adhoc

completed
2026-09-23T01:41:33.954662+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
393.7 s
total steps
385
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTop view shows two teal baskets at the back and, in front of them, a cluster of light plush toys plus several thin pen/marker-like sticks. I'll move the left arm over the plush cluster near the table centre to line up a grasp.
move_to
left_x0.3400left_y-0.3000left_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]: [-0.0193, 0.7986, 0.617, -0.3798, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0128, -0.0231, 0.9998] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0013 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5812, -1.4701, 9.388, 1.7558, -0.0366, 0.2173, -0.0562, -0.759, -1.3197, 9.7846, 1.7314, -0.1343, 0.0415, -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": -0.3, "left_z": 0.16, "left_gripper": 1}, "note": "Top view shows two teal baskets at the back and, in front of them, a cluster of light plush toys plus several thin pen/marker-like sticks. I'll move the left arm over the plush cluster near the table centre to line up a grasp."})
tool
executing move_to over 27 steps (2.7s)
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 noteWrist view shows a teddy-bear head just left of the jaw column and very close to the fingertips. Shifting slightly left and pulling back a touch while descending to line up its head/body for a grasp.
move_to
left_x0.3200left_y-0.2750left_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]: [-1.0126, 1.7462, 1.2259, -0.3771, -0.7872, -0.7353, 0.9996, -0.0154, 0.7986, 0.6086, -0.3824, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.3369 left_y=-0.2965 left_z=0.1501 left_yaw=-0.0098 left_pitch=-0.0234 left_roll=0.0082 left_gripper=0.9996 right_x=0.2953 right_y=0.0011 right_z=0.1803 right_yaw=-0.0004 right_pitch=-0.0126 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.4855, -8.759, 8.6085, 1.1893, -0.5006, -0.0611, -0.0562, -0.3897, -0.8684, 7.3231, 1.8584, -0.0708, -0.0562, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.275, "left_z": 0.12}, "note": "Wrist view shows a teddy-bear head just left of the jaw column and very close to the fingertips. Shifting slightly left and pulling back a touch while descending to line up its head/body for a grasp."})
tool
executing move_to over 2 steps (0.2s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe bear still sits left of the jaw column in the wrist view; shifting ~3 cm to the arm's left and descending toward the toy.
move_to
left_y-0.2450left_z0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.018, 1.7176, 1.0317, -0.2661, -0.7868, -0.7464, 0.9995, -0.0154, 0.7986, 0.6086, -0.3847, -0.0116, -0.0235, 0.9998] state[eef_state]: left_x=0.3191 left_y=-0.2722 left_z=0.1059 left_yaw=-0.0078 left_pitch=-0.0526 left_roll=0.045 left_gripper=0.9995 right_x=0.295 right_y=0.0011 right_z=0.1798 right_yaw=-0.0008 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.253, -10.3726, 6.2564, 1.4042, -0.4518, -0.0415, -0.0171, -0.212, -1.2513, 7.0906, 1.8144, -0.0269, -0.0611, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.245, "left_z": 0.05}, "note": "The bear still sits left of the jaw column in the wrist view; shifting ~3 cm to the arm's left and descending toward the toy."})
tool
executing move_to over 4 steps (0.4s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteBear head is now nearly under the jaws, just slightly left; nudging 2 cm further and lowering onto the toy.
move_to
left_y-0.2250left_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9707, 1.7302, 0.8291, 0.0498, -0.783, -0.7029, 0.9996, -0.0151, 0.7986, 0.6086, -0.3847, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.3259 left_y=-0.2493 left_z=0.0711 left_yaw=0.0117 left_pitch=-0.0011 left_roll=-0.005 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=-0.0001 right_pitch=-0.0149 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.1983, -5.1624, 4.2735, 1.1941, -0.1099, 0.0513, -0.0073, -0.2256, -0.9778, 7.1043, 1.7265, -0.0464, -0.0611, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.225, "left_z": 0.04}, "note": "Bear head is now nearly under the jaws, just slightly left; nudging 2 cm further and lowering onto the toy."})
tool
executing move_to over 3 steps (0.3s)
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 arm has stopped descending (likely in contact with the plush toy) and the bear's head fills the jaw area in the wrist view; closing the gripper on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9565, 1.7298, 0.8001, 0.1253, -0.7868, -0.6888, 0.9996, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.3309 left_y=-0.2459 left_z=0.072 left_yaw=0.0214 left_pitch=0.0275 left_roll=-0.0303 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=-0.0001 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.212, -7.2137, 4.0137, 1.3162, -0.2125, -0.0415, -0.0171, 0.0342, -1.265, 7.0632, 1.6972, -0.0366, -0.0611, -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 arm has stopped descending (likely in contact with the plush toy) and the bear's head fills the jaw area in the wrist view; closing the gripper on 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 settled at 0.21, so it has hold of the plush toy. Lifting 18 cm to confirm the toy came with it and to see the baskets in the top view.
move_to
left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9565, 1.7298, 0.799, 0.1291, -0.7872, -0.6884, 0.2083, -0.0151, 0.7986, 0.6086, -0.3847, -0.0116, -0.0235, 0.9998] state[eef_state]: left_x=0.331 left_y=-0.246 left_z=0.0722 left_yaw=0.0215 left_pitch=0.0292 left_roll=-0.0321 left_gripper=0.2083 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.1983, -7.6103, 5.641, 1.3504, -0.3687, -0.022, 0.9792, -0.0342, -1.2923, 7.0222, 1.7216, -0.0366, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.25}, "note": "Gripper settled at 0.21, so it has hold of the plush toy. Lifting 18 cm to confirm the toy came with it and to see the baskets in the top view."})
tool
executing move_to over 12 steps (1.2s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe plush toy is securely held and lifted; the left basket lies further forward and to the arm's left. Moving over the left basket to drop the toy there (plush toys → left basket).
move_to
left_x0.4500left_y-0.3300left_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]: [-0.9569, 1.5368, 1.2984, -0.6041, -0.7788, -0.7002, 0.2109, -0.0154, 0.7986, 0.6086, -0.3847, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.3311 left_y=-0.2482 left_z=0.2303 left_yaw=0.0212 left_pitch=0.0012 left_roll=-0.0117 left_gripper=0.2109 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0149 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.1983, -9.0872, 9.1829, 1.2088, -0.4518, 0.0904, 0.2564, -0.1983, -1.0598, 7.0632, 1.7705, -0.0171, -0.0806, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.33, "left_z": 0.3}, "note": "The plush toy is securely held and lifted; the left basket lies further forward and to the arm's left. Moving over the left basket to drop the toy there (plush toys \u2192 left basket)."})
tool
executing move_to over 10 steps (1.0s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe wrist view shows I'm hovering over the gap between the two baskets; shifting 7 cm to the arm's left to get over the left basket.
move_to
left_y-0.4000
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]: [-0.8509, 2.159, 2.3337, -0.9821, -0.6968, -0.6197, 0.2144, -0.0147, 0.8021, 0.6083, -0.3859, -0.012, -0.0238, 0.9998] state[eef_state]: left_x=0.4436 left_y=-0.3285 left_z=0.2849 left_yaw=0.0279 left_pitch=-0.026 left_roll=-0.0083 left_gripper=0.2144 right_x=0.295 right_y=0.0014 right_z=0.1785 right_yaw=0.0005 right_pitch=-0.0198 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [0.5128, -12.0684, 7.6103, 0.9988, -0.3004, 0.2466, 0.3639, -0.294, -1.4701, 7.2547, 1.707, -0.0122, -0.0659, -0.0122] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.4}, "note": "The wrist view shows I'm hovering over the gap between the two baskets; shifting 7 cm to the arm's left to get over the left basket."})
tool
executing move_to over 7 steps (0.7s)
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 noteThe left basket's interior now fills the wrist view just forward of the jaws; advancing 4 cm and lifting slightly to hover over the basket opening.
move_to
left_x0.4700left_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]: [-0.9375, 2.4866, 2.7193, -1.2041, -0.7185, -0.6975, 0.2158, -0.0147, 0.8055, 0.6083, -0.3855, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4331 left_y=-0.3873 left_z=0.2202 left_yaw=0.0064 left_pitch=-0.1117 left_roll=0.069 left_gripper=0.2158 right_x=0.2953 right_y=0.0014 right_z=0.1776 right_yaw=0.0003 right_pitch=-0.0229 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.5128, -19.0154, 7.2547, 1.4676, -0.7155, -0.0708, 0.1343, -0.212, -0.9915, 7.2684, 1.746, -0.0659, -0.0366, -0.0171] 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": 0.47, "left_z": 0.26}, "note": "The left basket's interior now fills the wrist view just forward of the jaws; advancing 4 cm and lifting slightly to hover over the basket opening."})
tool
executing move_to over 3 steps (0.3s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteI misread the direction earlier: the wrist view shows the basket I want (rig-left) off to the arm's left, so I'm moving +y by 18 cm to get over it.
