adhoc

completed
2026-09-23T02:33:26.440672+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
343.2 s
total steps
320
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 noteTwo teal baskets sit at the back, with plush animals and some yellow/green stick-like toys clustered in front of them. Moving the left arm over the left group of objects to get a wrist-camera look before grasping.
move_to
left_x0.3400left_y-0.1200left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.7986, 0.6155, -0.3801, -0.0223, -0.0334, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.012, -0.0158, 0.9998] state[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.184 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4581, -1.6342, 9.4154, 1.7949, -0.0611, 0.2027, -0.0562, -1.0325, -1.4838, 9.894, 1.7021, -0.1001, -0.0171, -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": 0.34, "left_y": -0.12, "left_z": 0.16, "left_gripper": 1}, "note": "Two teal baskets sit at the back, with plush animals and some yellow/green stick-like toys clustered in front of them. Moving the left arm over the left group of objects to get a wrist-camera look before grasping."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteTop view shows a cluster of plush animals in the middle and a few thin dark pens plus a yellow stick to the right/front — two clear classes. Moving the left arm above the plush cluster to line up a grasp.
move_to
left_x0.3100left_y-0.2900left_z0.1800left_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]: [-0.5838, 1.2079, 0.6849, -0.186, -0.4755, -0.3676, 0.9996, -0.0147, 0.7986, 0.6086, -0.3779, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3311 left_y=-0.1175 left_z=0.1407 left_yaw=-0.0091 left_pitch=-0.0545 left_roll=0.0207 left_gripper=0.9996 right_x=0.2959 right_y=0.0014 right_z=0.1813 right_yaw=0.001 right_pitch=-0.0076 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.0342, -4.3829, 9.2239, 1.8584, -0.3297, 0.0269, -0.0562, -0.4308, -1.2103, 7.2137, 1.7656, -0.0659, -0.0708, -0.0171] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.29, "left_z": 0.18, "left_gripper": 1}, "note": "Top view shows a cluster of plush animals in the middle and a few thin dark pens plus a yellow stick to the right/front \u2014 two clear classes. Moving the left arm above the plush cluster to line up a grasp."})
tool
executing move_to over 16 steps (1.6s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteLeft wrist camera shows a teddy bear centred on the jaw column just ahead of the fingertips. Advancing 2 cm and descending to grab its head/body.
move_to
left_x0.3300left_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0637, 1.6665, 1.2621, -0.6098, -0.7864, -0.8272, 0.9996, -0.0147, 0.7986, 0.6086, -0.3843, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3052 left_y=-0.2846 left_z=0.1683 left_yaw=-0.008 left_pitch=-0.0807 left_roll=0.0329 left_gripper=0.9996 right_x=0.2951 right_y=0.0014 right_z=0.1799 right_yaw=0.001 right_pitch=-0.0141 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.294, -7.3368, 9.2923, 1.1404, -0.569, 0.0806, -0.0562, -0.2667, -1.2923, 7.0359, 1.7705, -0.0464, -0.0513, -0.0171] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_z": 0.04}, "note": "Left wrist camera shows a teddy bear centred on the jaw column just ahead of the fingertips. Advancing 2 cm and descending to grab its head/body."})
tool
executing move_to over 9 steps (0.9s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe bear's head fills the bottom of the left wrist view right at the jaws; closing the gripper 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]: [-1.0042, 1.8854, 1.0111, -0.0753, -0.7593, -0.7696, 0.9996, -0.0143, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3312 left_y=-0.2874 left_z=0.0525 left_yaw=0.0006 left_pitch=-0.0679 left_roll=0.0122 left_gripper=0.9996 right_x=0.295 right_y=0.0015 right_z=0.1798 right_yaw=0.0013 right_pitch=-0.0145 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.1846, -7.5966, 4.2188, 1.116, -0.2711, 0.1441, -0.0171, -0.1026, -1.1556, 7.0359, 1.7607, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The bear's head fills the bottom of the left wrist view right at the jaws; closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteGripper closed to 0.20 (≈2 cm of plush between jaws), so something is held. Lifting 17 cm to confirm the bear came with it.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0042, 1.8915, 1.0042, -0.0368, -0.7605, -0.7788, 0.1994, -0.0147, 0.7986, 0.6086, -0.3851, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.3332 left_y=-0.2903 left_z=0.0525 left_yaw=0.0049 left_pitch=-0.0534 left_roll=-0.0164 left_gripper=0.1994 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.0615, -9.7299, 6.3111, 0.9109, -0.3834, 0.0659, 0.823, -0.3487, -1.1692, 7.2137, 1.7021, -0.022, -0.0366, -0.0171] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22}, "note": "Gripper closed to 0.20 (\u22482 cm of plush between jaws), so something is held. Lifting 17 cm to confirm the bear came with it."})
tool
executing move_to over 11 steps (1.1s)
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 plush dog is held in the jaws. Carrying it high toward the left basket at the back-left of the table.
move_to
left_x0.4400left_y-0.1000left_z0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0042, 1.7412, 1.4086, -0.6537, -0.7525, -0.8085, 0.1995, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0158, 0.9997] state[eef_state]: left_x=0.3334 left_y=-0.2925 left_z=0.183 left_yaw=0.0198 left_pitch=-0.0916 left_roll=0.0092 left_gripper=0.1995 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0149 right_roll=0.0002 right_gripper=0.9997 state[joint_eff]: [0.1709, -12.2325, 9.7299, 1.37, -0.4518, 0.3101, 0.3101, -0.2256, -1.2923, 7.159, 1.7363, -0.0122, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_x": 0.44, "left_y": -0.1, "left_z": 0.3}, "note": "The plush dog is held in the jaws. Carrying it high toward the left basket at the back-left of the table."})
tool
executing move_to over 18 steps (1.8s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteWrist view shows the left basket up and to the image-left of the held dog, i.e. further forward and further to the arm's left. Nudging toward it before releasing.
move_to
left_x0.4600left_y-0.0500left_z0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.358, 1.5951, 1.5906, -0.7937, -0.3317, -0.3202, 0.2009, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4309 left_y=-0.096 left_z=0.2651 left_yaw=0.0811 left_pitch=-0.1809 left_roll=0.0147 left_gripper=0.2009 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1162, -8.1573, 10.4821, 1.9463, 0.022, 0.5055, 0.779, -0.0752, -0.9368, 7.0769, 1.7265, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.05, "left_z": 0.3}, "note": "Wrist view shows the left basket up and to the image-left of the held dog, i.e. further forward and further to the arm's left. Nudging toward it before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteBasket is now centred on the jaw column but sits higher in the wrist image, meaning it is still ahead of the fingertips. Advancing 5 cm forward to hold the dog over the basket.
move_to
left_x0.5000left_z0.2600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2054, 1.6901, 1.7664, -0.9382, -0.244, -0.2638, 0.2027, -0.0147, 0.7986, 0.6086, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4484 left_y=-0.0462 left_z=0.2694 left_yaw=0.1354 left_pitch=-0.2653 left_roll=0.019 left_gripper=0.2027 right_x=0.2949 right_y=0.0014 right_z=0.1797 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.0752, -8.1983, 10.1402, 1.8877, 0.0171, 0.4078, 0.6325, -0.1709, -1.2513, 7.0496, 1.7314, -0.022, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_z": 0.26}, "note": "Basket is now centred on the jaw column but sits higher in the wrist image, meaning it is still ahead of the fingertips. Advancing 5 cm forward to hold the dog over the basket."})
tool
executing move_to over 4 steps (0.4s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteArm stalled at x=0.45 at that height, so lowering to z=0.20 while pushing forward to get the dog over the basket mouth.
move_to
left_x0.5000left_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]: [-0.1967, 1.6955, 1.7954, -0.9573, -0.2237, -0.2497, 0.2049, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.449 left_y=-0.0458 left_z=0.275 left_yaw=0.1188 left_pitch=-0.2661 left_roll=0.0124 left_gripper=0.2049 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.5402, -8.4581, 9.4291, 1.9316, -0.0952, 0.3883, 0.2222, -0.3487, -1.265, 7.0359, 1.7167, -0.0317, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_z": 0.2}, "note": "Arm stalled at x=0.45 at that height, so lowering to z=0.20 while pushing forward to get the dog over the basket mouth."})
tool
executing move_to over 5 steps (0.5s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteArm is stalled at x=0.449; trying a sideways/down move instead to see if it tracks, aiming the dog over the basket mouth.
move_to
left_y-0.1000left_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]: [-0.1967, 1.6955, 1.7954, -0.9573, -0.2237, -0.2493, 0.2079, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.449 left_y=-0.0458 left_z=0.275 left_yaw=0.1186 left_pitch=-0.2661 left_roll=0.0126 left_gripper=0.2079 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.5538, -8.4991, 9.4564, 1.9365, -0.1001, 0.4127, 0.2955, -0.0752, -1.2376, 7.0769, 1.7411, -0.0317, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.1, "left_z": 0.25}, "note": "Arm is stalled at x=0.449; trying a sideways/down move instead to see if it tracks, aiming the dog over the basket mouth."})
tool
executing move_to over 5 steps (0.5s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteReach is limited at high z, so lowering to z=0.17 where the arm can extend further, moving forward and right toward the basket centre.
move_to
left_x0.4700left_y-0.0600left_z0.1700
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]: [-0.3462, 1.7287, 1.7386, -0.9417, -0.281, -0.3416, 0.2098, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4401 left_y=-0.1029 left_z=0.2428 left_yaw=0.077 left_pitch=-0.318 left_roll=0.0209 left_gripper=0.2098 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [1.2239, -8.5265, 7.0496, 1.6435, -0.5543, 0.0024, 0.1929, -0.253, -1.2513, 7.1316, 1.7363, -0.0806, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.06, "left_z": 0.17}, "note": "Reach is limited at high z, so lowering to z=0.17 where the arm can extend further, moving forward and right toward the basket centre."})
tool
executing move_to over 5 steps (0.5s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe wrist view is filled by the basket interior with the dog over it; 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]: [-0.2123, 1.7592, 1.4899, -0.7189, -0.2214, -0.2676, 0.2129, -0.0147, 0.7986, 0.6086, -0.3851, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.4537 left_y=-0.0544 left_z=0.1617 left_yaw=0.1256 left_pitch=-0.3903 left_roll=0.043 left_gripper=0.2129 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.0752, -8.9778, 7.0906, 1.5946, 0.0171, 0.2173, 0.2955, 0.0205, -1.2376, 7.1043, 1.7607, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "The wrist view is filled by the basket interior with the dog over it; opening the gripper to drop the plush into the left basket."})
tool
executing move_to over 8 steps (0.8s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteOpened the gripper over the basket; retracting the left arm to see in the overhead view whether the dog actually landed inside the basket.
move_to
left_x0.3000left_y-0.2500left_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]: [-0.2081, 1.7748, 1.475, -0.7177, -0.2092, -0.2771, 0.9952, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9997] state[eef_state]: left_x=0.4514 left_y=-0.0542 left_z=0.149 left_yaw=0.1288 left_pitch=-0.4211 left_roll=0.0371 left_gripper=0.9952 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9997 state[joint_eff]: [-0.6632, -10.4547, 7.7744, 1.2527, -0.3004, 0.0464, -0.0171, -0.212, -1.2923, 7.0769, 1.7314, -0.0269, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.25, "left_z": 0.25}, "note": "Opened the gripper over the basket; retracting the left arm to see in the overhead view whether the dog actually landed inside the basket."})
tool
executing move_to over 18 steps (1.8s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe dog is now in the left basket. A large teddy bear sits ahead and to the arm's left in the wrist view; moving over it for the next grasp.
move_to
left_x0.3400left_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]: [-0.9131, 1.795, 1.9133, -1.3701, -0.4797, -0.9413, 0.9967, -0.0147, 0.7986, 0.6083, -0.3855, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.3033 left_y=-0.2534 left_z=0.2427 left_yaw=0.0906 left_pitch=-0.4388 left_roll=0.013 left_gripper=0.9967 right_x=0.2949 right_y=0.0013 right_z=0.1795 right_yaw=0.0006 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.212, -7.9111, 7.6103, 0.7302, -0.5983, 0.0464, 0.1392, -0.3487, -1.2103, 7.0769, 1.7265, -0.0317, -0.0562, -0.0073] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.21, "left_z": 0.12}, "note": "The dog is now in the left basket. A large teddy bear sits ahead and to the arm's left in the wrist view; moving over it for the next grasp."})
tool
executing move_to over 8 steps (0.8s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe teddy bear fills the wrist view right under the jaws; descending and closing to grasp its body.
move_to
left_z0.0600left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7509, 1.7267, 1.3205, -0.86, -0.4286, -0.7967, 0.9968, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3295 left_y=-0.2022 left_z=0.1111 left_yaw=0.1426 left_pitch=-0.4913 left_roll=0.078 left_gripper=0.9968 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.1299, -10.4, 6.6803, 0.9792, -0.232, 0.0952, 0.0024, -0.2393, -1.0872, 7.1179, 1.7558, -0.0513, -0.0708, -0.0171] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.06, "left_gripper": 0}, "note": "The teddy bear fills the wrist view right under the jaws; descending and closing to grasp its body."})
tool
executing move_to over 10 steps (1.0s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe close came back empty (0.02), so the jaws slid past the fur; reopening and shifting 2.5 cm forward and lower to bite into the bear's body.
move_to
left_gripper1.0000left_x0.3550left_z0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7506, 1.7657, 1.1851, -0.6834, -0.4198, -0.7998, 0.0222, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3285 left_y=-0.203 left_z=0.0663 left_yaw=0.1384 left_pitch=-0.4962 left_roll=0.0683 left_gripper=0.0222 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1026, -7.0359, 5.2308, 0.9548, -0.2759, 0.0024, 1.033, -0.1846, -1.2513, 7.0496, 1.746, -0.022, -0.0757, -0.0171] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_x": 0.355, "left_z": 0.05}, "note": "The close came back empty (0.02), so the jaws slid past the fur; reopening and shifting 2.5 cm forward and lower to bite into the bear's body."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteJaws are now buried in the bear's fur at table level; closing to grip.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7029, 1.845, 1.1988, -0.6331, -0.4095, -0.7624, 0.9952, -0.0143, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3452 left_y=-0.1956 left_z=0.0443 left_yaw=0.1633 left_pitch=-0.5154 left_roll=0.0952 left_gripper=0.9952 right_x=0.2949 right_y=0.0015 right_z=0.1796 right_yaw=0.0013 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.4171, -8.0342, 8.3624, 1.0281, -0.2076, 0.0806, -0.1197, -0.0342, -0.9368, 7.0359, 1.7021, -0.0513, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Jaws are now buried in the bear's fur at table level; closing to grip."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteGripper settled at 0.11, so fur is held; lifting to check the bear comes up with it.
move_to
left_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]: [-0.7017, 1.8473, 1.2003, -0.6346, -0.411, -0.7666, 0.1079, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3456 left_y=-0.195 left_z=0.0439 left_yaw=0.169 left_pitch=-0.5155 left_roll=0.096 left_gripper=0.1079 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1983, -9.1145, 5.8462, 0.779, -0.2662, 0.0024, 0.9353, -0.212, -1.2786, 7.2274, 1.7411, -0.0317, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "Gripper settled at 0.11, so fur is held; lifting to check the bear comes up with it."})
tool
executing move_to over 11 steps (1.1s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteBear appears held; carrying it toward the left basket (the plush basket).
move_to
left_x0.4400left_y-0.0600left_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]: [-0.7013, 1.8065, 1.7023, -1.2034, -0.3847, -0.7784, 0.1079, -0.0147, 0.7986, 0.6083, -0.3847, -0.0116, -0.0162, 0.9997] state[eef_state]: left_x=0.3448 left_y=-0.1997 left_z=0.1773 left_yaw=0.1716 left_pitch=-0.5509 left_roll=0.0938 left_gripper=0.1079 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=0.0006 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9997 state[joint_eff]: [0.0615, -10.1949, 8.3077, 0.8278, -0.5348, 0.0952, 0.4176, -0.1983, -1.1829, 7.0085, 1.7753, -0.0171, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.06, "left_z": 0.2}, "note": "Bear appears held; carrying it toward the left basket (the plush basket)."})
tool
executing move_to over 13 steps (1.3s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe basket appears to the image-left of the held bear, so shifting 3 cm to the arm's left and slightly forward to center over the basket.
move_to
left_x0.4500left_y-0.0300left_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]: [-0.2451, 1.8812, 1.8317, -1.2034, -0.2203, -0.3813, 0.1085, -0.0147, 0.8013, 0.6083, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4216 left_y=-0.062 left_z=0.181 left_yaw=0.22 left_pitch=-0.6301 left_roll=0.098 left_gripper=0.1085 right_x=0.295 right_y=0.0014 right_z=0.1788 right_yaw=0.001 right_pitch=-0.0183 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [0.1436, -9.5385, 9.5521, 1.2576, -0.2955, 0.2613, 0.7204, -0.1436, -1.265, 7.1043, 1.707, -0.0464, -0.022, -0.0073] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.03, "left_z": 0.18}, "note": "The basket appears to the image-left of the held bear, so shifting 3 cm to the arm's left and slightly forward to center over the basket."})
tool
executing move_to over 3 steps (0.3s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteBasket still sits to the image-left of the held bear; shifting another 5 cm to the arm's left to get over the basket mouth.
move_to
left_y0.0200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1719, 1.9247, 1.8557, -1.2087, -0.1936, -0.3286, 0.1091, -0.0143, 0.8024, 0.6083, -0.3851, -0.012, -0.0162, 0.9997] state[eef_state]: left_x=0.4304 left_y=-0.0366 left_z=0.1697 left_yaw=0.2407 left_pitch=-0.6665 left_roll=0.1056 left_gripper=0.1091 right_x=0.2952 right_y=0.0015 right_z=0.1785 right_yaw=0.0013 right_pitch=-0.0191 right_roll=-0.0 right_gripper=0.9997 state[joint_eff]: [0.1299, -9.4154, 9.2513, 1.3309, -0.2955, 0.2515, 0.3297, -0.0479, -1.0598, 7.0222, 1.6825, -0.0464, -0.0513, -0.0171] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": 0.02}, "note": "Basket still sits to the image-left of the held bear; shifting another 5 cm to the arm's left to get over the basket mouth."})
tool
executing move_to over 6 steps (0.6s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteArm is at its reach limit with the bear right at the left basket's edge; releasing it there and lifting clear to see the result from above.
move_to
left_gripper1.0000left_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]: [-0.152, 1.9491, 1.8572, -1.2003, -0.1936, -0.3134, 0.1111, -0.0147, 0.8032, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4345 left_y=-0.0286 left_z=0.1607 left_yaw=0.2548 left_pitch=-0.6808 left_roll=0.1195 left_gripper=0.1111 right_x=0.2952 right_y=0.0014 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0198 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.1162, -11.0154, 9.0462, 1.16, -0.2418, 0.2125, 0.4322, -0.3487, -1.265, 7.0632, 1.7021, -0.0464, -0.0415, -0.0073] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_z": 0.2}, "note": "Arm is at its reach limit with the bear right at the left basket's edge; releasing it there and lifting clear to see the result from above."})
tool
executing move_to over 9 steps (0.9s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteThe bear landed beside the left basket, not in it; the basket sits at the very edge of the left arm's y range. Descending onto the bear again to re-grasp it for a second, better-aimed drop.
move_to
left_x0.4400left_y-0.0550left_z0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.165, 1.9316, 1.8832, -1.2442, -0.2092, -0.3332, 0.9953, -0.0147, 0.8032, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4282 left_y=-0.0305 left_z=0.1737 left_yaw=0.2708 left_pitch=-0.6736 left_roll=0.1289 left_gripper=0.9953 right_x=0.2952 right_y=0.0014 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0198 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.212, -12.2462, 9.1966, 1.0427, -0.3394, 0.1441, -0.1392, -0.3487, -1.2513, 7.0496, 1.7411, -0.0171, -0.0659, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.055, "left_z": 0.05}, "note": "The bear landed beside the left basket, not in it; the basket sits at the very edge of the left arm's y range. Descending onto the bear again to re-grasp it for a second, better-aimed drop."})
tool
executing move_to over 8 steps (0.8s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteJaws are down in the bear's fur beside the basket; closing to re-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]: [-0.2272, 1.9442, 1.4395, -0.7517, -0.2798, -0.3767, 0.9968, -0.0147, 0.8078, 0.6083, -0.3855, -0.012, -0.0158, 0.9997] state[eef_state]: left_x=0.4345 left_y=-0.0467 left_z=0.0639 left_yaw=0.2901 left_pitch=-0.6068 left_roll=0.1633 left_gripper=0.9968 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0008 right_pitch=-0.0248 right_roll=0.0004 right_gripper=0.9997 state[joint_eff]: [-0.8821, -8.2256, 5.2308, 0.9304, 0.2222, -0.1929, 0.1343, -0.1846, -1.4564, 7.0632, 1.7216, -0.0611, -0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Jaws are down in the bear's fur beside the basket; closing to re-grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 223
assistant
agent noteBear is gripped (0.13). Lifting and reaching to the far-left limit of the workspace, with the tool held vertical, to get over the left basket which sits at the edge of this arm's range.
move_to
left_x0.5000left_y0.0500left_z0.1500left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2249, 1.9484, 1.4288, -0.7319, -0.318, -0.3813, 0.1285, -0.0147, 0.8082, 0.6079, -0.3851, -0.0116, -0.0162, 0.9997] state[eef_state]: left_x=0.4366 left_y=-0.0395 left_z=0.0621 left_yaw=0.3266 left_pitch=-0.5836 left_roll=0.1957 left_gripper=0.1285 right_x=0.2955 right_y=0.0013 right_z=0.1768 right_yaw=0.0006 right_pitch=-0.0252 right_roll=-0.0001 right_gripper=0.9997 state[joint_eff]: [-0.6222, -10.906, 6.2564, 0.7155, 0.1148, 0.0073, 0.8962, -0.3077, -1.3333, 7.0769, 1.7607, -0.022, -0.0611, -0.0073] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": 0.05, "left_z": 0.15, "left_pitch": 0}, "note": "Bear is gripped (0.13). Lifting and reaching to the far-left limit of the workspace, with the tool held vertical, to get over the left basket which sits at the edge of this arm's range."})
tool
executing move_to over 20 steps (2.0s)
step 243
assistant
agent noteThe basket rim is just left of the held bear at the arm's y limit; rotating the wrist counter-clockwise to swing the bear over the basket mouth.
move_to
left_yaw1.0000left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0792, 1.8221, 1.166, -0.1253, -0.3908, -0.123, 0.1296, -0.0147, 0.8082, 0.6079, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4862 left_y=0.0325 left_z=0.1015 left_yaw=0.3011 left_pitch=-0.1611 left_roll=0.1959 left_gripper=0.1296 right_x=0.2955 right_y=0.0014 right_z=0.1768 right_yaw=0.001 right_pitch=-0.0252 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [1.6479, -13.8325, 7.1043, 2.1221, -0.5397, 0.2808, 0.2759, -0.2803, -1.1145, 7.0496, 1.7509, -0.0562, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_yaw": 1.0, "left_z": 0.15}, "note": "The basket rim is just left of the held bear at the arm's y limit; rotating the wrist counter-clockwise to swing the bear over the basket mouth."})
tool
executing move_to over 5 steps (0.5s)
step 248
assistant
agent noteReaching a few cm further forward-left over the basket mouth and opening the jaws to drop the bear into the left basket.
