adhoc

completed
2026-09-23T01:14:36.920709+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
384.2 s
total steps
362
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 noteI see two teal baskets at the far side, a plush toy near the middle-front and two pen-like sticks (yellow on the left, white on the right). Plan: left arm handles the plush toy, right arm the pens. Moving the left gripper above the plush toy to look at it from the wrist camera.
move_to
left_x0.2800left_y-0.2800left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.7986, 0.6163, -0.3801, -0.0223, -0.0334, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0219, 0.9998] state[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1843 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5538, -1.6479, 9.3607, 1.8242, -0.022, 0.1441, -0.0562, -0.7043, -1.4838, 9.9077, 1.7363, -0.1392, 0.0464, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.28, "left_y": -0.28, "left_z": 0.15, "left_gripper": 1}, "note": "I see two teal baskets at the far side, a plush toy near the middle-front and two pen-like sticks (yellow on the left, white on the right). Plan: left arm handles the plush toy, right arm the pens. Moving the left gripper above the plush toy to look at it from the wrist camera."})
tool
executing move_to over 26 steps (2.6s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe left wrist camera shows the big plush bear filling the lower frame, centred on the jaw column, so it is right under the gripper. Descending to table level to grasp it.
move_to
left_z0.0200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.145, 1.6077, 1.0485, -0.4561, -0.8612, -0.8917, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0223, 0.9998] state[eef_state]: left_x=0.2769 left_y=-0.2773 left_z=0.1395 left_yaw=-0.0134 left_pitch=-0.0244 left_roll=0.0104 left_gripper=0.9996 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.0006 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.2667, -7.2, 8.7179, 1.0476, -0.6618, -0.0659, -0.0611, -0.3214, -1.1966, 7.241, 1.7509, -0.0415, -0.022, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02}, "note": "The left wrist camera shows the big plush bear filling the lower frame, centred on the jaw column, so it is right under the gripper. Descending to table level to grasp it."})
tool
executing move_to over 8 steps (0.8s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteDescent stopped at z=0.05 on the plush toy's body — contact. Closing the gripper to grasp the bear.
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]: [-1.1469, 1.8381, 0.8326, 0.0696, -0.9207, -0.8642, 0.9996, -0.0147, 0.7986, 0.6086, -0.3786, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.2863 left_y=-0.284 left_z=0.0495 left_yaw=0.0042 left_pitch=0.0533 left_roll=-0.0178 left_gripper=0.9996 right_x=0.2958 right_y=0.0014 right_z=0.1811 right_yaw=0.0008 right_pitch=-0.0088 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.0889, -5.0667, 3.0017, 1.0476, 0.1392, -0.2955, -0.0122, -0.3897, -1.1145, 7.1726, 1.7411, -0.022, -0.0611, -0.0171] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Descent stopped at z=0.05 on the plush toy's body \u2014 contact. Closing the gripper to grasp the bear."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteGripper settled at 0.40 (~3.8 cm) — the plush is grasped. Lifting it and moving forward-left toward the left basket, high enough to clear the rim.
move_to
left_z0.2500left_x0.4000left_y-0.2100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1469, 1.8309, 0.8356, 0.0841, -0.9627, -0.8463, 0.4044, -0.0147, 0.7986, 0.6086, -0.3786, -0.012, -0.0223, 0.9998] state[eef_state]: left_x=0.2902 left_y=-0.282 left_z=0.0593 left_yaw=0.0206 left_pitch=0.0939 left_roll=-0.0112 left_gripper=0.4044 right_x=0.2958 right_y=0.0014 right_z=0.1811 right_yaw=0.0006 right_pitch=-0.0088 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.2667, -7.4598, 5.0393, 1.0574, -0.0073, -0.2173, 1.033, -0.212, -1.2786, 7.0359, 1.7021, -0.0317, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25, "left_x": 0.4, "left_y": -0.21}, "note": "Gripper settled at 0.40 (~3.8 cm) \u2014 the plush is grasped. Lifting it and moving forward-left toward the left basket, high enough to clear the rim."})
tool
executing move_to over 13 steps (1.3s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe gripper (still holding the plush, reading 0.40) is now above the left basket. Lowering into the basket before releasing.
move_to
left_z0.1600left_y-0.2300
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]: [-0.7292, 1.5688, 1.2495, -0.3359, -0.6685, -0.4564, 0.4052, -0.0147, 0.7986, 0.6086, -0.3847, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.4009 left_y=-0.2065 left_z=0.2291 left_yaw=0.0432 left_pitch=0.0637 left_roll=0.007 left_gripper=0.4052 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0149 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.2256, -9.5248, 9.5385, 1.5409, -0.1197, 0.1538, 0.0757, -0.0615, -1.0325, 7.0632, 1.7753, -0.0562, -0.0806, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.16, "left_y": -0.23}, "note": "The gripper (still holding the plush, reading 0.40) is now above the left basket. Lowering into the basket before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe left wrist view shows the plush hanging between the two baskets rather than over the left one; the basket lies to the image-left, i.e. +y. Shifting 6 cm toward the basket before releasing.
move_to
left_y-0.1700
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]: [-0.7765, 1.6852, 1.1114, -0.1238, -0.696, -0.4946, 0.4055, -0.0147, 0.7986, 0.6086, -0.3851, -0.0116, -0.0223, 0.9998] state[eef_state]: left_x=0.4002 left_y=-0.2293 left_z=0.1597 left_yaw=0.0354 left_pitch=0.0467 left_roll=0.0158 left_gripper=0.4055 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.2667, -7.7333, 5.8598, 1.7021, -0.442, -0.0904, 0.0122, -0.1299, -1.2923, 7.0359, 1.7607, -0.0317, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.17}, "note": "The left wrist view shows the plush hanging between the two baskets rather than over the left one; the basket lies to the image-left, i.e. +y. Shifting 6 cm toward the basket before releasing."})
tool
executing move_to over 6 steps (0.6s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteWrist view now shows the basket interior filling the frame under the jaws. Opening the gripper to drop the plush into the left basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6502, 1.5822, 0.9516, -0.0589, -0.5987, -0.4168, 0.4056, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0223, 0.9998] state[eef_state]: left_x=0.3991 left_y=-0.174 left_z=0.1427 left_yaw=0.0467 left_pitch=0.0085 left_roll=0.032 left_gripper=0.4056 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [0.1846, -10.0718, 6.6393, 1.8291, -0.188, 0.1685, -0.0073, -0.212, -1.1145, 7.0359, 1.7167, -0.0171, -0.0073, -0.0171] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "Wrist view now shows the basket interior filling the frame under the jaws. Opening the gripper to drop the plush into the left basket."})
tool
executing move_to over 6 steps (0.6s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe drop failed: the top view shows the plush back on the table just in front of the left basket, so my release point was short of the basket. Returning to the plush to re-grasp it.
move_to
left_x0.2900left_y-0.2900left_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]: [-0.651, 1.5803, 0.9459, -0.0624, -0.5941, -0.4198, 0.9953, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.3974 left_y=-0.1739 left_z=0.1403 left_yaw=0.044 left_pitch=0.0011 left_roll=0.0318 left_gripper=0.9953 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [0.0068, -6.9675, 6.9812, 1.58, -0.3248, 0.022, -0.0806, -0.1983, -0.9368, 7.159, 1.7753, -0.0366, -0.0611, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": -0.29, "left_z": 0.12}, "note": "The drop failed: the top view shows the plush back on the table just in front of the left basket, so my release point was short of the basket. Returning to the plush to re-grasp it."})
tool
executing move_to over 11 steps (1.1s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteWrist view shows the teddy bear directly under the jaws again. Descending to table level to re-grasp it.
move_to
left_z0.0200left_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]: [-1.1278, 1.7248, 1.0737, -0.3656, -0.8787, -0.8764, 0.9967, -0.0143, 0.7986, 0.6086, -0.3851, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.2924 left_y=-0.2906 left_z=0.1168 left_yaw=0.005 left_pitch=-0.0118 left_roll=0.0309 left_gripper=0.9967 right_x=0.295 right_y=0.0015 right_z=0.1798 right_yaw=0.0012 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1299, -7.5556, 7.9658, 0.9744, -0.6129, -0.0757, 0.1343, -0.1026, -1.2513, 7.0359, 1.6972, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02, "left_gripper": 1}, "note": "Wrist view shows the teddy bear directly under the jaws again. Descending to table level to re-grasp it."})
tool
executing move_to over 7 steps (0.7s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteContact with the plush at z=0.048. Closing the gripper on the bear.
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]: [-1.1278, 1.9011, 0.9375, -0.0128, -0.9176, -0.8566, 0.9988, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.2989 left_y=-0.2944 left_z=0.0479 left_yaw=0.0159 left_pitch=0.0344 left_roll=0.0247 left_gripper=0.9988 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1709, -5.8462, 2.7145, 0.8181, 0.0904, -0.3297, -0.1245, -0.253, -1.2786, 7.0906, 1.7216, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Contact with the plush at z=0.048. Closing the gripper on the bear."})
tool
executing move_to over 10 steps (1.0s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteBear grasped again (gripper 0.29). Last time I released too short of the basket, so this time carrying 6 cm further forward, to x=0.46 above the left basket.
move_to
left_x0.4600left_y-0.2000left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1278, 1.9053, 0.936, 0.0158, -0.9443, -0.8459, 0.286, -0.0147, 0.7986, 0.6086, -0.3851, -0.0116, -0.0227, 0.9998] state[eef_state]: left_x=0.302 left_y=-0.2943 left_z=0.0519 left_yaw=0.026 left_pitch=0.0636 left_roll=0.0222 left_gripper=0.286 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.0205, -9.1419, 5.2991, 0.8669, -0.1734, -0.1538, 0.7643, -0.1709, -1.2513, 7.0632, 1.707, -0.0317, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.2, "left_z": 0.25}, "note": "Bear grasped again (gripper 0.29). Last time I released too short of the basket, so this time carrying 6 cm further forward, to x=0.46 above the left basket."})
tool
executing move_to over 13 steps (1.3s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteTop view shows the held bear now over the left basket's interior. Lowering into the basket before releasing.
move_to
left_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6182, 1.7271, 1.4212, -0.3275, -0.5911, -0.3977, 0.2881, -0.0143, 0.7986, 0.6086, -0.3847, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.4565 left_y=-0.1995 left_z=0.2281 left_yaw=0.0637 left_pitch=0.0484 left_roll=0.0091 left_gripper=0.2881 right_x=0.295 right_y=0.0015 right_z=0.1798 right_yaw=0.0012 right_pitch=-0.0149 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [0.1026, -9.3197, 9.4838, 1.453, -0.1392, 0.2418, 0.1978, -0.0889, -1.1692, 7.0906, 1.7802, -0.0366, -0.0562, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.14}, "note": "Top view shows the held bear now over the left basket's interior. Lowering into the basket before releasing."})
tool
executing move_to over 6 steps (0.6s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe bear is down inside the left basket (descent stopped early, indicating contact). Opening the gripper to release it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6193, 1.7767, 1.1854, -0.0387, -0.6025, -0.3927, 0.2887, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0223, 0.9998] state[eef_state]: left_x=0.4553 left_y=-0.1972 left_z=0.1568 left_yaw=0.069 left_pitch=0.0553 left_roll=0.0165 left_gripper=0.2887 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1299, -6.7897, 5.3402, 1.3651, -0.0024, -0.1099, 0.0611, -0.0752, -1.2376, 7.1179, 1.7949, -0.0562, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "The bear is down inside the left basket (descent stopped early, indicating contact). Opening the gripper to release it."})
tool
executing move_to over 8 steps (0.8s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteReleased the bear over the left basket. Retracting the left arm out of the way so the overhead camera can show whether it landed inside.
move_to
left_x0.2500left_y-0.0500left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6193, 1.7805, 1.1721, 0.0006, -0.6052, -0.3927, 0.9954, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.4571 left_y=-0.1981 left_z=0.1566 left_yaw=0.072 left_pitch=0.0734 left_roll=0.0036 left_gripper=0.9954 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1709, -9.4154, 7.8017, 1.2234, -0.2027, -0.0659, -0.0952, -0.253, -1.2786, 7.0769, 1.7265, -0.0171, -0.0366, -0.0171] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.05, "left_z": 0.22}, "note": "Released the bear over the left basket. Retracting the left arm out of the way so the overhead camera can show whether it landed inside."})
tool
executing move_to over 16 steps (1.6s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe bear ended up leaning against the near rim of the left basket, not inside — the basket is further forward than my release point. Probing with the empty gripper at x=0.52 to see where that lands relative to the basket in the overhead view.
move_to
left_x0.5200left_y-0.2000left_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6201, 0.6949, 0.6991, -0.5522, -0.6018, -0.3931, 0.9967, -0.0147, 0.8024, 0.6086, -0.392, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.2606 left_y=-0.0588 left_z=0.2299 left_yaw=0.0723 left_pitch=0.1183 left_roll=-0.0365 left_gripper=0.9967 right_x=0.2943 right_y=0.0014 right_z=0.1773 right_yaw=0.0008 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.2256, -0.0342, 6.7214, 1.746, -0.2222, -0.022, 0.1294, -0.1436, -1.5795, 7.0222, 1.8242, -0.0513, -0.0317, -0.0122] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_y": -0.2, "left_z": 0.18}, "note": "The bear ended up leaning against the near rim of the left basket, not inside \u2014 the basket is further forward than my release point. Probing with the empty gripper at x=0.52 to see where that lands relative to the basket in the overhead view."})
tool
executing move_to over 20 steps (2.0s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteAt x=0.51 the wrist camera shows the basket off to the image-left, so the basket centre is at a less-negative y. Shifting +7 cm in y to line up over the basket interior.
move_to
left_y-0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5415, 1.9152, 1.3716, -0.0113, -0.5301, -0.3649, 0.9968, -0.0147, 0.8051, 0.6083, -0.3927, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.5099 left_y=-0.1983 left_z=0.1681 left_yaw=0.0774 left_pitch=0.0903 left_roll=-0.0368 left_gripper=0.9968 right_x=0.2943 right_y=0.0014 right_z=0.1762 right_yaw=0.0009 right_pitch=-0.0298 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.6632, -11.0427, 8.335, 1.6825, -0.1929, 0.2369, 0.0024, -0.1983, -1.4974, 7.0496, 1.6972, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.13}, "note": "At x=0.51 the wrist camera shows the basket off to the image-left, so the basket centre is at a less-negative y. Shifting +7 cm in y to line up over the basket interior."})
tool
executing move_to over 7 steps (0.7s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteWrist view now shows the basket interior centred under the jaws — good release pose (x≈0.51, y≈-0.12). First moving back to the bear, which shows at the right edge of the wrist frame, to re-grasp it.
move_to
left_x0.4700left_y-0.2100left_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]: [-0.3962, 1.8484, 1.2278, 0.0422, -0.4236, -0.3008, 0.9968, -0.0147, 0.8078, 0.6083, -0.3927, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.5093 left_y=-0.1304 left_z=0.146 left_yaw=0.101 left_pitch=0.0406 left_roll=-0.0164 left_gripper=0.9968 right_x=0.2945 right_y=0.0014 right_z=0.1755 right_yaw=0.0009 right_pitch=-0.0324 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [0.3214, -12.3282, 6.4205, 1.9609, -0.0464, 0.1929, -0.0122, -0.253, -1.4564, 7.0085, 1.7167, -0.0415, -0.0757, -0.0171] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.21, "left_z": 0.12}, "note": "Wrist view now shows the basket interior centred under the jaws \u2014 good release pose (x\u22480.51, y\u2248-0.12). First moving back to the bear, which shows at the right edge of the wrist frame, to re-grasp it."})
tool
executing move_to over 8 steps (0.8s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe bear is right between the jaws in the wrist view. Descending onto its body to grasp.
move_to
left_z0.0600left_y-0.2200
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]: [-0.6117, 1.8912, 1.2114, 0.0456, -0.5766, -0.429, 0.9968, -0.0147, 0.8082, 0.6083, -0.3923, -0.0116, -0.0227, 0.9998] state[eef_state]: left_x=0.4726 left_y=-0.2095 left_z=0.1261 left_yaw=0.0754 left_pitch=0.0425 left_roll=-0.0243 left_gripper=0.9968 right_x=0.2945 right_y=0.0013 right_z=0.1755 right_yaw=0.0005 right_pitch=-0.0324 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.2667, -8.8137, 6.6667, 1.5507, -0.2808, -0.1685, -0.0073, -0.212, -1.3333, 7.0359, 1.7265, -0.0269, -0.0415, -0.0171] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.06, "left_y": -0.22}, "note": "The bear is right between the jaws in the wrist view. Descending onto its body to grasp."})
tool
executing move_to over 5 steps (0.5s)
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 noteContact with the bear at z=0.074. Closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6258, 2.0163, 1.1484, 0.2291, -0.609, -0.4423, 0.9969, -0.0147, 0.8082, 0.6083, -0.3927, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.4751 left_y=-0.2143 left_z=0.0741 left_yaw=0.0937 left_pitch=0.0514 left_roll=-0.0182 left_gripper=0.9969 right_x=0.2945 right_y=0.0014 right_z=0.1754 right_yaw=0.0009 right_pitch=-0.0328 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.9368, -8.6085, 4.8342, 1.4579, 0.0317, -0.0171, -0.0073, -0.0615, -1.2923, 7.1453, 1.7363, -0.0317, -0.0659, -0.0171] 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_gripper": 0}, "note": "Contact with the bear at z=0.074. Closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteBear grasped (0.28). Lifting and moving to the release pose I verified over the left basket interior (x=0.51, y=-0.12).
move_to
left_z0.2600left_x0.5100left_y-0.1200
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]: [-0.6243, 2.0232, 1.1477, 0.2634, -0.625, -0.4458, 0.2845, -0.0143, 0.8082, 0.6083, -0.3927, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.4789 left_y=-0.2132 left_z=0.0773 left_yaw=0.1108 left_pitch=0.0775 left_roll=-0.032 left_gripper=0.2845 right_x=0.2945 right_y=0.0015 right_z=0.1754 right_yaw=0.0012 right_pitch=-0.0328 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.212, -11.2889, 5.9556, 1.2283, -0.1001, 0.0073, 0.7009, -0.0752, -1.3333, 6.9949, 1.7118, -0.0269, -0.0415, -0.0171] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.26, "left_x": 0.51, "left_y": -0.12}, "note": "Bear grasped (0.28). Lifting and moving to the release pose I verified over the left basket interior (x=0.51, y=-0.12)."})
tool
executing move_to over 12 steps (1.2s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteWrist view shows the basket still slightly left of the jaws with the bear hanging right. Nudging +4 cm in y and lowering a little so the bear is squarely over the basket mouth.
move_to
left_y-0.0800left_z0.1900
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]: [-0.3801, 1.8099, 1.4776, -0.2844, -0.437, -0.321, 0.2867, -0.0147, 0.8082, 0.6083, -0.3927, -0.012, -0.0223, 0.9998] state[eef_state]: left_x=0.5134 left_y=-0.1208 left_z=0.2124 left_yaw=0.1382 left_pitch=0.0109 left_roll=-0.0086 left_gripper=0.2867 right_x=0.2945 right_y=0.0014 right_z=0.1754 right_yaw=0.0007 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [0.2667, -14.6667, 10.1265, 1.8632, -0.0513, 0.232, 0.2173, -0.1162, -1.3333, 7.0359, 1.7265, -0.0269, -0.022, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.08, "left_z": 0.19}, "note": "Wrist view shows the basket still slightly left of the jaws with the bear hanging right. Nudging +4 cm in y and lowering a little so the bear is squarely over the basket mouth."})
tool
executing move_to over 4 steps (0.4s)
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 noteThe bear now hangs over the basket's interior. Opening the gripper to drop it in.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2867, 1.784, 1.3441, -0.2131, -0.3695, -0.2867, 0.2881, -0.0147, 0.8093, 0.6083, -0.3923, -0.0116, -0.0227, 0.9998] state[eef_state]: left_x=0.508 left_y=-0.0795 left_z=0.1775 left_yaw=0.1587 left_pitch=-0.0399 left_roll=0.0014 left_gripper=0.2881 right_x=0.2946 right_y=0.0013 right_z=0.1752 right_yaw=0.0005 right_pitch=-0.0336 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.3077, -10.6325, 6.5983, 1.8339, -0.188, 0.2466, 0.1343, -0.2803, -1.1829, 7.2, 1.7216, -0.022, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "The bear now hangs over the basket's interior. Opening the gripper to drop it in."})
tool
executing move_to over 8 steps (0.8s)
step 219
top_cam
camera top_cam step 219
left_cam
camera left_cam step 219
right_cam
camera right_cam step 219
assistant
agent noteThe bear is still perched on the basket's right rim rather than inside. Moving down and toward it to re-grasp, aiming to release it deeper and further left inside the basket.
move_to
left_x0.4600left_y-0.1300left_z0.1100
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]: [-0.279, 1.784, 1.3422, -0.1673, -0.3607, -0.2722, 0.9955, -0.0147, 0.8101, 0.6083, -0.3927, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.5144 left_y=-0.0788 left_z=0.185 left_yaw=0.151 left_pitch=-0.0024 left_roll=-0.0097 left_gripper=0.9955 right_x=0.2946 right_y=0.0014 right_z=0.1749 right_yaw=0.0009 right_pitch=-0.0347 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.2256, -10.6598, 6.3111, 1.7949, -0.1343, 0.0659, -0.2173, -0.1573, -1.1145, 7.0769, 1.7558, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.13, "left_z": 0.11}, "note": "The bear is still perched on the basket's right rim rather than inside. Moving down and toward it to re-grasp, aiming to release it deeper and further left inside the basket."})
tool
executing move_to over 5 steps (0.5s)
step 224
top_cam
camera top_cam step 224
left_cam
camera left_cam step 224
right_cam
camera right_cam step 224
assistant
agent noteBear fur fills the right half of the wrist view; shifting 4 cm right (-y) and descending to line the jaws up on its body.
move_to
left_y-0.1700left_z0.0800
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]: [-0.4423, 1.7565, 1.0729, 0.0364, -0.477, -0.3454, 0.9968, -0.0147, 0.8127, 0.6083, -0.3923, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.4681 left_y=-0.128 left_z=0.1265 left_yaw=0.1212 left_pitch=-0.003 left_roll=0.0066 left_gripper=0.9968 right_x=0.2948 right_y=0.0014 right_z=0.1742 right_yaw=0.0009 right_pitch=-0.037 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [2.0718, -8.1983, 7.4188, 1.8681, -0.1441, -0.2222, 0.1148, -0.1299, -1.0872, 7.0085, 1.7607, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.17, "left_z": 0.08}, "note": "Bear fur fills the right half of the wrist view; shifting 4 cm right (-y) and descending to line the jaws up on its body."})
tool
executing move_to over 4 steps (0.4s)
step 228
top_cam
camera top_cam step 228
assistant
agent noteThe bear body is right at the jaws. Closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.535, 1.8915, 1.0542, 0.1226, -0.5335, -0.4065, 0.9969, -0.0147, 0.8165, 0.6079, -0.3927, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.4603 left_y=-0.1642 left_z=0.0752 left_yaw=0.1063 left_pitch=-0.0376 left_roll=0.0232 left_gripper=0.9969 right_x=0.295 right_y=0.0014 right_z=0.1729 right_yaw=0.0009 right_pitch=-0.0416 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1436, -9.2786, 8.294, 1.6435, -0.3785, -0.1392, -0.0122, -0.2256, -1.265, 7.2274, 1.6825, -0.0171, -0.0562, -0.0171] 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_gripper": 0}, "note": "The bear body is right at the jaws. Closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 238
assistant
agent noteThat close came back empty (0.03) — the bear is a bit further out than the jaws. Opening and advancing 3 cm radially before trying again.
move_to
left_gripper1.0000left_x0.4900
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]: [-0.5446, 1.9224, 1.055, 0.1448, -0.5476, -0.4206, 0.0316, -0.0147, 0.8165, 0.6079, -0.3927, -0.012, -0.0227, 0.9998] state[eef_state]: left_x=0.4609 left_y=-0.1674 left_z=0.0658 left_yaw=0.1154 left_pitch=-0.0381 left_roll=0.0238 left_gripper=0.0316 right_x=0.295 right_y=0.0014 right_z=0.1729 right_yaw=0.0009 right_pitch=-0.0416 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.0615, -10.4274, 7.9385, 1.5897, -0.3101, 0.0806, 1.2283, -0.2393, -1.3333, 7.0085, 1.7021, -0.0366, -0.022, -0.0122] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_x": 0.49}, "note": "That close came back empty (0.03) \u2014 the bear is a bit further out than the jaws. Opening and advancing 3 cm radially before trying again."})
tool
executing move_to over 10 steps (1.0s)
step 248
assistant
agent noteAdvanced 3 cm; the bear still fills the wrist view at the jaw column. Closing again to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5095, 1.9938, 1.1397, 0.1196, -0.5262, -0.4046, 0.9953, -0.0147, 0.8165, 0.6079, -0.3923, -0.0116, -0.0227, 0.9998] state[eef_state]: left_x=0.4815 left_y=-0.1633 left_z=0.0582 left_yaw=0.1258 left_pitch=-0.0564 left_roll=0.0328 left_gripper=0.9953 right_x=0.295 right_y=0.0013 right_z=0.173 right_yaw=0.0005 right_pitch=-0.0412 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.2256, -9.347, 8.5949, 1.5507, -0.1929, 0.0757, -0.0757, -0.2393, -1.4017, 7.241, 1.7607, -0.0317, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Advanced 3 cm; the bear still fills the wrist view at the jaw column. Closing again to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 258
assistant
agent noteGripper settled at 0.107, so it has a pinch of the bear's fur. Lifting and sweeping it left over the basket's centre; even if the grip slips this should drag the bear over the rim.
move_to
left_z0.1700left_y-0.0500left_x0.5000
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]: [-0.5068, 1.9945, 1.1442, 0.1207, -0.5243, -0.4126, 0.1072, -0.0147, 0.8165, 0.6079, -0.3927, -0.0116, -0.0227, 0.9998] state[eef_state]: left_x=0.4832 left_y=-0.163 left_z=0.0596 left_yaw=0.1311 left_pitch=-0.0531 left_roll=0.0222 left_gripper=0.1072 right_x=0.295 right_y=0.0013 right_z=0.1729 right_yaw=0.0005 right_pitch=-0.0416 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.2803, -10.5368, 5.7368, 1.5116, -0.2418, 0.0464, 0.6862, -0.0889, -1.3744, 7.0496, 1.7363, -0.0269, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17, "left_y": -0.05, "left_x": 0.5}, "note": "Gripper settled at 0.107, so it has a pinch of the bear's fur. Lifting and sweeping it left over the basket's centre; even if the grip slips this should drag the bear over the rim."})
tool
executing move_to over 11 steps (1.1s)
step 269
assistant
agent noteThe bear has been swept over the left basket. Opening the gripper to let it drop in.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2195, 1.7981, 1.2087, -0.1848, -0.308, -0.242, 0.1096, -0.0147, 0.8165, 0.6079, -0.392, -0.0116, -0.0227, 0.9998] state[eef_state]: left_x=0.4878 left_y=-0.0503 left_z=0.1164 left_yaw=0.1565 left_pitch=-0.168 left_roll=0.0483 left_gripper=0.1096 right_x=0.2951 right_y=0.0013 right_z=0.1731 right_yaw=0.0005 right_pitch=-0.0408 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.1573, -13.8462, 10.4547, 2.0488, -0.2173, 0.1636, 0.232, -0.1436, -1.4017, 7.0222, 1.7509, -0.0317, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "The bear has been swept over the left basket. Opening the gripper to let it drop in."})
tool
executing move_to over 9 steps (0.9s)
step 278
assistant
agent noteThe bear keeps rolling out of the basket; with few calls left I'm switching to the pens. Parking the left arm back and bringing the right gripper over the pair of pen-like sticks on the right side of the table.
