7.1863, 1.7802, -0.0415, -0.0269, -0.0171, -0.5538, -3.2479, 2.5778, 0.6129, -0.0171, -0.2222, -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]: [-0.0181, 0.8005, 0.6132, -0.3805, -0.0219, -0.0383, 0.9996, 0.9749, 1.6402, 0.3656, 0.4126, 0.7555, 0.6506, 0.1549]\nstate[eef_state]: left_x=0.2963 left_y=0.0021 left_z=0.1823 left_yaw=0.0036 left_pitch=-0.0042 left_roll=-0.0038 left_gripper=0.9996 right_x=0.2637 right_y=0.1795 right_z=0.0079 right_yaw=0.0183 right_pitch=-0.0257 right_roll=-0.0129 right_gripper=0.1549\nstate[joint_eff]: [-0.1573, -1.265, 7.1316, 1.7558, -0.0415, -0.0415, -0.0171, -0.1299, -6.0239, 4.588, 1.16, 0.3394, -0.0171, 1.0672]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5f7eada546d51c6be034bbff7ffcbe1b8468295ed2f2226a104905fee45d77a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97c4c6ad8bb36b2a39f7671d0df7a7b6787735a235148e2724016302f079297b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb8061627a4ec126341ed58e0491ad155b2192b5a9036c972baf43e3427628e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISygQKjgEIEhgCKkAQr3VGmeNwqJU6ETE8FADLX1XGoOxH0bcQ1TFCdYvtpE6aBxlJBSqvC3DW0M/Kmz+JXDltqrVlDTMyqW2CEN74Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcrlzNUGEgycHyZYXipn2x8VWT8aDBytMjGmvKRim3/e+SIwVujLM+L1XsxYpOZCWCeVbZOSBV49pbY3dLGn9oQdVfgLvppirA/1ioCNV440G5uvKugCJhksAkMxlvL9hBQjK7JpwuaGo22PZyaBM4hPBXn4bxdzjD4Jpv2I/RgyMWPEF+AeDM1kYphDdpQTi5SFqLHnHWRuclC4mE673y9/ahyPd8ZpHj5qnserinGkopzDKMrzf+vC9VQLSR930UcP2+X1wV+kT9E4W16ldKoGENY3MkDF9NPfoU/6HTeT6/1lbpfQnWXeO/O1pvVfh86gWQJHk6UDZL6HuBVjLI6UJ7UU31ClMmbevvgnlFC3oqFFSxEziRnohZKpf9VPInWS2IJVviyvo7RixbwFZlni7qbhXaGNwIildlPq2Ll4JhkoPxK/5yvYmwyoqWLJ8LGaB37UmuU0BMNSyLkDqR1i6RutUSSp5Wzod1Ij7E6qQiWnnNF9Mi2CM/IBtZNLWUwyXfkoNqur0810FrTx2K7LxShWU/XHLg5sysDCxDTFFeOo7hGbAuLXNf1jv0W4kzT5aP/ErH5PyTYdqzt1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LkGvpppWunBxyJi6orvhFE",
      "input": {
        "note": "Gripper settled at 0.155 (~1.5 cm) — the marker is held. Lifting it clear of the table.",
        "targets": {
          "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_01LkGvpppWunBxyJi6orvhFE",
      "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, 0.8005, 0.6128, -0.3805, -0.0223, -0.0414, 0.9995, 0.9749, 1.1778, 0.9585, -0.6575, 0.7326, 0.6468, 0.156]\nstate[eef_state]: left_x=0.2962 left_y=0.0022 left_z=0.1821 left_yaw=0.0055 left_pitch=-0.0045 left_roll=-0.0061 left_gripper=0.9995 right_x=0.2632 right_y=0.1839 right_z=0.2064 right_yaw=0.035 right_pitch=-0.0487 right_roll=-0.018 right_gripper=0.156\nstate[joint_eff]: [-0.1436, -1.2513, 7.0496, 1.7607, -0.0464, -0.0024, -0.0171, -0.0889, -4.7521, 9.0051, 1.0525, 0.4762, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5920038648a3491085b37e0b1f0bdd10d98790fddc637a7bed7e666d9fc3b25b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d665db34638f6edf4c6dbd7193f555f634a90056cb96bfcf59606c764629db7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ba37c017ec7026197ca00b6ca69e385d91a382a3f17b416f25a40934aebac26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 2.706 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]: [-0.0185, 0.8005, 0.6132, -0.3801, -0.0223, -0.038, 0.9996, 0.9749, 1.6302, 0.3717, 0.3981, 0.7654, 0.6521, 0.9997]\nstate[eef_state]: left_x=0.2963 left_y=0.002 left_z=0.1824 left_yaw=0.0033 left_pitch=-0.0038 left_roll=-0.0033 left_gripper=0.9996 right_x=0.265 right_y=0.179 right_z=0.0113 right_yaw=0.011 right_pitch=-0.0187 right_roll=-0.0147 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -0.9231, 7.1863, 1.7802, -0.0415, -0.0269, -0.0171, -0.5538, -3.2479, 2.5778, 0.6129, -0.0171, -0.2222, -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]: [-0.0181, 0.8005, 0.6132, -0.3805, -0.0219, -0.0383, 0.9996, 0.9749, 1.6402, 0.3656, 0.4126, 0.7555, 0.6506, 0.1549]\nstate[eef_state]: left_x=0.2963 left_y=0.0021 left_z=0.1823 left_yaw=0.0036 left_pitch=-0.0042 left_roll=-0.0038 left_gripper=0.9996 right_x=0.2637 right_y=0.1795 right_z=0.0079 right_yaw=0.0183 right_pitch=-0.0257 right_roll=-0.0129 right_gripper=0.1549\nstate[joint_eff]: [-0.1573, -1.265, 7.1316, 1.7558, -0.0415, -0.0415, -0.0171, -0.1299, -6.0239, 4.588, 1.16, 0.3394, -0.0171, 1.0672]\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 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]: [-0.0181, 0.8005, 0.6128, -0.3805, -0.0223, -0.0414, 0.9995, 0.9749, 1.1778, 0.9585, -0.6575, 0.7326, 0.6468, 0.156]\nstate[eef_state]: left_x=0.2962 left_y=0.0022 left_z=0.1821 left_yaw=0.0055 left_pitch=-0.0045 left_roll=-0.0061 left_gripper=0.9995 right_x=0.2632 right_y=0.1839 right_z=0.2064 right_yaw=0.035 right_pitch=-0.0487 right_roll=-0.018 right_gripper=0.156\nstate[joint_eff]: [-0.1436, -1.2513, 7.0496, 1.7607, -0.0464, -0.0024, -0.0171, -0.0889, -4.7521, 9.0051, 1.0525, 0.4762, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5920038648a3491085b37e0b1f0bdd10d98790fddc637a7bed7e666d9fc3b25b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d665db34638f6edf4c6dbd7193f555f634a90056cb96bfcf59606c764629db7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ba37c017ec7026197ca00b6ca69e385d91a382a3f17b416f25a40934aebac26",
        "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/AYKjgEIEhgCKkCgTK+PJ6bdilWJwnC96Fd5heJHz8YiHrdeN83LEYhcQg622ofVtaCGlQbRSdltOXbrZO8SvM3Lzk5Mn+eyyCHTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdLlzNUGEgxH46WYSrQB9uHZ8lsaDHkiiAORxWP+AK+5ViIw7KbD0j0u9oY/JnZWqmEgVK4tk9k0Tgb+704Xxp5lwPySvC7aU41mYf6n4I/V0hE5KpoFY2Pt7H86L5jDnL64NM5QY/l7+6qAbRBLyPo6SUTSoDQVg0IP3zc1A0xQ/QQZDneKvlG8DmRlGBGR73y9FRYTaJaECom9gZKZACrZonfiRoJJeZgIP8+DTvnAoTqmD1ocD/4Ynn02n+OAGen6/wI8hmwIL8Hp0AhgsRiAXj47MoaPW/WKR/tQSxFczzsBGZK8qI4a2g+CjbrMlUf4rft5zEyyLwvgeN7AhYI8LG4HrK/2a4Y0odPi6Y/XBmhz+BReCchLWgxfkYEmFpxa+N6hmzGM7MFLUTyLej/fj4Nwq3xu4GSY5Q/wUk132m+SbuBDvd+WnS4W0LR4GaTZjgd4SsJondYFvYtBcr2LMLdEsD/VQUnquxyxcTtt0YoO6r0qHV+seDkoS5LbgklyhyovHuWuDV6AxFNnd1rAXzZI+b5X2zvt9sZUjh4gUkrAQoFeXejd8jm7yAxHq+OsXp6Y9xHkjBGJfZxnl2QlCi/0nn17dAu/wKXiuhJE5xgiA4CMCUUjtxHRLra9+MnohuqR+Iqsryq39bJAm41uBUj3ljyrZeij9dex8OKzzyKhneT28ByRBbcOAcUFrhO+7OcahVmYK5TDtVEpk+fTZi93i5cncmul/8AMcQxgmVIzwuYmloP6G7aj977Oe1VUCF6i5Y9UFAERba61WLJACdOi5TN1lLH1c8Smhzkg2o01kzqkD5aMmlgPUpBALwaaeWu8W0YKN69gl9jsfVT2uqdEXpxFFz6mhjNkJKu+kGAqehoqw0f8Q421Ps2d4uTxoOv8dEGXEO1rXkqnICQJhIEWzDrQcfX0B0xYux10smUjfUndtvuu48O2AXmdcspgZLtyeUnlPQtCPLa+3t0kAELohmQ0P56IzdDjbGIqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PxPAqkThbdWbESihkWzgYU",
      "input": {
        "note": "Marker is held and lifted; the right basket is ahead and slightly to the arm's right in the wrist view. Moving over the right basket to drop the marker in.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.15,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01PxPAqkThbdWbESihkWzgYU",
      "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, 0.8043, 0.6113, -0.3805, -0.0219, -0.0418, 0.9995, 0.5148, 1.4574, 1.2987, -0.5632, 0.3874, 0.2649, 0.1624]\nstate[eef_state]: left_x=0.2963 left_y=0.0021 left_z=0.1804 left_yaw=0.0054 left_pitch=-0.0099 left_roll=-0.0065 left_gripper=0.9995 right_x=0.394 right_y=0.1503 right_z=0.2406 right_yaw=0.0437 right_pitch=-0.0992 right_roll=-0.0379 right_gripper=0.1624\nstate[joint_eff]: [-0.0615, -1.6205, 7.159, 1.707, -0.0611, -0.0317, -0.0171, -0.4171, -6.9402, 9.4291, 1.746, 0.1783, -0.0855, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c88f6362ae72687c4ccbd5d32144df9c7ca3979051261159281c7ac986290a9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:848680d6028ff2c621c60a8ad5ee9fc6f69bf3933ab30af748857ffbe1b025e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d8fc1e84b5c2229d08b9707b5e9e829081a805726bfdc18829f2df2311fbfcc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 8.046 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]: [-0.0181, 0.8005, 0.6132, -0.3805, -0.0219, -0.0383, 0.9996, 0.9749, 1.6402, 0.3656, 0.4126, 0.7555, 0.6506, 0.1549]\nstate[eef_state]: left_x=0.2963 left_y=0.0021 left_z=0.1823 left_yaw=0.0036 left_pitch=-0.0042 left_roll=-0.0038 left_gripper=0.9996 right_x=0.2637 right_y=0.1795 right_z=0.0079 right_yaw=0.0183 right_pitch=-0.0257 right_roll=-0.0129 right_gripper=0.1549\nstate[joint_eff]: [-0.1573, -1.265, 7.1316, 1.7558, -0.0415, -0.0415, -0.0171, -0.1299, -6.0239, 4.588, 1.16, 0.3394, -0.0171, 1.0672]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0181, 0.8005, 0.6128, -0.3805, -0.0223, -0.0414, 0.9995, 0.9749, 1.1778, 0.9585, -0.6575, 0.7326, 0.6468, 0.156]\nstate[eef_state]: left_x=0.2962 left_y=0.0022 left_z=0.1821 left_yaw=0.0055 left_pitch=-0.0045 left_roll=-0.0061 left_gripper=0.9995 right_x=0.2632 right_y=0.1839 right_z=0.2064 right_yaw=0.035 right_pitch=-0.0487 right_roll=-0.018 right_gripper=0.156\nstate[joint_eff]: [-0.1436, -1.2513, 7.0496, 1.7607, -0.0464, -0.0024, -0.0171, -0.0889, -4.7521, 9.0051, 1.0525, 0.4762, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0181, 0.8043, 0.6113, -0.3805, -0.0219, -0.0418, 0.9995, 0.5148, 1.4574, 1.2987, -0.5632, 0.3874, 0.2649, 0.1624]\nstate[eef_state]: left_x=0.2963 left_y=0.0021 left_z=0.1804 left_yaw=0.0054 left_pitch=-0.0099 left_roll=-0.0065 left_gripper=0.9995 right_x=0.394 right_y=0.1503 right_z=0.2406 right_yaw=0.0437 right_pitch=-0.0992 right_roll=-0.0379 right_gripper=0.1624\nstate[joint_eff]: [-0.0615, -1.6205, 7.159, 1.707, -0.0611, -0.0317, -0.0171, -0.4171, -6.9402, 9.4291, 1.746, 0.1783, -0.0855, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c88f6362ae72687c4ccbd5d32144df9c7ca3979051261159281c7ac986290a9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:848680d6028ff2c621c60a8ad5ee9fc6f69bf3933ab30af748857ffbe1b025e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8fc1e84b5c2229d08b9707b5e9e829081a805726bfdc18829f2df2311fbfcc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrgIKjgEIEhgCKkBbodDyqEduESdf6Y0pxgBe7m/nELMD1HMWhO1emUHGljL24Xg8DH9t5xGN6wWDaKa2g7hqXrNj9H4PhaccCFngMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd/lzNUGEgzqJXzJh9vAw7ACVeIaDJwPGRnS+lkYLCG5zSIwbxhSqvdrLHrcDqm1Dgt1BYvU+Z7fUA0q/I3tS1FjuZw4EuSL9ipguQP12PMQnu1/Kk2IbbcxMrBY/R8W98ZvyN+jq6DGl6yD8T6yac5YuIHQHd6FGmMbg3G7iKsfS2wOujt3/yJqVvR85FN+3E0PNbUa9jmbU2ahSo/xpbkpzBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AMMKsMAqPnhtWtvnn9721Z",
      "input": {
        "note": "The wrist view shows the marker hanging inside the right basket; opening to drop it in.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01AMMKsMAqPnhtWtvnn9721Z",
      "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, 0.8043, 0.6113, -0.3805, -0.0223, -0.0422, 0.9995, 0.5148, 1.4574, 1.2984, -0.5667, 0.3801, 0.2581, 0.9953]\nstate[eef_state]: left_x=0.2963 left_y=0.0022 left_z=0.1804 left_yaw=0.006 left_pitch=-0.0099 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3933 right_y=0.1513 right_z=0.2395 right_yaw=0.053 right_pitch=-0.1049 right_roll=-0.0408 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -1.2923, 7.0632, 1.7314, -0.0317, -0.0659, -0.0171, -0.0889, -6.5026, 6.9128, 1.6239, 0.1343, -0.0073, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d822bac81a97fcca738af8f2362f8c13007f955dcf95ddcc238a7337bc45bce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fad9397eb613b827bab9d66fd1587515a8eb07a1d9d8776b980bbff6231ce4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72fe25d5d99419d7315d235cdb5e6cb117d61b13f7237367e23902039d15e720",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 8.047 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]: [-0.0181, 0.8005, 0.6128, -0.3805, -0.0223, -0.0414, 0.9995, 0.9749, 1.1778, 0.9585, -0.6575, 0.7326, 0.6468, 0.156]\nstate[eef_state]: left_x=0.2962 left_y=0.0022 left_z=0.1821 left_yaw=0.0055 left_pitch=-0.0045 left_roll=-0.0061 left_gripper=0.9995 right_x=0.2632 right_y=0.1839 right_z=0.2064 right_yaw=0.035 right_pitch=-0.0487 right_roll=-0.018 right_gripper=0.156\nstate[joint_eff]: [-0.1436, -1.2513, 7.0496, 1.7607, -0.0464, -0.0024, -0.0171, -0.0889, -4.7521, 9.0051, 1.0525, 0.4762, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8043, 0.6113, -0.3805, -0.0219, -0.0418, 0.9995, 0.5148, 1.4574, 1.2987, -0.5632, 0.3874, 0.2649, 0.1624]\nstate[eef_state]: left_x=0.2963 left_y=0.0021 left_z=0.1804 left_yaw=0.0054 left_pitch=-0.0099 left_roll=-0.0065 left_gripper=0.9995 right_x=0.394 right_y=0.1503 right_z=0.2406 right_yaw=0.0437 right_pitch=-0.0992 right_roll=-0.0379 right_gripper=0.1624\nstate[joint_eff]: [-0.0615, -1.6205, 7.159, 1.707, -0.0611, -0.0317, -0.0171, -0.4171, -6.9402, 9.4291, 1.746, 0.1783, -0.0855, 1.033]",
      "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]: [-0.0181, 0.8043, 0.6113, -0.3805, -0.0223, -0.0422, 0.9995, 0.5148, 1.4574, 1.2984, -0.5667, 0.3801, 0.2581, 0.9953]\nstate[eef_state]: left_x=0.2963 left_y=0.0022 left_z=0.1804 left_yaw=0.006 left_pitch=-0.0099 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3933 right_y=0.1513 right_z=0.2395 right_yaw=0.053 right_pitch=-0.1049 right_roll=-0.0408 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -1.2923, 7.0632, 1.7314, -0.0317, -0.0659, -0.0171, -0.0889, -6.5026, 6.9128, 1.6239, 0.1343, -0.0073, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d822bac81a97fcca738af8f2362f8c13007f955dcf95ddcc238a7337bc45bce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fad9397eb613b827bab9d66fd1587515a8eb07a1d9d8776b980bbff6231ce4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72fe25d5d99419d7315d235cdb5e6cb117d61b13f7237367e23902039d15e720",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS+wgKjgEIEhgCKkBGh6PzMEdGuzjZBbDrecD7mVONaMAo6smpzYiFT2/Z3WIkxTjz0+vbzxZ5M0B7cZu8M5AcJbmx5GcOnIqs8IZRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeflzNUGEgwDlDsOSCbAs62cpeYaDM7QTGPKGDivGOFWTiIwnBgh21CWmD4AupOJW6itgWhNAFjKoMbBU9Hk0YPKRsFwXKPvYt+4OBxzg4Bn/tiOKpkH7Cg+cMRQUaZQZVVvJsm2hBMAPtx2tYGdcSvrdgLcLAmhlOsVidSHnFawGR8tqDryp0fWkz7dVcRwfW+efZzCsFeBYkBkrirO+sAmijLZFPBSRlJ34fFWaNWxg1TnEyuiU1DqyUAvFI0vjs72sdyGJWino+i2Rwzh7i5Sxnm5XsUN80FUINf7TaljKHRufQzpiF0mFGvcutbv8s0Xb/gL97FIyTzcEWPYHnlJDO3eKkDeec6FIifgN74rPAE1htg+fYL6GTm5YS3F+mma59tSvo6tkxAKvz8SwNh+MmQBGJdgmNOU+J0pOOtuRR860mgS5bM8O3LH2MWrN/+SwQJce5HUsJLVCCJqVJ3Uf+7jMpBklH9Xe2VSDiYkmKE85RPPhlqR+TrBzbwX86s6/6LXn+qNqrX5hUZAMYylS+minoBDzq9yKRZcxTIb6W3o6Qyi2U4eVAvAhXA5z+9dydVaHdbJXdnRyseHjP0bi4k9VH/k1vR84/m8/LEZT8FDzdq2TNV3I+fAgbY/uhOo71NEDudaJGvAmSdvgg2I96o1Tba2Q0IT2IQSg8SJkzilIl1Y+k20u870+yolagqxuqrjosbMuPJ9CU1JOr+esQRlGOxuBDULSuQKJVuAZ0k5VeRo9bCzEJ05NlKIQ1VLfdPpbwiryVL2ARxJguPSFz5Gg5qvwJO4RQvoNZ2kAhWR6D58ry7zI3E5rpKA5Z72EG9/oKH0o8fyaavxQr3rU4PI0R6OIUvGOz1hw6se59U0B4AXu70Fl2XvvPo3dvtqsOkkQZzTtA3zi8lgzq3scmuCgyKTzZXHZP8xL8zeFhGoDUyNWMfmpcR2czOE9KsgP4MDRRn1y0XrzrIDMkdEis0Hnj6nfEbWKfyB/Kyx8uzwhE7m/Zsbfpc+fKQoT0TKPkXirr7GLswuw64v69G4eS6ChE8QMdN/aedyI1lIs8d1WUoFDAzGbInZv66mpLu8z8mxv5Akum7qMVj3L0Ijuc+O8ej5MxqDQS8gnvOVJw2PeZ20m/A5bGE+l3LdVXxVBgRZib4DMrZltU6q6XnMDQ3XMdWJbVebpK/6WyOz88d3PB8CUHPeCA1pCHeNEoFdodLIjeWDL6JSdTRr/graEsIPuCm2jc8UFP8hnGaRnaXveyDNCE4lUuu7Hrg4zzqVjqUpvoBGRAQLdUF+5HxLTurD3IwRbNFCWHB5Hb9zIjOMBroTg2pQMa+/HqYJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tm4YzR4RSg65FnpjM2vPZv",
      "input": {
        "note": "Marker delivered into the right basket. Moving back over the remaining silver pen on the right side of the table.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.185,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Tm4YzR4RSg65FnpjM2vPZv",
      "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, 0.8097, 0.6113, -0.3805, -0.0223, -0.0422, 0.9995, 1.0019, 1.2106, 0.7933, -0.5354, 0.6846, 0.6628, 0.9963]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1789 left_yaw=0.006 left_pitch=-0.0152 left_roll=-0.0065 left_gripper=0.9995 right_x=0.2501 right_y=0.1904 right_z=0.1461 right_yaw=0.0796 right_pitch=-0.1243 right_roll=-0.0434 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -1.7846, 7.1863, 1.7021, -0.0366, -0.0659, -0.0171, 0.1983, -4.9162, 6.2701, 1.1355, 0.4908, 0.2027, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfa56b32b9f7b617db5d8cbb38b5103b433a795a7c69704b38b3c21d8690f89f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfbaa026b8dc74ff86d6d9059250e70c4e7809ff9a3f72b742b7179435df76bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b587bce259ccc3135751f8cb7fbe4e2b3ca562f3fe38365bd35c5505698e030",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 14.27 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]: [-0.0181, 0.8043, 0.6113, -0.3805, -0.0219, -0.0418, 0.9995, 0.5148, 1.4574, 1.2987, -0.5632, 0.3874, 0.2649, 0.1624]\nstate[eef_state]: left_x=0.2963 left_y=0.0021 left_z=0.1804 left_yaw=0.0054 left_pitch=-0.0099 left_roll=-0.0065 left_gripper=0.9995 right_x=0.394 right_y=0.1503 right_z=0.2406 right_yaw=0.0437 right_pitch=-0.0992 right_roll=-0.0379 right_gripper=0.1624\nstate[joint_eff]: [-0.0615, -1.6205, 7.159, 1.707, -0.0611, -0.0317, -0.0171, -0.4171, -6.9402, 9.4291, 1.746, 0.1783, -0.0855, 1.033]",
      "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]: [-0.0181, 0.8043, 0.6113, -0.3805, -0.0223, -0.0422, 0.9995, 0.5148, 1.4574, 1.2984, -0.5667, 0.3801, 0.2581, 0.9953]\nstate[eef_state]: left_x=0.2963 left_y=0.0022 left_z=0.1804 left_yaw=0.006 left_pitch=-0.0099 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3933 right_y=0.1513 right_z=0.2395 right_yaw=0.053 right_pitch=-0.1049 right_roll=-0.0408 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -1.2923, 7.0632, 1.7314, -0.0317, -0.0659, -0.0171, -0.0889, -6.5026, 6.9128, 1.6239, 0.1343, -0.0073, -0.1245]",