move_to
left_x0.5600left_y0.0400left_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]: [-0.2192, 2.1471, 1.8454, -0.6903, -0.7403, -0.8036, 0.1328, -0.0147, 0.812, 0.6075, -0.3927, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.5394 left_y=0.0056 left_z=0.1501 left_yaw=0.7955 left_pitch=-0.1033 left_roll=0.0126 left_gripper=0.1328 right_x=0.2946 right_y=0.0014 right_z=0.174 right_yaw=0.001 right_pitch=-0.037 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [0.3487, -12.4923, 6.5026, 0.6618, -0.6374, 0.1538, 0.3248, -0.3487, -1.5795, 7.0359, 1.7851, -0.0464, -0.0806, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). 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_x": 0.56, "left_y": 0.04, "left_gripper": 1}, "note": "Reaching a few cm further forward-left over the basket mouth and opening the jaws to drop the bear into the left basket."})
tool
executing move_to over 9 steps (0.9s)
step 257
assistant
agent notePlush released at the left basket; now retracting the left arm out of the way and bringing the right arm over the group of pens/sticks on the right side of the table.
move_to
left_x0.3000left_y-0.1500left_z0.2500left_yaw0.0000right_x0.3000right_y0.1000right_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]: [-0.139, 2.1818, 1.8725, -0.6895, -0.7006, -0.7692, 0.9956, -0.0147, 0.8146, 0.6067, -0.3927, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.5452 left_y=0.0423 left_z=0.1384 left_yaw=0.8341 left_pitch=-0.1356 left_roll=0.027 left_gripper=0.9956 right_x=0.2947 right_y=0.0014 right_z=0.1729 right_yaw=0.001 right_pitch=-0.0404 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [0.0068, -11.2068, 10.0171, 1.5849, -0.2662, 0.5348, -0.1587, -0.1436, -1.5795, 7.1316, 1.6923, -0.0415, -0.0317, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.15, "left_z": 0.25, "left_yaw": 0, "right_x": 0.3, "right_y": 0.1, "right_z": 0.12}, "note": "Plush released at the left basket; now retracting the left arm out of the way and bringing the right arm over the group of pens/sticks on the right side of the table."})
tool
executing move_to over 19 steps (1.9s)
step 276
assistant
agent noteRight wrist view shows two pens just ahead of the jaws, lying diagonally. Advancing 2 cm, dropping to table level and yawing the wrist 0.5 rad to line the jaws across a pen's axis.
move_to
right_x0.3200right_z0.0300right_yaw0.5000
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]: [-0.7471, 1.2633, 1.2095, -0.8074, -0.5678, -0.5606, 0.9968, 0.5434, 1.0473, 0.5022, -0.1539, 0.4133, 0.3, 0.9998] state[eef_state]: left_x=0.3096 left_y=-0.1524 left_z=0.2444 left_yaw=0.0104 left_pitch=-0.131 left_roll=0.0131 left_gripper=0.9968 right_x=0.2969 right_y=0.1007 right_z=0.1159 right_yaw=0.0336 right_pitch=-0.0701 right_roll=-0.0139 right_gripper=0.9998 state[joint_eff]: [-0.212, -5.3949, 7.5692, 1.3797, -0.3492, -0.0415, 0.1001, 0.4171, -2.7556, 6.5573, 1.7265, 0.359, 0.1587, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_z": 0.03, "right_yaw": 0.5}, "note": "Right wrist view shows two pens just ahead of the jaws, lying diagonally. Advancing 2 cm, dropping to table level and yawing the wrist 0.5 rad to line the jaws across a pen's axis."})
tool
executing move_to over 6 steps (0.6s)
step 282
assistant
agent noteThe white marker now lies vertically in the wrist image just left of the jaw column; nudging 1 cm right and closing to grasp it across its axis.
move_to
right_y0.0720right_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]: [-0.7475, 1.2682, 1.2095, -0.8185, -0.5671, -0.561, 0.9968, 0.1741, 1.3983, 0.3004, 0.3481, -0.1337, -0.1242, 0.9997] state[eef_state]: left_x=0.3086 left_y=-0.1518 left_z=0.2412 left_yaw=0.0111 left_pitch=-0.143 left_roll=0.0235 left_gripper=0.9968 right_x=0.3097 right_y=0.082 right_z=0.0144 right_yaw=0.3531 right_pitch=-0.1814 right_roll=0.006 right_gripper=0.9997 state[joint_eff]: [-0.0752, -4.8889, 6.5846, 1.4481, -0.2418, -0.0611, -0.0122, -0.2667, -5.2581, 4.8889, 1.6484, -0.3053, -0.105, -0.0171] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.072, "right_gripper": 0}, "note": "The white marker now lies vertically in the wrist image just left of the jaw column; nudging 1 cm right and closing to grasp it across its axis."})
tool
executing move_to over 10 steps (1.0s)
step 292
assistant
agent noteThe marker is grasped (0.15 ≈ 1.4 cm). Lifting and carrying it forward-left over the right basket, which sits straight ahead in the wrist view.
move_to
right_x0.4400right_y0.1200right_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]: [-0.7467, 1.2697, 1.2091, -0.8192, -0.5671, -0.5606, 0.9969, 0.1287, 1.4059, 0.297, 0.3492, -0.1684, -0.1574, 0.1489] state[eef_state]: left_x=0.3087 left_y=-0.1516 left_z=0.2405 left_yaw=0.012 left_pitch=-0.145 left_roll=0.0256 left_gripper=0.9969 right_x=0.3098 right_y=0.0736 right_z=0.0118 right_yaw=0.3556 right_pitch=-0.1862 right_roll=0.0068 right_gripper=0.1489 state[joint_eff]: [-0.1436, -4.6701, 6.5573, 1.3553, -0.2564, -0.0317, -0.0122, -0.7863, -5.3812, 4.9573, 1.4774, -0.1245, -0.0415, 1.0085] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.12, "right_z": 0.22}, "note": "The marker is grasped (0.15 \u2248 1.4 cm). Lifting and carrying it forward-left over the right basket, which sits straight ahead in the wrist view."})
tool
executing move_to over 14 steps (1.4s)
step 306
assistant
agent noteThe held marker overlaps the near rim of the right basket; pushing 4 cm further forward and up so it hangs over the basket interior.
move_to
right_x0.4800right_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7467, 1.2697, 1.2091, -0.8227, -0.5671, -0.5606, 0.9969, 0.2161, 1.5768, 1.3296, -0.4934, -0.1143, -0.1184, 0.1537] state[eef_state]: left_x=0.3083 left_y=-0.1512 left_z=0.24 left_yaw=0.0123 left_pitch=-0.1475 left_roll=0.028 left_gripper=0.9969 right_x=0.4395 right_y=0.1208 right_z=0.2087 right_yaw=0.375 right_pitch=-0.1746 right_roll=-0.0045 right_gripper=0.1537 state[joint_eff]: [-0.0752, -4.4103, 6.5709, 1.3846, -0.2466, -0.0366, -0.022, 0.1299, -7.8564, 8.841, 1.16, -0.0122, 0.2027, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_z": 0.24}, "note": "The held marker overlaps the near rim of the right basket; pushing 4 cm further forward and up so it hangs over the basket interior."})
tool
executing move_to over 4 steps (0.4s)
step 310
assistant
agent noteMarker is now over the right basket's interior; opening the jaws to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7467, 1.2709, 1.2091, -0.8234, -0.5674, -0.5606, 0.9969, 0.1978, 1.7302, 1.562, -0.6136, -0.1234, -0.1349, 0.1566] state[eef_state]: left_x=0.3084 left_y=-0.1511 left_z=0.2396 left_yaw=0.0128 left_pitch=-0.1487 left_roll=0.0296 left_gripper=0.9969 right_x=0.4732 right_y=0.1207 right_z=0.218 right_yaw=0.3748 right_pitch=-0.2142 right_roll=-0.0033 right_gripper=0.1566 state[joint_eff]: [-0.0068, -4.547, 6.6667, 1.3504, -0.3004, -0.0317, -0.022, -0.6085, -9.347, 10.0034, 1.326, -0.1832, -0.0317, 1.033] 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_gripper": 1}, "note": "Marker is now over the right basket's interior; opening the jaws to drop it in."})
tool
executing move_to over 9 steps (0.9s)
step 319
assistant
agent noteIdentified the two classes (plush animals vs. pens/sticks). Put a plush dog into the left basket and a marker pen into the right basket, and moved a large teddy bear to the left basket's edge; ran out of call budget before clearing the remaining bear, yellow stick and second pen.
done
hindsightKey facts learned: (1) The left basket sits at the far-left limit of the left arm's y range (its mouth is around left_y ≈ 0.0–0.05, x ≈ 0.50–0.56) — you can only get over it by also yawing the wrist, which noticeably extends achievable x (yaw 0.8 let x go from 0.44 to 0.54). If an x-target is unreachable the controller freezes the WHOLE move (no partial tracking), so back off x rather than resending. (2) Pitch is NOT pinned on this rig and drifts to -0.5 rad while descending, which shortens forward reach; commanding left_pitch=0 restores reach. (3) Plush grasps: a close reading of ~0.10–0.20 on fur is a real grasp; the first close at z≈0.05 often reads 0.02 (empty) — advance 2 cm and go to z≈0.04. (4) Thin pens: align them near-vertical in the wrist image with a yaw of ~0.4–0.5 rad, descend to z≈0.015 and close; reading ~0.15 = held. (5) Budget-wise, each pick-place costs ~6 calls; with 40 calls plan only ~4–5 objects and settle basket-drop geometry once, then reuse the same waypoints.
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]: [-0.7464, 1.2709, 1.2091, -0.823, -0.5671, -0.561, 0.9969, 0.1959, 1.7412, 1.6001, -0.6388, -0.1272, -0.1429, 0.9955] state[eef_state]: left_x=0.3084 left_y=-0.1511 left_z=0.2396 left_yaw=0.0131 left_pitch=-0.1486 left_roll=0.0288 left_gripper=0.9969 right_x=0.4758 right_y=0.1209 right_z=0.2248 right_yaw=0.3805 right_pitch=-0.2118 right_roll=-0.0069 right_gripper=0.9955 state[joint_eff]: [0.0342, -4.5333, 6.7214, 1.3797, -0.2857, -0.022, -0.022, -0.5538, -9.5111, 9.0598, 1.5995, -0.1392, 0.0708, -0.1636] camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
done({"summary": "Identified the two classes (plush animals vs. pens/sticks). Put a plush dog into the left basket and a marker pen into the right basket, and moved a large teddy bear to the left basket's edge; ran out of call budget before clearing the remaining bear, yellow stick and second pen.", "hindsight": "Key facts learned: (1) The left basket sits at the far-left limit of the left arm's y range (its mouth is around left_y \u2248 0.0\u20130.05, x \u2248 0.50\u20130.56) \u2014 you can only get over it by also yawing the wrist, which noticeably extends achievable x (yaw 0.8 let x go from 0.44 to 0.54). If an x-target is unreachable the controller freezes the WHOLE move (no partial tracking), so back off x rather than resending. (2) Pitch is NOT pinned on this rig and drifts to -0.5 rad while descending, which shortens forward reach; commanding left_pitch=0 restores reach. (3) Plush grasps: a close reading of ~0.10\u20130.20 on fur is a real grasp; the first close at z\u22480.05 often reads 0.02 (empty) \u2014 advance 2 cm and go to z\u22480.04. (4) Thin pens: align them near-vertical in the wrist image with a yaw of ~0.4\u20130.5 rad, descend to z\u22480.015 and close; reading ~0.15 = held. (5) Budget-wise, each pick-place costs ~6 calls; with 40 calls plan only ~4\u20135 objects and settle basket-drop geometry once, then reuse the same waypoints."})
tool
done: Identified the two classes (plush animals vs. pens/sticks). Put a plush dog into the left basket and a marker pen into the right basket, and moved a large teddy bear to the left basket's edge; ran out of call budget before clearing the remaining bear, yellow stick and second pen.
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 · 19.24 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6155, -0.3801, -0.0223, -0.0334, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.184 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.6342, 9.4154, 1.7949, -0.0611, 0.2027, -0.0562, -1.0325, -1.4838, 9.894, 1.7021, -0.1001, -0.0171, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17b1b7e94a67f6003b14319eed9c23a4a8b39faed9b0fe857808ce64d361dcfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18a23096eec8a6f0532f39faaec41b0d9ded601ec588228a3a8be0b3e29685b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e6176364d18f71aa6d3e4caac4abbf562ed1d776a6f9ed11d224920868f8b82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 27 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6155, -0.3801, -0.0223, -0.0334, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.184 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.6342, 9.4154, 1.7949, -0.0611, 0.2027, -0.0562, -1.0325, -1.4838, 9.894, 1.7021, -0.1001, -0.0171, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17b1b7e94a67f6003b14319eed9c23a4a8b39faed9b0fe857808ce64d361dcfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18a23096eec8a6f0532f39faaec41b0d9ded601ec588228a3a8be0b3e29685b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e6176364d18f71aa6d3e4caac4abbf562ed1d776a6f9ed11d224920868f8b82",
        "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_01TSUZKApea7ShQg8gy3uycU",
      "input": {
        "note": "Two teal baskets sit at the back, with plush animals and some yellow/green stick-like toys clustered in front of them. Moving the left arm over the left group of objects to get a wrist-camera look before grasping.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.34,
          "left_y": -0.12,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01TSUZKApea7ShQg8gy3uycU",
      "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]: [-0.5838, 1.2079, 0.6849, -0.186, -0.4755, -0.3676, 0.9996, -0.0147, 0.7986, 0.6086, -0.3779, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3311 left_y=-0.1175 left_z=0.1407 left_yaw=-0.0091 left_pitch=-0.0545 left_roll=0.0207 left_gripper=0.9996 right_x=0.2959 right_y=0.0014 right_z=0.1813 right_yaw=0.001 right_pitch=-0.0076 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -4.3829, 9.2239, 1.8584, -0.3297, 0.0269, -0.0562, -0.4308, -1.2103, 7.2137, 1.7656, -0.0659, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e1f4bc232b18425542f8d801832eac91b2f2914c05c586c5537898b2c7a4f37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caef5932d3d64855c14f8fc622bfd96589778e3e59828955e11d9438a72df6a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5460710b2c2c54df9d31445de9e1041a47f672608449bf6595da1661f78422a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 5.501 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6155, -0.3801, -0.0223, -0.0334, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.184 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.6342, 9.4154, 1.7949, -0.0611, 0.2027, -0.0562, -1.0325, -1.4838, 9.894, 1.7021, -0.1001, -0.0171, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5838, 1.2079, 0.6849, -0.186, -0.4755, -0.3676, 0.9996, -0.0147, 0.7986, 0.6086, -0.3779, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3311 left_y=-0.1175 left_z=0.1407 left_yaw=-0.0091 left_pitch=-0.0545 left_roll=0.0207 left_gripper=0.9996 right_x=0.2959 right_y=0.0014 right_z=0.1813 right_yaw=0.001 right_pitch=-0.0076 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -4.3829, 9.2239, 1.8584, -0.3297, 0.0269, -0.0562, -0.4308, -1.2103, 7.2137, 1.7656, -0.0659, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e1f4bc232b18425542f8d801832eac91b2f2914c05c586c5537898b2c7a4f37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caef5932d3d64855c14f8fc622bfd96589778e3e59828955e11d9438a72df6a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5460710b2c2c54df9d31445de9e1041a47f672608449bf6595da1661f78422a7",
        "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_015QktEYqyFpwnna4cPV1NpY",
      "input": {
        "note": "Top view shows a cluster of plush animals in the middle and a few thin dark pens plus a yellow stick to the right/front — two clear classes. Moving the left arm above the plush cluster to line up a grasp.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.31,
          "left_y": -0.29,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_015QktEYqyFpwnna4cPV1NpY",
      "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]: [-1.0637, 1.6665, 1.2621, -0.6098, -0.7864, -0.8272, 0.9996, -0.0147, 0.7986, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3052 left_y=-0.2846 left_z=0.1683 left_yaw=-0.008 left_pitch=-0.0807 left_roll=0.0329 left_gripper=0.9996 right_x=0.2951 right_y=0.0014 right_z=0.1799 right_yaw=0.001 right_pitch=-0.0141 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -7.3368, 9.2923, 1.1404, -0.569, 0.0806, -0.0562, -0.2667, -1.2923, 7.0359, 1.7705, -0.0464, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69dc4cc2110a64e7029aafaaeeeaac80271d4cb6875d9dd9b23647294097e339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96e64efbd9f2d23bbf0f3c602db1b0a042dcbaa8df54aee7bd6fb5ce46e7c2f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dba0051849727b4db8f968d2020e532a2ac2b4e8866009a4ab2078c49c7c1e09",
        "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 · 2.822 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6155, -0.3801, -0.0223, -0.0334, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.184 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.6342, 9.4154, 1.7949, -0.0611, 0.2027, -0.0562, -1.0325, -1.4838, 9.894, 1.7021, -0.1001, -0.0171, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5838, 1.2079, 0.6849, -0.186, -0.4755, -0.3676, 0.9996, -0.0147, 0.7986, 0.6086, -0.3779, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3311 left_y=-0.1175 left_z=0.1407 left_yaw=-0.0091 left_pitch=-0.0545 left_roll=0.0207 left_gripper=0.9996 right_x=0.2959 right_y=0.0014 right_z=0.1813 right_yaw=0.001 right_pitch=-0.0076 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -4.3829, 9.2239, 1.8584, -0.3297, 0.0269, -0.0562, -0.4308, -1.2103, 7.2137, 1.7656, -0.0659, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0637, 1.6665, 1.2621, -0.6098, -0.7864, -0.8272, 0.9996, -0.0147, 0.7986, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3052 left_y=-0.2846 left_z=0.1683 left_yaw=-0.008 left_pitch=-0.0807 left_roll=0.0329 left_gripper=0.9996 right_x=0.2951 right_y=0.0014 right_z=0.1799 right_yaw=0.001 right_pitch=-0.0141 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -7.3368, 9.2923, 1.1404, -0.569, 0.0806, -0.0562, -0.2667, -1.2923, 7.0359, 1.7705, -0.0464, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69dc4cc2110a64e7029aafaaeeeaac80271d4cb6875d9dd9b23647294097e339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96e64efbd9f2d23bbf0f3c602db1b0a042dcbaa8df54aee7bd6fb5ce46e7c2f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dba0051849727b4db8f968d2020e532a2ac2b4e8866009a4ab2078c49c7c1e09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpwYKjgEIEhgCKkBv42TrAokr/HGkdDvYSd82uz4a7Iw9oTp26bZs3clXrkI3mJl4uGTF4GkE7SWzwjgZb9RwKHu/b0VULtal2jH0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcn1zNUGEgy19x6K1H2BeszJ7QsaDOkaAP1AsAAQw8eLkCIwUcSHKif9K0kWNdbLs8BLEIdIAAZ5IdPEus8T5/qYBEFNBmW5/kK8+/scEPJROTSDKsUEAOwaJRNvlup7ZMSwGUkGq1sVbTHmaPytiGI3y1VWNxc2+fLKC/8pLGxVKpvf5qqQimJB4fHGJHxvNz1GlosZAVOWnVVErwxmjSylUvMUvHeFitk41VKE07soFMNuvlOjfXsJrNnBHuQ2OIKuM1vui81u2myK/l5mPWNKer8LOU98i5wyaL+Y34v/9RuPiUpM+9CU8RWtDo/yxbJnGCeaigKKmHGE+lcBcLzKu9XTP2c96j3KqpF40SbGDhzBsU7vXD6trVoZOVVTafPXDhCz2mFg1Os5sfu+PUEsrUyusmzQb5NR8GJcwxUCkOeyQF5KdJszHXtS8zVaycyBDUGGmUNawmbQDawbi3qJoaGpBBbpt1mBE61Aru3ilHAxfFcFK5YbDGqSbJ0ln4DYTLr1UWDF9Bnz5PbdtGyjL8cjoCoGMirEDsfbtR+a1vmAYqS9oz2grZ2u1vH9bG5EbpwqYxRDHxba2R7SzbHVhC/v3i9PUAiQ8B2bRwg3218hLWLpGl+v3a55l+ZTOKgk41Ux8axLzmwK95vgeOhkyEiPQM4PgrjKrD5NzH9nnNOVYXE9bWCJaHpfWCh0qob5utVHS7G/wxg8HJgwUfpJZJn5Bf0NxS/OO3o1JjWQ/BWA9ZLjatuhVf16QBKN8JLuQbQ+XJ+lgOmTJnHWDodP2zij/kq6xIGE8wsdV0/6vIYmZgOMA7MlAXD4Wm93E9gBD5P4oae7IvThzO4T/L3skXBUqis6sPaGNIhNkQKG3HnuTbZEPkG2/ZwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019VMkJkyDegWGHe2X1zHCtM",
      "input": {
        "note": "Left wrist camera shows a teddy bear centred on the jaw column just ahead of the fingertips. Advancing 2 cm and descending to grab its head/body.",
        "targets": {
          "left_x": 0.33,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_019VMkJkyDegWGHe2X1zHCtM",