move_to
right_x0.3300right_y0.3000right_z0.1200left_x0.3000left_y-0.0500left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2192, 1.8011, 1.2106, -0.1944, -0.3065, -0.2474, 0.995, -0.0147, 0.8165, 0.6079, -0.3923, -0.012, -0.0227, 0.9997] state[eef_state]: left_x=0.4867 left_y=-0.0501 left_z=0.114 left_yaw=0.1592 left_pitch=-0.1782 left_roll=0.0473 left_gripper=0.995 right_x=0.295 right_y=0.0014 right_z=0.173 right_yaw=0.0009 right_pitch=-0.0412 right_roll=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.3624, -9.6615, 6.5573, 1.6239, -0.1343, 0.0611, 0.149, -0.3761, -1.2923, 7.0496, 1.7558, -0.0366, -0.0806, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.3, "right_z": 0.12, "left_x": 0.3, "left_y": -0.05, "left_z": 0.25}, "note": "The bear keeps rolling out of the basket; with few calls left I'm switching to the pens. Parking the left arm back and bringing the right gripper over the pair of pen-like sticks on the right side of the table."})
tool
executing move_to over 25 steps (2.5s)
step 303
assistant
agent noteThe right wrist view shows the basket up-right and a pen tip at the lower right, so both lie to the arm's right (-y). Shifting 7 cm right and lower to get the pens under the jaws.
move_to
right_y0.2200right_x0.3100right_z0.0800
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]: [-0.4301, 1.1255, 1.1229, -0.8577, -0.4309, -0.4053, 0.9967, 0.9981, 1.7687, 1.1149, -0.2752, 0.7341, 0.6827, 0.9997] state[eef_state]: left_x=0.3066 left_y=-0.0556 left_z=0.2349 left_yaw=0.1408 left_pitch=-0.1987 left_roll=0.0474 left_gripper=0.9967 right_x=0.3258 right_y=0.2936 right_z=0.1084 right_yaw=0.032 right_pitch=-0.0774 right_roll=-0.0274 right_gripper=0.9997 state[joint_eff]: [-0.3077, -4.0957, 9.4291, 1.3211, -0.4322, -0.0122, 0.1538, 0.4991, -8.7863, 8.4171, 1.1795, 0.6374, 0.2418, -0.0122] camera 'top_cam' (step 303): [image omitted: streamed camera frame] camera 'left_cam' (step 303): [image omitted: streamed camera frame] camera 'right_cam' (step 303): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.22, "right_x": 0.31, "right_z": 0.08}, "note": "The right wrist view shows the basket up-right and a pen tip at the lower right, so both lie to the arm's right (-y). Shifting 7 cm right and lower to get the pens under the jaws."})
tool
executing move_to over 7 steps (0.7s)
step 310
assistant
agent noteA blue pen lies right on the jaw column at the bottom of the right wrist view, aligned radially. Descending to table level to grasp it.
move_to
right_z0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4324, 1.1313, 1.1282, -0.8719, -0.4374, -0.4194, 0.9968, 0.9115, 1.5936, 0.7681, -0.0849, 0.6758, 0.6025, 0.9997] state[eef_state]: left_x=0.3056 left_y=-0.0547 left_z=0.2337 left_yaw=0.1528 left_pitch=-0.2077 left_roll=0.0493 left_gripper=0.9968 right_x=0.3074 right_y=0.2221 right_z=0.0725 right_yaw=0.0274 right_pitch=-0.1049 right_roll=-0.0484 right_gripper=0.9997 state[joint_eff]: [-0.0752, -3.7128, 6.1197, 1.4774, -0.149, 0.105, -0.0024, -0.3761, -7.665, 6.1197, 1.4921, 0.1978, -0.0708, -0.0073] 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": {"right_z": 0.0}, "note": "A blue pen lies right on the jaw column at the bottom of the right wrist view, aligned radially. Descending to table level to grasp it."})
tool
executing move_to over 5 steps (0.5s)
step 315
assistant
agent noteGripper is at table level with the blue pen between the jaws in the wrist view. 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]: [-0.4324, 1.1324, 1.1275, -0.8749, -0.4374, -0.4202, 0.9968, 0.9066, 1.7882, 0.6689, 0.2222, 0.6872, 0.6033, 0.9997] state[eef_state]: left_x=0.3052 left_y=-0.0545 left_z=0.2326 left_yaw=0.1538 left_pitch=-0.2118 left_roll=0.0515 left_gripper=0.9968 right_x=0.3115 right_y=0.2219 right_z=0.0142 right_yaw=0.0154 right_pitch=-0.0895 right_roll=-0.0431 right_gripper=0.9997 state[joint_eff]: [-0.0752, -3.1795, 6.8855, 1.3797, -0.2027, -0.0122, -0.0122, 0.3487, -5.1077, 3.2068, 0.6813, 0.0269, -0.0562, -0.0073] 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": {"right_gripper": 0}, "note": "Gripper is at table level with the blue pen between the jaws in the wrist view. Closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 325
assistant
agent notePen grasped (gripper 0.15). Lifting and carrying it forward over the right basket.
move_to
right_x0.4500right_y0.2000right_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]: [-0.4324, 1.1324, 1.1275, -0.8745, -0.4374, -0.4206, 0.9968, 0.9058, 1.7988, 0.6643, 0.2443, 0.6792, 0.6014, 0.1499] state[eef_state]: left_x=0.3052 left_y=-0.0545 left_z=0.2327 left_yaw=0.154 left_pitch=-0.2115 left_roll=0.051 left_gripper=0.9968 right_x=0.3117 right_y=0.2235 right_z=0.0113 right_yaw=0.0215 right_pitch=-0.0901 right_roll=-0.0353 right_gripper=0.1499 state[joint_eff]: [-0.0479, -3.3026, 6.5026, 1.4042, -0.2173, -0.0708, -0.0122, -0.0342, -8.1709, 5.1487, 1.0672, 0.2515, -0.0073, 1.0134] 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": {"right_x": 0.45, "right_y": 0.2, "right_z": 0.22}, "note": "Pen grasped (gripper 0.15). Lifting and carrying it forward over the right basket."})
tool
executing move_to over 14 steps (1.4s)
step 339
assistant
agent noteThe right wrist view shows the basket interior directly under the jaws. Opening to drop the pen into the right basket.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4324, 1.1324, 1.1275, -0.8757, -0.4374, -0.4206, 0.9968, 0.577, 1.7229, 1.4448, -0.4389, 0.45, 0.3206, 0.1533] state[eef_state]: left_x=0.305 left_y=-0.0544 left_z=0.2325 left_yaw=0.1541 left_pitch=-0.2125 left_roll=0.0517 left_gripper=0.9968 right_x=0.4464 right_y=0.2031 right_z=0.213 right_yaw=0.0226 right_pitch=-0.0736 right_roll=-0.0222 right_gripper=0.1533 state[joint_eff]: [-0.1709, -3.2752, 6.8034, 1.3797, -0.2222, -0.0513, -0.0122, -0.5949, -8.1162, 8.9778, 1.2381, 0.0904, 0.0611, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 339): [image omitted: streamed camera frame] camera 'left_cam' (step 339): [image omitted: streamed camera frame] camera 'right_cam' (step 339): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The right wrist view shows the basket interior directly under the jaws. Opening to drop the pen into the right basket."})
tool
executing move_to over 9 steps (0.9s)
step 348
assistant
agent notePen released over the right basket; pulling the right arm back so the overhead camera can show the result.
move_to
right_x0.3000right_y0.0500right_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]: [-0.4324, 1.1336, 1.1275, -0.8745, -0.4374, -0.4206, 0.9968, 0.5747, 1.7351, 1.4441, -0.4519, 0.4362, 0.3134, 0.9954] state[eef_state]: left_x=0.3053 left_y=-0.0546 left_z=0.2324 left_yaw=0.1541 left_pitch=-0.2125 left_roll=0.0517 left_gripper=0.9968 right_x=0.4455 right_y=0.2038 right_z=0.204 right_yaw=0.034 right_pitch=-0.1006 right_roll=-0.0338 right_gripper=0.9954 state[joint_eff]: [-0.0752, -3.3846, 6.694, 1.37, -0.2076, -0.0464, -0.0122, 0.0068, -9.894, 7.1316, 1.6435, 0.2857, -0.022, -0.1929] camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.05, "right_z": 0.2}, "note": "Pen released over the right basket; pulling the right arm back so the overhead camera can show the result."})
tool
executing move_to over 13 steps (1.3s)
step 361
assistant
agent notePartial failure. I identified the two classes (plush toys vs. pen-like sticks) and the two baskets (left and right). I grasped the big plush bear three times and the blue pen once and released each over the corresponding basket, but each object landed on the rim / just outside: the bear now leans against the left basket and the pen lies just in front of the right basket. Nothing ended up inside a basket before the call budget ran out.
done
hindsightKey lessons for this rig/scene: (1) The baskets sit far forward, around x ≈ 0.50–0.55 in each arm's frame; a release at x = 0.40–0.46 drops objects short of the near rim. (2) The top camera's y (forward) axis is very compressed and baskets are elevated, so image-y hugely under-estimates forward distance — do not trust it; instead fly the empty gripper forward until the wrist camera shows basket interior filling the lower frame AND the descent stops on the basket floor/rim, then record that pose as the drop pose. (3) My top-cam lateral mapping (image_x ≈ 20 − 280·left_y) was ~5 cm off; the wrist view (basket at image-left ⇒ move +y) was more reliable. (4) A held bulky plush hangs several cm to one side of the grasp point, so centring the *gripper* over the basket is not enough — centre the object. (5) Releasing at z≈0.18 above a ~15 cm tall basket lets tall/round objects bounce out; descend until the object touches the basket floor (descent stalls) before opening. (6) Plush fur gives false grasps: settled readings of 0.10 hold only fur and slip.
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]: [-0.4328, 1.1374, 1.1275, -0.8742, -0.4374, -0.4206, 0.9968, 0.2901, 0.9611, 0.8135, -0.5186, 0.2394, 0.1356, 0.9964] state[eef_state]: left_x=0.3058 left_y=-0.0549 left_z=0.2313 left_yaw=0.1542 left_pitch=-0.2153 left_roll=0.0536 left_gripper=0.9968 right_x=0.3081 right_y=0.052 right_z=0.2025 right_yaw=0.0083 right_pitch=-0.0845 right_roll=-0.0276 right_gripper=0.9964 state[joint_eff]: [-0.0342, -3.2615, 6.5846, 1.4042, -0.188, -0.0562, -0.0171, -0.2256, -2.2085, 7.0906, 1.9414, 0.022, -0.0464, 0.0904] camera 'top_cam' (step 361): [image omitted: streamed camera frame] camera 'left_cam' (step 361): [image omitted: streamed camera frame] camera 'right_cam' (step 361): [image omitted: streamed camera frame]
assistant
done({"summary": "Partial failure. I identified the two classes (plush toys vs. pen-like sticks) and the two baskets (left and right). I grasped the big plush bear three times and the blue pen once and released each over the corresponding basket, but each object landed on the rim / just outside: the bear now leans against the left basket and the pen lies just in front of the right basket. Nothing ended up inside a basket before the call budget ran out.", "hindsight": "Key lessons for this rig/scene: (1) The baskets sit far forward, around x \u2248 0.50\u20130.55 in each arm's frame; a release at x = 0.40\u20130.46 drops objects short of the near rim. (2) The top camera's y (forward) axis is very compressed and baskets are elevated, so image-y hugely under-estimates forward distance \u2014 do not trust it; instead fly the empty gripper forward until the wrist camera shows basket interior filling the lower frame AND the descent stops on the basket floor/rim, then record that pose as the drop pose. (3) My top-cam lateral mapping (image_x \u2248 20 \u2212 280\u00b7left_y) was ~5 cm off; the wrist view (basket at image-left \u21d2 move +y) was more reliable. (4) A held bulky plush hangs several cm to one side of the grasp point, so centring the *gripper* over the basket is not enough \u2014 centre the object. (5) Releasing at z\u22480.18 above a ~15 cm tall basket lets tall/round objects bounce out; descend until the object touches the basket floor (descent stalls) before opening. (6) Plush fur gives false grasps: settled readings of 0.10 hold only fur and slip."})
tool
done: Partial failure. I identified the two classes (plush toys vs. pen-like sticks) and the two baskets (left and right). I grasped the big plush bear three times and the blue pen once and released each over the corresponding basket, but each object landed on the rim / just outside: the bear now leans against the left basket and the pen lies just in front of the right basket. Nothing ended up inside a basket before the call budget ran out.
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 · 25.07 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, 0.6163, -0.3801, -0.0223, -0.0334, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0219, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1843 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.6479, 9.3607, 1.8242, -0.022, 0.1441, -0.0562, -0.7043, -1.4838, 9.9077, 1.7363, -0.1392, 0.0464, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18943eee3fc793147d769c2c410a8c4ade99f4a3d9a2205c05d0729518085523",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1854d3046c89dbe97d0f88dddc5fd7e4d37c614e2b454436d33d84c665379859",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ede576e8dd6bc17f1b89f7a2c1564cde624be57047f630e991da20d9e3f5d8a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 9.834 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, 0.6163, -0.3801, -0.0223, -0.0334, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0219, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1843 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.6479, 9.3607, 1.8242, -0.022, 0.1441, -0.0562, -0.7043, -1.4838, 9.9077, 1.7363, -0.1392, 0.0464, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18943eee3fc793147d769c2c410a8c4ade99f4a3d9a2205c05d0729518085523",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1854d3046c89dbe97d0f88dddc5fd7e4d37c614e2b454436d33d84c665379859",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ede576e8dd6bc17f1b89f7a2c1564cde624be57047f630e991da20d9e3f5d8a9",
        "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_016CNsstnrNLmSsVZi7p77yY",
      "input": {
        "note": "I see two teal baskets at the far side, a plush toy near the middle-front and two pen-like sticks (yellow on the left, white on the right). Plan: left arm handles the plush toy, right arm the pens. Moving the left gripper above the plush toy to look at it from the wrist camera.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.28,
          "left_y": -0.28,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_016CNsstnrNLmSsVZi7p77yY",
      "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]: [-1.145, 1.6077, 1.0485, -0.4561, -0.8612, -0.8917, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.2769 left_y=-0.2773 left_z=0.1395 left_yaw=-0.0134 left_pitch=-0.0244 left_roll=0.0104 left_gripper=0.9996 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.0006 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.2, 8.7179, 1.0476, -0.6618, -0.0659, -0.0611, -0.3214, -1.1966, 7.241, 1.7509, -0.0415, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b03bfeb853430e54702ce8cb0d8f6c1bab6963f35ac983e3b62163e28cb6e9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:540096c26d326e328b5ead8506ce62bc11ee4771c352e3d36fb2d1968f8a83cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:86c817c57fb81e40cb86649da573add8c6e0163408fc03d91a19dc251f508b62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 2.931 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, 0.6163, -0.3801, -0.0223, -0.0334, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0219, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1843 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.6479, 9.3607, 1.8242, -0.022, 0.1441, -0.0562, -0.7043, -1.4838, 9.9077, 1.7363, -0.1392, 0.0464, -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]: [-1.145, 1.6077, 1.0485, -0.4561, -0.8612, -0.8917, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.2769 left_y=-0.2773 left_z=0.1395 left_yaw=-0.0134 left_pitch=-0.0244 left_roll=0.0104 left_gripper=0.9996 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.0006 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.2, 8.7179, 1.0476, -0.6618, -0.0659, -0.0611, -0.3214, -1.1966, 7.241, 1.7509, -0.0415, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b03bfeb853430e54702ce8cb0d8f6c1bab6963f35ac983e3b62163e28cb6e9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:540096c26d326e328b5ead8506ce62bc11ee4771c352e3d36fb2d1968f8a83cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86c817c57fb81e40cb86649da573add8c6e0163408fc03d91a19dc251f508b62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnQkKjgEIEhgCKkAYvlh1SmGOcKsjOjcFzHJJSWrW69zgcMokKsoVC2d65An11PwxaeY7AizEFgtBlkWet1PxK+wbcMXOtG+04qKzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbTQzNUGEgzz7LmRJqmc86uwT3saDONlTnRoSUoQB6pwmiIw2mLUxvfjpkm+GDoaqui3fSUamdyl0BA3+oLlQ1jlqTEbcMN9Rr/l+cp3cT7xspMwKrsHGVNVqYOH4Cd0oU1Ye/RkNxsTdIk+iFvSdj/yInkNniiksXosyVFYB8WM9OYt6HczNV5UCvjEzqHS5dVhR8bBhGNRTH5xrNMpE7ZMx/2rOlmH2tsDEoZFbZXGW91zfUCDjGAeoi9rR0/TE4Yy4+2Jpd/oghxCqUre0hdEX3dyKY6GdwCHApxtCg3KlzIkHqAfhdS4QuXoWqyXo07i03MPDOp7o4oD511KuNZUbeiXMtQDe5lGSCxd89QMyjBp2WXmlGnR2omVZuv/qXrS8tD4Mjhpk16s65a1P0GcRnajyf/V80R4BXsH//eqkLqlVss+9eyPY7HAgcq1x/bI6sot8Tp8RuHl4Cl4ufOzhFmUX83ptuxk4po4XSkfQ4bn5fZLIbZ9XDLOVkZ5AFr53M7441beBBSGuEmIX+9qPzyD/ylXwx0smlb6DF+RlviNZYDaR97TpYBxDMMfSHYneoG75q73u6SugXxp1Ove0EAGs87uspolTVulRu8Z5yodDnP14kDC4fLVnS0fYVMrolIDPHAYQHTg78VXLSHsP5ibffxEUVcfbQ+flKOaZI4P7YtGB5LWmMAAj8BJGI5iRWFyJhUAYU35LyTrqX0A9+USS1s5DxJMzFgOfxeMGm/sizzuaGv8SOKS/n6bVts9KLurZCFWNQX4KpAEUDfY2xDV/YajFLju+axjDV2C6pyo11/cD/5OMyF+wHhl6kkG1puMtXpDhLPTdE0iG4JvJgPZQmzRtLv8mpOIKXDyzJui1OYkKPXR4ssJFzAYrIWdJ8WG/BRWt8T9PPkqj2Qdg3waQ0vh8C6BjaA8heKkx0WJ2R7/ijmF1oBF47EQzc00RE+gAM7CGn5xYVk9Y8syyw/u0hsOELHaS3l1T0ZP+NWJmjUCdF0rqiPDSH8JmUGSAZ0WdhtJuMK5iiEQ/Vn8DSvy7AKllJ7Z02VVccIwXGw4JonjraiIimW7hI0IlwpigUHwyejZ7Oln4Kf0QhIgJ2HzfwKHLbTnfIHumVRSmRVfbUGBn6dqdI2o1Eiu3Dbs1jAUABvfxThJkqSAIYnNrqgzOfLYwV0aevuOKcyl7ATda3sNFvLstV6nSpiPlXRTuSITGseM2ScIKYzWIJ5+u4rXF5JK6mNsstpN5xlsL0V0s+lVFWtawzOp/aZKfAP5mjcP8EiqRqzpyislOiPASA/jJAeA3rgxLnuPh718YkT+0idwuNWFbOLtZmvYwcdreKLhFiTT3vYVOFpZ8K+1krf8jFMo5pVVliiCdU9+jRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0154rG6Kdp9ro1z6heNXjmK8",
      "input": {
        "note": "The left wrist camera shows the big plush bear filling the lower frame, centred on the jaw column, so it is right under the gripper. Descending to table level to grasp it.",
        "targets": {
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_0154rG6Kdp9ro1z6heNXjmK8",
      "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]: [-1.1469, 1.8381, 0.8326, 0.0696, -0.9207, -0.8642, 0.9996, -0.0147, 0.7986, 0.6086, -0.3786, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2863 left_y=-0.284 left_z=0.0495 left_yaw=0.0042 left_pitch=0.0533 left_roll=-0.0178 left_gripper=0.9996 right_x=0.2958 right_y=0.0014 right_z=0.1811 right_yaw=0.0008 right_pitch=-0.0088 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.0667, 3.0017, 1.0476, 0.1392, -0.2955, -0.0122, -0.3897, -1.1145, 7.1726, 1.7411, -0.022, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10979cf4dfe70f30a59a955f48d77c9363c85192eafb9daa108d426baaaa83a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00169c51e807bd1951c11cf7a91e3004f65e6609c6c88b41da5b99d74bb6e9ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72d2e9ba64bbd341207b328539407ecc73b1119f5b30855467f19b1fba4e30d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 7.901 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, 0.6163, -0.3801, -0.0223, -0.0334, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0219, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1843 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.6479, 9.3607, 1.8242, -0.022, 0.1441, -0.0562, -0.7043, -1.4838, 9.9077, 1.7363, -0.1392, 0.0464, -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]: [-1.145, 1.6077, 1.0485, -0.4561, -0.8612, -0.8917, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.2769 left_y=-0.2773 left_z=0.1395 left_yaw=-0.0134 left_pitch=-0.0244 left_roll=0.0104 left_gripper=0.9996 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.0006 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.2, 8.7179, 1.0476, -0.6618, -0.0659, -0.0611, -0.3214, -1.1966, 7.241, 1.7509, -0.0415, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1469, 1.8381, 0.8326, 0.0696, -0.9207, -0.8642, 0.9996, -0.0147, 0.7986, 0.6086, -0.3786, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2863 left_y=-0.284 left_z=0.0495 left_yaw=0.0042 left_pitch=0.0533 left_roll=-0.0178 left_gripper=0.9996 right_x=0.2958 right_y=0.0014 right_z=0.1811 right_yaw=0.0008 right_pitch=-0.0088 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.0667, 3.0017, 1.0476, 0.1392, -0.2955, -0.0122, -0.3897, -1.1145, 7.1726, 1.7411, -0.022, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10979cf4dfe70f30a59a955f48d77c9363c85192eafb9daa108d426baaaa83a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00169c51e807bd1951c11cf7a91e3004f65e6609c6c88b41da5b99d74bb6e9ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72d2e9ba64bbd341207b328539407ecc73b1119f5b30855467f19b1fba4e30d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsQIKjgEIEhgCKkBWaeM1LrwJ5oI+QbU55ApzdaTzRvl6uLVAgwR+mnxJ4ZP0Ynpzv5ehmLxPOhJEXlqpuz0S3Z7S1acp8c5gwe7AMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbrQzNUGEgxUMCJNjPWn5oMutrgaDP9ti4jKz8GDk3tIoSIwlKBOm8TTesqHR7AUd7uXT5iHun3Bn2iuIcGshA6le1hwI+KRVzpxWa2rY1sYEvGrKlBNzqDGgwXX989nHHGrwgLwuI4Inh88PxPOX/8jJ2bN0xWcw66QWUIVBsHUv7xrmmRixaW+SrTFaCF7cJSzXE7yYgAUucFgKnCvGUUKGyxFIxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FsecN3kKfRndEYa1qjJzqg",
      "input": {
        "note": "Descent stopped at z=0.05 on the plush toy's body — contact. Closing the gripper to grasp the bear.",
        "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_01FsecN3kKfRndEYa1qjJzqg",