      "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]: [-0.0181, 0.8097, 0.6113, -0.3805, -0.0223, -0.0422, 0.9995, 1.0019, 1.2106, 0.7933, -0.5354, 0.6846, 0.6628, 0.9963]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1789 left_yaw=0.006 left_pitch=-0.0152 left_roll=-0.0065 left_gripper=0.9995 right_x=0.2501 right_y=0.1904 right_z=0.1461 right_yaw=0.0796 right_pitch=-0.1243 right_roll=-0.0434 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -1.7846, 7.1863, 1.7021, -0.0366, -0.0659, -0.0171, 0.1983, -4.9162, 6.2701, 1.1355, 0.4908, 0.2027, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfa56b32b9f7b617db5d8cbb38b5103b433a795a7c69704b38b3c21d8690f89f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfbaa026b8dc74ff86d6d9059250e70c4e7809ff9a3f72b742b7179435df76bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b587bce259ccc3135751f8cb7fbe4e2b3ca562f3fe38365bd35c5505698e030",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlQgKjgEIEhgCKkC3YdSOuFkeCsrXz0FA5VYUgycEbPInE65nZyXYlZkUToiByCzYWOit0GPWD6frfguQXLjkXksXtyOU/2wch86AMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfLlzNUGEgwJzT8zqOrykpdJshMaDNq77YjiZOa+XDR5ciIw67n2PKITBikIkr91StgJI1GNhNEL/Yr4xFbb55SrG6+0jigtUw/pA22bMWfP1lsSKrMGdKYmcocSGc7sVYeVpmwWwgW94ixMz3HJnonj56Uo5I0OVbroaef73kC7KE8DhFO2664UUAzP8cHNPfI35HV8gAa6kJzLNfwu6b09iMZtxIoBO1KfiIs4zuCcOxxBtaBp9KJXYcSTJ/Why6qtJy0aMJRNvzfDn5H8oVBqTNxq7iz8u2kCAa6moDedyUdcc5N6mobGkYDNO3E1Up9oe7x8DJq+BxH0by7/HnVp61I304wi5eI317cWpxqwS5OOlX8WUaP0uD+3hg4f8k37tRmEYDfpMa3tfjPg57O3CiRL5ubHzyyYh6fKelJfLtBjAkFzxSsu455DZ9C/NsnTe6MyJekVam5r6ySxk88yGeT2okaltzowPUCcNM9zhao3+tYTtMIUZzjwq91p3v6rYr2wO0I2FFeBBryKRGNMayCTj2mQWqJ8Gi2tp0i/P69L5dZOzoBuh7W2VSJI5SEpFZqiKY2hJvfctvtiR0WEMrIcfQ6iQUxYycTpaJg/R+/YvtSjUiEAFDNirf+O5lz35Js0TUvpb075h1CEADGW6PppHzepFoEIfilIaGOtKZOy1rZAFiyat9QFLNsrtEvZ/uCJh2BfEFwCre0Q8ioSXt+bfAOSIdwBk3Z69oEESjmqEtf8o+xQ3Kn3sP9QcA+diB3rKhjzSSXBaHJSSmHPqvCJoRoS676QAfpLyoOsC/jsoEObW2Zx9sL0mTvE0Dsfu9ipnaolPVRH1u0IXw4EBPWUBUgk12bLsXFvEQalTm03/dQjofb3ZQFoiv5mNahvyJ8hv91Q4h3i4TPeNH8CiyPnlyM6+Z5GnIghpDo2hPCsPcVx+xGff832j16NNuS71PNXQVCtoBWs611WUmflP/HS4bjVqsziJawiIEdgCYoGkkqFIMTPuOScJ7BQElrQT7Z9Mbm70HpO2g6QaKNyD/mYQSe8k72ofpYHN+K4UXUy3P2GlsvgdRCPmY4/Uho1IOiWQnuScYPm2nkHo9kNXHJ2Cmjv/Kmijj0o+1aMes/VYKZe+REB/At1sBBHbAgwfFpUdBHtNBUPb6DpA4tAJmpPWspkmYvU77H7dIDSjO9bKgoySSzqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012yz443WfUr6UcGKQeEsAAU",
      "input": {
        "note": "The silver pen appears at the lower right of the right wrist view; shifting the arm ~5 cm to its right to get over it.",
        "targets": {
          "right_x": 0.24,
          "right_y": 0.14,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_012yz443WfUr6UcGKQeEsAAU",
      "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, 0.8116, 0.6113, -0.3805, -0.0219, -0.0422, 0.9995, 0.902, 1.0035, 0.6502, -0.5312, 0.6235, 0.5789, 0.9965]\nstate[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1784 left_yaw=0.0056 left_pitch=-0.0171 left_roll=-0.0067 left_gripper=0.9995 right_x=0.2419 right_y=0.1455 right_z=0.1412 right_yaw=0.0719 right_pitch=-0.1195 right_roll=-0.025 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.4974, 7.2684, 1.7314, -0.0415, -0.0415, -0.0122, -0.1983, -2.2359, 6.8581, 1.326, 0.2515, -0.0611, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab70ff2415db553da1f2c4e52a73241a151628ae69d0b26f40f9a3dd7faf6116",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd9eef8609809a95ae43c436846517da679f0357f89dedc63fa769b2bd9ccbc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a2c4020a01e6d7daacfa4aceb52b3cb8c2220fd16d840cd13d0a678ce435553c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 9.918 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]: [-0.0181, 0.8043, 0.6113, -0.3805, -0.0223, -0.0422, 0.9995, 0.5148, 1.4574, 1.2984, -0.5667, 0.3801, 0.2581, 0.9953]\nstate[eef_state]: left_x=0.2963 left_y=0.0022 left_z=0.1804 left_yaw=0.006 left_pitch=-0.0099 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3933 right_y=0.1513 right_z=0.2395 right_yaw=0.053 right_pitch=-0.1049 right_roll=-0.0408 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -1.2923, 7.0632, 1.7314, -0.0317, -0.0659, -0.0171, -0.0889, -6.5026, 6.9128, 1.6239, 0.1343, -0.0073, -0.1245]",
      "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]: [-0.0181, 0.8097, 0.6113, -0.3805, -0.0223, -0.0422, 0.9995, 1.0019, 1.2106, 0.7933, -0.5354, 0.6846, 0.6628, 0.9963]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1789 left_yaw=0.006 left_pitch=-0.0152 left_roll=-0.0065 left_gripper=0.9995 right_x=0.2501 right_y=0.1904 right_z=0.1461 right_yaw=0.0796 right_pitch=-0.1243 right_roll=-0.0434 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -1.7846, 7.1863, 1.7021, -0.0366, -0.0659, -0.0171, 0.1983, -4.9162, 6.2701, 1.1355, 0.4908, 0.2027, 0.0952]",
      "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]: [-0.0181, 0.8116, 0.6113, -0.3805, -0.0219, -0.0422, 0.9995, 0.902, 1.0035, 0.6502, -0.5312, 0.6235, 0.5789, 0.9965]\nstate[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1784 left_yaw=0.0056 left_pitch=-0.0171 left_roll=-0.0067 left_gripper=0.9995 right_x=0.2419 right_y=0.1455 right_z=0.1412 right_yaw=0.0719 right_pitch=-0.1195 right_roll=-0.025 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.4974, 7.2684, 1.7314, -0.0415, -0.0415, -0.0122, -0.1983, -2.2359, 6.8581, 1.326, 0.2515, -0.0611, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab70ff2415db553da1f2c4e52a73241a151628ae69d0b26f40f9a3dd7faf6116",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd9eef8609809a95ae43c436846517da679f0357f89dedc63fa769b2bd9ccbc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2c4020a01e6d7daacfa4aceb52b3cb8c2220fd16d840cd13d0a678ce435553c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015HWFtBRSuEjisLjWEhoL4z",
      "input": {
        "note": "Pen lies diagonally (lower-left to upper-right) just under the jaws; yawing the tool -45° so the jaws close across the pen axis, and descending toward the table.",
        "targets": {
          "right_y": 0.132,
          "right_yaw": -0.78,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_015HWFtBRSuEjisLjWEhoL4z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8173, 0.6106, -0.3805, -0.0223, -0.0448, 0.9996, 0.9993, 1.8553, 0.9306, -0.8906, 0.852, 1.8603, 0.9966]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1764 left_yaw=0.0074 left_pitch=-0.0236 left_roll=-0.0085 left_gripper=0.9996 right_x=0.2409 right_y=0.1354 right_z=0.0253 right_yaw=-0.767 right_pitch=-0.1334 right_roll=-0.0171 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.812, 7.3231, 1.6923, -0.0269, -0.0073, -0.0171, -0.5812, -7.4872, 5.1624, -0.4518, 0.4469, 0.105, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48efddcebcbf22acab1064d3435bd8b85d89e1a3d9a4bb3adf4153eb04d49356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fbba7f67e355eb58a271566e5a1cc40bc6ad5b71de28ff1ad441d116309fac0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d5aadc172fbbbb09188e40ecb314dfb9532d11501fa1d13b97a2194ebfbdedc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 4.282 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]: [-0.0181, 0.8097, 0.6113, -0.3805, -0.0223, -0.0422, 0.9995, 1.0019, 1.2106, 0.7933, -0.5354, 0.6846, 0.6628, 0.9963]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.1789 left_yaw=0.006 left_pitch=-0.0152 left_roll=-0.0065 left_gripper=0.9995 right_x=0.2501 right_y=0.1904 right_z=0.1461 right_yaw=0.0796 right_pitch=-0.1243 right_roll=-0.0434 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -1.7846, 7.1863, 1.7021, -0.0366, -0.0659, -0.0171, 0.1983, -4.9162, 6.2701, 1.1355, 0.4908, 0.2027, 0.0952]",
      "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]: [-0.0181, 0.8116, 0.6113, -0.3805, -0.0219, -0.0422, 0.9995, 0.902, 1.0035, 0.6502, -0.5312, 0.6235, 0.5789, 0.9965]\nstate[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1784 left_yaw=0.0056 left_pitch=-0.0171 left_roll=-0.0067 left_gripper=0.9995 right_x=0.2419 right_y=0.1455 right_z=0.1412 right_yaw=0.0719 right_pitch=-0.1195 right_roll=-0.025 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.4974, 7.2684, 1.7314, -0.0415, -0.0415, -0.0122, -0.1983, -2.2359, 6.8581, 1.326, 0.2515, -0.0611, 0.0024]",
      "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]: [-0.0181, 0.8173, 0.6106, -0.3805, -0.0223, -0.0448, 0.9996, 0.9993, 1.8553, 0.9306, -0.8906, 0.852, 1.8603, 0.9966]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1764 left_yaw=0.0074 left_pitch=-0.0236 left_roll=-0.0085 left_gripper=0.9996 right_x=0.2409 right_y=0.1354 right_z=0.0253 right_yaw=-0.767 right_pitch=-0.1334 right_roll=-0.0171 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.812, 7.3231, 1.6923, -0.0269, -0.0073, -0.0171, -0.5812, -7.4872, 5.1624, -0.4518, 0.4469, 0.105, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48efddcebcbf22acab1064d3435bd8b85d89e1a3d9a4bb3adf4153eb04d49356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fbba7f67e355eb58a271566e5a1cc40bc6ad5b71de28ff1ad441d116309fac0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d5aadc172fbbbb09188e40ecb314dfb9532d11501fa1d13b97a2194ebfbdedc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SKVGkLEgeyqnUarjQxgNKE",
      "input": {
        "note": "After the yaw the pen runs vertically between the jaws, just right of the jaw column; nudging 1.5 cm that way and lowering to table level.",
        "targets": {
          "right_x": 0.231,
          "right_y": 0.124,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01SKVGkLEgeyqnUarjQxgNKE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8173, 0.6106, -0.3805, -0.0223, -0.0452, 0.9995, 1.0023, 1.8652, 0.8722, -0.8101, 0.852, 1.8606, 0.9966]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1764 left_yaw=0.0076 left_pitch=-0.0236 left_roll=-0.0089 left_gripper=0.9995 right_x=0.2369 right_y=0.1305 right_z=0.011 right_yaw=-0.7625 right_pitch=-0.1358 right_roll=-0.0047 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.3197, 7.0632, 1.7265, -0.0464, -0.0708, -0.0122, 0.2667, -5.4632, 3.5077, -0.2564, 0.3932, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:309c4883c8993203a093f6634796e8bca0535d19b8a9ea37b489018cee7eedff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29f313798884bb8404e121c26d8ed72609ec8eb9dc89c412793c009e357e47b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5cb8424644b1e4f163c7cd266bcb8f687faba192045e0581175676352bd9be6c",
        "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 · 3.509 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]: [-0.0181, 0.8116, 0.6113, -0.3805, -0.0219, -0.0422, 0.9995, 0.902, 1.0035, 0.6502, -0.5312, 0.6235, 0.5789, 0.9965]\nstate[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1784 left_yaw=0.0056 left_pitch=-0.0171 left_roll=-0.0067 left_gripper=0.9995 right_x=0.2419 right_y=0.1455 right_z=0.1412 right_yaw=0.0719 right_pitch=-0.1195 right_roll=-0.025 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.4974, 7.2684, 1.7314, -0.0415, -0.0415, -0.0122, -0.1983, -2.2359, 6.8581, 1.326, 0.2515, -0.0611, 0.0024]",
      "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]: [-0.0181, 0.8173, 0.6106, -0.3805, -0.0223, -0.0448, 0.9996, 0.9993, 1.8553, 0.9306, -0.8906, 0.852, 1.8603, 0.9966]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1764 left_yaw=0.0074 left_pitch=-0.0236 left_roll=-0.0085 left_gripper=0.9996 right_x=0.2409 right_y=0.1354 right_z=0.0253 right_yaw=-0.767 right_pitch=-0.1334 right_roll=-0.0171 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.812, 7.3231, 1.6923, -0.0269, -0.0073, -0.0171, -0.5812, -7.4872, 5.1624, -0.4518, 0.4469, 0.105, -0.0073]",
      "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]: [-0.0181, 0.8173, 0.6106, -0.3805, -0.0223, -0.0452, 0.9995, 1.0023, 1.8652, 0.8722, -0.8101, 0.852, 1.8606, 0.9966]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1764 left_yaw=0.0076 left_pitch=-0.0236 left_roll=-0.0089 left_gripper=0.9995 right_x=0.2369 right_y=0.1305 right_z=0.011 right_yaw=-0.7625 right_pitch=-0.1358 right_roll=-0.0047 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.3197, 7.0632, 1.7265, -0.0464, -0.0708, -0.0122, 0.2667, -5.4632, 3.5077, -0.2564, 0.3932, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:309c4883c8993203a093f6634796e8bca0535d19b8a9ea37b489018cee7eedff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29f313798884bb8404e121c26d8ed72609ec8eb9dc89c412793c009e357e47b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cb8424644b1e4f163c7cd266bcb8f687faba192045e0581175676352bd9be6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TfwukmVFpffYLy58Tdmss9",
      "input": {
        "note": "Pen is centred between the jaws at table level; closing on it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TfwukmVFpffYLy58Tdmss9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8173, 0.6106, -0.3805, -0.0219, -0.0452, 0.9995, 1.0023, 1.8961, 0.8272, -0.746, 0.8368, 1.8668, 0.1495]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1764 left_yaw=0.0073 left_pitch=-0.0236 left_roll=-0.0091 left_gripper=0.9995 right_x=0.2308 right_y=0.1243 right_z=-0.0063 right_yaw=-0.7715 right_pitch=-0.1479 right_roll=-0.0147 right_gripper=0.1495\nstate[joint_eff]: [-0.1436, -1.388, 7.0222, 1.6972, -0.0269, -0.0269, -0.0171, 0.3897, -6.9812, 3.8222, -0.2076, 0.5495, 0.022, 1.0085]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:090bfeff73cba2fe1446d7f19b5448de43b334882ceecd58bb6ce7a1d682882f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e11bf06e48206bd0b105f32d48fd0f9c7f794887f151f7cf16c79a4d0d7f6a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:32616db2b4c8182837d45437f9857b15b8e03b5cef894a2bdb3aa76e0d5290f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 5.456 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]: [-0.0181, 0.8173, 0.6106, -0.3805, -0.0223, -0.0448, 0.9996, 0.9993, 1.8553, 0.9306, -0.8906, 0.852, 1.8603, 0.9966]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1764 left_yaw=0.0074 left_pitch=-0.0236 left_roll=-0.0085 left_gripper=0.9996 right_x=0.2409 right_y=0.1354 right_z=0.0253 right_yaw=-0.767 right_pitch=-0.1334 right_roll=-0.0171 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.812, 7.3231, 1.6923, -0.0269, -0.0073, -0.0171, -0.5812, -7.4872, 5.1624, -0.4518, 0.4469, 0.105, -0.0073]",
      "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]: [-0.0181, 0.8173, 0.6106, -0.3805, -0.0223, -0.0452, 0.9995, 1.0023, 1.8652, 0.8722, -0.8101, 0.852, 1.8606, 0.9966]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1764 left_yaw=0.0076 left_pitch=-0.0236 left_roll=-0.0089 left_gripper=0.9995 right_x=0.2369 right_y=0.1305 right_z=0.011 right_yaw=-0.7625 right_pitch=-0.1358 right_roll=-0.0047 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.3197, 7.0632, 1.7265, -0.0464, -0.0708, -0.0122, 0.2667, -5.4632, 3.5077, -0.2564, 0.3932, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8173, 0.6106, -0.3805, -0.0219, -0.0452, 0.9995, 1.0023, 1.8961, 0.8272, -0.746, 0.8368, 1.8668, 0.1495]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1764 left_yaw=0.0073 left_pitch=-0.0236 left_roll=-0.0091 left_gripper=0.9995 right_x=0.2308 right_y=0.1243 right_z=-0.0063 right_yaw=-0.7715 right_pitch=-0.1479 right_roll=-0.0147 right_gripper=0.1495\nstate[joint_eff]: [-0.1436, -1.388, 7.0222, 1.6972, -0.0269, -0.0269, -0.0171, 0.3897, -6.9812, 3.8222, -0.2076, 0.5495, 0.022, 1.0085]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:090bfeff73cba2fe1446d7f19b5448de43b334882ceecd58bb6ce7a1d682882f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e11bf06e48206bd0b105f32d48fd0f9c7f794887f151f7cf16c79a4d0d7f6a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32616db2b4c8182837d45437f9857b15b8e03b5cef894a2bdb3aa76e0d5290f9",
        "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/gIKjgEIEhgCKkDHn01MFn48Wye/ToD7bgR/FyxMq38QNY2yvRpFihcznUVQQ7z0fYZXQ6s09FUcoqL9X273Up7LADxYFsNGGtBiMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZvmzNUGEgwTJugSjlKiP4suzGAaDKKCQ1VBCaHM2JsfASIw+tQ425BzKlrjOuU++ml7m9T6PAG61C3C2pyV/nHApACERHl/ukZ0xru6Nfm3YunfKpwBgJdglAIo0aQ+jmmq/Qg5ab5VJjrl+mU2xu2BC2Tnzmwgp6xqXSLeV/yWyss77tqXtXtx2E/TOmFC3j7HpHW9I98XgeebJyBr5DZ+Dvnzgl+k0XlTBcaYCl/FUT8M4BtTrP54eRqKEu5c1fSXG5PxaylZypoIhya2gPy1+DGlMBQQPU08g/dAe5AZVRyu2R4IaRi26gw639OvfB6BGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012qTcbLeGQcAJCJk6SpV1HR",
      "input": {
        "note": "Gripper settled at 0.15 — the pen is held. Lifting and straightening the wrist before carrying to the right basket.",
        "targets": {
          "right_yaw": 0.0,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_012qTcbLeGQcAJCJk6SpV1HR",
      "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, 0.8181, 0.6106, -0.3805, -0.0219, -0.0452, 0.9996, 0.9054, 1.042, 1.121, -1.0481, 0.664, 0.7418, 0.1495]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1762 left_yaw=0.0073 left_pitch=-0.0244 left_roll=-0.0091 left_gripper=0.9996 right_x=0.2339 right_y=0.1275 right_z=0.2468 right_yaw=-0.0478 right_pitch=-0.1469 right_roll=0.0145 right_gripper=0.1495\nstate[joint_eff]: [-0.1299, -1.4427, 7.1453, 1.6874, -0.0611, -0.0464, -0.0171, -0.4991, -3.1521, 8.5675, 0.9255, 0.3346, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dead5dbbb974e54c2a105ed37ac896ab310a4aa00af783c0f8af4bd8fb1586b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87dc5a4c9b3e04b186da33a19110a91e4bdc978e4c1422884219b2bba281410d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f32d051b8c0dbbefa23d60c86f694baf0415dfd1ff1341712a5109ea488cd906",
        "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 · 2.473 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]: [-0.0181, 0.8173, 0.6106, -0.3805, -0.0223, -0.0452, 0.9995, 1.0023, 1.8652, 0.8722, -0.8101, 0.852, 1.8606, 0.9966]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1764 left_yaw=0.0076 left_pitch=-0.0236 left_roll=-0.0089 left_gripper=0.9995 right_x=0.2369 right_y=0.1305 right_z=0.011 right_yaw=-0.7625 right_pitch=-0.1358 right_roll=-0.0047 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.3197, 7.0632, 1.7265, -0.0464, -0.0708, -0.0122, 0.2667, -5.4632, 3.5077, -0.2564, 0.3932, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8173, 0.6106, -0.3805, -0.0219, -0.0452, 0.9995, 1.0023, 1.8961, 0.8272, -0.746, 0.8368, 1.8668, 0.1495]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1764 left_yaw=0.0073 left_pitch=-0.0236 left_roll=-0.0091 left_gripper=0.9995 right_x=0.2308 right_y=0.1243 right_z=-0.0063 right_yaw=-0.7715 right_pitch=-0.1479 right_roll=-0.0147 right_gripper=0.1495\nstate[joint_eff]: [-0.1436, -1.388, 7.0222, 1.6972, -0.0269, -0.0269, -0.0171, 0.3897, -6.9812, 3.8222, -0.2076, 0.5495, 0.022, 1.0085]",