move_to
left_y-0.2000left_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9234, 2.6118, 2.9097, -1.3121, -0.7219, -0.6846, 0.2173, -0.0147, 0.8062, 0.6083, -0.3851, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4406 left_y=-0.3832 left_z=0.2028 left_yaw=0.0199 left_pitch=-0.1351 left_roll=0.1157 left_gripper=0.2173 right_x=0.2954 right_y=0.0014 right_z=0.1775 right_yaw=0.0003 right_pitch=-0.0233 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.1983, -14.4205, 8.212, 1.1111, -0.4127, 0.105, 0.1392, -0.1983, -1.2376, 7.0222, 1.746, -0.0171, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.2, "left_z": 0.28}, "note": "I misread the direction earlier: the wrist view shows the basket I want (rig-left) off to the arm's left, so I'm moving +y by 18 cm to get over it."})
tool
executing move_to over 17 steps (1.7s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteWrist view shows both baskets flanking the toy, so I'm still centred on the gap; moving another 11 cm to the arm's left to get over the rig-left basket.
move_to
left_y-0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6514, 2.5099, 3.1275, -1.5642, -0.5488, -0.4545, 0.2201, -0.0147, 0.8062, 0.6083, -0.3851, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4772 left_y=-0.2434 left_z=0.2797 left_yaw=0.0461 left_pitch=-0.2116 left_roll=0.1395 left_gripper=0.2201 right_x=0.2954 right_y=0.0014 right_z=0.1775 right_yaw=0.0003 right_pitch=-0.0233 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.3487, -18.2359, 5.7231, 1.3211, -0.3932, 0.2515, 0.2808, -0.3761, -1.1282, 7.0769, 1.7265, -0.0464, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.13}, "note": "Wrist view shows both baskets flanking the toy, so I'm still centred on the gap; moving another 11 cm to the arm's left to get over the rig-left basket."})
tool
executing move_to over 11 steps (1.1s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe rig-left basket is now just to the arm's left in the wrist view; nudging 7 cm further left and pulling back slightly to centre over its opening.
move_to
left_y-0.0800left_x0.4700
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]: [-0.4259, 2.4969, 3.1275, -1.5852, -0.4118, -0.2985, 0.2208, -0.0147, 0.8062, 0.6083, -0.3851, -0.0116, -0.0235, 0.9998] state[eef_state]: left_x=0.5111 left_y=-0.1503 left_z=0.2744 left_yaw=0.0845 left_pitch=-0.2949 left_roll=0.1603 left_gripper=0.2208 right_x=0.2954 right_y=0.0013 right_z=0.1775 right_yaw=-0.0 right_pitch=-0.0233 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [0.1162, -17.5658, 5.6957, 1.3993, -0.2369, 0.2515, 0.0562, -0.1846, -1.1556, 7.3368, 1.7118, -0.0122, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.08, "left_x": 0.47}, "note": "The rig-left basket is now just to the arm's left in the wrist view; nudging 7 cm further left and pulling back slightly to centre over its opening."})
tool
executing move_to over 7 steps (0.7s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe wrist view shows the left basket directly under/behind the toy; lowering slightly and opening the gripper to drop the plush toy into the rig-left basket.
move_to
left_z0.2200left_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]: [-0.3077, 2.4111, 2.9833, -1.5822, -0.345, -0.2272, 0.2221, -0.0147, 0.8062, 0.6083, -0.3851, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.5108 left_y=-0.0958 left_z=0.2713 left_yaw=0.1175 left_pitch=-0.3762 left_roll=0.1816 left_gripper=0.2221 right_x=0.2954 right_y=0.0014 right_z=0.1775 right_yaw=0.0003 right_pitch=-0.0233 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.1983, -16.9915, 4.6154, 1.3211, -0.2125, 0.1148, 0.1197, -0.2393, -1.306, 7.0632, 1.707, -0.0269, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22, "left_gripper": 1}, "note": "The wrist view shows the left basket directly under/behind the toy; lowering slightly and opening the gripper to drop the plush toy into the rig-left basket."})
tool
executing move_to over 8 steps (0.8s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe teddy bear is now in the rig-left basket. Parking the left arm back home and bringing the right arm over the pen/marker sticks lying on the right side of the table.
move_to
left_x0.3000left_y0.0000left_z0.2000right_x0.3300right_y0.1700right_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.305, 2.5351, 3.0837, -1.5829, -0.3393, -0.2398, 0.9952, -0.0147, 0.8062, 0.6083, -0.3851, -0.0116, -0.0235, 0.9998] state[eef_state]: left_x=0.5296 left_y=-0.1013 left_z=0.2382 left_yaw=0.1266 left_pitch=-0.3991 left_roll=0.1798 left_gripper=0.9952 right_x=0.2954 right_y=0.0013 right_z=0.1775 right_yaw=-0.0 right_pitch=-0.0233 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.5265, -11.4393, 6.8034, 1.3162, -0.2418, 0.0562, 0.0464, -0.1026, -1.1009, 7.0222, 1.7265, -0.022, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.2, "right_x": 0.33, "right_y": 0.17, "right_z": 0.16}, "note": "The teddy bear is now in the rig-left basket. Parking the left arm back home and bringing the right arm over the pen/marker sticks lying on the right side of the table."})
tool
executing move_to over 18 steps (1.8s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteRight wrist view shows a blue-and-white pen lying at the lower-left, just left of the jaw column. Shifting ~5 cm to the arm's left, back 2 cm, and dropping to 8 cm to line up on it.
move_to
right_x0.3000right_y0.2100right_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1749, 1.2091, 1.1301, -0.9329, -0.2787, -0.141, 0.9967, 0.7219, 1.3033, 0.7792, -0.2493, 0.5537, 0.408, 0.9998] state[eef_state]: left_x=0.3072 left_y=-0.0013 left_z=0.1961 left_yaw=0.1449 left_pitch=-0.4072 left_roll=0.1801 left_gripper=0.9967 right_x=0.3218 right_y=0.1643 right_z=0.1422 right_yaw=0.037 right_pitch=-0.0771 right_roll=-0.0413 right_gripper=0.9998 state[joint_eff]: [0.212, -5.0393, 7.4462, 1.2723, -0.0269, 0.0611, 0.1392, 0.5538, -4.8205, 9.3333, 1.5751, 0.4664, 0.2418, -0.0122] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.21, "right_z": 0.08}, "note": "Right wrist view shows a blue-and-white pen lying at the lower-left, just left of the jaw column. Shifting ~5 cm to the arm's left, back 2 cm, and dropping to 8 cm to line up on it."})
tool
executing move_to over 5 steps (0.5s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteTwo pens are visible at the bottom of the right wrist view; the blue/white one is just left of the jaw column. Nudging 2 cm left and back and descending to table level to straddle it.
move_to
right_x0.2800right_y0.2250right_z0.0100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1741, 1.2118, 1.116, -0.9482, -0.276, -0.1387, 0.9968, 0.8913, 1.5024, 0.7048, -0.1055, 0.6384, 0.5301, 0.9997] state[eef_state]: left_x=0.302 left_y=-0.0006 left_z=0.1881 left_yaw=0.1465 left_pitch=-0.4385 left_roll=0.1902 left_gripper=0.9968 right_x=0.2973 right_y=0.2062 right_z=0.0756 right_yaw=0.0708 right_pitch=-0.1248 right_roll=-0.0797 right_gripper=0.9997 state[joint_eff]: [-0.253, -4.0957, 7.665, 1.2918, -0.1734, -0.0366, 0.0024, 0.3897, -6.3658, 5.5179, 1.3846, 0.4664, 0.1343, -0.0171] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.225, "right_z": 0.01}, "note": "Two pens are visible at the bottom of the right wrist view; the blue/white one is just left of the jaw column. Nudging 2 cm left and back and descending to table level to straddle it."})
tool
executing move_to over 5 steps (0.5s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe pen is now centred on the jaw column but the arm stopped descending at z=0.074; trying a smaller downward step to reach the pen on the table.