      "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]: [-1.1469, 1.8309, 0.8356, 0.0841, -0.9627, -0.8463, 0.4044, -0.0147, 0.7986, 0.6086, -0.3786, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.2902 left_y=-0.282 left_z=0.0593 left_yaw=0.0206 left_pitch=0.0939 left_roll=-0.0112 left_gripper=0.4044 right_x=0.2958 right_y=0.0014 right_z=0.1811 right_yaw=0.0006 right_pitch=-0.0088 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.4598, 5.0393, 1.0574, -0.0073, -0.2173, 1.033, -0.212, -1.2786, 7.0359, 1.7021, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3331d4d17e52b3398b62015b91f381cf335d6446c4bfad99339a779bde8f49c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c60c3ebb61cdeef59c1802ca03dd153d1f6e3d46dc46deeb499792e66647228e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eeb1fef388761452d974ec7911f243d5607106e25c3bfcf64a2b32c111e65dd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 9.968 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.145, 1.6077, 1.0485, -0.4561, -0.8612, -0.8917, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.2769 left_y=-0.2773 left_z=0.1395 left_yaw=-0.0134 left_pitch=-0.0244 left_roll=0.0104 left_gripper=0.9996 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.0006 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.2, 8.7179, 1.0476, -0.6618, -0.0659, -0.0611, -0.3214, -1.1966, 7.241, 1.7509, -0.0415, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1469, 1.8381, 0.8326, 0.0696, -0.9207, -0.8642, 0.9996, -0.0147, 0.7986, 0.6086, -0.3786, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2863 left_y=-0.284 left_z=0.0495 left_yaw=0.0042 left_pitch=0.0533 left_roll=-0.0178 left_gripper=0.9996 right_x=0.2958 right_y=0.0014 right_z=0.1811 right_yaw=0.0008 right_pitch=-0.0088 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.0667, 3.0017, 1.0476, 0.1392, -0.2955, -0.0122, -0.3897, -1.1145, 7.1726, 1.7411, -0.022, -0.0611, -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]: [-1.1469, 1.8309, 0.8356, 0.0841, -0.9627, -0.8463, 0.4044, -0.0147, 0.7986, 0.6086, -0.3786, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.2902 left_y=-0.282 left_z=0.0593 left_yaw=0.0206 left_pitch=0.0939 left_roll=-0.0112 left_gripper=0.4044 right_x=0.2958 right_y=0.0014 right_z=0.1811 right_yaw=0.0006 right_pitch=-0.0088 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.4598, 5.0393, 1.0574, -0.0073, -0.2173, 1.033, -0.212, -1.2786, 7.0359, 1.7021, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3331d4d17e52b3398b62015b91f381cf335d6446c4bfad99339a779bde8f49c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c60c3ebb61cdeef59c1802ca03dd153d1f6e3d46dc46deeb499792e66647228e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eeb1fef388761452d974ec7911f243d5607106e25c3bfcf64a2b32c111e65dd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzwcKjgEIEhgCKkByZ149Qd+8nK1h1M2wtsBuJVC55vbFb4I/H8hNSecKBW2zZHEnD0sR+mtWSSRYkE27TIbnstVdXIKOuJFIR2SyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcjQzNUGEgxdpCA2MYQmZYcseSkaDBfYxfhN23GN1EeRXyIwa9Knc9xNqGnNEBVhGfGAxM/DItOxyhL8k5fYWDGD+F0crLFmLmdgCJ/47Bt0me4QKu0FFyuo2/q0YrG+tnK/BdZCos6iOQmNub+7TR3aVGtYVTT3C12dZaBv9aukC8h2EATJ7IhyDaD1hPCqD1VGPUVz5hpSl3j4ERQgSQo87MelzSdqnLI9XopsUvIcu4mJuTrku5MaAfxSI7CM+7/TsO+AwOf5rR0gY0FDCHaFcOWwo/xU4Z2NfPEUyBKHwimiOqQgGlCXRqbwZMFrl6UatGBnT70oe7Ri/wMnsnLVq5P6AtSHJFGf5yrWW7UFtyqeO0dtLnIotyleBl5ybvpfI68cAjbqVPgC09lQI0Y64NqqSx8CxpvbNsjqUsVJoma+Vik35HdvxHqJ/gSQC5hTntSVw0/2tKD2K/SkVFnESI6v1sl8onExf4C85ldiwdpWo5pbUVH/6QPUizuspDVshw9VZG3dDpaIAME8Y9LgbD5uYzvZF3wec0DnvrL+/qreuvl05AcgrsxM+YIBvqvVN2kWrktP9i9q5HST/0IM0ySdijFyP5r+yjOSaoW9KAgaHvgU3WMIt2IGex7DB/nyDekCXjWcPMSsI8Ny6E5nh/VlfE+lRHWW0Bd8k243lYXNiAmPIEs5abcPrKxOLOCB05FBT2J7IuRrFhIPjleoyV98uyiyqmfFiNgCEZC7ZuxsedgK5fbwyQ47ZbB+qMLwwOtTwJaqN7T5M4jh41M6weRJqJaRlGvUO9RM8IvVBdHzeDK/9HyPDtzVm0Hjn7QhvHVLTCkFl+cgpIdBZP7bCshTBHmYTiRBzXN1UENtkC813ejU9UMMjiSly5A3BGmKVFYVGx2zSZBAjLfZdIOdKcZbfdAGEHtC7QI84XqBmRF5EV/SiLjyDPcULZqKDNbYJrejl4NAJASktnd+wJeTd6gbKsFZG+4OsCJwH9TnbP3+ZVWsQxWdpOVjI9yLcqofPC7aZSz8NHF0MivuX9dEVahF70vvN94302OF2YvCFDSYClOnkF4/WGtd3S8W/NvJVM1YE6h9a6fJVVaKpTMA9zoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016abVGAfp2DFsXNQ8WfiCYQ",
      "input": {
        "note": "Gripper settled at 0.40 (~3.8 cm) — the plush is grasped. Lifting it and moving forward-left toward the left basket, high enough to clear the rim.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.21,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_016abVGAfp2DFsXNQ8WfiCYQ",
      "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]: [-0.7292, 1.5688, 1.2495, -0.3359, -0.6685, -0.4564, 0.4052, -0.0147, 0.7986, 0.6086, -0.3847, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4009 left_y=-0.2065 left_z=0.2291 left_yaw=0.0432 left_pitch=0.0637 left_roll=0.007 left_gripper=0.4052 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0149 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -9.5248, 9.5385, 1.5409, -0.1197, 0.1538, 0.0757, -0.0615, -1.0325, 7.0632, 1.7753, -0.0562, -0.0806, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a43607d8960b3dbca0bc7a9346c8c8f86e4850bd2a9518bbd3cdd74505c256f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:152a799a854e66e17e3f64d8c93f87e81cbe2419bcc5a1eb1cd4dcc0dbe44a74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0941548392e5f6ac15423e5b594b69bc8a52820ffa69802f2ff65805875f7eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 15.66 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1469, 1.8381, 0.8326, 0.0696, -0.9207, -0.8642, 0.9996, -0.0147, 0.7986, 0.6086, -0.3786, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2863 left_y=-0.284 left_z=0.0495 left_yaw=0.0042 left_pitch=0.0533 left_roll=-0.0178 left_gripper=0.9996 right_x=0.2958 right_y=0.0014 right_z=0.1811 right_yaw=0.0008 right_pitch=-0.0088 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.0667, 3.0017, 1.0476, 0.1392, -0.2955, -0.0122, -0.3897, -1.1145, 7.1726, 1.7411, -0.022, -0.0611, -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]: [-1.1469, 1.8309, 0.8356, 0.0841, -0.9627, -0.8463, 0.4044, -0.0147, 0.7986, 0.6086, -0.3786, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.2902 left_y=-0.282 left_z=0.0593 left_yaw=0.0206 left_pitch=0.0939 left_roll=-0.0112 left_gripper=0.4044 right_x=0.2958 right_y=0.0014 right_z=0.1811 right_yaw=0.0006 right_pitch=-0.0088 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.4598, 5.0393, 1.0574, -0.0073, -0.2173, 1.033, -0.212, -1.2786, 7.0359, 1.7021, -0.0317, -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 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]: [-0.7292, 1.5688, 1.2495, -0.3359, -0.6685, -0.4564, 0.4052, -0.0147, 0.7986, 0.6086, -0.3847, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4009 left_y=-0.2065 left_z=0.2291 left_yaw=0.0432 left_pitch=0.0637 left_roll=0.007 left_gripper=0.4052 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0149 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -9.5248, 9.5385, 1.5409, -0.1197, 0.1538, 0.0757, -0.0615, -1.0325, 7.0632, 1.7753, -0.0562, -0.0806, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a43607d8960b3dbca0bc7a9346c8c8f86e4850bd2a9518bbd3cdd74505c256f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:152a799a854e66e17e3f64d8c93f87e81cbe2419bcc5a1eb1cd4dcc0dbe44a74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0941548392e5f6ac15423e5b594b69bc8a52820ffa69802f2ff65805875f7eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1QoKjgEIEhgCKkDgCB5ANJXjZu6JS7gO38IAgG9wS1Om5ox78IT9ZVZ5p6nSacWISA9BzQ1oG2XJfWcLUrEf7cfF6cN3CWnETaTlMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdnQzNUGEgzfsjkhdErGgqtzZ4AaDOKih7U6l17FmyLpdSIwpdYUfAy7OVsaiS0tWBVqXlPwAwIjTR5Mw/4GLyefVp+twWxHmFwhOhgPK4qADoKFKvMIU5uJKawcH4w2yUMGahr7i+3UIOeC2v0EDryfS5wQvjjJy5fbB83yR81ACb1Df5pUp2wjcvhFrDZiv2dq4A5lm9bFvf/yOYOBwt+l21uT/xSx/IRy4vbRLTQ09uT2D8uVtbE1jAaJdRPMj4GBnc8mW9HsZ9ykGinF4a0OFcuJggxwWKL7nLCQ8acbWvNab8pyuiPqzIGlmgBOBiWRCyTOTapRCAspDQZFAkbm6VnumrC0iLIEQ8EsxgpMy2it6W+2FNp/YtwzaGSX6bPcN9tdOGdlveRZqtb7iOVDdUFBMfXRTmPOaI22zk+dzCPhzp1v3C0sVTNbcXRt+Wb8g2cYAtUeELZe+ZsJFn/Z5e4LPDyiWcGPszwI5DAAv5C9taLJ3llEbu6W0OrP4Q5EzuQ9xOmjfl4yUtUhJUSg2snXySrqmQSgQ7bovVx5lGIwuQ120a4o2nLTtR0bZyOwEwhO3/Bd+JJv1sY/HNGHGShxrRiYYV5Hc5q+6bEkF4lW/jNXX7d5gMVlBiGNfO3z8W+NblXnQHa91hQ3CdiYRsh7ZenzBm0oHkKmsnQymFwEvAH7gF/e85/TGGwyVEiHwPbM+l9ELkSILpkNV7mz+s1wpdKUVWofW/a+E4iOCMoDW60ja4Ms5eoUC3Z8tJRZ8RKVpHv2nwTl2v0yRBF5kZ+UMpDB4hFo0JRR90K2CS6Z/ug7HFLy0qxYIc6t5eo87Pxo1OL/YDlpwh3MzjXz6ZtSAsJSUSga2URcOfibzTmTDCMJKFPon5CZ1S6cqTxV5psWs19aKiIFSbU1mrTSE4rbcZu43PDKnCDM3OjExhS+ZoAhN5zxy8z8z96a+48wqP5xdgEbIU0Bzsbx1r40baaONLuMURrL4yLdNQchbwQObOXBdoARDqHmBLIPKP5EwrL2mVHMYtW/4DjyF0s0rR+UMfoE1u+SW/dG0pJvUjvq3sJJBmXowOIDgEMn5T+at/IsxZRSXtJclVq165g1k/Zd2VlDx7qI6Acmf8YDjhXKgRYZBFFFU3+ISnMoT0C7Ye6z/phluCESB+DFFm7KxB6lAvvfy/05KWECgXbchTaPD7AbREPh6tV8RRuX9ZrAyf39HRWQNUfSy0kh19qwjvRQrWnhEpGU2eY2z1aIhR3S1hC1VhqRTtK7bODQ2L7DHUdqsEyTbG/WWudUNmaTsE0J8gK2GE/pbmt2MFrZZzk518FaI8pmfrkV8oAjIaQm805uT6c9Z7oS4E47siekMaNl6+JYT6R7LK4kwTMuJzstuPNR53/3EEYx29Vzm3rTxvBfogBMpCRuIkKlLzKOkwXPBQ3h8mCqguB332BvammRIgixGdKL0L9ufAHQ9vSdoAkKKnATu3vqRKlaWOwwC917jIc7PV5V5drs9dTsgtOhxnP2t3EpMZTURjb0wxy0VxmdTqxpNi7k9wPoKq8UbbBKa5FaSKFvdi/nGVUEVd8jNz7fZAD2UbJgyDRIGqktP9guIFL3UVNMkRSXQfxqVnuvO7Aat00YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AiYmZGUcXLzgXgDt9LrkTS",
      "input": {
        "note": "The gripper (still holding the plush, reading 0.40) is now above the left basket. Lowering into the basket before releasing.",
        "targets": {
          "left_y": -0.23,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01AiYmZGUcXLzgXgDt9LrkTS",
      "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]: [-0.7765, 1.6852, 1.1114, -0.1238, -0.696, -0.4946, 0.4055, -0.0147, 0.7986, 0.6086, -0.3851, -0.0116, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.4002 left_y=-0.2293 left_z=0.1597 left_yaw=0.0354 left_pitch=0.0467 left_roll=0.0158 left_gripper=0.4055 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.7333, 5.8598, 1.7021, -0.442, -0.0904, 0.0122, -0.1299, -1.2923, 7.0359, 1.7607, -0.0317, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18521739329bcd927e433361e04d60fb5d45086a492c426fef5e6785760aad97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:989c7bcaf2acb8534a9ba2919b306842870171ae5f88a36563631f0340b5c47c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a1c80e6db022996d0c450e41c3c44153b3674bb312950ae41412b204b999dd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 5.1 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1469, 1.8309, 0.8356, 0.0841, -0.9627, -0.8463, 0.4044, -0.0147, 0.7986, 0.6086, -0.3786, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.2902 left_y=-0.282 left_z=0.0593 left_yaw=0.0206 left_pitch=0.0939 left_roll=-0.0112 left_gripper=0.4044 right_x=0.2958 right_y=0.0014 right_z=0.1811 right_yaw=0.0006 right_pitch=-0.0088 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.4598, 5.0393, 1.0574, -0.0073, -0.2173, 1.033, -0.212, -1.2786, 7.0359, 1.7021, -0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.7292, 1.5688, 1.2495, -0.3359, -0.6685, -0.4564, 0.4052, -0.0147, 0.7986, 0.6086, -0.3847, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4009 left_y=-0.2065 left_z=0.2291 left_yaw=0.0432 left_pitch=0.0637 left_roll=0.007 left_gripper=0.4052 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0149 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -9.5248, 9.5385, 1.5409, -0.1197, 0.1538, 0.0757, -0.0615, -1.0325, 7.0632, 1.7753, -0.0562, -0.0806, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7765, 1.6852, 1.1114, -0.1238, -0.696, -0.4946, 0.4055, -0.0147, 0.7986, 0.6086, -0.3851, -0.0116, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.4002 left_y=-0.2293 left_z=0.1597 left_yaw=0.0354 left_pitch=0.0467 left_roll=0.0158 left_gripper=0.4055 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.7333, 5.8598, 1.7021, -0.442, -0.0904, 0.0122, -0.1299, -1.2923, 7.0359, 1.7607, -0.0317, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18521739329bcd927e433361e04d60fb5d45086a492c426fef5e6785760aad97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:989c7bcaf2acb8534a9ba2919b306842870171ae5f88a36563631f0340b5c47c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a1c80e6db022996d0c450e41c3c44153b3674bb312950ae41412b204b999dd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9BEKjgEIEhgCKkAv57PNk6X491GuxElCtJqyD26U+uxdTsTAA5Lj57cjnpn78DQPO/SV3wLtiiqak/GPrpwEW2CAmW1Ihx547r9zMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAerQzNUGEgzK7Khmf+4unFLnQp4aDJ3GBJf1/rucFlSb3CIwGVzCnJ1h4o6JjXbaAbyBhoH6YuGLMEv7c1XwXvQ8hb3U+8m+wDnFFLTqWTzZuxcUKpIQvJ8K6H6W2EPWcnh715qZS6lu1XGzlSDJEB9d6VBc9/ahJxTDf31aEZc/V/HflQzTBwQltQoMa6nDiqFwTjXiHFU8qlT/shOBr8fAoDZgOV8TEt3ZTU16a/biGu20z2x9yFN9EuNDffEVq1UKtdvaBHnVlle7yXp8ZYrvfwq+3F8WFiDkvcNEIwD+bAp2oAmJQ7sPrJf7CQsb8+HmO9XhY9C6hOKUXG2Qj8g8oVyeBGQGL8BnwX2W8wCoYLdqpxTDhPqUb74egX/lkM+5Nswpn7IdV0WNpbZU+/8JIAvJvjMEXn6aZfuD/xKf1kN9Z3Az4XmCRO1rPqSrxIMC85sjyMc8BITORcFAAwxuaZDbu5pNodSJjG4z2AMMmMhECHEhAQbeP53f9cMkldEMhDV08+Nx+9488ISAsH/AEhl0reP4sZJwskcPtOwFSoISCOaLBjTYDjzfyGrJSZiUQZrfCp1BxnRrbN0s3IwU+e13K5JBJWZ8uFQ1pujGZyovOX7bNZ24uBVIY7nkMtnqim3xDZ0uBAcMj58wiBcZlfP/Bmr0KRFBb/4TlqISLbvRZL5JtcCcQTz4kYTqsj4P5DvInrBMj9+uNn7vCZ3cPCgHLGDeR17DTVdJza/IjnozihiV1TBhT4HiDpduVxQD6E02EGeKz8ZYlK+1deUAM9ZnBXK5dRnXeJ4dQofmoqwZMbB+7mIVfowcHnjnN8vDuo9jL48n9IBanKxJA4rMO0mgzqeIOb1IXfxp4Y+tk3Kr/MUf3T3YXN4BunStm4IephcQM6Py9yBAuCXetFGakHlqnuioY0/OKm+VuFIpaV29fT15x2HS+0mQqprdCSsTcTCfSwdT4AMw3g6iNm5HMQMhO3QjMlHuM0dCe4bChv9erqCrzKkWa++izjS3zmwhLIzUEN02vhHXsSSxpLkL7SvemnnMCaS1mCFAaSOYzGxFeniJUPGMNI6lamqOMN7fYFqjI6AAwgUtsYYdpO042mt8numquBQ/Q2G75pPZy+dCjokRJpDtAkV+SwkTHg3BaQeZC6UjoMZe3uf/+OlOSIGG5qCn+GBb3aQkg04YOpMS8ZMDt5BDBRVFQ5oC6aoqahYrFX5TdYI9hyDhCeWPhjivpT9ms4zEbPVI6WtO3DA8/qSwtIDqnG0jOmKIlnjyDc+LxtTz3D7D/bTyYgKcPTu5EqvhpGSF7RpV8AghOp/CXbzOZH7t1DoDqpEBUNduXpDmzDtqkTKhwXtPrO+SQHB+U5rbrNShkd1F6K12a7pUZav1ixPePz91TMy6Yeyn2zFel74YLVEcxfJPDft5FyCpDS5nyxL9vTY/K+uxsaOlOBkiIRv1o6CDn7T9p7AfpB63K+pnZ4+RtQKoqoEF1wLM+rcWHmXi3MbiPgkKyw5J5LZ+HabVg3SYKkvxFezkEcUxgo6LIaWh97+L+NJc5hfoe7Q67nKn3FxSwG7XRjNZtZLitjFze9OixRt75CYbzsRsj5cbhK4e2ychtDMmXzdCrP51qqMT627anm2kGPiHUkL63QciAxD5hg8Z26X9c4kP51o9wl5HcyKwDN/EIsP0cJq0IttWPI8/CLEvPVgPcuCRDHevcrA2vlfLagulI8144BHGfiWOCeLJwqAl2MqqTl1XPmAvq9qshTpfLNlab9etIDxnXw2zZN4oQJjm7nrcaEz9u/N4attpHu6EWd/aaiJjJQIDxbuzzUrOqmdGOw1NjitX7wIZvI4W+WxRWzvU94l5cWAuax+gh88Qg/MuXl2aA0wfAX4DZf/VhraKhzKlmPNttm2PfSY8EEp+0jZXdfwZIS4WhrYAW/2I6RZNpM6j72B46CScUqM4OQrhMZZzc6OReqtiB2f0J0keuiC+hH9lPPnMk/G4WXr3/y8JIzkAQndB+eeBGAnf8uSp3018U9Q1hV03YPuOJlRlgg8i61jth7X67DGORROHIFVSEIEgB1y9Hu5c4H92veaSRGmYzvPnPxZJrHcUZte5ykC/bF/XvtwkO26Mvp28TZKc2mums8fKESJMpKe+5KtxXv0EtaifeJ1WH54Te3CPpUbDW9t1iaWpdSY4lE0kbZIHb2+SMosE0Z0m/djtcPrA37Rrb/N1nh7hNQcWMSoXIoJahjIenJrm3/PiCBOE7eao2zfi4rGtKLrl+FaSAVtrlnLl0FINFhnz1sPYar0z0w2uRHh8TIYSsa3MwdKzgWs3QOP9TC//HhUGxbsWwgHiSXfkJkQ2VgUZ+TcM0+YyRoA+JcXVxuacJvH/t3JLSvKaSsxlUfpE5Olh/ZDRu03paGe5P4yUOiBXvoDvd0jrYWF2XyhWAYj1/B9NsOx/sCddsF6MuySkkqwEBDh2oqKTQLTQm/SluIVyCtsv1H6JhRtm+SruT+hY+qSREgqdOb/Qw9i6egtNILIBkdY6YVFZ3ZhHMY9Tcz1XydCsB2dJcHRVDXwbG4aNuR8Qd/udvANDAFjiT8jYTBWfOHHx9gurLNWolOcphGEwNKlmVieoLBtkptOQwfvlxexI4I3LgL4/EEDN/r6TXWbiUgw2LaBrdqteG73fbHrJgXWSazwmiNjJGA3IYvPW68K1HNMpl0zajKK7GvQuu1We670MxAB5C2aChYmkEMD+yHjDJq8nfVwIZKQ1UUa6/b3L/qfKOJ8zd29QOVgVHg6MTs6tHqZG+Dc6Lxj0BwJzkdHrcj8qBcgSPSX+0OJ1+d1nZHFa2QMLawCZB9/29ggfzZNeBkdmE95jKu8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AALQHnCcSQ1CnJfrA5BhEZ",
      "input": {
        "note": "The left wrist view shows the plush hanging between the two baskets rather than over the left one; the basket lies to the image-left, i.e. +y. Shifting 6 cm toward the basket before releasing.",
        "targets": {
          "left_y": -0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01AALQHnCcSQ1CnJfrA5BhEZ",
      "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]: [-0.6502, 1.5822, 0.9516, -0.0589, -0.5987, -0.4168, 0.4056, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.3991 left_y=-0.174 left_z=0.1427 left_yaw=0.0467 left_pitch=0.0085 left_roll=0.032 left_gripper=0.4056 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -10.0718, 6.6393, 1.8291, -0.188, 0.1685, -0.0073, -0.212, -1.1145, 7.0359, 1.7167, -0.0171, -0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e78b7ecaebe6159a87a323b380fccbdacb31794d928c549bee4a7460c539c5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14052472aba78fe8015c29bbc62ebf254d3789ed59e1d2f73870f237ef402dc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dbb4cb65d3bd030e0090101f202124f4cdcce623a9eabcfc8aacfccd841ccc1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 16.83 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]: [-0.7292, 1.5688, 1.2495, -0.3359, -0.6685, -0.4564, 0.4052, -0.0147, 0.7986, 0.6086, -0.3847, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4009 left_y=-0.2065 left_z=0.2291 left_yaw=0.0432 left_pitch=0.0637 left_roll=0.007 left_gripper=0.4052 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0149 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -9.5248, 9.5385, 1.5409, -0.1197, 0.1538, 0.0757, -0.0615, -1.0325, 7.0632, 1.7753, -0.0562, -0.0806, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7765, 1.6852, 1.1114, -0.1238, -0.696, -0.4946, 0.4055, -0.0147, 0.7986, 0.6086, -0.3851, -0.0116, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.4002 left_y=-0.2293 left_z=0.1597 left_yaw=0.0354 left_pitch=0.0467 left_roll=0.0158 left_gripper=0.4055 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.7333, 5.8598, 1.7021, -0.442, -0.0904, 0.0122, -0.1299, -1.2923, 7.0359, 1.7607, -0.0317, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6502, 1.5822, 0.9516, -0.0589, -0.5987, -0.4168, 0.4056, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.3991 left_y=-0.174 left_z=0.1427 left_yaw=0.0467 left_pitch=0.0085 left_roll=0.032 left_gripper=0.4056 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -10.0718, 6.6393, 1.8291, -0.188, 0.1685, -0.0073, -0.212, -1.1145, 7.0359, 1.7167, -0.0171, -0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e78b7ecaebe6159a87a323b380fccbdacb31794d928c549bee4a7460c539c5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14052472aba78fe8015c29bbc62ebf254d3789ed59e1d2f73870f237ef402dc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbb4cb65d3bd030e0090101f202124f4cdcce623a9eabcfc8aacfccd841ccc1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoAQKjgEIEhgCKkCYsRytaI0ZF9xbQucOv/vS0gmkNjZ/CrXg6b57CKtBb3xxUHty69cAz61Gx/09PRZlbYKsU4cBAPRZBox4xc6pMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfPQzNUGEgzPNe5XhAlu1b/R+3saDI1kWbMrWmBmk2dxryIwdO8mX7ugh9Y+LTKMQE/BFFLrQ50ZNwju3peBLjkiECNFyCGAI6U9rWxNuaiY/Ct7Kr4CiYvGNTYiLmgaFNmPFX1m7G6nC0KPJsdCxOVOp9cjnH9fCDHXkDt9OW3cqmKxQGztlCcNeK5UI4ByU59fusvxIRb1gFKNxvp55K+2hVkVnXrlk5oXVHOp/4mKQvTizLWTx3El/RtZ3IidK/Fv1CnAr1tReoEhUsuv0YlN41erQELC8S09kUUt7wg5QVoJtZBk3OMpZ65T3CCPNExfCe+OmeyE3OwoIu1g2+zI0z6AR8W+ykpKI4rpuykV1xO9yj/cLbakC08jWcOBy8SFSaEv9zAN5lw/MPQ/WSPq9MoGfJ/g2XqnFFNP9Ln64TI5McAFkcqBvtU9rFakYiJF+YqL7GAJTfJ5oA+5olR7Q5Vg825p8pOeJrr3uC5iEuyV+Ztavh1VlP70qi7wz57k4+wQvBwHmPr5cHuKZr/movK0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CLL1Ux3e4jHVooSn3i7fUS",
      "input": {
        "note": "Wrist view now shows the basket interior filling the frame under the jaws. Opening the gripper to drop the plush into the left basket.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01CLL1Ux3e4jHVooSn3i7fUS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.651, 1.5803, 0.9459, -0.0624, -0.5941, -0.4198, 0.9953, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3974 left_y=-0.1739 left_z=0.1403 left_yaw=0.044 left_pitch=0.0011 left_roll=0.0318 left_gripper=0.9953 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -6.9675, 6.9812, 1.58, -0.3248, 0.022, -0.0806, -0.1983, -0.9368, 7.159, 1.7753, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:492c0b183744eba7298ba07400229a54b2df36de56765d4ae02ac073b207495c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7378c38e4fc8b83cf69f339a77dff1ebda7a814e3a69336374e7e80fe4320579",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:008e980432e3e8480a473456df5d06358e7f778376e2b7e44ce39f02b32adff2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 6.562 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]: [-0.7765, 1.6852, 1.1114, -0.1238, -0.696, -0.4946, 0.4055, -0.0147, 0.7986, 0.6086, -0.3851, -0.0116, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.4002 left_y=-0.2293 left_z=0.1597 left_yaw=0.0354 left_pitch=0.0467 left_roll=0.0158 left_gripper=0.4055 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.7333, 5.8598, 1.7021, -0.442, -0.0904, 0.0122, -0.1299, -1.2923, 7.0359, 1.7607, -0.0317, -0.0171, -0.0122]\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]: [-0.6502, 1.5822, 0.9516, -0.0589, -0.5987, -0.4168, 0.4056, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.3991 left_y=-0.174 left_z=0.1427 left_yaw=0.0467 left_pitch=0.0085 left_roll=0.032 left_gripper=0.4056 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -10.0718, 6.6393, 1.8291, -0.188, 0.1685, -0.0073, -0.212, -1.1145, 7.0359, 1.7167, -0.0171, -0.0073, -0.0171]",
      "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]: [-0.651, 1.5803, 0.9459, -0.0624, -0.5941, -0.4198, 0.9953, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3974 left_y=-0.1739 left_z=0.1403 left_yaw=0.044 left_pitch=0.0011 left_roll=0.0318 left_gripper=0.9953 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -6.9675, 6.9812, 1.58, -0.3248, 0.022, -0.0806, -0.1983, -0.9368, 7.159, 1.7753, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:492c0b183744eba7298ba07400229a54b2df36de56765d4ae02ac073b207495c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7378c38e4fc8b83cf69f339a77dff1ebda7a814e3a69336374e7e80fe4320579",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:008e980432e3e8480a473456df5d06358e7f778376e2b7e44ce39f02b32adff2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019zDd7fZgUZom3FsNdEcnNy",
      "input": {
        "note": "The drop failed: the top view shows the plush back on the table just in front of the left basket, so my release point was short of the basket. Returning to the plush to re-grasp it.",
        "targets": {
          "left_x": 0.29,
          "left_y": -0.29,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_019zDd7fZgUZom3FsNdEcnNy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1278, 1.7248, 1.0737, -0.3656, -0.8787, -0.8764, 0.9967, -0.0143, 0.7986, 0.6086, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2924 left_y=-0.2906 left_z=0.1168 left_yaw=0.005 left_pitch=-0.0118 left_roll=0.0309 left_gripper=0.9967 right_x=0.295 right_y=0.0015 right_z=0.1798 right_yaw=0.0012 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -7.5556, 7.9658, 0.9744, -0.6129, -0.0757, 0.1343, -0.1026, -1.2513, 7.0359, 1.6972, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9eb3e4c3badb3c411ecc09c801bf6ed5fbaadb1bdd1dfb0b2c90eff232759114",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a15e38c4aeb0cf2559b71965e8a7a4a1391f13d819141c06be74ae373fc153e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:061eaed2f005dc7729a6d133491c002fb3ad5a6af0656c8db0d52e457bb89654",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 2.693 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]: [-0.6502, 1.5822, 0.9516, -0.0589, -0.5987, -0.4168, 0.4056, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.3991 left_y=-0.174 left_z=0.1427 left_yaw=0.0467 left_pitch=0.0085 left_roll=0.032 left_gripper=0.4056 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -10.0718, 6.6393, 1.8291, -0.188, 0.1685, -0.0073, -0.212, -1.1145, 7.0359, 1.7167, -0.0171, -0.0073, -0.0171]",
      "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]: [-0.651, 1.5803, 0.9459, -0.0624, -0.5941, -0.4198, 0.9953, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3974 left_y=-0.1739 left_z=0.1403 left_yaw=0.044 left_pitch=0.0011 left_roll=0.0318 left_gripper=0.9953 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -6.9675, 6.9812, 1.58, -0.3248, 0.022, -0.0806, -0.1983, -0.9368, 7.159, 1.7753, -0.0366, -0.0611, -0.0122]",