      "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]: [-0.0181, 0.8181, 0.6106, -0.3805, -0.0219, -0.0452, 0.9996, 0.9054, 1.042, 1.121, -1.0481, 0.664, 0.7418, 0.1495]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1762 left_yaw=0.0073 left_pitch=-0.0244 left_roll=-0.0091 left_gripper=0.9996 right_x=0.2339 right_y=0.1275 right_z=0.2468 right_yaw=-0.0478 right_pitch=-0.1469 right_roll=0.0145 right_gripper=0.1495\nstate[joint_eff]: [-0.1299, -1.4427, 7.1453, 1.6874, -0.0611, -0.0464, -0.0171, -0.4991, -3.1521, 8.5675, 0.9255, 0.3346, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dead5dbbb974e54c2a105ed37ac896ab310a4aa00af783c0f8af4bd8fb1586b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87dc5a4c9b3e04b186da33a19110a91e4bdc978e4c1422884219b2bba281410d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f32d051b8c0dbbefa23d60c86f694baf0415dfd1ff1341712a5109ea488cd906",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzwIKjgEIEhgCKkCkhMbhhktKyXuVsSa4yPbVOws1DmDHx7pZvSsFZDbizd3sznLv9/dw1WTSxuf12/NgxF1JgVXE1J5zd1OHjRCqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaLmzNUGEgxN58tsACNuS8zdZFYaDNXTIfb6S1ucasFwHCIwZQKMDtgwY8g1CA8Oq9H+6zlJWYTiUK4e+RW+pmMaCIorta8wP4w86Ane1ya0z00EKm7pD1quu8EVuAr06gH2bv/N3Lm87aYJ8hNts4oMOU4UlbWwPKpLx7zm5Ffl0VHKZKOybPEZVV1oyFln4jaNkJjYdPyrx6EccmnBjng7C4oQdi7azIkjDmzmKvZTniJhtGW9Nz8+FFwNQdNm3MgscRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HS1Y1J7tSR6zPMFQ36SHQ8",
      "input": {
        "note": "Carrying the second pen over the right basket (the first marker is visible inside it).",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.15,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01HS1Y1J7tSR6zPMFQ36SHQ8",
      "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, 0.8192, 0.6106, -0.3805, -0.0219, -0.0452, 0.9996, 0.5282, 1.5257, 1.4422, -0.767, 0.4137, 0.4049, 0.1495]\nstate[eef_state]: left_x=0.2972 left_y=0.0021 left_z=0.1759 left_yaw=0.0073 left_pitch=-0.0255 left_roll=-0.009 left_gripper=0.9996 right_x=0.3883 right_y=0.1485 right_z=0.241 right_yaw=-0.049 right_pitch=-0.1993 right_roll=-0.0118 right_gripper=0.1495\nstate[joint_eff]: [-0.1846, -1.4154, 7.0359, 1.6972, -0.0122, -0.0708, -0.0171, -0.7453, -7.4598, 9.306, 1.4823, 0.2466, 0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:108fa36d6d438a5c995fefb1c71499b92507019c60f5c8996d6aa16d82952b1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5274ab277638106708496182fb46879ddcdba5fd1944d2b4de97b057adf8ee6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50821f0ead1d0895a07273b73efe2aa6884fa7502ef47099fe58d9d76b7a5280",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 19.75 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]: [-0.0181, 0.8173, 0.6106, -0.3805, -0.0219, -0.0452, 0.9995, 1.0023, 1.8961, 0.8272, -0.746, 0.8368, 1.8668, 0.1495]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1764 left_yaw=0.0073 left_pitch=-0.0236 left_roll=-0.0091 left_gripper=0.9995 right_x=0.2308 right_y=0.1243 right_z=-0.0063 right_yaw=-0.7715 right_pitch=-0.1479 right_roll=-0.0147 right_gripper=0.1495\nstate[joint_eff]: [-0.1436, -1.388, 7.0222, 1.6972, -0.0269, -0.0269, -0.0171, 0.3897, -6.9812, 3.8222, -0.2076, 0.5495, 0.022, 1.0085]",
      "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]: [-0.0181, 0.8181, 0.6106, -0.3805, -0.0219, -0.0452, 0.9996, 0.9054, 1.042, 1.121, -1.0481, 0.664, 0.7418, 0.1495]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1762 left_yaw=0.0073 left_pitch=-0.0244 left_roll=-0.0091 left_gripper=0.9996 right_x=0.2339 right_y=0.1275 right_z=0.2468 right_yaw=-0.0478 right_pitch=-0.1469 right_roll=0.0145 right_gripper=0.1495\nstate[joint_eff]: [-0.1299, -1.4427, 7.1453, 1.6874, -0.0611, -0.0464, -0.0171, -0.4991, -3.1521, 8.5675, 0.9255, 0.3346, -0.0562, 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 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]: [-0.0181, 0.8192, 0.6106, -0.3805, -0.0219, -0.0452, 0.9996, 0.5282, 1.5257, 1.4422, -0.767, 0.4137, 0.4049, 0.1495]\nstate[eef_state]: left_x=0.2972 left_y=0.0021 left_z=0.1759 left_yaw=0.0073 left_pitch=-0.0255 left_roll=-0.009 left_gripper=0.9996 right_x=0.3883 right_y=0.1485 right_z=0.241 right_yaw=-0.049 right_pitch=-0.1993 right_roll=-0.0118 right_gripper=0.1495\nstate[joint_eff]: [-0.1846, -1.4154, 7.0359, 1.6972, -0.0122, -0.0708, -0.0171, -0.7453, -7.4598, 9.306, 1.4823, 0.2466, 0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:108fa36d6d438a5c995fefb1c71499b92507019c60f5c8996d6aa16d82952b1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5274ab277638106708496182fb46879ddcdba5fd1944d2b4de97b057adf8ee6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50821f0ead1d0895a07273b73efe2aa6884fa7502ef47099fe58d9d76b7a5280",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NeVWHwUN1aLjgkA5bVkWoX",
      "input": {
        "note": "Pen hangs over the inside of the right basket; releasing it.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01NeVWHwUN1aLjgkA5bVkWoX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8192, 0.6102, -0.3805, -0.0223, -0.0452, 0.9995, 0.524, 1.5444, 1.4433, -0.7589, 0.4065, 0.3973, 0.9951]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1757 left_yaw=0.0076 left_pitch=-0.0259 left_roll=-0.0088 left_gripper=0.9995 right_x=0.392 right_y=0.15 right_z=0.2349 right_yaw=-0.0444 right_pitch=-0.2104 right_roll=-0.018 right_gripper=0.9951\nstate[joint_eff]: [-0.1026, -1.4291, 7.3231, 1.7363, -0.0269, -0.0659, -0.0171, 0.0479, -8.6359, 6.6256, 1.2967, 0.1734, 0.0708, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9561fae45fe2599fda66c9106a69179425d811d4ed8ddbf84fe0cbbb7752797",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a772bfb2f28e1947975fb4f675ca885a616860b6b4f3515d72d1b4432b75068f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f135f54f5db960622b9f92babe8a43c97b5e63f4f0db5b4f76c9f00345da79b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 4.594 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]: [-0.0181, 0.8181, 0.6106, -0.3805, -0.0219, -0.0452, 0.9996, 0.9054, 1.042, 1.121, -1.0481, 0.664, 0.7418, 0.1495]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1762 left_yaw=0.0073 left_pitch=-0.0244 left_roll=-0.0091 left_gripper=0.9996 right_x=0.2339 right_y=0.1275 right_z=0.2468 right_yaw=-0.0478 right_pitch=-0.1469 right_roll=0.0145 right_gripper=0.1495\nstate[joint_eff]: [-0.1299, -1.4427, 7.1453, 1.6874, -0.0611, -0.0464, -0.0171, -0.4991, -3.1521, 8.5675, 0.9255, 0.3346, -0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0181, 0.8192, 0.6106, -0.3805, -0.0219, -0.0452, 0.9996, 0.5282, 1.5257, 1.4422, -0.767, 0.4137, 0.4049, 0.1495]\nstate[eef_state]: left_x=0.2972 left_y=0.0021 left_z=0.1759 left_yaw=0.0073 left_pitch=-0.0255 left_roll=-0.009 left_gripper=0.9996 right_x=0.3883 right_y=0.1485 right_z=0.241 right_yaw=-0.049 right_pitch=-0.1993 right_roll=-0.0118 right_gripper=0.1495\nstate[joint_eff]: [-0.1846, -1.4154, 7.0359, 1.6972, -0.0122, -0.0708, -0.0171, -0.7453, -7.4598, 9.306, 1.4823, 0.2466, 0.0513, 1.0281]",
      "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]: [-0.0181, 0.8192, 0.6102, -0.3805, -0.0223, -0.0452, 0.9995, 0.524, 1.5444, 1.4433, -0.7589, 0.4065, 0.3973, 0.9951]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1757 left_yaw=0.0076 left_pitch=-0.0259 left_roll=-0.0088 left_gripper=0.9995 right_x=0.392 right_y=0.15 right_z=0.2349 right_yaw=-0.0444 right_pitch=-0.2104 right_roll=-0.018 right_gripper=0.9951\nstate[joint_eff]: [-0.1026, -1.4291, 7.3231, 1.7363, -0.0269, -0.0659, -0.0171, 0.0479, -8.6359, 6.6256, 1.2967, 0.1734, 0.0708, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9561fae45fe2599fda66c9106a69179425d811d4ed8ddbf84fe0cbbb7752797",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a772bfb2f28e1947975fb4f675ca885a616860b6b4f3515d72d1b4432b75068f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f135f54f5db960622b9f92babe8a43c97b5e63f4f0db5b4f76c9f00345da79b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SuyzdrHFiQodgVHigkPsHK",
      "input": {
        "note": "Both pens are now in the right basket. The left wrist view shows a yellow marker just below the jaws; lowering the left arm toward it to inspect alignment.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.01,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01SuyzdrHFiQodgVHigkPsHK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0963, 1.0668, 0.2089, 0.2493, -0.083, -0.0711, 0.9996, 0.5232, 1.5448, 1.4425, -0.7586, 0.4057, 0.3962, 0.9963]\nstate[eef_state]: left_x=0.3005 left_y=-0.0107 left_z=0.0565 left_yaw=-0.0054 left_pitch=-0.0428 left_roll=0.005 left_gripper=0.9996 right_x=0.3921 right_y=0.1498 right_z=0.2345 right_yaw=-0.044 right_pitch=-0.2113 right_roll=-0.0188 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -2.0034, 4.3282, 1.1404, -0.0024, -0.2369, -0.0122, -0.294, -7.1863, 6.8855, 1.3797, 0.1636, -0.0464, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0922c3a9362353e36b344c9b047bb581d97ccd292852cf305120943627f57f6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e736b44139d23508b53e7337b0fec282ec6592a74906b57cb1e0ae2cc0b6d44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b9ff7515f4db5da65199cc4f9e00386af848b48a93cc47cc2d3a18cb51bb2f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 5.434 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]: [-0.0181, 0.8192, 0.6106, -0.3805, -0.0219, -0.0452, 0.9996, 0.5282, 1.5257, 1.4422, -0.767, 0.4137, 0.4049, 0.1495]\nstate[eef_state]: left_x=0.2972 left_y=0.0021 left_z=0.1759 left_yaw=0.0073 left_pitch=-0.0255 left_roll=-0.009 left_gripper=0.9996 right_x=0.3883 right_y=0.1485 right_z=0.241 right_yaw=-0.049 right_pitch=-0.1993 right_roll=-0.0118 right_gripper=0.1495\nstate[joint_eff]: [-0.1846, -1.4154, 7.0359, 1.6972, -0.0122, -0.0708, -0.0171, -0.7453, -7.4598, 9.306, 1.4823, 0.2466, 0.0513, 1.0281]",
      "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]: [-0.0181, 0.8192, 0.6102, -0.3805, -0.0223, -0.0452, 0.9995, 0.524, 1.5444, 1.4433, -0.7589, 0.4065, 0.3973, 0.9951]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1757 left_yaw=0.0076 left_pitch=-0.0259 left_roll=-0.0088 left_gripper=0.9995 right_x=0.392 right_y=0.15 right_z=0.2349 right_yaw=-0.0444 right_pitch=-0.2104 right_roll=-0.018 right_gripper=0.9951\nstate[joint_eff]: [-0.1026, -1.4291, 7.3231, 1.7363, -0.0269, -0.0659, -0.0171, 0.0479, -8.6359, 6.6256, 1.2967, 0.1734, 0.0708, -0.0611]",
      "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]: [-0.0963, 1.0668, 0.2089, 0.2493, -0.083, -0.0711, 0.9996, 0.5232, 1.5448, 1.4425, -0.7586, 0.4057, 0.3962, 0.9963]\nstate[eef_state]: left_x=0.3005 left_y=-0.0107 left_z=0.0565 left_yaw=-0.0054 left_pitch=-0.0428 left_roll=0.005 left_gripper=0.9996 right_x=0.3921 right_y=0.1498 right_z=0.2345 right_yaw=-0.044 right_pitch=-0.2113 right_roll=-0.0188 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -2.0034, 4.3282, 1.1404, -0.0024, -0.2369, -0.0122, -0.294, -7.1863, 6.8855, 1.3797, 0.1636, -0.0464, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0922c3a9362353e36b344c9b047bb581d97ccd292852cf305120943627f57f6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e736b44139d23508b53e7337b0fec282ec6592a74906b57cb1e0ae2cc0b6d44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b9ff7515f4db5da65199cc4f9e00386af848b48a93cc47cc2d3a18cb51bb2f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmwQKjgEIEhgCKkCZlF5/e0pdi/zAWwMQqZaGCgS9n0gwt6wAf/JjMcT1aigCU83xMgoJj6AT9pQ0+HcncTqkH0e4qGiyito5vF6WMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcDmzNUGEgxzo4EW5BZaf9u+0GoaDLxPv3hqAr5flPosWyIwxIY2iQtRLD6XDZUv4Z88NWZbBremY0odGSkw7Uz7XnRuSqTzCJ05u17HHBEuUMpuKrkCsLXXammZh9VvrDmeQ9ZCAAi54PLmZKSspFUjJdmOn++hdzfpwVfeJ973qGzqgVJBGVZLBYGGx8bhQyizHLm6bxSrdY0mqHY5S8kD7qjsvqDFfxM4+ZyUBiWNSzaowaRzS3JWiNrpJ22ZCJ/wCjrotZPJucAN6RvHagL2TuXzEYeUgMS8UMHgErLi4s6OriAH/29VwOTWoBgXWOh6LsYCerRAbeFyqALbyIP/nqK5CAAKTVUr96V/uVIC2ty7EBy8iA6po1MzMuo6stmK5hGnpLFfXx1kGRbm0NQgiI4nAHe4fEmZMVPxd4FHq76QqMNfTS0NMQ9NASdz5DoNbO+5WTLYF2J7XcZa40YwhQbQA48mYVyHiJfOhC+PjTaxxSoe7cF7f5J8Xuj3hTgB3hJZONIdUeYtxJZdqRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XyXMShuZVcRw34duvVDk2q",
      "input": {
        "note": "Yellow marker sits vertically just right of the jaw column; nudging 1 cm right and dropping to table level to grasp it.",
        "targets": {
          "left_y": -0.02,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XyXMShuZVcRw34duvVDk2q",
      "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]: [-0.157, 1.4849, 0.1329, 0.8513, -0.1402, -0.0586, 0.9995, 0.5232, 1.5475, 1.4406, -0.7582, 0.4057, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3246 left_y=-0.0228 left_z=0.0315 left_yaw=-0.0243 left_pitch=0.0676 left_roll=0.0337 left_gripper=0.9995 right_x=0.3922 right_y=0.1499 right_z=0.2327 right_yaw=-0.0445 right_pitch=-0.2149 right_roll=-0.0211 right_gripper=0.9965\nstate[joint_eff]: [0.4308, -1.6615, 0.294, -0.3004, 0.2027, -0.525, -0.0171, -0.1573, -7.1179, 6.9265, 1.409, 0.1441, -0.0708, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ded21a11201813a2d826195823c82251a609c0f843b87e9fe1e655dd3fa3cd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8d221a5e0b5661ac1ed9b42756536dd23f3cdb6d13aa3a5ff28f0844b691826",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bfdccd8d83ebb3a8b9f7ebb26be96195e1a63a08c3288e5f4f50a5d0836aff89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 6.195 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]: [-0.0181, 0.8192, 0.6102, -0.3805, -0.0223, -0.0452, 0.9995, 0.524, 1.5444, 1.4433, -0.7589, 0.4065, 0.3973, 0.9951]\nstate[eef_state]: left_x=0.2971 left_y=0.0021 left_z=0.1757 left_yaw=0.0076 left_pitch=-0.0259 left_roll=-0.0088 left_gripper=0.9995 right_x=0.392 right_y=0.15 right_z=0.2349 right_yaw=-0.0444 right_pitch=-0.2104 right_roll=-0.018 right_gripper=0.9951\nstate[joint_eff]: [-0.1026, -1.4291, 7.3231, 1.7363, -0.0269, -0.0659, -0.0171, 0.0479, -8.6359, 6.6256, 1.2967, 0.1734, 0.0708, -0.0611]",
      "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]: [-0.0963, 1.0668, 0.2089, 0.2493, -0.083, -0.0711, 0.9996, 0.5232, 1.5448, 1.4425, -0.7586, 0.4057, 0.3962, 0.9963]\nstate[eef_state]: left_x=0.3005 left_y=-0.0107 left_z=0.0565 left_yaw=-0.0054 left_pitch=-0.0428 left_roll=0.005 left_gripper=0.9996 right_x=0.3921 right_y=0.1498 right_z=0.2345 right_yaw=-0.044 right_pitch=-0.2113 right_roll=-0.0188 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -2.0034, 4.3282, 1.1404, -0.0024, -0.2369, -0.0122, -0.294, -7.1863, 6.8855, 1.3797, 0.1636, -0.0464, 0.1148]",
      "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]: [-0.157, 1.4849, 0.1329, 0.8513, -0.1402, -0.0586, 0.9995, 0.5232, 1.5475, 1.4406, -0.7582, 0.4057, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3246 left_y=-0.0228 left_z=0.0315 left_yaw=-0.0243 left_pitch=0.0676 left_roll=0.0337 left_gripper=0.9995 right_x=0.3922 right_y=0.1499 right_z=0.2327 right_yaw=-0.0445 right_pitch=-0.2149 right_roll=-0.0211 right_gripper=0.9965\nstate[joint_eff]: [0.4308, -1.6615, 0.294, -0.3004, 0.2027, -0.525, -0.0171, -0.1573, -7.1179, 6.9265, 1.409, 0.1441, -0.0708, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ded21a11201813a2d826195823c82251a609c0f843b87e9fe1e655dd3fa3cd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8d221a5e0b5661ac1ed9b42756536dd23f3cdb6d13aa3a5ff28f0844b691826",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfdccd8d83ebb3a8b9f7ebb26be96195e1a63a08c3288e5f4f50a5d0836aff89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjwYKjgEIEhgCKkBd1MxIsECw/EfBd3vP48+TgAB7cVbcrarDsWlfRDUWsrqWendvsN6dsoz8WTQUReRKloZ9Lx1lRv5hQ6qb+SsKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcXmzNUGEgzkrca2cSbmNsM/+/gaDDVj3ODl0JdO7AD3TSIwIz3yVT6ICCnd1uzr4fPgWqpATtz39BtgTDLVM66DYlsqLGDBkFZ4FXFw+H5NgZEZKq0EQ6PuHU2AamRm/nWIaVu5Rd3iDb84RIBU81f68o/+Ic4Lq/Bnu4jA8fSp5Ho3Aj2irS+8M1H7Xwd7UTohyTJK19HWGd2YfDvtTd53nr5+s3oFXkeexKlwwNyf+AdDtOUSYxRZcTY8Df7cg1R4sMUfeku9Cz1HT5C1wSVt6off5snglIn4TkAnZG7sYaEik0GcYR5RDjQN8UmAfSzxjQcEN8N+Ov6Malm/dR0lOHWLYkf6x/GMkwU3sm0q3s+oQ9DImMp3rby2UgOguqgTVZ+s7xFjOSJrihd+rTyPyOJ9jtJCR4pMY5vLduUQDGLdfXy+MwpZJjOPjsEJBLznVPRPMmA1hPUwe2G8sHPFVJFfksIGv/UqdSE/pGwaOE5Q6bR4S8Gc2XwrTwc2kvL5U1jFSXn58bMQlZZh5XmouW67+CWDPk+W39sHCAPvNPgndeRYMcCf3LsbOYhHBy8p3Zi2fQh8zCKnCB0Ykg8ziDxrk1SKMwLLuNzWpjY4f27sKN8sc5gcQq/HNHSVaGmDzFjdoqjcsSbHPgp1x0OPwgJmqNC2mUrSBjd+rSfIFY/89dZksLel+CMTqfQrseEtpFNUJn47JPjEVCsEdgh9Zl/YIi/C8aH4LDI+KdXdinfjBgJ/CVT1ovDtWz59NPYSLNMEeqqoxQws5t6azaQxIlBG027BPA35NyI/KP21Vwt0METNkGs5LQAM6wS88yaSN7NMI01ToMDPGkQTdgKqv+0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XEYahLMMcbAjWBg23fJeiu",
      "input": {
        "note": "The arm overshot forward and stopped at z=0.03; the marker is now centred on the jaw column. Re-commanding the descent to table level.",
        "targets": {
          "left_x": 0.3,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01XEYahLMMcbAjWBg23fJeiu",
      "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]: [-0.1875, 1.7721, 0.0715, 1.293, -0.1707, -0.0124, 0.9996, 0.5232, 1.549, 1.438, -0.7589, 0.4057, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3255 left_y=-0.0276 left_z=0.0234 left_yaw=-0.0523 left_pitch=0.16 left_roll=0.0763 left_gripper=0.9996 right_x=0.3919 right_y=0.1497 right_z=0.2309 right_yaw=-0.0451 right_pitch=-0.219 right_roll=-0.0238 right_gripper=0.9965\nstate[joint_eff]: [0.4991, -0.2256, -2.1128, -1.2918, 0.0562, -0.9353, -0.0171, -0.2803, -7.2547, 6.9128, 1.4042, 0.0855, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70f1ca6989d12d1e4c330cd6d5158b9fc3bb54ec2e8e134f3673e5daa3afb995",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d75fdf0b393f65b1d654c3ad9fe849ec09fd097923994fe37d26eb8ee8a7d821",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b4b0da710711cbeb4f052df0dec2507573abbebbb6357eea28f6194205f69b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 6.158 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]: [-0.0963, 1.0668, 0.2089, 0.2493, -0.083, -0.0711, 0.9996, 0.5232, 1.5448, 1.4425, -0.7586, 0.4057, 0.3962, 0.9963]\nstate[eef_state]: left_x=0.3005 left_y=-0.0107 left_z=0.0565 left_yaw=-0.0054 left_pitch=-0.0428 left_roll=0.005 left_gripper=0.9996 right_x=0.3921 right_y=0.1498 right_z=0.2345 right_yaw=-0.044 right_pitch=-0.2113 right_roll=-0.0188 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -2.0034, 4.3282, 1.1404, -0.0024, -0.2369, -0.0122, -0.294, -7.1863, 6.8855, 1.3797, 0.1636, -0.0464, 0.1148]",
      "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]: [-0.157, 1.4849, 0.1329, 0.8513, -0.1402, -0.0586, 0.9995, 0.5232, 1.5475, 1.4406, -0.7582, 0.4057, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3246 left_y=-0.0228 left_z=0.0315 left_yaw=-0.0243 left_pitch=0.0676 left_roll=0.0337 left_gripper=0.9995 right_x=0.3922 right_y=0.1499 right_z=0.2327 right_yaw=-0.0445 right_pitch=-0.2149 right_roll=-0.0211 right_gripper=0.9965\nstate[joint_eff]: [0.4308, -1.6615, 0.294, -0.3004, 0.2027, -0.525, -0.0171, -0.1573, -7.1179, 6.9265, 1.409, 0.1441, -0.0708, -0.0024]",