move_to
right_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1741, 1.2118, 1.116, -0.9489, -0.276, -0.139, 0.9968, 0.9062, 1.5196, 0.6983, -0.0692, 0.6548, 0.5587, 0.9998] state[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.188 left_yaw=0.1469 left_pitch=-0.4392 left_roll=0.1902 left_gripper=0.9968 right_x=0.2975 right_y=0.211 right_z=0.0739 right_yaw=0.0603 right_pitch=-0.1058 right_roll=-0.0565 right_gripper=0.9998 state[joint_eff]: [-0.0479, -3.8769, 6.4615, 1.1795, -0.1783, -0.0513, -0.0122, 0.1846, -6.5162, 5.8598, 1.4335, 0.5446, 0.1343, -0.0073] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.04}, "note": "The pen is now centred on the jaw column but the arm stopped descending at z=0.074; trying a smaller downward step to reach the pen on the table."})
tool
executing move_to over 3 steps (0.3s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe right arm is completely stuck at z=0.074 (no tracking at all), so I'm backing out and up to a cleaner pose before re-approaching the pen.
move_to
right_x0.3200right_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]: [-0.1741, 1.2118, 1.116, -0.9489, -0.276, -0.1387, 0.9968, 0.9058, 1.5196, 0.6983, -0.0689, 0.6544, 0.5591, 0.9998] state[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.188 left_yaw=0.1466 left_pitch=-0.4393 left_roll=0.1904 left_gripper=0.9968 right_x=0.2975 right_y=0.211 right_z=0.0739 right_yaw=0.06 right_pitch=-0.1057 right_roll=-0.0558 right_gripper=0.9998 state[joint_eff]: [-0.1299, -3.9043, 6.4889, 1.1893, -0.2125, -0.0317, -0.0122, 0.0342, -6.5846, 5.8462, 1.409, 0.525, 0.1197, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_z": 0.15}, "note": "The right arm is completely stuck at z=0.074 (no tracking at all), so I'm backing out and up to a cleaner pose before re-approaching the pen."})
tool
executing move_to over 5 steps (0.5s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe arm is free again; descending back onto the pen, which was centred on the jaw column at x≈0.30, y≈0.21, this time going all the way to table level.
move_to
right_x0.3000right_y0.2150right_z0.0200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1741, 1.2118, 1.116, -0.9493, -0.276, -0.1387, 0.9968, 0.8486, 1.4734, 0.9012, -0.2554, 0.6163, 0.514, 0.9998] state[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.188 left_yaw=0.1467 left_pitch=-0.4396 left_roll=0.1906 left_gripper=0.9968 right_x=0.3237 right_y=0.2184 right_z=0.1349 right_yaw=0.0579 right_pitch=-0.085 right_roll=-0.0259 right_gripper=0.9998 state[joint_eff]: [-0.1983, -3.8906, 6.5299, 1.1502, -0.2027, -0.0317, -0.0122, -0.294, -7.4188, 6.8034, 0.8181, 0.1929, 0.0171, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.215, "right_z": 0.02}, "note": "The arm is free again; descending back onto the pen, which was centred on the jaw column at x\u22480.30, y\u22480.21, this time going all the way to table level."})
tool
executing move_to over 8 steps (0.8s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe blue pen is centred between the jaws at table level; closing the gripper on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1741, 1.2118, 1.116, -0.9493, -0.2756, -0.1387, 0.9968, 0.897, 1.689, 0.6048, 0.1764, 0.6281, 0.551, 0.9998] state[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.188 left_yaw=0.1464 left_pitch=-0.4397 left_roll=0.1902 left_gripper=0.9968 right_x=0.2966 right_y=0.2109 right_z=0.0179 right_yaw=0.0719 right_pitch=-0.133 right_roll=-0.0612 right_gripper=0.9998 state[joint_eff]: [-0.212, -3.8632, 6.5162, 1.1697, -0.1538, -0.0269, -0.0122, 0.7043, -6.7487, 4.8068, 1.3504, 0.5153, 0.0708, -0.0171] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The blue pen is centred between the jaws at table level; closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteGripper settled at 0.13 — the pen is held. Lifting and moving forward over the rig-right basket to drop the pen there (pens → right basket).
move_to
right_z0.2800right_x0.4200
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]: [-0.1741, 1.2121, 1.116, -0.9493, -0.2756, -0.1387, 0.9968, 0.8993, 1.7016, 0.5938, 0.1928, 0.6197, 0.5495, 0.1343] state[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.1879 left_yaw=0.1464 left_pitch=-0.4401 left_roll=0.1903 left_gripper=0.9968 right_x=0.294 right_y=0.2108 right_z=0.012 right_yaw=0.0801 right_pitch=-0.1429 right_roll=-0.0632 right_gripper=0.1343 state[joint_eff]: [-0.1026, -3.8632, 6.653, 1.1893, -0.1734, -0.0415, -0.0122, -0.2803, -7.706, 5.6547, 1.1306, 0.3199, -0.0562, 0.9841] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.28, "right_x": 0.42}, "note": "Gripper settled at 0.13 \u2014 the pen is held. Lifting and moving forward over the rig-right basket to drop the pen there (pens \u2192 right basket)."})
tool
executing move_to over 18 steps (1.8s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe right basket's interior is just beyond the held pen; advancing 5 cm to get the pen over the opening.
move_to
right_x0.4700right_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]: [-0.1741, 1.2121, 1.116, -0.9497, -0.276, -0.1387, 0.9968, 0.6247, 1.7134, 1.7031, -0.7715, 0.4324, 0.3084, 0.1392] state[eef_state]: left_x=0.3017 left_y=-0.0006 left_z=0.1878 left_yaw=0.1468 left_pitch=-0.4403 left_roll=0.1908 left_gripper=0.9968 right_x=0.4198 right_y=0.2158 right_z=0.2686 right_yaw=0.0863 right_pitch=-0.1354 right_roll=-0.0548 right_gripper=0.1392 state[joint_eff]: [-0.3214, -3.8906, 6.4752, 1.2088, -0.1832, -0.0562, -0.0122, -0.5538, -8.3897, 8.8547, 1.1355, 0.1538, -0.0464, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_z": 0.25}, "note": "The right basket's interior is just beyond the held pen; advancing 5 cm to get the pen over the opening."})
tool
executing move_to over 4 steps (0.4s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent notePen is over the basket's near rim; pushing 4 cm further in and down slightly before releasing so it falls inside.
move_to
right_x0.5000right_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]: [-0.1741, 1.2118, 1.116, -0.9501, -0.276, -0.139, 0.9968, 0.5602, 1.8584, 1.7596, -0.746, 0.3851, 0.2604, 0.1392] state[eef_state]: left_x=0.3016 left_y=-0.0005 left_z=0.1879 left_yaw=0.147 left_pitch=-0.4403 left_roll=0.1906 left_gripper=0.9968 right_x=0.4568 right_y=0.2124 right_z=0.226 right_yaw=0.0801 right_pitch=-0.209 right_roll=-0.0918 right_gripper=0.1392 state[joint_eff]: [-0.1709, -3.8222, 6.5709, 1.1795, -0.1832, -0.0415, -0.0122, -0.5402, -11.2889, 10.6188, 1.5067, 0.1832, 0.0415, 1.033] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_z": 0.22}, "note": "Pen is over the basket's near rim; pushing 4 cm further in and down slightly before releasing so it falls inside."})
tool
executing move_to over 4 steps (0.4s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteAt the forward reach limit with the pen over the basket interior; lowering into the basket and opening to release the pen.
move_to
right_z0.1600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1741, 1.2121, 1.116, -0.9493, -0.2756, -0.1387, 0.9968, 0.5495, 1.8835, 1.7702, -0.7277, 0.3717, 0.2462, 0.1428] state[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.1879 left_yaw=0.1464 left_pitch=-0.4401 left_roll=0.1903 left_gripper=0.9968 right_x=0.4648 right_y=0.2136 right_z=0.2204 right_yaw=0.0882 right_pitch=-0.2108 right_roll=-0.0913 right_gripper=0.1428 state[joint_eff]: [-0.1162, -3.8906, 6.5436, 1.16, -0.1538, -0.0317, -0.0122, -0.1983, -11.9316, 9.6752, 1.6532, 0.1587, 0.0073, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16, "right_gripper": 1}, "note": "At the forward reach limit with the pen over the basket interior; lowering into the basket and opening to release the pen."})
tool
executing move_to over 9 steps (0.9s)
step 210
assistant
agent notePen delivered to the right basket. Now the left wrist view shows a grey plush toy just left of the jaw column; shifting 3 cm left, levelling the tool and descending toward it.