      "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]: [-1.1278, 1.7248, 1.0737, -0.3656, -0.8787, -0.8764, 0.9967, -0.0143, 0.7986, 0.6086, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2924 left_y=-0.2906 left_z=0.1168 left_yaw=0.005 left_pitch=-0.0118 left_roll=0.0309 left_gripper=0.9967 right_x=0.295 right_y=0.0015 right_z=0.1798 right_yaw=0.0012 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -7.5556, 7.9658, 0.9744, -0.6129, -0.0757, 0.1343, -0.1026, -1.2513, 7.0359, 1.6972, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9eb3e4c3badb3c411ecc09c801bf6ed5fbaadb1bdd1dfb0b2c90eff232759114",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a15e38c4aeb0cf2559b71965e8a7a4a1391f13d819141c06be74ae373fc153e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:061eaed2f005dc7729a6d133491c002fb3ad5a6af0656c8db0d52e457bb89654",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISowcKjgEIEhgCKkBZXl1D/wnbpiONIBxsIP4WU9vKTHIDSlthIFgv/D3H+DI7+71KJ2T/RODvFtjWg/zNMjs6n12IoIQhOprgsjUmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYvRzNUGEgytfS4y21eAH6ISS1UaDKkAtZnYqG8i7qU1BCIwY7DKvBW5wRqk3tXTGpT9K6hetCShY92bACXyefYlE79QAaLrKSppokSckExL22l2KsEFp+x213mFf9fdUITqGlK1HSyUWB/0K+3MRWdY2TmucuBcyC9Gb31iaxmXnjJIprLP8U4bDD0imIeSsubuRbvK63cTo+Iw55b/ix7satL+JbARTXclfpwbmGzMHQnvwgrRWxnpEs6CiiEeYA7XRk3cwgSxSSXMGeJGSwk7CRRjuec5kmZnj+C9Ll68/L9WEAAstZgF437leIFtm7SqZIcau9VL114hBeFWa6RZ4Cr7Yd94n3wast+i1V0dbRofPKVEfkC5WdEdnUQs64lkhUf0jRy7BGushnXlpc9kk6GYN2gX3Zla+6XO5QR9IZNApRp9aEXOKrxcFTGuKxn+xMX9n4PZuQrE9xXYggBHBXpSKuEBPK78MGKcZNcB8VFOG3PsMFFoQDrovsE7Bn5aDpu81NueKtaKzSEOfNXI6UNXSE8nNn2Wv6FIgRxJOMC58TtOX5mTEEdoSVIvhKYWy9B3cp2uhn+f+wUJyoVPcRFLcCT1L+ZAs1cjeHwc8V8qfoJ0wFJLOrcxYZsg8202+y9NroaysL5kUlUpaDlVU0X+h3ljyOEbm4L6hVSP7Vp4cskfL62elwMy5mcMEGmsI/5OKsJRexmwHYquA2sN9Red9JRpwnX1/oveZ+559WXZUcY9naVKJmxU1MwovV2/WLVrHZCyR+pTNK6DR7x1XaDopSGrO0/Zqy8TSpLSHZjB1vkT4gNExzMuRJpvhgL1q9HIym5ze0IBj1kPYVq8GZC0oMD0wguaVj37KIecAMIy02jC37uUJeQawt/UlkKlHAxyQAsZ0NtYCJoVrZNry9ue+tba6QrLPbtB2TVxAtDMNhQCkRA3vNNeqaxdPM4yhVmM0vT1IGEVxRcQb00M3ddS2/nZhr4GYfXjXexrAl1AWGtVdg+07BHG5gp1acDIhiukoAeeuN49iZqvzj69usTPxsWhGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013THcKeZqfn4TH79oYLQYG7",
      "input": {
        "note": "Wrist view shows the teddy bear directly under the jaws again. Descending to table level to re-grasp it.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013THcKeZqfn4TH79oYLQYG7",
      "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]: [-1.1278, 1.9011, 0.9375, -0.0128, -0.9176, -0.8566, 0.9988, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2989 left_y=-0.2944 left_z=0.0479 left_yaw=0.0159 left_pitch=0.0344 left_roll=0.0247 left_gripper=0.9988 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -5.8462, 2.7145, 0.8181, 0.0904, -0.3297, -0.1245, -0.253, -1.2786, 7.0906, 1.7216, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:558d6daddb3942abd51076075b678d38c7bcbc959e82bac8e24ec8381dd0e2b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1685740cf9b5db830e55ba5c3cb861e192123d1db62069342e5a93009b6bebfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:55369cc6d7472c66c9b210f0c3d09f08e05a8fa218c185e4cd98d4e40a711d40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 11.28 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]: [-0.651, 1.5803, 0.9459, -0.0624, -0.5941, -0.4198, 0.9953, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.3974 left_y=-0.1739 left_z=0.1403 left_yaw=0.044 left_pitch=0.0011 left_roll=0.0318 left_gripper=0.9953 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -6.9675, 6.9812, 1.58, -0.3248, 0.022, -0.0806, -0.1983, -0.9368, 7.159, 1.7753, -0.0366, -0.0611, -0.0122]",
      "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]: [-1.1278, 1.7248, 1.0737, -0.3656, -0.8787, -0.8764, 0.9967, -0.0143, 0.7986, 0.6086, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2924 left_y=-0.2906 left_z=0.1168 left_yaw=0.005 left_pitch=-0.0118 left_roll=0.0309 left_gripper=0.9967 right_x=0.295 right_y=0.0015 right_z=0.1798 right_yaw=0.0012 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -7.5556, 7.9658, 0.9744, -0.6129, -0.0757, 0.1343, -0.1026, -1.2513, 7.0359, 1.6972, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1278, 1.9011, 0.9375, -0.0128, -0.9176, -0.8566, 0.9988, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2989 left_y=-0.2944 left_z=0.0479 left_yaw=0.0159 left_pitch=0.0344 left_roll=0.0247 left_gripper=0.9988 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -5.8462, 2.7145, 0.8181, 0.0904, -0.3297, -0.1245, -0.253, -1.2786, 7.0906, 1.7216, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:558d6daddb3942abd51076075b678d38c7bcbc959e82bac8e24ec8381dd0e2b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1685740cf9b5db830e55ba5c3cb861e192123d1db62069342e5a93009b6bebfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55369cc6d7472c66c9b210f0c3d09f08e05a8fa218c185e4cd98d4e40a711d40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LiY47KWMEUqCmkjutdy4QP",
      "input": {
        "note": "Contact with the plush at z=0.048. Closing the gripper on the bear.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LiY47KWMEUqCmkjutdy4QP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1278, 1.9053, 0.936, 0.0158, -0.9443, -0.8459, 0.286, -0.0147, 0.7986, 0.6086, -0.3851, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.302 left_y=-0.2943 left_z=0.0519 left_yaw=0.026 left_pitch=0.0636 left_roll=0.0222 left_gripper=0.286 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -9.1419, 5.2991, 0.8669, -0.1734, -0.1538, 0.7643, -0.1709, -1.2513, 7.0632, 1.707, -0.0317, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a1849a923cca7b11f4ae319cd654345288c1490c5f8be414af247e5979f3447",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:651afd3560cbe35a4c3a75718e9b75d923d2096e90dad486ecb171d038176024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8633e56e08902110d4224851b23c9d7eab5bdde9f7dd9b7b84521dad2429c68c",
        "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 · 4.755 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]: [-1.1278, 1.7248, 1.0737, -0.3656, -0.8787, -0.8764, 0.9967, -0.0143, 0.7986, 0.6086, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2924 left_y=-0.2906 left_z=0.1168 left_yaw=0.005 left_pitch=-0.0118 left_roll=0.0309 left_gripper=0.9967 right_x=0.295 right_y=0.0015 right_z=0.1798 right_yaw=0.0012 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -7.5556, 7.9658, 0.9744, -0.6129, -0.0757, 0.1343, -0.1026, -1.2513, 7.0359, 1.6972, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1278, 1.9011, 0.9375, -0.0128, -0.9176, -0.8566, 0.9988, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2989 left_y=-0.2944 left_z=0.0479 left_yaw=0.0159 left_pitch=0.0344 left_roll=0.0247 left_gripper=0.9988 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -5.8462, 2.7145, 0.8181, 0.0904, -0.3297, -0.1245, -0.253, -1.2786, 7.0906, 1.7216, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1278, 1.9053, 0.936, 0.0158, -0.9443, -0.8459, 0.286, -0.0147, 0.7986, 0.6086, -0.3851, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.302 left_y=-0.2943 left_z=0.0519 left_yaw=0.026 left_pitch=0.0636 left_roll=0.0222 left_gripper=0.286 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -9.1419, 5.2991, 0.8669, -0.1734, -0.1538, 0.7643, -0.1709, -1.2513, 7.0632, 1.707, -0.0317, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a1849a923cca7b11f4ae319cd654345288c1490c5f8be414af247e5979f3447",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:651afd3560cbe35a4c3a75718e9b75d923d2096e90dad486ecb171d038176024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8633e56e08902110d4224851b23c9d7eab5bdde9f7dd9b7b84521dad2429c68c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISowwKjgEIEhgCKkDBx8HtT0f3d3mfLhLrDxFlybK1vxiwZDyqQnzgnKlP49Kmn3oMgMS5c970W9FiFc6a7JUsORZSXB3t4a4TFbmYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZrRzNUGEgzdZEFdndJnfw2ZQAAaDKX80CTr4+MM6OigiiIw1IPwZVCeQApYxQk7kT4VzUmdrMFPuN+D1/OkeIP9/jbA0MDOrblhPuUPiZOinJouKsEK/WOF5MEmNJWFBLqEOcSzHEqdLnyaPbhFxSGbDIuA0uA+WuHN2PtQlDmyb5NVRQ/Sn/psNgjwRZonNwdwliGaw1jNk8OOdt3dSpHJLXut62i43Go9t+5fM8ADFbhJ6iBaUhy5DvLfHAiAzd3dkHjlR2IuiUmyIPhS1wi6p/qngdlEx/FKd5wIQf8qKmmCdH4mlcsktaYq9kC7E8QmQBrqg6YnotPGin3xLMK3OipcGclU/m9cQWaB+oDGxCS0qWf1WcQR/497h8TVNgojjFO4PjKUtBQBmVNHymzA7nhTv0+3WXBLCUShfK18UFeRRI61Tb3gZbQGri7aipyZrsuAMX/PkAgW3fo93DWC5O1S0dXyopC2ckJ8Cd+TzkEzYob2ffuW/qrsHOYZYPyPm0qGPxd90nCTwLhS2sWH+FRFX5Tx1W0Nle3eQTnjgURxwta5RKoI+KG5k1Q18IVJP6yanB9vrVZE4B9bLHeXVDrMfOrM7Epl3F11mvKtIOiWsCNdptUCeIX6fl/MSoqnATW+kiNvRBtfPJgtBKTnOYccaVjjy4imuAlqzojiJ6d0dBoE+ODu0z4cs6qS9jv9ui40oKGV0LXPGBEa2GMVivjzZrX0psYo2yFgyEVuyVHGmg+cyQIX7Jjhj4jKk7mIcvOxNEKjnopOwOQCPYeLkX6CN8HnFl7L49l4UMzoktUyqdqLGk9o1o6U/A1EgoVOu0dAmGgC80hMWJjVKAfaOH1UsrDx+RkeC0lo35obK096dzcv4vuv2oYEgq4+SYw1nPiKx1RDGY1yZdircr4JF8+umYvjuWPTwdnvITJQHgtMF1xwCrN3+Y3+PzHpcws/NWi0uHmIUnzv86/FusKdM0Wm8j/Bmz9jA0LQPl6WlLGfGYLm0B7uc4iOKvIKaALMij1H947/10Vg8Eo6YgLxV9ni8KQNxkybj+vDy9qGN68JHf3AMSBNH4JSO0NHtG5RYvzJfBA/eI5F0jBLSWoRCLzMuzjEF09WZjrdq2enmblaAcABCN+hzfuHogE+xJ+x/IOjl4gospg5ZSIjkUd63RBL+/LXwtZSz+3va98jn5vAiwk9AP38MUkvNCycMjTmd9iZ5/33gQsK/nojdhrLEZ8737FlZtLC48nF84jPXJxATYWga4Syn/pGkQ2WG9sCfg1MEEHSH872P6gkRFbruR4hU72ZAGMgOQRmJssOzIWRT+IqhGs20u0H2PYxOmCF1Od9upzxsEFbQr0psQviyl0E3YU5l5U8yw0FFj4svU+ILzp0MHCKsIeOpX0Cqtb3Y7ZPO48rSvnOqtdWx7I66XV3ddH9lLqQc1MtIx6MMhtDy/X+FDUMb/BOnJqfa25VLgK3aPUsON86eQZyGnTSDiBLssChm5RTWtaNwQEyF4VbYrXmMmyn4jErvTIgC6la2hbp7hcT1yJ7n4UF13TpsTU0QPbQVry7jZKDfxwjK5khdhGuul0bM5SI8mYkYUjHHzHJ/nh6RzilUXEMgQaLj20QzqkiuRs6ZIcFfGEizn1iNZnCzyl+SHHg6mSPIhzBXp7hgxa02sqXqBoJgn95Zj6WtTto+1ZegT5aznrj9cui7HtxrIAJbTHLcpzDeHynQdwQt2chtziCc9FL4dno5vrfg6hXiQqtT5ItjPGUuucwPRS+8cmJiCAwWplDQOQQjmBHoeWSZR0zBg2SpzpipyvO0QZ8leCJMAGdBsJdBYBLFp+H+BBdbX1mDVrMRKEp3unMqer+V/rox/0atUNIJNtstolCvCX8RPUMA8DRLeU/YEx8mRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LSGUDQazyLLLN5Y7ZPpkTM",
      "input": {
        "note": "Bear grasped again (gripper 0.29). Last time I released too short of the basket, so this time carrying 6 cm further forward, to x=0.46 above the left basket.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.2,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01LSGUDQazyLLLN5Y7ZPpkTM",
      "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]: [-0.6182, 1.7271, 1.4212, -0.3275, -0.5911, -0.3977, 0.2881, -0.0143, 0.7986, 0.6086, -0.3847, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4565 left_y=-0.1995 left_z=0.2281 left_yaw=0.0637 left_pitch=0.0484 left_roll=0.0091 left_gripper=0.2881 right_x=0.295 right_y=0.0015 right_z=0.1798 right_yaw=0.0012 right_pitch=-0.0149 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -9.3197, 9.4838, 1.453, -0.1392, 0.2418, 0.1978, -0.0889, -1.1692, 7.0906, 1.7802, -0.0366, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51da6f12ad90328812ca5265ac08da6c507151862c7c18d3c3eaddaea33cbabe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6a3dd94bfdef1c733faba81bc1b9bbfb26f2de1abb8a60c9c96ff306e2d6d9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:88b48051d1d5a0bb86f023c9f9a34dfaed0d51cd29c761c2f0083394292e9c41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.592 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]: [-1.1278, 1.9011, 0.9375, -0.0128, -0.9176, -0.8566, 0.9988, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2989 left_y=-0.2944 left_z=0.0479 left_yaw=0.0159 left_pitch=0.0344 left_roll=0.0247 left_gripper=0.9988 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -5.8462, 2.7145, 0.8181, 0.0904, -0.3297, -0.1245, -0.253, -1.2786, 7.0906, 1.7216, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1278, 1.9053, 0.936, 0.0158, -0.9443, -0.8459, 0.286, -0.0147, 0.7986, 0.6086, -0.3851, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.302 left_y=-0.2943 left_z=0.0519 left_yaw=0.026 left_pitch=0.0636 left_roll=0.0222 left_gripper=0.286 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -9.1419, 5.2991, 0.8669, -0.1734, -0.1538, 0.7643, -0.1709, -1.2513, 7.0632, 1.707, -0.0317, -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 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]: [-0.6182, 1.7271, 1.4212, -0.3275, -0.5911, -0.3977, 0.2881, -0.0143, 0.7986, 0.6086, -0.3847, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4565 left_y=-0.1995 left_z=0.2281 left_yaw=0.0637 left_pitch=0.0484 left_roll=0.0091 left_gripper=0.2881 right_x=0.295 right_y=0.0015 right_z=0.1798 right_yaw=0.0012 right_pitch=-0.0149 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -9.3197, 9.4838, 1.453, -0.1392, 0.2418, 0.1978, -0.0889, -1.1692, 7.0906, 1.7802, -0.0366, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51da6f12ad90328812ca5265ac08da6c507151862c7c18d3c3eaddaea33cbabe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6a3dd94bfdef1c733faba81bc1b9bbfb26f2de1abb8a60c9c96ff306e2d6d9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88b48051d1d5a0bb86f023c9f9a34dfaed0d51cd29c761c2f0083394292e9c41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7gQKjgEIEhgCKkBxB/wAoJzhjLZGm+XhsjTgCeiWrtWOwbWy6SP9rYRzCfGKOVTvFQTVOfI/SBaqsdluekkBakKLD5Seg+iEwqhLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaHRzNUGEgyMDO8MxrGGZFasf2gaDD1TLnDtLpSw6pW/5SIw/QwS5KidXPey+ijmQ+9C2wqJrC38e3ughvmyDPBisljHpr+heKoAMPgkXrdfxNo/KowDcjMVI8urEQrA8s4kwYQKMz+RkGYZIZp78NT5yl++vlZQJlq67LG86BZcMFvvyhPT+RO4gHeHXFbHy0A9zgK0JSDn0wuB+Ue+wvge7QsYtBpjOBFv6Vv7q5gF3IT+BgfBSvy8tbZJzvNwQICht8+tMkPdx3MqbZYGeEX2Cz4s5iHaRt9jKz3srEX0ZNNpud5GPHTgK+UkFRZxfJnvpS7//utFr22egWaENxrLrKP5/s8eDKpBImyk3I4gSXPeSybfqirNChpp4tTvxwT/ju8O4BaMDdBShftZVXa+X2tJRCf0vzOZkkJSSNCi9ePqxXu87JVs2jDnhbSmICEHFJ090VL9fnTMD/S7mNe8wHSdMmhFr+jzm80lVlcAn6wGDKlfcbXZBJyZRdbj0YD+fWoSXf49qxRub0ncarpoMoc6qM4rbUvRsVrgjTQI4UxxC4BqezNhZlKCRVm+OiCnp0kKHXSSFYZLcMzji/aJu//wUpR1KAp3sVa7+j2X4TO2ULTnZg+mYQt4QFUEYM2CGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jc6X4qSKQn6YwAHZLrq4co",
      "input": {
        "note": "Top view shows the held bear now over the left basket's interior. Lowering into the basket before releasing.",
        "targets": {
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Jc6X4qSKQn6YwAHZLrq4co",
      "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]: [-0.6193, 1.7767, 1.1854, -0.0387, -0.6025, -0.3927, 0.2887, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.4553 left_y=-0.1972 left_z=0.1568 left_yaw=0.069 left_pitch=0.0553 left_roll=0.0165 left_gripper=0.2887 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -6.7897, 5.3402, 1.3651, -0.0024, -0.1099, 0.0611, -0.0752, -1.2376, 7.1179, 1.7949, -0.0562, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5c01dd4db2c1228858b739fe21a9e0a3bf94425f8e7428fc795dbfd8454ef2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8abab321fbada834441d7767fc3b9b8f3c72dec3c090ca7f03df4092fb006f9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cfa5f5de1ebfb6a5c2fb9b441982a396a0a99762601832a81519f3ed2ed4f641",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 13 attempt 0 · /messages · status 200 · 7.761 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]: [-1.1278, 1.9053, 0.936, 0.0158, -0.9443, -0.8459, 0.286, -0.0147, 0.7986, 0.6086, -0.3851, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.302 left_y=-0.2943 left_z=0.0519 left_yaw=0.026 left_pitch=0.0636 left_roll=0.0222 left_gripper=0.286 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -9.1419, 5.2991, 0.8669, -0.1734, -0.1538, 0.7643, -0.1709, -1.2513, 7.0632, 1.707, -0.0317, -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 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]: [-0.6182, 1.7271, 1.4212, -0.3275, -0.5911, -0.3977, 0.2881, -0.0143, 0.7986, 0.6086, -0.3847, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4565 left_y=-0.1995 left_z=0.2281 left_yaw=0.0637 left_pitch=0.0484 left_roll=0.0091 left_gripper=0.2881 right_x=0.295 right_y=0.0015 right_z=0.1798 right_yaw=0.0012 right_pitch=-0.0149 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -9.3197, 9.4838, 1.453, -0.1392, 0.2418, 0.1978, -0.0889, -1.1692, 7.0906, 1.7802, -0.0366, -0.0562, -0.0171]\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 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]: [-0.6193, 1.7767, 1.1854, -0.0387, -0.6025, -0.3927, 0.2887, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.4553 left_y=-0.1972 left_z=0.1568 left_yaw=0.069 left_pitch=0.0553 left_roll=0.0165 left_gripper=0.2887 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -6.7897, 5.3402, 1.3651, -0.0024, -0.1099, 0.0611, -0.0752, -1.2376, 7.1179, 1.7949, -0.0562, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5c01dd4db2c1228858b739fe21a9e0a3bf94425f8e7428fc795dbfd8454ef2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8abab321fbada834441d7767fc3b9b8f3c72dec3c090ca7f03df4092fb006f9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfa5f5de1ebfb6a5c2fb9b441982a396a0a99762601832a81519f3ed2ed4f641",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4AMKjgEIEhgCKkCSJhqCZ11ZGCRVyxvQY7rNFmJIHTFNfbGNdUZvDURY93tu5ZUIGLS13ss0NSjISpNkZzv/gXLoE47qSwZbRzsDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAabRzNUGEgw9JpnknToC8DmSLUcaDNVIT1aneOxlUyI6OSIwfiCADrN07hPnb1r+dA8VbqN88VVjVupi10rKoruxjxPKigC8e19Xe1ty92jOMWwgKv4BPqikR2e05tSqQ5wNtWMS/nXLOayikhIRrdqgrqtYRdAWysgGT2Ab9ZrYIpy8fr0HHe1FR1Vps1Xaw4XKsc0d7wUx1tAH4izh01MtNusu/Ko4ucMqhW0jFu+TONAxPtxi85U2bbBR4j2mMDDqCSyOgI+oMVQvd5sAT4VduBCnA/7KTsne5G9vsRZB6+TsT6Z/7ElmbnuymV9z6KhLPRDI4DfnShqb2jcHgIDG4PsxMjWmFJD8iOEooDO8IanNdkA7ytrsK7A0SXfAzxe80JpNgUvX1Pf+xndH622PbmFxkaLzBYjCCoTiRPLHDPzr8dfnpJUfHZC92eFBt9DpqYIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AN9kbNUoknHjb9GzdmiViw",
      "input": {
        "note": "The bear is down inside the left basket (descent stopped early, indicating contact). Opening the gripper to release it.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01AN9kbNUoknHjb9GzdmiViw",
      "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]: [-0.6193, 1.7805, 1.1721, 0.0006, -0.6052, -0.3927, 0.9954, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4571 left_y=-0.1981 left_z=0.1566 left_yaw=0.072 left_pitch=0.0734 left_roll=0.0036 left_gripper=0.9954 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -9.4154, 7.8017, 1.2234, -0.2027, -0.0659, -0.0952, -0.253, -1.2786, 7.0769, 1.7265, -0.0171, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b244b8fef0db734e6ec5ca3d54191a873b0d1579e8e304110dd58d387c66caa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2eedbfce3c9f37b8ce2271ec7434bce2293f0e7ff96d692febc9e04353e1de8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3eb9418d7a076d3b16d9500d357072f9559fc5f0b0c57b7c8e2e0b5dcc621734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 14 attempt 0 · /messages · status 200 · 18.22 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]: [-0.6182, 1.7271, 1.4212, -0.3275, -0.5911, -0.3977, 0.2881, -0.0143, 0.7986, 0.6086, -0.3847, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4565 left_y=-0.1995 left_z=0.2281 left_yaw=0.0637 left_pitch=0.0484 left_roll=0.0091 left_gripper=0.2881 right_x=0.295 right_y=0.0015 right_z=0.1798 right_yaw=0.0012 right_pitch=-0.0149 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -9.3197, 9.4838, 1.453, -0.1392, 0.2418, 0.1978, -0.0889, -1.1692, 7.0906, 1.7802, -0.0366, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.6193, 1.7767, 1.1854, -0.0387, -0.6025, -0.3927, 0.2887, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.4553 left_y=-0.1972 left_z=0.1568 left_yaw=0.069 left_pitch=0.0553 left_roll=0.0165 left_gripper=0.2887 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -6.7897, 5.3402, 1.3651, -0.0024, -0.1099, 0.0611, -0.0752, -1.2376, 7.1179, 1.7949, -0.0562, -0.0171, -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 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]: [-0.6193, 1.7805, 1.1721, 0.0006, -0.6052, -0.3927, 0.9954, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4571 left_y=-0.1981 left_z=0.1566 left_yaw=0.072 left_pitch=0.0734 left_roll=0.0036 left_gripper=0.9954 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -9.4154, 7.8017, 1.2234, -0.2027, -0.0659, -0.0952, -0.253, -1.2786, 7.0769, 1.7265, -0.0171, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b244b8fef0db734e6ec5ca3d54191a873b0d1579e8e304110dd58d387c66caa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2eedbfce3c9f37b8ce2271ec7434bce2293f0e7ff96d692febc9e04353e1de8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3eb9418d7a076d3b16d9500d357072f9559fc5f0b0c57b7c8e2e0b5dcc621734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvwYKjgEIEhgCKkBvfz0IWqxtPSP3IU8T+jZh7rYChE20IQEIXBUFhA92QrtiXosXW+VYcDDPWiyIFZsAdCcaEn23SzCgJp+Usdx9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa7RzNUGEgxEg6/0zlfMAKohZ08aDJXzG4aaSlAptGg3ZCIwUkpSuWuzC4sBNGonorjILuK2iBJ2C1qr23/dTuly5MEjWPmwbZiG6cznuws3oyv3Kt0Edt8tV8AFcAExojLvnyGu8rdpHrtsY1lzuL2Gq1fuPdAHrASbYwbkRSM+ow/1EhF2zArd0b4sOeftdQrNrv2ndfrYFYcwrPi0n+nuIV3jrIaYVmhRcoaNdsVkmyL3DBZIR4MGcwUHAejq8+xxcuFmzeuk1PVFI4cAsjySAuDvDsT2OzHEA41QM8U/8XQuuCj6cbGOqG6q54pYZleZBE6l7mQ0YzlgtOMTFanSV3FODDOyu0U2Pt1X9EFuEK1I3Gexh/49kybCr9UPoYbf7311u73/wH8/a2r05LjCDe7DTS8kBEpYLNxvgT/oqIOX614K9mA3SXxIYijtFo835dr4dhzsROMXVvr5f1Jwi89kCaIi31IYFJSMbVnvR4s+D+VpHo+O/97sLqAatx3pIn35/eb0r/JXVO47kmbyUzWthCsV8YYJ2CuEzaNjkLnTugHccf6YZDNS5eLtvnmygBsjBmQWw0355PmQoof+IsyJIVbqAJQ3Ig44e/itVaeXqcheu7ryb+9COovEegZ+Dvo/osB39eQHejX9Ro0/XXtorbz2gDuGv3ol+y6GOq1pa5J3veTJwuuBPt5LBssA1AjijLx3WS8nUGVM7MD/lSxmP6X+7oT0jZVg/BVLpIPqOlbYqZ7qe7SSRHqKHx7ZxRHPTtmoJqWkbPT89zGfZe8Nwu9yhy72gtVFVHjOLl9jNHyVWBQ0kVnfN26rG6wWZKWneI5vy8Zr8bULGuJidPX76DYC45j4NBAyBIEI5JjZxpssXKlu3VYUNI+yNywlfs8hrVdBjcvJL1FAiwDV0ugYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gzz79RdDHKChbotyQHp4Kz",
      "input": {
        "note": "Released the bear over the left basket. Retracting the left arm out of the way so the overhead camera can show whether it landed inside.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.05,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01Gzz79RdDHKChbotyQHp4Kz",