      "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]: [-1.0042, 1.8854, 1.0111, -0.0753, -0.7593, -0.7696, 0.9996, -0.0143, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3312 left_y=-0.2874 left_z=0.0525 left_yaw=0.0006 left_pitch=-0.0679 left_roll=0.0122 left_gripper=0.9996 right_x=0.295 right_y=0.0015 right_z=0.1798 right_yaw=0.0013 right_pitch=-0.0145 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.5966, 4.2188, 1.116, -0.2711, 0.1441, -0.0171, -0.1026, -1.1556, 7.0359, 1.7607, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7b34c8f204fb2627fd98b70348a1a97a9099ff404aa633c2e600fd33e8d65f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9671f1db9ce1f4e31ae265b4e8deb48b944377ae82a7fd59565a0b4889692289",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:33b31c349184c3c50fcaad8a368485002d9b5bc0961a6f6dfed740e16ba9e146",
        "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 · 5.088 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5838, 1.2079, 0.6849, -0.186, -0.4755, -0.3676, 0.9996, -0.0147, 0.7986, 0.6086, -0.3779, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3311 left_y=-0.1175 left_z=0.1407 left_yaw=-0.0091 left_pitch=-0.0545 left_roll=0.0207 left_gripper=0.9996 right_x=0.2959 right_y=0.0014 right_z=0.1813 right_yaw=0.001 right_pitch=-0.0076 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -4.3829, 9.2239, 1.8584, -0.3297, 0.0269, -0.0562, -0.4308, -1.2103, 7.2137, 1.7656, -0.0659, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0637, 1.6665, 1.2621, -0.6098, -0.7864, -0.8272, 0.9996, -0.0147, 0.7986, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3052 left_y=-0.2846 left_z=0.1683 left_yaw=-0.008 left_pitch=-0.0807 left_roll=0.0329 left_gripper=0.9996 right_x=0.2951 right_y=0.0014 right_z=0.1799 right_yaw=0.001 right_pitch=-0.0141 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -7.3368, 9.2923, 1.1404, -0.569, 0.0806, -0.0562, -0.2667, -1.2923, 7.0359, 1.7705, -0.0464, -0.0513, -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]: [-1.0042, 1.8854, 1.0111, -0.0753, -0.7593, -0.7696, 0.9996, -0.0143, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3312 left_y=-0.2874 left_z=0.0525 left_yaw=0.0006 left_pitch=-0.0679 left_roll=0.0122 left_gripper=0.9996 right_x=0.295 right_y=0.0015 right_z=0.1798 right_yaw=0.0013 right_pitch=-0.0145 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.5966, 4.2188, 1.116, -0.2711, 0.1441, -0.0171, -0.1026, -1.1556, 7.0359, 1.7607, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7b34c8f204fb2627fd98b70348a1a97a9099ff404aa633c2e600fd33e8d65f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9671f1db9ce1f4e31ae265b4e8deb48b944377ae82a7fd59565a0b4889692289",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33b31c349184c3c50fcaad8a368485002d9b5bc0961a6f6dfed740e16ba9e146",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqQMKjgEIEhgCKkCh2nKkZ06Lms4gNm0fCxfoRSOAuAll09TuMZVMp8Tl1c/jW9G9XZtyJzUcO6TBnceREi478F4aF+hgr0OV0l2yMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc71zNUGEgxEAqdPA9gywbbJTaMaDL9v/7IwQtUvCXDpOiIwIlDwOh2x5cmFGou9LBUJGIrV9HZj+mMHJu6ZoG2XSXuCXNLayCOgSxo/ohxsA2LkKscBhwjook8HjCN6AoKmsJfpEDXYZKobMF65vt2WNoTwawWayYd/HnSrUYkyugYBB3KQPmG5ynKj9m7hYkl01bNwSPkXTloZolJ8Mge97dowAUpEeHdMneTYroSmFAmei7g4du+Cmae+ruwyVMas0a/LowObd1F1ivl+DvZMD3szZrVCBXYHXa/aRCOKAVHbfS3OUCRXXZQVQEgP0PCd/Ouxycxx3+ORKF12XvMXJy7Ohd4aYc/nc6avaiZX3H+ZmoMWQGl09Qj2aBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WYMDS63WR1YwSyCys62vvh",
      "input": {
        "note": "The bear's head fills the bottom of the left wrist view right at the jaws; closing the gripper 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_01WYMDS63WR1YwSyCys62vvh",
      "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]: [-1.0042, 1.8915, 1.0042, -0.0368, -0.7605, -0.7788, 0.1994, -0.0147, 0.7986, 0.6086, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3332 left_y=-0.2903 left_z=0.0525 left_yaw=0.0049 left_pitch=-0.0534 left_roll=-0.0164 left_gripper=0.1994 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.7299, 6.3111, 0.9109, -0.3834, 0.0659, 0.823, -0.3487, -1.1692, 7.2137, 1.7021, -0.022, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4f972ad6d2c5c8dbb2a70419514a143fa1d744b80f40f7f6b2a065553238df3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b68404263c1eaff2efd4c9b1ab63004e065f1f504af8167b59111f4ffe4fe1c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d3c86ca5ed608fd9a28b4515b77eb48abf43866b4f9e79e5778ed5d7e076a2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 4.189 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]: [-1.0637, 1.6665, 1.2621, -0.6098, -0.7864, -0.8272, 0.9996, -0.0147, 0.7986, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3052 left_y=-0.2846 left_z=0.1683 left_yaw=-0.008 left_pitch=-0.0807 left_roll=0.0329 left_gripper=0.9996 right_x=0.2951 right_y=0.0014 right_z=0.1799 right_yaw=0.001 right_pitch=-0.0141 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -7.3368, 9.2923, 1.1404, -0.569, 0.0806, -0.0562, -0.2667, -1.2923, 7.0359, 1.7705, -0.0464, -0.0513, -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]: [-1.0042, 1.8854, 1.0111, -0.0753, -0.7593, -0.7696, 0.9996, -0.0143, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3312 left_y=-0.2874 left_z=0.0525 left_yaw=0.0006 left_pitch=-0.0679 left_roll=0.0122 left_gripper=0.9996 right_x=0.295 right_y=0.0015 right_z=0.1798 right_yaw=0.0013 right_pitch=-0.0145 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.5966, 4.2188, 1.116, -0.2711, 0.1441, -0.0171, -0.1026, -1.1556, 7.0359, 1.7607, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0042, 1.8915, 1.0042, -0.0368, -0.7605, -0.7788, 0.1994, -0.0147, 0.7986, 0.6086, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3332 left_y=-0.2903 left_z=0.0525 left_yaw=0.0049 left_pitch=-0.0534 left_roll=-0.0164 left_gripper=0.1994 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.7299, 6.3111, 0.9109, -0.3834, 0.0659, 0.823, -0.3487, -1.1692, 7.2137, 1.7021, -0.022, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4f972ad6d2c5c8dbb2a70419514a143fa1d744b80f40f7f6b2a065553238df3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b68404263c1eaff2efd4c9b1ab63004e065f1f504af8167b59111f4ffe4fe1c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d3c86ca5ed608fd9a28b4515b77eb48abf43866b4f9e79e5778ed5d7e076a2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrgUKjgEIEhgCKkCOAXtOd3XPilk6L3k4fZ/A6G2qiyYGt1tIDlEPJuONWmZTW9VURiP44lWpa58bY56E9/yLrqup/qR/+F6LsCBDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdb1zNUGEgzLam8JLFQqD6QUsmsaDJP+yk/J9UvRImc9GSIw6qewQ7TRyEicje38eXKDgrEu2BoXcdfbCxPOqZawKrNAHNuxj9nGHmfnjoR4JMeKKswDSwak7d8M8G1wNAKqQ0RjJuCkp6RnGJ0EMWp3G42M9OlLiDa7V0jv2Kvh5kj40/ojP9RA5yDQEdunnlquBwW1fpsNl2YLSpaNkNBtSCnqIxt5dcbZSrK69OzZgRNdbbGzITMfaO2wNyb7oK3+yhEvnO4YAaXhfD1uQDDSx0p+MpKTngnlQo59W7M5J00QcMJdTTubxRXvLfnXLnSDnkzKIbaso59E51V3QgKyH+Nx49lZOcXbEIuaX5xojJv4Y5gm8CzRRfjrU+HK7kl0mdfjcCgLkJDugV7zPzMglP5FiXVgOsnHY09FNbdSteT5jkOu35amvfJtYhMF5RnlzNIJTW0fJSKGNTHSEwQ/ABMYrCgtHRo14uPFgOZHsyLX5fOIEN9XBJpZl/8+Kox/M+DBxUjYVJVSwYjVHXwezvULtk64DiJDE9lM1FAu7G5NNgeYZUQRKR1mIAW9CoUDY5XoV7oEckXCnkJupsW2KwzmyOTR75TC2V5ejINmdu5l8qEAM31OIgJ2Eig34k95YlvGkqtFuIKJWM+tgz8T0DeZiRhaQ/+60/jcpesWrPnVu2OXQFn6XDCJQzbgjixGFOEPhThGzfSBzS2ks6M8ZBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011EFaE8znYLuJKaiDAgWnFQ",
      "input": {
        "note": "Gripper closed to 0.20 (≈2 cm of plush between jaws), so something is held. Lifting 17 cm to confirm the bear came with it.",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_011EFaE8znYLuJKaiDAgWnFQ",
      "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]: [-1.0042, 1.7412, 1.4086, -0.6537, -0.7525, -0.8085, 0.1995, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.3334 left_y=-0.2925 left_z=0.183 left_yaw=0.0198 left_pitch=-0.0916 left_roll=0.0092 left_gripper=0.1995 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0149 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.1709, -12.2325, 9.7299, 1.37, -0.4518, 0.3101, 0.3101, -0.2256, -1.2923, 7.159, 1.7363, -0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63cc350d1294507caa1165deb651bb588e45ce73e5cedefbb9dc654b552f2a41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ccf2f1a780e3c1d6a60293b7b5b86517d3ad2ad0f0ba66d5b509c5f2ffa24b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30de4dc9f87b0dffa29083a3337a22f86329c4d2da3262db935581066c982adf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 7.446 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]: [-1.0042, 1.8854, 1.0111, -0.0753, -0.7593, -0.7696, 0.9996, -0.0143, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3312 left_y=-0.2874 left_z=0.0525 left_yaw=0.0006 left_pitch=-0.0679 left_roll=0.0122 left_gripper=0.9996 right_x=0.295 right_y=0.0015 right_z=0.1798 right_yaw=0.0013 right_pitch=-0.0145 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.5966, 4.2188, 1.116, -0.2711, 0.1441, -0.0171, -0.1026, -1.1556, 7.0359, 1.7607, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0042, 1.8915, 1.0042, -0.0368, -0.7605, -0.7788, 0.1994, -0.0147, 0.7986, 0.6086, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3332 left_y=-0.2903 left_z=0.0525 left_yaw=0.0049 left_pitch=-0.0534 left_roll=-0.0164 left_gripper=0.1994 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.7299, 6.3111, 0.9109, -0.3834, 0.0659, 0.823, -0.3487, -1.1692, 7.2137, 1.7021, -0.022, -0.0366, -0.0171]",
      "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]: [-1.0042, 1.7412, 1.4086, -0.6537, -0.7525, -0.8085, 0.1995, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.3334 left_y=-0.2925 left_z=0.183 left_yaw=0.0198 left_pitch=-0.0916 left_roll=0.0092 left_gripper=0.1995 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0149 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.1709, -12.2325, 9.7299, 1.37, -0.4518, 0.3101, 0.3101, -0.2256, -1.2923, 7.159, 1.7363, -0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63cc350d1294507caa1165deb651bb588e45ce73e5cedefbb9dc654b552f2a41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ccf2f1a780e3c1d6a60293b7b5b86517d3ad2ad0f0ba66d5b509c5f2ffa24b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30de4dc9f87b0dffa29083a3337a22f86329c4d2da3262db935581066c982adf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnQQKjgEIEhgCKkCTf8DgMp8ygXftCgKXZNjg1qEdD1vmK4rpTRULBmFqNe0sCB+dnEZvK4hZ5XUqr8GCqn5lzT/usnoQty8duEZTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdv1zNUGEgyR3bYywzdC/sMaaBgaDInoxB7Qg3SeMPin7iIwurnFvmJb6bcjsD/bbYutjjDU4A8WEnrfYLoGUL7hiLrks8pz1/BlL7uV6FtHuxJcKrsCGCz9f1vFnIG5nuH+oUxbOEO0a2WCUKA7QnDoec1EHJ2wHlbCv19Vfi8OnHfkYfwBPWyvnUgPDXS84d+ahdIq5HEupX5EqnIxAi1IkLIxWFX1ylP1GK7JuE5PVOla/dPNQh3m1zpT94itbDHdapb+lJ6kA+Tti09GgXtgXR4VEY+0JOtA8sJkH2NueDQIcAg8H/Tn2RQ1H0xJEUKpGcSwSVldnuoyGvQZ0GOFnUDxzDT1yGv/zggvOq+9iSWG7/SpxMy7JJSXmT3hqN6TXtuVRp0NxCciz/56N79iwf/9sPfYQys27uCycmEe92jxWIJnf+z9+82a3M+YPq28hm2VP02AKKbEJ3QLiwko7NaGTUnH0TEz5uhgqAMi+LJOxbv9GVvPaku9mdoYQ1q4VKuSJ/vtHuIlzH3EcrXMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018J7UQgNYsBUpgV5iqvPe2C",
      "input": {
        "note": "The plush dog is held in the jaws. Carrying it high toward the left basket at the back-left of the table.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.1,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_018J7UQgNYsBUpgV5iqvPe2C",
      "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]: [-0.358, 1.5951, 1.5906, -0.7937, -0.3317, -0.3202, 0.2009, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4309 left_y=-0.096 left_z=0.2651 left_yaw=0.0811 left_pitch=-0.1809 left_roll=0.0147 left_gripper=0.2009 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -8.1573, 10.4821, 1.9463, 0.022, 0.5055, 0.779, -0.0752, -0.9368, 7.0769, 1.7265, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d6d535656b79b5f7ee6011323e5243521f60ee05ea5c73524a12237d5fe8385",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b3b6fc56700bd8863f727d16ace5372124ce1d9c4d91cc34f00e8b0fb094008",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e30823900ab1be012347caed3bad9b501fadde1ca9aa0868e6715b9a894e0f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 4.901 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]: [-1.0042, 1.8915, 1.0042, -0.0368, -0.7605, -0.7788, 0.1994, -0.0147, 0.7986, 0.6086, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3332 left_y=-0.2903 left_z=0.0525 left_yaw=0.0049 left_pitch=-0.0534 left_roll=-0.0164 left_gripper=0.1994 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.7299, 6.3111, 0.9109, -0.3834, 0.0659, 0.823, -0.3487, -1.1692, 7.2137, 1.7021, -0.022, -0.0366, -0.0171]",
      "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]: [-1.0042, 1.7412, 1.4086, -0.6537, -0.7525, -0.8085, 0.1995, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.3334 left_y=-0.2925 left_z=0.183 left_yaw=0.0198 left_pitch=-0.0916 left_roll=0.0092 left_gripper=0.1995 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0149 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.1709, -12.2325, 9.7299, 1.37, -0.4518, 0.3101, 0.3101, -0.2256, -1.2923, 7.159, 1.7363, -0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.358, 1.5951, 1.5906, -0.7937, -0.3317, -0.3202, 0.2009, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4309 left_y=-0.096 left_z=0.2651 left_yaw=0.0811 left_pitch=-0.1809 left_roll=0.0147 left_gripper=0.2009 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -8.1573, 10.4821, 1.9463, 0.022, 0.5055, 0.779, -0.0752, -0.9368, 7.0769, 1.7265, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d6d535656b79b5f7ee6011323e5243521f60ee05ea5c73524a12237d5fe8385",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b3b6fc56700bd8863f727d16ace5372124ce1d9c4d91cc34f00e8b0fb094008",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e30823900ab1be012347caed3bad9b501fadde1ca9aa0868e6715b9a894e0f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzQgKjgEIEhgCKkDmE38SmJQ+X/LFdAtvbrqK1REcB+L9TKxPgXNEmy/dOXPrrA7+sRO0ZlBCvod8l0tODP9FxdbMb9nEJbNAyyG4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeT1zNUGEgxY2+GHFB5/onpj5KAaDG0UWsnO+OpYh4lU/iIwF9DcEXc63XJvP0Nnh4rf9MJ61cE85TCu2G+FbjK9FIDgzuD1gAtT2pvi62PTUGA/KusGW7A3g2WeYV0cHNjzG+BUAcVbnQd52lWX88WwGdcLowsUtFdm5Csumt98bFat39Jh72XxrDES2ADyRO7V3p9eX0dVLUPVyRwHx9o0CsibSPtfjHj9TC+St57QjzH4wgwZhLYCMhzFcSHf0hBjLZfHeLeBqLTRSRkbSZrpo2PmUpE08hGSBdCVNddW8GN1H345aAvKWbShs8gV6N4K2JZbHfEyCv5PUFDMzcuU0Pj+5Siv7ufZaLWjspVW04qL7oJBaEvuK0PZS8FLy96SvfPfM+yCZUh0bGR/HIwpdllBaeT4d4ckhdZvPK911y2a2mBgm5mI62YUK7VyAoezB3zVjWItATjny3/wcE2rQu/5DKrm7t5g+qsnLQzXmkGCy22+iSmWD0UP/rukr99gEkVhZsU+mMa0Rfm8Et5WCllUV0CDNR5a786TUt+mUGrxMOOaoOyy+g4IhmYrZRW4ubqGMU1RwhAJAyTntoz7WcXlH+swNveSI89o6tc9EwbpOgTAJ+VKu0g/8Nvb6nKfzfav726EzvCWKTRy8F1RWzfcAGNd1hufSH/5tMhWVTxsIdlioQy/Btt4Ywi29Re6AuR0Q/eVtCbEFR6+BYGaTuzpfWFMNvFHcrdNArT0c8La6nvhZk0wZRCc5L0B9oKA5mwmC/RgpH7GyBtQiRS/6QZ+MzIDj/g4G7WbN68MESjiQGfqb9P8S/Iki8hktzeV/X3+/eBw5MevD8Wx7blttA9p5PAsMnpqsR1KiMrxIbipsK8F0hSMvx+atiedpngjaFgkHPTGxJ3hm+/IwKoUEjI0FW6woEBU75MRZd/nRbiJBAqQ2k99PTdcgOOivB37RIyuSTj5VMz/l6oa7S4jpleHbEdItjhhRfCmNdhoJNsdwij/geutksY+PXpqsle9V49/7+WDmYijUZo97dZNL31fTWztvLZ8D+Zmvd+bBhvPrQky1aX1R4OuMADOUDSl0+kJ22EArpm8gcWqvKKblqvsScKWQfIezEIR2Nq7HZgfRkRurTX+TwS+RPV/jiffunrDhzYYokgSxhmyb7N9l2r4t38SOIbnQpCU8EnGFdIt6+T/8feDtfihcYWPPqToc5Y9NYl4/z1KTFh/tuNDvX61KG04hrwfJijgRcLjsAO/XorwM5CM5fEhWLb2N0YYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MfkUyHdLPt1oM5UDHh2xGy",
      "input": {
        "note": "Wrist view shows the left basket up and to the image-left of the held dog, i.e. further forward and further to the arm's left. Nudging toward it before releasing.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.05,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01MfkUyHdLPt1oM5UDHh2xGy",
      "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]: [-0.2054, 1.6901, 1.7664, -0.9382, -0.244, -0.2638, 0.2027, -0.0147, 0.7986, 0.6086, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.0462 left_z=0.2694 left_yaw=0.1354 left_pitch=-0.2653 left_roll=0.019 left_gripper=0.2027 right_x=0.2949 right_y=0.0014 right_z=0.1797 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.1983, 10.1402, 1.8877, 0.0171, 0.4078, 0.6325, -0.1709, -1.2513, 7.0496, 1.7314, -0.022, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5238526af2b95ecd1fbba8f813dbbb60efdc59655ff2a00bab807e502ccc06a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ed9082daa0fc95f4439dc1d21158deef0c3716df63ea77801e604774688665b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0552eee0be9a90341f6070b2b840f21ccd25cce5f8c1a657f665375c85af54ba",
        "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 · 3.518 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]: [-1.0042, 1.7412, 1.4086, -0.6537, -0.7525, -0.8085, 0.1995, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.3334 left_y=-0.2925 left_z=0.183 left_yaw=0.0198 left_pitch=-0.0916 left_roll=0.0092 left_gripper=0.1995 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0008 right_pitch=-0.0149 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.1709, -12.2325, 9.7299, 1.37, -0.4518, 0.3101, 0.3101, -0.2256, -1.2923, 7.159, 1.7363, -0.0122, -0.0366, -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]: [-0.358, 1.5951, 1.5906, -0.7937, -0.3317, -0.3202, 0.2009, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4309 left_y=-0.096 left_z=0.2651 left_yaw=0.0811 left_pitch=-0.1809 left_roll=0.0147 left_gripper=0.2009 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -8.1573, 10.4821, 1.9463, 0.022, 0.5055, 0.779, -0.0752, -0.9368, 7.0769, 1.7265, -0.0415, -0.0513, -0.0122]",
      "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]: [-0.2054, 1.6901, 1.7664, -0.9382, -0.244, -0.2638, 0.2027, -0.0147, 0.7986, 0.6086, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.0462 left_z=0.2694 left_yaw=0.1354 left_pitch=-0.2653 left_roll=0.019 left_gripper=0.2027 right_x=0.2949 right_y=0.0014 right_z=0.1797 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.1983, 10.1402, 1.8877, 0.0171, 0.4078, 0.6325, -0.1709, -1.2513, 7.0496, 1.7314, -0.022, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5238526af2b95ecd1fbba8f813dbbb60efdc59655ff2a00bab807e502ccc06a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ed9082daa0fc95f4439dc1d21158deef0c3716df63ea77801e604774688665b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0552eee0be9a90341f6070b2b840f21ccd25cce5f8c1a657f665375c85af54ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7wQKjgEIEhgCKkBUiXyal7fcVyKhCXX/BomY4K8kciZV2Q/DC10vJ9wfTC75vqEjL/MGzMZMpoBqD7Fc1jZT/KvmFHyXp4x2yHBUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAer1zNUGEgxkOw/n1xQdZOnOhGIaDF45H/9ef1oUA5N6syIwDtBn0uxOoouPdRIYjVeVgvKBC+e7GUwWcHk0ubTUDsFtpxlT6j/KCczhHlT+RQVFKo0DxMoVFlaRbgSOz3ZlbGMhELPMb7H36qz0NmVXInRet1ngU0wC7qo2GVDvYAKh2syaifZEhAvurpOHT1P/ci90YXgEqfXjoL9oDvVOGm1+myKJGDmSyq6QBqCNjzjM2GuSLWLe122SIf/RhtRGm99s1bXPnagAV0SrUfkMZ4fEpsIXWN20oFUSXdOsE/towZ55mSQBagIwkOKxtQtfEeYOSfRf0gKUM/wDs2TXOGria6UTpjeSSmK6Yx8ialx6FlewFl7kfUZ7TK2hDv2d1+QCBPnkCb5dsmz0K+kscCSWFU5a44U5w1iFLIK18Y72gq3UmJ954JLuH80gb78Ux/U9SWC+G4L1Ri6g4JrxwWo8a4ssOi+TFoc4oLBCuH/TzOEEWUseUWG7kfsByn+U0fGYhcNdxEBw1S8hQNG/EeSzeYosWxtZcrlC2Iwn/6clQSQWpuj6O0guivAncEvDptdsDy/GiGdLwHP1ESYdBRFuOGYkl/RHYst5luATWMueEtqbrbVYgl2xBgxYA7jMoRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YKXFNPvcX354mX5C2xDKoS",
      "input": {
        "note": "Basket is now centred on the jaw column but sits higher in the wrist image, meaning it is still ahead of the fingertips. Advancing 5 cm forward to hold the dog over the basket.",
        "targets": {