move_to
left_y0.0300left_x0.3000left_z0.1000left_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]: [-0.1741, 1.2121, 1.116, -0.9489, -0.2756, -0.1387, 0.9968, 0.5495, 1.8725, 1.5646, -0.5529, 0.3683, 0.2417, 0.9951] state[eef_state]: left_x=0.3019 left_y=-0.0007 left_z=0.1879 left_yaw=0.1464 left_pitch=-0.4397 left_roll=0.1902 left_gripper=0.9968 right_x=0.4605 right_y=0.2117 right_z=0.169 right_yaw=0.0915 right_pitch=-0.23 right_roll=-0.1013 right_gripper=0.9951 state[joint_eff]: [-0.0889, -3.8769, 6.5846, 1.2039, -0.149, 0.0073, -0.0122, -0.2393, -9.7299, 7.8701, 1.8779, 0.149, 0.0024, -0.188] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": 0.03, "left_x": 0.3, "left_z": 0.1, "left_pitch": 0}, "note": "Pen delivered to the right basket. Now the left wrist view shows a grey plush toy just left of the jaw column; shifting 3 cm left, levelling the tool and descending toward it."})
tool
executing move_to over 15 steps (1.5s)
step 225
assistant
agent noteThe grey plush sits between the open jaws, slightly to the arm's left; shifting to the y limit and descending onto it, while parking the right arm back home.
move_to
left_y0.0500left_z0.0400right_x0.3000right_y0.0000right_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]: [-0.0944, 0.9382, 0.3302, -0.0673, -0.3065, -0.0101, 0.9968, 0.5495, 1.9003, 1.5345, -0.5484, 0.3607, 0.239, 0.9963] state[eef_state]: left_x=0.2896 left_y=0.0297 left_z=0.0852 left_yaw=0.1537 left_pitch=-0.0917 left_roll=0.1972 left_gripper=0.9968 right_x=0.4565 right_y=0.2107 right_z=0.1439 right_yaw=0.093 right_pitch=-0.2807 right_roll=-0.1221 right_gripper=0.9963 state[joint_eff]: [0.2393, -2.6735, 7.2821, 1.8535, -0.1197, 0.1099, -0.0122, -0.253, -12.6017, 9.4564, 1.3065, 0.2027, -0.022, 0.1099] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": 0.05, "left_z": 0.04, "right_x": 0.3, "right_y": 0.0, "right_z": 0.18}, "note": "The grey plush sits between the open jaws, slightly to the arm's left; shifting to the y limit and descending onto it, while parking the right arm back home."})
tool
executing move_to over 18 steps (1.8s)
step 243
assistant
agent noteThe grey plush fills the jaw area in the left wrist view; closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0296, 1.1053, 0.2058, 0.2844, -0.2298, 0.0719, 0.9968, 0.0071, 1.0512, 0.8902, -0.6575, 0.0376, -0.1497, 0.9964] state[eef_state]: left_x=0.2973 left_y=0.0526 left_z=0.0539 left_yaw=0.1695 left_pitch=-0.0506 left_roll=0.2066 left_gripper=0.9968 right_x=0.3089 right_y=-0.0009 right_z=0.1812 right_yaw=0.0483 right_pitch=-0.2637 right_roll=-0.1234 right_gripper=0.9964 state[joint_eff]: [0.5812, -1.5521, 4.4103, 1.4383, 0.1636, -0.0562, -0.0073, -0.3214, -3.453, 6.5299, 1.5311, -0.1832, -0.0562, -0.0024] 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_gripper": 0}, "note": "The grey plush fills the jaw area in the left wrist view; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 253
assistant
agent noteThat close came up empty (0.036), so the plush is nearer the base than the fingertips; reopening and pulling back 3 cm to sit over it before retrying.
move_to
left_gripper1.0000left_x0.2700left_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]: [0.0162, 1.1042, 0.2016, 0.3199, -0.2611, 0.0658, 0.0362, 0.0055, 1.0557, 0.8886, -0.6716, 0.025, -0.1711, 0.9964] state[eef_state]: left_x=0.3005 left_y=0.0541 left_z=0.0603 left_yaw=0.1855 left_pitch=-0.0152 left_roll=0.214 left_gripper=0.0362 right_x=0.3065 right_y=0.0009 right_z=0.1768 right_yaw=0.0698 right_pitch=-0.2848 right_roll=-0.1276 right_gripper=0.9964 state[joint_eff]: [-0.294, -2.3316, 6.3521, 1.3211, 0.0659, -0.0366, 1.0085, -0.1299, -3.1111, 7.0769, 1.58, 0.0952, 0.2076, -0.0122] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_x": 0.27, "left_z": 0.05}, "note": "That close came up empty (0.036), so the plush is nearer the base than the fingertips; reopening and pulling back 3 cm to sit over it before retrying."})
tool
executing move_to over 10 steps (1.0s)
step 263
assistant
agent noteThe grey plush now sits directly in the jaw opening after pulling back 3 cm; closing again to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0116, 0.9291, 0.1093, 0.2687, -0.281, 0.0517, 0.9953, 0.0055, 1.0569, 0.8886, -0.6697, 0.0242, -0.1726, 0.9964] state[eef_state]: left_x=0.2781 left_y=0.0493 left_z=0.0599 left_yaw=0.1818 left_pitch=0.0196 left_roll=0.2068 left_gripper=0.9953 right_x=0.3069 right_y=0.001 right_z=0.1768 right_yaw=0.0713 right_pitch=-0.2841 right_roll=-0.1281 right_gripper=0.9964 state[joint_eff]: [0.2393, -1.6068, 5.4496, 1.4823, -0.1245, -0.0073, 0.0464, -0.0615, -3.0154, 7.0496, 1.4676, -0.0073, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The grey plush now sits directly in the jaw opening after pulling back 3 cm; closing again to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 273
assistant
agent noteGripper settled at 0.21 with fur between the jaws; lifting the grey plush clear of the table before carrying it to the left basket.
move_to
left_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0116, 0.9283, 0.1028, 0.2756, -0.2848, 0.0525, 0.213, 0.0055, 1.0569, 0.8886, -0.6697, 0.0216, -0.1726, 0.9964] state[eef_state]: left_x=0.2771 left_y=0.05 left_z=0.059 left_yaw=0.1846 left_pitch=0.021 left_roll=0.2092 left_gripper=0.213 right_x=0.3069 right_y=0.0015 right_z=0.1768 right_yaw=0.0737 right_pitch=-0.284 right_roll=-0.1261 right_gripper=0.9964 state[joint_eff]: [-0.0342, -1.3197, 6.7624, 1.7021, -0.0757, -0.0659, 0.7546, -0.1299, -2.906, 6.9949, 1.4335, -0.0269, -0.0708, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.28}, "note": "Gripper settled at 0.21 with fur between the jaws; lifting the grey plush clear of the table before carrying it to the left basket."})
tool
executing move_to over 15 steps (1.5s)
step 288
assistant
agent noteThe grey plush is lifted; the left basket (with the bear already in it) is forward and to the arm's right in the wrist view. Moving to the drop pose that worked before.
move_to
left_x0.5000left_y-0.0900left_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]: [-0.0116, 0.8242, 0.9333, -0.6872, -0.2844, 0.0479, 0.2154, 0.0055, 1.0588, 0.8886, -0.6697, 0.0212, -0.1722, 0.9964] state[eef_state]: left_x=0.2791 left_y=0.0499 left_z=0.2613 left_yaw=0.1866 left_pitch=-0.0062 left_roll=0.2106 left_gripper=0.2154 right_x=0.307 right_y=0.0015 right_z=0.1763 right_yaw=0.0739 right_pitch=-0.2859 right_roll=-0.1254 right_gripper=0.9964 state[joint_eff]: [-0.0479, -1.4154, 8.9915, 1.8388, -0.1538, -0.0122, 0.2369, -0.0479, -3.0701, 6.7897, 1.4432, -0.022, -0.0122, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.09, "left_z": 0.3}, "note": "The grey plush is lifted; the left basket (with the bear already in it) is forward and to the arm's right in the wrist view. Moving to the drop pose that worked before."})
tool
executing move_to over 17 steps (1.7s)
step 305
assistant
agent noteThe basket rim appears at the lower-right of the wrist view, meaning I'm slightly past it; backing off 4 cm and shifting 2 cm right to centre over the basket.