      "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]: [-0.6201, 0.6949, 0.6991, -0.5522, -0.6018, -0.3931, 0.9967, -0.0147, 0.8024, 0.6086, -0.392, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2606 left_y=-0.0588 left_z=0.2299 left_yaw=0.0723 left_pitch=0.1183 left_roll=-0.0365 left_gripper=0.9967 right_x=0.2943 right_y=0.0014 right_z=0.1773 right_yaw=0.0008 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -0.0342, 6.7214, 1.746, -0.2222, -0.022, 0.1294, -0.1436, -1.5795, 7.0222, 1.8242, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:232a095926a724180bdad3184ccf51d62149c01aa6ca6fb0783b7fe8de3c0aa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a297f5835cf10eae145a0ea8b263e759ce349c3d993e44518296b640811bffe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:07ee1e84b306fbbd4ad09cdb4f686a3c7887c5fbc6efab5681f70eeab72af65b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 14.45 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]: [-0.6193, 1.7767, 1.1854, -0.0387, -0.6025, -0.3927, 0.2887, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.4553 left_y=-0.1972 left_z=0.1568 left_yaw=0.069 left_pitch=0.0553 left_roll=0.0165 left_gripper=0.2887 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -6.7897, 5.3402, 1.3651, -0.0024, -0.1099, 0.0611, -0.0752, -1.2376, 7.1179, 1.7949, -0.0562, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6193, 1.7805, 1.1721, 0.0006, -0.6052, -0.3927, 0.9954, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4571 left_y=-0.1981 left_z=0.1566 left_yaw=0.072 left_pitch=0.0734 left_roll=0.0036 left_gripper=0.9954 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -9.4154, 7.8017, 1.2234, -0.2027, -0.0659, -0.0952, -0.253, -1.2786, 7.0769, 1.7265, -0.0171, -0.0366, -0.0171]",
      "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]: [-0.6201, 0.6949, 0.6991, -0.5522, -0.6018, -0.3931, 0.9967, -0.0147, 0.8024, 0.6086, -0.392, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2606 left_y=-0.0588 left_z=0.2299 left_yaw=0.0723 left_pitch=0.1183 left_roll=-0.0365 left_gripper=0.9967 right_x=0.2943 right_y=0.0014 right_z=0.1773 right_yaw=0.0008 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -0.0342, 6.7214, 1.746, -0.2222, -0.022, 0.1294, -0.1436, -1.5795, 7.0222, 1.8242, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:232a095926a724180bdad3184ccf51d62149c01aa6ca6fb0783b7fe8de3c0aa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a297f5835cf10eae145a0ea8b263e759ce349c3d993e44518296b640811bffe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07ee1e84b306fbbd4ad09cdb4f686a3c7887c5fbc6efab5681f70eeab72af65b",
        "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_01Wg1buPyQHqoaLiHfAXyiXc",
      "input": {
        "note": "The bear ended up leaning against the near rim of the left basket, not inside — the basket is further forward than my release point. Probing with the empty gripper at x=0.52 to see where that lands relative to the basket in the overhead view.",
        "targets": {
          "left_x": 0.52,
          "left_y": -0.2,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01Wg1buPyQHqoaLiHfAXyiXc",
      "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]: [-0.5415, 1.9152, 1.3716, -0.0113, -0.5301, -0.3649, 0.9968, -0.0147, 0.8051, 0.6083, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.5099 left_y=-0.1983 left_z=0.1681 left_yaw=0.0774 left_pitch=0.0903 left_roll=-0.0368 left_gripper=0.9968 right_x=0.2943 right_y=0.0014 right_z=0.1762 right_yaw=0.0009 right_pitch=-0.0298 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.6632, -11.0427, 8.335, 1.6825, -0.1929, 0.2369, 0.0024, -0.1983, -1.4974, 7.0496, 1.6972, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97bbddf114e11ddd1a93963b5932a96e4b35c36f153acf286855d44122f7a19f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ecd5186955d6149c1fc7e0a03eec1ceeb4a9516e7a0e07054bc9bc29a3b32ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bbbe0e4a1ce888892f5f3746daf308180b59a69e8dd4e7ccfead167040ae9777",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 13.05 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]: [-0.6193, 1.7805, 1.1721, 0.0006, -0.6052, -0.3927, 0.9954, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4571 left_y=-0.1981 left_z=0.1566 left_yaw=0.072 left_pitch=0.0734 left_roll=0.0036 left_gripper=0.9954 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -9.4154, 7.8017, 1.2234, -0.2027, -0.0659, -0.0952, -0.253, -1.2786, 7.0769, 1.7265, -0.0171, -0.0366, -0.0171]",
      "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]: [-0.6201, 0.6949, 0.6991, -0.5522, -0.6018, -0.3931, 0.9967, -0.0147, 0.8024, 0.6086, -0.392, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2606 left_y=-0.0588 left_z=0.2299 left_yaw=0.0723 left_pitch=0.1183 left_roll=-0.0365 left_gripper=0.9967 right_x=0.2943 right_y=0.0014 right_z=0.1773 right_yaw=0.0008 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -0.0342, 6.7214, 1.746, -0.2222, -0.022, 0.1294, -0.1436, -1.5795, 7.0222, 1.8242, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5415, 1.9152, 1.3716, -0.0113, -0.5301, -0.3649, 0.9968, -0.0147, 0.8051, 0.6083, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.5099 left_y=-0.1983 left_z=0.1681 left_yaw=0.0774 left_pitch=0.0903 left_roll=-0.0368 left_gripper=0.9968 right_x=0.2943 right_y=0.0014 right_z=0.1762 right_yaw=0.0009 right_pitch=-0.0298 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.6632, -11.0427, 8.335, 1.6825, -0.1929, 0.2369, 0.0024, -0.1983, -1.4974, 7.0496, 1.6972, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97bbddf114e11ddd1a93963b5932a96e4b35c36f153acf286855d44122f7a19f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ecd5186955d6149c1fc7e0a03eec1ceeb4a9516e7a0e07054bc9bc29a3b32ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbbe0e4a1ce888892f5f3746daf308180b59a69e8dd4e7ccfead167040ae9777",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013iN7FV9ip79bbHAo5aFeFf",
      "input": {
        "note": "At x=0.51 the wrist camera shows the basket off to the image-left, so the basket centre is at a less-negative y. Shifting +7 cm in y to line up over the basket interior.",
        "targets": {
          "left_y": -0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013iN7FV9ip79bbHAo5aFeFf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3962, 1.8484, 1.2278, 0.0422, -0.4236, -0.3008, 0.9968, -0.0147, 0.8078, 0.6083, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.5093 left_y=-0.1304 left_z=0.146 left_yaw=0.101 left_pitch=0.0406 left_roll=-0.0164 left_gripper=0.9968 right_x=0.2945 right_y=0.0014 right_z=0.1755 right_yaw=0.0009 right_pitch=-0.0324 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -12.3282, 6.4205, 1.9609, -0.0464, 0.1929, -0.0122, -0.253, -1.4564, 7.0085, 1.7167, -0.0415, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4c7f0b6ff41dc6d649eae529f944bf36aa9c153a54c7f096e78c8e2ebc427b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c59b10835fb62e0807ef14cd691b3f008ef400c3281e11f23bbdf53b572616cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7dade218fae94f6ab94a35e181e912209f8796b85c1adef0444ac0ce9cfaa96b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /messages · status 200 · 4.16 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]: [-0.6201, 0.6949, 0.6991, -0.5522, -0.6018, -0.3931, 0.9967, -0.0147, 0.8024, 0.6086, -0.392, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.2606 left_y=-0.0588 left_z=0.2299 left_yaw=0.0723 left_pitch=0.1183 left_roll=-0.0365 left_gripper=0.9967 right_x=0.2943 right_y=0.0014 right_z=0.1773 right_yaw=0.0008 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -0.0342, 6.7214, 1.746, -0.2222, -0.022, 0.1294, -0.1436, -1.5795, 7.0222, 1.8242, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5415, 1.9152, 1.3716, -0.0113, -0.5301, -0.3649, 0.9968, -0.0147, 0.8051, 0.6083, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.5099 left_y=-0.1983 left_z=0.1681 left_yaw=0.0774 left_pitch=0.0903 left_roll=-0.0368 left_gripper=0.9968 right_x=0.2943 right_y=0.0014 right_z=0.1762 right_yaw=0.0009 right_pitch=-0.0298 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.6632, -11.0427, 8.335, 1.6825, -0.1929, 0.2369, 0.0024, -0.1983, -1.4974, 7.0496, 1.6972, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3962, 1.8484, 1.2278, 0.0422, -0.4236, -0.3008, 0.9968, -0.0147, 0.8078, 0.6083, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.5093 left_y=-0.1304 left_z=0.146 left_yaw=0.101 left_pitch=0.0406 left_roll=-0.0164 left_gripper=0.9968 right_x=0.2945 right_y=0.0014 right_z=0.1755 right_yaw=0.0009 right_pitch=-0.0324 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -12.3282, 6.4205, 1.9609, -0.0464, 0.1929, -0.0122, -0.253, -1.4564, 7.0085, 1.7167, -0.0415, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4c7f0b6ff41dc6d649eae529f944bf36aa9c153a54c7f096e78c8e2ebc427b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c59b10835fb62e0807ef14cd691b3f008ef400c3281e11f23bbdf53b572616cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dade218fae94f6ab94a35e181e912209f8796b85c1adef0444ac0ce9cfaa96b",
        "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_01BCQTxqN23AwESHrL3CsZe8",
      "input": {
        "note": "Wrist view now shows the basket interior centred under the jaws — good release pose (x≈0.51, y≈-0.12). First moving back to the bear, which shows at the right edge of the wrist frame, to re-grasp it.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.21,
          "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_01BCQTxqN23AwESHrL3CsZe8",
      "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]: [-0.6117, 1.8912, 1.2114, 0.0456, -0.5766, -0.429, 0.9968, -0.0147, 0.8082, 0.6083, -0.3923, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4726 left_y=-0.2095 left_z=0.1261 left_yaw=0.0754 left_pitch=0.0425 left_roll=-0.0243 left_gripper=0.9968 right_x=0.2945 right_y=0.0013 right_z=0.1755 right_yaw=0.0005 right_pitch=-0.0324 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -8.8137, 6.6667, 1.5507, -0.2808, -0.1685, -0.0073, -0.212, -1.3333, 7.0359, 1.7265, -0.0269, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f702abe5d2db64429011839f1ac7d5e53f47764d0d64e79b5051dcaf02fe3b11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2eada7c363a032769e0b6aa4816372cb9af8f944216544690b1b391c9087de80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ccfeeb9d74a3848bb3838f547f608e328d9a46957cc6dc4ff665760af9aeb3e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 3.005 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]: [-0.5415, 1.9152, 1.3716, -0.0113, -0.5301, -0.3649, 0.9968, -0.0147, 0.8051, 0.6083, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.5099 left_y=-0.1983 left_z=0.1681 left_yaw=0.0774 left_pitch=0.0903 left_roll=-0.0368 left_gripper=0.9968 right_x=0.2943 right_y=0.0014 right_z=0.1762 right_yaw=0.0009 right_pitch=-0.0298 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.6632, -11.0427, 8.335, 1.6825, -0.1929, 0.2369, 0.0024, -0.1983, -1.4974, 7.0496, 1.6972, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3962, 1.8484, 1.2278, 0.0422, -0.4236, -0.3008, 0.9968, -0.0147, 0.8078, 0.6083, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.5093 left_y=-0.1304 left_z=0.146 left_yaw=0.101 left_pitch=0.0406 left_roll=-0.0164 left_gripper=0.9968 right_x=0.2945 right_y=0.0014 right_z=0.1755 right_yaw=0.0009 right_pitch=-0.0324 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -12.3282, 6.4205, 1.9609, -0.0464, 0.1929, -0.0122, -0.253, -1.4564, 7.0085, 1.7167, -0.0415, -0.0757, -0.0171]",
      "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]: [-0.6117, 1.8912, 1.2114, 0.0456, -0.5766, -0.429, 0.9968, -0.0147, 0.8082, 0.6083, -0.3923, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4726 left_y=-0.2095 left_z=0.1261 left_yaw=0.0754 left_pitch=0.0425 left_roll=-0.0243 left_gripper=0.9968 right_x=0.2945 right_y=0.0013 right_z=0.1755 right_yaw=0.0005 right_pitch=-0.0324 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -8.8137, 6.6667, 1.5507, -0.2808, -0.1685, -0.0073, -0.212, -1.3333, 7.0359, 1.7265, -0.0269, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f702abe5d2db64429011839f1ac7d5e53f47764d0d64e79b5051dcaf02fe3b11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2eada7c363a032769e0b6aa4816372cb9af8f944216544690b1b391c9087de80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccfeeb9d74a3848bb3838f547f608e328d9a46957cc6dc4ff665760af9aeb3e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqQMKjgEIEhgCKkB6rjocqh8J64Z2T06uhu1j1omXNsk2vb9Uqyrt971XiSK1Xmq3O0rVBpJGit/6iIRj7ACfxirOtJ7Go4Vui80JMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeXRzNUGEgxO+FnLuHHzJNzUSiwaDOHdLbF2LW8RgCxBViIwd4vGDFnG/fLSlxHlcqYWYmlJr4AHE4KBhraek8FdxBRn8+3a4//H/jaSQp/i59LCKscB0FRH4P5BsAhKBk8d1mWMGUVtiAUqBYFxKG1EQDjEwshPjHP5hn1zIrtP3FxO/7drZwZKIO8V+x9f+JCQbgdIhYoQk2j5XZc3vFOa34bYwALQjLHSzG2OA0YkysFgHs5Dwwi+xXijE8nPYFcGMamZgNd0ZndzgQT1KX41jg4HZxEJtJ2rVgR1IoG+kAX225KjP43zUOg95a/T4YpFlHXRE5ksh7+S5yGkSP4HV/7BwnUEetGMJ/WqrgPZceMLLTEE0IAQvp5KchgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GHZwL4eKLNVNKfs3kMgucE",
      "input": {
        "note": "The bear is right between the jaws in the wrist view. Descending onto its body to grasp.",
        "targets": {
          "left_y": -0.22,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01GHZwL4eKLNVNKfs3kMgucE",
      "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]: [-0.6258, 2.0163, 1.1484, 0.2291, -0.609, -0.4423, 0.9969, -0.0147, 0.8082, 0.6083, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4751 left_y=-0.2143 left_z=0.0741 left_yaw=0.0937 left_pitch=0.0514 left_roll=-0.0182 left_gripper=0.9969 right_x=0.2945 right_y=0.0014 right_z=0.1754 right_yaw=0.0009 right_pitch=-0.0328 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.9368, -8.6085, 4.8342, 1.4579, 0.0317, -0.0171, -0.0073, -0.0615, -1.2923, 7.1453, 1.7363, -0.0317, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:234dc8fa2c5311b04dca72652829316ed8b646b0520cd50e6214cc3ee6f3ccc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecef66c7cb0e0596684b4cf832ad5507009a07cf70e26b371ec08196e417641b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:96b49da62393ec2fea0d1958ff2b4355009ff82e5018dec8426d7a9ac8649f04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 4.606 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]: [-0.3962, 1.8484, 1.2278, 0.0422, -0.4236, -0.3008, 0.9968, -0.0147, 0.8078, 0.6083, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.5093 left_y=-0.1304 left_z=0.146 left_yaw=0.101 left_pitch=0.0406 left_roll=-0.0164 left_gripper=0.9968 right_x=0.2945 right_y=0.0014 right_z=0.1755 right_yaw=0.0009 right_pitch=-0.0324 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -12.3282, 6.4205, 1.9609, -0.0464, 0.1929, -0.0122, -0.253, -1.4564, 7.0085, 1.7167, -0.0415, -0.0757, -0.0171]",
      "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]: [-0.6117, 1.8912, 1.2114, 0.0456, -0.5766, -0.429, 0.9968, -0.0147, 0.8082, 0.6083, -0.3923, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4726 left_y=-0.2095 left_z=0.1261 left_yaw=0.0754 left_pitch=0.0425 left_roll=-0.0243 left_gripper=0.9968 right_x=0.2945 right_y=0.0013 right_z=0.1755 right_yaw=0.0005 right_pitch=-0.0324 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -8.8137, 6.6667, 1.5507, -0.2808, -0.1685, -0.0073, -0.212, -1.3333, 7.0359, 1.7265, -0.0269, -0.0415, -0.0171]",
      "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]: [-0.6258, 2.0163, 1.1484, 0.2291, -0.609, -0.4423, 0.9969, -0.0147, 0.8082, 0.6083, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4751 left_y=-0.2143 left_z=0.0741 left_yaw=0.0937 left_pitch=0.0514 left_roll=-0.0182 left_gripper=0.9969 right_x=0.2945 right_y=0.0014 right_z=0.1754 right_yaw=0.0009 right_pitch=-0.0328 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.9368, -8.6085, 4.8342, 1.4579, 0.0317, -0.0171, -0.0073, -0.0615, -1.2923, 7.1453, 1.7363, -0.0317, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:234dc8fa2c5311b04dca72652829316ed8b646b0520cd50e6214cc3ee6f3ccc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecef66c7cb0e0596684b4cf832ad5507009a07cf70e26b371ec08196e417641b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96b49da62393ec2fea0d1958ff2b4355009ff82e5018dec8426d7a9ac8649f04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpQIKjgEIEhgCKkBq7iPAl8qXc3AM+7JtgQjbCCeOKmaDEvqFz/5i7Av2ES9ohsjITnb+I6s1QWSvoWbOIkJRMXFiUo6J4QKiYmr+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAenRzNUGEgy64Jf0mFQnIgnc0EkaDA55ugc0dgMYU3uTgSIwm6M45Mx1DmTbfx4XziUDILffIrNpoMGmFZN7IbtBe37sif+f3FbQPoHtZsKsEbB4KkSJMQTj4m/1XuKKEZC619PegHgojyk6hX3TREhaE6urIqbjmI9exEGTDIQcWCumq+p3gZtzbqVUJNo4DFmgs12Mco5KrxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UtCQDYf4pjgsF9ZHxc8FWR",
      "input": {
        "note": "Contact with the bear at z=0.074. Closing to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UtCQDYf4pjgsF9ZHxc8FWR",
      "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]: [-0.6243, 2.0232, 1.1477, 0.2634, -0.625, -0.4458, 0.2845, -0.0143, 0.8082, 0.6083, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4789 left_y=-0.2132 left_z=0.0773 left_yaw=0.1108 left_pitch=0.0775 left_roll=-0.032 left_gripper=0.2845 right_x=0.2945 right_y=0.0015 right_z=0.1754 right_yaw=0.0012 right_pitch=-0.0328 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -11.2889, 5.9556, 1.2283, -0.1001, 0.0073, 0.7009, -0.0752, -1.3333, 6.9949, 1.7118, -0.0269, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be1f1836f78052bb6e68cce155bec40af830c60591411678d23c71c8e6f0b9db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8322e3ea1a775bafea6287ec9abd32f12dc77fe544578780ef2d140935ac4bdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a0f0abe356685448326e1766d80ff0fc567627088577d24dd3abc7839cd29c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 20 attempt 0 · /messages · status 200 · 8.142 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]: [-0.6117, 1.8912, 1.2114, 0.0456, -0.5766, -0.429, 0.9968, -0.0147, 0.8082, 0.6083, -0.3923, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4726 left_y=-0.2095 left_z=0.1261 left_yaw=0.0754 left_pitch=0.0425 left_roll=-0.0243 left_gripper=0.9968 right_x=0.2945 right_y=0.0013 right_z=0.1755 right_yaw=0.0005 right_pitch=-0.0324 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -8.8137, 6.6667, 1.5507, -0.2808, -0.1685, -0.0073, -0.212, -1.3333, 7.0359, 1.7265, -0.0269, -0.0415, -0.0171]",
      "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]: [-0.6258, 2.0163, 1.1484, 0.2291, -0.609, -0.4423, 0.9969, -0.0147, 0.8082, 0.6083, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4751 left_y=-0.2143 left_z=0.0741 left_yaw=0.0937 left_pitch=0.0514 left_roll=-0.0182 left_gripper=0.9969 right_x=0.2945 right_y=0.0014 right_z=0.1754 right_yaw=0.0009 right_pitch=-0.0328 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.9368, -8.6085, 4.8342, 1.4579, 0.0317, -0.0171, -0.0073, -0.0615, -1.2923, 7.1453, 1.7363, -0.0317, -0.0659, -0.0171]",
      "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]: [-0.6243, 2.0232, 1.1477, 0.2634, -0.625, -0.4458, 0.2845, -0.0143, 0.8082, 0.6083, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4789 left_y=-0.2132 left_z=0.0773 left_yaw=0.1108 left_pitch=0.0775 left_roll=-0.032 left_gripper=0.2845 right_x=0.2945 right_y=0.0015 right_z=0.1754 right_yaw=0.0012 right_pitch=-0.0328 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -11.2889, 5.9556, 1.2283, -0.1001, 0.0073, 0.7009, -0.0752, -1.3333, 6.9949, 1.7118, -0.0269, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be1f1836f78052bb6e68cce155bec40af830c60591411678d23c71c8e6f0b9db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8322e3ea1a775bafea6287ec9abd32f12dc77fe544578780ef2d140935ac4bdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a0f0abe356685448326e1766d80ff0fc567627088577d24dd3abc7839cd29c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlwMKjgEIEhgCKkC8T9FjKJjMrzLIEAFDise9SiID0voy1LRgBN/tf+zeb1I1Udfb+Hq6is7RHvpAqZv9CZn+mFqA5pL5bPOGnAfxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe7RzNUGEgz8IOEnoi+RlKjTpKMaDCauegNN3OCmXgfB6CIwtG+lKgBEq8ZaXSdIIamPiGz2CRQH7HoWp1kG+807fjOp5U0xR3lcTSqalzkgf9dHKrUBuDnhsTsXJ6pEErG/WndB6qeu0/mCq4C/Y9S7+3Q/tmIUuwxS5TiLBwnZzTANHtSaRw/zfviOy4qWy0AnrtCS5HFVQKZXr2cXRl6/glE5Na7ikOPnQQaPrW38NqeyFZe491TJ3v8Dwo1TzlR+HJa4IpY+NCc+CfdM1hYuPNzb7JQ16rXCvZiCs+fuPTmQ+TIhufVKM5h/FId950p0EHB9jiTo/bmMaaIO3oe90/tvKErUdM4fzhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QPpYRT3MXEjLPLCyUCWrsV",
      "input": {
        "note": "Bear grasped (0.28). Lifting and moving to the release pose I verified over the left basket interior (x=0.51, y=-0.12).",
        "targets": {
          "left_x": 0.51,
          "left_y": -0.12,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01QPpYRT3MXEjLPLCyUCWrsV",
      "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]: [-0.3801, 1.8099, 1.4776, -0.2844, -0.437, -0.321, 0.2867, -0.0147, 0.8082, 0.6083, -0.3927, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.5134 left_y=-0.1208 left_z=0.2124 left_yaw=0.1382 left_pitch=0.0109 left_roll=-0.0086 left_gripper=0.2867 right_x=0.2945 right_y=0.0014 right_z=0.1754 right_yaw=0.0007 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -14.6667, 10.1265, 1.8632, -0.0513, 0.232, 0.2173, -0.1162, -1.3333, 7.0359, 1.7265, -0.0269, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81628c8630c12ca66ac3dea3b8b0c954bd0b70730c21a14208983717199d3eb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5cee13d29ba3fb7bef6d9a4309aa363a0c8f6883cb4b7e41ca6629c2e340b44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3edc8f89b13b0054ca7d45ae9321b5cc0fa10bebbbdc97ef13574d3c8ca09e29",
        "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 · 4.042 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]: [-0.6258, 2.0163, 1.1484, 0.2291, -0.609, -0.4423, 0.9969, -0.0147, 0.8082, 0.6083, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4751 left_y=-0.2143 left_z=0.0741 left_yaw=0.0937 left_pitch=0.0514 left_roll=-0.0182 left_gripper=0.9969 right_x=0.2945 right_y=0.0014 right_z=0.1754 right_yaw=0.0009 right_pitch=-0.0328 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.9368, -8.6085, 4.8342, 1.4579, 0.0317, -0.0171, -0.0073, -0.0615, -1.2923, 7.1453, 1.7363, -0.0317, -0.0659, -0.0171]",