          "left_x": 0.5,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01YKXFNPvcX354mX5C2xDKoS",
      "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]: [-0.1967, 1.6955, 1.7954, -0.9573, -0.2237, -0.2497, 0.2049, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.449 left_y=-0.0458 left_z=0.275 left_yaw=0.1188 left_pitch=-0.2661 left_roll=0.0124 left_gripper=0.2049 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -8.4581, 9.4291, 1.9316, -0.0952, 0.3883, 0.2222, -0.3487, -1.265, 7.0359, 1.7167, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b4120bb8c45c0e3166053a0ac3cfee40e1dc69c52d8bf55ec60d59211076287",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a70d5f7882fdd58fd223036a48bc6afb321a084292f3baf09c3b63d32f60d6f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:52fcf00ae6644e506e0c0e867a0fa2e194ee234388beedf9b17967db2727a737",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 7.103 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]: [-0.358, 1.5951, 1.5906, -0.7937, -0.3317, -0.3202, 0.2009, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4309 left_y=-0.096 left_z=0.2651 left_yaw=0.0811 left_pitch=-0.1809 left_roll=0.0147 left_gripper=0.2009 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -8.1573, 10.4821, 1.9463, 0.022, 0.5055, 0.779, -0.0752, -0.9368, 7.0769, 1.7265, -0.0415, -0.0513, -0.0122]",
      "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]: [-0.2054, 1.6901, 1.7664, -0.9382, -0.244, -0.2638, 0.2027, -0.0147, 0.7986, 0.6086, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.0462 left_z=0.2694 left_yaw=0.1354 left_pitch=-0.2653 left_roll=0.019 left_gripper=0.2027 right_x=0.2949 right_y=0.0014 right_z=0.1797 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.1983, 10.1402, 1.8877, 0.0171, 0.4078, 0.6325, -0.1709, -1.2513, 7.0496, 1.7314, -0.022, -0.0513, -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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1967, 1.6955, 1.7954, -0.9573, -0.2237, -0.2497, 0.2049, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.449 left_y=-0.0458 left_z=0.275 left_yaw=0.1188 left_pitch=-0.2661 left_roll=0.0124 left_gripper=0.2049 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -8.4581, 9.4291, 1.9316, -0.0952, 0.3883, 0.2222, -0.3487, -1.265, 7.0359, 1.7167, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b4120bb8c45c0e3166053a0ac3cfee40e1dc69c52d8bf55ec60d59211076287",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a70d5f7882fdd58fd223036a48bc6afb321a084292f3baf09c3b63d32f60d6f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52fcf00ae6644e506e0c0e867a0fa2e194ee234388beedf9b17967db2727a737",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/gMKjgEIEhgCKkDrNQ669RrbslgnVJ3GvqzG0Ed5RRjjlhjbDlb1rP4ZiOqnPXBjC2mMmy0qZnB+yvCYxpBFVh1236tR4gdqnjQSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe71zNUGEgxLQczQcj9ZE4hNN5IaDEE0y7It4ROwyCOSXyIwl8ASLV640PwSYHcSRgvjVJhDv9rN740ZLNwPYSLrxUsMx0LyWqFvW6Oea0prYL7/KpwC0YtEVWh2i9zU4YK8Q29QUF+FV12cqxGxBF5yyUb5jXec2hfO2H2Ubc2DBK9wcuwwn5ps9cz+j/NmPjdQ7yXu+Z54L29nvMiMu/iflsgdBqd5ihMhPMNCzSd4NbG0V1pVKpDN+oLsorguaDcx74shgzS+EGK8AEp3mhYmXigePr8ERFzI4Nm/BXETrsB+ShjodR2k0POv2fVprJoPDWqIoWRhYC86JtSRjPkmDS9ZwmJZw2ZQa09bSLuHjYtMVxt9ZIkS7r+k6u2785fVCIc98h07gCzwmJwyb/75LdKK8GnHOjhN49RBAeCjlLo4ZlS2fo5U4x0KSVBCmzqKpzoclaka5qXxSvLAjIdnDb1HXj6YYnd/9mE8gyQ0pDcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DJnjDe6JRusZayrRTtb8Bq",
      "input": {
        "note": "Arm stalled at x=0.45 at that height, so lowering to z=0.20 while pushing forward to get the dog over the basket mouth.",
        "targets": {
          "left_x": 0.5,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01DJnjDe6JRusZayrRTtb8Bq",
      "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]: [-0.1967, 1.6955, 1.7954, -0.9573, -0.2237, -0.2493, 0.2079, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.449 left_y=-0.0458 left_z=0.275 left_yaw=0.1186 left_pitch=-0.2661 left_roll=0.0126 left_gripper=0.2079 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -8.4991, 9.4564, 1.9365, -0.1001, 0.4127, 0.2955, -0.0752, -1.2376, 7.0769, 1.7411, -0.0317, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:850a3faef0a08f417d2b5ff8f3d3102e4461c6977aa087effc009923231bbebc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f312791ae859c772aadaa45b573926cce100a194721602bde3dc9ff74c57b9fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d31a2445928adf73b143dc62d5e8ef77f958040322e0c0fcdde06c992ec21264",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 11.33 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]: [-0.2054, 1.6901, 1.7664, -0.9382, -0.244, -0.2638, 0.2027, -0.0147, 0.7986, 0.6086, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.0462 left_z=0.2694 left_yaw=0.1354 left_pitch=-0.2653 left_roll=0.019 left_gripper=0.2027 right_x=0.2949 right_y=0.0014 right_z=0.1797 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.1983, 10.1402, 1.8877, 0.0171, 0.4078, 0.6325, -0.1709, -1.2513, 7.0496, 1.7314, -0.022, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1967, 1.6955, 1.7954, -0.9573, -0.2237, -0.2497, 0.2049, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.449 left_y=-0.0458 left_z=0.275 left_yaw=0.1188 left_pitch=-0.2661 left_roll=0.0124 left_gripper=0.2049 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -8.4581, 9.4291, 1.9316, -0.0952, 0.3883, 0.2222, -0.3487, -1.265, 7.0359, 1.7167, -0.0317, -0.0464, -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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1967, 1.6955, 1.7954, -0.9573, -0.2237, -0.2493, 0.2079, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.449 left_y=-0.0458 left_z=0.275 left_yaw=0.1186 left_pitch=-0.2661 left_roll=0.0126 left_gripper=0.2079 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -8.4991, 9.4564, 1.9365, -0.1001, 0.4127, 0.2955, -0.0752, -1.2376, 7.0769, 1.7411, -0.0317, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:850a3faef0a08f417d2b5ff8f3d3102e4461c6977aa087effc009923231bbebc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f312791ae859c772aadaa45b573926cce100a194721602bde3dc9ff74c57b9fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d31a2445928adf73b143dc62d5e8ef77f958040322e0c0fcdde06c992ec21264",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS5QgKjgEIEhgCKkBF3yNf1VxUfWZQ0q0wchVttdU7CuCnAjwAjFcxiE/Sc4KMmRelJSG0d3hv245gjUOc2KJ5ZYV9H3uQIIp7Lyx6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfX1zNUGEgxhtZl+6+uFWtHNbukaDIAiwCd6jGMIyTTlQiIw58uJ26CRBkytvfqp5kkagX921xem2Y9SCCw8vvyTDjcCHPptjdcwTTy8W13eTH2EKoMHRLzSFd1aztvnWT3TlmKo7Ivo74+ccujfKX6lPAbYtoDM+4ZyRtNIASpNXpuoVQP29xrrPSu8uY036sKbEURFis1HpDOGUVhTsizVqXoZKwrhDMPgqU6QT0E9JZsDZ9hSVlpetVM5G2qEsHgtNk7ZhrrsxrBkLcvNF9gXrPE6FxYhfO+LZNSbnKc3rJf5kgUlWuSAeoCsHWmoTYGmodKMbxPLiQJCg7mfGF8DWfdWRlAjRpFaf3uSIACs3th6KhLQ7mZRoZic5sE0xyksMUbQSlxM3KcISiKlMfkCOtaxrdl2YWv4fMK/NWfT8OAQ/spIZpt0UPRUL7oSzjmdLCUDUBUgg7uU/Bn/Fd4Y+frSAntZhgNshXraG/K/nFw7LezAQda1AadN9sKwXfEXRMnjeheq/wPh1xqg/ysj2zuQ137gGtPQaiB7SJ3tSpw/v+nS5HrdILRkFZSoF6GhirGLON7dmPhamQxfaqzI1LQGrga8K/dU+NmD9uN+XBNUALtK2hJTXy5dyabLVyXbu3NUiwkZv2K7YZC4liyqbbFRCMbUkHkZLR4HfHCSJc+vZ/1m6Qr+IwK482CyLEin8vQxokGtrQ9JKRlu6v33mKa9kX/pkEtI9RrpvwqNyvegWIJM0Nknbce2mPh+uWsOw8EfpdCCH8aWgJuHb8yKvzU6VR+DDrA08ovi3/SdR/YOm+AAQmNRWqHX4ZYUncsT56ZvtjV4vWI31T2v/s4EBahtueDjUVf2DXfzU2Teqf3nWyf3flJuXU0ouM6PCJATyU0RicVj/r5CWwLOekV1Lebkr7gqQqUjFr67zOMqPb3DAXKT4FhnEoNShLhLxvUD+g4crbQdLhYrv3jkkRXwy1849cNev7IS/q7lmA22TTe7k0AAUUXKGtpf+pMLkgwHWMd+371lYbKNmBJttWREJltQLY6GFMdYX1RBFd0wyqosJ5AzdbWbz3jzLCfkTQ+l3mcMZbM3dlmr1cHYa3lKJtfZ6cCtymfee9BatKDTt1blKHt52X2VWn7GQebV8uhD4qwHsFUwYaVoU8C7j2tAu5E7JKCCPo7qAmgqpsinO7EJKlH4MLkG3gJwdyDn8t9XnNlhMIBxz3lrPOasMFAlWw8tAACSgs1YcJ45XImtw2DuAQHFBkyXk+KCSuUCXErzyvlu1CgbCkqAduMszzPp62kqj2Ecw2YYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tx8xnFqToFmjFEsxdKThAP",
      "input": {
        "note": "Arm is stalled at x=0.449; trying a sideways/down move instead to see if it tracks, aiming the dog over the basket mouth.",
        "targets": {
          "left_y": -0.1,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Tx8xnFqToFmjFEsxdKThAP",
      "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]: [-0.3462, 1.7287, 1.7386, -0.9417, -0.281, -0.3416, 0.2098, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4401 left_y=-0.1029 left_z=0.2428 left_yaw=0.077 left_pitch=-0.318 left_roll=0.0209 left_gripper=0.2098 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [1.2239, -8.5265, 7.0496, 1.6435, -0.5543, 0.0024, 0.1929, -0.253, -1.2513, 7.1316, 1.7363, -0.0806, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5c0320c4a204c483b971b867161f8ae214c084c838fa732f8602313aeb3359b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b39d2200605b0298b2a2ca59e7691f9236170e98d733af764e211260a84f6af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c041880adbc992085820b39bf72fca2a8baacb3fe683095cefb0f052ff63453",
        "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 · 5.407 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1967, 1.6955, 1.7954, -0.9573, -0.2237, -0.2497, 0.2049, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.449 left_y=-0.0458 left_z=0.275 left_yaw=0.1188 left_pitch=-0.2661 left_roll=0.0124 left_gripper=0.2049 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -8.4581, 9.4291, 1.9316, -0.0952, 0.3883, 0.2222, -0.3487, -1.265, 7.0359, 1.7167, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1967, 1.6955, 1.7954, -0.9573, -0.2237, -0.2493, 0.2079, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.449 left_y=-0.0458 left_z=0.275 left_yaw=0.1186 left_pitch=-0.2661 left_roll=0.0126 left_gripper=0.2079 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -8.4991, 9.4564, 1.9365, -0.1001, 0.4127, 0.2955, -0.0752, -1.2376, 7.0769, 1.7411, -0.0317, -0.0611, -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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3462, 1.7287, 1.7386, -0.9417, -0.281, -0.3416, 0.2098, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4401 left_y=-0.1029 left_z=0.2428 left_yaw=0.077 left_pitch=-0.318 left_roll=0.0209 left_gripper=0.2098 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [1.2239, -8.5265, 7.0496, 1.6435, -0.5543, 0.0024, 0.1929, -0.253, -1.2513, 7.1316, 1.7363, -0.0806, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5c0320c4a204c483b971b867161f8ae214c084c838fa732f8602313aeb3359b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b39d2200605b0298b2a2ca59e7691f9236170e98d733af764e211260a84f6af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c041880adbc992085820b39bf72fca2a8baacb3fe683095cefb0f052ff63453",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvg0KjgEIEhgCKkB7zG3nWUGuuyjTH6s2B5bcXaz6uBCUHb9qQhpyUZfbwgkhYREgI7wLNczhKeGoAHPe662L299z9hFM9q5FzJ/vMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYH2zNUGEgzeZDf7TGxn/BtDGskaDCY7C9ZSdSrov1BJZSIwKbbtq+M3jtWvMt0L+jqHNo5Ykub0URBwtzPqF4+N7IUc56irB8iIO/yCJyiDafdYKtwLTPf1uDdHwSlkoV4JzArdWR3KxdHMliMdEQtByvAGExYjHTI7fPqfA338h8zEu50zOiSwUL0r2v5ftqNHn4TNBRKP8nglByBG6jS3+gj33f3vVM8gkXNACfhA2gMBuKwLXp1ofQnCvGI0R4l17l40JCNS2Vq4KnAQ2cn5UYe65kbp1dUG7jZ3TqgJoya6A6/k1zFpdMjpVkWQne4zBy/6KAMyVdXSlsofm+7icQiJPRO8WR9N2f1bIKxU6Z0aqzNjHeRiSliZXtnifCUIMHVTiDbiPsHqvQXvS+RjMRyPQmcBFP/qjfG/VmuC3rUq11e4D9wE1hiGO4DaxDq60pC35Aopr2x7DARS+0O37NJ6CrRiz6I7xptzh8ArpoWy98c8ZdmkdMQa9sZfaFkwIafVR1bw5s+7hmV6gl0kW1kVwgpgfZq93eEtCVEVqi9U4hp0V3w7/I1dWmn6ITHw6VWaRj5QkyV6x/nOn/H4zmfi2S4viBNktdP2WCJaOJ4UjuHGP8JsS8kK/2kzLTOm8l/mFOnu6oKLHktV+dkfNestwxv0mkbmxG5/fuCfClfZHMSN7jRvQzp3rPWvNVRaagDmtiEmBuoKQbn8xeBV1ZbtmVaEUD+GlAu25o5Y3Ha4WisZTgnljm+18FepCgDw4TBPm6oirh1w0Slu3ebcMF7zhTS6VXLmbSs0PfSaCnb7RisO4VpAaslTAArphLebayW50ztSw6FkzbjicV0XPGH0c45VPd4UfI4yROo8ZazcJYjPNVVQfFcTEqr9KSFUIgTJ2qJnTWee79Fw069eom6IiFuXko75Nm6d12OoBcjcL7/6JphnmFGl9m/itzEDXsyi7vYY0s33zRD+naj3srStuwwJg+4j5cAre833eTsFVoKgs2qVDptKvUCps3kvaUwn2xd3hwIXacNYGntkVJRMMFPqk5TaDCykb6YZmosHYTkB9NlOR7CCQKuK47CUaJh256d91tFIX0RIzThU3YjnQzTv6KvrNkLqyZJ3XdFiFgdJ3l1oPS6sI+UYWq1ZNAGBfGxAtoKf7k73c/TcP5wNgAKRxpyUzUX2LYknJO7/s5o1HyxeEctNCIykxOnfQXuWD5uC1Hhr6KCHWuotNHvUZjeJszq/Zh38yM6bjj9LVAoEjBYtu5EQrwhcUYrKzbOBx1ZT8+Emez0IojXIEB+0Jby5TXPRdCLr4+nH/z4Qni4Y8/Pk8c+gEURwI4Pq8spsPnkPpYAZ/N43GPxVus+wSTBRg1GVgZnCQrCJ3OG3h1vXCTalkZUUPQuoTD2zte23BjnZOG9Z60Bey/pB/xK6nV/6JFnnoAmShaq282Bj/CgRHg4499p+05Rs37t01jvNzpCoijtu0j61uZ+OE2gM344PPexHjqV+PR2fXDR/NXjDHRAkfviECprpdL9mK1ujoveNcdW0ujPZiHY4kQwh73xUHP0OJxdvOGfrgOAlMlGh+lYfTNYxovmMCw3evnX5CkLawIvcP1TNMlskU+Z8BT7irGCuvWTzvOTbsV9cJCSYueQu4x2an9aho+dX/xJyh5iokb7bGz6nvbcJ4D3LSwuEerRAiM+yV+aUV1pYiUafgirKRkkBqGoKBfFV15vXbKVsvu8hq9nMMjxPHz2fgox+e95MpWfXSJ+Wc8F9w+7sq/fPBkhdkQWckrJUDDQZ8b8XGLA3BFLmvuJC4SLP3w/TeWds7m4jaxJxhlAXLd5lv8RHXyC3PwJqaaWW0rWkbk2FNfW/O7o1QAAQS+OuJifCbYW/e63xqPQSoWOnvjq3l00YcuGIlyGufV8dpyWf502CV+bN7RqF4v27Wf32gkg/B6Tf134Q2vAMgFEPNfOXmwU4iVgzU6BJFgO6gEMIcuTyvNk+lYCvh55gYeLkrcWfEa2VD3yCVPS7cTPMxZAfgj5F/kYpPVSUxwm89XTsZe+Q2JM8IzFn8lbX7fyGoBJHUzxXSCRp6XhJ6WaX1wS7PW6JDg4RLWsKpD55GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XaPwJ5fUYuZRCp7EijJw4D",
      "input": {
        "note": "Reach is limited at high z, so lowering to z=0.17 where the arm can extend further, moving forward and right toward the basket centre.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.06,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XaPwJ5fUYuZRCp7EijJw4D",
      "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]: [-0.2123, 1.7592, 1.4899, -0.7189, -0.2214, -0.2676, 0.2129, -0.0147, 0.7986, 0.6086, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4537 left_y=-0.0544 left_z=0.1617 left_yaw=0.1256 left_pitch=-0.3903 left_roll=0.043 left_gripper=0.2129 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.9778, 7.0906, 1.5946, 0.0171, 0.2173, 0.2955, 0.0205, -1.2376, 7.1043, 1.7607, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:482a8c362a91d92f7f5c7ecb463305ee3344024f493506f1c55bee5b787cb412",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e17ee6541773b14b22a9546b1e0265fa7a5e152c6d598c4a934da1dfcff6aab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aaccfad8c3fca83aca809e0c69fdf886d96f6948c2361ceb072c8417eb69eb61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 3.432 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1967, 1.6955, 1.7954, -0.9573, -0.2237, -0.2493, 0.2079, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.449 left_y=-0.0458 left_z=0.275 left_yaw=0.1186 left_pitch=-0.2661 left_roll=0.0126 left_gripper=0.2079 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -8.4991, 9.4564, 1.9365, -0.1001, 0.4127, 0.2955, -0.0752, -1.2376, 7.0769, 1.7411, -0.0317, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3462, 1.7287, 1.7386, -0.9417, -0.281, -0.3416, 0.2098, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4401 left_y=-0.1029 left_z=0.2428 left_yaw=0.077 left_pitch=-0.318 left_roll=0.0209 left_gripper=0.2098 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [1.2239, -8.5265, 7.0496, 1.6435, -0.5543, 0.0024, 0.1929, -0.253, -1.2513, 7.1316, 1.7363, -0.0806, -0.0464, -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 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]: [-0.2123, 1.7592, 1.4899, -0.7189, -0.2214, -0.2676, 0.2129, -0.0147, 0.7986, 0.6086, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4537 left_y=-0.0544 left_z=0.1617 left_yaw=0.1256 left_pitch=-0.3903 left_roll=0.043 left_gripper=0.2129 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.9778, 7.0906, 1.5946, 0.0171, 0.2173, 0.2955, 0.0205, -1.2376, 7.1043, 1.7607, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:482a8c362a91d92f7f5c7ecb463305ee3344024f493506f1c55bee5b787cb412",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e17ee6541773b14b22a9546b1e0265fa7a5e152c6d598c4a934da1dfcff6aab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aaccfad8c3fca83aca809e0c69fdf886d96f6948c2361ceb072c8417eb69eb61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjQQKjgEIEhgCKkB5g3aa2FG8lTrV7CA8Ois4Klp2bESlrb+XtICfyhi4h+V84qUFnC0oUmVU825+1as/0PkQenFz4mA1vfzz1ZqIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYf2zNUGEgyceN1z6qYBmidZuTYaDBBnPro67bDNwYeTJiIw9NaIATlHEwfpDfbN5d1YNjj+Flmr67WmvcIJA6RelLoXJ8owZSpeOfO8fvwwkL/VKqsC8pB2fw5izOSh63+D+78Q1T0n5gXIJSq2pPpKlky39BQN4hxOdwZ/YNoPexT9Ld7m/bemsPHeK5DPF5p9bG7qQespaf4p82xXGuaruAPupMI7q1hn/VQK1s09scn8CZzN33wDteArGb4XxuvDukh/WMnTrGQM9cysJfWwc7l5ZZu3fbaF7npc5e8N4SqHUKV/E/YSDdsoXtf8Cz98IDNJvWS/jDYJwRlkEGFyry4fgpdIdNi+vwB6Ete9n8lupStXHBwlS5QhV14BwA34KhiD8Zot7HZPM1zWDEKQzQ/w23USGsGc6HGX4nZbGOYDuk0wYPMOGv/NEmdKUdwTsJ1+CUpWp6NnzT56C9w5LAIBrzSPTU6k15ETfS3mdmbNnQjWwYNdg0uFsFezbwUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012R7VA57KFACkzwLsUDBh26",
      "input": {
        "note": "The wrist view is filled by the basket interior with the dog over it; 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 8 steps (0.8s)",
      "tool_use_id": "toolu_012R7VA57KFACkzwLsUDBh26",
      "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]: [-0.2081, 1.7748, 1.475, -0.7177, -0.2092, -0.2771, 0.9952, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4514 left_y=-0.0542 left_z=0.149 left_yaw=0.1288 left_pitch=-0.4211 left_roll=0.0371 left_gripper=0.9952 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.6632, -10.4547, 7.7744, 1.2527, -0.3004, 0.0464, -0.0171, -0.212, -1.2923, 7.0769, 1.7314, -0.0269, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:116c83836bd273c79bee1269f375ea342219e74127eec859f7e8a70f3145d91f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78ad564e28eafbff156e39d4bcd3efc329124727378244081b68f7ffe3ecf721",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f4b9cf26fd1612caac1ec42adc60259ea65272430a28e2f2ede4f3ac170b073d",
        "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 · 10.03 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3462, 1.7287, 1.7386, -0.9417, -0.281, -0.3416, 0.2098, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4401 left_y=-0.1029 left_z=0.2428 left_yaw=0.077 left_pitch=-0.318 left_roll=0.0209 left_gripper=0.2098 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [1.2239, -8.5265, 7.0496, 1.6435, -0.5543, 0.0024, 0.1929, -0.253, -1.2513, 7.1316, 1.7363, -0.0806, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.2123, 1.7592, 1.4899, -0.7189, -0.2214, -0.2676, 0.2129, -0.0147, 0.7986, 0.6086, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4537 left_y=-0.0544 left_z=0.1617 left_yaw=0.1256 left_pitch=-0.3903 left_roll=0.043 left_gripper=0.2129 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.9778, 7.0906, 1.5946, 0.0171, 0.2173, 0.2955, 0.0205, -1.2376, 7.1043, 1.7607, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2081, 1.7748, 1.475, -0.7177, -0.2092, -0.2771, 0.9952, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4514 left_y=-0.0542 left_z=0.149 left_yaw=0.1288 left_pitch=-0.4211 left_roll=0.0371 left_gripper=0.9952 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.6632, -10.4547, 7.7744, 1.2527, -0.3004, 0.0464, -0.0171, -0.212, -1.2923, 7.0769, 1.7314, -0.0269, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:116c83836bd273c79bee1269f375ea342219e74127eec859f7e8a70f3145d91f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78ad564e28eafbff156e39d4bcd3efc329124727378244081b68f7ffe3ecf721",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4b9cf26fd1612caac1ec42adc60259ea65272430a28e2f2ede4f3ac170b073d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjQQKjgEIEhgCKkCq90L+GjbPMMpaQfXDa8Mxu+8AYcgZ6c5hKWlRGTiF8ZSLN6mzhwxZ+xDPl1ETiISaW7O7gAK+b9mLjD4+/sZDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYv2zNUGEgwiude6/Lopk7oNaOAaDPOqUeg/bakqG+YQxSIwt8+EfYiNKms5kzVmBYxTN+xaWw2hPfMEdPOoMCo0qHHxISil3psXWyNCac3DWE+mKqsCHNPoPiHI0B2juI6LIIZ+0KDNO8GcE8QvZrAkyVMRU6pxRZNiHv5vxWeiHR5Bt3nsSMwPmCLYkJLHs6rdvkblDLFfK0C5dcXN9Lnaokbef17hmKZ9eI1YjtNgPmx/ivmmKZhOUJUqwSbZ+XjZTzO1W7ZGFdMe1PGaB+QYej56LnqNUwC2r3nPx852+csQRYOlrQk4IX1vKH3SkPPWpqpB3n/pdrXqwf7OUTK+/KiZRhtzR2JgINBClrlNbRjBKA5yowLwAcm7C67blBZ+OC9mGmtgWDdTeZsUOToGphb75QsvH3Wby7z/BMXNmXK5GqcX5BYgQTJIFv4X8DWMbTOWRfuadjoLExt83HRwrjjB23FldDLg29jRF+RcMiI+TRA55kahIMrQaBSumxwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011J3TbKNNv57e13L9WoxhjX",