move_to
left_x0.4500left_y-0.1100left_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3729, 1.8091, 1.7969, -0.7151, -0.556, -0.1921, 0.2172, 0.0055, 1.0603, 0.8886, -0.6697, 0.0219, -0.1726, 0.9964] state[eef_state]: left_x=0.494 left_y=-0.0893 left_z=0.2793 left_yaw=0.1738 left_pitch=-0.0558 left_roll=0.2189 left_gripper=0.2172 right_x=0.3071 right_y=0.0014 right_z=0.1758 right_yaw=0.0734 right_pitch=-0.2875 right_roll=-0.1261 right_gripper=0.9964 state[joint_eff]: [-0.4855, -10.4, 8.9504, 1.536, -0.4615, 0.0464, 0.1685, -0.0889, -2.9607, 6.7624, 1.4335, -0.0317, -0.0171, -0.0122] camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.11, "left_z": 0.28}, "note": "The basket rim appears at the lower-right of the wrist view, meaning I'm slightly past it; backing off 4 cm and shifting 2 cm right to centre over the basket."})
tool
executing move_to over 4 steps (0.4s)
step 309
assistant
agent noteThe basket is directly beneath the held plush; lowering and opening to drop it into the left basket with the bear.
move_to
left_z0.2200left_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]: [-0.4683, 1.755, 1.6764, -0.7547, -0.5896, -0.2535, 0.22, 0.0055, 1.0615, 0.8886, -0.6693, 0.0216, -0.1726, 0.9964] state[eef_state]: left_x=0.4593 left_y=-0.1182 left_z=0.2517 left_yaw=0.1412 left_pitch=-0.1239 left_roll=0.2478 left_gripper=0.22 right_x=0.3073 right_y=0.0015 right_z=0.1756 right_yaw=0.0738 right_pitch=-0.2882 right_roll=-0.1258 right_gripper=0.9964 state[joint_eff]: [0.4171, -13.1077, 6.9402, 1.6093, -0.6471, -0.022, 0.2906, -0.0889, -3.0838, 6.7624, 1.5067, 0.0024, -0.0513, -0.0073] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22, "left_gripper": 1}, "note": "The basket is directly beneath the held plush; lowering and opening to drop it into the left basket with the bear."})
tool
executing move_to over 8 steps (0.8s)
step 317
assistant
agent noteGrey plush is in the left basket with the bear. Parking the left arm and moving the right arm over the remaining black pen on the right side of the table.
move_to
left_x0.3000left_y0.0000left_z0.2000right_x0.3200right_y0.1600right_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]: [-0.4725, 1.7348, 1.6714, -0.7654, -0.6144, -0.2825, 0.9953, 0.0055, 1.0615, 0.8886, -0.6693, 0.0212, -0.1726, 0.9964] state[eef_state]: left_x=0.4543 left_y=-0.1138 left_z=0.2589 left_yaw=0.1701 left_pitch=-0.1056 left_roll=0.2372 left_gripper=0.9953 right_x=0.3073 right_y=0.0015 right_z=0.1756 right_yaw=0.0741 right_pitch=-0.2882 right_roll=-0.1255 right_gripper=0.9964 state[joint_eff]: [-0.2256, -12.2325, 6.5162, 1.5311, -0.4908, 0.0171, -0.0659, -0.0615, -2.947, 6.7897, 1.4481, -0.0073, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.2, "right_x": 0.32, "right_y": 0.16, "right_z": 0.12}, "note": "Grey plush is in the left basket with the bear. Parking the left arm and moving the right arm over the remaining black pen on the right side of the table."})
tool
executing move_to over 14 steps (1.4s)
step 331
assistant
agent noteThe black pen is centred on the jaw column in the right wrist view; descending to table level just behind its tip to straddle the barrel.
move_to
right_x0.2950right_y0.1520right_z0.0150
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]: [-0.3019, 1.0061, 0.8497, -0.6052, -0.5072, -0.1627, 0.9967, 0.6453, 1.3903, 0.8745, -0.4923, 0.3985, 0.3035, 0.9964] state[eef_state]: left_x=0.306 left_y=-0.0017 left_z=0.2013 left_yaw=0.1926 left_pitch=-0.1057 left_roll=0.2309 left_gripper=0.9967 right_x=0.3104 right_y=0.1523 right_z=0.1062 right_yaw=0.1082 right_pitch=-0.3437 right_roll=-0.154 right_gripper=0.9964 state[joint_eff]: [0.2256, -2.4684, 6.9812, 1.6435, -0.0611, 0.1832, 0.1392, 0.3077, -5.6547, 9.4154, 1.2332, 0.3443, 0.1978, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.295, "right_y": 0.152, "right_z": 0.015}, "note": "The black pen is centred on the jaw column in the right wrist view; descending to table level just behind its tip to straddle the barrel."})
tool
executing move_to over 6 steps (0.6s)
step 337
assistant
agent noteThe black pen lies right between the open jaws at table level; closing on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3031, 1.0134, 0.8265, -0.6125, -0.4969, -0.1574, 0.9968, 0.6735, 1.5246, 0.614, -0.1608, 0.4088, 0.3252, 0.9964] state[eef_state]: left_x=0.3024 left_y=-0.0026 left_z=0.188 left_yaw=0.1828 left_pitch=-0.1431 left_roll=0.2465 left_gripper=0.9968 right_x=0.289 right_y=0.1454 right_z=0.0153 right_yaw=0.1032 right_pitch=-0.391 right_roll=-0.1837 right_gripper=0.9964 state[joint_eff]: [0.1299, -2.8239, 8.6359, 1.5165, -0.3248, -0.1099, 0.0024, 0.6632, -5.5043, 5.3402, 1.0379, 0.2173, 0.0513, -0.0171] camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The black pen lies right between the open jaws at table level; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 347
assistant
agent notePen grasped (gripper 0.12). Carrying it forward over the right basket, to the same drop pose that worked for the first pen.
move_to
right_x0.4600right_y0.2100right_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]: [-0.3031, 1.0138, 0.8261, -0.6125, -0.4965, -0.1566, 0.9968, 0.6739, 1.5307, 0.5991, -0.1452, 0.408, 0.3187, 0.1241] state[eef_state]: left_x=0.3024 left_y=-0.0026 left_z=0.1878 left_yaw=0.1821 left_pitch=-0.144 left_roll=0.2472 left_gripper=0.9968 right_x=0.2867 right_y=0.1439 right_z=0.0106 right_yaw=0.1067 right_pitch=-0.3965 right_roll=-0.1903 right_gripper=0.1241 state[joint_eff]: [-0.212, -2.3726, 6.8444, 1.4579, -0.2711, 0.0073, -0.0122, -0.1299, -5.7778, 6.735, 0.9304, 0.1978, 0.0122, 1.0037] camera 'top_cam' (step 347): [image omitted: streamed camera frame] camera 'left_cam' (step 347): [image omitted: streamed camera frame] camera 'right_cam' (step 347): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.21, "right_z": 0.22}, "note": "Pen grasped (gripper 0.12). Carrying it forward over the right basket, to the same drop pose that worked for the first pen."})
tool
executing move_to over 14 steps (1.4s)
step 361
assistant
agent noteThe first pen is visible inside the right basket and the held black pen is over the opening; lowering and releasing to drop it in.
move_to
right_z0.1700right_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]: [-0.3035, 1.0157, 0.8242, -0.6128, -0.4961, -0.157, 0.9968, 0.5465, 2.0224, 2.0277, -0.992, 0.3347, 0.1902, 0.1269] state[eef_state]: left_x=0.3022 left_y=-0.0028 left_z=0.1864 left_yaw=0.1819 left_pitch=-0.1478 left_roll=0.2487 left_gripper=0.9968 right_x=0.4645 right_y=0.2188 right_z=0.2133 right_yaw=0.1282 right_pitch=-0.359 right_roll=-0.1672 right_gripper=0.1269 state[joint_eff]: [-0.1709, -2.5504, 6.9538, 1.4481, -0.2808, -0.0659, -0.0122, -0.6496, -11.412, 7.4051, 0.3736, 0.1978, 0.0171, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 361): [image omitted: streamed camera frame] camera 'left_cam' (step 361): [image omitted: streamed camera frame] camera 'right_cam' (step 361): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17, "right_gripper": 1}, "note": "The first pen is visible inside the right basket and the held black pen is over the opening; lowering and releasing to drop it in."})
tool
executing move_to over 9 steps (0.9s)
step 370
assistant
agent noteBoth pens are now in the right basket. A yellow highlighter lies just below the left gripper; descending onto it to pick it up next.