      "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]: [-0.6243, 2.0232, 1.1477, 0.2634, -0.625, -0.4458, 0.2845, -0.0143, 0.8082, 0.6083, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4789 left_y=-0.2132 left_z=0.0773 left_yaw=0.1108 left_pitch=0.0775 left_roll=-0.032 left_gripper=0.2845 right_x=0.2945 right_y=0.0015 right_z=0.1754 right_yaw=0.0012 right_pitch=-0.0328 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -11.2889, 5.9556, 1.2283, -0.1001, 0.0073, 0.7009, -0.0752, -1.3333, 6.9949, 1.7118, -0.0269, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3801, 1.8099, 1.4776, -0.2844, -0.437, -0.321, 0.2867, -0.0147, 0.8082, 0.6083, -0.3927, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.5134 left_y=-0.1208 left_z=0.2124 left_yaw=0.1382 left_pitch=0.0109 left_roll=-0.0086 left_gripper=0.2867 right_x=0.2945 right_y=0.0014 right_z=0.1754 right_yaw=0.0007 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -14.6667, 10.1265, 1.8632, -0.0513, 0.232, 0.2173, -0.1162, -1.3333, 7.0359, 1.7265, -0.0269, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81628c8630c12ca66ac3dea3b8b0c954bd0b70730c21a14208983717199d3eb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5cee13d29ba3fb7bef6d9a4309aa363a0c8f6883cb4b7e41ca6629c2e340b44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3edc8f89b13b0054ca7d45ae9321b5cc0fa10bebbbdc97ef13574d3c8ca09e29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxQYKjgEIEhgCKkDjmcNpjTzNprgnZUW24caOVqTg1WRqgwXSHihRFMGnIXTJknyh3FfToW7TO3MbPtUJlJ5x/J4yiUZJ4+M3O3dDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAffRzNUGEgypTBcos3BB2xWPQQQaDDQ/RC1Vkj0VbvNcjyIwinM5OAZ0CjxwrtXraROuc1jySZzM1gEK4QSkrzB/F54MvEtlg8lQJaebOD4KonqyKuMEUpfSGuuP03cD6mIquEzif1Z5s1xCj1TuH98xU6RF1sxKUo2R3PxKFtlLFuU9anGJFrZMVaHeN9ZZNWefrVBiSx7CptoSeymLSNgVxBdp2Ry87cdj6Uz4lQgG/92FG3K+d8tM1GIsPnZaDuYNuN3UaUX2FYgW8UOewab73S8pcxbx1qssLnoobTGXKV+BNdMCVyIN5kEXs9ciIz71q5iUOQWTcKMe8xhhgMGmoM2/MK5xS5s7pooiBQy/qTXBv6/kmzUFA7zbJykYFfLRTzal8pDqXWDmwin6Or/lNCG/YvwCpQcoq9Y/B4IXBCE/VETDadadgYuByobhaHQiUbPREqm+y+dsX/LeQqnfWKzeT/pSWW54Mr/Enm6fEck+vZdKN0Y0Yqo8rHlo+1yXjW6oMyBkSGQvAm/BMq2VwDz26MXxyhwJfZu1WoiAQXConotxgZRpMHv0o3RiGMS8KR/YJaSuQLNqmBSiqZvf8HuG1k3Yzo7lEn9rmggQZTE9yyuwQVMtzO1j1SC6+mWn3qutghGAzLszrzk08suh9agtvEh1KoHl/QZIefwwyxziVuoVs4Bp4Qsazvld3IUziQYu+QUZECIq7I05bR4wEdmxqTKaAOqu/+gg4MadWQU5CpMiujDlmwO5o/i08vKin2qxoHjE/8bneGyBfls06i96179UWACij8uGEgp9IMUKzSIEU9GEgFwTB1bZsWH3rxjjtn/ktopdA8kDBDKVM6Goda3cYOhFfG5S2kwdjTh+BA+c0QQFfZ4k8Fv4CodYxtFbRwDBc5hV8X0QMErSHhPmS/NWXq8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K81miGd3vFUFXnzN7UPgKJ",
      "input": {
        "note": "Wrist view shows the basket still slightly left of the jaws with the bear hanging right. Nudging +4 cm in y and lowering a little so the bear is squarely over the basket mouth.",
        "targets": {
          "left_y": -0.08,
          "left_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01K81miGd3vFUFXnzN7UPgKJ",
      "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]: [-0.2867, 1.784, 1.3441, -0.2131, -0.3695, -0.2867, 0.2881, -0.0147, 0.8093, 0.6083, -0.3923, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.508 left_y=-0.0795 left_z=0.1775 left_yaw=0.1587 left_pitch=-0.0399 left_roll=0.0014 left_gripper=0.2881 right_x=0.2946 right_y=0.0013 right_z=0.1752 right_yaw=0.0005 right_pitch=-0.0336 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -10.6325, 6.5983, 1.8339, -0.188, 0.2466, 0.1343, -0.2803, -1.1829, 7.2, 1.7216, -0.022, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db6b34414fdca6808a31ceac38315bec0c9ae41daa37ff9a201d5035d7d3ee0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b431edfd95a7867a9f8bcaa319a9608328c3b92791480ea64544c2146f2cbf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1882386812cdab60f135cdade4274cf74838ef9e23219a12575bd1b62aabdcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 19.94 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]: [-0.6243, 2.0232, 1.1477, 0.2634, -0.625, -0.4458, 0.2845, -0.0143, 0.8082, 0.6083, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4789 left_y=-0.2132 left_z=0.0773 left_yaw=0.1108 left_pitch=0.0775 left_roll=-0.032 left_gripper=0.2845 right_x=0.2945 right_y=0.0015 right_z=0.1754 right_yaw=0.0012 right_pitch=-0.0328 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -11.2889, 5.9556, 1.2283, -0.1001, 0.0073, 0.7009, -0.0752, -1.3333, 6.9949, 1.7118, -0.0269, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3801, 1.8099, 1.4776, -0.2844, -0.437, -0.321, 0.2867, -0.0147, 0.8082, 0.6083, -0.3927, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.5134 left_y=-0.1208 left_z=0.2124 left_yaw=0.1382 left_pitch=0.0109 left_roll=-0.0086 left_gripper=0.2867 right_x=0.2945 right_y=0.0014 right_z=0.1754 right_yaw=0.0007 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -14.6667, 10.1265, 1.8632, -0.0513, 0.232, 0.2173, -0.1162, -1.3333, 7.0359, 1.7265, -0.0269, -0.022, -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]: [-0.2867, 1.784, 1.3441, -0.2131, -0.3695, -0.2867, 0.2881, -0.0147, 0.8093, 0.6083, -0.3923, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.508 left_y=-0.0795 left_z=0.1775 left_yaw=0.1587 left_pitch=-0.0399 left_roll=0.0014 left_gripper=0.2881 right_x=0.2946 right_y=0.0013 right_z=0.1752 right_yaw=0.0005 right_pitch=-0.0336 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -10.6325, 6.5983, 1.8339, -0.188, 0.2466, 0.1343, -0.2803, -1.1829, 7.2, 1.7216, -0.022, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db6b34414fdca6808a31ceac38315bec0c9ae41daa37ff9a201d5035d7d3ee0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b431edfd95a7867a9f8bcaa319a9608328c3b92791480ea64544c2146f2cbf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1882386812cdab60f135cdade4274cf74838ef9e23219a12575bd1b62aabdcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS0gIKjgEIEhgCKkByjtz01et8KTMfE0Ep7AEsA5nxh6t3hsHuFYQq3ak1qBkUfuQB6sn+X9r/yXANHQFZKbmIpqLv09tiu9w9yNwnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfzRzNUGEgz7d+yflyNi0MBXmlIaDFiJh1KYnPbe3MEXyyIwdmyPnBHGonZASnu6V+o2wuWCojWxtnnyLD665IWqpf9hc48dYoJaJ7l+0Ntv7YnfKnEUJHMrVFtIhMCj9AMOHF6ACmE06PX+5iKf3ZwS7yRPcaIfDjpWG2MoFvrsjeuBrdoepte15M9MctScmMiE2LB0OUkwNA8nRkjq6vnm/9rNuq9AGdd65h0p4o/5273dKusnuHS+7lOW0KUEI1EY9Pp6PBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XUFbxkSxtQDHcENHYf1Bko",
      "input": {
        "note": "The bear now hangs over the basket's interior. Opening the gripper to drop it in.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01XUFbxkSxtQDHcENHYf1Bko",
      "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]: [-0.279, 1.784, 1.3422, -0.1673, -0.3607, -0.2722, 0.9955, -0.0147, 0.8101, 0.6083, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.5144 left_y=-0.0788 left_z=0.185 left_yaw=0.151 left_pitch=-0.0024 left_roll=-0.0097 left_gripper=0.9955 right_x=0.2946 right_y=0.0014 right_z=0.1749 right_yaw=0.0009 right_pitch=-0.0347 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -10.6598, 6.3111, 1.7949, -0.1343, 0.0659, -0.2173, -0.1573, -1.1145, 7.0769, 1.7558, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab9ccda59474dabbe94a98f8531236743024b2c5a328b91527d4a949bfa0763d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1d5d22963461cb121e944263fa971abe009c91d6af3e3f44e2690de0ce84074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8473a9416f63c40e439c05cf10980352ce71cdd2b59d771e9015453e0e0a74f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 5.983 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]: [-0.3801, 1.8099, 1.4776, -0.2844, -0.437, -0.321, 0.2867, -0.0147, 0.8082, 0.6083, -0.3927, -0.012, -0.0223, 0.9998]\nstate[eef_state]: left_x=0.5134 left_y=-0.1208 left_z=0.2124 left_yaw=0.1382 left_pitch=0.0109 left_roll=-0.0086 left_gripper=0.2867 right_x=0.2945 right_y=0.0014 right_z=0.1754 right_yaw=0.0007 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -14.6667, 10.1265, 1.8632, -0.0513, 0.232, 0.2173, -0.1162, -1.3333, 7.0359, 1.7265, -0.0269, -0.022, -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]: [-0.2867, 1.784, 1.3441, -0.2131, -0.3695, -0.2867, 0.2881, -0.0147, 0.8093, 0.6083, -0.3923, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.508 left_y=-0.0795 left_z=0.1775 left_yaw=0.1587 left_pitch=-0.0399 left_roll=0.0014 left_gripper=0.2881 right_x=0.2946 right_y=0.0013 right_z=0.1752 right_yaw=0.0005 right_pitch=-0.0336 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -10.6325, 6.5983, 1.8339, -0.188, 0.2466, 0.1343, -0.2803, -1.1829, 7.2, 1.7216, -0.022, -0.0269, -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 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]: [-0.279, 1.784, 1.3422, -0.1673, -0.3607, -0.2722, 0.9955, -0.0147, 0.8101, 0.6083, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.5144 left_y=-0.0788 left_z=0.185 left_yaw=0.151 left_pitch=-0.0024 left_roll=-0.0097 left_gripper=0.9955 right_x=0.2946 right_y=0.0014 right_z=0.1749 right_yaw=0.0009 right_pitch=-0.0347 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -10.6598, 6.3111, 1.7949, -0.1343, 0.0659, -0.2173, -0.1573, -1.1145, 7.0769, 1.7558, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab9ccda59474dabbe94a98f8531236743024b2c5a328b91527d4a949bfa0763d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1d5d22963461cb121e944263fa971abe009c91d6af3e3f44e2690de0ce84074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8473a9416f63c40e439c05cf10980352ce71cdd2b59d771e9015453e0e0a74f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShhUKjgEIEhgCKkBpWefL4azmdeykCLfBMnei0/qAOPVf1AjEvSNFBH+VF0UZWSQw8lDhdBPcIT1cFoB0jNNJWudkdOu0q4n+cqADMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZDSzNUGEgwKirUG0Pw7S9SqPlMaDMjRE6QvKi5RPxuzIyIwWhlVAHxMXgNrRsuUvUDtD5F7PHw995pVvp8/k/XWPiOapK1hXUENcU7k3/zVA2UlKqQTMsRh5JJGmXlT8S3GvguLjv81LnLb+Yp0ur7/ITyXf27xDFA7HZe6DXCHogSeptq4qXhpU5eBRy+PkFghDyoktr8h6S4FDbwjfKMdyqvC+whUOfUMlE33NtXvNRCTQzSJIdUVwCPE3B4SRykazr/r4ZOVLwLyUkqqtcm4EaU6BjoMxPyKt4Wy/FFq3Dx8ao3oyCmn8UV2Je4bXqji04vtg+s0x8fDvtdBc5UtG5DyX7sfx0gp8/m6Zo3EMK3PwyZtYItVN0Glve4YKIyljXZqH45pN3o0xt6CBe7o9XmsXVhrHjJYBDG9ywcLV7u/v2DuwxCKU/tQh2nC0e01/AOosTp+d+KBhAEeSxE6S65lzV61OkFygJ84h0BZ9j/pFmpxl20Iud5R8g5WPyvCBSgq2gWKK1b9JFoTc3evqYBmgXLx75SeGru8VDZuKAA+HN2Z6NansXjA+IBdRJ5gkFlIs0+++anezILgb1YZ/hysFSXq8wUXRm45sw/VBd9egBxsgRMMT7Q82Nz5+wc7bL1y528gp1q/9hKmNdwuheiuySkztIvJJZ3l2CiHNemUbIqDRW8l/4ax3VCnfpRgho0cHC/slFThQXXKl+i88LPXZXnRuHf0Ha7OFc1amtg8W2qxjcCHC8eRqeAAthq+BXtqGogoNCXLG1PBZc82kZu+qN7sYLXLQbVC+7MAOTqnYTCH9gX63hDHBGqY/nbY3uz+j+b25m57kxUFJT6rtYV6zFFbkJxAYbmvdnNve35y/kKHvdLpYHaDNxwR50mqBFIxX48jypS+Pl/EsNMl/W0gvDDhGqO4NYR0P7CW3PVuxsmIxI10QShmC2rHR1B4VYKenMUzcq4JMEJ3+czEgl3d8QPKBcnAO0LR/r9rEIpIJ+GcVGmN4XiYFkVJDHoJYthM+Awz8wipEYsAUHA6odhhUGevdeQbeyqfCpAWP22NRpgaGJ3ibpb5LByNW17V4p+jiUQAIgvSHTe37q8rny0UOUbFP+ZEIGmSgrNuuYmiuSdHBBKDC7x96r6EiPjELL6CPvrlhHmNmFrcYhh+PGET1bi7a6cnl1y2fa+hv7dGF7K7WEMsmoa/PzpJyJmpj7KHU9h+P3YlzU9QZt4rrUhvKlaAi0eYFBPkGbjfbWMFUtaVscHsZJsv5thqzonXP7otGw2+FerEIcRcXZ3fPwraOQBe72iGiFxQ8uGC/B2zFXDujClriULNksFH5DeYQBb/+yGxVwX+iSCeSO1+qqxv11A7r5Q3vgc/PoS1/W0X5X5tO2A+G3YMia+ULU/qsw57cx9qvRP4DbhUq4HfNMW29TqXG6u45YMunnZbE7NkkPh5FZxEBoLyn/iOosCVSYl/EgkNSxz4zZMAQf6BgoWlqmDDa9aeFu3lC/VX2JQWRcevvSTntRVRb8A06tD3Pbi9LmTPSO531SCZFUzI7XqTW3wHlg7fqwFSbzgDT7f35CKDqUlJjhbLaPTX9Z5zlFaoyJs4L6cxmBHwge1ftb6EjE4PAMEIBne+BevlAaKmQda0m1lDONiv9+kzYY/EeYy8wwIwHcPqDp6mWeOrQCNX8Z3urdPXVqdsVCx3O4Hy/ZtjWVdFNHNDki4QKI7d7M3sphdTQKyplmPEy/6jqvbXsBdu14p9ULc2LQFpoLy5fDm0NTIeOT/VVbbnQtOCSQgdvSZB+nBu/N/1LZS/uUojfsbhNnd38pP5pk64R9G4ofUAsYerp3F4SkwH4eQyYherR5juBn7wC4DX0gz2WkQPG1zZwsmd2nJoJpsDSXmUisr8VEITYQgCrpNQOApCJWFDUPCm0OhFNTwp+0HFDbCVyaWBSzo2Is9kxNx0BlOTz1oB78tWREaJZTD25D7SdwJUxHKtTuzlqm6Z1rDmNYA2w3z84LxwcXr/A2uPQSUgVf4ywPk4n2x0TQ113V/4/n8S7g+BecSgtsQaQaX1J/Rog9g1YHNT1pesEL0rX2BraoXF8YKEsqiGfOSLkcv8Qc3gV9oAqrOwWF/i2+2uRotbyGEFUfXF8M02O/J9Zs70uFAmxAzNEP/foJ5p1Mpw8IWiq2IAp5GAJtGE/aePARE7HCHpl56jl7LDUP5B2DaPEbL7m/CAUJnPJ3f0k/HWcE3319Dxd8jpnZzH+HiZRdNc4fWkqpMp7cY1pFO3rYTvfC/p+QAhPRqQxQl6waWwCYKtldVp7bRFxZzdw8IRr7TimQQ8mj0sthrUmr+XIDhyDYB0QsjC5+bgD6iUoXzqN4pYaiQdpnqVidsOnLTxwpjqPzZtwbCzDqAxcPf21ZLDIVEqu6NoIOyTQ8OdmR3SEBxK/EDQMJ8Zdyh/DujIct5jc2pKO4W95uTxmG0ga1T8iS2Rbg/1j3u7DOsFgJR9LipEdNqzpjSQLbBvQPXxuUzg4fCeMoCNGHB81CO4fBb24YReO+6qIWIrQvs6dQMWTvi/XVrbN3Helc1AnLUkqLojZ4ZZQtnauj56OJneer+KnL4xISkMX85zcqmjaBLKY6swKOt/3yyW3vgzqRK8l2gl9CmOcNq5dggre/D7PixG9gAbFG/rNmbLdlsizjdEN8RHHzcfSAVk1heqevMYvopFF+wjQR1tJIPKJPuvwNj+gi8cFDgJbf5upOBG40+l2/TMS1MrOnDvvyXzMySWzDdnqS/03umMJkkEROtFJ6pwYw0MgI58tOyMRcpg2v+9bxiIqM4+hb/Ol2qT50KQklexyJ0a+LoV3xbSiJF0SK1/8s7SzBAnPp93RLZV+4ZV2mXObpv17ucBdnByjg+28X4InFXsHjF8PLV2iKhgoiUXhPfa6gcKZ5MBD1XrUu45LoKp/h6MIHoUPxFgwcvc3SmpfTKT0vMRvZKagSAX3wqTm4blWTrSG6dRg3Yy+ZKLYmytX5lSORzQ5VHODqIEHZEcEv1dp3f+tOLvgpRsdAhXUlGFiwZVxTRlLXl0vFQupiJc19LUOcuy4J1WYcDe/2yKfs0ha/Kq1aKIlY4BA5zDCyDDj/FaFAmT1RIFoIaA32np+MhDMKbCe1t5MHzBl6THNYpDWLGG9xxsHWA7Me9kUAcuE4kxkYYQwNr9diVkDzgHTGZ7Oi5jXm59lNI5QyM4hCnA7FTAaIHX+qQhWIWOBopcYc/AyhkqgFxdtvhcQ5Y9/3mo6oZdTv53+nBnJ4DaQwa3oAR1B6UgkyiWp43VDEGxugpjZIbg9wnIr8fZt8p5Niaso6boTkc1DCPGKr/54pbxZR5ZqaGSqsFxWC+fYdb+y+XQR+EH6jccRcbFl1WVpYAktTwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017nASAzRi1Ah7gWG3gWvssC",
      "input": {
        "note": "The bear is still perched on the basket's right rim rather than inside. Moving down and toward it to re-grasp, aiming to release it deeper and further left inside the basket.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.13,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017nASAzRi1Ah7gWG3gWvssC",
      "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]: [-0.4423, 1.7565, 1.0729, 0.0364, -0.477, -0.3454, 0.9968, -0.0147, 0.8127, 0.6083, -0.3923, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4681 left_y=-0.128 left_z=0.1265 left_yaw=0.1212 left_pitch=-0.003 left_roll=0.0066 left_gripper=0.9968 right_x=0.2948 right_y=0.0014 right_z=0.1742 right_yaw=0.0009 right_pitch=-0.037 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [2.0718, -8.1983, 7.4188, 1.8681, -0.1441, -0.2222, 0.1148, -0.1299, -1.0872, 7.0085, 1.7607, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47ec58d1f0f761c0b1b74e098ae9a0e86439b396b80accbd974e295abebd1468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3910c269c6817e6e09be502a95bd06c177dfd6051b21782dc69f05633f1451c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a4b6ea0f0316fddd2964fac0d8cb47a6619e138c17e7a99916baf37426b4c44f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 2.449 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]: [-0.2867, 1.784, 1.3441, -0.2131, -0.3695, -0.2867, 0.2881, -0.0147, 0.8093, 0.6083, -0.3923, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.508 left_y=-0.0795 left_z=0.1775 left_yaw=0.1587 left_pitch=-0.0399 left_roll=0.0014 left_gripper=0.2881 right_x=0.2946 right_y=0.0013 right_z=0.1752 right_yaw=0.0005 right_pitch=-0.0336 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -10.6325, 6.5983, 1.8339, -0.188, 0.2466, 0.1343, -0.2803, -1.1829, 7.2, 1.7216, -0.022, -0.0269, -0.0171]\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]: [-0.279, 1.784, 1.3422, -0.1673, -0.3607, -0.2722, 0.9955, -0.0147, 0.8101, 0.6083, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.5144 left_y=-0.0788 left_z=0.185 left_yaw=0.151 left_pitch=-0.0024 left_roll=-0.0097 left_gripper=0.9955 right_x=0.2946 right_y=0.0014 right_z=0.1749 right_yaw=0.0009 right_pitch=-0.0347 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -10.6598, 6.3111, 1.7949, -0.1343, 0.0659, -0.2173, -0.1573, -1.1145, 7.0769, 1.7558, -0.0366, -0.0464, -0.0122]",
      "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]: [-0.4423, 1.7565, 1.0729, 0.0364, -0.477, -0.3454, 0.9968, -0.0147, 0.8127, 0.6083, -0.3923, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4681 left_y=-0.128 left_z=0.1265 left_yaw=0.1212 left_pitch=-0.003 left_roll=0.0066 left_gripper=0.9968 right_x=0.2948 right_y=0.0014 right_z=0.1742 right_yaw=0.0009 right_pitch=-0.037 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [2.0718, -8.1983, 7.4188, 1.8681, -0.1441, -0.2222, 0.1148, -0.1299, -1.0872, 7.0085, 1.7607, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47ec58d1f0f761c0b1b74e098ae9a0e86439b396b80accbd974e295abebd1468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3910c269c6817e6e09be502a95bd06c177dfd6051b21782dc69f05633f1451c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4b6ea0f0316fddd2964fac0d8cb47a6619e138c17e7a99916baf37426b4c44f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6QQKjgEIEhgCKkA8R0uDyVZWOgiR5cSItPJ9AenhSiwnjckfRDw+rV+z7zpnkREU8tlHLzFvafIbXR+zOSFsgzzKd0Ih9wxvkQuRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZfSzNUGEgyKgjCCYTC2Smt0ORkaDO5hXc4G3EhKwJUGrCIw7FjuXc/ue4r9nR5d+olXibj+L7qgiebHkFfAGEKDh554sbsr8Z1DLNEq7/GI0VqOKocDfyIGnYAMDIkd9Bci6OtZW0TfnTo3AoPTAW31ECcOstBZ8KNqaTAzufM4PCNh6z88Ry8xyHu/+p/oygCoRlFqvv0IFsR2C2RJB9/G/xp0dN3pzByp+iKF9XE/dUP8pDj7mweabsknDjf0SeP4DvaJidJ6uAMdEbdRt7BxqrjUYRXFK00/WOAnPpdZtJwNgeF+NP9mRPkTsUZRh+dNwYk/D2JOZNNNXE5IacxtA5auOBjVU70mSt5Z6IRktpmMpEf/n5rkW7XCzbCm0fgHcVJhC3UUnJGgtG2U2nZyd8xFkG2OBgpJiHjaqzbADIg0Kv4nvr1DJ5xrjfa4xY7xIfoGhfnC7bILoKFkNIXqHG1BJ8l0HsaaZwyV+RsT/8Bo1nbETRyXo9yllA0JZDVFAp7WPSv1BSx4dRQkgKJSROsWXRGWpnoa0MOg77CxBjVEWdKNhIxNxwUfZJ1+JJLTm/h8KzySuG55QhLbaIun94Mr0ikzrg722NZFAQX/JVdGGe7teVlZpjsAkRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012S3to9oLveYecHNgpQEJFs",
      "input": {
        "note": "Bear fur fills the right half of the wrist view; shifting 4 cm right (-y) and descending to line the jaws up on its body.",
        "targets": {
          "left_y": -0.17,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_012S3to9oLveYecHNgpQEJFs",
      "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]: [-0.535, 1.8915, 1.0542, 0.1226, -0.5335, -0.4065, 0.9969, -0.0147, 0.8165, 0.6079, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4603 left_y=-0.1642 left_z=0.0752 left_yaw=0.1063 left_pitch=-0.0376 left_roll=0.0232 left_gripper=0.9969 right_x=0.295 right_y=0.0014 right_z=0.1729 right_yaw=0.0009 right_pitch=-0.0416 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.2786, 8.294, 1.6435, -0.3785, -0.1392, -0.0122, -0.2256, -1.265, 7.2274, 1.6825, -0.0171, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a816518da5f39176da925226cfd1bfc37357764465a5fdd8447f6adb9c68b86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51dc720cda02ef4e1ccd2a6785b7992d8a62127c5d82aafab8c29df1276668be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2293bd46f8a7d88b3bb9673dd627590e86431b446064450451ae13efdf307f1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 6.92 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]: [-0.279, 1.784, 1.3422, -0.1673, -0.3607, -0.2722, 0.9955, -0.0147, 0.8101, 0.6083, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.5144 left_y=-0.0788 left_z=0.185 left_yaw=0.151 left_pitch=-0.0024 left_roll=-0.0097 left_gripper=0.9955 right_x=0.2946 right_y=0.0014 right_z=0.1749 right_yaw=0.0009 right_pitch=-0.0347 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -10.6598, 6.3111, 1.7949, -0.1343, 0.0659, -0.2173, -0.1573, -1.1145, 7.0769, 1.7558, -0.0366, -0.0464, -0.0122]",
      "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]: [-0.4423, 1.7565, 1.0729, 0.0364, -0.477, -0.3454, 0.9968, -0.0147, 0.8127, 0.6083, -0.3923, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4681 left_y=-0.128 left_z=0.1265 left_yaw=0.1212 left_pitch=-0.003 left_roll=0.0066 left_gripper=0.9968 right_x=0.2948 right_y=0.0014 right_z=0.1742 right_yaw=0.0009 right_pitch=-0.037 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [2.0718, -8.1983, 7.4188, 1.8681, -0.1441, -0.2222, 0.1148, -0.1299, -1.0872, 7.0085, 1.7607, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.535, 1.8915, 1.0542, 0.1226, -0.5335, -0.4065, 0.9969, -0.0147, 0.8165, 0.6079, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4603 left_y=-0.1642 left_z=0.0752 left_yaw=0.1063 left_pitch=-0.0376 left_roll=0.0232 left_gripper=0.9969 right_x=0.295 right_y=0.0014 right_z=0.1729 right_yaw=0.0009 right_pitch=-0.0416 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.2786, 8.294, 1.6435, -0.3785, -0.1392, -0.0122, -0.2256, -1.265, 7.2274, 1.6825, -0.0171, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a816518da5f39176da925226cfd1bfc37357764465a5fdd8447f6adb9c68b86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51dc720cda02ef4e1ccd2a6785b7992d8a62127c5d82aafab8c29df1276668be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2293bd46f8a7d88b3bb9673dd627590e86431b446064450451ae13efdf307f1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MPWZ7qbyLhQnmVoz7gZg2X",
      "input": {
        "note": "The bear body is right at the jaws. Closing to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MPWZ7qbyLhQnmVoz7gZg2X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5446, 1.9224, 1.055, 0.1448, -0.5476, -0.4206, 0.0316, -0.0147, 0.8165, 0.6079, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4609 left_y=-0.1674 left_z=0.0658 left_yaw=0.1154 left_pitch=-0.0381 left_roll=0.0238 left_gripper=0.0316 right_x=0.295 right_y=0.0014 right_z=0.1729 right_yaw=0.0009 right_pitch=-0.0416 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -10.4274, 7.9385, 1.5897, -0.3101, 0.0806, 1.2283, -0.2393, -1.3333, 7.0085, 1.7021, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34baa59d01ca94585bb0161da6f65eb2c8d8559fe5a9335bcb44792b1191c091",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b5a1ed8d43db7b4c180e7efcd3c51889ce937ba7d09351457bf0897672a212a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0eadeee288c65ac7ff9f46d9d521b4ea3165d622fe046c4dc51d92d0a823140b",