      "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]: [-0.1875, 1.7721, 0.0715, 1.293, -0.1707, -0.0124, 0.9996, 0.5232, 1.549, 1.438, -0.7589, 0.4057, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3255 left_y=-0.0276 left_z=0.0234 left_yaw=-0.0523 left_pitch=0.16 left_roll=0.0763 left_gripper=0.9996 right_x=0.3919 right_y=0.1497 right_z=0.2309 right_yaw=-0.0451 right_pitch=-0.219 right_roll=-0.0238 right_gripper=0.9965\nstate[joint_eff]: [0.4991, -0.2256, -2.1128, -1.2918, 0.0562, -0.9353, -0.0171, -0.2803, -7.2547, 6.9128, 1.4042, 0.0855, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70f1ca6989d12d1e4c330cd6d5158b9fc3bb54ec2e8e134f3673e5daa3afb995",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d75fdf0b393f65b1d654c3ad9fe849ec09fd097923994fe37d26eb8ee8a7d821",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b4b0da710711cbeb4f052df0dec2507573abbebbb6357eea28f6194205f69b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyQYKjgEIEhgCKkBIXKqhtjhqvvB/2q4vQ2MS0xHhWtC1dV1AL7zx4St/G1/Ssnp08eD5O4x6bWPWxckgSetQnHn/UIrbZdqzlYl8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcvmzNUGEgxs7NrenZ/MLfZyumIaDLPBbbvIEdBCrYUBcyIwacVO6UUmz/cQtp62vQx/bUSICbsupiA945GSCf4uFG9gTqQuT7MbinFdT/G4sZRbKucE6uhRx5TyofFz3/j3cSk63/9O51CZLFnrdHJCD2MapmId5qbdvkW1uv3Z4n+fgnP2EwfHO/jIVNJA+OYcuqT6qTpAD4esyLcJm/OdRf1Uv1r6mL1vvKDsQ9QMSW3f2hFeHYJRtz9p+My2N21YDNYa3DrYF+4PPy1ArNUOvePl0D7Qrqq35zCu41LLCfY4XANTWl+zzwCMayzMPYNL5yD5wE7p2PJcRa89VCRp03Axi2wcKxOh9EVflCNqFduTUWyKuyEbhmp2RtB2J1pHkulS9OmvYnqjUCgehsj4+4vUCdT/MJYgqeXgvraFuYsWiHF9ZnUFF0c1ryp/kHQ4CDWpV/LWZlxMQyrIjBer/2bDwuz34Rk0XNWQAcOtg8JOliD7P4h7HP/IlCjmK5BhHhuuOE71xXQZpfCM32/62XubQO/tSo7CqbTeaWBhjJ1Xkf4ZD4TnyH488sYTfdvW7SkSujoFWyxSJoDF8IrC9yY3mlHtVne0tNxxg/DWfXkjIbIJWvgbFbYBBpai0TD5lT5794JCteiMdaLzIfuNpXkuoUcZwjbDR3BX0jnut2V1O4kQjWZrmQIUnm6N99XYkUpuCjxvjjyCZJqVIbgNk18qTnuNGvZGOpqDVNLEoeC42jn/96GXHDNM9YeZH7Z1OBFWgXCWPyiBgrDwRWvgWAJHXtcqcnde+SfgrSm9gyWTIOLGTFzkQc3mdGdzbftHOHOmHx0AmoGEL8252CUXzpQ6oZeZP+NQses3hLkVSuWM6l8zFxRkfQF9EaELHMw7q+R7p+0tkAURxSKD0NYGUOeDjVgk8QrKIKQJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VVVfZ6WMKU4ugd9PCfLLP4",
      "input": {
        "note": "The left arm stalled with a forward tilt instead of descending; lifting back up and levelling the wrist to retry the approach cleanly.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.3,
          "left_y": -0.028,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01VVVfZ6WMKU4ugd9PCfLLP4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1959, 1.8587, 0.0437, 1.4693, -0.1795, 0.0078, 0.9996, 0.5232, 1.5486, 1.4372, -0.7578, 0.4057, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3243 left_y=-0.0285 left_z=0.0304 left_yaw=-0.0625 left_pitch=0.2207 left_roll=0.0903 left_gripper=0.9996 right_x=0.3919 right_y=0.1497 right_z=0.231 right_yaw=-0.045 right_pitch=-0.2184 right_roll=-0.0234 right_gripper=0.9965\nstate[joint_eff]: [0.6769, -1.2513, -1.265, -0.5055, 0.1148, -0.7937, -0.0171, -0.1573, -7.1316, 6.7624, 1.4139, 0.105, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cc643a35478f0dc025ba75ea5407c8a45619652df4faf31b345037041d11de3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:712585b2de6b3025ceeb794edb2c29719056157299612f6ecce511bbb69c2ab6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7fca2eb36e396b63906110c1bff7727c99768eb93618106feb2e1e1eb1a5fb24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 8.227 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]: [-0.157, 1.4849, 0.1329, 0.8513, -0.1402, -0.0586, 0.9995, 0.5232, 1.5475, 1.4406, -0.7582, 0.4057, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3246 left_y=-0.0228 left_z=0.0315 left_yaw=-0.0243 left_pitch=0.0676 left_roll=0.0337 left_gripper=0.9995 right_x=0.3922 right_y=0.1499 right_z=0.2327 right_yaw=-0.0445 right_pitch=-0.2149 right_roll=-0.0211 right_gripper=0.9965\nstate[joint_eff]: [0.4308, -1.6615, 0.294, -0.3004, 0.2027, -0.525, -0.0171, -0.1573, -7.1179, 6.9265, 1.409, 0.1441, -0.0708, -0.0024]",
      "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]: [-0.1875, 1.7721, 0.0715, 1.293, -0.1707, -0.0124, 0.9996, 0.5232, 1.549, 1.438, -0.7589, 0.4057, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3255 left_y=-0.0276 left_z=0.0234 left_yaw=-0.0523 left_pitch=0.16 left_roll=0.0763 left_gripper=0.9996 right_x=0.3919 right_y=0.1497 right_z=0.2309 right_yaw=-0.0451 right_pitch=-0.219 right_roll=-0.0238 right_gripper=0.9965\nstate[joint_eff]: [0.4991, -0.2256, -2.1128, -1.2918, 0.0562, -0.9353, -0.0171, -0.2803, -7.2547, 6.9128, 1.4042, 0.0855, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1959, 1.8587, 0.0437, 1.4693, -0.1795, 0.0078, 0.9996, 0.5232, 1.5486, 1.4372, -0.7578, 0.4057, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3243 left_y=-0.0285 left_z=0.0304 left_yaw=-0.0625 left_pitch=0.2207 left_roll=0.0903 left_gripper=0.9996 right_x=0.3919 right_y=0.1497 right_z=0.231 right_yaw=-0.045 right_pitch=-0.2184 right_roll=-0.0234 right_gripper=0.9965\nstate[joint_eff]: [0.6769, -1.2513, -1.265, -0.5055, 0.1148, -0.7937, -0.0171, -0.1573, -7.1316, 6.7624, 1.4139, 0.105, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cc643a35478f0dc025ba75ea5407c8a45619652df4faf31b345037041d11de3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:712585b2de6b3025ceeb794edb2c29719056157299612f6ecce511bbb69c2ab6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fca2eb36e396b63906110c1bff7727c99768eb93618106feb2e1e1eb1a5fb24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISugcKjgEIEhgCKkAF8coC8/o0pecAn9hUfM88uB/UzDBDLZwV/b4pOVlGOfJ09uDhYtTOSILthzmBaY4SiRL6acWqk6pojAHCYiQ+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdLmzNUGEgyMWr/hQXO4WzgjHOIaDBL1m+6OHQDuXM3x/CIwuD91S1NXDH/XDrx+73i0g9EjYIDhx9FYsTlqAbBkcD5Kjso7dQUEcCzw4yDm30sgKtgFpxktwkour2faR6oF4jq3e7b9+frPrr/32aPdF2T7QfMchqH+D1WDMQoB2/AYBPz4qvp4pwD2loF4IPOmTL1PaHm9qegowyM3ejlXCPuCCPOvktXJg1S/bPr/zlCm6NHsRXFuj1hfd/csOGU5wuFj5HB0iAQ9+C7nNRGVCaeDTNNwx06vn5UqbGGoXXN02EwUJfCwJxANOEu7jHtXcbjOEl7S0t8pl5ebuJNZuBeZbwZvU1fFOtatWk3sTudPUOB49qpALjTqI7G0/Eckz7wpVm6o058hyDbQZUhS/MQu+6dZPznFrM8jf05ryqAe3gNTIbU4QDGSPIOqK7VgWpFC9t6PAGJy+RAzmYOVBntIISZF3Drp88Bm7Lrknn3c6gMzdr9duizFzSNYnJgeA41nCzp9Ae4Xp9nxqUddhf6E74FXL/pmDjsaezBpJ/Wo1XYg2hTchvaIHUHQZA82XtpFM9nHzqFfrjOS14xPQEwV/uKl/zuqvndVShyeACkiyk5Yf+9zXcq+HxyP/A6Mo5vbXLsDMy6X0WeVz0c3/y5NTI7h04tUZ/0MaU6QgNYkJCarzzDsleO9TK/duhKQ/u5OhuvHZjefBHw4QxWguFJTEXqJupt+6ueo1+rDQNJOf1oJSaJiwytBxYdHLSMF2I8L/wa/r9dncBIipYG7+ml6IbsBnrcMeCIz6TX6+kWaNNdXcJPWo5JsPnUE3GLz/TgDj+c5ys0TXe8JEXVsZ4NEc24EVAgQTLXOyTDGOyMAuqKvn4fjY+91jzqEM4s50BBesZa+Z2T4e0S0OkBzeFbp1uALcIWPAppH8L6sVtaN3vZ0WoQESg/joB66yuKVVz8OYbDL+NmTT+ZY9YUNhFm+bl7Cf/ZvDLbZtc5Vz1PP5rCqfgv144hRicc/t43qzi8z/6q4ewY6fz9yebgqcuGCG0JNGHyQu9Kj0dR8iPKqg/T4KKgevguWH9oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L388F7D3kBDpaHnBhpzehN",
      "input": {
        "note": "The left arm is stalled in an awkward tilted pose and not tracking; pulling it back and up to recover a normal configuration.",
        "targets": {
          "left_pitch": 0,
          "left_x": 0.22,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01L388F7D3kBDpaHnBhpzehN",
      "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]: [-0.4248, 0.5873, 0.8074, -0.7063, -0.3386, -0.1383, 0.9995, 0.5232, 1.549, 1.4315, -0.7582, 0.4057, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2404 left_y=-0.0404 left_z=0.2599 left_yaw=-0.0822 left_pitch=0.106 left_roll=0.0507 left_gripper=0.9995 right_x=0.3912 right_y=0.1493 right_z=0.2285 right_yaw=-0.0458 right_pitch=-0.2239 right_roll=-0.027 right_gripper=0.9965\nstate[joint_eff]: [-0.253, 0.1026, 8.8137, 1.7802, -0.2955, 0.0024, -0.0171, -0.335, -6.8718, 7.3915, 1.3895, 0.105, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7186cc163d9f0057c7a76f54da81ac8520aa7cc40e5adc0af5bc8338d3a16856",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bec88cce82769d9b062f771335193973b6eeb2b79f208fd43573034bc64ffd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b52969cf5d9bb6ee672610e62ff63f03794b7905a33b80237246c4786a7ebbf8",
        "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 · 7.568 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]: [-0.1875, 1.7721, 0.0715, 1.293, -0.1707, -0.0124, 0.9996, 0.5232, 1.549, 1.438, -0.7589, 0.4057, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3255 left_y=-0.0276 left_z=0.0234 left_yaw=-0.0523 left_pitch=0.16 left_roll=0.0763 left_gripper=0.9996 right_x=0.3919 right_y=0.1497 right_z=0.2309 right_yaw=-0.0451 right_pitch=-0.219 right_roll=-0.0238 right_gripper=0.9965\nstate[joint_eff]: [0.4991, -0.2256, -2.1128, -1.2918, 0.0562, -0.9353, -0.0171, -0.2803, -7.2547, 6.9128, 1.4042, 0.0855, -0.0464, -0.0122]\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]: [-0.1959, 1.8587, 0.0437, 1.4693, -0.1795, 0.0078, 0.9996, 0.5232, 1.5486, 1.4372, -0.7578, 0.4057, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3243 left_y=-0.0285 left_z=0.0304 left_yaw=-0.0625 left_pitch=0.2207 left_roll=0.0903 left_gripper=0.9996 right_x=0.3919 right_y=0.1497 right_z=0.231 right_yaw=-0.045 right_pitch=-0.2184 right_roll=-0.0234 right_gripper=0.9965\nstate[joint_eff]: [0.6769, -1.2513, -1.265, -0.5055, 0.1148, -0.7937, -0.0171, -0.1573, -7.1316, 6.7624, 1.4139, 0.105, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4248, 0.5873, 0.8074, -0.7063, -0.3386, -0.1383, 0.9995, 0.5232, 1.549, 1.4315, -0.7582, 0.4057, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2404 left_y=-0.0404 left_z=0.2599 left_yaw=-0.0822 left_pitch=0.106 left_roll=0.0507 left_gripper=0.9995 right_x=0.3912 right_y=0.1493 right_z=0.2285 right_yaw=-0.0458 right_pitch=-0.2239 right_roll=-0.027 right_gripper=0.9965\nstate[joint_eff]: [-0.253, 0.1026, 8.8137, 1.7802, -0.2955, 0.0024, -0.0171, -0.335, -6.8718, 7.3915, 1.3895, 0.105, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7186cc163d9f0057c7a76f54da81ac8520aa7cc40e5adc0af5bc8338d3a16856",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bec88cce82769d9b062f771335193973b6eeb2b79f208fd43573034bc64ffd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b52969cf5d9bb6ee672610e62ff63f03794b7905a33b80237246c4786a7ebbf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrwgKjgEIEhgCKkCFxE87yzAeqiuN5kB7pk11gVIF8NaFjch3kTiE6mM3vvwYLnRLxa9jCXWb/VwDqxOHJY8w4d5L9nuKIX6ToRrWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdzmzNUGEgz3CDJMQNBm41qTSxsaDM4L5aWkEyZOxpZoKyIwQOLT7kEf4zv71/9kynQm7SXWrZ7pXxwVPwyR6Zh5Rbxu9+jkRSQdd6clY+nE4CfaKs0GdjKny/m9BksdXYDcTtjtXVey3oWRF/YBBIDD1KNlRRw3yLJKWjW/WlOe8m1KnBtdAgYVopPPHbt3KzEs8/Lri8RgjQ6b221bZ6vbYfCJC0SY90FJ2aN/8YYUzcaZVsw2XZAgxa1oL5csKD91Ap0TBtqXGQgFTwxsWHpDoEQ1WkAGay8jdVtg4c2pz1csbzfRfPy3RYHzfrwwoj+LvaPsIXHxFOWp0ez1J5o0TZL06XfTsV35vh2Pm54GbXO6nd57OCFF49gvST5srPRmLX5ufEdeTw2bmNArbnxVCKYxBtqxRLZWLhBAvMlgi6L2+PaBat/D5AIM4VRY/5bD28ej8/fH72/n/Y+ges0L6M2N+339DDqMCV2haecd6Os9614BiynqGiN9WsKWtpJxxu0Fbk9hV3GYyCfUazD9Zwu/dCTCXPb9e/8CGpnA05eUVOZPDEsbloV6JNa9JNaxPRKehAhOip3IwFOgrDSaNyK8zC045O/zz47LSHXK9UQdug5UoxS3vjZo2aAaMAROiQE4upfpE6Wv6yB7gahxzHzGBCOdP3RUG29vgSi+r5hwexbnJ6QdWVOYoq4+3YhRL6NgmGBxPpeUTM2/81+ZUqIMRR9QGwWBrS+TJQSLVD0AVnisreWFooBAn2e0M4io75pmuwi57xU6mO5OQOP9WhmR+spaUO/62D0uXXmhSuqrHCNIUUdq5RVqxuzmvPMIi0aC2Z4WByKzFu+iOQ452XqsC15fb+gF45Zs+XHc3MqzzPhHUPPVUKFL+bYDCaqS70kbjm59aZqg2QN0Wa1YV7lxgffbf/v1WLG9+NUviFgI3GqWFSPsVgHqF1FnNcgiq1d6Qs3Ei1ihpEUzYXWYmXmpsX/iF8eqZHz/BR9MWPMZ2rmt8hoYP+HkJFUG+LsZFIUTsQzE0Lz0eBwmCcnFUaJdhAEQ0Nz0yc3zJx9FYM6D4/xNhHQsStyxRkk4gWlqqoxISEFnc/MHugmyxoJ3W/XzOOj4iRzsGNI5U7IwWhnUNyq6ZQh3J1i7UkmD3npEJKBo+QN3XJOTZKFP6XXd6LPr15LYuT98L5e0ajm2lGRkPiWm5vb0d1avCW4QusOd+bRJPlP+fTmMiNvfAaMM6QYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0174WLAFGzkpbpsTptCTbL53",
      "input": {
        "note": "Left arm recovered; the yellow marker is visible at the bottom of its wrist view. Moving to a hover 14 cm above it for a clean vertical approach.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.03,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_0174WLAFGzkpbpsTptCTbL53",
      "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]: [-0.1905, 0.7715, 0.3626, -0.1516, -0.1524, -0.0444, 0.9995, 0.5232, 1.549, 1.4315, -0.7582, 0.4053, 0.3965, 0.9965]\nstate[eef_state]: left_x=0.2874 left_y=-0.0245 left_z=0.1238 left_yaw=-0.0554 left_pitch=0.0086 left_roll=0.06 left_gripper=0.9995 right_x=0.3912 right_y=0.1494 right_z=0.2285 right_yaw=-0.0457 right_pitch=-0.224 right_roll=-0.0265 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -2.0034, 7.5282, 1.9512, 0.0513, 0.0904, -0.022, -0.3214, -7.1453, 6.694, 1.3504, 0.1441, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27ea963c70bf00d137fcda51d191b9b98e53ed6a1536792dd0400ecf193819e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fa41028ac0629e15a92815543d5a4cf415125317443e3b0b33e5c9eb5f02bf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4bd0f1b98eb9866475d4e65e513a16dba9d4521009646c864d3c31ad069722ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 2.885 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]: [-0.1959, 1.8587, 0.0437, 1.4693, -0.1795, 0.0078, 0.9996, 0.5232, 1.5486, 1.4372, -0.7578, 0.4057, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3243 left_y=-0.0285 left_z=0.0304 left_yaw=-0.0625 left_pitch=0.2207 left_roll=0.0903 left_gripper=0.9996 right_x=0.3919 right_y=0.1497 right_z=0.231 right_yaw=-0.045 right_pitch=-0.2184 right_roll=-0.0234 right_gripper=0.9965\nstate[joint_eff]: [0.6769, -1.2513, -1.265, -0.5055, 0.1148, -0.7937, -0.0171, -0.1573, -7.1316, 6.7624, 1.4139, 0.105, -0.0659, -0.0122]\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]: [-0.4248, 0.5873, 0.8074, -0.7063, -0.3386, -0.1383, 0.9995, 0.5232, 1.549, 1.4315, -0.7582, 0.4057, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2404 left_y=-0.0404 left_z=0.2599 left_yaw=-0.0822 left_pitch=0.106 left_roll=0.0507 left_gripper=0.9995 right_x=0.3912 right_y=0.1493 right_z=0.2285 right_yaw=-0.0458 right_pitch=-0.2239 right_roll=-0.027 right_gripper=0.9965\nstate[joint_eff]: [-0.253, 0.1026, 8.8137, 1.7802, -0.2955, 0.0024, -0.0171, -0.335, -6.8718, 7.3915, 1.3895, 0.105, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1905, 0.7715, 0.3626, -0.1516, -0.1524, -0.0444, 0.9995, 0.5232, 1.549, 1.4315, -0.7582, 0.4053, 0.3965, 0.9965]\nstate[eef_state]: left_x=0.2874 left_y=-0.0245 left_z=0.1238 left_yaw=-0.0554 left_pitch=0.0086 left_roll=0.06 left_gripper=0.9995 right_x=0.3912 right_y=0.1494 right_z=0.2285 right_yaw=-0.0457 right_pitch=-0.224 right_roll=-0.0265 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -2.0034, 7.5282, 1.9512, 0.0513, 0.0904, -0.022, -0.3214, -7.1453, 6.694, 1.3504, 0.1441, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27ea963c70bf00d137fcda51d191b9b98e53ed6a1536792dd0400ecf193819e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fa41028ac0629e15a92815543d5a4cf415125317443e3b0b33e5c9eb5f02bf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bd0f1b98eb9866475d4e65e513a16dba9d4521009646c864d3c31ad069722ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1QMKjgEIEhgCKkAv0qqPfzGxzp625eaoS9fz4233GuzLpvy6520vLPgdn0KsH2UV3WVKrVnFL1IcYxblnx5ExDdhCQIV67/t1xozMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeXmzNUGEgxmzirPiZSgv9DdcZAaDL9u3qBjEz9Kq2yBCyIwlLIh2lAKFmrhbCODjss/W3cgzZEknK13783qqBPEz7+OvhvoBVdL6CH2LWJ4WB2hKvMBXsnD9PLBP7Jrpdu3vqICV+llRpqOmAQfYZLDHU3oyIF5z1rbBewiYcdNXTe8J6imMghuD4q3gSP201qeTxXTL+pZyrNVO8kcDxxIy+DepmPcmBIo+cNcCpjDKMrwYDWvTfDSf4gdYMy1B1PTJSamHybGxfVSmo7J62tcS49yYJaFpRbtwTzl/3OVnzEjEBFrr6Mm74Y1EC7kN3I65z9li1aEUEAHPo5q25b0/A2WghNaCMnNSZAaHCtQ8XIbLZ+VlO/coSKS3tIuv7n31sqxmGB34vvoEZJ+U1j8dQYqGRtEH7I3++CcfqrHxyBak78fCsJbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012oCxQD7xHXu1E3QN76q96z",
      "input": {
        "note": "Yellow marker is centred on the jaw column in the left wrist view; descending straight down to table level.",
        "targets": {
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_012oCxQD7xHXu1E3QN76q96z",
      "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]: [-0.1871, 1.4796, 0.0322, 0.8314, -0.1486, -0.0677, 0.9994, 0.5232, 1.549, 1.4311, -0.7586, 0.4053, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2861 left_y=-0.0239 left_z=-0.0021 left_yaw=-0.0427 left_pitch=-0.0456 left_roll=0.0462 left_gripper=0.9994 right_x=0.3911 right_y=0.1493 right_z=0.2282 right_yaw=-0.0456 right_pitch=-0.2247 right_roll=-0.0272 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -3.2615, 1.0462, -0.3199, -0.1636, 0.4078, -0.0366, -0.3487, -6.9675, 6.694, 1.3944, 0.1001, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ce363cfa81f430a2f6a6c94dcfe87432f5d0eb23380fa9d497dfe1113b32278",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbca3c2cad58c6066747a905cb2be4451ee30e1969c59d212ba580fa38d669e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27895a3026f56a2c9de4caab2759e0b1d7dc06c40563cbd179b3e01cf69e30a8",
        "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 · 8.225 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]: [-0.4248, 0.5873, 0.8074, -0.7063, -0.3386, -0.1383, 0.9995, 0.5232, 1.549, 1.4315, -0.7582, 0.4057, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2404 left_y=-0.0404 left_z=0.2599 left_yaw=-0.0822 left_pitch=0.106 left_roll=0.0507 left_gripper=0.9995 right_x=0.3912 right_y=0.1493 right_z=0.2285 right_yaw=-0.0458 right_pitch=-0.2239 right_roll=-0.027 right_gripper=0.9965\nstate[joint_eff]: [-0.253, 0.1026, 8.8137, 1.7802, -0.2955, 0.0024, -0.0171, -0.335, -6.8718, 7.3915, 1.3895, 0.105, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1905, 0.7715, 0.3626, -0.1516, -0.1524, -0.0444, 0.9995, 0.5232, 1.549, 1.4315, -0.7582, 0.4053, 0.3965, 0.9965]\nstate[eef_state]: left_x=0.2874 left_y=-0.0245 left_z=0.1238 left_yaw=-0.0554 left_pitch=0.0086 left_roll=0.06 left_gripper=0.9995 right_x=0.3912 right_y=0.1494 right_z=0.2285 right_yaw=-0.0457 right_pitch=-0.224 right_roll=-0.0265 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -2.0034, 7.5282, 1.9512, 0.0513, 0.0904, -0.022, -0.3214, -7.1453, 6.694, 1.3504, 0.1441, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1871, 1.4796, 0.0322, 0.8314, -0.1486, -0.0677, 0.9994, 0.5232, 1.549, 1.4311, -0.7586, 0.4053, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2861 left_y=-0.0239 left_z=-0.0021 left_yaw=-0.0427 left_pitch=-0.0456 left_roll=0.0462 left_gripper=0.9994 right_x=0.3911 right_y=0.1493 right_z=0.2282 right_yaw=-0.0456 right_pitch=-0.2247 right_roll=-0.0272 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -3.2615, 1.0462, -0.3199, -0.1636, 0.4078, -0.0366, -0.3487, -6.9675, 6.694, 1.3944, 0.1001, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ce363cfa81f430a2f6a6c94dcfe87432f5d0eb23380fa9d497dfe1113b32278",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbca3c2cad58c6066747a905cb2be4451ee30e1969c59d212ba580fa38d669e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27895a3026f56a2c9de4caab2759e0b1d7dc06c40563cbd179b3e01cf69e30a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkwMKjgEIEhgCKkDhpjd8qAYwTO87HVUZB74h1Zc8WaYff1kc8O7dejMt3Ziy3oFbrGvdH16Dp37ntikg9CzAjpJfaihpUqCdnZkKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAejmzNUGEgz67+0skmBXiBfpWVgaDFtJyY5XIFWAy3TsvyIw/XLSM7pjSx8/sTcx3iLJEnP68M1cxkRUcCc+JgBbZYIt3DVDvLzaFesU45H0Wcg6KrEBebS5nJCCRD5Peyk5Lw/Lo6PfY4xCzPKNc1D7OJoCBexeZoFBWrTXH0y79gomPlz4UY12xf36izj2PWRoHmaETsbe3fW46s0PcR6HoeFPzUlgXeCcKteeLtKRYg+DRUgW59Gl0FuxnVxMlCxJ1v0k2ubX3Kha0Dp0y9BZEJPFGgmXoFjGYPSttcrSCxwuOjsTps1y5TRGvHyDl3j91vEkpVtutdN4It3vGSjnSMHfVTVHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017F64fQjC2AMmsgcqfMVEFo",