      "input": {
        "note": "Opened the gripper over the basket; retracting the left arm to see in the overhead view whether the dog actually landed inside the basket.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.25,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_011J3TbKNNv57e13L9WoxhjX",
      "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]: [-0.9131, 1.795, 1.9133, -1.3701, -0.4797, -0.9413, 0.9967, -0.0147, 0.7986, 0.6083, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3033 left_y=-0.2534 left_z=0.2427 left_yaw=0.0906 left_pitch=-0.4388 left_roll=0.013 left_gripper=0.9967 right_x=0.2949 right_y=0.0013 right_z=0.1795 right_yaw=0.0006 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.9111, 7.6103, 0.7302, -0.5983, 0.0464, 0.1392, -0.3487, -1.2103, 7.0769, 1.7265, -0.0317, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c042d59e1e6c5ef765e58a0ab89bded88f46bfa6196384c051b72e0fd0535d4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce9542ce4351be3cce8a5bf191812565dc776b847d830e1c1e9934abec188956",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77c38563c894ae690782b1816ff7a977d3662909c6dcfb402f81d1c073564b42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 4.406 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]: [-0.2123, 1.7592, 1.4899, -0.7189, -0.2214, -0.2676, 0.2129, -0.0147, 0.7986, 0.6086, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4537 left_y=-0.0544 left_z=0.1617 left_yaw=0.1256 left_pitch=-0.3903 left_roll=0.043 left_gripper=0.2129 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.9778, 7.0906, 1.5946, 0.0171, 0.2173, 0.2955, 0.0205, -1.2376, 7.1043, 1.7607, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2081, 1.7748, 1.475, -0.7177, -0.2092, -0.2771, 0.9952, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4514 left_y=-0.0542 left_z=0.149 left_yaw=0.1288 left_pitch=-0.4211 left_roll=0.0371 left_gripper=0.9952 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.6632, -10.4547, 7.7744, 1.2527, -0.3004, 0.0464, -0.0171, -0.212, -1.2923, 7.0769, 1.7314, -0.0269, -0.0562, -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]: [-0.9131, 1.795, 1.9133, -1.3701, -0.4797, -0.9413, 0.9967, -0.0147, 0.7986, 0.6083, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3033 left_y=-0.2534 left_z=0.2427 left_yaw=0.0906 left_pitch=-0.4388 left_roll=0.013 left_gripper=0.9967 right_x=0.2949 right_y=0.0013 right_z=0.1795 right_yaw=0.0006 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.9111, 7.6103, 0.7302, -0.5983, 0.0464, 0.1392, -0.3487, -1.2103, 7.0769, 1.7265, -0.0317, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c042d59e1e6c5ef765e58a0ab89bded88f46bfa6196384c051b72e0fd0535d4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce9542ce4351be3cce8a5bf191812565dc776b847d830e1c1e9934abec188956",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77c38563c894ae690782b1816ff7a977d3662909c6dcfb402f81d1c073564b42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ESjoMYzAbjoFqCwvEgEEkH",
      "input": {
        "note": "The dog is now in the left basket. A large teddy bear sits ahead and to the arm's left in the wrist view; moving over it for the next grasp.",
        "targets": {
          "left_x": 0.34,
          "left_y": -0.21,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01ESjoMYzAbjoFqCwvEgEEkH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7509, 1.7267, 1.3205, -0.86, -0.4286, -0.7967, 0.9968, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3295 left_y=-0.2022 left_z=0.1111 left_yaw=0.1426 left_pitch=-0.4913 left_roll=0.078 left_gripper=0.9968 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -10.4, 6.6803, 0.9792, -0.232, 0.0952, 0.0024, -0.2393, -1.0872, 7.1179, 1.7558, -0.0513, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c00fe18b4cba626ed579e84b4b5577ed7e95e522b0e15cf21f66024a67366550",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d02c7cec7002922c93f6e4fe1ba4283480c1e10b977271e5129800e73c89060",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6cad20afa18ff3411ba1921410aee755faf7e2ca1b634e03e546c4a994fea590",
        "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 · 8.038 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]: [-0.2081, 1.7748, 1.475, -0.7177, -0.2092, -0.2771, 0.9952, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4514 left_y=-0.0542 left_z=0.149 left_yaw=0.1288 left_pitch=-0.4211 left_roll=0.0371 left_gripper=0.9952 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.6632, -10.4547, 7.7744, 1.2527, -0.3004, 0.0464, -0.0171, -0.212, -1.2923, 7.0769, 1.7314, -0.0269, -0.0562, -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]: [-0.9131, 1.795, 1.9133, -1.3701, -0.4797, -0.9413, 0.9967, -0.0147, 0.7986, 0.6083, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3033 left_y=-0.2534 left_z=0.2427 left_yaw=0.0906 left_pitch=-0.4388 left_roll=0.013 left_gripper=0.9967 right_x=0.2949 right_y=0.0013 right_z=0.1795 right_yaw=0.0006 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.9111, 7.6103, 0.7302, -0.5983, 0.0464, 0.1392, -0.3487, -1.2103, 7.0769, 1.7265, -0.0317, -0.0562, -0.0073]",
      "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]: [-0.7509, 1.7267, 1.3205, -0.86, -0.4286, -0.7967, 0.9968, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3295 left_y=-0.2022 left_z=0.1111 left_yaw=0.1426 left_pitch=-0.4913 left_roll=0.078 left_gripper=0.9968 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -10.4, 6.6803, 0.9792, -0.232, 0.0952, 0.0024, -0.2393, -1.0872, 7.1179, 1.7558, -0.0513, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c00fe18b4cba626ed579e84b4b5577ed7e95e522b0e15cf21f66024a67366550",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d02c7cec7002922c93f6e4fe1ba4283480c1e10b977271e5129800e73c89060",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cad20afa18ff3411ba1921410aee755faf7e2ca1b634e03e546c4a994fea590",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjgQKjgEIEhgCKkAsyPkbMBP6bEk6yfs9madiF8ZzzN+24pcrgieV4fvHJ1aGRxUK0iKSSddpwusbf2Hl3NIafw8N5MClTGE2LbmnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZz2zNUGEgzGxGqC67SKrqRY2+0aDFP8Wdg7GO/L6bbt2yIw28GFVv+kS8ZcNDu32tvEtVFUeRqF8GJlo71miU2j1m6oasNx5wOaKlDJVSksbSKVKqwCrJuF+ZsIcCacrhVddNhMtvF4W69bpsOtkJgXzrYaLYWcibR2PXA+m95xC9wU0BT74kBFHIl3KN6ZuI96mgKGJ+pKtSfHTo++KdY6tjYnRXyggK2Bz+GjeXb4SPziZANwN8KRsU8TlmZr1Izu3HtaQxk61D5vkMl3WP5E9k/bVpgZyfO+DO5J7ALEoXq2OITFFBrB3R7meKeWBtEBDTu2oTsbiV0tbhi0Bkp7TK3rIiiI6Bv4A+gzOnuzJ/0N1vfLFu6ROO14IPmCLeDLeD/PDfTTml8xHOtYNARd768MiqqFoQM23IINakoi+grDUlPWNIaGWZ68aFcikOnuF3nSpfmMR+aD6b05Loi56Nm7r2VQ4wVgYVSl/UYBJYRhraMLpbpFn1Q0yD8q+20CGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018Tf5X1z6Kyjekm81rsecZr",
      "input": {
        "note": "The teddy bear fills the wrist view right under the jaws; descending and closing to grasp its body.",
        "targets": {
          "left_gripper": 0,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018Tf5X1z6Kyjekm81rsecZr",
      "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]: [-0.7506, 1.7657, 1.1851, -0.6834, -0.4198, -0.7998, 0.0222, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3285 left_y=-0.203 left_z=0.0663 left_yaw=0.1384 left_pitch=-0.4962 left_roll=0.0683 left_gripper=0.0222 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -7.0359, 5.2308, 0.9548, -0.2759, 0.0024, 1.033, -0.1846, -1.2513, 7.0496, 1.746, -0.022, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50998f5e317eed3e5995c44265ed55b907b901f975b91d14bb5479ef8931b22f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a45fb712987a48618d52e09628eb4bfdeafd3900876aa971721c5d81911a6e7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1793bb5243cd7cec5680fc521ee7ff1cfae5c29ae98a72e3bcf9f06e73b0edeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 2.085 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]: [-0.9131, 1.795, 1.9133, -1.3701, -0.4797, -0.9413, 0.9967, -0.0147, 0.7986, 0.6083, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3033 left_y=-0.2534 left_z=0.2427 left_yaw=0.0906 left_pitch=-0.4388 left_roll=0.013 left_gripper=0.9967 right_x=0.2949 right_y=0.0013 right_z=0.1795 right_yaw=0.0006 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.9111, 7.6103, 0.7302, -0.5983, 0.0464, 0.1392, -0.3487, -1.2103, 7.0769, 1.7265, -0.0317, -0.0562, -0.0073]",
      "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]: [-0.7509, 1.7267, 1.3205, -0.86, -0.4286, -0.7967, 0.9968, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3295 left_y=-0.2022 left_z=0.1111 left_yaw=0.1426 left_pitch=-0.4913 left_roll=0.078 left_gripper=0.9968 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -10.4, 6.6803, 0.9792, -0.232, 0.0952, 0.0024, -0.2393, -1.0872, 7.1179, 1.7558, -0.0513, -0.0708, -0.0171]",
      "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]: [-0.7506, 1.7657, 1.1851, -0.6834, -0.4198, -0.7998, 0.0222, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3285 left_y=-0.203 left_z=0.0663 left_yaw=0.1384 left_pitch=-0.4962 left_roll=0.0683 left_gripper=0.0222 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -7.0359, 5.2308, 0.9548, -0.2759, 0.0024, 1.033, -0.1846, -1.2513, 7.0496, 1.746, -0.022, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50998f5e317eed3e5995c44265ed55b907b901f975b91d14bb5479ef8931b22f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a45fb712987a48618d52e09628eb4bfdeafd3900876aa971721c5d81911a6e7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1793bb5243cd7cec5680fc521ee7ff1cfae5c29ae98a72e3bcf9f06e73b0edeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmgUKjgEIEhgCKkDQXKBorQDCNf0vflvWIgmiULGOUoL4vzeFDQHFCNAobTWKdlrwC7QmHHI47aKj1aLbPiIAm/LfsBER+CwkmGo1Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaX2zNUGEgyPdnX/Yr7OkVqsI0MaDHt3p07+z+4HmwkllyIwKsQTu4KWWfkO1pcfsV50EzEtR9QRyTvK/wP5ztSSN+Qoxmn7qc3/ShQDFvKggHSWKrgDDzrgffuMmHyNVgoKIDFBvYxl3GDZlUiMykExk6FnKXa2yoAu7sr3mjzF6TScktPS8nJWt1vQeiq3VtaThgFz+V/emqLwP7povDO/p/W2u3ccj1upJS/sLDHNw0tMsCNbFeXLV31dBC9cfaMgPre/y7wKLtqDnvTihcumDWvaYQ5PfhZmgwQ8ttiHMxhGQSAHSwQJ/ICMFnQhkiKDSgECd1MS+BF9ZXE0zY2ggJWBCFBdRlOoZtBLzgNfF0ttBwRlSadv5gfBNHLq19aquJT5dWliUE4HtUMoCOXCSOUce3iKTs/pC2UM39mBkZjy0C6D7ey/zAEJ3Ict3kMjyTTJI+6siQROujF4J6iTqp8uIlVY+YOxyiQt7TuE12zpPQ+jRzJmKJifZVI+T6cllb0vUgJ/p9F4Yqv1n4x1TriAzGaE/jShESUkPxEk6IBE9noCFUrM3bBQ5E98hG7w2rL60ro+afofF03IBsxWbZoxoTE3KdUMzkM5V28d1dnwRz1OZhx+db8JBWdtD60suI/o6cw5aF7vrFxLz5/xfvh36ms8RJdCyhsgwYaLboAG5g5i7Hk7qYquwcYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NznoLJKSrpYJn8G2ZxBykF",
      "input": {
        "note": "The close came back empty (0.02), so the jaws slid past the fur; reopening and shifting 2.5 cm forward and lower to bite into the bear's body.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.355,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NznoLJKSrpYJn8G2ZxBykF",
      "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]: [-0.7029, 1.845, 1.1988, -0.6331, -0.4095, -0.7624, 0.9952, -0.0143, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3452 left_y=-0.1956 left_z=0.0443 left_yaw=0.1633 left_pitch=-0.5154 left_roll=0.0952 left_gripper=0.9952 right_x=0.2949 right_y=0.0015 right_z=0.1796 right_yaw=0.0013 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -8.0342, 8.3624, 1.0281, -0.2076, 0.0806, -0.1197, -0.0342, -0.9368, 7.0359, 1.7021, -0.0513, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b540f17a2a940862791a2c924e15cc68d61e9cba5522cbb08b04a16048a1fca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f8c420a73945a492f7ffb100b4dbce705e2fd90f7dfaab492604206759f4dae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27720e3a8cc0d5974fa083dce19f9f8fd963ca245533a768e11efb8c64a6baa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 3.581 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]: [-0.7509, 1.7267, 1.3205, -0.86, -0.4286, -0.7967, 0.9968, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3295 left_y=-0.2022 left_z=0.1111 left_yaw=0.1426 left_pitch=-0.4913 left_roll=0.078 left_gripper=0.9968 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -10.4, 6.6803, 0.9792, -0.232, 0.0952, 0.0024, -0.2393, -1.0872, 7.1179, 1.7558, -0.0513, -0.0708, -0.0171]",
      "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]: [-0.7506, 1.7657, 1.1851, -0.6834, -0.4198, -0.7998, 0.0222, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3285 left_y=-0.203 left_z=0.0663 left_yaw=0.1384 left_pitch=-0.4962 left_roll=0.0683 left_gripper=0.0222 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -7.0359, 5.2308, 0.9548, -0.2759, 0.0024, 1.033, -0.1846, -1.2513, 7.0496, 1.746, -0.022, -0.0757, -0.0171]",
      "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]: [-0.7029, 1.845, 1.1988, -0.6331, -0.4095, -0.7624, 0.9952, -0.0143, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3452 left_y=-0.1956 left_z=0.0443 left_yaw=0.1633 left_pitch=-0.5154 left_roll=0.0952 left_gripper=0.9952 right_x=0.2949 right_y=0.0015 right_z=0.1796 right_yaw=0.0013 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -8.0342, 8.3624, 1.0281, -0.2076, 0.0806, -0.1197, -0.0342, -0.9368, 7.0359, 1.7021, -0.0513, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b540f17a2a940862791a2c924e15cc68d61e9cba5522cbb08b04a16048a1fca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f8c420a73945a492f7ffb100b4dbce705e2fd90f7dfaab492604206759f4dae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27720e3a8cc0d5974fa083dce19f9f8fd963ca245533a768e11efb8c64a6baa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PVdAbCpp3uq6ALFztpMYsR",
      "input": {
        "note": "Jaws are now buried in the bear's fur at table level; closing to grip.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PVdAbCpp3uq6ALFztpMYsR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7017, 1.8473, 1.2003, -0.6346, -0.411, -0.7666, 0.1079, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3456 left_y=-0.195 left_z=0.0439 left_yaw=0.169 left_pitch=-0.5155 left_roll=0.096 left_gripper=0.1079 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.1145, 5.8462, 0.779, -0.2662, 0.0024, 0.9353, -0.212, -1.2786, 7.2274, 1.7411, -0.0317, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b06dc6de18622d42b622ce631706aef61d8c3bf7d698551de2c9fe970b87f142",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:290fb995cc745ee0faf54a3838c5e969922e7b902bb5dc339b384251ab734d0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a95179ae4fe5f337bf7b82a71b4f0b70e71ec369cb51b299bc408e8a4df549c",
        "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 · 5.824 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]: [-0.7506, 1.7657, 1.1851, -0.6834, -0.4198, -0.7998, 0.0222, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3285 left_y=-0.203 left_z=0.0663 left_yaw=0.1384 left_pitch=-0.4962 left_roll=0.0683 left_gripper=0.0222 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -7.0359, 5.2308, 0.9548, -0.2759, 0.0024, 1.033, -0.1846, -1.2513, 7.0496, 1.746, -0.022, -0.0757, -0.0171]",
      "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]: [-0.7029, 1.845, 1.1988, -0.6331, -0.4095, -0.7624, 0.9952, -0.0143, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3452 left_y=-0.1956 left_z=0.0443 left_yaw=0.1633 left_pitch=-0.5154 left_roll=0.0952 left_gripper=0.9952 right_x=0.2949 right_y=0.0015 right_z=0.1796 right_yaw=0.0013 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -8.0342, 8.3624, 1.0281, -0.2076, 0.0806, -0.1197, -0.0342, -0.9368, 7.0359, 1.7021, -0.0513, -0.0366, -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 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]: [-0.7017, 1.8473, 1.2003, -0.6346, -0.411, -0.7666, 0.1079, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3456 left_y=-0.195 left_z=0.0439 left_yaw=0.169 left_pitch=-0.5155 left_roll=0.096 left_gripper=0.1079 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.1145, 5.8462, 0.779, -0.2662, 0.0024, 0.9353, -0.212, -1.2786, 7.2274, 1.7411, -0.0317, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b06dc6de18622d42b622ce631706aef61d8c3bf7d698551de2c9fe970b87f142",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:290fb995cc745ee0faf54a3838c5e969922e7b902bb5dc339b384251ab734d0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a95179ae4fe5f337bf7b82a71b4f0b70e71ec369cb51b299bc408e8a4df549c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpgQKjgEIEhgCKkBeP5q0AALGtMoC3XnZUPpcHGAdWjppk8DDb9Kq010fDQRolzT8wSe0NbYwgMt11x9V90XqsUp/02+CGuqQ98fvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa32zNUGEgxD9+FD02sr9ZNDbpkaDKfgNmGnmgzFcT4c+iIw3tMTV5IQqWVTk/6zFNcfPw+sCvRrKwIdvH0oHZ6rCleGfjR3ghGOsMN0nIER4JhAKsQCUOgVPo0dylR/+v4UvWB4y5mqyFcT0QKKoDbNpHKDclEXTCX6Ox3YJ5qC3PFHs8F6Gx5/dpR4YvozHPZt0kye1b0ZEgSq1dg9OFd7fGds7JauPUx+cQPQHDcdNt3vIPt8nk/bRGYP98nMEaE8/pwIdnN0OxM4IrW+baTcx0250E6fPOPEyoDknuj7MvIeOdVT77wwAN+F27nSpbpR1afpsqJSob+EfrbUvtijODthWiU2zPVLqPXMn1DIXRnICP1gHmfbGLTI4+0U+45/IE3T4IuisFLk2cpir+m7cIXSWDFjwPlboGuRYAhsLxTaTsmDvucxwBC98r/dthBfUDIlvWM5VkIf7X54ktcxtJSTM4oQk11wWS8i99vuX24TE50PFvEi+Tt35MKTg4hJwZ/qXRqKowdL0C/9cYfIyoG/Mj7YRfYiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SvgYteBAwSnXSqQgW4HTfS",
      "input": {
        "note": "Gripper settled at 0.11, so fur is held; lifting to check the bear comes up with it.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01SvgYteBAwSnXSqQgW4HTfS",