move_to
left_x0.2800left_y-0.0200left_z0.0200left_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]: [-0.3035, 1.0176, 0.8242, -0.6128, -0.4934, -0.157, 0.9968, 0.543, 2.0247, 1.8198, -0.8307, 0.3283, 0.1802, 0.9963] state[eef_state]: left_x=0.3024 left_y=-0.0032 left_z=0.1857 left_yaw=0.18 left_pitch=-0.1504 left_roll=0.2478 left_gripper=0.9968 right_x=0.4632 right_y=0.2173 right_z=0.1542 right_yaw=0.1279 right_pitch=-0.4069 right_roll=-0.1894 right_gripper=0.9963 state[joint_eff]: [-0.2667, -2.5778, 6.8034, 1.4286, -0.2955, -0.0708, -0.0122, 0.1709, -13.6957, 6.5846, 1.3114, 0.2466, 0.0855, -0.105] camera 'top_cam' (step 370): [image omitted: streamed camera frame] camera 'left_cam' (step 370): [image omitted: streamed camera frame] camera 'right_cam' (step 370): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.28, "left_y": -0.02, "left_z": 0.02, "left_pitch": 0}, "note": "Both pens are now in the right basket. A yellow highlighter lies just below the left gripper; descending onto it to pick it up next."})
tool
executing move_to over 11 steps (1.1s)
step 381
assistant
agent noteThe yellow Sharpie sits ~2.5 cm to the arm's right of the jaw column; shifting right to centre on it before closing.
move_to
left_y-0.0420
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]: [-0.4885, 1.3201, 0.1505, 0.3489, -0.6674, -0.2405, 0.9968, 0.5426, 2.0247, 1.8088, -0.82, 0.3279, 0.1787, 0.9969] state[eef_state]: left_x=0.2718 left_y=-0.0166 left_z=0.013 left_yaw=0.171 left_pitch=-0.0817 left_roll=0.297 left_gripper=0.9968 right_x=0.4633 right_y=0.2171 right_z=0.1514 right_yaw=0.1286 right_pitch=-0.4075 right_roll=-0.1902 right_gripper=0.9969 state[joint_eff]: [-0.2393, -3.9726, 3.9863, 1.2039, -0.442, -0.0024, -0.0122, -0.3487, -11.2068, 7.5829, 1.1502, 0.1587, -0.0269, 0.0513] camera 'top_cam' (step 381): [image omitted: streamed camera frame] camera 'left_cam' (step 381): [image omitted: streamed camera frame] camera 'right_cam' (step 381): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.042}, "note": "The yellow Sharpie sits ~2.5 cm to the arm's right of the jaw column; shifting right to centre on it before closing."})
tool
executing move_to over 3 steps (0.3s)
step 384
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]: [-0.6086, 1.3769, 0.1959, 0.337, -0.7212, -0.3248, 0.9968, 0.5426, 2.0247, 1.8088, -0.8207, 0.3275, 0.1787, 0.997] state[eef_state]: left_x=0.2759 left_y=-0.0457 left_z=0.0158 left_yaw=0.1333 left_pitch=-0.0608 left_roll=0.2742 left_gripper=0.9968 right_x=0.4631 right_y=0.2171 right_z=0.1512 right_yaw=0.1288 right_pitch=-0.4083 right_roll=-0.1902 right_gripper=0.997 state[joint_eff]: [-0.0889, -2.6462, 5.4769, 1.2772, -0.4664, -0.0708, -0.0122, -0.3487, -11.1521, 6.5436, 1.1453, 0.1148, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 384): [image omitted: streamed camera frame] camera 'left_cam' (step 384): [image omitted: streamed camera frame] camera 'right_cam' (step 384): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 16.6 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3798, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0128, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0013 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.4701, 9.388, 1.7558, -0.0366, 0.2173, -0.0562, -0.759, -1.3197, 9.7846, 1.7314, -0.1343, 0.0415, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86bd2a61038a18d27e108f065f422dd28960fcced7f73c91f1ae125396b26ab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbeed53aea2d3c5863f5e4fa5ddd71d3544b314791af3d76fda9ae26ab201379",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a9f94c3ce152ff53f8f8c51f9d9bd29d24abd29709ca714d00ef16f0269902a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 7.824 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3798, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0128, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0013 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.4701, 9.388, 1.7558, -0.0366, 0.2173, -0.0562, -0.759, -1.3197, 9.7846, 1.7314, -0.1343, 0.0415, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86bd2a61038a18d27e108f065f422dd28960fcced7f73c91f1ae125396b26ab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbeed53aea2d3c5863f5e4fa5ddd71d3544b314791af3d76fda9ae26ab201379",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9f94c3ce152ff53f8f8c51f9d9bd29d24abd29709ca714d00ef16f0269902a2",
        "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_01FYGFGGAbdcTWbEwa1oshRr",
      "input": {
        "note": "Top view shows two teal baskets at the back and, in front of them, a cluster of light plush toys plus several thin pen/marker-like sticks. I'll move the left arm over the plush cluster near the table centre to line up a grasp.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.34,
          "left_y": -0.3,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 27 steps (2.7s)",
      "tool_use_id": "toolu_01FYGFGGAbdcTWbEwa1oshRr",
      "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]: [-1.0126, 1.7462, 1.2259, -0.3771, -0.7872, -0.7353, 0.9996, -0.0154, 0.7986, 0.6086, -0.3824, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3369 left_y=-0.2965 left_z=0.1501 left_yaw=-0.0098 left_pitch=-0.0234 left_roll=0.0082 left_gripper=0.9996 right_x=0.2953 right_y=0.0011 right_z=0.1803 right_yaw=-0.0004 right_pitch=-0.0126 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -8.759, 8.6085, 1.1893, -0.5006, -0.0611, -0.0562, -0.3897, -0.8684, 7.3231, 1.8584, -0.0708, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d83383c31306ad86fbd8a03660109bdc1503bbc4ee8a8e32152ed34caacd42a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a4a2f23887f2067d7971720e3f4b8d5e5c9f114932754cc35bf59d7ba95e7b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:350a37ff1e6ba0a0b149ac41a50d62e18b3824bbf9fe60e58feaaa65689711ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 11.16 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3798, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0128, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0013 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.4701, 9.388, 1.7558, -0.0366, 0.2173, -0.0562, -0.759, -1.3197, 9.7846, 1.7314, -0.1343, 0.0415, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0126, 1.7462, 1.2259, -0.3771, -0.7872, -0.7353, 0.9996, -0.0154, 0.7986, 0.6086, -0.3824, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3369 left_y=-0.2965 left_z=0.1501 left_yaw=-0.0098 left_pitch=-0.0234 left_roll=0.0082 left_gripper=0.9996 right_x=0.2953 right_y=0.0011 right_z=0.1803 right_yaw=-0.0004 right_pitch=-0.0126 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -8.759, 8.6085, 1.1893, -0.5006, -0.0611, -0.0562, -0.3897, -0.8684, 7.3231, 