      "input": {
        "note": "Highlighter lies between the open jaws at table level; closing on it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017F64fQjC2AMmsgcqfMVEFo",
      "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]: [-0.1871, 1.4826, 0.0246, 0.8574, -0.1501, -0.0711, 0.1633, 0.5232, 1.549, 1.4311, -0.7578, 0.3981, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2866 left_y=-0.0237 left_z=0.0001 left_yaw=-0.0396 left_pitch=-0.0303 left_roll=0.042 left_gripper=0.1633 right_x=0.3909 right_y=0.1506 right_z=0.228 right_yaw=-0.0398 right_pitch=-0.227 right_roll=-0.0219 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -3.5761, 4.1368, 1.4237, -0.0757, -0.0024, 1.1551, -0.335, -7.1453, 6.6803, 1.3504, 0.1734, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:469796d9e3317231ad2c59c7a13566c5a0259a167e5d3cdd0fd954ed522f1c68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:683b2b33994ad82d07f65fc1bf575b5efb91a65d6eaea5068a4aa863783de648",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6b39a530d52c2f6b5c6437f0f6bdd1238c891dd544926ad992f283cd0c4db28a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 9.057 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]: [-0.1905, 0.7715, 0.3626, -0.1516, -0.1524, -0.0444, 0.9995, 0.5232, 1.549, 1.4315, -0.7582, 0.4053, 0.3965, 0.9965]\nstate[eef_state]: left_x=0.2874 left_y=-0.0245 left_z=0.1238 left_yaw=-0.0554 left_pitch=0.0086 left_roll=0.06 left_gripper=0.9995 right_x=0.3912 right_y=0.1494 right_z=0.2285 right_yaw=-0.0457 right_pitch=-0.224 right_roll=-0.0265 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -2.0034, 7.5282, 1.9512, 0.0513, 0.0904, -0.022, -0.3214, -7.1453, 6.694, 1.3504, 0.1441, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1871, 1.4796, 0.0322, 0.8314, -0.1486, -0.0677, 0.9994, 0.5232, 1.549, 1.4311, -0.7586, 0.4053, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2861 left_y=-0.0239 left_z=-0.0021 left_yaw=-0.0427 left_pitch=-0.0456 left_roll=0.0462 left_gripper=0.9994 right_x=0.3911 right_y=0.1493 right_z=0.2282 right_yaw=-0.0456 right_pitch=-0.2247 right_roll=-0.0272 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -3.2615, 1.0462, -0.3199, -0.1636, 0.4078, -0.0366, -0.3487, -6.9675, 6.694, 1.3944, 0.1001, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1871, 1.4826, 0.0246, 0.8574, -0.1501, -0.0711, 0.1633, 0.5232, 1.549, 1.4311, -0.7578, 0.3981, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2866 left_y=-0.0237 left_z=0.0001 left_yaw=-0.0396 left_pitch=-0.0303 left_roll=0.042 left_gripper=0.1633 right_x=0.3909 right_y=0.1506 right_z=0.228 right_yaw=-0.0398 right_pitch=-0.227 right_roll=-0.0219 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -3.5761, 4.1368, 1.4237, -0.0757, -0.0024, 1.1551, -0.335, -7.1453, 6.6803, 1.3504, 0.1734, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:469796d9e3317231ad2c59c7a13566c5a0259a167e5d3cdd0fd954ed522f1c68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:683b2b33994ad82d07f65fc1bf575b5efb91a65d6eaea5068a4aa863783de648",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b39a530d52c2f6b5c6437f0f6bdd1238c891dd544926ad992f283cd0c4db28a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISjAoKjgEIEhgCKkDF4Dteb7cE1tNxkNiRjHFFjRvFX5dWSLuxtYeUnnh2Fbw72nMkFUobBPkvM8H6zZ6b6OBL4j01ZVoF5LCXrbAQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfHmzNUGEgyuqABNz9IdUBYjkjQaDKWBar82JARNOQ2dmyIwtEP+rjPf/AI5lE3iWf/rS5rA0GvswltSsd5881+8uHYGMyh/LsWiGo0V80ITv72vKqoIZyNfVl7EtmdX+0MKETtcqwT+xlhRrQ9dVUjI5se8rE6fnhVYpf63W0g/H2aKl0yLMws6qkEnI/PjgrgKL3oFIOTtlVXek/LAZVFVRkxXe1ePDTQmnKgUZ23YfWBclB+gXoh/MS/ciCdJdSMuXfNCv7x5VZFh5S9rI+s6zAGaaCiOZpYPunMxFnz6ng3Qm6iOweExGdLPFKBwdUM7+2rmAORDlbxxsn+dSdZ2nfKXUaLgbGmPfgTPD7hAPheJlMBp8H+22CozspGcNxYIEghMZ3Hnn8wmDCYckXwq1gEJpOeUriQgDxGc0NE9Yvc+fhX0OiStoCp/iJIfU+C6hq6wQ8K9MR2UUPQNRSFZSDYHa8JwD12MLkwazfhpQR42Y8JzeFSg3M7Ic47l11wZhG+yzfW0CQ1z46mFzFsAVbxr11Kv9fs/qb/zFZIYBmwWEacX6JtmgD0keSoxsv3B4tOpS6kVGwvPoKLWuCzjHaclwPBd2zATnyDCmcq7YU5WI4SO1Uoeb/Hp/W6Kf4tF14xZENISU40Fg6r0MbtsP9rzMOl9U+5E4rh193jtbjSZIhn64rUitsPwn/3fEBL1jrTzAzdRWWbT8ptlqaCfaIA/VhgOPOgd07lMSooN6EgPdZooYPmSFPLWket3NdatZq96HD5NOgSXNr7llbWzzlnD3Qa/dHdmxbE3pUOAZ4bD2w6iTDExQzdlBXhA8Gaqv0TxKI0Glbi6XxPz7ufmhweeFGadJ6Z6uHnIJ6VbgCDdSG+20yzLc8CA5+tvVzwI77cryiguCT/tbr6Km3dVnvwjCm0ZIdaftXBad7McHPkrrlAKjkKr+I0v/hSqDu2Pc0/8HDyLTBr6NaeUX65uI2+byUq86lzYJ60z9OnfeyUXsPa8/soMd9cgyThp6JLf93FBzAa8qUzsvfrivGgyJOez7odnLVQrPe+yrz+wOKQmPbhe0qQQS7FDtY0sJ7PQJguB6DsdF+OyS0XEts1g+yH+tWq4yItB3GqyudCTwmaXq4mgqmcUZP1zHxhcvV2e5841rnJ3p1JWNAFKlMHHr33cWdl++VxB0icE7HYXukKw/XEULLyuNs097c17GU39nM/y4yfenagFFAUVgsTSX7hTtrWKCBaAAI8L/jAGMjGuWGWOJOVtCxvopQ6ALZamSoSqUS0eKW2mJfRbba4PRjUslV3GQwHjUVwQwIz5+YqdCM7jFlXP5mvF07VqxL/cPbGSPT6bPPnW8Mv1Zl26QI594SVyNhOeM0LDqmeVxdYN8ALt8FcRRaMFlv4ZCNO0WuTan7xjFtgkqcnmJFL6HJB4d7w7HK6EIeLQbG/aUmS6FbYK6X9bAG1xS8evZfUEFfv1OBmHB1xkEfaaxS72RpxxPkdgdY9HIQcNxZSdfosj++ibD+HJFwxRI5v+HxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cfv6GrtqCnWLxzg7BLHCnj",
      "input": {
        "note": "Highlighter grasped (gripper 0.16). Lifting it; since the left arm cannot reach the right (pen) basket, I'll set it down mid-table for the right arm to collect.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01Cfv6GrtqCnWLxzg7BLHCnj",
      "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]: [-0.1871, 0.8429, 0.87, -0.6395, -0.1532, -0.0799, 0.1638, 0.5232, 1.5517, 1.4311, -0.7578, 0.3904, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2886 left_y=-0.0236 left_z=0.2352 left_yaw=-0.0323 left_pitch=-0.0415 left_roll=0.0382 left_gripper=0.1638 right_x=0.3908 right_y=0.152 right_z=0.2265 right_yaw=-0.0341 right_pitch=-0.2324 right_roll=-0.0183 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.4291, 8.9504, 1.6581, -0.0415, 0.0415, 1.0281, -0.2667, -7.2821, 6.6803, 1.3602, 0.2173, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa9daa0c3c538e2fa25718443a40c721bf67a7563f50c8a4a673130cf0158d35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1252c9ee9485177abcbb163e630bf344651ddd7361ea1b69cff80dfdf40a4c2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b30c6ae5884323343e6fa443b47f24aebbda73443d432556ee0f50d54c520e7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /messages · status 200 · 7.328 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]: [-0.1871, 1.4796, 0.0322, 0.8314, -0.1486, -0.0677, 0.9994, 0.5232, 1.549, 1.4311, -0.7586, 0.4053, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2861 left_y=-0.0239 left_z=-0.0021 left_yaw=-0.0427 left_pitch=-0.0456 left_roll=0.0462 left_gripper=0.9994 right_x=0.3911 right_y=0.1493 right_z=0.2282 right_yaw=-0.0456 right_pitch=-0.2247 right_roll=-0.0272 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -3.2615, 1.0462, -0.3199, -0.1636, 0.4078, -0.0366, -0.3487, -6.9675, 6.694, 1.3944, 0.1001, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1871, 1.4826, 0.0246, 0.8574, -0.1501, -0.0711, 0.1633, 0.5232, 1.549, 1.4311, -0.7578, 0.3981, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2866 left_y=-0.0237 left_z=0.0001 left_yaw=-0.0396 left_pitch=-0.0303 left_roll=0.042 left_gripper=0.1633 right_x=0.3909 right_y=0.1506 right_z=0.228 right_yaw=-0.0398 right_pitch=-0.227 right_roll=-0.0219 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -3.5761, 4.1368, 1.4237, -0.0757, -0.0024, 1.1551, -0.335, -7.1453, 6.6803, 1.3504, 0.1734, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1871, 0.8429, 0.87, -0.6395, -0.1532, -0.0799, 0.1638, 0.5232, 1.5517, 1.4311, -0.7578, 0.3904, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2886 left_y=-0.0236 left_z=0.2352 left_yaw=-0.0323 left_pitch=-0.0415 left_roll=0.0382 left_gripper=0.1638 right_x=0.3908 right_y=0.152 right_z=0.2265 right_yaw=-0.0341 right_pitch=-0.2324 right_roll=-0.0183 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.4291, 8.9504, 1.6581, -0.0415, 0.0415, 1.0281, -0.2667, -7.2821, 6.6803, 1.3602, 0.2173, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa9daa0c3c538e2fa25718443a40c721bf67a7563f50c8a4a673130cf0158d35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1252c9ee9485177abcbb163e630bf344651ddd7361ea1b69cff80dfdf40a4c2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b30c6ae5884323343e6fa443b47f24aebbda73443d432556ee0f50d54c520e7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6wgKjgEIEhgCKkC20ruRyjBxSmHYF1JtsJEKAznJddEBcdzt1J39vWgLi58Ht0d2JpvEn+fhC8UFgWdk0igrZQ8krqZVmeNL4Om5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfzmzNUGEgyQUpNkqhdZeJisVcYaDHhbmmk9C9WGAGeQqCIwbbm2ZPt7nKacTakg6NFvAz88UZtdOA3b+M72zvj9Yo7JWRYifSiVJV1U8rPUtGAZKokHBF/cU7N8x1Zd5+zrZmWppPSReTyNIF6foMqusU2FQV24HFNVPsSmGWkqPNXkXLyhgo35lY5mLHBiTzYSczm9puNpizfAj9yjsldBUU1xa1U92GFJDUANkiKJgzmq3Wc5CK/1ZfoEUrfHf51d3/BE2dghMzmW9SxI2U1Xqli7wV+nRcJZMyR8txGjQ1zWfKdV+cX5n9CSW5/TAm3VY00SEvXiRO+iE4GZYjTTqzwrnsdyDVVfolENpXlgzFaYYjWGKl64zq6VSWC5wreGHmt218Hs700cGO2EYmN7ozkSNx6/vLHJ2ngLP6ssF1BtoCXqmMHuhN2xvjnnYvMXt+1FPGdmKcdh7IWAHe8/RyX9fEea6owwRpB266o+HDut8AfXn/savmNVZj6wtbRsW/adJdwTkxRkP6wOlHR+VDxNoQ/f6Mtp15yYpu36EePQ0kuuaeZ43jdr6pi6P/Yc8sgXvbjeVbNPR0fpPD1eu3N+zjupQX2vATgo5PjNWEt6d/TFNqYklgHI4TFpWX1hDmghP7fOpVMj+zAhQpmCdP1YPRP/q36uxL+9C/ZlC5Xdo9BaX6Ul8bxmxuEVGiwoexHAGiBPHAoStbvDdvAxta+2rmq214+RoGS5Nf3lYSk8fLrW1WWS8fIl1zuxoxnBs/+fR0bDX/DuF1fvCQP6IFbzSw5MpweAWpp4v/DVtMKkIalNdBS/+DbRoPd9Uja/4WS9rBaNTLhKdVLRyPR84SPv9xKxBj14qe/pXQ9Z8OOoMUmhvqyV1QWsLXFVJgVx1VOey9144qdEuhgTwAaa6fVmIBbBVDAj/r8eZ/mTuJkqay+GxxmQupVDuXX1WjPvd6bDcntiItYhN1mL8Y8tGcKMUWHU9CPSrweQqxujWCRRDTKjDaJEm3OGmSu69BXHL1MZHGTriaExxcMI2r9gTenWhIrZ5fdvERs7r/1dbOLbp2gQ/w8jPbDtGXXKn8swOKVRi1C0OloOLYQ3KZQKNfmyH1IT32K/PwAkWkt8jUKImRGGWgE9fkk3DtdEHVP0igm30x4u3leCDvyrg+Iqr4EewgD1CT3XUYT+8vchyCxDGRMFECIFfBKlYQYYpnoUc/ArajCtDWaZX6vJlUKjUAHhMgVYszJrI8J92l1WMnbCOyvBgJyPELZ2ha+9sb4Y3rqE2d+EfDuNIAIMj5fPvRFGz/qmaskUnp2jfDAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MUGUMqzkPjhFQhAeNEPxJb",
      "input": {
        "note": "Carrying the highlighter across to a clear mid-table spot within the right arm's reach for a handoff.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.38,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 32 steps (3.2s)",
      "tool_use_id": "toolu_01MUGUMqzkPjhFQhAeNEPxJb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3033, 1.9335, 1.6913, -0.9894, -0.8848, -1.1187, 0.1708, 0.5232, 1.5517, 1.4311, -0.7578, 0.387, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.248 left_y=-0.3741 left_z=0.1868 left_yaw=-0.0288 left_pitch=-0.0773 left_roll=0.035 left_gripper=0.1708 right_x=0.3907 right_y=0.1525 right_z=0.2263 right_yaw=-0.0314 right_pitch=-0.2338 right_roll=-0.016 right_gripper=0.9965\nstate[joint_eff]: [-0.5675, -10.2085, 8.7863, 0.6471, -0.7595, 0.2466, 1.0281, -0.0889, -7.2137, 6.653, 1.3846, 0.1587, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ca88aeaae3d1db06472a07093ea9e7d86d35fb89b3dc2224f7f529d236051f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:103beddd995e6216c962aebedb5dfa9fe72221555fc1a25f27b27cb11ccc6769",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eaae674157ecdbd9c32287ae25f168d61543baea555be328c69ef3589c85465b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 4.303 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]: [-0.1871, 1.4826, 0.0246, 0.8574, -0.1501, -0.0711, 0.1633, 0.5232, 1.549, 1.4311, -0.7578, 0.3981, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2866 left_y=-0.0237 left_z=0.0001 left_yaw=-0.0396 left_pitch=-0.0303 left_roll=0.042 left_gripper=0.1633 right_x=0.3909 right_y=0.1506 right_z=0.228 right_yaw=-0.0398 right_pitch=-0.227 right_roll=-0.0219 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -3.5761, 4.1368, 1.4237, -0.0757, -0.0024, 1.1551, -0.335, -7.1453, 6.6803, 1.3504, 0.1734, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1871, 0.8429, 0.87, -0.6395, -0.1532, -0.0799, 0.1638, 0.5232, 1.5517, 1.4311, -0.7578, 0.3904, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2886 left_y=-0.0236 left_z=0.2352 left_yaw=-0.0323 left_pitch=-0.0415 left_roll=0.0382 left_gripper=0.1638 right_x=0.3908 right_y=0.152 right_z=0.2265 right_yaw=-0.0341 right_pitch=-0.2324 right_roll=-0.0183 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.4291, 8.9504, 1.6581, -0.0415, 0.0415, 1.0281, -0.2667, -7.2821, 6.6803, 1.3602, 0.2173, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3033, 1.9335, 1.6913, -0.9894, -0.8848, -1.1187, 0.1708, 0.5232, 1.5517, 1.4311, -0.7578, 0.387, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.248 left_y=-0.3741 left_z=0.1868 left_yaw=-0.0288 left_pitch=-0.0773 left_roll=0.035 left_gripper=0.1708 right_x=0.3907 right_y=0.1525 right_z=0.2263 right_yaw=-0.0314 right_pitch=-0.2338 right_roll=-0.016 right_gripper=0.9965\nstate[joint_eff]: [-0.5675, -10.2085, 8.7863, 0.6471, -0.7595, 0.2466, 1.0281, -0.0889, -7.2137, 6.653, 1.3846, 0.1587, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ca88aeaae3d1db06472a07093ea9e7d86d35fb89b3dc2224f7f529d236051f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:103beddd995e6216c962aebedb5dfa9fe72221555fc1a25f27b27cb11ccc6769",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eaae674157ecdbd9c32287ae25f168d61543baea555be328c69ef3589c85465b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1QkKjgEIEhgCKkC+nPH1TKRnKRXl9ALSwgunwVGtssob/aZL2LwT8UOHYf2vpZPyHOmZTCZ5CTTleU9ER4JyA9YluNAoVV5j1ybXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYbnzNUGEgx3qx91M3CcNatSP7QaDOk6MCJYutqfCYwqXiIwc0K3FZ1l9wKlvxJgKzNBOh6taFmEyzWsUN2KkuhKM9zujYGhlM5y5HaC8esIL0VMKvMH3g9ekQ05vdVHC40D/fWDkCo4kpldIb+4ext/ARDPcDlpgqTyf9e4giU656Un8C+fWHYKYR9fDk3fRwOyoBXqgdSPwMEtztjm8pANtYTRl9Hciqpl8RbWnpuXdy8MpZq9tAZ97Vo2sOz4y60N3BgTEfLSCBPNi7+uXo+77+x4sV4opOs8uZRx2oVBCymSwmMvcRELEspyhMlg9CwKQA7MSwPOabAej3aeEVPX7CmLyS/5DMmlQ07wij4JfvDEIHCn6CU+mkO8mXYpzrlZdQ+U51wz6ssQz6SYu9MV6Owvj9tc0YyJ35PHwcl7mH17Z+aUp9pJ5735tT+d28FV8ium0/IOM/MJUfm9fajg8BdBETPGaRIfeYMlBNvrUsGiLlIKhFON31LVQmS2i+9mNm88trnWgPzLI2RjlTG8Q+iT+OD47Kla/nRo5Dijt13mzWQEhqMtEYG5MWPQtWkNn7vG8Lpppuc/33C17HYq0jRuj5EeSDHjZgzg5uzcWXS8+1bfwqcot07aoN6OLRX8dUAZYd/iHmfDX/k53PQeGoHW5+B3aaXG4Yu5unvGYycLkFP/It1AENw+3we4rAuXpx0/YPzBBdYLrCVXssauJNsaJs5PqknY4dtzxFd4xEgoCBaxQ7HwsVn1KgfCKEVyPFngi6ixJhxve9ytjaDFcV0uZ34gx6mnH3S8YDtAYCZo3mYoc+Od449fkJ2q7QaVpaT117NKddsPSS4N8vlLGpxVE02ZsJCFrUQfH6mqXFeJuULaVtg75N01Das+B105QRpEkqqUfSHBkF4CVjSqSXt6KDYIndbM71xGVKR5wUaSlj81pnYi0kESk41d85tGn6jDne7RHreaj2szXC3H1xDmTsFUKrV+LESbaVqWacf0Ck2G1EGymWzZrOud+/G1+/kbzqvvmCV8L/pbIMmTGrQaWj8LbwZzPviKY7hIOpNe+I3Kny+rcHffmu2CGg9a0OOUmy1m/dao2PJ/TNbBT4PrWYhy7+7B3lW99Dc5ViTuD69eh9Eb8fBfIDCZ8zPNBkn3E9XOvjNIflVxx8N056dPyKHkDInRHGaA07Ve0cFm1Sl2A8IMHPK6SlRIVSoraVW7SF2GaimgyT0nwheJqTxxOxddLGTpJFFloCYfOaIJR/npc8uy/9IdbgGug6ETIOomhk4D/mjyaXNlG+xBty0NxbdvuzXNcDu1HrA56ndKV2d+1gdJIYD0PV4D8vGLJYgjNCEptJ8SPmu/AP+MiEUrEkSPI0sI+YHbXB/0oKjBvw20khosdfvcNE2pnEnKtmZnxzqhVvfYWSD0mVy6ZFDt4caU6OKK8O+yB1advLvDmZZRrrtZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AZZhXvk5NWj4zF47btkDyH",
      "input": {
        "note": "Setting the highlighter down on the clear mid-table spot so the right arm can pick it up and put it in the pen basket.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01AZZhXvk5NWj4zF47btkDyH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3109, 2.0968, 1.2995, -0.3748, -0.971, -1.0916, 0.9971, 0.5232, 1.5517, 1.4311, -0.7578, 0.3801, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2555 left_y=-0.3796 left_z=0.0506 left_yaw=-0.0208 left_pitch=0.0161 left_roll=0.0234 left_gripper=0.9971 right_x=0.3903 right_y=0.1536 right_z=0.226 right_yaw=-0.0259 right_pitch=-0.2365 right_roll=-0.0113 right_gripper=0.9965\nstate[joint_eff]: [0.4308, -6.0376, 2.8376, 0.7009, 0.6618, -0.3492, 0.0171, -0.2803, -7.1863, 6.8308, 1.3504, 0.1832, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7762daa485aee8c0fbe1ef004e7b3e64d155f8bec488df1c6baeb541f843140",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60c488b96acfa11bf3aa2c7361be306295db048c6b5ae67c5cd9b3e91836ef20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c88f8713d2e1ed95bbef11c07db670c4ba5ee4411ab8157d2ff1555c8a4d805c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 11.55 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]: [-0.1871, 0.8429, 0.87, -0.6395, -0.1532, -0.0799, 0.1638, 0.5232, 1.5517, 1.4311, -0.7578, 0.3904, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2886 left_y=-0.0236 left_z=0.2352 left_yaw=-0.0323 left_pitch=-0.0415 left_roll=0.0382 left_gripper=0.1638 right_x=0.3908 right_y=0.152 right_z=0.2265 right_yaw=-0.0341 right_pitch=-0.2324 right_roll=-0.0183 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.4291, 8.9504, 1.6581, -0.0415, 0.0415, 1.0281, -0.2667, -7.2821, 6.6803, 1.3602, 0.2173, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3033, 1.9335, 1.6913, -0.9894, -0.8848, -1.1187, 0.1708, 0.5232, 1.5517, 1.4311, -0.7578, 0.387, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.248 left_y=-0.3741 left_z=0.1868 left_yaw=-0.0288 left_pitch=-0.0773 left_roll=0.035 left_gripper=0.1708 right_x=0.3907 right_y=0.1525 right_z=0.2263 right_yaw=-0.0314 right_pitch=-0.2338 right_roll=-0.016 right_gripper=0.9965\nstate[joint_eff]: [-0.5675, -10.2085, 8.7863, 0.6471, -0.7595, 0.2466, 1.0281, -0.0889, -7.2137, 6.653, 1.3846, 0.1587, -0.0659, -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]: [-1.3109, 2.0968, 1.2995, -0.3748, -0.971, -1.0916, 0.9971, 0.5232, 1.5517, 1.4311, -0.7578, 0.3801, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2555 left_y=-0.3796 left_z=0.0506 left_yaw=-0.0208 left_pitch=0.0161 left_roll=0.0234 left_gripper=0.9971 right_x=0.3903 right_y=0.1536 right_z=0.226 right_yaw=-0.0259 right_pitch=-0.2365 right_roll=-0.0113 right_gripper=0.9965\nstate[joint_eff]: [0.4308, -6.0376, 2.8376, 0.7009, 0.6618, -0.3492, 0.0171, -0.2803, -7.1863, 6.8308, 1.3504, 0.1832, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7762daa485aee8c0fbe1ef004e7b3e64d155f8bec488df1c6baeb541f843140",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60c488b96acfa11bf3aa2c7361be306295db048c6b5ae67c5cd9b3e91836ef20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c88f8713d2e1ed95bbef11c07db670c4ba5ee4411ab8157d2ff1555c8a4d805c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjQUKjgEIEhgCKkBNIjQ6fCTkW6RsX03Tlyn+ObGP0O49FQ+Qw/sEgh2Iwd2qUlXMf8z1+KWQB7GjOBYGHImFvIZ1g+Pp4pAx96PyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYznzNUGEgxSf7lODgEGvlx8UYwaDNOfX/EwWQSfh9pL/yIwo00Wa1qyIr6Z+DrKlaSgqed6BVyCcxHbVRE7v5t62KPFVmEAs4iIhtTaQTaOPTLPKqsDsngbQxTzzwiXRPUunhKBn/yO0NX+5L/Ccwr1CgHQcQIuvi4qJa714UU1vvZyMPC8MKh8J4VB9OkLReW3S8hJFZ+bqNDIRDlIy8GuAPyEkNYA4z3QU3+iohHUcf8W05UUe6VQER34+7S9W0sz2fUh8+GmUFM4Vw5IZKEx2Yz08s2NHOHDR/oMlYtE19fWpqdxbK9BQyX4fOQ+6pad3WmKDnelKqwtwCW2PLkVRQnQcGLl2fdBbF0iAQ+hWvBywdAlqgjTsMBKMvC9J8B8X7op287l/L3EmTG5fddDW+bjuh1nlUhqi6/eVID1gxTGYNwOZZVIjrq+N2uLUt5H/UOshm3cWrGHR23EA9HImZvB0TTpieqn0R6d9MGO4NpDmUBz1vDvT70sFj9k8bBJO2/ShTBYh5NEzPkrW1wUx9ktEE+XkN3//HZx2cGvAuFJVX+XyZ0uNPD/8NiNsr52uPw2eIHnLtYhiyckrwRsPWaUWjpCLANwIClIzhY8lC9Z0tmpzPeEpvNdUnfLWPKEqae6Ii+e8muYGbr+pW2/U27FFQCKxZ5Q/jy4XvwF/xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012hXzhizhQ3LeLhL8SuQAfG",