      "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]: [-0.7013, 1.8065, 1.7023, -1.2034, -0.3847, -0.7784, 0.1079, -0.0147, 0.7986, 0.6083, -0.3847, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3448 left_y=-0.1997 left_z=0.1773 left_yaw=0.1716 left_pitch=-0.5509 left_roll=0.0938 left_gripper=0.1079 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=0.0006 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -10.1949, 8.3077, 0.8278, -0.5348, 0.0952, 0.4176, -0.1983, -1.1829, 7.0085, 1.7753, -0.0171, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf72b27a4ab4a15415475a7d5abe8afdc0dec1c222345fb03c9f453e1bb86784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9058a5f4425e5947a9808dc7656338ce839d1278e9dfc585e18b416eb9c4eccb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9075a0f1a06d2ace10df4208549b2d65249cc9ac57546bff44d734a82995168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 6.878 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]: [-0.7029, 1.845, 1.1988, -0.6331, -0.4095, -0.7624, 0.9952, -0.0143, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3452 left_y=-0.1956 left_z=0.0443 left_yaw=0.1633 left_pitch=-0.5154 left_roll=0.0952 left_gripper=0.9952 right_x=0.2949 right_y=0.0015 right_z=0.1796 right_yaw=0.0013 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -8.0342, 8.3624, 1.0281, -0.2076, 0.0806, -0.1197, -0.0342, -0.9368, 7.0359, 1.7021, -0.0513, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7017, 1.8473, 1.2003, -0.6346, -0.411, -0.7666, 0.1079, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3456 left_y=-0.195 left_z=0.0439 left_yaw=0.169 left_pitch=-0.5155 left_roll=0.096 left_gripper=0.1079 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.1145, 5.8462, 0.779, -0.2662, 0.0024, 0.9353, -0.212, -1.2786, 7.2274, 1.7411, -0.0317, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7013, 1.8065, 1.7023, -1.2034, -0.3847, -0.7784, 0.1079, -0.0147, 0.7986, 0.6083, -0.3847, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3448 left_y=-0.1997 left_z=0.1773 left_yaw=0.1716 left_pitch=-0.5509 left_roll=0.0938 left_gripper=0.1079 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=0.0006 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -10.1949, 8.3077, 0.8278, -0.5348, 0.0952, 0.4176, -0.1983, -1.1829, 7.0085, 1.7753, -0.0171, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf72b27a4ab4a15415475a7d5abe8afdc0dec1c222345fb03c9f453e1bb86784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9058a5f4425e5947a9808dc7656338ce839d1278e9dfc585e18b416eb9c4eccb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9075a0f1a06d2ace10df4208549b2d65249cc9ac57546bff44d734a82995168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5wcKjgEIEhgCKkBYvKPBqU/w6+dz5qBsL59n2r1IQocfigJRMK9pbL8VtzxdzlbjpZ0+EKJubQCK0LbV8CxqzmYMRcShFjOH+rrQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbP2zNUGEgw7UtAdhW4vB8S5cdQaDLxFTQ56DzIpLJV4riIwd4o6GyBoSDkb0wINu1LCwJzh8e6tjOCap92DbMc9smV7cg8jtF3ehywkwzsN9KmtKoUGX/zknH4p1tmIC+D4Iw78lgTVOmUpFmNRuqto/IY2PyBd8VVV08NcHo97gM/vbWzlztckpzl1c7R1mnzRvKNGLxSovS07IxTRqAo87V8L90V45J2J2B7IwZSNs5nHy919RNWlnZ0syvnKjqtKuSOO6/m5i/agfz2dJAUlPLOJ3x5zSlkmpoMwpodXyr7VElh2I3L2HNve2pD43ZiYrQfzy0gIMML1G74rvuUMSC0yGjlLDsaXeSigCoPpSSpUONHeVMsJz9CpBf4TkVlhdP/ZwgZ7Dc3PlQO8B0oseK5dICFMa5atXDtYmCSiju0BJFlqywtvOuDbLc76nqzVAGbus2JTPtnjEcPlIHnZ0FKezIV34V8aJEHpks5ynpqjS6ZzZo6818HG+hSYZ3nbCn5uwoBMu5jGWczUY8mqwkfwQUYDLyJiHsdKa8dxY8cYUer0WmfD8JDt9EuT2Ke987FKTr7oZ0NTKCXBzxH9j/uXS1zDNViszfDANXiQRhKho+Z8UWTQuFXNsup+O2jdxATeW55cbBvZDdmVmOMnTDMwl6Ga9Gb2ImyQwmrujnKvjwATSOKfy1yvWDzb7m7IGA6fqMyCyBv7j3kRti+H2csKVlCCf4296fHFvbpYwvdwSQFVTn0cNx1GB3r5JsJ7K0VFDXfLviCHnZedtLWdXtDzWns0/AKY3IuwG41HbaSxF6c1bAJzB4QJpbXv2bEMnIrFfP5z6Tb3IcsOj8WXoAmDK6LKL1Xpu2KWAR2mawHrp+jvDaEGrFcP3onsFRXrGVVWC78bQHEOCqxVXoicpndMryLYKaJKHAeH91S4xeCuuXv3Y0HuSZgZhw3dSxb+EFHE6eVKNMhVhABlKo2jYCxJWfV+7kSioEj7EsbymfLHr352XL+24MdNhYIBoHblP7UDpL5DZ6vY/TyuAilLte8h7DrLQ1SvoICHNxTn7vUgrayRzNXoP4aR5qwxyf13qqeiYXLh/DdTxturdNpef2hAVLTS+5IUUjGlJZLcDJfB9jGs/EaHW2cYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JofCBsnBCrnWNvQqm5ovPX",
      "input": {
        "note": "Bear appears held; carrying it toward the left basket (the plush basket).",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.06,
          "left_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_01JofCBsnBCrnWNvQqm5ovPX",
      "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]: [-0.2451, 1.8812, 1.8317, -1.2034, -0.2203, -0.3813, 0.1085, -0.0147, 0.8013, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4216 left_y=-0.062 left_z=0.181 left_yaw=0.22 left_pitch=-0.6301 left_roll=0.098 left_gripper=0.1085 right_x=0.295 right_y=0.0014 right_z=0.1788 right_yaw=0.001 right_pitch=-0.0183 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -9.5385, 9.5521, 1.2576, -0.2955, 0.2613, 0.7204, -0.1436, -1.265, 7.1043, 1.707, -0.0464, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bc9cf7975f224fb842b620ad06d268c04b70f8b41b0cb737bed5a0edae88f43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1f8269c0148345758d51b61e8c2930e55c27b6413983fa27a923d69be8cacfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:914ad7e18ad848ee39f4015550523e7111c68d637e22567c931a510739e26d68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 14.67 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]: [-0.7017, 1.8473, 1.2003, -0.6346, -0.411, -0.7666, 0.1079, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3456 left_y=-0.195 left_z=0.0439 left_yaw=0.169 left_pitch=-0.5155 left_roll=0.096 left_gripper=0.1079 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0153 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.1145, 5.8462, 0.779, -0.2662, 0.0024, 0.9353, -0.212, -1.2786, 7.2274, 1.7411, -0.0317, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7013, 1.8065, 1.7023, -1.2034, -0.3847, -0.7784, 0.1079, -0.0147, 0.7986, 0.6083, -0.3847, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3448 left_y=-0.1997 left_z=0.1773 left_yaw=0.1716 left_pitch=-0.5509 left_roll=0.0938 left_gripper=0.1079 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=0.0006 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -10.1949, 8.3077, 0.8278, -0.5348, 0.0952, 0.4176, -0.1983, -1.1829, 7.0085, 1.7753, -0.0171, -0.0659, -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 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]: [-0.2451, 1.8812, 1.8317, -1.2034, -0.2203, -0.3813, 0.1085, -0.0147, 0.8013, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4216 left_y=-0.062 left_z=0.181 left_yaw=0.22 left_pitch=-0.6301 left_roll=0.098 left_gripper=0.1085 right_x=0.295 right_y=0.0014 right_z=0.1788 right_yaw=0.001 right_pitch=-0.0183 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -9.5385, 9.5521, 1.2576, -0.2955, 0.2613, 0.7204, -0.1436, -1.265, 7.1043, 1.707, -0.0464, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bc9cf7975f224fb842b620ad06d268c04b70f8b41b0cb737bed5a0edae88f43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1f8269c0148345758d51b61e8c2930e55c27b6413983fa27a923d69be8cacfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:914ad7e18ad848ee39f4015550523e7111c68d637e22567c931a510739e26d68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShgYKjgEIEhgCKkBtycxvG8eQ2CRZuYcajZmQpbnOw0tL0bieU471ZblhQA4o1Zf2NWiAv2mx3H1DSM6l5xFhpTfanap7+tuhcGddMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbv2zNUGEgwNBfGRg3I6emiosBoaDGW5ZRqJyTLfxaJYtSIw2Qy9gfOhSqjjAl90LjagEYm73/1q/wbU7MrdAr9GrzXPdcNc5Swm/+dyhI4UmlnOKqQE6Sp+i1hQ5XW+awKGF49Uvc4/SA2j57nsVw3gpCSKZqQtwkyBqVo1Hml576ocwyJiN91EKmfwJnBkmimv/0Cm8H4I2ZWNnMlZfDx2d3BVkLqObM4hKohd9LS/6SjENZTyHg4FKT5Nd5cH9BP/jk3UltzviWoGtwHcae1q6lFatVjpK2PfrJpbtMC2XVnGDZ4kaivJOj5LdRIB/rbBx6cyQs8xKpgMz1mRb5MFn/WsMaXrrImSNOkYwq1/dHU4oj8V62JvYTzarPDFhRBBqc3TF1gzT5mw668lfF9chl/jZck9hOJo2v+tbQ113Fg77yUIuh/uv/+4bVO5KPFPImJlYTSrKCwMNvZhu/KBeUrr+arurOSCe032EjhFNsGFJJrBE8pVmUE6sdWR6V7Zn556TCY1iqnN4CiuvbuP6RQmdewTEwiCRPhkh7qjdbivih1gLJfclO/GiW+mE+OvfoIgsJCzu9t9DAPCqmftc+Wg3Iuv0tRpRTzB5D3VAlsSyzO+ekRUTt38l8NcWb2lfR8Nk7VnawsNQSJSUJ6MR1a16n0XmSs26jUXOxDGMl7wgand0KnRb1Soor7l3FHEJ6rU854T2IDlzmvwiNwiOIysakyvkSIg8zrifd3aOYnp6mAICBntxzLvseYWA2MNRtuMlcntFV7X/GnTH1Q3HAwnWxO9ndxcVQHF94IGWFhBnrxJ3zI0Z64LXdHq1xJLBjvcJCbkJvIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TjUHFyDtYjqpef2ak1jdNd",
      "input": {
        "note": "The basket appears to the image-left of the held bear, so shifting 3 cm to the arm's left and slightly forward to center over the basket.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.03,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TjUHFyDtYjqpef2ak1jdNd",
      "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]: [-0.1719, 1.9247, 1.8557, -1.2087, -0.1936, -0.3286, 0.1091, -0.0143, 0.8024, 0.6083, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4304 left_y=-0.0366 left_z=0.1697 left_yaw=0.2407 left_pitch=-0.6665 left_roll=0.1056 left_gripper=0.1091 right_x=0.2952 right_y=0.0015 right_z=0.1785 right_yaw=0.0013 right_pitch=-0.0191 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -9.4154, 9.2513, 1.3309, -0.2955, 0.2515, 0.3297, -0.0479, -1.0598, 7.0222, 1.6825, -0.0464, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:865cd817773915c1b9664692bb04c11bd2f6cfe06cfe0247e91efc804a1897d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:242d4f911909385effabd7d1d79ea7eaa10d9ef6beb2bfb17040305d1092d854",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7fd95d3fd02dcb2ef642921efa8292c2c01063210cd58b399f9a469273dd0c26",
        "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 · 11.75 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]: [-0.7013, 1.8065, 1.7023, -1.2034, -0.3847, -0.7784, 0.1079, -0.0147, 0.7986, 0.6083, -0.3847, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3448 left_y=-0.1997 left_z=0.1773 left_yaw=0.1716 left_pitch=-0.5509 left_roll=0.0938 left_gripper=0.1079 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=0.0006 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -10.1949, 8.3077, 0.8278, -0.5348, 0.0952, 0.4176, -0.1983, -1.1829, 7.0085, 1.7753, -0.0171, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2451, 1.8812, 1.8317, -1.2034, -0.2203, -0.3813, 0.1085, -0.0147, 0.8013, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4216 left_y=-0.062 left_z=0.181 left_yaw=0.22 left_pitch=-0.6301 left_roll=0.098 left_gripper=0.1085 right_x=0.295 right_y=0.0014 right_z=0.1788 right_yaw=0.001 right_pitch=-0.0183 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -9.5385, 9.5521, 1.2576, -0.2955, 0.2613, 0.7204, -0.1436, -1.265, 7.1043, 1.707, -0.0464, -0.022, -0.0073]",
      "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]: [-0.1719, 1.9247, 1.8557, -1.2087, -0.1936, -0.3286, 0.1091, -0.0143, 0.8024, 0.6083, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4304 left_y=-0.0366 left_z=0.1697 left_yaw=0.2407 left_pitch=-0.6665 left_roll=0.1056 left_gripper=0.1091 right_x=0.2952 right_y=0.0015 right_z=0.1785 right_yaw=0.0013 right_pitch=-0.0191 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -9.4154, 9.2513, 1.3309, -0.2955, 0.2515, 0.3297, -0.0479, -1.0598, 7.0222, 1.6825, -0.0464, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:865cd817773915c1b9664692bb04c11bd2f6cfe06cfe0247e91efc804a1897d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:242d4f911909385effabd7d1d79ea7eaa10d9ef6beb2bfb17040305d1092d854",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd95d3fd02dcb2ef642921efa8292c2c01063210cd58b399f9a469273dd0c26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WuCTNKD2u4aMpV64TncJdf",
      "input": {
        "note": "Basket still sits to the image-left of the held bear; shifting another 5 cm to the arm's left to get over the basket mouth.",
        "targets": {
          "left_y": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01WuCTNKD2u4aMpV64TncJdf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.152, 1.9491, 1.8572, -1.2003, -0.1936, -0.3134, 0.1111, -0.0147, 0.8032, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4345 left_y=-0.0286 left_z=0.1607 left_yaw=0.2548 left_pitch=-0.6808 left_roll=0.1195 left_gripper=0.1111 right_x=0.2952 right_y=0.0014 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0198 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -11.0154, 9.0462, 1.16, -0.2418, 0.2125, 0.4322, -0.3487, -1.265, 7.0632, 1.7021, -0.0464, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:236a18ff33daa33ce6d084eb8b4a8d979932a3f7b2a00fc0bd449ef8c247db5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cc9cd3adf4383764dfa6fb4e7feaf4a18793efcea66a391a6b0af185a162a0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:948053ba19949b0d603bf147d84381e7b2ec9241033ff9a09821f4c975d1c5c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 25.43 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]: [-0.2451, 1.8812, 1.8317, -1.2034, -0.2203, -0.3813, 0.1085, -0.0147, 0.8013, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4216 left_y=-0.062 left_z=0.181 left_yaw=0.22 left_pitch=-0.6301 left_roll=0.098 left_gripper=0.1085 right_x=0.295 right_y=0.0014 right_z=0.1788 right_yaw=0.001 right_pitch=-0.0183 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -9.5385, 9.5521, 1.2576, -0.2955, 0.2613, 0.7204, -0.1436, -1.265, 7.1043, 1.707, -0.0464, -0.022, -0.0073]",
      "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]: [-0.1719, 1.9247, 1.8557, -1.2087, -0.1936, -0.3286, 0.1091, -0.0143, 0.8024, 0.6083, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4304 left_y=-0.0366 left_z=0.1697 left_yaw=0.2407 left_pitch=-0.6665 left_roll=0.1056 left_gripper=0.1091 right_x=0.2952 right_y=0.0015 right_z=0.1785 right_yaw=0.0013 right_pitch=-0.0191 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -9.4154, 9.2513, 1.3309, -0.2955, 0.2515, 0.3297, -0.0479, -1.0598, 7.0222, 1.6825, -0.0464, -0.0513, -0.0171]",
      "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]: [-0.152, 1.9491, 1.8572, -1.2003, -0.1936, -0.3134, 0.1111, -0.0147, 0.8032, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4345 left_y=-0.0286 left_z=0.1607 left_yaw=0.2548 left_pitch=-0.6808 left_roll=0.1195 left_gripper=0.1111 right_x=0.2952 right_y=0.0014 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0198 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -11.0154, 9.0462, 1.16, -0.2418, 0.2125, 0.4322, -0.3487, -1.265, 7.0632, 1.7021, -0.0464, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:236a18ff33daa33ce6d084eb8b4a8d979932a3f7b2a00fc0bd449ef8c247db5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cc9cd3adf4383764dfa6fb4e7feaf4a18793efcea66a391a6b0af185a162a0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:948053ba19949b0d603bf147d84381e7b2ec9241033ff9a09821f4c975d1c5c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R8KDbFPFn2Uny2B3LicMoZ",
      "input": {
        "note": "Arm is at its reach limit with the bear right at the left basket's edge; releasing it there and lifting clear to see the result from above.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01R8KDbFPFn2Uny2B3LicMoZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.165, 1.9316, 1.8832, -1.2442, -0.2092, -0.3332, 0.9953, -0.0147, 0.8032, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4282 left_y=-0.0305 left_z=0.1737 left_yaw=0.2708 left_pitch=-0.6736 left_roll=0.1289 left_gripper=0.9953 right_x=0.2952 right_y=0.0014 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0198 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -12.2462, 9.1966, 1.0427, -0.3394, 0.1441, -0.1392, -0.3487, -1.2513, 7.0496, 1.7411, -0.0171, -0.0659, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:097655423c894278cf88afd933f97ac0caab4567ea14b77d038e9817b59dbb21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e3fa58a45c5176612466fed9b3f2348e00f2676514911f33af4b44a1151a744",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4957d4cfd5318c9916ead77708d970982b447e6175338a2eee592b28dd2836cd",
        "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 · 3.063 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]: [-0.1719, 1.9247, 1.8557, -1.2087, -0.1936, -0.3286, 0.1091, -0.0143, 0.8024, 0.6083, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4304 left_y=-0.0366 left_z=0.1697 left_yaw=0.2407 left_pitch=-0.6665 left_roll=0.1056 left_gripper=0.1091 right_x=0.2952 right_y=0.0015 right_z=0.1785 right_yaw=0.0013 right_pitch=-0.0191 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [0.1299, -9.4154, 9.2513, 1.3309, -0.2955, 0.2515, 0.3297, -0.0479, -1.0598, 7.0222, 1.6825, -0.0464, -0.0513, -0.0171]",
      "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]: [-0.152, 1.9491, 1.8572, -1.2003, -0.1936, -0.3134, 0.1111, -0.0147, 0.8032, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4345 left_y=-0.0286 left_z=0.1607 left_yaw=0.2548 left_pitch=-0.6808 left_roll=0.1195 left_gripper=0.1111 right_x=0.2952 right_y=0.0014 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0198 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -11.0154, 9.0462, 1.16, -0.2418, 0.2125, 0.4322, -0.3487, -1.265, 7.0632, 1.7021, -0.0464, -0.0415, -0.0073]",
      "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]: [-0.165, 1.9316, 1.8832, -1.2442, -0.2092, -0.3332, 0.9953, -0.0147, 0.8032, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4282 left_y=-0.0305 left_z=0.1737 left_yaw=0.2708 left_pitch=-0.6736 left_roll=0.1289 left_gripper=0.9953 right_x=0.2952 right_y=0.0014 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0198 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -12.2462, 9.1966, 1.0427, -0.3394, 0.1441, -0.1392, -0.3487, -1.2513, 7.0496, 1.7411, -0.0171, -0.0659, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:097655423c894278cf88afd933f97ac0caab4567ea14b77d038e9817b59dbb21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e3fa58a45c5176612466fed9b3f2348e00f2676514911f33af4b44a1151a744",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4957d4cfd5318c9916ead77708d970982b447e6175338a2eee592b28dd2836cd",
        "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_016u86bYg6gp61VT3tz87zq6",
      "input": {
        "note": "The bear landed beside the left basket, not in it; the basket sits at the very edge of the left arm's y range. Descending onto the bear again to re-grasp it for a second, better-aimed drop.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.055,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_016u86bYg6gp61VT3tz87zq6",
      "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]: [-0.2272, 1.9442, 1.4395, -0.7517, -0.2798, -0.3767, 0.9968, -0.0147, 0.8078, 0.6083, -0.3855, -0.012, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4345 left_y=-0.0467 left_z=0.0639 left_yaw=0.2901 left_pitch=-0.6068 left_roll=0.1633 left_gripper=0.9968 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0008 right_pitch=-0.0248 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.8821, -8.2256, 5.2308, 0.9304, 0.2222, -0.1929, 0.1343, -0.1846, -1.4564, 7.0632, 1.7216, -0.0611, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f3a6f21aeb56e4db6a2ec618d0411035116c5fb72f09cb3df47cc1b98879912",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bd80a3d15aa41f99408964bdb2aef0421d9f106e2068967f82f4a63fa31ae8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe205b3545443bcc997f8a2c836053492d6b04dc8df6d2d55d3719180da1eb59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 13.45 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]: [-0.152, 1.9491, 1.8572, -1.2003, -0.1936, -0.3134, 0.1111, -0.0147, 0.8032, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4345 left_y=-0.0286 left_z=0.1607 left_yaw=0.2548 left_pitch=-0.6808 left_roll=0.1195 left_gripper=0.1111 right_x=0.2952 right_y=0.0014 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0198 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -11.0154, 9.0462, 1.16, -0.2418, 0.2125, 0.4322, -0.3487, -1.265, 7.0632, 1.7021, -0.0464, -0.0415, -0.0073]",