1.8584, -0.0708, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d83383c31306ad86fbd8a03660109bdc1503bbc4ee8a8e32152ed34caacd42a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a4a2f23887f2067d7971720e3f4b8d5e5c9f114932754cc35bf59d7ba95e7b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:350a37ff1e6ba0a0b149ac41a50d62e18b3824bbf9fe60e58feaaa65689711ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6wgKjgEIEhgCKkAxg35M1oRc0D566HPr1ydc/wJPHiLgaEoHlCSWsTIzLbs22SykEKGPbnRhfOdUrIsYXeHntd0Kcc87a25yRTbkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfvczNUGEgzOfWCNjN883KrS/nwaDG2TSgzG2G7pfAu7WyIwTBveZwdTMG7ulYETpqOdYlyvBY0N4eReTUNaaHMmpDxdPV958CoLxYr/c0WfoRCoKokHfohB2FQsGjUxUuHLU76hdcKBjrHybPMQtXE/Bq5Q8vMYDQxMT3apN9BXvjkvy90emkY0m/t46MfOvfj9j7xVoddHzp4uhlswrnghUpj7wk9XnuhZjRsZM8j4MWnvB4xUhE31mhj1unfwKYHMaP+B6MDhvQIeW/BZJOWXatowmcdaIvPAd6+GmKX5WgdDsDCuhu2I2O5I1UdtEi3ZvBzbxyt/S3bhXJTFmvQq4Wff2Ogazzrhd5fh8cTh9txpsSHeIbQSJKrrj+k98/W03zguFxfz976Iv+AyMonWoXe2HcOkkhFEFNOTQlKFRFa/Ixgg5GkZzUz0284NS8JowVE0OQ4k9mKSBw/Q6nujZrHX+CqOZ6F8aBhmFnn5+qR3eGaobO9l2Ytt03Jze8jYhyUb8W1Gjvgi6q70VsgyO20Haw+EN3e5zEjhoxrsf7gDzHP/GafL9xLf0xuOE58OgHxCa1JEvisZ/5MQu5aWu7pR1nOnJogsy9lobheLvJisSdlPp2QrLLTwWDNwW4FangDDOJYjY5xxFU/Fj6M9wCVJSSln1XeY5I69kn97Vz7b6+nNsfV09xrXRq38kkq5d75xqPtRKjcBVkYTauMNeaMkIssQ2WGKVh3ELLMVwpXEyYxORky80gMDnFeG1t/6SgZ7prXjHfC9ifBObPuAbTYjr1NdcSZ+qEYJz9/G/FC4u+b8a6krz6kP/8y813drU+xLeEEf2viWjhVuTC2yPX9y3BOaKqgWdDPpWM+9OWl5fzdIreEKXOjR03bZeVylE2X62HaAmiwvv6laxW5y6ykZdcWfOQSwCb7Jitiko1lphy5ax6dxTqTLCgSGVK96gJDWX3u72lb7skYBsQMMZAHfhwqOcERHcwEcbABm3FSC+ldDiZdWZKFkuH9/CXIEhAX1b7zHNCMCjh1gUYtECpc6WVyNEBFioioK6E28H0jEKFG25M4iMVRGbcw+z8P6GDNbhmfsrqKec7Hn1uisldLzfLTcAONpeGNMseyVLBsmJ59g4cGoNkKdi6QPGzU+ogY2J4aHac4dQAqP6NcrTNDUa2f9VyP8qnCQyZIe7UEgY7hWy/C27vW0AtcsIoSHuS354ujYFCWZRepWUY1ixUAu/4tMS7cBb2Q1PyIVSoY6izigg2QVU6+sgBTr3Cir6sQsAGot7dzluEYCJ79kcEmyDsS45q4UZBVZIxMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SoE5d5LFJwQUE1wDBupye6",
      "input": {
        "note": "Wrist view shows a teddy-bear head just left of the jaw column and very close to the fingertips. Shifting slightly left and pulling back a touch while descending to line up its head/body for a grasp.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.275,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01SoE5d5LFJwQUE1wDBupye6",
      "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]: [-1.018, 1.7176, 1.0317, -0.2661, -0.7868, -0.7464, 0.9995, -0.0154, 0.7986, 0.6086, -0.3847, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3191 left_y=-0.2722 left_z=0.1059 left_yaw=-0.0078 left_pitch=-0.0526 left_roll=0.045 left_gripper=0.9995 right_x=0.295 right_y=0.0011 right_z=0.1798 right_yaw=-0.0008 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -10.3726, 6.2564, 1.4042, -0.4518, -0.0415, -0.0171, -0.212, -1.2513, 7.0906, 1.8144, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1a0e3e8d27d6de3f79b9f98448e043765774b15a48e2f27e31e75ca1d973a6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffbe037d63730a0d37b3b82dd8bef7aa99d048c176f773746c12edf7df1b41b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:413a5055d325501d138d30a7989e04d9f99e9d7b3dcbb933f1d64fcb192dd04a",
        "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 · 5.142 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3798, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0128, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0013 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.4701, 9.388, 1.7558, -0.0366, 0.2173, -0.0562, -0.759, -1.3197, 9.7846, 1.7314, -0.1343, 0.0415, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0126, 1.7462, 1.2259, -0.3771, -0.7872, -0.7353, 0.9996, -0.0154, 0.7986, 0.6086, -0.3824, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3369 left_y=-0.2965 left_z=0.1501 left_yaw=-0.0098 left_pitch=-0.0234 left_roll=0.0082 left_gripper=0.9996 right_x=0.2953 right_y=0.0011 right_z=0.1803 right_yaw=-0.0004 right_pitch=-0.0126 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -8.759, 8.6085, 1.1893, -0.5006, -0.0611, -0.0562, -0.3897, -0.8684, 7.3231, 1.8584, -0.0708, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.018, 1.7176, 1.0317, -0.2661, -0.7868, -0.7464, 0.9995, -0.0154, 0.7986, 0.6086, -0.3847, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3191 left_y=-0.2722 left_z=0.1059 left_yaw=-0.0078 left_pitch=-0.0526 left_roll=0.045 left_gripper=0.9995 right_x=0.295 right_y=0.0011 right_z=0.1798 right_yaw=-0.0008 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -10.3726, 6.2564, 1.4042, -0.4518, -0.0415, -0.0171, -0.212, -1.2513, 7.0906, 1.8144, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1a0e3e8d27d6de3f79b9f98448e043765774b15a48e2f27e31e75ca1d973a6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffbe037d63730a0d37b3b82dd8bef7aa99d048c176f773746c12edf7df1b41b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:413a5055d325501d138d30a7989e04d9f99e9d7b3dcbb933f1d64fcb192dd04a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxQkKjgEIEhgCKkDf1bEg40nfxaECJAxvmX2PS9kMa8w+0XYTV06GLDtH7AF4bafT++WpVuaIouiLLVwo6IRDjIjJELUl4IzyOPL+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYfdzNUGEgy1iWCje/EKiuedMmsaDHoWy6RW9H1ioAieJCIwK/9bTjCvHWNGx4KUhwMD3azD24sReajS1lg8u5lUj9huM5hXvTk5zEZ7t+SBGJNgKuMH6XhNML6PzXPE/uZklo/AlmtYvR8vssRfmwjh3XP3oxOMir9Dg4NjyuogZDVLXtnkWoSuLfid/UqvfEHOEYtmD2Droa/KqWM052a8h7YmnswSvbfDlN685id82n3CFyb0UUnRERAJMflMDD7EARgxo5GSMncyx+R7XKezF4SIURhsinK9s6FlfECJCd+53YdbHFPg2vT05SgUqb0AlhOXCnXO1Tre3VgNn1RS4CY6eWszYfFxtmOHeBeCHOdqJdScmOjpz/xmyhyGButKcw7AKlOIBLCwmX8tSRipiH2pGh3NA6cYXxc5Nkqf3yw4vkPGZ2+37BJ61mCRT6DMlsn3KHrm4WTpgMcNQIWOUgAWIxmovwpdSwF40T6i4rNxFPEuel8IJcP8mZGffJi3Yhr6BuyfdHIVAJVeYuQWmbgvFZTvRWIWQaxDM8tXBPEKUfhJT+x+h4RYHot3u7elrWklV4L8XG+iKLraEVBZjASUa9Oxl1WWDI8383ncdpxMXvtJJfrerEdG5Ku03ZAh2dKSDYpM35bimOL2qTFsKzSqw6hQXx1rH3hOC1OFZTY7WrIhAl0HOsS3bvGdIp1s/Ormio2ees2DumPwcNRbCREroUT8myBexrTCRbZTsybPrxeM/0pCS8vzlKLV+tqTyQQnMLAJf2FNBvZKGYXIPzPUXBB4AMh6xoAZR0VYM4FKhxFnyL9w3KuFo8gFwwtUpMZsfijMtVZ33oDipuEUP01VnoEIHpsPmC1mZdzzI8X1Tbi2kwaJmZ/TFlN+kOr93ZzAO5SGRHg30FGE2Jvl2VYrkg60PLD2YDxLQ8VJ9iYrmaDrRswTFqrZ1uL+D8TmXw7s4bU6jxgQnQWsQsXk3vyVJkokV25kTSB1e+mRNW1w+ned0Lf6sF6IppYiiS2oh845UMHKDMZYxHrbZwbEASin9BAZooGIx5QFtMXKbANzOUiUOoSPAAgX2xgR438yYLR04UfUBRMiL7uH6KK/2NfojAtJSvSNkwUDhAJvB236yfKb8shFcdtJNYKL74W5N3mctyBF8I4mE9PVRiL64pJRU4cG4fhH6lCgGqudHwOp8W96ZxB+tf8E+dTLzqmlwZBS8weD03r5608fSIwXaxZCrkN0f+IThQT0cmfsxGhXMvqCMZjXRwxICDk3MRGlqofB3LX+58dUES8gkON9m+Fe+1cbUt+n2qwf/UleGTRfnkYwbxCWrf+9yYLSJhR+5cU2K028sLsvqbvk/5wJYiUU3/yizhLHxjoS8FXqJEQCUiv6mlCw51MlAbqXiIvswf8G4yxtiUkg9/UKJiHGXw/GnU1RtDkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MTCyymknoQcbnWbJq5bUWm",
      "input": {
        "note": "The bear still sits left of the jaw column in the wrist view; shifting ~3 cm to the arm's left and descending toward the toy.",
        "targets": {
          "left_y": -0.245,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01MTCyymknoQcbnWbJq5bUWm",