      "input": {
        "note": "Highlighter released mid-table. Parking the left arm out of the way so the right arm can see and pick it up.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.05,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 30 steps (3.0s)",
      "tool_use_id": "toolu_012hXzhizhQ3LeLhL8SuQAfG",
      "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]: [-0.5285, 0.725, 0.8291, -0.7437, -0.4892, -0.3431, 0.9981, 0.5232, 1.5517, 1.4311, -0.7582, 0.379, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.252 left_y=-0.0469 left_z=0.2375 left_yaw=0.0437 left_pitch=0.0085 left_roll=0.0112 left_gripper=0.9981 right_x=0.3902 right_y=0.1538 right_z=0.2259 right_yaw=-0.025 right_pitch=-0.2373 right_roll=-0.0108 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -0.3624, 9.3333, 1.6142, -0.2613, 0.188, 0.0904, -0.335, -7.1726, 6.6667, 1.37, 0.1441, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:848673e3963804e2eb58e5f9c8f814ee0350b07a0ffb268d804db4097300eaab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27ade12fd9cd0723dc0ed2049296111dc50d568dc25ef3b0d7207508a15e7c0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3daa1d7f596d6fa9567d4b1cf67c918898a94a889a120f7fee7fb10d96dd279",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 7.565 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3033, 1.9335, 1.6913, -0.9894, -0.8848, -1.1187, 0.1708, 0.5232, 1.5517, 1.4311, -0.7578, 0.387, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.248 left_y=-0.3741 left_z=0.1868 left_yaw=-0.0288 left_pitch=-0.0773 left_roll=0.035 left_gripper=0.1708 right_x=0.3907 right_y=0.1525 right_z=0.2263 right_yaw=-0.0314 right_pitch=-0.2338 right_roll=-0.016 right_gripper=0.9965\nstate[joint_eff]: [-0.5675, -10.2085, 8.7863, 0.6471, -0.7595, 0.2466, 1.0281, -0.0889, -7.2137, 6.653, 1.3846, 0.1587, -0.0659, -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]: [-1.3109, 2.0968, 1.2995, -0.3748, -0.971, -1.0916, 0.9971, 0.5232, 1.5517, 1.4311, -0.7578, 0.3801, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2555 left_y=-0.3796 left_z=0.0506 left_yaw=-0.0208 left_pitch=0.0161 left_roll=0.0234 left_gripper=0.9971 right_x=0.3903 right_y=0.1536 right_z=0.226 right_yaw=-0.0259 right_pitch=-0.2365 right_roll=-0.0113 right_gripper=0.9965\nstate[joint_eff]: [0.4308, -6.0376, 2.8376, 0.7009, 0.6618, -0.3492, 0.0171, -0.2803, -7.1863, 6.8308, 1.3504, 0.1832, -0.0513, -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]: [-0.5285, 0.725, 0.8291, -0.7437, -0.4892, -0.3431, 0.9981, 0.5232, 1.5517, 1.4311, -0.7582, 0.379, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.252 left_y=-0.0469 left_z=0.2375 left_yaw=0.0437 left_pitch=0.0085 left_roll=0.0112 left_gripper=0.9981 right_x=0.3902 right_y=0.1538 right_z=0.2259 right_yaw=-0.025 right_pitch=-0.2373 right_roll=-0.0108 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -0.3624, 9.3333, 1.6142, -0.2613, 0.188, 0.0904, -0.335, -7.1726, 6.6667, 1.37, 0.1441, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:848673e3963804e2eb58e5f9c8f814ee0350b07a0ffb268d804db4097300eaab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27ade12fd9cd0723dc0ed2049296111dc50d568dc25ef3b0d7207508a15e7c0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3daa1d7f596d6fa9567d4b1cf67c918898a94a889a120f7fee7fb10d96dd279",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjgsKjgEIEhgCKkAtzl0hzbnXzu6VhNZafVs5dwjp/w+LZENTtx0YhHXNVIt72tUkV+YlKvbdytBLMDfPu2KzBEL85aVmAIv1gYctMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZrnzNUGEgygkCvxPH5hebi2rKAaDJUO+yYUE90EQ0dITCIwj7fqkhfpBJrutmZtg3FH300VTsJ5RcP3K9fg4I0P1STdRGqCcCkLiTntgXh5dVkEKqwJgjtIlQQO5ETzW9ADdXmHXsaPm3GCQLuQHdu84e/dCZOrLaSK5RXh3WuLAcwbBB4HIHavUCjmTwe/1+Ho5EJePpQgzD9jz5owgfwmA5/bu6sWGIbP9RaX51v3kaROUXng309VdpufT0oEK/9Xd7h47NzgkjtYzEJqT/0BR55QDaJ0C9QXE2MaqeCH3FcpohfFtic6AEvuf/vpAoELk62amFVo8gengsSDN6YABaFN7NzCfu36IluWcbwlH+4vxolfzBpFHtVmt1Mm/+memhroSqBF1+LzzR0dd81pT8U6LT0Wv/pw0qZd4h6gdaWsafKv1naLmvEhJ+wJjwSlTYar/hv3cMAaxRar70Ug2ZN0J3qwbiUmqG0JMfSjzz/d5U0C3oqoRXAMs+/sph9Tohv+tu+6RODvfXtCp7PhhqVon8Y/l48Mn0aX2wPIZ7geRms4ZbbOscXvhM/Eny6rfkYEv40+u9oRQ3zULcHPGSeQJnDtiIlpBt1I3zkzAuF5razJFsVrgERS3ruQ98i7xoXzEnbKNB1sIfbSdfMs+zuDfa4JPXlE7UXjd9NqtGDsCUB/XcdfF6mIajt+CGOABXqOpRz83oC2bU+9mO9PSDpON8D1SH2XHX5RyF+p4NW3BAdzkgDOZACVseLFsvgQ9CAyOrfCvbacvryG2sEigHcS8NGNaUSHvwcBWtkWZGD5+gBTA1OSxuE7G4Wik+EXCWi/6SpZju9XQMoXAXF5LjFyutz99FQGHBXIxYc9YgNDoJ7I+hp2KF3POfAEo5lfaAYs9DDv0qLskCq5kVNgz7k8jEgk0ujNxND8QA+6z0cUdcrt8Ig6TLDUXbQei4YYvC3RcpV9vX4X/POZqkIdjfE9qMl39Q0rXqeFEsXZ9tu+WNS+5d2mQj06fxizKnPfamDS0/PeWIIUgaYHshIcaA2FsHV6J/sGWVm6Ab2SEMJvHT/yaC1bO6sudgtr0AcgnemRjfgVsXMpbGCc5V0nOZmpJ5qJIOUvVJ4qQE5kWLaiqbgafdaGCzuutazD+6UVJIiwy7Sm0eVfwi7VfghN1J6Tnv6MCVQNI2W09qGnG9OgM8wzeqmiduk5XSQChorqJWMSOHz2JsSAX+sBKZ27Ov7P9VvAdA+mkte5OmrmrVJvVMBYGjDGyhyV4YzahOd0yvdPm3I69LepXLmItn+goMWu4fLxQRHGGcX36BDlSyOe5bEIb+A3KMOvoW5mlMJDY/Jh1xoTIsXfgUou+ixqBPDlpfzFF+EEqiBL3zPhr0SlD2Fiy194fn+zF6KmNfjCpCJvMUL2EbffMeDOzAxwJSynSMjAXbP0XxskbMna7pEGtCuBTem3QFXc+hzA5zDN/IgKOOHo5WRXRPSl4bi2J9HOP4fBMNVNKLxPxvgq28PUaFT0nSld314+gpgbwoSKk6gtUXAPK5uxHo4HPGAQ1W8ev8xNl0Eyom+Fc9vdxxK2Cpt5SVppL2vdryjXSA4PfUiNR35o2MNI/4IVDANcr9XWJchZwYcRdS/ZDuu3KBmCUTH5/ue9JUH06+i9ClJ5MZ2yKlrrSUVMvs3K+L9I8VjvF8V9+jKs4iAFW1+wjD0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0157m666D9d5YAz2d3NPLfYk",
      "input": {
        "note": "Pens are in the right basket; now sorting the plush toys into the left basket. Hovering the left arm over the nearest teddy bear.",
        "targets": {
          "left_x": 0.26,
          "left_y": -0.1,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_0157m666D9d5YAz2d3NPLfYk",
      "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]: [-0.7937, 0.9024, 0.4473, -0.3679, -0.6609, -0.5259, 0.9982, 0.5232, 1.5517, 1.4311, -0.7582, 0.3794, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2519 left_y=-0.0964 left_z=0.1119 left_yaw=0.0098 left_pitch=-0.0556 left_roll=0.0639 left_gripper=0.9982 right_x=0.3903 right_y=0.1537 right_z=0.2259 right_yaw=-0.0253 right_pitch=-0.2372 right_roll=-0.011 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -2.3863, 7.1863, 1.58, -0.6178, -0.1734, -0.0073, -0.1709, -7.2137, 6.653, 1.3846, 0.1197, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29f0cf6794f6bc4f2a54b01f730f6636eb773a2b9bd9e9291264064bd5f9c7df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4df6176d100eaf9fa8dbb2bc2a018a23391dda9b30864737d020721caa6c9096",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f36462b5f6e9e588760e53949a3607686f850a318c7e800aff78e2b31b7e1e25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 29 attempt 0 · /messages · status 200 · 2.721 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3109, 2.0968, 1.2995, -0.3748, -0.971, -1.0916, 0.9971, 0.5232, 1.5517, 1.4311, -0.7578, 0.3801, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2555 left_y=-0.3796 left_z=0.0506 left_yaw=-0.0208 left_pitch=0.0161 left_roll=0.0234 left_gripper=0.9971 right_x=0.3903 right_y=0.1536 right_z=0.226 right_yaw=-0.0259 right_pitch=-0.2365 right_roll=-0.0113 right_gripper=0.9965\nstate[joint_eff]: [0.4308, -6.0376, 2.8376, 0.7009, 0.6618, -0.3492, 0.0171, -0.2803, -7.1863, 6.8308, 1.3504, 0.1832, -0.0513, -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]: [-0.5285, 0.725, 0.8291, -0.7437, -0.4892, -0.3431, 0.9981, 0.5232, 1.5517, 1.4311, -0.7582, 0.379, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.252 left_y=-0.0469 left_z=0.2375 left_yaw=0.0437 left_pitch=0.0085 left_roll=0.0112 left_gripper=0.9981 right_x=0.3902 right_y=0.1538 right_z=0.2259 right_yaw=-0.025 right_pitch=-0.2373 right_roll=-0.0108 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -0.3624, 9.3333, 1.6142, -0.2613, 0.188, 0.0904, -0.335, -7.1726, 6.6667, 1.37, 0.1441, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.7937, 0.9024, 0.4473, -0.3679, -0.6609, -0.5259, 0.9982, 0.5232, 1.5517, 1.4311, -0.7582, 0.3794, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2519 left_y=-0.0964 left_z=0.1119 left_yaw=0.0098 left_pitch=-0.0556 left_roll=0.0639 left_gripper=0.9982 right_x=0.3903 right_y=0.1537 right_z=0.2259 right_yaw=-0.0253 right_pitch=-0.2372 right_roll=-0.011 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -2.3863, 7.1863, 1.58, -0.6178, -0.1734, -0.0073, -0.1709, -7.2137, 6.653, 1.3846, 0.1197, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29f0cf6794f6bc4f2a54b01f730f6636eb773a2b9bd9e9291264064bd5f9c7df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4df6176d100eaf9fa8dbb2bc2a018a23391dda9b30864737d020721caa6c9096",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f36462b5f6e9e588760e53949a3607686f850a318c7e800aff78e2b31b7e1e25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxgUKjgEIEhgCKkDmRdrjuGK51wakqKdMPErAXeQta6WufpPiEL5dsxgPiOmf6HNIQJ9nXlPYsUve/a44nSnvWrYHRVn+UskYYEZvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaLnzNUGEgxO8IZbqn59wP8yzdcaDCN8faCtb8xd3kiTpSIwnawF+Ckl12EXfuNrEu1Iq8ariNph3Y7YDrzJNL2aGrxScmI0+S+HUX5g+EMllX8PKuQDK65bt2Ra33blvtxk2qtoDlBAmYcAPQn9d0tHXlJtxpbBQeAZ3IgDBYp21HXYtjAbl1c9DPomvGAXLyCOL4FetQqTRNcu2Yr85EUSdE4Qda0cJImuvdwxhIyzwTU5czsJkrKJeKNha/RO5bLBaqSlqGGM+AEWse0sCSLXMchCrnUP+WertKMKBHtJLVrnUA/TNmJqw3z8uXFMupZDZ6cnTu6dECcyld7IZ6e3/LguBIlLewpZvT3A33cMYF4VddMByxJwF9GA8g+tV100O6C6TpJSlW18H8YohQpYjzPmVVu6lrvdFlrC4UPKG5ucIIZHPce3UZFI9uZCkLJHCSbgUIHamGWNpjfzVy0I90iRr/ZRIjwyObo3AuaWKGOfFXL2FNzARJkT7/VVyNURmHvdtYoaBXC98BCYOR20+ECIDZhFRarVbdhVjWuoNoCHvvnBmJK/KjncsbDHKvsshnI/NKJJ/szMXkdFA0xAyFdZEyo85GyDohjRK3snffQJfjkCtDFn1kXsU36onWqgsZTsYta5QruZzkkEm4gk8bzJ+aFE5fjg+E4j7k7ytYo4Woh3Z9ZoOppiBDCazcExj95hkLme2YRvT7WhUPB2lp0e15rIdRoZnFfrY23PdU1Iqcqoen5YxRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bv79iR3UmGQEsf5NcqM2iA",
      "input": {
        "note": "The brown teddy fills the lower-right of the left wrist view; shifting ~4 cm to the arm's right and lowering onto it.",
        "targets": {
          "left_y": -0.14,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Bv79iR3UmGQEsf5NcqM2iA",
      "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]: [-0.9508, 1.2949, 0.35, -0.0612, -0.7341, -0.6582, 0.9982, 0.5232, 1.5517, 1.4311, -0.7582, 0.3748, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2433 left_y=-0.1309 left_z=0.0328 left_yaw=-0.0158 left_pitch=-0.1217 left_roll=0.1363 left_gripper=0.9982 right_x=0.39 right_y=0.1545 right_z=0.2257 right_yaw=-0.0217 right_pitch=-0.239 right_roll=-0.0079 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -4.7521, 5.0256, 1.2381, -0.6813, -0.0952, -0.022, -0.2803, -7.2137, 6.7897, 1.3651, 0.188, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bf80c1d600c6dd68fdc10ed900052db2b20e38c6c79a9eac165bc856313021e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db44ba8b60932f52232fdf8cfd16ad732f852e6d165b6026614e51062c3c0e2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ed52b0c2e0f2c5c1c5d64470505add0daea91b54d8e87b88611c6c70026d7f15",
        "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 · 5.527 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]: [-0.5285, 0.725, 0.8291, -0.7437, -0.4892, -0.3431, 0.9981, 0.5232, 1.5517, 1.4311, -0.7582, 0.379, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.252 left_y=-0.0469 left_z=0.2375 left_yaw=0.0437 left_pitch=0.0085 left_roll=0.0112 left_gripper=0.9981 right_x=0.3902 right_y=0.1538 right_z=0.2259 right_yaw=-0.025 right_pitch=-0.2373 right_roll=-0.0108 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -0.3624, 9.3333, 1.6142, -0.2613, 0.188, 0.0904, -0.335, -7.1726, 6.6667, 1.37, 0.1441, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.7937, 0.9024, 0.4473, -0.3679, -0.6609, -0.5259, 0.9982, 0.5232, 1.5517, 1.4311, -0.7582, 0.3794, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2519 left_y=-0.0964 left_z=0.1119 left_yaw=0.0098 left_pitch=-0.0556 left_roll=0.0639 left_gripper=0.9982 right_x=0.3903 right_y=0.1537 right_z=0.2259 right_yaw=-0.0253 right_pitch=-0.2372 right_roll=-0.011 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -2.3863, 7.1863, 1.58, -0.6178, -0.1734, -0.0073, -0.1709, -7.2137, 6.653, 1.3846, 0.1197, -0.0415, -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]: [-0.9508, 1.2949, 0.35, -0.0612, -0.7341, -0.6582, 0.9982, 0.5232, 1.5517, 1.4311, -0.7582, 0.3748, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2433 left_y=-0.1309 left_z=0.0328 left_yaw=-0.0158 left_pitch=-0.1217 left_roll=0.1363 left_gripper=0.9982 right_x=0.39 right_y=0.1545 right_z=0.2257 right_yaw=-0.0217 right_pitch=-0.239 right_roll=-0.0079 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -4.7521, 5.0256, 1.2381, -0.6813, -0.0952, -0.022, -0.2803, -7.2137, 6.7897, 1.3651, 0.188, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bf80c1d600c6dd68fdc10ed900052db2b20e38c6c79a9eac165bc856313021e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db44ba8b60932f52232fdf8cfd16ad732f852e6d165b6026614e51062c3c0e2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed52b0c2e0f2c5c1c5d64470505add0daea91b54d8e87b88611c6c70026d7f15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2QIKjgEIEhgCKkBO6pYljmSjOl7ND8ajaQ4q99b8mrfaVrgNVjqK8sgjL/E6CnuNoi3yc/NXEVTPh0xc7iKj5Rz5mUmVjRvagJTZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAabnzNUGEgw4og8tcSOLJbaCO1kaDP2mtsTJX66c3QROZyIw3zxBaHqiTdbtlWFBQX/ZnwBGEahqzN2/gP2Qwwji/HqHC8+DMDjmWAEdtnzeCGk2Kni88xPLfBl/UBYy0fNtiNCGzPGzpuC0UGmEGlJSXFdMEL6IAtJQNGLK6UdaQYJRzTmLEfIeELXGDiQf47RmE3TWmq1OjjmmCd6JwcmHuFdVwEMHGOdniSaqcJYSQ7TvCsx0Hu4JWnb6hCW9UAAAElGZB9yf+n7RJ+YYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XS1QV5dUTYJD8Md1LNgkkF",
      "input": {
        "note": "The teddy is centred between the jaws; closing to grip its plush body.",
        "targets": {
          "left_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XS1QV5dUTYJD8Md1LNgkkF",
      "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]: [-0.96, 1.3289, 0.3466, 0.0319, -0.7567, -0.6964, 0.0549, 0.5232, 1.5524, 1.4311, -0.7582, 0.3717, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2503 left_y=-0.1398 left_z=0.0364 left_yaw=0.0046 left_pitch=-0.0718 left_roll=0.0714 left_gripper=0.0549 right_x=0.39 right_y=0.155 right_z=0.2252 right_yaw=-0.0193 right_pitch=-0.2409 right_roll=-0.0063 right_gripper=0.9965\nstate[joint_eff]: [-0.4171, -4.1915, 5.2855, 1.3065, -0.4664, 0.0024, 0.232, -0.2803, -7.241, 6.9675, 1.3895, 0.1294, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:341c3a92e88bb924aed4adcaf5b8d3d304fb8d5e091d3ebca12ff5f65b06f37f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1a7809a50c7cc6aa6f0f9b767ae4c9760dd76c0a5ba0981725350a157304851",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91b4923305a5c03d055e46dc025315ac9c0bd02765b53cdcee4b0d0314c19080",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 10.43 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]: [-0.7937, 0.9024, 0.4473, -0.3679, -0.6609, -0.5259, 0.9982, 0.5232, 1.5517, 1.4311, -0.7582, 0.3794, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2519 left_y=-0.0964 left_z=0.1119 left_yaw=0.0098 left_pitch=-0.0556 left_roll=0.0639 left_gripper=0.9982 right_x=0.3903 right_y=0.1537 right_z=0.2259 right_yaw=-0.0253 right_pitch=-0.2372 right_roll=-0.011 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -2.3863, 7.1863, 1.58, -0.6178, -0.1734, -0.0073, -0.1709, -7.2137, 6.653, 1.3846, 0.1197, -0.0415, -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]: [-0.9508, 1.2949, 0.35, -0.0612, -0.7341, -0.6582, 0.9982, 0.5232, 1.5517, 1.4311, -0.7582, 0.3748, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2433 left_y=-0.1309 left_z=0.0328 left_yaw=-0.0158 left_pitch=-0.1217 left_roll=0.1363 left_gripper=0.9982 right_x=0.39 right_y=0.1545 right_z=0.2257 right_yaw=-0.0217 right_pitch=-0.239 right_roll=-0.0079 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -4.7521, 5.0256, 1.2381, -0.6813, -0.0952, -0.022, -0.2803, -7.2137, 6.7897, 1.3651, 0.188, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.96, 1.3289, 0.3466, 0.0319, -0.7567, -0.6964, 0.0549, 0.5232, 1.5524, 1.4311, -0.7582, 0.3717, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2503 left_y=-0.1398 left_z=0.0364 left_yaw=0.0046 left_pitch=-0.0718 left_roll=0.0714 left_gripper=0.0549 right_x=0.39 right_y=0.155 right_z=0.2252 right_yaw=-0.0193 right_pitch=-0.2409 right_roll=-0.0063 right_gripper=0.9965\nstate[joint_eff]: [-0.4171, -4.1915, 5.2855, 1.3065, -0.4664, 0.0024, 0.232, -0.2803, -7.241, 6.9675, 1.3895, 0.1294, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:341c3a92e88bb924aed4adcaf5b8d3d304fb8d5e091d3ebca12ff5f65b06f37f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1a7809a50c7cc6aa6f0f9b767ae4c9760dd76c0a5ba0981725350a157304851",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91b4923305a5c03d055e46dc025315ac9c0bd02765b53cdcee4b0d0314c19080",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2wUKjgEIEhgCKkBqBkgmOBi04kXYYcE+Szp1HKcsVQuEHWGrCBMrRzwpxOJ901TVqnop7VfOih8L3gN5e/w6hje1SRc34YA/+KKjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaznzNUGEgwTah7cIds6zCs1NtAaDJpZIrliR5HUtniRiCIwuMeUMl6651QRVZ64kkDrilAHhjQBj/+fEoY4VhcmSA6D2Q6moct2PXxEEcM2zPN7KvkDpgkwGO9b0dz1Mzrwny0vCeRMOwhsotANzBgZ5+wqj7lLw8cgLb5uiCdGMhzb3DwuGCM0hW9uLSmjOm+Y6IiiHmJcUQ2G+QGRSMt4plkLVrs3/cT0JGdboAB3UrD2w0/uTD3ylEPqRbDr4zvdUlLsZGEgHRDkIjINJWV7Zp1G2pLR+Ufu5mCW25iPKPQiP7c+7QqyCHJErIGzGoCqlbJeqayo7q5scmoCXy5N6N2sVWRalNaPCyIw7XZITeGzBmtV/Uzb03t2czZkwJtnOuxPuUrcnf7O9qg4vBvoJUHc5YOMJN7kCkqKCh+p7sdLcpyM4xx9ixqjXIKj6CjMeSXHd33UCAYPyTrWRXASD1OpXPlEz8qB8XId2IwPXlFPQFtUgBwF4XwC7xQnYHLkxsiRexaCjmPEzsm9XGrJEreUJtxbCxIJ0337sBz6+b94l8AIObtmN0QO/z0t3nXWeOiDjHzWjnOhDfAzaLj3ddBgcsJ8dmqVU0LjBh5YiMb3gb69CdI6+4HFClQE5focJ4fEGViNh4QC+WMcBuSH2HjcuDkYEeLW00CFoeMHkSFHFv9gkO7oxdGwQqoeZwmCLEc60dTU8QpPw1ovjO0WZDhRQKXIRjqE9O44Pv8dvpZKTxvnjP5hH18QXTrZQsgOwr1mTAiJ2hNJXnwWdBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xdp8gM1AZyDMnKNsi4gE5V",