      "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]: [-0.165, 1.9316, 1.8832, -1.2442, -0.2092, -0.3332, 0.9953, -0.0147, 0.8032, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4282 left_y=-0.0305 left_z=0.1737 left_yaw=0.2708 left_pitch=-0.6736 left_roll=0.1289 left_gripper=0.9953 right_x=0.2952 right_y=0.0014 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0198 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -12.2462, 9.1966, 1.0427, -0.3394, 0.1441, -0.1392, -0.3487, -1.2513, 7.0496, 1.7411, -0.0171, -0.0659, -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 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]: [-0.2272, 1.9442, 1.4395, -0.7517, -0.2798, -0.3767, 0.9968, -0.0147, 0.8078, 0.6083, -0.3855, -0.012, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4345 left_y=-0.0467 left_z=0.0639 left_yaw=0.2901 left_pitch=-0.6068 left_roll=0.1633 left_gripper=0.9968 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0008 right_pitch=-0.0248 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.8821, -8.2256, 5.2308, 0.9304, 0.2222, -0.1929, 0.1343, -0.1846, -1.4564, 7.0632, 1.7216, -0.0611, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f3a6f21aeb56e4db6a2ec618d0411035116c5fb72f09cb3df47cc1b98879912",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bd80a3d15aa41f99408964bdb2aef0421d9f106e2068967f82f4a63fa31ae8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe205b3545443bcc997f8a2c836053492d6b04dc8df6d2d55d3719180da1eb59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS+wMKjgEIEhgCKkC7oxR0zXEOOUNbSh1V6utkNLQq0Gb54TQiotB9sidRSNgdS7YW5O6ToTLXHBzGCs5tGQx/qTv787wFyxSPdTasMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfX2zNUGEgyQ/FWlMCRPpbpz3kcaDAXtH8DclykOiU52LiIwaq9jwmeAeIgPipgPWIbDVzEm4kWrKXDtRP5SRAu6GBhwsSr+rm2Lw/b3Z8SkeEvfKpkCkn/o5Ugzcqvvv2fUN1wrvHEsNxrqMJwIevmJ6Q+BahOGNSkZUg1obXCtsXOK8O3UaK5lCkRqSG6Nk7f3RttP0NX0Dgsc9Dv7N0CErfCcpm0gCNc2Y18NVeoYeOzRl7yVBhdMCqUfiXTKouFR6ISoE2czYMciOxYxo9EFFJlUixt12pyQ33eqYseHd5Cnew+1wRTzwgJQn4J+v9+qbZcqA0N5lFlkJRALTO6G1x9P3+fNKX8Ozc43MHAsmPFTVQVkWPB65JR/vIxbeWxxwgRpjKb8Zb0erSPIftPq5ZplH6YPaj8/bgy0p4qz+Taodws+WIB1xC3Ji0MYL1j0iZ61/a3UHg8J6QDjaaOOChqSdrjbSvCeWOR0LWMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016zmq9zAPKsuSAAXkqW1z4p",
      "input": {
        "note": "Jaws are down in the bear's fur beside the basket; closing to re-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_016zmq9zAPKsuSAAXkqW1z4p",
      "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]: [-0.2249, 1.9484, 1.4288, -0.7319, -0.318, -0.3813, 0.1285, -0.0147, 0.8082, 0.6079, -0.3851, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4366 left_y=-0.0395 left_z=0.0621 left_yaw=0.3266 left_pitch=-0.5836 left_roll=0.1957 left_gripper=0.1285 right_x=0.2955 right_y=0.0013 right_z=0.1768 right_yaw=0.0006 right_pitch=-0.0252 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.6222, -10.906, 6.2564, 0.7155, 0.1148, 0.0073, 0.8962, -0.3077, -1.3333, 7.0769, 1.7607, -0.022, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b358f13c4a9412d8638a6f0e09aca2879bb034a69b7f78b7a07a94bdb5910896",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a284bcca8fc7575dc403a08b26f3b25373c0f048f1c642ac5e173e73fe028a2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:461ecfad3e0f2d3a529a166b490deea71e5f6816049a8cbb8d68f78b47177efd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 5.478 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]: [-0.165, 1.9316, 1.8832, -1.2442, -0.2092, -0.3332, 0.9953, -0.0147, 0.8032, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4282 left_y=-0.0305 left_z=0.1737 left_yaw=0.2708 left_pitch=-0.6736 left_roll=0.1289 left_gripper=0.9953 right_x=0.2952 right_y=0.0014 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0198 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -12.2462, 9.1966, 1.0427, -0.3394, 0.1441, -0.1392, -0.3487, -1.2513, 7.0496, 1.7411, -0.0171, -0.0659, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2272, 1.9442, 1.4395, -0.7517, -0.2798, -0.3767, 0.9968, -0.0147, 0.8078, 0.6083, -0.3855, -0.012, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4345 left_y=-0.0467 left_z=0.0639 left_yaw=0.2901 left_pitch=-0.6068 left_roll=0.1633 left_gripper=0.9968 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0008 right_pitch=-0.0248 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.8821, -8.2256, 5.2308, 0.9304, 0.2222, -0.1929, 0.1343, -0.1846, -1.4564, 7.0632, 1.7216, -0.0611, -0.0122, -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 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]: [-0.2249, 1.9484, 1.4288, -0.7319, -0.318, -0.3813, 0.1285, -0.0147, 0.8082, 0.6079, -0.3851, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4366 left_y=-0.0395 left_z=0.0621 left_yaw=0.3266 left_pitch=-0.5836 left_roll=0.1957 left_gripper=0.1285 right_x=0.2955 right_y=0.0013 right_z=0.1768 right_yaw=0.0006 right_pitch=-0.0252 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.6222, -10.906, 6.2564, 0.7155, 0.1148, 0.0073, 0.8962, -0.3077, -1.3333, 7.0769, 1.7607, -0.022, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b358f13c4a9412d8638a6f0e09aca2879bb034a69b7f78b7a07a94bdb5910896",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a284bcca8fc7575dc403a08b26f3b25373c0f048f1c642ac5e173e73fe028a2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:461ecfad3e0f2d3a529a166b490deea71e5f6816049a8cbb8d68f78b47177efd",
        "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_013kb517zAkgDvcRUEKTdgT6",
      "input": {
        "note": "Bear is gripped (0.13). Lifting and reaching to the far-left limit of the workspace, with the tool held vertical, to get over the left basket which sits at the edge of this arm's range.",
        "targets": {
          "left_pitch": 0,
          "left_x": 0.5,
          "left_y": 0.05,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_013kb517zAkgDvcRUEKTdgT6",
      "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]: [-0.0792, 1.8221, 1.166, -0.1253, -0.3908, -0.123, 0.1296, -0.0147, 0.8082, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4862 left_y=0.0325 left_z=0.1015 left_yaw=0.3011 left_pitch=-0.1611 left_roll=0.1959 left_gripper=0.1296 right_x=0.2955 right_y=0.0014 right_z=0.1768 right_yaw=0.001 right_pitch=-0.0252 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [1.6479, -13.8325, 7.1043, 2.1221, -0.5397, 0.2808, 0.2759, -0.2803, -1.1145, 7.0496, 1.7509, -0.0562, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3848a139a8a4634d4626e50d7eb890b3a6b0e3aa26bcbd28227651d4fb7c5066",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cc280b67429cbe473abf9994e2edb0d96076393161cf82a9c6b323ed69ce913",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc0f05747176afe0763dbc14e2aba9449e89eda7185b6271245bc64a0d8a374d",
        "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 · 11.02 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]: [-0.2272, 1.9442, 1.4395, -0.7517, -0.2798, -0.3767, 0.9968, -0.0147, 0.8078, 0.6083, -0.3855, -0.012, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.4345 left_y=-0.0467 left_z=0.0639 left_yaw=0.2901 left_pitch=-0.6068 left_roll=0.1633 left_gripper=0.9968 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0008 right_pitch=-0.0248 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.8821, -8.2256, 5.2308, 0.9304, 0.2222, -0.1929, 0.1343, -0.1846, -1.4564, 7.0632, 1.7216, -0.0611, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2249, 1.9484, 1.4288, -0.7319, -0.318, -0.3813, 0.1285, -0.0147, 0.8082, 0.6079, -0.3851, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4366 left_y=-0.0395 left_z=0.0621 left_yaw=0.3266 left_pitch=-0.5836 left_roll=0.1957 left_gripper=0.1285 right_x=0.2955 right_y=0.0013 right_z=0.1768 right_yaw=0.0006 right_pitch=-0.0252 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.6222, -10.906, 6.2564, 0.7155, 0.1148, 0.0073, 0.8962, -0.3077, -1.3333, 7.0769, 1.7607, -0.022, -0.0611, -0.0073]",
      "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]: [-0.0792, 1.8221, 1.166, -0.1253, -0.3908, -0.123, 0.1296, -0.0147, 0.8082, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4862 left_y=0.0325 left_z=0.1015 left_yaw=0.3011 left_pitch=-0.1611 left_roll=0.1959 left_gripper=0.1296 right_x=0.2955 right_y=0.0014 right_z=0.1768 right_yaw=0.001 right_pitch=-0.0252 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [1.6479, -13.8325, 7.1043, 2.1221, -0.5397, 0.2808, 0.2759, -0.2803, -1.1145, 7.0496, 1.7509, -0.0562, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3848a139a8a4634d4626e50d7eb890b3a6b0e3aa26bcbd28227651d4fb7c5066",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cc280b67429cbe473abf9994e2edb0d96076393161cf82a9c6b323ed69ce913",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc0f05747176afe0763dbc14e2aba9449e89eda7185b6271245bc64a0d8a374d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvwYKjgEIEhgCKkAI2JC0LUP3h7JQq6Xu2GB104fX7XYq1Mq5lFN0tHw/dQzaQ5aqq/WmlUitYWDkGE0B+gvfbSpqPYR3G30/c6qUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYr3zNUGEgxBanz0WZKovWAAyVcaDK9Y8aryn4eLRthmvCIwXKHFXRyswDOHb4pHa6pmTfxnFL6q1nHVAPqlD9rYOPdz9bmnbX59mZW03SI2a7/kKt0ER0zJACItRriyJ4RfmLZcRAcKdxKrrIYr2myxG+tD3XP+5uYunQGF8QIOSCctSRTb0j1LJHB5MNtSygkgBuPcH56249qdEoL4Z/zZYr1nWM0jrft5pAhz9j++Qy5H8lkFJEVvEiHBVcMBiMxRVEBAVhEJoYMv8QKR7Z7s4IwFDef/Lp0m24wiSB0s5RGvNCgT0lOKK28qNrlkKPIRM8zV9b/7sazaNVxAB9OgT8RVhhcyUkQbtVxGYEfRrCYle0V/CIfiD3vvgHOW2WLKZS+I2VILKL+sBweWtRGIXIb/8LzRs8/j1OcAgVEyra03ih7O31JJWFhEcv9RXFSe+N8kBTO7vNTsmDWeh69GnYC0GxA6Mlxj/NROwhbKxvgwbNhExII+P4NscyLQiHOEd1W2afdtdjUKNLtovv0XfKW5rPfKx1vclkczt0QCUvOqZRvGhx/gdz+h9f38jF5tJ13k74CO04nYdoVBJ0+Qh+Aw0yKKxpCwZuqN3/yQoC5h86+rnnMq/vli3Djx5ibTfUXxZpnIdFP2BY/2kLStiJNWDc/7BV5ByIovsjmmAmuCVVo5OkjV3NyrkR+xx6PsRq6pQJEAkgmC9enZYUbEHegcagHgGD4ZhG9XVfvUyXbi3RNFjjRNS+OvzpgKp7WkakPILj03fYMGjPnpMpLw0UQuuIBmJ6PT+KnYasGeHQDy4JfMrQ81rSi4PZybLHSOd+/mgGEP8xKDd0Nmkeipu7O2la0SMlOOyXPPwNzQO4OvuqlDLaSA0pAlu0U9VCn0RiY9WqUP7tWbKeR8Mi5InXEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VMBuehQ3bX1P7AqyRU4S29",
      "input": {
        "note": "The basket rim is just left of the held bear at the arm's y limit; rotating the wrist counter-clockwise to swing the bear over the basket mouth.",
        "targets": {
          "left_yaw": 1.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01VMBuehQ3bX1P7AqyRU4S29",
      "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, 2.1471, 1.8454, -0.6903, -0.7403, -0.8036, 0.1328, -0.0147, 0.812, 0.6075, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5394 left_y=0.0056 left_z=0.1501 left_yaw=0.7955 left_pitch=-0.1033 left_roll=0.0126 left_gripper=0.1328 right_x=0.2946 right_y=0.0014 right_z=0.174 right_yaw=0.001 right_pitch=-0.037 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -12.4923, 6.5026, 0.6618, -0.6374, 0.1538, 0.3248, -0.3487, -1.5795, 7.0359, 1.7851, -0.0464, -0.0806, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8230e2b3333756daea34d0ae8f7cabc4ed3992f5757076ca2557aa6bec764fea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d0b879dfda61a000de019dc61a52e4ca571d84fff397f65410ea5be741fd6b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5040142cb788765a7ce17d0bb7e9006f7aa816e5ea1d5efeb8c355f164b33b6",
        "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 · 9.142 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]: [-0.2249, 1.9484, 1.4288, -0.7319, -0.318, -0.3813, 0.1285, -0.0147, 0.8082, 0.6079, -0.3851, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4366 left_y=-0.0395 left_z=0.0621 left_yaw=0.3266 left_pitch=-0.5836 left_roll=0.1957 left_gripper=0.1285 right_x=0.2955 right_y=0.0013 right_z=0.1768 right_yaw=0.0006 right_pitch=-0.0252 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.6222, -10.906, 6.2564, 0.7155, 0.1148, 0.0073, 0.8962, -0.3077, -1.3333, 7.0769, 1.7607, -0.022, -0.0611, -0.0073]",
      "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]: [-0.0792, 1.8221, 1.166, -0.1253, -0.3908, -0.123, 0.1296, -0.0147, 0.8082, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4862 left_y=0.0325 left_z=0.1015 left_yaw=0.3011 left_pitch=-0.1611 left_roll=0.1959 left_gripper=0.1296 right_x=0.2955 right_y=0.0014 right_z=0.1768 right_yaw=0.001 right_pitch=-0.0252 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [1.6479, -13.8325, 7.1043, 2.1221, -0.5397, 0.2808, 0.2759, -0.2803, -1.1145, 7.0496, 1.7509, -0.0562, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2192, 2.1471, 1.8454, -0.6903, -0.7403, -0.8036, 0.1328, -0.0147, 0.812, 0.6075, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5394 left_y=0.0056 left_z=0.1501 left_yaw=0.7955 left_pitch=-0.1033 left_roll=0.0126 left_gripper=0.1328 right_x=0.2946 right_y=0.0014 right_z=0.174 right_yaw=0.001 right_pitch=-0.037 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -12.4923, 6.5026, 0.6618, -0.6374, 0.1538, 0.3248, -0.3487, -1.5795, 7.0359, 1.7851, -0.0464, -0.0806, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8230e2b3333756daea34d0ae8f7cabc4ed3992f5757076ca2557aa6bec764fea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d0b879dfda61a000de019dc61a52e4ca571d84fff397f65410ea5be741fd6b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5040142cb788765a7ce17d0bb7e9006f7aa816e5ea1d5efeb8c355f164b33b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JgpSxTrm45fkNSyATSgVRv",
      "input": {
        "note": "Reaching a few cm further forward-left over the basket mouth and opening the jaws to drop the bear into the left basket.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.56,
          "left_y": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01JgpSxTrm45fkNSyATSgVRv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.139, 2.1818, 1.8725, -0.6895, -0.7006, -0.7692, 0.9956, -0.0147, 0.8146, 0.6067, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5452 left_y=0.0423 left_z=0.1384 left_yaw=0.8341 left_pitch=-0.1356 left_roll=0.027 left_gripper=0.9956 right_x=0.2947 right_y=0.0014 right_z=0.1729 right_yaw=0.001 right_pitch=-0.0404 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -11.2068, 10.0171, 1.5849, -0.2662, 0.5348, -0.1587, -0.1436, -1.5795, 7.1316, 1.6923, -0.0415, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3cb7777d325f21c09332bafbf5bc90ff544d6148b7de835712096230d81ca59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dccd5aa57bebe1ec1c8e8d46e610ff282a1ce94a559b27788b1b8ca369fe3d4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:134cbde4995943afb116303cbb50a6010345ec7b3ea5a2cac9763480b602de55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 11.71 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]: [-0.0792, 1.8221, 1.166, -0.1253, -0.3908, -0.123, 0.1296, -0.0147, 0.8082, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4862 left_y=0.0325 left_z=0.1015 left_yaw=0.3011 left_pitch=-0.1611 left_roll=0.1959 left_gripper=0.1296 right_x=0.2955 right_y=0.0014 right_z=0.1768 right_yaw=0.001 right_pitch=-0.0252 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [1.6479, -13.8325, 7.1043, 2.1221, -0.5397, 0.2808, 0.2759, -0.2803, -1.1145, 7.0496, 1.7509, -0.0562, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2192, 2.1471, 1.8454, -0.6903, -0.7403, -0.8036, 0.1328, -0.0147, 0.812, 0.6075, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5394 left_y=0.0056 left_z=0.1501 left_yaw=0.7955 left_pitch=-0.1033 left_roll=0.0126 left_gripper=0.1328 right_x=0.2946 right_y=0.0014 right_z=0.174 right_yaw=0.001 right_pitch=-0.037 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -12.4923, 6.5026, 0.6618, -0.6374, 0.1538, 0.3248, -0.3487, -1.5795, 7.0359, 1.7851, -0.0464, -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 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]: [-0.139, 2.1818, 1.8725, -0.6895, -0.7006, -0.7692, 0.9956, -0.0147, 0.8146, 0.6067, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5452 left_y=0.0423 left_z=0.1384 left_yaw=0.8341 left_pitch=-0.1356 left_roll=0.027 left_gripper=0.9956 right_x=0.2947 right_y=0.0014 right_z=0.1729 right_yaw=0.001 right_pitch=-0.0404 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -11.2068, 10.0171, 1.5849, -0.2662, 0.5348, -0.1587, -0.1436, -1.5795, 7.1316, 1.6923, -0.0415, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3cb7777d325f21c09332bafbf5bc90ff544d6148b7de835712096230d81ca59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dccd5aa57bebe1ec1c8e8d46e610ff282a1ce94a559b27788b1b8ca369fe3d4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:134cbde4995943afb116303cbb50a6010345ec7b3ea5a2cac9763480b602de55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrAkKjgEIEhgCKkCg2HqtugO+due9jtjJD8p4PA2BhSuSyb/JTglB+FreaTdaS4nQeZDVlq8vFYZaoj6eaPaGy+Ky2AJpndeKv/jhMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ/3zNUGEgxIRZ+izKriwAT8Zm8aDDU3P1mR63XwKviEmCIwNozBLFGnDgKXQlSMFQaHGXLB5RgsfMdfqD0qMOfieESHZQouWLoBvgM+4AtuXwdHKsoHf+99kSPJAjay5bAvrnPvKLQ+1syl31zmi1bNtgUqIIFNvMOqHjkFN+Z3c4hTAuh1U3OPT6k3ScTHTtVoe2gK75cxOd/EV4Nd6hDMmnXjMLBlYJbsbGeMc5K/44sPvbpj6QzMbZBjUNyJc4AK5x8qPhi2MDhq5fch2QB8vLUtDzOue5ZUSEOG8DaFBEzS9tzAitgrMTHsgArOAuHNio11M3/IFdxbA5a3rmAhqOD06SReNU8C585h+8Wl2nJuF8ATs5vHzxG7rBC4UQVyUqjgEabDLf4DtkzngaC/oIPlmXkFRAkjtgPSaDJ3lvQuJAmbgnD64LHex24VsI7JtE8RMSR+VWeUptHHxK08+cL6bK2Pk2HAXdIgjrICRbB65CbM4wHR/GRzVV5H0uzERxLjXs69YDtlh/ofjCYSPTlych4gLXp6c5jYClTEcM7TmZRYE5DSMMSWvNYyRDiER+LVGy7M23+bZxXTqpuqjy8r0mmwQtY0r78DXgkjjD8XqZrebYxbbjouLWOyVq+d927qMYBm3ua4NNS+SN2/EmtuQfWUm8xhatnmKcyc/Dvj/Tk5d2TxofqFNpbSB2mN3/0OCFqCW82j0UqGxVXjBlsJRUCEaMtIIfyp31E069uvce7V2VDj76jiLn5xEYF5vu7pvYTdV2Soy0HteOujoem5io3poIQc6Echrm9aclmWGRS2ZCszUI4Eve6pRkFBiNBI0wnVdDhblrIL5A5nKYBp8dZ4aHi6fDk/1cMB7p8nCAwqSdTJ7YPjzoA3xq697SB4VQhTBULVn5FlFyJVVVHA/bLv61etUNGwwijTPebrpzcfQsVdwJWhWVcjjNe7Ex+Q/Ogp8ZZvA+a3SFGpHLYOdofZySsmop+9UxcYBiuHw9tbH+BS2uoKA8sNEqfBWP57jn3B4caEOntimxnKk+X0Ryh9wbrT/VhFJc9lHK1Nm5zQOdEeEs4ox/xFfgnkiyRJQ/oC7HfDlAXM5nsOcdKYPABc+QM2W2KbKOtpAWc6l8Ug+mU/IRnXrvNYKhUDnkcJ2O2glkM8UHV5VRmen+jb9Lf+WUUFAyXWDy2KrLElWwmoqD4SKDeCPJWaBWnevJCqwb33fYdxyNdpzNBkMWX6j2hIR35bPeiTyasx40ByulbVexUDBmRrlNoSrjZTWA/QJc4sA1hukbl/nwUcfNK/MUOr/0rmdM0BmsXfRV0jPWm199Zu50+Vp9p5EAxtaoHWsMVErowVk+Ed2ZFPNdBJe+4qdldXcVwqo7dVDE3Tlzz5EeRuAzTTcFiKDRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011AeZN6vuFoCrtvhKvsodHx",
      "input": {
        "note": "Plush released at the left basket; now retracting the left arm out of the way and bringing the right arm over the group of pens/sticks on the right side of the table.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.15,
          "left_yaw": 0,
          "left_z": 0.25,
          "right_x": 0.3,
          "right_y": 0.1,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_011AeZN6vuFoCrtvhKvsodHx",
      "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]: [-0.7471, 1.2633, 1.2095, -0.8074, -0.5678, -0.5606, 0.9968, 0.5434, 1.0473, 0.5022, -0.1539, 0.4133, 0.3, 0.9998]\nstate[eef_state]: left_x=0.3096 left_y=-0.1524 left_z=0.2444 left_yaw=0.0104 left_pitch=-0.131 left_roll=0.0131 left_gripper=0.9968 right_x=0.2969 right_y=0.1007 right_z=0.1159 right_yaw=0.0336 right_pitch=-0.0701 right_roll=-0.0139 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -5.3949, 7.5692, 1.3797, -0.3492, -0.0415, 0.1001, 0.4171, -2.7556, 6.5573, 1.7265, 0.359, 0.1587, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:867a0763caf0d054e98456ae5d9b946fa1a6d06fc350f60e00c2cc2044dcbe6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc39b7e21667bb4b291058eb908d92ad8a26037e17b90ff5ae5babf3c4f8e690",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a91fb651af3a488934f74448f679277b8bac7dc8bb9c6b8457576ac5b3c4868",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /messages · status 200 · 6.017 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]: [-0.2192, 2.1471, 1.8454, -0.6903, -0.7403, -0.8036, 0.1328, -0.0147, 0.812, 0.6075, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5394 left_y=0.0056 left_z=0.1501 left_yaw=0.7955 left_pitch=-0.1033 left_roll=0.0126 left_gripper=0.1328 right_x=0.2946 right_y=0.0014 right_z=0.174 right_yaw=0.001 right_pitch=-0.037 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -12.4923, 6.5026, 0.6618, -0.6374, 0.1538, 0.3248, -0.3487, -1.5795, 7.0359, 1.7851, -0.0464, -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 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]: [-0.139, 2.1818, 1.8725, -0.6895, -0.7006, -0.7692, 0.9956, -0.0147, 0.8146, 0.6067, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5452 left_y=0.0423 left_z=0.1384 left_yaw=0.8341 left_pitch=-0.1356 left_roll=0.027 left_gripper=0.9956 right_x=0.2947 right_y=0.0014 right_z=0.1729 right_yaw=0.001 right_pitch=-0.0404 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -11.2068, 10.0171, 1.5849, -0.2662, 0.5348, -0.1587, -0.1436, -1.5795, 7.1316, 1.6923, -0.0415, -0.0317, -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 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]: [-0.7471, 1.2633, 1.2095, -0.8074, -0.5678, -0.5606, 0.9968, 0.5434, 1.0473, 0.5022, -0.1539, 0.4133, 0.3, 0.9998]\nstate[eef_state]: left_x=0.3096 left_y=-0.1524 left_z=0.2444 left_yaw=0.0104 left_pitch=-0.131 left_roll=0.0131 left_gripper=0.9968 right_x=0.2969 right_y=0.1007 right_z=0.1159 right_yaw=0.0336 right_pitch=-0.0701 right_roll=-0.0139 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -5.3949, 7.5692, 1.3797, -0.3492, -0.0415, 0.1001, 0.4171, -2.7556, 6.5573, 1.7265, 0.359, 0.1587, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:867a0763caf0d054e98456ae5d9b946fa1a6d06fc350f60e00c2cc2044dcbe6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc39b7e21667bb4b291058eb908d92ad8a26037e17b90ff5ae5babf3c4f8e690",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a91fb651af3a488934f74448f679277b8bac7dc8bb9c6b8457576ac5b3c4868",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HfXRKiJ2tmQsBadX1bVmDD",