        "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 · 2.666 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]: [-0.4423, 1.7565, 1.0729, 0.0364, -0.477, -0.3454, 0.9968, -0.0147, 0.8127, 0.6083, -0.3923, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4681 left_y=-0.128 left_z=0.1265 left_yaw=0.1212 left_pitch=-0.003 left_roll=0.0066 left_gripper=0.9968 right_x=0.2948 right_y=0.0014 right_z=0.1742 right_yaw=0.0009 right_pitch=-0.037 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [2.0718, -8.1983, 7.4188, 1.8681, -0.1441, -0.2222, 0.1148, -0.1299, -1.0872, 7.0085, 1.7607, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.535, 1.8915, 1.0542, 0.1226, -0.5335, -0.4065, 0.9969, -0.0147, 0.8165, 0.6079, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4603 left_y=-0.1642 left_z=0.0752 left_yaw=0.1063 left_pitch=-0.0376 left_roll=0.0232 left_gripper=0.9969 right_x=0.295 right_y=0.0014 right_z=0.1729 right_yaw=0.0009 right_pitch=-0.0416 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.2786, 8.294, 1.6435, -0.3785, -0.1392, -0.0122, -0.2256, -1.265, 7.2274, 1.6825, -0.0171, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5446, 1.9224, 1.055, 0.1448, -0.5476, -0.4206, 0.0316, -0.0147, 0.8165, 0.6079, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4609 left_y=-0.1674 left_z=0.0658 left_yaw=0.1154 left_pitch=-0.0381 left_roll=0.0238 left_gripper=0.0316 right_x=0.295 right_y=0.0014 right_z=0.1729 right_yaw=0.0009 right_pitch=-0.0416 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -10.4274, 7.9385, 1.5897, -0.3101, 0.0806, 1.2283, -0.2393, -1.3333, 7.0085, 1.7021, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34baa59d01ca94585bb0161da6f65eb2c8d8559fe5a9335bcb44792b1191c091",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b5a1ed8d43db7b4c180e7efcd3c51889ce937ba7d09351457bf0897672a212a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eadeee288c65ac7ff9f46d9d521b4ea3165d622fe046c4dc51d92d0a823140b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqwcKjgEIEhgCKkC6/YKP0EV5izyZLb/C/Xfe8ChbHeX+Zuc/i7LP4SbW8NRIGDQr+bMl5QIwNsGc2zH7DtfeepFLJXCRq0Paz1F3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaHSzNUGEgyDM2cVYHPW9cVJ+1QaDNVm3FhhAE3DK0nggSIw1MxZPxRaGdBWyYwfLtGjYHphj4XDcDXrNfmWAqsYis/xj8iULutxCFJw2y1DK6kmKskFQ267BRn+F3A/x5fuH2yxeZ3t/ZIB02hKnv1mYiK44XM5nR5zc5l4/57UGUG8SqrqNm5ktZ4jsaGUcRlA8GZMs63dkwr8Wj1G5VipwdXRpLyqpwXajpa0+Ji37vw/c+SanQ84WMu//K9wJhe4iw3kYyRPJ4BwMj1f3TszRU/FJ+4AnENBObujVW4EaO/Uw+G+R+trBDFY00/AzKWRWBG83aKoyam1LT90+9OuLo1MTPX1ZB4D357Vdg0ke7b7CSRBVL3aF7oDe9k9R491ncPV86A8pptpm3cxw5LcOuPVur7jFypUazfOoPlH95cWFBaeoROam+vB9XOeUyjthyrUEIlTIHgkrXLINr2nUgGAOHGWDlCZ1I6Mv/r/YS1S9atjc1L5u43R2b7ZyKDcStF8/xxF1KyiBWSueyJ+migBhTo4qeatVfKGVtVPlhfZtnoQ/drzg25Qh+0IWtJFLteOphNchhryYFT9VKqkNazmnGXNru04y1Q7YynLBDg5mTC0QrdCGIm2gdPTjlFC1eACz/1lgxcmmzNtd0Yy7dp47uxclqsObrqU7RbKBYopAXGvx/GO4j29PvtM1yB5YA9nm2AuobEwCon/sH9KHUY9/3xSLqG5YNnr9sBiagMOssa+6T6F1C3TvbmnAQoUD0a2JtfhBbY6UKwsD+yhdoSCz+yjPoL014LFk/ut/sD3koicfRoFLHqZaeYfbMFONtJBqhr3IoDdc8XLxa07S6BFEGmcm8mkRS1M42U96+T8nfTx3ThMVYumtYJlAlafZ2Yk2Cr5kFeJcTYgCcVG+5jGfRUR0g6+e+DpY2LJiTAyQqv/bClljKwytihu0iX+uwvxeIJMNb26bTHl4UQOH5H4gwviMImjwSZwx0kPoNuqZCffIQB3HT0qgN4cgkJ5exK2YDHf0FIK06yU5y9v2YX03QHuEByF5xf0h2wYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015w5TZiztWtwGNwnWB2KG6R",
      "input": {
        "note": "That close came back empty (0.03) — the bear is a bit further out than the jaws. Opening and advancing 3 cm radially before trying again.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.49
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015w5TZiztWtwGNwnWB2KG6R",
      "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]: [-0.5095, 1.9938, 1.1397, 0.1196, -0.5262, -0.4046, 0.9953, -0.0147, 0.8165, 0.6079, -0.3923, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4815 left_y=-0.1633 left_z=0.0582 left_yaw=0.1258 left_pitch=-0.0564 left_roll=0.0328 left_gripper=0.9953 right_x=0.295 right_y=0.0013 right_z=0.173 right_yaw=0.0005 right_pitch=-0.0412 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -9.347, 8.5949, 1.5507, -0.1929, 0.0757, -0.0757, -0.2393, -1.4017, 7.241, 1.7607, -0.0317, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bb80cf4cc78fd7d8fbb01cb6b41a6a17d960394ed93b016002074bac9737024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:164288f4e6cbdc424d9c92b8545e02bf0a3c1e873d2042da361b0411640bcff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7caa60c975b7cb7797e949173289656ee2052c6418129189c3624c1790d9b1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 6.87 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]: [-0.535, 1.8915, 1.0542, 0.1226, -0.5335, -0.4065, 0.9969, -0.0147, 0.8165, 0.6079, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4603 left_y=-0.1642 left_z=0.0752 left_yaw=0.1063 left_pitch=-0.0376 left_roll=0.0232 left_gripper=0.9969 right_x=0.295 right_y=0.0014 right_z=0.1729 right_yaw=0.0009 right_pitch=-0.0416 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.2786, 8.294, 1.6435, -0.3785, -0.1392, -0.0122, -0.2256, -1.265, 7.2274, 1.6825, -0.0171, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5446, 1.9224, 1.055, 0.1448, -0.5476, -0.4206, 0.0316, -0.0147, 0.8165, 0.6079, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4609 left_y=-0.1674 left_z=0.0658 left_yaw=0.1154 left_pitch=-0.0381 left_roll=0.0238 left_gripper=0.0316 right_x=0.295 right_y=0.0014 right_z=0.1729 right_yaw=0.0009 right_pitch=-0.0416 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -10.4274, 7.9385, 1.5897, -0.3101, 0.0806, 1.2283, -0.2393, -1.3333, 7.0085, 1.7021, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5095, 1.9938, 1.1397, 0.1196, -0.5262, -0.4046, 0.9953, -0.0147, 0.8165, 0.6079, -0.3923, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4815 left_y=-0.1633 left_z=0.0582 left_yaw=0.1258 left_pitch=-0.0564 left_roll=0.0328 left_gripper=0.9953 right_x=0.295 right_y=0.0013 right_z=0.173 right_yaw=0.0005 right_pitch=-0.0412 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -9.347, 8.5949, 1.5507, -0.1929, 0.0757, -0.0757, -0.2393, -1.4017, 7.241, 1.7607, -0.0317, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bb80cf4cc78fd7d8fbb01cb6b41a6a17d960394ed93b016002074bac9737024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:164288f4e6cbdc424d9c92b8545e02bf0a3c1e873d2042da361b0411640bcff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7caa60c975b7cb7797e949173289656ee2052c6418129189c3624c1790d9b1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Lr6uQorLMYpGmPFPhKxQFp",
      "input": {
        "note": "Advanced 3 cm; the bear still fills the wrist view at the jaw column. Closing again to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Lr6uQorLMYpGmPFPhKxQFp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5068, 1.9945, 1.1442, 0.1207, -0.5243, -0.4126, 0.1072, -0.0147, 0.8165, 0.6079, -0.3927, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4832 left_y=-0.163 left_z=0.0596 left_yaw=0.1311 left_pitch=-0.0531 left_roll=0.0222 left_gripper=0.1072 right_x=0.295 right_y=0.0013 right_z=0.1729 right_yaw=0.0005 right_pitch=-0.0416 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -10.5368, 5.7368, 1.5116, -0.2418, 0.0464, 0.6862, -0.0889, -1.3744, 7.0496, 1.7363, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d02484bdaff35940dc73698a11d8f72724b426add3c4cf6553277f3eac4fca4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:865dad2739211c1c697e1a5f19bf2d56b785f8a569f054cb7a0928d70fa4fd8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f30cda10314f537cd6b108c0fea8b0e3a39c0b5026960e9d5c9334c66bcc16dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 7.876 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5446, 1.9224, 1.055, 0.1448, -0.5476, -0.4206, 0.0316, -0.0147, 0.8165, 0.6079, -0.3927, -0.012, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4609 left_y=-0.1674 left_z=0.0658 left_yaw=0.1154 left_pitch=-0.0381 left_roll=0.0238 left_gripper=0.0316 right_x=0.295 right_y=0.0014 right_z=0.1729 right_yaw=0.0009 right_pitch=-0.0416 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -10.4274, 7.9385, 1.5897, -0.3101, 0.0806, 1.2283, -0.2393, -1.3333, 7.0085, 1.7021, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5095, 1.9938, 1.1397, 0.1196, -0.5262, -0.4046, 0.9953, -0.0147, 0.8165, 0.6079, -0.3923, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4815 left_y=-0.1633 left_z=0.0582 left_yaw=0.1258 left_pitch=-0.0564 left_roll=0.0328 left_gripper=0.9953 right_x=0.295 right_y=0.0013 right_z=0.173 right_yaw=0.0005 right_pitch=-0.0412 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -9.347, 8.5949, 1.5507, -0.1929, 0.0757, -0.0757, -0.2393, -1.4017, 7.241, 1.7607, -0.0317, -0.0415, -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 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]: [-0.5068, 1.9945, 1.1442, 0.1207, -0.5243, -0.4126, 0.1072, -0.0147, 0.8165, 0.6079, -0.3927, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4832 left_y=-0.163 left_z=0.0596 left_yaw=0.1311 left_pitch=-0.0531 left_roll=0.0222 left_gripper=0.1072 right_x=0.295 right_y=0.0013 right_z=0.1729 right_yaw=0.0005 right_pitch=-0.0416 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -10.5368, 5.7368, 1.5116, -0.2418, 0.0464, 0.6862, -0.0889, -1.3744, 7.0496, 1.7363, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d02484bdaff35940dc73698a11d8f72724b426add3c4cf6553277f3eac4fca4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:865dad2739211c1c697e1a5f19bf2d56b785f8a569f054cb7a0928d70fa4fd8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f30cda10314f537cd6b108c0fea8b0e3a39c0b5026960e9d5c9334c66bcc16dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3gUKjgEIEhgCKkC9etVBj+U4vOuGjjN/7HO3uiYgzBBeIG3KXxMm2gILrpqYPff+qaS0qCFdHLIpK1y6rZXlLyz413Wo9msbpOibMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAazSzNUGEgyt1aBLMrAAT/exdH4aDKZJ2b0duTo9SxkU8CIwIBclWGRKc04qabYpoPlYRYTmixVW6ZS6lsFo7NLtoQHmBKvWaysuFGP/qzb3+jQbKvwDOf0qacbMZvuoEUKiNWeiDcBfJj7nEjlxITd6GhD17USiFxv/sWkEYePOajyw6rKPW2FIyTfzw2uJvwY/v19B4MiI+Q8AiC7CAJr9oq2HBRYBDKOaY3b2aUygiNP9RQWyaCu/WZC6fxzPMEsOL3fRllaV6ttHpkTS+SRSgi7ngUiRbZHoRbO8ntE2PgAjzchtX/rwtzWJ8Af7OwFkk/uikVVHNzi7DBfb9Voz9aFaoVK5qvy/KQHR5mBC5tUA1HWNdrY39XeqkWgJi9RsE6ujo2xmanMjkeai42YepkjDnyWLPG3BknRJwPNXPHYxmSFOiiZg1yppy9OhQgXnVvG7Z3JWZzDWTbce1+JPkktM5Vi9RQsq7Q9FYvOw+7pZ8tVT8aEOCuaepZR2MhIt4mhVxVAmxpw+SvDPsNAlg7nfVmNFVD0uMLFeMjq8/MQbCbOoi7OTV9/IUM3BoxbzKsVzu/nCB+SR9ji3sh0UqTY7dMgURXx45OQcRzi2hSKfGPWiKkAWjTSBSzAuRlqRP2G4DHvsJ9YUbbW0ruj2358UWscJn7G9xwiEPIakJD1nlPmiUQ3nCSTOHMohh1q7DEhb/HNch/P3riAbe1swokrA9ohJTJyt6f+fRqhrf/IlygQZN0Ep26k+mgHGGMY4NEVDwe9zaulWBJXOqXIAmBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AxNYALVP2a3YhAwxcgzuJT",
      "input": {
        "note": "Gripper settled at 0.107, so it has a pinch of the bear's fur. Lifting and sweeping it left over the basket's centre; even if the grip slips this should drag the bear over the rim.",
        "targets": {
          "left_x": 0.5,
          "left_y": -0.05,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01AxNYALVP2a3YhAwxcgzuJT",
      "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]: [-0.2195, 1.7981, 1.2087, -0.1848, -0.308, -0.242, 0.1096, -0.0147, 0.8165, 0.6079, -0.392, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4878 left_y=-0.0503 left_z=0.1164 left_yaw=0.1565 left_pitch=-0.168 left_roll=0.0483 left_gripper=0.1096 right_x=0.2951 right_y=0.0013 right_z=0.1731 right_yaw=0.0005 right_pitch=-0.0408 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -13.8462, 10.4547, 2.0488, -0.2173, 0.1636, 0.232, -0.1436, -1.4017, 7.0222, 1.7509, -0.0317, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eaddc2aa8cd12ac7addcac3bb5b8f950cc4a33bae68b72e57b6889f3c36a9125",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:212ebaa1c54fe364ec18bea96af6adc4e0235ece3253a0b90b256bb6671ec54e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c93df22886b6ceb62f708e5b2c18e158937e13ce5a2c300acf2d6a33f5c2045b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 10.46 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5095, 1.9938, 1.1397, 0.1196, -0.5262, -0.4046, 0.9953, -0.0147, 0.8165, 0.6079, -0.3923, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4815 left_y=-0.1633 left_z=0.0582 left_yaw=0.1258 left_pitch=-0.0564 left_roll=0.0328 left_gripper=0.9953 right_x=0.295 right_y=0.0013 right_z=0.173 right_yaw=0.0005 right_pitch=-0.0412 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -9.347, 8.5949, 1.5507, -0.1929, 0.0757, -0.0757, -0.2393, -1.4017, 7.241, 1.7607, -0.0317, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5068, 1.9945, 1.1442, 0.1207, -0.5243, -0.4126, 0.1072, -0.0147, 0.8165, 0.6079, -0.3927, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4832 left_y=-0.163 left_z=0.0596 left_yaw=0.1311 left_pitch=-0.0531 left_roll=0.0222 left_gripper=0.1072 right_x=0.295 right_y=0.0013 right_z=0.1729 right_yaw=0.0005 right_pitch=-0.0416 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -10.5368, 5.7368, 1.5116, -0.2418, 0.0464, 0.6862, -0.0889, -1.3744, 7.0496, 1.7363, -0.0269, -0.0562, -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 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]: [-0.2195, 1.7981, 1.2087, -0.1848, -0.308, -0.242, 0.1096, -0.0147, 0.8165, 0.6079, -0.392, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4878 left_y=-0.0503 left_z=0.1164 left_yaw=0.1565 left_pitch=-0.168 left_roll=0.0483 left_gripper=0.1096 right_x=0.2951 right_y=0.0013 right_z=0.1731 right_yaw=0.0005 right_pitch=-0.0408 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -13.8462, 10.4547, 2.0488, -0.2173, 0.1636, 0.232, -0.1436, -1.4017, 7.0222, 1.7509, -0.0317, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eaddc2aa8cd12ac7addcac3bb5b8f950cc4a33bae68b72e57b6889f3c36a9125",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:212ebaa1c54fe364ec18bea96af6adc4e0235ece3253a0b90b256bb6671ec54e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c93df22886b6ceb62f708e5b2c18e158937e13ce5a2c300acf2d6a33f5c2045b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISugcKjgEIEhgCKkAvUGSRKTsC8S8h16SHrh0yrmafrESSFxJEtXzmJZnigoBsAyJzMvjTO19PAt3IIr+Xfs1PK1WhS9TxSLrJj06UMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbbSzNUGEgwVfGbgU31o5Wl7U4IaDA/ioOGxNwlfZVGQ+iIw+BIzHp2rnWih/+E+UEPlqfDdkAUabWIFP/SYJLmwMPdVJ+4N/BvTWoMwPlsN8op8KtgFwI+jzzUHdZiJUC4np11gV+7BcCYtV+WL9WAcor84wTFT/21edlBVXOSFoGRrV/KcsIJkQNi6zAn+vYWV26FnP6VHSg4qRqTH4NADJgF1JHRkML8bTI1ql82s/58S7ZDOYQuvKsKRuD1QYtAlMkpjO5bfu0sS0Z7khgxQZC7EZw8H/GDswP81hHXg5JaYSz8I6EvZHgOIk5MDu4uWCOcLTg5t4Kv8xhifA99548pAkShBRkrw9/Vm2UNqsKs5r70Omck9fdmem2yBnTOeC/8DbR3xUBoaZPPVdLxARubb8l/lUq/xzmJ7Rej2v11tnpB+dA8/rhBaGBIL4xtzF78CFwNZmrYhdHYHci2MjBREsL/Pn3jokdtV/R+ktDqjFPmRq7fOvlLWoP6iEXJt8I66QCf1SCRRAleGhiGvU9IYYmzL6sXWfSYCkjZO8AiQvNgdA5odzsrPUkVacFbwG+bv4mRgPBBUGtjJWb5YiNNVzyRMfFXb0N1BWGp3Ouc28GjabOTlkEMWgbbwc+3bMZVLghbG5HjU1jZpcd40u2PF3oFhypCqm+Z27Au61yDMIPQpGYuc7anU0+GekpiNrca6Jrkn3xKdHmEdc/Uo2gUM6jSYjbT+zaYblS+Hjso7ufLDua/aYCwuxJ1UQpvCnHemMLyJfM7Vx2SGSz93rub/Rafbm9dz+vSYPAAoutTl01vvQ256Bdrp3W6C/cxoXd5AZP758kBFFkqlCtNfaSMl7+r5UBCqgCLnLrjJvaIDb0KjuMQrhgYqYPCez4JHBJdmP3t8soLvYW3HM5KviW2CVenuxq9DC8OVe0tzTJpz97RHuyUmCZOrzSa2rq5GNLviC5iTpQvYIPjLRl5BVnG2BzgFWnrScUtlCK0gSgSiAv/hS61jYhJFCZ+mycQBodn838uSn3Wxbk011hdzgwXKoYr6Q8ZBB/pYii8/hV1Y/bPX4yF58a6d2e0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013zYm9BqPcvvQVvQNKKNz29",
      "input": {
        "note": "The bear has been swept over the left basket. Opening the gripper to let it drop in.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_013zYm9BqPcvvQVvQNKKNz29",
      "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]: [-0.2192, 1.8011, 1.2106, -0.1944, -0.3065, -0.2474, 0.995, -0.0147, 0.8165, 0.6079, -0.3923, -0.012, -0.0227, 0.9997]\nstate[eef_state]: left_x=0.4867 left_y=-0.0501 left_z=0.114 left_yaw=0.1592 left_pitch=-0.1782 left_roll=0.0473 left_gripper=0.995 right_x=0.295 right_y=0.0014 right_z=0.173 right_yaw=0.0009 right_pitch=-0.0412 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -9.6615, 6.5573, 1.6239, -0.1343, 0.0611, 0.149, -0.3761, -1.2923, 7.0496, 1.7558, -0.0366, -0.0806, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fcf9cb0ac212b388b7f04597fa2dac809f3aaf67d34ecd0d38a596e9f9edfff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aadd1d83f5b051933a6db1037f4b6c9f1468022f56f3a62b405bc19095a4758f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ca92ef76b47a4b7f80ddffef214e57fbfaae5e58d23491aa12792a6cc263272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /messages · status 200 · 12.65 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]: [-0.5068, 1.9945, 1.1442, 0.1207, -0.5243, -0.4126, 0.1072, -0.0147, 0.8165, 0.6079, -0.3927, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4832 left_y=-0.163 left_z=0.0596 left_yaw=0.1311 left_pitch=-0.0531 left_roll=0.0222 left_gripper=0.1072 right_x=0.295 right_y=0.0013 right_z=0.1729 right_yaw=0.0005 right_pitch=-0.0416 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -10.5368, 5.7368, 1.5116, -0.2418, 0.0464, 0.6862, -0.0889, -1.3744, 7.0496, 1.7363, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.2195, 1.7981, 1.2087, -0.1848, -0.308, -0.242, 0.1096, -0.0147, 0.8165, 0.6079, -0.392, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4878 left_y=-0.0503 left_z=0.1164 left_yaw=0.1565 left_pitch=-0.168 left_roll=0.0483 left_gripper=0.1096 right_x=0.2951 right_y=0.0013 right_z=0.1731 right_yaw=0.0005 right_pitch=-0.0408 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -13.8462, 10.4547, 2.0488, -0.2173, 0.1636, 0.232, -0.1436, -1.4017, 7.0222, 1.7509, -0.0317, -0.0415, -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 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]: [-0.2192, 1.8011, 1.2106, -0.1944, -0.3065, -0.2474, 0.995, -0.0147, 0.8165, 0.6079, -0.3923, -0.012, -0.0227, 0.9997]\nstate[eef_state]: left_x=0.4867 left_y=-0.0501 left_z=0.114 left_yaw=0.1592 left_pitch=-0.1782 left_roll=0.0473 left_gripper=0.995 right_x=0.295 right_y=0.0014 right_z=0.173 right_yaw=0.0009 right_pitch=-0.0412 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -9.6615, 6.5573, 1.6239, -0.1343, 0.0611, 0.149, -0.3761, -1.2923, 7.0496, 1.7558, -0.0366, -0.0806, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fcf9cb0ac212b388b7f04597fa2dac809f3aaf67d34ecd0d38a596e9f9edfff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aadd1d83f5b051933a6db1037f4b6c9f1468022f56f3a62b405bc19095a4758f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ca92ef76b47a4b7f80ddffef214e57fbfaae5e58d23491aa12792a6cc263272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISygoKjgEIEhgCKkAgb1sj5VUgrkytoXJgdD5U6JywBPqSw/daxQcivAk/dKkZFPMC9+idmqf0a0AJgRU9C6SoxTRZ3w9c5BASYgHGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcDSzNUGEgybm64do4RuJ719KrAaDPvCgafOGoPC72m4fyIwWdD/UOc4JpYvtAQdv2fs9h53ppvpjpbHjT3zNl3EdzrpMNI6/kwhTVtsbCZBWEw7KugIXhxQh3IWC4U1peuLrv0eO2xjrr0C5h+Ugm6PqFsOqBAyj0vbVH5I9J3HLcQjtjxvMEKYnEGCO2FuZUOYCfKEYe5SgK3uGZ9AXvvNu6hvUau9URW7U/DBcQPSsHqTEnvT7O1baN7jNoPwpzrhjoeT9vJyJx6tvuNaZv3nn4GzphGSo0oykBzc+NbiuqZWRQYy4pU+1eA7yeJBDHATNfHT3gh7/xigWQZWx2YkpaVO4kOQrwA5NyC+2Rp8EMKDTEHAUelxxDpATAdkY85JybkKoLASbvcvSpppXGKHIVR6HZA33g6lZTesD3J/m61tfV6ClICs9Jn8mVLby085b3ZXsXT8vUzVt2NaCwaIENRd5rjmmS6cqPhQmPC5cMBLWADqLqW+Pe3gMpMK43STyts/EJa8PpKPa4bwe5I0MlUeFEHdkOuSLp4YUrWWKxnvPVSGNbyk+a6yVyPYmqlCNUT1eeY6bAhdVYU9ND6GOp24x6A7oaGJf4jqeCjgzGfbyifGnnvT/eDaQMBJiVHmjUweJPNZNiQhrhBZjEcqhq9MOoJLjHUcOfNHaLgvo1RXjsyCJwVv2PE37671A6Y5K5HXdSZfrhrMvNUXCTJGYeEtGKVwKguj4xKteJORfZ7PuIzg2nd7A18oMxW1cAefbPPRpxS8LqDLWF9l3BPIiuzfa3ZECb4mG/izsc8XybGZwt5+R3lJNPUuT/YCGau4c9WFPnWR3jGTSiaiH7IPNCu2FmHhoiwHoLt/Q5vS1GyZUnMB/cV3Z5r0REEE84U3/z0dp0n0Ru4EbghDWthZHm4zUPsgrpqGocqBdi6LtBNIrb72OwWx2TMLDNy502aQk0un8lQ5dYwFeRKKIN4XrTvhskupc0fxQg+otU9/w9W4nED8k7zcvZR7wPGqpC1EVVZ1xcnrCwwYZfXPTc3HRm1ugWNG8eYh8Pg50ikDhmNqNidvaS2XY1GDa9cIIowQVGqA3BrwxZ7G5iTrInmlRoG77ScCy+G1EIYEyKXSdAaifv3oWsjHuFO5LSbbKneNdD5MN/jm5GTAXzQJ4YlOXkzQaW1ww6pezYEBwfpHrQlB5f+00hkDBgISL4mJjMT9HtRBBwda6IDe9n1UC3cQmvwyvSch1XP6Ruh7PhL7cx1eibDMerbWxVvpMd00lO+1HOlATF28H88UTf6gdVwZpYCOdzMV9OA2n4UnucHHLo0rrwFdc05atRVuJc6f7zeq92HG1uMzhEfv1UCbFWjqPlHcfrQdAeOlncK1ULwgMW5SSDLKtkkW5Bh8HmaDDb8Bm+BLVhMevoJeOFzfLM36hxiECGPWm8eKF//BtmD9FPFEi2QsPm7vZHc7/UXOJyMR1CzC06DyrAeusJOvZCelfE0tqnIwazLKpqTSkWMH7oPv5yI/NDS2HLMWzJ8g0QO1r7DYgd4yMapkhimnGdX8/xCcD5fBUvvOuOoVKqfNGUL563cqbLzbqzjQz0mpcHsyYBUJaqGu7TveBYYxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014WyaDQrEQb7Cmm51keB7cx",
      "input": {
        "note": "The bear keeps rolling out of the basket; with few calls left I'm switching to the pens. Parking the left arm back and bringing the right gripper over the pair of pen-like sticks on the right side of the table.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.25,
          "right_x": 0.33,
          "right_y": 0.3,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 25 steps (2.5s)",
      "tool_use_id": "toolu_014WyaDQrEQb7Cmm51keB7cx",
      "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]: [-0.4301, 1.1255, 1.1229, -0.8577, -0.4309, -0.4053, 0.9967, 0.9981, 1.7687, 1.1149, -0.2752, 0.7341, 0.6827, 0.9997]\nstate[eef_state]: left_x=0.3066 left_y=-0.0556 left_z=0.2349 left_yaw=0.1408 left_pitch=-0.1987 left_roll=0.0474 left_gripper=0.9967 right_x=0.3258 right_y=0.2936 right_z=0.1084 right_yaw=0.032 right_pitch=-0.0774 right_roll=-0.0274 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -4.0957, 9.4291, 1.3211, -0.4322, -0.0122, 0.1538, 0.4991, -8.7863, 8.4171, 1.1795, 0.6374, 0.2418, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1488aa1ed906141b3aef8693368aa93d4c6fea9144b20b1909832583a6189bc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7938d74e440afa1a96b318fddddc6f63bee9aca06867139bfc00c0a3307e7b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:11b75558d21eb34290443e1b9c05accac4926887e148d2ff7b48196d9930ab81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 9.074 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]: [-0.2195, 1.7981, 1.2087, -0.1848, -0.308, -0.242, 0.1096, -0.0147, 0.8165, 0.6079, -0.392, -0.0116, -0.0227, 0.9998]\nstate[eef_state]: left_x=0.4878 left_y=-0.0503 left_z=0.1164 left_yaw=0.1565 left_pitch=-0.168 left_roll=0.0483 left_gripper=0.1096 right_x=0.2951 right_y=0.0013 right_z=0.1731 right_yaw=0.0005 right_pitch=-0.0408 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -13.8462, 10.4547, 2.0488, -0.2173, 0.1636, 0.232, -0.1436, -1.4017, 7.0222, 1.7509, -0.0317, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2192, 1.8011, 1.2106, -0.1944, -0.3065, -0.2474, 0.995, -0.0147, 0.8165, 0.6079, -0.3923, -0.012, -0.0227, 0.9997]\nstate[eef_state]: left_x=0.4867 left_y=-0.0501 left_z=0.114 left_yaw=0.1592 left_pitch=-0.1782 left_roll=0.0473 left_gripper=0.995 right_x=0.295 right_y=0.0014 right_z=0.173 right_yaw=0.0009 right_pitch=-0.0412 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -9.6615, 6.5573, 1.6239, -0.1343, 0.0611, 0.149, -0.3761, -1.2923, 7.0496, 1.7558, -0.0366, -0.0806, -0.0171]\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 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]: [-0.4301, 1.1255, 1.1229, -0.8577, -0.4309, -0.4053, 0.9967, 0.9981, 1.7687, 1.1149, -0.2752, 0.7341, 0.6827, 0.9997]\nstate[eef_state]: left_x=0.3066 left_y=-0.0556 left_z=0.2349 left_yaw=0.1408 left_pitch=-0.1987 left_roll=0.0474 left_gripper=0.9967 right_x=0.3258 right_y=0.2936 right_z=0.1084 right_yaw=0.032 right_pitch=-0.0774 right_roll=-0.0274 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -4.0957, 9.4291, 1.3211, -0.4322, -0.0122, 0.1538, 0.4991, -8.7863, 8.4171, 1.1795, 0.6374, 0.2418, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1488aa1ed906141b3aef8693368aa93d4c6fea9144b20b1909832583a6189bc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7938d74e440afa1a96b318fddddc6f63bee9aca06867139bfc00c0a3307e7b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11b75558d21eb34290443e1b9c05accac4926887e148d2ff7b48196d9930ab81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JXuS6FW2oy1Grpyk5rxXax",
      "input": {