      "input": {
        "note": "Closed on the teddy (soft, so gripper reads 0.05); lifting and moving toward the left basket, which sits ahead of the arm in the wrist view.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.16,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Xdp8gM1AZyDMnKNsi4gE5V",
      "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]: [-0.6991, 1.3563, 1.0847, -0.5198, -0.5972, -0.4786, 0.0546, 0.5232, 1.5524, 1.4311, -0.7582, 0.3649, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3479 left_y=-0.158 left_z=0.2084 left_yaw=0.0317 left_pitch=-0.0664 left_roll=0.0471 left_gripper=0.0546 right_x=0.3897 right_y=0.1561 right_z=0.2249 right_yaw=-0.0138 right_pitch=-0.2436 right_roll=-0.0016 right_gripper=0.9965\nstate[joint_eff]: [0.212, -5.1897, 8.5265, 1.2234, -0.1392, 0.2759, -0.0611, -0.1573, -7.241, 6.653, 1.3504, 0.2027, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfba8f14af2c550a18bff4c92d20962776787a9f8a07a8c7be8d96d53a694929",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f157e29a57001a00b19c3eef3c3f49c4f40c39d97cadef804153e9b5b58b5046",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e23dac9c76ffb86d4e76b3b30bbf2ec1decdd38accda02745f611ef886b1aa3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 12.14 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]: [-0.9508, 1.2949, 0.35, -0.0612, -0.7341, -0.6582, 0.9982, 0.5232, 1.5517, 1.4311, -0.7582, 0.3748, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2433 left_y=-0.1309 left_z=0.0328 left_yaw=-0.0158 left_pitch=-0.1217 left_roll=0.1363 left_gripper=0.9982 right_x=0.39 right_y=0.1545 right_z=0.2257 right_yaw=-0.0217 right_pitch=-0.239 right_roll=-0.0079 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -4.7521, 5.0256, 1.2381, -0.6813, -0.0952, -0.022, -0.2803, -7.2137, 6.7897, 1.3651, 0.188, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.96, 1.3289, 0.3466, 0.0319, -0.7567, -0.6964, 0.0549, 0.5232, 1.5524, 1.4311, -0.7582, 0.3717, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2503 left_y=-0.1398 left_z=0.0364 left_yaw=0.0046 left_pitch=-0.0718 left_roll=0.0714 left_gripper=0.0549 right_x=0.39 right_y=0.155 right_z=0.2252 right_yaw=-0.0193 right_pitch=-0.2409 right_roll=-0.0063 right_gripper=0.9965\nstate[joint_eff]: [-0.4171, -4.1915, 5.2855, 1.3065, -0.4664, 0.0024, 0.232, -0.2803, -7.241, 6.9675, 1.3895, 0.1294, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6991, 1.3563, 1.0847, -0.5198, -0.5972, -0.4786, 0.0546, 0.5232, 1.5524, 1.4311, -0.7582, 0.3649, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3479 left_y=-0.158 left_z=0.2084 left_yaw=0.0317 left_pitch=-0.0664 left_roll=0.0471 left_gripper=0.0546 right_x=0.3897 right_y=0.1561 right_z=0.2249 right_yaw=-0.0138 right_pitch=-0.2436 right_roll=-0.0016 right_gripper=0.9965\nstate[joint_eff]: [0.212, -5.1897, 8.5265, 1.2234, -0.1392, 0.2759, -0.0611, -0.1573, -7.241, 6.653, 1.3504, 0.2027, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfba8f14af2c550a18bff4c92d20962776787a9f8a07a8c7be8d96d53a694929",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f157e29a57001a00b19c3eef3c3f49c4f40c39d97cadef804153e9b5b58b5046",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e23dac9c76ffb86d4e76b3b30bbf2ec1decdd38accda02745f611ef886b1aa3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015nJy5qtngzdT52sWVaWYdX",
      "input": {
        "note": "The teddy slipped out of the jaws. Repositioning over the cluster of plush toys in the middle of the table for another grasp.",
        "targets": {
          "left_x": 0.28,
          "left_y": -0.26,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015nJy5qtngzdT52sWVaWYdX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0969, 1.6428, 0.9684, -0.4137, -0.8135, -0.8669, 0.0545, 0.5232, 1.5524, 1.4311, -0.7578, 0.3607, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2802 left_y=-0.2571 left_z=0.0998 left_yaw=0.0006 left_pitch=-0.0933 left_roll=0.0783 left_gripper=0.0545 right_x=0.3895 right_y=0.1568 right_z=0.2247 right_yaw=-0.0104 right_pitch=-0.2449 right_roll=0.0015 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -7.3504, 6.2154, 1.1746, -0.5739, -0.0806, -0.0171, -0.3077, -7.159, 6.8718, 1.3602, 0.1636, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0125af3a1a2889f5edd8eb2068bf3cb466e9c244bbfba6f919d6784ef91d871",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c218871571a38ca1bcc07bd32d3f8413c7515b4e7e926aeee76c5690854e77d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47a5ffdb67b3b7a187152a65df04f8f88d41c87c6b6ee1338e08d5a75293f231",
        "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 · 3.723 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]: [-0.96, 1.3289, 0.3466, 0.0319, -0.7567, -0.6964, 0.0549, 0.5232, 1.5524, 1.4311, -0.7582, 0.3717, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2503 left_y=-0.1398 left_z=0.0364 left_yaw=0.0046 left_pitch=-0.0718 left_roll=0.0714 left_gripper=0.0549 right_x=0.39 right_y=0.155 right_z=0.2252 right_yaw=-0.0193 right_pitch=-0.2409 right_roll=-0.0063 right_gripper=0.9965\nstate[joint_eff]: [-0.4171, -4.1915, 5.2855, 1.3065, -0.4664, 0.0024, 0.232, -0.2803, -7.241, 6.9675, 1.3895, 0.1294, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6991, 1.3563, 1.0847, -0.5198, -0.5972, -0.4786, 0.0546, 0.5232, 1.5524, 1.4311, -0.7582, 0.3649, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3479 left_y=-0.158 left_z=0.2084 left_yaw=0.0317 left_pitch=-0.0664 left_roll=0.0471 left_gripper=0.0546 right_x=0.3897 right_y=0.1561 right_z=0.2249 right_yaw=-0.0138 right_pitch=-0.2436 right_roll=-0.0016 right_gripper=0.9965\nstate[joint_eff]: [0.212, -5.1897, 8.5265, 1.2234, -0.1392, 0.2759, -0.0611, -0.1573, -7.241, 6.653, 1.3504, 0.2027, -0.0513, -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]: [-1.0969, 1.6428, 0.9684, -0.4137, -0.8135, -0.8669, 0.0545, 0.5232, 1.5524, 1.4311, -0.7578, 0.3607, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2802 left_y=-0.2571 left_z=0.0998 left_yaw=0.0006 left_pitch=-0.0933 left_roll=0.0783 left_gripper=0.0545 right_x=0.3895 right_y=0.1568 right_z=0.2247 right_yaw=-0.0104 right_pitch=-0.2449 right_roll=0.0015 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -7.3504, 6.2154, 1.1746, -0.5739, -0.0806, -0.0171, -0.3077, -7.159, 6.8718, 1.3602, 0.1636, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0125af3a1a2889f5edd8eb2068bf3cb466e9c244bbfba6f919d6784ef91d871",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c218871571a38ca1bcc07bd32d3f8413c7515b4e7e926aeee76c5690854e77d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47a5ffdb67b3b7a187152a65df04f8f88d41c87c6b6ee1338e08d5a75293f231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpAkKjgEIEhgCKkBJjnbfOkSI4rJSEsE/BCn+xeRw3JYY/1A4/DZMXGAJk7eYPffF4rgpZMweBRudzGjGeTXHpTsHzopAlqcLf4tzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcXnzNUGEgzakG/0VaVS2kwYWyEaDMRQEJOs1JRKxx1KCSIwS424ZzFlww/2kAMy8QOihcCY1565lwea1KpnIgh+kwiCNXbmGJDcjuQ5Jf+FJdBiKsIHnD/h3EE9K6D8L4LsbwIjIhOoJGVh2T2EF39Eo+LfwUSqMNkXjPBMq6TpBDORqAl3W0fx4TFrAER3ez4/ptvAsy1xChngP8pNiOnto2jqpxNB7xanXYnsOnyHHvWuXMEFPyxI8J/Z+nILldhCWUChLPnUlLZTedbs41IpVcO1RLiB52Uf3VIdXU/jVrucxC3Vs/W0YjVXP5xPzcjaurOqVFMARtJV1iQjpx+r6QLgTY9J+DArOCaVVqei4TLCXSfsZ7H+Zj2jM8FbNdO+dYYwmS6cC8vyWLbv9rtxGFLl7skmVRUJGe3PSXZEUrDM6ON57yoEtlAz5k8AyvUWDBC7U/hYmalm1x5FblJ+3Jkrb2G85U8UQIb+nySz8zNG85fnWYWrVP+eAffR+x6NRaxfWBWZtycKb/45vqYot+NSir1hH7/2D8Z38FrUYS1ofHyRi5q3zSpqxA6AxaavvrQ42Qpx0mZop/EYLyYWBDSqj8QVVgYQs5h7Fjy+wWJgNh90OtWgl6Y+FY9kPrC3xvR3y1dDlsfG3bLBb3A02kssGp1yKZ1immrKQXh5P46X+AjORIx8WPVyt3d1N/nYE+Fd7f6cswwAk58ya/sj54LVc9zoWlUrLtRgGW3p/R01nTyi7+y2DjfFs5CtcDxRPnNu5wk6qmRiIln4mmMu9lMK3/dxtK85T+08wFxHJQ89p6dWxIQlqFyXKbR4li9j5RggMpiC8vAHZz80IiWfp/LX8dItscxj4n5Vlvoa6etFf64doWwRbiwFf0OruDNSe2DupG78zdQ4PaxrS6NEKfmLJycBDXWhr2OalIbd86ZBg1q4syOCYYPVCvh+Ss4dePlLAXKIrqqGhZo4vuLs/xK6EzqzPxDGbkFxAqH299/0VKRq5w3uJKlFLBg51P9CYw4SXprOEGGvSuVX/pjH51t9DeZNRdPpE3kwo6IJFaUChBUSU0hhcnCaGiqWubnTSEhW+civQT4KPAdevdYRo6JBAdhhgyJZiQubHLi/ofCZmWrJEOhX+mn8zDLurwAM7MPgVmYSQtxQ/U+fWSfSD+WhlJ6MTs3jxzCdv63f3nXg8r0a9x9qnN1BMjTbP9iERnLaFZGHclYNnLenu9QtFXEyFaJ+V8mTHI0LQzsvsC5HqQqw/kFUI2JnOOY1uCXE0YUcWpIZbhxYKNGjDduwn3SNtAh3J42WsOwHVcKEGaDYP8dlJgS91iaYJlKrzABbTppcHEomfpPPu6jWn/uVbPT+gy8L4njsjSIZ7jjYOi+sPkYYwJsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NwWw4T4cziR1YobTwbqAVL",
      "input": {
        "note": "A large plush bear lies under the left gripper; opening the jaws and lowering onto its limb/body for a grasp.",
        "targets": {
          "left_gripper": 1,
          "left_y": -0.28,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NwWw4T4cziR1YobTwbqAVL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1244, 1.8511, 0.9344, -0.1955, -0.8314, -0.9157, 0.9954, 0.5232, 1.5524, 1.4311, -0.7578, 0.3538, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2822 left_y=-0.2789 left_z=0.0383 left_yaw=0.01 left_pitch=-0.0873 left_roll=0.0681 left_gripper=0.9954 right_x=0.3892 right_y=0.158 right_z=0.2244 right_yaw=-0.0049 right_pitch=-0.2476 right_roll=0.0062 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -7.2, 4.506, 0.9451, -0.3394, 0.0806, -0.1245, -0.253, -7.2137, 6.8308, 1.3553, 0.1783, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0033679ffb3ee196ee575eb16e782d618c58993aa1ad07297174e310076cc8eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68660ce4eb59a414aaba4184f07b96a4909809c20806dc9c2db10abc5c00f0ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:280dca5caa11cdee57f6baa43e4a1a16487ba9348e9ffda309b08ae563912021",
        "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 · 6.081 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]: [-0.6991, 1.3563, 1.0847, -0.5198, -0.5972, -0.4786, 0.0546, 0.5232, 1.5524, 1.4311, -0.7582, 0.3649, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3479 left_y=-0.158 left_z=0.2084 left_yaw=0.0317 left_pitch=-0.0664 left_roll=0.0471 left_gripper=0.0546 right_x=0.3897 right_y=0.1561 right_z=0.2249 right_yaw=-0.0138 right_pitch=-0.2436 right_roll=-0.0016 right_gripper=0.9965\nstate[joint_eff]: [0.212, -5.1897, 8.5265, 1.2234, -0.1392, 0.2759, -0.0611, -0.1573, -7.241, 6.653, 1.3504, 0.2027, -0.0513, -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]: [-1.0969, 1.6428, 0.9684, -0.4137, -0.8135, -0.8669, 0.0545, 0.5232, 1.5524, 1.4311, -0.7578, 0.3607, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2802 left_y=-0.2571 left_z=0.0998 left_yaw=0.0006 left_pitch=-0.0933 left_roll=0.0783 left_gripper=0.0545 right_x=0.3895 right_y=0.1568 right_z=0.2247 right_yaw=-0.0104 right_pitch=-0.2449 right_roll=0.0015 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -7.3504, 6.2154, 1.1746, -0.5739, -0.0806, -0.0171, -0.3077, -7.159, 6.8718, 1.3602, 0.1636, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1244, 1.8511, 0.9344, -0.1955, -0.8314, -0.9157, 0.9954, 0.5232, 1.5524, 1.4311, -0.7578, 0.3538, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2822 left_y=-0.2789 left_z=0.0383 left_yaw=0.01 left_pitch=-0.0873 left_roll=0.0681 left_gripper=0.9954 right_x=0.3892 right_y=0.158 right_z=0.2244 right_yaw=-0.0049 right_pitch=-0.2476 right_roll=0.0062 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -7.2, 4.506, 0.9451, -0.3394, 0.0806, -0.1245, -0.253, -7.2137, 6.8308, 1.3553, 0.1783, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0033679ffb3ee196ee575eb16e782d618c58993aa1ad07297174e310076cc8eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68660ce4eb59a414aaba4184f07b96a4909809c20806dc9c2db10abc5c00f0ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:280dca5caa11cdee57f6baa43e4a1a16487ba9348e9ffda309b08ae563912021",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShwQKjgEIEhgCKkAIu/PpeiVmJVWSEra+kQiCT3Y8Mr0bu2BAPppHNPhOfv5EqUt16+qpfyqXeJPxP+fwlG/h6qPoLt/xAuEmJuH7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcrnzNUGEgzmvBYGqr4XFl85mFYaDA+CZHzLrvMVouJzayIwqM0yqLhfoF5MNxvQEhYMohpRSzXg8uPDEoAiq7a+LSm5KNsziLy+CGKBnlCoH7u2KqUC+82/5JBsIWMRvq2ZUSfkZushz09VI4QwEpQv62XbIqfJwNHC8DOntDUhxYJov0V+tqUVUZFsNVNBSjBhUI/+a+vWVM+CFiK7Us+y3QG5RbGuf5KfqEDnc+ywxvPGL2ngVWazeiKanwtWyoqpxZnAar9lWajkxcX0phcEEdpMGkdI2klrWHQP2bduOs7oNCeHcslbKJo/hsJMYgjT0Y086n0udIyXMqKVkQP6Uji26CYi1QtxAesjbOgAW5u5vagsFakHTpElhVhmqEdhtwKtHq5/nWue4E2vxWXI5oo7hXGRUzhweA7YKa1Is7E4wMgvcyk/pjO+Bb/62f+1oUT3X1VadZpNrUfbPSFqdvebqb+sL3tIfnyossIyqkK0fA5KrKTQiBcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UXFyZ9PEGfj1M9Kvn5cCdP",
      "input": {
        "note": "Jaws straddle the bear's head/neck; closing firmly on the plush.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UXFyZ9PEGfj1M9Kvn5cCdP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1244, 1.8591, 0.9337, -0.1932, -0.831, -0.9203, 0.0124, 0.5232, 1.5524, 1.4311, -0.7578, 0.3534, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2819 left_y=-0.2785 left_z=0.0354 left_yaw=0.0128 left_pitch=-0.0902 left_roll=0.0702 left_gripper=0.0124 right_x=0.3892 right_y=0.158 right_z=0.2244 right_yaw=-0.0046 right_pitch=-0.2477 right_roll=0.0065 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -9.1829, 5.2718, 0.9939, -0.4567, 0.0415, 1.0623, -0.253, -7.0906, 6.6803, 1.4139, 0.105, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4d791a8982bf5c65bd5c387507de8b8f6a4dcf99c9e26da576c957656ddcd2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b5ab06167458e0956b9dc63829777270c3828887658cdfecf9e7e9f792d8cd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92fee6d9d80fb29b5e0a13796cebefb679796ef29084430c86650b9964407c53",
        "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 · 12.39 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]: [-1.0969, 1.6428, 0.9684, -0.4137, -0.8135, -0.8669, 0.0545, 0.5232, 1.5524, 1.4311, -0.7578, 0.3607, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2802 left_y=-0.2571 left_z=0.0998 left_yaw=0.0006 left_pitch=-0.0933 left_roll=0.0783 left_gripper=0.0545 right_x=0.3895 right_y=0.1568 right_z=0.2247 right_yaw=-0.0104 right_pitch=-0.2449 right_roll=0.0015 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -7.3504, 6.2154, 1.1746, -0.5739, -0.0806, -0.0171, -0.3077, -7.159, 6.8718, 1.3602, 0.1636, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1244, 1.8511, 0.9344, -0.1955, -0.8314, -0.9157, 0.9954, 0.5232, 1.5524, 1.4311, -0.7578, 0.3538, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2822 left_y=-0.2789 left_z=0.0383 left_yaw=0.01 left_pitch=-0.0873 left_roll=0.0681 left_gripper=0.9954 right_x=0.3892 right_y=0.158 right_z=0.2244 right_yaw=-0.0049 right_pitch=-0.2476 right_roll=0.0062 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -7.2, 4.506, 0.9451, -0.3394, 0.0806, -0.1245, -0.253, -7.2137, 6.8308, 1.3553, 0.1783, -0.0513, -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]: [-1.1244, 1.8591, 0.9337, -0.1932, -0.831, -0.9203, 0.0124, 0.5232, 1.5524, 1.4311, -0.7578, 0.3534, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2819 left_y=-0.2785 left_z=0.0354 left_yaw=0.0128 left_pitch=-0.0902 left_roll=0.0702 left_gripper=0.0124 right_x=0.3892 right_y=0.158 right_z=0.2244 right_yaw=-0.0046 right_pitch=-0.2477 right_roll=0.0065 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -9.1829, 5.2718, 0.9939, -0.4567, 0.0415, 1.0623, -0.253, -7.0906, 6.6803, 1.4139, 0.105, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4d791a8982bf5c65bd5c387507de8b8f6a4dcf99c9e26da576c957656ddcd2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b5ab06167458e0956b9dc63829777270c3828887658cdfecf9e7e9f792d8cd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92fee6d9d80fb29b5e0a13796cebefb679796ef29084430c86650b9964407c53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwwYKjgEIEhgCKkAUEpYypUdZYqG8v1eMe74h+G8Rw0y5APzJC6olyX3WI6Xg5aaeM5yMoD2q2WKGZC2Q6uj2jt9HwLrcZFrfOj1nMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdDnzNUGEgz+Aal9T9jMWMcP36gaDPy5UmqendY6TKWwqyIwexfmeYWJ+f1oSKP7zj+IAUaZiM9I/73yh148wUPVgpkzcFmRU2DxDwYtmDG+V9+lKuEETnPXPRMt2O4iaNtisDD5pUTtb09arn1e8b9wWxwlNL/CJKfMKnHhCTQRRVW+9lNJGB0Zd5fPtvPOHqRooymdt5rUxU/7PtzxoMhXmtj9MdOfCy/Th0Tjmz/r5mp6DuTT2Q9MYuiscujKu5O6UUnLrQX5Q1nOdz4Hsxz5OpgKD+ucHlnj5SiM0AZoXNsyr+Xst3yyki3sWZMEOzViKz4sdOlHAF8NJMVulnI1HvQLgJhAqJM+Bx/Mv/10HikRJsI+D6UmHFPl/WuG/Y13npuKMyMOXikdaZvMSBnZroeEtt5f/EEYijO1pluE4Jz1BIfdR8n/l88SNnkKSajffoTYDtHa0mzKDAoEIrLSvcFmCuruE3O1JDe8pSGOBp39nNqKBNzn2P5g4poaS+yU/KjNE4xV5YYKtbR+Rm0m76J0X1vRumr4CaKYEHM/PgZSIYiwMXUTlVf2oV/Grj/Qfwv3HYkqp9HmHk5FI9fPYz/McXPGpccP39BY+GQFqpUzsd9Ocv5ZBgCUaE8CQ/DTIr9qVFT0az25qpK0CjzQ1Y5+I4NfJwFEPk+m6K46OGBQZMEiO36fQ2l27lNKVvkrXFTTR9sKoj4pMuCapKSoQKMQSUmyfk7k3zBpeP/4aQUgoesDE6Hcg1YZrIDKGLSNVeTHaSiNpuFlvvgeBp2T2WzKaGM2g6MzmaMmjX8cDtH0BNyaNo8wcM68bU39EJN+T5zRT8UvWDuc+z6804AxTTlYjudAKaKDON62N6/6tA3CF8EbSByQ1JaTnMGJyKdJuBJ6x7jgRFaHIOAXlh2WRoeyPiosGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012nmYbaKQPd1rfGMf74qz1w",
      "input": {
        "note": "Closed on the bear; lifting and carrying it forward-left toward the empty left basket for the plush category.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.18,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_012nmYbaKQPd1rfGMf74qz1w",