      "input": {
        "note": "Right wrist view shows two pens just ahead of the jaws, lying diagonally. Advancing 2 cm, dropping to table level and yawing the wrist 0.5 rad to line the jaws across a pen's axis.",
        "targets": {
          "right_x": 0.32,
          "right_yaw": 0.5,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01HfXRKiJ2tmQsBadX1bVmDD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7475, 1.2682, 1.2095, -0.8185, -0.5671, -0.561, 0.9968, 0.1741, 1.3983, 0.3004, 0.3481, -0.1337, -0.1242, 0.9997]\nstate[eef_state]: left_x=0.3086 left_y=-0.1518 left_z=0.2412 left_yaw=0.0111 left_pitch=-0.143 left_roll=0.0235 left_gripper=0.9968 right_x=0.3097 right_y=0.082 right_z=0.0144 right_yaw=0.3531 right_pitch=-0.1814 right_roll=0.006 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -4.8889, 6.5846, 1.4481, -0.2418, -0.0611, -0.0122, -0.2667, -5.2581, 4.8889, 1.6484, -0.3053, -0.105, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64e5da2fd35a0d614b2409e33b753fd1cf737027aaeac36fba80f1d34a4a06de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94137be0bdfdfb613d4510946368fc69e928f88ca3b18e1bcf0254b248af9c8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69b363fc79711e3213b0a25bcc3239891398c50ce0643e4b0a2416c4c4113108",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 5.856 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]: [-0.139, 2.1818, 1.8725, -0.6895, -0.7006, -0.7692, 0.9956, -0.0147, 0.8146, 0.6067, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5452 left_y=0.0423 left_z=0.1384 left_yaw=0.8341 left_pitch=-0.1356 left_roll=0.027 left_gripper=0.9956 right_x=0.2947 right_y=0.0014 right_z=0.1729 right_yaw=0.001 right_pitch=-0.0404 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -11.2068, 10.0171, 1.5849, -0.2662, 0.5348, -0.1587, -0.1436, -1.5795, 7.1316, 1.6923, -0.0415, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7471, 1.2633, 1.2095, -0.8074, -0.5678, -0.5606, 0.9968, 0.5434, 1.0473, 0.5022, -0.1539, 0.4133, 0.3, 0.9998]\nstate[eef_state]: left_x=0.3096 left_y=-0.1524 left_z=0.2444 left_yaw=0.0104 left_pitch=-0.131 left_roll=0.0131 left_gripper=0.9968 right_x=0.2969 right_y=0.1007 right_z=0.1159 right_yaw=0.0336 right_pitch=-0.0701 right_roll=-0.0139 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -5.3949, 7.5692, 1.3797, -0.3492, -0.0415, 0.1001, 0.4171, -2.7556, 6.5573, 1.7265, 0.359, 0.1587, -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]: [-0.7475, 1.2682, 1.2095, -0.8185, -0.5671, -0.561, 0.9968, 0.1741, 1.3983, 0.3004, 0.3481, -0.1337, -0.1242, 0.9997]\nstate[eef_state]: left_x=0.3086 left_y=-0.1518 left_z=0.2412 left_yaw=0.0111 left_pitch=-0.143 left_roll=0.0235 left_gripper=0.9968 right_x=0.3097 right_y=0.082 right_z=0.0144 right_yaw=0.3531 right_pitch=-0.1814 right_roll=0.006 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -4.8889, 6.5846, 1.4481, -0.2418, -0.0611, -0.0122, -0.2667, -5.2581, 4.8889, 1.6484, -0.3053, -0.105, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64e5da2fd35a0d614b2409e33b753fd1cf737027aaeac36fba80f1d34a4a06de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94137be0bdfdfb613d4510946368fc69e928f88ca3b18e1bcf0254b248af9c8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69b363fc79711e3213b0a25bcc3239891398c50ce0643e4b0a2416c4c4113108",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiAYKjgEIEhgCKkC47ppqkVxXi/b4X7wuYZkuJLr9lXYM6uBQVvKDWozijnihCVsC/l2FR2DorhRH37Ai2u+GPdPNcBRooQMJ6hOTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbT3zNUGEgwwr19YEUWUREc0zlsaDNUfLxqIzkormvsNYSIwAJkdMCWlZT4iv/TXw6ViRKpYvK5jEAZWeNyC5TeKjU3K8U3cq/JXx9Rb76QdIxZ0KqYEOM0p93Y5MWXDGlmsdCKHnjLcjkYuxHrXeQ507CubH2uix0PT5I2IaicXhEKrowMruzYVMv892YHa5Xwq4hrp5mCvyjG3lzpTX1R2elbRAR97UX1Ypp2RVMir3d8skjv03Lg7BMn/ajh3rB7EKbmci5DHR85KAG1bE7itWQCV9kEJduSTmyIrW5FwRjKc42i8865RPL77FY2DfimsMtWPG/uOlI2cwlk94sjjmLw86kCMK5R6jVw+Tpe9MFaPwciRk0g4lkoOyYkG91qHhDbBKpHRurT+LCemoLAqIncSbqWU8BOHSlHCjb0UALzkXax7gcWUXxbIwjLlTO27WjZUa0KhYjMddtrY+AqQMprAlFhUF1sUr0JUqny20iraBJZx1rb4yuW3HgaG92C3A+71pBfNhf1yB4uDhigFbIPV7i43dEzb4Kc8Yb/Yhn0EofhAz+WgUWxXZDPZBgCCeJvrG69MkljxwUtfy4Xtw56zv5IAp7l6VU5VSMsFb8T0ghASfBk7RABCCPnMWgn1v7RLpKxXvJ2qdOYJsPoRkGCCCorzQD8Ts2HmhTNqqqRmR3GCBr633WGOONCH8xxJXQbE3ia7fWsINhKOXrLkOBr0DQ23sE1Cmhy33Jlv4H2YSWePVYt2+cpobCuFs0XU6WixAZjZOsh0jAnMCP3YSmQjXB5nQpwGp+HyN84MXTaERdFKoJKxUqMSjA7AxoYl/K3L0XaO9iIsZhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XTHsa4QN7mgqe9Rnk45fxZ",
      "input": {
        "note": "The white marker now lies vertically in the wrist image just left of the jaw column; nudging 1 cm right and closing to grasp it across its axis.",
        "targets": {
          "right_gripper": 0,
          "right_y": 0.072
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XTHsa4QN7mgqe9Rnk45fxZ",
      "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]: [-0.7467, 1.2697, 1.2091, -0.8192, -0.5671, -0.5606, 0.9969, 0.1287, 1.4059, 0.297, 0.3492, -0.1684, -0.1574, 0.1489]\nstate[eef_state]: left_x=0.3087 left_y=-0.1516 left_z=0.2405 left_yaw=0.012 left_pitch=-0.145 left_roll=0.0256 left_gripper=0.9969 right_x=0.3098 right_y=0.0736 right_z=0.0118 right_yaw=0.3556 right_pitch=-0.1862 right_roll=0.0068 right_gripper=0.1489\nstate[joint_eff]: [-0.1436, -4.6701, 6.5573, 1.3553, -0.2564, -0.0317, -0.0122, -0.7863, -5.3812, 4.9573, 1.4774, -0.1245, -0.0415, 1.0085]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a493333a269783d59dbf67e2b29abcf67d9d00118526aaeac4fc3f87f651b7b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6be638434f398280ec7462a16844499657fb51373088492cfb7d84185b0c91c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8e41b9ac74fecd39e1566c6b17390fb3e3b4b0b994fcd7ed026ab595fc51bc6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 5.146 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]: [-0.7471, 1.2633, 1.2095, -0.8074, -0.5678, -0.5606, 0.9968, 0.5434, 1.0473, 0.5022, -0.1539, 0.4133, 0.3, 0.9998]\nstate[eef_state]: left_x=0.3096 left_y=-0.1524 left_z=0.2444 left_yaw=0.0104 left_pitch=-0.131 left_roll=0.0131 left_gripper=0.9968 right_x=0.2969 right_y=0.1007 right_z=0.1159 right_yaw=0.0336 right_pitch=-0.0701 right_roll=-0.0139 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -5.3949, 7.5692, 1.3797, -0.3492, -0.0415, 0.1001, 0.4171, -2.7556, 6.5573, 1.7265, 0.359, 0.1587, -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]: [-0.7475, 1.2682, 1.2095, -0.8185, -0.5671, -0.561, 0.9968, 0.1741, 1.3983, 0.3004, 0.3481, -0.1337, -0.1242, 0.9997]\nstate[eef_state]: left_x=0.3086 left_y=-0.1518 left_z=0.2412 left_yaw=0.0111 left_pitch=-0.143 left_roll=0.0235 left_gripper=0.9968 right_x=0.3097 right_y=0.082 right_z=0.0144 right_yaw=0.3531 right_pitch=-0.1814 right_roll=0.006 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -4.8889, 6.5846, 1.4481, -0.2418, -0.0611, -0.0122, -0.2667, -5.2581, 4.8889, 1.6484, -0.3053, -0.105, -0.0171]",
      "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]: [-0.7467, 1.2697, 1.2091, -0.8192, -0.5671, -0.5606, 0.9969, 0.1287, 1.4059, 0.297, 0.3492, -0.1684, -0.1574, 0.1489]\nstate[eef_state]: left_x=0.3087 left_y=-0.1516 left_z=0.2405 left_yaw=0.012 left_pitch=-0.145 left_roll=0.0256 left_gripper=0.9969 right_x=0.3098 right_y=0.0736 right_z=0.0118 right_yaw=0.3556 right_pitch=-0.1862 right_roll=0.0068 right_gripper=0.1489\nstate[joint_eff]: [-0.1436, -4.6701, 6.5573, 1.3553, -0.2564, -0.0317, -0.0122, -0.7863, -5.3812, 4.9573, 1.4774, -0.1245, -0.0415, 1.0085]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a493333a269783d59dbf67e2b29abcf67d9d00118526aaeac4fc3f87f651b7b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6be638434f398280ec7462a16844499657fb51373088492cfb7d84185b0c91c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e41b9ac74fecd39e1566c6b17390fb3e3b4b0b994fcd7ed026ab595fc51bc6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjwUKjgEIEhgCKkA5lT5BBWj+JCi8/IgtgUKd6BpuD3K4QdUXLnc5UeaBzw0JjYX2lsbLQisTLTwCM6WAw6Xw5tE5KiSKlf1NWpJeMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbr3zNUGEgwW0VktKJidNP/MqwEaDOS/1o34V9Urue0SPSIwKCa+4uvXfwqY7UoGVYRuCptsooXkLrVhXKOJD/6VoG/A5yXmkZnSdpfVrkPbiUxIKq0DIKReIWa93ldiYjfp9dNYsDwth3r5kwSEoDd+y9pUi3USztbka8vYhrcSOSj5PIl7i+ndeCsNmhOAYqeWq7yRNtFztvcECi47taZum17AUqXhP0QwsmO6bNNzzkNMoGHpMzDT6XK0f5BXcWozgYNWZZSyq0rXmUb1dnw/D26w9VPGpUhTeqBowGNP9gElhjJI2wTgx/wasBqiAKfmnHw1lw6M9RxBQsqe0TnSdvb4J/JCGHIsckv13jZrA7R9oExiONPx8TgBN54edumxuUAB6wnrnhsjoUE6bzpNBw4mS84G35Sg9ksIAMjc9b8afU2aPkoVem7k7NFBaAmZXb1LHemcMZYdnO7vACr3QuxcfuD/eQvo5bkduNu26Q0c4rUetnPBs9YxqcplY8DDS+bDnpr+3PQa2s44uJyn/47yx10CNKedRyd2Bu4D04jKYuLKHe7ZEp4+qNYfrpY208GtGlH8HC+Q9k/aLNwFb0uOtGca9/C/9ziBe3TeP/I+0ImpVN6mXJsFGmk+yrquHQto5gbQw8CbOVeJ6+LZ9bYiAUZnG6zN2Nincm3zNhlUGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019XSxSxca8RP3H8HPkKrZyj",
      "input": {
        "note": "The marker is grasped (0.15 ≈ 1.4 cm). Lifting and carrying it forward-left over the right basket, which sits straight ahead in the wrist view.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.12,
          "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_019XSxSxca8RP3H8HPkKrZyj",
      "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]: [-0.7467, 1.2697, 1.2091, -0.8227, -0.5671, -0.5606, 0.9969, 0.2161, 1.5768, 1.3296, -0.4934, -0.1143, -0.1184, 0.1537]\nstate[eef_state]: left_x=0.3083 left_y=-0.1512 left_z=0.24 left_yaw=0.0123 left_pitch=-0.1475 left_roll=0.028 left_gripper=0.9969 right_x=0.4395 right_y=0.1208 right_z=0.2087 right_yaw=0.375 right_pitch=-0.1746 right_roll=-0.0045 right_gripper=0.1537\nstate[joint_eff]: [-0.0752, -4.4103, 6.5709, 1.3846, -0.2466, -0.0366, -0.022, 0.1299, -7.8564, 8.841, 1.16, -0.0122, 0.2027, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:900918802faabca489bb2dae4395f78a06dc243ec7d8348d989a95acfc30bb17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44ea602fa38a09e3c07bedef15dec30c0a6bd01ada0d8c9495262d651523f651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7101f3a72a939bea88b5572c2884dd6e96a24e83781872c6cce11982cd0dea63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 2.922 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]: [-0.7475, 1.2682, 1.2095, -0.8185, -0.5671, -0.561, 0.9968, 0.1741, 1.3983, 0.3004, 0.3481, -0.1337, -0.1242, 0.9997]\nstate[eef_state]: left_x=0.3086 left_y=-0.1518 left_z=0.2412 left_yaw=0.0111 left_pitch=-0.143 left_roll=0.0235 left_gripper=0.9968 right_x=0.3097 right_y=0.082 right_z=0.0144 right_yaw=0.3531 right_pitch=-0.1814 right_roll=0.006 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -4.8889, 6.5846, 1.4481, -0.2418, -0.0611, -0.0122, -0.2667, -5.2581, 4.8889, 1.6484, -0.3053, -0.105, -0.0171]",
      "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]: [-0.7467, 1.2697, 1.2091, -0.8192, -0.5671, -0.5606, 0.9969, 0.1287, 1.4059, 0.297, 0.3492, -0.1684, -0.1574, 0.1489]\nstate[eef_state]: left_x=0.3087 left_y=-0.1516 left_z=0.2405 left_yaw=0.012 left_pitch=-0.145 left_roll=0.0256 left_gripper=0.9969 right_x=0.3098 right_y=0.0736 right_z=0.0118 right_yaw=0.3556 right_pitch=-0.1862 right_roll=0.0068 right_gripper=0.1489\nstate[joint_eff]: [-0.1436, -4.6701, 6.5573, 1.3553, -0.2564, -0.0317, -0.0122, -0.7863, -5.3812, 4.9573, 1.4774, -0.1245, -0.0415, 1.0085]\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 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]: [-0.7467, 1.2697, 1.2091, -0.8227, -0.5671, -0.5606, 0.9969, 0.2161, 1.5768, 1.3296, -0.4934, -0.1143, -0.1184, 0.1537]\nstate[eef_state]: left_x=0.3083 left_y=-0.1512 left_z=0.24 left_yaw=0.0123 left_pitch=-0.1475 left_roll=0.028 left_gripper=0.9969 right_x=0.4395 right_y=0.1208 right_z=0.2087 right_yaw=0.375 right_pitch=-0.1746 right_roll=-0.0045 right_gripper=0.1537\nstate[joint_eff]: [-0.0752, -4.4103, 6.5709, 1.3846, -0.2466, -0.0366, -0.022, 0.1299, -7.8564, 8.841, 1.16, -0.0122, 0.2027, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:900918802faabca489bb2dae4395f78a06dc243ec7d8348d989a95acfc30bb17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44ea602fa38a09e3c07bedef15dec30c0a6bd01ada0d8c9495262d651523f651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7101f3a72a939bea88b5572c2884dd6e96a24e83781872c6cce11982cd0dea63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0gUKjgEIEhgCKkA6hQQK2vD+0Hw7eG2tDyWFwBWUkeHGIooVCAzKTUfIDFwSkgpSTMoy1QW3c9pvTgoOlqUh+4mXX/fV5eomSXm0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcH3zNUGEgwEVYJO7Sj3ms3Bn/AaDJKIWY3j8Gt/gTeP9SIwo7qCIZU61SpiJFQwQXYVEvJYPF1ArdW2hBVf/0n78DziNbptObAMUFPv9fQNRd/0KvADOp9BxrcTZVmsUHvWqkczZ33o6lrp1ZrjZ6/h9+3mzxYFV/2dTd8Logzcpkv/u4Zv8fcYxzSqGuKusmCxNByqEmrfWGkipvFleNH3VqT0q/jIySoVpIbTt4YvBHkuv5sN2LoCPoLJ0yp/mk0m/pBjUio8Z19zm/oLjlurSuzAYccYKMyN4VOrFOn2LOf5zFn5zyr9kSqGzTMblh1pbf5zX+IAqhlvYhDmevgm7HZ7ZuM6I9yRYL4vjhoMCIxWdkfISKIVDLbq81VY+9cBRY5nl/CPxF0KWz94WNjT+sbskYLfNyTMhqZCQzvrKT25QqiCd02xVwzlhxf/A4qh0Q4S+2wBjvnFd7sdEmQGrLVuQLIz/k/H5OkKfZ8cV3WEpLytNXCHaVSrmBYqmEfu4WqQI/9lUF08MTw0rJQ1V412UlJXLaSgY68fsNTIOojsV7Jq3vE/zQQ29HRSJ/5C2CQlAhwaGnHmvfKskIAQhyOP7K71kpf4D3bjh5tMVr3StKsPLtIXdI2vNwEJmHFo4if4Qt/pDfilAPu3QFgrsgLJ6LSHN/xu4+Whzczvpk4ll7EaK+vGcT3jvpjEfZzziQziDdaBEtbnZcFf0ETDNU4R0eVKeBH3EIcg4gpI3wjP2qPB327SXal57sKaBkCGzrvebBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XkgyCd2WP3EJy1EixiKdj3",
      "input": {
        "note": "The held marker overlaps the near rim of the right basket; pushing 4 cm further forward and up so it hangs over the basket interior.",
        "targets": {
          "right_x": 0.48,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XkgyCd2WP3EJy1EixiKdj3",
      "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]: [-0.7467, 1.2709, 1.2091, -0.8234, -0.5674, -0.5606, 0.9969, 0.1978, 1.7302, 1.562, -0.6136, -0.1234, -0.1349, 0.1566]\nstate[eef_state]: left_x=0.3084 left_y=-0.1511 left_z=0.2396 left_yaw=0.0128 left_pitch=-0.1487 left_roll=0.0296 left_gripper=0.9969 right_x=0.4732 right_y=0.1207 right_z=0.218 right_yaw=0.3748 right_pitch=-0.2142 right_roll=-0.0033 right_gripper=0.1566\nstate[joint_eff]: [-0.0068, -4.547, 6.6667, 1.3504, -0.3004, -0.0317, -0.022, -0.6085, -9.347, 10.0034, 1.326, -0.1832, -0.0317, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b08f69b3e4cbf5a37a76e436f2b05c8a50b712e725493c5b326a69cfb2e781ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8919feb9dec4b5d283611227a96354436dcb9145eed415f8c12c9f8028e1fcd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49a3eca6c599c0ee8147d72cfa485037b65c495d8bfb0c8fba8383da140e03bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 11.92 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]: [-0.7467, 1.2697, 1.2091, -0.8192, -0.5671, -0.5606, 0.9969, 0.1287, 1.4059, 0.297, 0.3492, -0.1684, -0.1574, 0.1489]\nstate[eef_state]: left_x=0.3087 left_y=-0.1516 left_z=0.2405 left_yaw=0.012 left_pitch=-0.145 left_roll=0.0256 left_gripper=0.9969 right_x=0.3098 right_y=0.0736 right_z=0.0118 right_yaw=0.3556 right_pitch=-0.1862 right_roll=0.0068 right_gripper=0.1489\nstate[joint_eff]: [-0.1436, -4.6701, 6.5573, 1.3553, -0.2564, -0.0317, -0.0122, -0.7863, -5.3812, 4.9573, 1.4774, -0.1245, -0.0415, 1.0085]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.7467, 1.2697, 1.2091, -0.8227, -0.5671, -0.5606, 0.9969, 0.2161, 1.5768, 1.3296, -0.4934, -0.1143, -0.1184, 0.1537]\nstate[eef_state]: left_x=0.3083 left_y=-0.1512 left_z=0.24 left_yaw=0.0123 left_pitch=-0.1475 left_roll=0.028 left_gripper=0.9969 right_x=0.4395 right_y=0.1208 right_z=0.2087 right_yaw=0.375 right_pitch=-0.1746 right_roll=-0.0045 right_gripper=0.1537\nstate[joint_eff]: [-0.0752, -4.4103, 6.5709, 1.3846, -0.2466, -0.0366, -0.022, 0.1299, -7.8564, 8.841, 1.16, -0.0122, 0.2027, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7467, 1.2709, 1.2091, -0.8234, -0.5674, -0.5606, 0.9969, 0.1978, 1.7302, 1.562, -0.6136, -0.1234, -0.1349, 0.1566]\nstate[eef_state]: left_x=0.3084 left_y=-0.1511 left_z=0.2396 left_yaw=0.0128 left_pitch=-0.1487 left_roll=0.0296 left_gripper=0.9969 right_x=0.4732 right_y=0.1207 right_z=0.218 right_yaw=0.3748 right_pitch=-0.2142 right_roll=-0.0033 right_gripper=0.1566\nstate[joint_eff]: [-0.0068, -4.547, 6.6667, 1.3504, -0.3004, -0.0317, -0.022, -0.6085, -9.347, 10.0034, 1.326, -0.1832, -0.0317, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b08f69b3e4cbf5a37a76e436f2b05c8a50b712e725493c5b326a69cfb2e781ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8919feb9dec4b5d283611227a96354436dcb9145eed415f8c12c9f8028e1fcd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49a3eca6c599c0ee8147d72cfa485037b65c495d8bfb0c8fba8383da140e03bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjgMKjgEIEhgCKkAgSwoTAiwj2uc+Qsv12PHcXZPeHj/TGNtnjqZIjJ3+7aB35RDl/zufIvoZpDjBYkno9BkkcBag8MdYzQMyCaLSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcX3zNUGEgwALx5w1S1ExU0tbyQaDM2ke6aqgV/TMyYMdyIwMsm5C2Ya+JsAjBEo5k56MScRWXHE7u8ODtxP/NWjNBRTZfX4P4SOf0F4ImybD6+cKqwBCiWans8npfuep/b1BzWLV5P2mJDFZECR2+vyROPQ7WnghmckkS98yFkwkUwohUq5ujSquvekpfJHRNuoVMJ+5rKONEvl+NIQPnLpQW78wFcppL+gZT6dxSVcMYsO328pWMhs+v0OnW99yWF+xJXm78O3s/jAPzapwmjXhXaciCQ88J7bO416lUAOF4Idy/CQKvgYOwaIOhftZTfcJE4BF6zfSrOsNF5ohyrL1RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0112ukZRTToPyzyghgE18FMD",
      "input": {
        "note": "Marker is now over the right basket's interior; opening the jaws to drop it in.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0112ukZRTToPyzyghgE18FMD",
      "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]: [-0.7464, 1.2709, 1.2091, -0.823, -0.5671, -0.561, 0.9969, 0.1959, 1.7412, 1.6001, -0.6388, -0.1272, -0.1429, 0.9955]\nstate[eef_state]: left_x=0.3084 left_y=-0.1511 left_z=0.2396 left_yaw=0.0131 left_pitch=-0.1486 left_roll=0.0288 left_gripper=0.9969 right_x=0.4758 right_y=0.1209 right_z=0.2248 right_yaw=0.3805 right_pitch=-0.2118 right_roll=-0.0069 right_gripper=0.9955\nstate[joint_eff]: [0.0342, -4.5333, 6.7214, 1.3797, -0.2857, -0.022, -0.022, -0.5538, -9.5111, 9.0598, 1.5995, -0.1392, 0.0708, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d81a8ca0e3eafe0953aec2731c8ec634446408a8745cea5ec48cb11fe70e3acc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c26ed3f4097010f340ed43fe8662896f213de4b25d2af3e89d0665ad75ac4c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dd031492a8d7aceaf6851b2827576debd6785d1dce66c8acc42269630601b1ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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