        "note": "The right wrist view shows the basket up-right and a pen tip at the lower right, so both lie to the arm's right (-y). Shifting 7 cm right and lower to get the pens under the jaws.",
        "targets": {
          "right_x": 0.31,
          "right_y": 0.22,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01JXuS6FW2oy1Grpyk5rxXax",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4324, 1.1313, 1.1282, -0.8719, -0.4374, -0.4194, 0.9968, 0.9115, 1.5936, 0.7681, -0.0849, 0.6758, 0.6025, 0.9997]\nstate[eef_state]: left_x=0.3056 left_y=-0.0547 left_z=0.2337 left_yaw=0.1528 left_pitch=-0.2077 left_roll=0.0493 left_gripper=0.9968 right_x=0.3074 right_y=0.2221 right_z=0.0725 right_yaw=0.0274 right_pitch=-0.1049 right_roll=-0.0484 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -3.7128, 6.1197, 1.4774, -0.149, 0.105, -0.0024, -0.3761, -7.665, 6.1197, 1.4921, 0.1978, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d203a5cc82a9632594c605f98c1aea7b889d3d68acb47e6d0558f53bd87e78b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91ed5f4f683f1e888499557e1a889508ba7edbc949ba3c62e2c3c7fa0086a92a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:811987f15cf970d7c03a29a0b75ba74e77a15d5964949239515c5369f2f909c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 3.87 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]: [-0.2192, 1.8011, 1.2106, -0.1944, -0.3065, -0.2474, 0.995, -0.0147, 0.8165, 0.6079, -0.3923, -0.012, -0.0227, 0.9997]\nstate[eef_state]: left_x=0.4867 left_y=-0.0501 left_z=0.114 left_yaw=0.1592 left_pitch=-0.1782 left_roll=0.0473 left_gripper=0.995 right_x=0.295 right_y=0.0014 right_z=0.173 right_yaw=0.0009 right_pitch=-0.0412 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -9.6615, 6.5573, 1.6239, -0.1343, 0.0611, 0.149, -0.3761, -1.2923, 7.0496, 1.7558, -0.0366, -0.0806, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.4301, 1.1255, 1.1229, -0.8577, -0.4309, -0.4053, 0.9967, 0.9981, 1.7687, 1.1149, -0.2752, 0.7341, 0.6827, 0.9997]\nstate[eef_state]: left_x=0.3066 left_y=-0.0556 left_z=0.2349 left_yaw=0.1408 left_pitch=-0.1987 left_roll=0.0474 left_gripper=0.9967 right_x=0.3258 right_y=0.2936 right_z=0.1084 right_yaw=0.032 right_pitch=-0.0774 right_roll=-0.0274 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -4.0957, 9.4291, 1.3211, -0.4322, -0.0122, 0.1538, 0.4991, -8.7863, 8.4171, 1.1795, 0.6374, 0.2418, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4324, 1.1313, 1.1282, -0.8719, -0.4374, -0.4194, 0.9968, 0.9115, 1.5936, 0.7681, -0.0849, 0.6758, 0.6025, 0.9997]\nstate[eef_state]: left_x=0.3056 left_y=-0.0547 left_z=0.2337 left_yaw=0.1528 left_pitch=-0.2077 left_roll=0.0493 left_gripper=0.9968 right_x=0.3074 right_y=0.2221 right_z=0.0725 right_yaw=0.0274 right_pitch=-0.1049 right_roll=-0.0484 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -3.7128, 6.1197, 1.4774, -0.149, 0.105, -0.0024, -0.3761, -7.665, 6.1197, 1.4921, 0.1978, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d203a5cc82a9632594c605f98c1aea7b889d3d68acb47e6d0558f53bd87e78b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91ed5f4f683f1e888499557e1a889508ba7edbc949ba3c62e2c3c7fa0086a92a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:811987f15cf970d7c03a29a0b75ba74e77a15d5964949239515c5369f2f909c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlwkKjgEIEhgCKkBvRwOesrKsmS/V/cKTX1sJUEic/6asGEQs9dTcg621JNmG8Zc9I87WxPK3Z+t0YhH5quH5yKLEq0hDNuwVhw0RMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdrSzNUGEgxCSFEXQxvrfadcrsMaDEh5wXg6/PoOW1D43CIwUhrz4u5/JUypY9ZjUoW3Yyfq5hdODthrjCIOCjyZXua4qj3wOuyhmZRQGkT48obEKrUHDqKhVYxB7QPBCDuDX3zxYF1ZPMZ8665k/gyAKOn8RJ/Ned2m8glXqvh6qPo2jmdupI6WzH476QQc+glqKxyOW3JgsrRIF88/TW3QelEQQSkA+FNQmmIS1pzkLl5v4vxWNJwn6lP1zsDK2ofBH1FgupM9JSuYiHHsMxkIVYxOMea8ay+tEHiZ/9gSGQ52zVvCsj4rFv+m7n5qUUr8DnF+hz+mrmz5ghI9Rbsqg6/kkQS1lS0fIJ/GRXBsTGxZK7Ixff+DeDKzmf/VWjvGYEytWnYHDGxep695zD5mQVutbJaiT+slhirw5W7lMp1xW4FG8YbhgPzT/u2p6tswtJA3GepCp7IX/uhqg3p4VENo9F1baCHWjHmp68Mc4DfLcBk9kul5cVfEXc06wlgt16Ayjrg1KiV6WRBSWyrhUjMizGeZCZA28EuAoKeInna+9CFeoUr9YpJufWE5FEICD26JIZt5oYmOVx2K15wn+NSLwWqGsA/IKzzyBqIy2GI27zqI/IKKA0mIeYJhQiyFzVbKejAkNyo4+7v9p0OmCk2YWoU0OtsXzr48HcoLNqxbzXo/RK34FGGBEzcj1yJdwxWiiRTzB0MPTUZhDIZj8YfUKRcVDmkR6Vr2YFfm+0kYDnLsLfgUgKaMVy+zR1BCK5yMXYtKSe2y7qPdjJKe6Mv3qFonMAw0ci1rexqTPBlHQvHUB0CrplSjalPk9QPQfFIjnYB3Pw4oSHpA9KwitYx5iqpy5bR55PgAEFUt4XbNzn75wVCvSgQgkYOR+u8gIr1YK/g62buhgxnhq85IEKC1yTCQF0eTOYyiXBZGoMcbbajCgCIIlpdPZ8QyFba/geNQKCwUyBSFVqYF1xn0kht330p1hSUpv64vdm+z2D0OSISWj+O+VhYtg+ZsA0VE7etyEUyyN4s/FLBXHFQwnESBnS7H6rpFsn5Z7a+cAlxVK3b/xYylP66cojlBYkWF1Fh8Qj0f0LKcuE2WG6LKyGPxUZtljweGFtMYYEdg3aJ7oEOQaaSslnbhIgNgVjf/wbFzqdJu5Udz8J1FgRRkPPt8pBX9PepaUQdqLXwhjzBp5zD4ayN3+DYSa20odmTjA+SUTin4bVTpcJkOVSbZaseF0uwMFuoDqaFbmU8GowPPBu1c6NgxBkoRPkD3NksUaeK/SwAOltqW8uAZsw+y6QCjsMrrDk18awk0qWn2ziYBqi80yYyohoKkiIcigaH86m+xypJjq0Ob8p1s4+DjGH2RjmLFpVQBtBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HZFxr8xvtjCSmoKLc718pK",
      "input": {
        "note": "A blue pen lies right on the jaw column at the bottom of the right wrist view, aligned radially. Descending to table level to grasp it.",
        "targets": {
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01HZFxr8xvtjCSmoKLc718pK",
      "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]: [-0.4324, 1.1324, 1.1275, -0.8749, -0.4374, -0.4202, 0.9968, 0.9066, 1.7882, 0.6689, 0.2222, 0.6872, 0.6033, 0.9997]\nstate[eef_state]: left_x=0.3052 left_y=-0.0545 left_z=0.2326 left_yaw=0.1538 left_pitch=-0.2118 left_roll=0.0515 left_gripper=0.9968 right_x=0.3115 right_y=0.2219 right_z=0.0142 right_yaw=0.0154 right_pitch=-0.0895 right_roll=-0.0431 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -3.1795, 6.8855, 1.3797, -0.2027, -0.0122, -0.0122, 0.3487, -5.1077, 3.2068, 0.6813, 0.0269, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3ceeec0e24a2d4145093b7cc40fffb421320e81b59578e851dabb016389b7dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:055cce1eda4ebfc2429a056285cbf5ea98617c79915f2df2bb23ba3f3669b84d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a8203f034d5acc1166f7e38bbcd9cffa562fdbf3a567ceb1053b724d6c711a99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 6.988 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]: [-0.4301, 1.1255, 1.1229, -0.8577, -0.4309, -0.4053, 0.9967, 0.9981, 1.7687, 1.1149, -0.2752, 0.7341, 0.6827, 0.9997]\nstate[eef_state]: left_x=0.3066 left_y=-0.0556 left_z=0.2349 left_yaw=0.1408 left_pitch=-0.1987 left_roll=0.0474 left_gripper=0.9967 right_x=0.3258 right_y=0.2936 right_z=0.1084 right_yaw=0.032 right_pitch=-0.0774 right_roll=-0.0274 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -4.0957, 9.4291, 1.3211, -0.4322, -0.0122, 0.1538, 0.4991, -8.7863, 8.4171, 1.1795, 0.6374, 0.2418, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4324, 1.1313, 1.1282, -0.8719, -0.4374, -0.4194, 0.9968, 0.9115, 1.5936, 0.7681, -0.0849, 0.6758, 0.6025, 0.9997]\nstate[eef_state]: left_x=0.3056 left_y=-0.0547 left_z=0.2337 left_yaw=0.1528 left_pitch=-0.2077 left_roll=0.0493 left_gripper=0.9968 right_x=0.3074 right_y=0.2221 right_z=0.0725 right_yaw=0.0274 right_pitch=-0.1049 right_roll=-0.0484 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -3.7128, 6.1197, 1.4774, -0.149, 0.105, -0.0024, -0.3761, -7.665, 6.1197, 1.4921, 0.1978, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4324, 1.1324, 1.1275, -0.8749, -0.4374, -0.4202, 0.9968, 0.9066, 1.7882, 0.6689, 0.2222, 0.6872, 0.6033, 0.9997]\nstate[eef_state]: left_x=0.3052 left_y=-0.0545 left_z=0.2326 left_yaw=0.1538 left_pitch=-0.2118 left_roll=0.0515 left_gripper=0.9968 right_x=0.3115 right_y=0.2219 right_z=0.0142 right_yaw=0.0154 right_pitch=-0.0895 right_roll=-0.0431 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -3.1795, 6.8855, 1.3797, -0.2027, -0.0122, -0.0122, 0.3487, -5.1077, 3.2068, 0.6813, 0.0269, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3ceeec0e24a2d4145093b7cc40fffb421320e81b59578e851dabb016389b7dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:055cce1eda4ebfc2429a056285cbf5ea98617c79915f2df2bb23ba3f3669b84d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8203f034d5acc1166f7e38bbcd9cffa562fdbf3a567ceb1053b724d6c711a99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1QIKjgEIEhgCKkASfFiHJic62ow4ohsDGDCHAn/PRCgDka/1ACBV/b9wcnEiFv/j4ZK81Gb/Gg3S6ifPLJESRnZk5EV8Rfb2blM6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd7SzNUGEgw927ARnvqv5UgZ6RoaDDLHHu8SKMzuypj6wyIwHSwFTVn5i6HJe+3tNjaTgh4ipYADJTdn37Ad9BqWe2bmyExe7n9TFJ3Mxhct8N1kKnTkZe4FwZgeOIl0aaW3Gm43UDtG3gtuIdBQUsRdUykpozELMA9KPUECvE1+IF85OdoHm+pe1Uhre6S2Fw+eT0DGgwq5ZR57i5p5HB/r1dNAKrEVTN0XRuh9M4upqb/iflL6+azewpBBO/MRYIMh56D+aasWzxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SaiweYNur914XRo3nJpJj3",
      "input": {
        "note": "Gripper is at table level with the blue pen between the jaws in the wrist view. 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_01SaiweYNur914XRo3nJpJj3",
      "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]: [-0.4324, 1.1324, 1.1275, -0.8745, -0.4374, -0.4206, 0.9968, 0.9058, 1.7988, 0.6643, 0.2443, 0.6792, 0.6014, 0.1499]\nstate[eef_state]: left_x=0.3052 left_y=-0.0545 left_z=0.2327 left_yaw=0.154 left_pitch=-0.2115 left_roll=0.051 left_gripper=0.9968 right_x=0.3117 right_y=0.2235 right_z=0.0113 right_yaw=0.0215 right_pitch=-0.0901 right_roll=-0.0353 right_gripper=0.1499\nstate[joint_eff]: [-0.0479, -3.3026, 6.5026, 1.4042, -0.2173, -0.0708, -0.0122, -0.0342, -8.1709, 5.1487, 1.0672, 0.2515, -0.0073, 1.0134]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c28bf4213cc764b420177162ec56c0d5c53c0cd3fb40b84cef9ed4164c609eea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d4621fd913b8c6a713d9bc5c41195fe10617f3cffa6d4e75930b7303d874a26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee1ac15e55f1561b1152a572062d6b4f61bd1f085b8867f9114821feb2e35115",
        "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 · 3.576 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]: [-0.4324, 1.1313, 1.1282, -0.8719, -0.4374, -0.4194, 0.9968, 0.9115, 1.5936, 0.7681, -0.0849, 0.6758, 0.6025, 0.9997]\nstate[eef_state]: left_x=0.3056 left_y=-0.0547 left_z=0.2337 left_yaw=0.1528 left_pitch=-0.2077 left_roll=0.0493 left_gripper=0.9968 right_x=0.3074 right_y=0.2221 right_z=0.0725 right_yaw=0.0274 right_pitch=-0.1049 right_roll=-0.0484 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -3.7128, 6.1197, 1.4774, -0.149, 0.105, -0.0024, -0.3761, -7.665, 6.1197, 1.4921, 0.1978, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4324, 1.1324, 1.1275, -0.8749, -0.4374, -0.4202, 0.9968, 0.9066, 1.7882, 0.6689, 0.2222, 0.6872, 0.6033, 0.9997]\nstate[eef_state]: left_x=0.3052 left_y=-0.0545 left_z=0.2326 left_yaw=0.1538 left_pitch=-0.2118 left_roll=0.0515 left_gripper=0.9968 right_x=0.3115 right_y=0.2219 right_z=0.0142 right_yaw=0.0154 right_pitch=-0.0895 right_roll=-0.0431 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -3.1795, 6.8855, 1.3797, -0.2027, -0.0122, -0.0122, 0.3487, -5.1077, 3.2068, 0.6813, 0.0269, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4324, 1.1324, 1.1275, -0.8745, -0.4374, -0.4206, 0.9968, 0.9058, 1.7988, 0.6643, 0.2443, 0.6792, 0.6014, 0.1499]\nstate[eef_state]: left_x=0.3052 left_y=-0.0545 left_z=0.2327 left_yaw=0.154 left_pitch=-0.2115 left_roll=0.051 left_gripper=0.9968 right_x=0.3117 right_y=0.2235 right_z=0.0113 right_yaw=0.0215 right_pitch=-0.0901 right_roll=-0.0353 right_gripper=0.1499\nstate[joint_eff]: [-0.0479, -3.3026, 6.5026, 1.4042, -0.2173, -0.0708, -0.0122, -0.0342, -8.1709, 5.1487, 1.0672, 0.2515, -0.0073, 1.0134]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c28bf4213cc764b420177162ec56c0d5c53c0cd3fb40b84cef9ed4164c609eea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d4621fd913b8c6a713d9bc5c41195fe10617f3cffa6d4e75930b7303d874a26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee1ac15e55f1561b1152a572062d6b4f61bd1f085b8867f9114821feb2e35115",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0wYKjgEIEhgCKkBbJRi9KzfmRbSoD2jHKVhJ5CqvtMWFHCvtav63QsZ1VS70i+KeHGTZiEsDc0dJTQU0I6t6iRVIsjRRhbn0S5Z4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAebSzNUGEgw9va/XfTT9Hri7jOYaDGPbrQEyk6vzq6vrXiIwRkNLay2w+FefRIqw1QjmmLrQzs6yJpyD+JMKdH0az69BT2QZUDILStAmV+rsBfvyKvEEvnYsxIV6ogK7Ork2A4FnGrAIVOIPoWWbOaJKi8DFxQAqHKTUScJAIiG95pDb+3D7XFX6Q60fjCZZeOJx4O4oyr4EDQOxmyT0mosFdtm+9g8PHGbmGwQKkLG3WEr0UOA9424x1osLfv8K0iCAm3N3lfSOQkjROfDbBxy4N11WgN8l7jDMs4S+ekV78pR6U05h5Q82Vin7ZrG8v8xPlthfGtArP/bOVtZNxCAsTrE/mtAW84HlAxWBZ/LT5SltSYY4evBHBkts0nbUFvs7FZpoj+Uvp1Ryv3TqQGNbrrfuALRU0gNppKDoSWWTiRCyAFhBFY9SuMcEdcQjjNVqDKTc/eZWNd/NGqiJsXWGRwVb9vKUvP+XiO+5UujplZXPc8Ua2duT8wrgxGY1D1yrrqsedDB3lLwAhR2pRdENKICXfGjeHGF0itN7WKw1MtMX8y5kAA3yeZf0pQxceq+DZbTx2zXzVAXAEqGY5xwGBu4s8n0YAbYXPqiL8ilX7sdGUFq0uULhR6sjPCswRTpBJ585q8hHK00P5oE+Qcm+83iLJP4LxhkjrL169ZJfEjaurKH1TSSKzlYRk3ASachetjF5Z9orTBHL+NN0uhWgC2BxPdPmljtvbl+Qx2QGS7KzHoPK1VbK0L/I6tyEFhZwFlDvRbhYz+U0q+4OopUhVSWAIXeHL8EnyJWKofDtHn5PaPG/Bn6s5AFEPa0me+N4/B0emgpSGsygPEdjSEJsHVByOMQzXOFF6apPzZivIJnAksiPY5m/ZJOViOR/pAXzihs0msBJKekLwS8i7GUbm6QqGnU6YDzaYvysgV+ejk5AgKicgBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016ZexJQh7XU5qb1iiKXVwWs",
      "input": {
        "note": "Pen grasped (gripper 0.15). Lifting and carrying it forward over the right basket.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.2,
          "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_016ZexJQh7XU5qb1iiKXVwWs",
      "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]: [-0.4324, 1.1324, 1.1275, -0.8757, -0.4374, -0.4206, 0.9968, 0.577, 1.7229, 1.4448, -0.4389, 0.45, 0.3206, 0.1533]\nstate[eef_state]: left_x=0.305 left_y=-0.0544 left_z=0.2325 left_yaw=0.1541 left_pitch=-0.2125 left_roll=0.0517 left_gripper=0.9968 right_x=0.4464 right_y=0.2031 right_z=0.213 right_yaw=0.0226 right_pitch=-0.0736 right_roll=-0.0222 right_gripper=0.1533\nstate[joint_eff]: [-0.1709, -3.2752, 6.8034, 1.3797, -0.2222, -0.0513, -0.0122, -0.5949, -8.1162, 8.9778, 1.2381, 0.0904, 0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:065aa8feaa99c332d910cb7e9837ee20b723a9eab08c3edc53b5166ce614cdfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bb915d71917eb7ab2065644c98062127fc34f475390ca19fd817f150212efa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7022cbba814b3f5616bedebaf0cc0e4909d2e021a47e6e5f12f25ea73f92095e",
        "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 · 6.1 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4324, 1.1324, 1.1275, -0.8749, -0.4374, -0.4202, 0.9968, 0.9066, 1.7882, 0.6689, 0.2222, 0.6872, 0.6033, 0.9997]\nstate[eef_state]: left_x=0.3052 left_y=-0.0545 left_z=0.2326 left_yaw=0.1538 left_pitch=-0.2118 left_roll=0.0515 left_gripper=0.9968 right_x=0.3115 right_y=0.2219 right_z=0.0142 right_yaw=0.0154 right_pitch=-0.0895 right_roll=-0.0431 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -3.1795, 6.8855, 1.3797, -0.2027, -0.0122, -0.0122, 0.3487, -5.1077, 3.2068, 0.6813, 0.0269, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4324, 1.1324, 1.1275, -0.8745, -0.4374, -0.4206, 0.9968, 0.9058, 1.7988, 0.6643, 0.2443, 0.6792, 0.6014, 0.1499]\nstate[eef_state]: left_x=0.3052 left_y=-0.0545 left_z=0.2327 left_yaw=0.154 left_pitch=-0.2115 left_roll=0.051 left_gripper=0.9968 right_x=0.3117 right_y=0.2235 right_z=0.0113 right_yaw=0.0215 right_pitch=-0.0901 right_roll=-0.0353 right_gripper=0.1499\nstate[joint_eff]: [-0.0479, -3.3026, 6.5026, 1.4042, -0.2173, -0.0708, -0.0122, -0.0342, -8.1709, 5.1487, 1.0672, 0.2515, -0.0073, 1.0134]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4324, 1.1324, 1.1275, -0.8757, -0.4374, -0.4206, 0.9968, 0.577, 1.7229, 1.4448, -0.4389, 0.45, 0.3206, 0.1533]\nstate[eef_state]: left_x=0.305 left_y=-0.0544 left_z=0.2325 left_yaw=0.1541 left_pitch=-0.2125 left_roll=0.0517 left_gripper=0.9968 right_x=0.4464 right_y=0.2031 right_z=0.213 right_yaw=0.0226 right_pitch=-0.0736 right_roll=-0.0222 right_gripper=0.1533\nstate[joint_eff]: [-0.1709, -3.2752, 6.8034, 1.3797, -0.2222, -0.0513, -0.0122, -0.5949, -8.1162, 8.9778, 1.2381, 0.0904, 0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:065aa8feaa99c332d910cb7e9837ee20b723a9eab08c3edc53b5166ce614cdfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bb915d71917eb7ab2065644c98062127fc34f475390ca19fd817f150212efa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7022cbba814b3f5616bedebaf0cc0e4909d2e021a47e6e5f12f25ea73f92095e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS1wIKjgEIEhgCKkCy7HabjUMenIMr3PAHosQMNV0UQwYs9JvoD/j9MMGN2ji7yoDxuOkfg8SOC7G8bmBJMuePBVyfhb7c0qU95z5HMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAevSzNUGEgwjHYBaYToxFjM0+5AaDJLZQzHJ97MP1OqSDyIwkgq7Lu0YfCPSov173n6x9e/2IR++i1O3EL2SZU5cr/ZCyic8/QzOK42lsNNmhhIxKnY/rG7R5k9XXJpjaUxwKhsslmn6oM6V0A8+nO/fI+CNqEt8ZJI740vixMSg3ctuVG5/JSOGxC2z/OiPmVM/JpUh5Vk9FwjHCamIdukNYbu+EfztyeX5oyMNX5YqBFBPT50znf2SNnTao4Lrw+ErGCm+68nPQyIeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013JjRZcpaa1owfqTvGd9C1N",
      "input": {
        "note": "The right wrist view shows the basket interior directly under the jaws. Opening to drop the pen into the right basket.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_013JjRZcpaa1owfqTvGd9C1N",
      "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]: [-0.4324, 1.1336, 1.1275, -0.8745, -0.4374, -0.4206, 0.9968, 0.5747, 1.7351, 1.4441, -0.4519, 0.4362, 0.3134, 0.9954]\nstate[eef_state]: left_x=0.3053 left_y=-0.0546 left_z=0.2324 left_yaw=0.1541 left_pitch=-0.2125 left_roll=0.0517 left_gripper=0.9968 right_x=0.4455 right_y=0.2038 right_z=0.204 right_yaw=0.034 right_pitch=-0.1006 right_roll=-0.0338 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -3.3846, 6.694, 1.37, -0.2076, -0.0464, -0.0122, 0.0068, -9.894, 7.1316, 1.6435, 0.2857, -0.022, -0.1929]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:386d676cd276449ed6372265ff464c77bb4298856fb7f153d8c8a24c63c33ddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c85a14e2c57764424d80729e3badd16cbf64d9a8a7660b1b404adc62457e363f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:226540923d11d39958cec6f76e7f308a843ca5a2c8b92138cd103136e3a44b64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 13.63 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4324, 1.1324, 1.1275, -0.8745, -0.4374, -0.4206, 0.9968, 0.9058, 1.7988, 0.6643, 0.2443, 0.6792, 0.6014, 0.1499]\nstate[eef_state]: left_x=0.3052 left_y=-0.0545 left_z=0.2327 left_yaw=0.154 left_pitch=-0.2115 left_roll=0.051 left_gripper=0.9968 right_x=0.3117 right_y=0.2235 right_z=0.0113 right_yaw=0.0215 right_pitch=-0.0901 right_roll=-0.0353 right_gripper=0.1499\nstate[joint_eff]: [-0.0479, -3.3026, 6.5026, 1.4042, -0.2173, -0.0708, -0.0122, -0.0342, -8.1709, 5.1487, 1.0672, 0.2515, -0.0073, 1.0134]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4324, 1.1324, 1.1275, -0.8757, -0.4374, -0.4206, 0.9968, 0.577, 1.7229, 1.4448, -0.4389, 0.45, 0.3206, 0.1533]\nstate[eef_state]: left_x=0.305 left_y=-0.0544 left_z=0.2325 left_yaw=0.1541 left_pitch=-0.2125 left_roll=0.0517 left_gripper=0.9968 right_x=0.4464 right_y=0.2031 right_z=0.213 right_yaw=0.0226 right_pitch=-0.0736 right_roll=-0.0222 right_gripper=0.1533\nstate[joint_eff]: [-0.1709, -3.2752, 6.8034, 1.3797, -0.2222, -0.0513, -0.0122, -0.5949, -8.1162, 8.9778, 1.2381, 0.0904, 0.0611, 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 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]: [-0.4324, 1.1336, 1.1275, -0.8745, -0.4374, -0.4206, 0.9968, 0.5747, 1.7351, 1.4441, -0.4519, 0.4362, 0.3134, 0.9954]\nstate[eef_state]: left_x=0.3053 left_y=-0.0546 left_z=0.2324 left_yaw=0.1541 left_pitch=-0.2125 left_roll=0.0517 left_gripper=0.9968 right_x=0.4455 right_y=0.2038 right_z=0.204 right_yaw=0.034 right_pitch=-0.1006 right_roll=-0.0338 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -3.3846, 6.694, 1.37, -0.2076, -0.0464, -0.0122, 0.0068, -9.894, 7.1316, 1.6435, 0.2857, -0.022, -0.1929]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:386d676cd276449ed6372265ff464c77bb4298856fb7f153d8c8a24c63c33ddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c85a14e2c57764424d80729e3badd16cbf64d9a8a7660b1b404adc62457e363f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:226540923d11d39958cec6f76e7f308a843ca5a2c8b92138cd103136e3a44b64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISiQYKjgEIEhgCKkCP0A0UsxQsxL5IV41abPjdSw6ZiDTPHG7AFg+wl+cyP/FdGGbl9yr01MWGrp/edfT4+P7idXMHLpVNk7NVX1u5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfLSzNUGEgyprM5MUD/Awdd4V3gaDJbW6iFwYUT6uI0/7SIw0x7nyVimG23UG4T7qym8651/W3AP3q4bBYzQUAFlBjsQ3qfGcfQCnmYm4dy0ctsHKqcE4ucgCGwErXPuNMbjk2+8cQcoeNiLR2qDYD1N2yjvGnat+xPqe8Z0jJdq0+jtbTrsLBuXjq0xdx8gP50GupDp/TIMRtsF6OOziDSGGxDtZ3Ma+X6pXawNAeKGB3Vy34+oKqB7cvIVLw9SJF2cT/qw8eQ5jY1z81CSXmONQ8A9EnWbj8uN5Q62hV16z2LXYZiuTf1gfP5G8sLTBM4d1Kr/oMsjlGMXf0iF1wTFg74qfGpwVoUC7X+QFeBItkXHdAQUve+NnIavWRjltgEaZeKSk/iZkOL7ZglfI8XoGbg7RYie3shbhtMl6v3vl6TcStBRBJ1dBrCaaRLGo4ibzON3AaZCNYxN+VJ3WcMeChzsG5Dkz3xu6RbktBCCsgnGyL9hydhpqCmc/ZhSUjvposvXn28JecBZuE7Box1VpQxBXo9XVmge+nK0HG0cL/o95mRodW2c3nvJH/KlBA3FFegJO9kSBAEKOsRJ05o0rMoWQ4OoeuUvHdrt6IZGKREPJFgk1/oD8NALq9J7AkLKcySIqU+GumcdWdXNJKUjQWVyxK0Lkvwz34+kqCEExAz7jYr6XdWt7vbYbbvD+tHW9hY0K8YuhTsC6D8GaD9iBtyGy/lAqhsHw5HD7yRy+BSF6SL5BX3N6O8YXbfibRecTq5xq/6eXgnVEmwS7ys41yQaPxgKnkvT8PZuI0DJiZSHdsfDHnLjuHPZXxnCNzYo5AtwZgEwdeyTEsYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HYHzvQo8P2uQDvcpo1qpLE",
      "input": {
        "note": "Pen released over the right basket; pulling the right arm back so the overhead camera can show the result.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01HYHzvQo8P2uQDvcpo1qpLE",
      "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]: [-0.4328, 1.1374, 1.1275, -0.8742, -0.4374, -0.4206, 0.9968, 0.2901, 0.9611, 0.8135, -0.5186, 0.2394, 0.1356, 0.9964]\nstate[eef_state]: left_x=0.3058 left_y=-0.0549 left_z=0.2313 left_yaw=0.1542 left_pitch=-0.2153 left_roll=0.0536 left_gripper=0.9968 right_x=0.3081 right_y=0.052 right_z=0.2025 right_yaw=0.0083 right_pitch=-0.0845 right_roll=-0.0276 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -3.2615, 6.5846, 1.4042, -0.188, -0.0562, -0.0171, -0.2256, -2.2085, 7.0906, 1.9414, 0.022, -0.0464, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07e8d7d57bd964f714eeed722662dea657918cb01d0c3b50ac9935c1303e01ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:559dbf8fef4c2ac7156a88be3ad811bd1458513a0c4d5d3abd54a3bc2c518645",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f10e790edb8ba0fb8e4aa99fa0281e960a6f5e0fc18669c4478119467614cdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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