      "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]: [-0.6518, 1.5894, 1.401, -0.646, -0.569, -0.4828, 0.0146, 0.5232, 1.5524, 1.4311, -0.7578, 0.3534, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3969 left_y=-0.1786 left_z=0.2269 left_yaw=0.063 left_pitch=-0.1122 left_roll=0.057 left_gripper=0.0146 right_x=0.3892 right_y=0.158 right_z=0.2244 right_yaw=-0.0046 right_pitch=-0.2477 right_roll=0.0065 right_gripper=0.9965\nstate[joint_eff]: [0.0615, -8.4718, 9.3197, 1.4628, -0.1245, 0.4469, 1.0232, -0.0752, -7.1043, 6.9128, 1.3553, 0.0904, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e863ab903cd49dc20f69b8c9a678e14f66f767d5be49b4c90cd48545cf96f753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49bc3a4c64a5e88ea0acbe0aeccedd8adfdc37edd93d7ecde6005fb2a9f59873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:821f6b4d3530ac0703cff9dd6b54c9e670fd4560d1f3b8ada88d4be4788bd979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 36 attempt 0 · /messages · status 200 · 2.481 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1244, 1.8511, 0.9344, -0.1955, -0.8314, -0.9157, 0.9954, 0.5232, 1.5524, 1.4311, -0.7578, 0.3538, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2822 left_y=-0.2789 left_z=0.0383 left_yaw=0.01 left_pitch=-0.0873 left_roll=0.0681 left_gripper=0.9954 right_x=0.3892 right_y=0.158 right_z=0.2244 right_yaw=-0.0049 right_pitch=-0.2476 right_roll=0.0062 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -7.2, 4.506, 0.9451, -0.3394, 0.0806, -0.1245, -0.253, -7.2137, 6.8308, 1.3553, 0.1783, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1244, 1.8591, 0.9337, -0.1932, -0.831, -0.9203, 0.0124, 0.5232, 1.5524, 1.4311, -0.7578, 0.3534, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2819 left_y=-0.2785 left_z=0.0354 left_yaw=0.0128 left_pitch=-0.0902 left_roll=0.0702 left_gripper=0.0124 right_x=0.3892 right_y=0.158 right_z=0.2244 right_yaw=-0.0046 right_pitch=-0.2477 right_roll=0.0065 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -9.1829, 5.2718, 0.9939, -0.4567, 0.0415, 1.0623, -0.253, -7.0906, 6.6803, 1.4139, 0.105, -0.0611, -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 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6518, 1.5894, 1.401, -0.646, -0.569, -0.4828, 0.0146, 0.5232, 1.5524, 1.4311, -0.7578, 0.3534, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3969 left_y=-0.1786 left_z=0.2269 left_yaw=0.063 left_pitch=-0.1122 left_roll=0.057 left_gripper=0.0146 right_x=0.3892 right_y=0.158 right_z=0.2244 right_yaw=-0.0046 right_pitch=-0.2477 right_roll=0.0065 right_gripper=0.9965\nstate[joint_eff]: [0.0615, -8.4718, 9.3197, 1.4628, -0.1245, 0.4469, 1.0232, -0.0752, -7.1043, 6.9128, 1.3553, 0.0904, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e863ab903cd49dc20f69b8c9a678e14f66f767d5be49b4c90cd48545cf96f753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49bc3a4c64a5e88ea0acbe0aeccedd8adfdc37edd93d7ecde6005fb2a9f59873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:821f6b4d3530ac0703cff9dd6b54c9e670fd4560d1f3b8ada88d4be4788bd979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013WLypH2c32SUtoS1LyCNNw",
      "input": {
        "note": "The bear slipped free again; going back over the plush cluster with jaws wide open and lower down to get a deeper bite on its body.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.3,
          "left_y": -0.3,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_013WLypH2c32SUtoS1LyCNNw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0893, 1.9701, 1.0805, -0.2623, -0.8066, -0.9352, 0.9969, 0.5232, 1.5524, 1.4311, -0.7578, 0.3531, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3022 left_y=-0.2953 left_z=0.0272 left_yaw=0.0478 left_pitch=-0.1235 left_roll=0.0794 left_gripper=0.9969 right_x=0.3891 right_y=0.1581 right_z=0.2244 right_yaw=-0.0043 right_pitch=-0.2479 right_roll=0.0067 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -8.5128, 6.106, 1.0085, -0.4078, 0.0415, 0.022, -0.2256, -7.0222, 6.694, 1.3602, 0.105, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 395):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c94967c346b88740f9a0679ce1ecfffd3f1eca9370fb0a3103a05edb34053f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 395):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14290bab5560b57ae65bc5b561117af22df77b93fb82893d4a6261398d380df0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 395):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:87ba744d90e0ffa98f84520ec1bcc7b9e1b6e063a6d4cd728c3bbbf0da410f0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /messages · status 200 · 6.595 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1244, 1.8591, 0.9337, -0.1932, -0.831, -0.9203, 0.0124, 0.5232, 1.5524, 1.4311, -0.7578, 0.3534, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.2819 left_y=-0.2785 left_z=0.0354 left_yaw=0.0128 left_pitch=-0.0902 left_roll=0.0702 left_gripper=0.0124 right_x=0.3892 right_y=0.158 right_z=0.2244 right_yaw=-0.0046 right_pitch=-0.2477 right_roll=0.0065 right_gripper=0.9965\nstate[joint_eff]: [-0.0205, -9.1829, 5.2718, 0.9939, -0.4567, 0.0415, 1.0623, -0.253, -7.0906, 6.6803, 1.4139, 0.105, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6518, 1.5894, 1.401, -0.646, -0.569, -0.4828, 0.0146, 0.5232, 1.5524, 1.4311, -0.7578, 0.3534, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3969 left_y=-0.1786 left_z=0.2269 left_yaw=0.063 left_pitch=-0.1122 left_roll=0.057 left_gripper=0.0146 right_x=0.3892 right_y=0.158 right_z=0.2244 right_yaw=-0.0046 right_pitch=-0.2477 right_roll=0.0065 right_gripper=0.9965\nstate[joint_eff]: [0.0615, -8.4718, 9.3197, 1.4628, -0.1245, 0.4469, 1.0232, -0.0752, -7.1043, 6.9128, 1.3553, 0.0904, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0893, 1.9701, 1.0805, -0.2623, -0.8066, -0.9352, 0.9969, 0.5232, 1.5524, 1.4311, -0.7578, 0.3531, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3022 left_y=-0.2953 left_z=0.0272 left_yaw=0.0478 left_pitch=-0.1235 left_roll=0.0794 left_gripper=0.9969 right_x=0.3891 right_y=0.1581 right_z=0.2244 right_yaw=-0.0043 right_pitch=-0.2479 right_roll=0.0067 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -8.5128, 6.106, 1.0085, -0.4078, 0.0415, 0.022, -0.2256, -7.0222, 6.694, 1.3602, 0.105, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 395):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c94967c346b88740f9a0679ce1ecfffd3f1eca9370fb0a3103a05edb34053f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 395):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14290bab5560b57ae65bc5b561117af22df77b93fb82893d4a6261398d380df0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 395):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87ba744d90e0ffa98f84520ec1bcc7b9e1b6e063a6d4cd728c3bbbf0da410f0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvQIKjgEIEhgCKkCaPjO46t2JDpgFyVjA+bx0BbP5kkPGMm94F7ItPS50LTbLEQGy9YyZuSlrRPf9KRF74VJ4Z6c0u8EOTJ8aPgBxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeLnzNUGEgyI3JarIdkv/85E/8gaDGnfyb5UAFv+pDf1nSIwOJXhpBctCzJImSnWCwMT5iUGJhmb8pNcmywVW0zYRBuPeFEx8/DvjWYPmNHeDh2HKlzOvg7JRPV90BC39A/sgIze4Ww98qmz01uGkHz5L2hkBb1AST2BJy5JvxZ5Znv8+xEicFDUnTf4WOR74AJL3UPQNdrB9pD49y704CNKY4rwQZfWdRGH7SO/OsDnqRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K5cDGpB2AAqHai5xkboVSH",
      "input": {
        "note": "The bear's head/body is right between the open jaws at table level; closing on it.",
        "targets": {
          "left_gripper": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01K5cDGpB2AAqHai5xkboVSH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0916, 1.9949, 1.0805, -0.2462, -0.8104, -0.9417, 0.0333, 0.5232, 1.5524, 1.4311, -0.7578, 0.3534, 0.3965, 0.9965]\nstate[eef_state]: left_x=0.3022 left_y=-0.2962 left_z=0.0194 left_yaw=0.0517 left_pitch=-0.1237 left_roll=0.0839 left_gripper=0.0333 right_x=0.3892 right_y=0.158 right_z=0.2244 right_yaw=-0.0048 right_pitch=-0.2477 right_roll=0.0067 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -11.6581, 5.1624, 0.7839, -0.3883, 0.0659, 0.4078, -0.253, -7.0632, 6.6803, 1.3846, 0.1148, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73b83c157898a8d219760400170a7012dfe0b3c01a03f18a5e9eff1bfa79b291",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d432338d2bb4c05889d3bbbb8c9c04000e30eb3081b4436771d839739bafd4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 405):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d409a945e591ee237a1e93f4682242f74cb79699357a1b271aa6282fd00d6b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /messages · status 200 · 6.913 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6518, 1.5894, 1.401, -0.646, -0.569, -0.4828, 0.0146, 0.5232, 1.5524, 1.4311, -0.7578, 0.3534, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3969 left_y=-0.1786 left_z=0.2269 left_yaw=0.063 left_pitch=-0.1122 left_roll=0.057 left_gripper=0.0146 right_x=0.3892 right_y=0.158 right_z=0.2244 right_yaw=-0.0046 right_pitch=-0.2477 right_roll=0.0065 right_gripper=0.9965\nstate[joint_eff]: [0.0615, -8.4718, 9.3197, 1.4628, -0.1245, 0.4469, 1.0232, -0.0752, -7.1043, 6.9128, 1.3553, 0.0904, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0893, 1.9701, 1.0805, -0.2623, -0.8066, -0.9352, 0.9969, 0.5232, 1.5524, 1.4311, -0.7578, 0.3531, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3022 left_y=-0.2953 left_z=0.0272 left_yaw=0.0478 left_pitch=-0.1235 left_roll=0.0794 left_gripper=0.9969 right_x=0.3891 right_y=0.1581 right_z=0.2244 right_yaw=-0.0043 right_pitch=-0.2479 right_roll=0.0067 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -8.5128, 6.106, 1.0085, -0.4078, 0.0415, 0.022, -0.2256, -7.0222, 6.694, 1.3602, 0.105, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0916, 1.9949, 1.0805, -0.2462, -0.8104, -0.9417, 0.0333, 0.5232, 1.5524, 1.4311, -0.7578, 0.3534, 0.3965, 0.9965]\nstate[eef_state]: left_x=0.3022 left_y=-0.2962 left_z=0.0194 left_yaw=0.0517 left_pitch=-0.1237 left_roll=0.0839 left_gripper=0.0333 right_x=0.3892 right_y=0.158 right_z=0.2244 right_yaw=-0.0048 right_pitch=-0.2477 right_roll=0.0067 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -11.6581, 5.1624, 0.7839, -0.3883, 0.0659, 0.4078, -0.253, -7.0632, 6.6803, 1.3846, 0.1148, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73b83c157898a8d219760400170a7012dfe0b3c01a03f18a5e9eff1bfa79b291",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d432338d2bb4c05889d3bbbb8c9c04000e30eb3081b4436771d839739bafd4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d409a945e591ee237a1e93f4682242f74cb79699357a1b271aa6282fd00d6b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISpAgKjgEIEhgCKkCfOYWE8Eo4sp+AH0FW+PtAWEs5himbAViiH2AzWUwYAR3InzrOrEis1bokOlslWTgfIq56raG3diLUVngVZk/TMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAennzNUGEgyr2slpF0FA8Z4lmgkaDFyzBpUXETHTqPL87CIwfd1oePoBYWb5wtQy9uXiudWyITOSY41A2vkd3F9UHCXvCzSMkbPezFRPq+TE0OSAKsIG8iTGkh9q2izcxXYwnw+2DcEKwKad3fL4Ux9XoY7vAMYSfa+54JauLZAkwvVNItLUBIUQ+Rty3crLRj7vCfPkSzxWDuyUwsvfIgpd3FkGa9S5ezRzIdpEt3mWFu1V6cWoipthuqoU6ovbFvMKcUblELnNfqGyGm7KgCsqNnMcdedLZLx8goJZE8RgHHH/HHUf0H5ppXmypGu0kTu9Se+ACO91ptKrlQ3j+8XkrUaQ/DG1Wn9qGTBvQp47oJzR7awMiQPa3HxoxD6Kug976ggatGzQQsgL8wZl0cxTyaMBTxH9yIw1Za4WO1Qv28KoYYCRbAnSVZgY4szwolvw5T9Y3DiJCeQ+roGrIkpTB3F+gTmIoAflSllDEr0Xl13E0mNIaumZRXBVWKUtWXOVSVjnaol8wVdJ0t+edw8C8w/SvllJ3Xs3Je6vO19SOLryoriYIIUZLzgoXe+Dwdh6UbmuGI3Tg1TnFrCbTS9AtV+TWRRGQJcS24zWPjUuqYLxT6DqrfV4DtLZ4/nGkIKfhPVV831fBOotLkjjhIXGq1OXlVsi1dodZW8p1joleJuQw04qhb8VIxNKmdVzcWqcuXLhJ++N32W6BOce/mStwkiu8fDEqpfA+u4gAYUNEODB0q7YJFcTqL+se8Qcz36ZhSaY71trOK8pYdD6Q25WjnCUzrHIU8sMeC0iTs4KWoIdV4d61Df2Ym8f9+DBdmMXlcfi0M8tPhI+5dILh19p5P7ov07n7QiYxZF4jgN5jfnsegYpU004YCBkJzK+T5/o2f+PSCj8At+Z6ZPNDGcV0Cfh9cqunSVgiQ2w4Ul0NG4pxgjibV2Ap9vNCXM0tO83nz7ESpNX2bh/pvmBsmP3xujo09qnD+TzD6TAtnk2yqrQziJsk8yWpNJI7g1PTiqNVPZRHyKZg3Cnr0QxK08QvcidARY9ADr5zO0+pByzxjDMH9uAsyzqouwfqql14oVUpjPEkXeXZ/3UVrUWIrXgsOWvOTle2ZWyjta+9OLjzA68BIFGrAmmcsYYC8/P0626WKyn4PlPLsZYpddauwKMMxQmy1p5TwhL5ppBAkkoafhOGDYlLg/KMqPr9BWA7huVdUDIb5Q8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BNRNWa267zFqJ9YbrJ8DGB",
      "input": {
        "note": "Gripper holds the bear's fur (0.033); carrying it over to the left basket.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.18,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01BNRNWa267zFqJ9YbrJ8DGB",
      "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]: [-0.6594, 1.6608, 1.4258, -0.717, -0.5678, -0.5243, 0.0354, 0.5232, 1.5524, 1.4311, -0.7582, 0.3534, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3947 left_y=-0.1812 left_z=0.198 left_yaw=0.0893 left_pitch=-0.1982 left_roll=0.1041 left_gripper=0.0354 right_x=0.3891 right_y=0.158 right_z=0.2243 right_yaw=-0.0046 right_pitch=-0.2481 right_roll=0.0063 right_gripper=0.9965\nstate[joint_eff]: [0.1709, -11.5897, 9.6068, 1.6337, -0.3883, 0.3736, 0.9353, -0.1846, -7.1179, 6.6803, 1.3651, 0.1148, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8e60b9e74a4e431b24605fcf7be4eb629bac50e81ce96bd1470ae2357cf0213",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f069ea74a54045851a80916f3b0ce3dc076ab8d76c5595322f93f6bb0aa82a3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 420):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5fd15c89547746ec44f5b142ae4c7f35f02de86203a1f51be6eaa67ac45d1eef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /messages · status 200 · 10.56 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0893, 1.9701, 1.0805, -0.2623, -0.8066, -0.9352, 0.9969, 0.5232, 1.5524, 1.4311, -0.7578, 0.3531, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3022 left_y=-0.2953 left_z=0.0272 left_yaw=0.0478 left_pitch=-0.1235 left_roll=0.0794 left_gripper=0.9969 right_x=0.3891 right_y=0.1581 right_z=0.2244 right_yaw=-0.0043 right_pitch=-0.2479 right_roll=0.0067 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -8.5128, 6.106, 1.0085, -0.4078, 0.0415, 0.022, -0.2256, -7.0222, 6.694, 1.3602, 0.105, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0916, 1.9949, 1.0805, -0.2462, -0.8104, -0.9417, 0.0333, 0.5232, 1.5524, 1.4311, -0.7578, 0.3534, 0.3965, 0.9965]\nstate[eef_state]: left_x=0.3022 left_y=-0.2962 left_z=0.0194 left_yaw=0.0517 left_pitch=-0.1237 left_roll=0.0839 left_gripper=0.0333 right_x=0.3892 right_y=0.158 right_z=0.2244 right_yaw=-0.0048 right_pitch=-0.2477 right_roll=0.0067 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -11.6581, 5.1624, 0.7839, -0.3883, 0.0659, 0.4078, -0.253, -7.0632, 6.6803, 1.3846, 0.1148, -0.022, -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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6594, 1.6608, 1.4258, -0.717, -0.5678, -0.5243, 0.0354, 0.5232, 1.5524, 1.4311, -0.7582, 0.3534, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3947 left_y=-0.1812 left_z=0.198 left_yaw=0.0893 left_pitch=-0.1982 left_roll=0.1041 left_gripper=0.0354 right_x=0.3891 right_y=0.158 right_z=0.2243 right_yaw=-0.0046 right_pitch=-0.2481 right_roll=0.0063 right_gripper=0.9965\nstate[joint_eff]: [0.1709, -11.5897, 9.6068, 1.6337, -0.3883, 0.3736, 0.9353, -0.1846, -7.1179, 6.6803, 1.3651, 0.1148, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8e60b9e74a4e431b24605fcf7be4eb629bac50e81ce96bd1470ae2357cf0213",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f069ea74a54045851a80916f3b0ce3dc076ab8d76c5595322f93f6bb0aa82a3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fd15c89547746ec44f5b142ae4c7f35f02de86203a1f51be6eaa67ac45d1eef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISxgcKjgEIEhgCKkCMmK9CrlvyZ8+NRPEtky1i1o+EPN0/iEY/LdHLCQE/3ZzAxWXFRujZvxU4XJFrZAuHLadwRu3ILG7VCwwrfZfZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfLnzNUGEgweivKVfZ0nceYncdsaDAxHe7dmVd2mUItBbCIwXIBWmFfrlb+HSRStsoeTAYTY+CwBwByJePQdvvFlfQQdTMEHp0FkqUzSWp/7p8r7KuQFPCmn3q5uW42+vuXPyfD19k9q8W5vh97nYty3wRdFN53vh2faxgwbF9XQu87h/KnILo8FhchGahzWurTWTdhunLag9uX5eD1dILF1oPFM0A4ZaVz57QTDyF07rnL53Ncj9bE6kp/J3iIUhqap3S0YHyWxpXX+C4/ILq5pCHkucHESTKfdC4V1LNtK1DmkhRev711VavI7JnAmZKkTs59W0GNLgfQ/lXxnlUI1V378BEizLaANA97nrm4B3Wuw4cunrrjstZxCBZ7QjWykbqBE/eXeryhkdpJNqrI9gLmIxzTQxacO2SXpxtUZJTnQ5sgLfP4BXxZL/gvYAlRaMEsDa0S5+oav7AUB7Ym1Unu06Fld4oNIf7JW/jGu6BmvFgkhn5pR6zamSMke94Dqe9OS6kX4FaQ1NRhpw7zRuGsNSWkzXpVsRBryGCfJFeCT8mP3AyR7BSNUJjogOsjnd57RGgPC+ZZe2N8c7A70jpvMOPp5mk5Zff25SUySK7cPENzWhazm0qcEgyzZpYDxHgo4kFs5eiKzwUxBKMWO3Cm0M8HkMrOhlAjN2N6e6GaVC+L+H9Ci0mbFGNJtsYi0DhGEpBZm8db8uakvuLTjWwWZVHHFDewKG6JDPxyKQumUZhUeFu0nrYY3hy+gu/hyFadEruAoWKhXFexRkgyCwT/NUHa8818wcb+uUgeGmcugMeDowS7iCgVmqqmQ8HD0DDOntOsNbY1djQ8SJ/Z81iWCAibTyUBD46OFRbnRmvwYOrYN3Os5c2mYA0sUUytyOYRgbGciGQizvTdzcM/WppX2LZEuL7VkayIwgm3kU1YVfRlU6q/qxqryxs9pyuyEOtUZgyWhxZsZgqQcit3LjtM1jFLmV701wNew+AQQZd6xoRLCYUF8K9Mb/tb6e2c11OTcRGUzuDV8HKLcjD7s0CUsKEwEu5OLcoGwdo/EAinRah9ItRSlmAN/aBFiU686DPu3U6CBiUYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GKVgjPULsAiy28h8UCfnJU",
      "input": {
        "note": "The held bear hangs just right of the left basket; sliding left over the basket while opening the jaws to drop it in.",
        "targets": {
          "left_gripper": 1,
          "left_y": -0.1,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GKVgjPULsAiy28h8UCfnJU",
      "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]: [-0.4477, 1.5394, 1.4643, -0.8482, -0.4454, -0.3737, 0.9953, 0.5232, 1.5524, 1.4311, -0.7582, 0.3534, 0.3962, 0.9965]\nstate[eef_state]: left_x=0.3942 left_y=-0.1009 left_z=0.2344 left_yaw=0.1249 left_pitch=-0.246 left_roll=0.1155 left_gripper=0.9953 right_x=0.3891 right_y=0.158 right_z=0.2243 right_yaw=-0.0046 right_pitch=-0.2481 right_roll=0.0063 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -8.8, 9.6752, 1.5116, -0.2173, 0.2955, -0.1441, -0.335, -7.0085, 6.6667, 1.4188, 0.1294, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 430):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2d678fd7e69c552c65b5b0b18689d8f9949874d6d61ccf7ba3b734d94f981e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 430):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:836737208db9a1dd16bc1998ed11fec5c2ecff13a4f683ac70f5020f1302df59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 430):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1f63e8ea5ed89d1f0729b50aeb3d6bbcae963c07e3331d7fc5803fb2e1b2af4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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