      "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]: [-0.9707, 1.7302, 0.8291, 0.0498, -0.783, -0.7029, 0.9996, -0.0151, 0.7986, 0.6086, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3259 left_y=-0.2493 left_z=0.0711 left_yaw=0.0117 left_pitch=-0.0011 left_roll=-0.005 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=-0.0001 right_pitch=-0.0149 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.1624, 4.2735, 1.1941, -0.1099, 0.0513, -0.0073, -0.2256, -0.9778, 7.1043, 1.7265, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7b01395fb99bb4e41b22e343decbc7d04cf785f79990e317a373a6eb79c419b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b9f760ad7e731aea209cea251459489adaf91bd5da2d43bd319009b0ec23f24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee917f9fb6a670d0953149d615782a0e5d27cfe4cb1565df217d04c871a9653f",
        "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 · 6.012 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0126, 1.7462, 1.2259, -0.3771, -0.7872, -0.7353, 0.9996, -0.0154, 0.7986, 0.6086, -0.3824, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3369 left_y=-0.2965 left_z=0.1501 left_yaw=-0.0098 left_pitch=-0.0234 left_roll=0.0082 left_gripper=0.9996 right_x=0.2953 right_y=0.0011 right_z=0.1803 right_yaw=-0.0004 right_pitch=-0.0126 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -8.759, 8.6085, 1.1893, -0.5006, -0.0611, -0.0562, -0.3897, -0.8684, 7.3231, 1.8584, -0.0708, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.018, 1.7176, 1.0317, -0.2661, -0.7868, -0.7464, 0.9995, -0.0154, 0.7986, 0.6086, -0.3847, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3191 left_y=-0.2722 left_z=0.1059 left_yaw=-0.0078 left_pitch=-0.0526 left_roll=0.045 left_gripper=0.9995 right_x=0.295 right_y=0.0011 right_z=0.1798 right_yaw=-0.0008 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -10.3726, 6.2564, 1.4042, -0.4518, -0.0415, -0.0171, -0.212, -1.2513, 7.0906, 1.8144, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9707, 1.7302, 0.8291, 0.0498, -0.783, -0.7029, 0.9996, -0.0151, 0.7986, 0.6086, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3259 left_y=-0.2493 left_z=0.0711 left_yaw=0.0117 left_pitch=-0.0011 left_roll=-0.005 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=-0.0001 right_pitch=-0.0149 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.1624, 4.2735, 1.1941, -0.1099, 0.0513, -0.0073, -0.2256, -0.9778, 7.1043, 1.7265, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7b01395fb99bb4e41b22e343decbc7d04cf785f79990e317a373a6eb79c419b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b9f760ad7e731aea209cea251459489adaf91bd5da2d43bd319009b0ec23f24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee917f9fb6a670d0953149d615782a0e5d27cfe4cb1565df217d04c871a9653f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3wMKjgEIEhgCKkB67ZZUheXGYFZ8tXQ+hT2Y+GHXEKua64+vM62nl1hy9DZlyo8JdbZGMUxHAfZY8SKFkzvKox0X7dDHbUdaemPyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY7dzNUGEgx3fYGQDgrIf6zcb84aDDWR40lfQaDkSs86iSIwh/+NatBkm0Hv2POld/2DjDyCdVQ1Wdx8Pm6mnpoTKAE+T/jzVNd0QmJRpCDQVUsTKv0B88T07ZPAG+NlqyXLXsTSO0cu/RoACS21mFpIwTIvpv158HkLwC1r7Bto0yh7Qc7fm2lk6S4F+xJxl2oLqYi8FDakg2+IqTVddBQ8XAJjC8M61dtIsB5mA85OwRvCFv5ARnxxzgu4O+wgAtwdqecy8PQ5mdVZ2S4vVkgw0iUNEa3sZVreRJC641zqjWRU3l3K6UiBHsEPDf1jBtAKeIx1FBeiKloXd4Mx4NFn+UnSOIJRewm/0XerxAUP3G9Uop1+haoGUqtq9/KW7CSomhHgeDL4XGlxc3nMXDqmDhH3lpDiuOM6PWge/Q2xXTGoxncyG7ZlhErOKTJvOafshxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WWVPJur9DS8SdHXJ7K7zX3",
      "input": {
        "note": "Bear head is now nearly under the jaws, just slightly left; nudging 2 cm further and lowering onto the toy.",
        "targets": {
          "left_y": -0.225,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WWVPJur9DS8SdHXJ7K7zX3",
      "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]: [-0.9565, 1.7298, 0.8001, 0.1253, -0.7868, -0.6888, 0.9996, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3309 left_y=-0.2459 left_z=0.072 left_yaw=0.0214 left_pitch=0.0275 left_roll=-0.0303 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=-0.0001 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.2137, 4.0137, 1.3162, -0.2125, -0.0415, -0.0171, 0.0342, -1.265, 7.0632, 1.6972, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:880327c1699db6e2749a4184be305178449a410de8adab38ce2c0ba80865ccca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcad26b1b43d4dc5a762c31975abb42a45e6d25040250b81eded5f641b96b42a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8fbedc58367d3a16283cc2960713e26bdb36980724aab151dfe0e4702cef5920",
        "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 · 7.89 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]: [-1.018, 1.7176, 1.0317, -0.2661, -0.7868, -0.7464, 0.9995, -0.0154, 0.7986, 0.6086, -0.3847, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3191 left_y=-0.2722 left_z=0.1059 left_yaw=-0.0078 left_pitch=-0.0526 left_roll=0.045 left_gripper=0.9995 right_x=0.295 right_y=0.0011 right_z=0.1798 right_yaw=-0.0008 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -10.3726, 6.2564, 1.4042, -0.4518, -0.0415, -0.0171, -0.212, -1.2513, 7.0906, 1.8144, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9707, 1.7302, 0.8291, 0.0498, -0.783, -0.7029, 0.9996, -0.0151, 0.7986, 0.6086, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3259 left_y=-0.2493 left_z=0.0711 left_yaw=0.0117 left_pitch=-0.0011 left_roll=-0.005 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=-0.0001 right_pitch=-0.0149 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.1624, 4.2735, 1.1941, -0.1099, 0.0513, -0.0073, -0.2256, -0.9778, 7.1043, 1.7265, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9565, 1.7298, 0.8001, 0.1253, -0.7868, -0.6888, 0.9996, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3309 left_y=-0.2459 left_z=0.072 left_yaw=0.0214 left_pitch=0.0275 left_roll=-0.0303 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=-0.0001 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.2137, 4.0137, 1.3162, -0.2125, -0.0415, -0.0171, 0.0342, -1.265, 7.0632, 1.6972, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:880327c1699db6e2749a4184be305178449a410de8adab38ce2c0ba80865ccca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcad26b1b43d4dc5a762c31975abb42a45e6d25040250b81eded5f641b96b42a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fbedc58367d3a16283cc2960713e26bdb36980724aab151dfe0e4702cef5920",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7AUKjgEIEhgCKkDkzu1MNn3WHQjoWha5fEqjemD69CU2rMGBHDpj7EZaXzc5tWC49ajwtjtXlktSH/y/vTQk+v8jiXnabaSihDo7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZXdzNUGEgzeuVHgqP5FeALa0HwaDK/+rSkWw02mlo+HPCIwy7Jj1DfhBUPdhhVxOrUA+vXCmqIVGwzTElHz6p+sIfXunYNlGOpHGRsuUQTLq+P0KooEVd9ob5R61UPXauikiR/gvc/W8moB5/MEqA7KRq82tV4/dWsoVqoxBJLw0YQTjs0hS2spNH2QG/02gWXfQFlyZJ3ZSlG/ZYyTza8WuDl5ZgLNjbe3NByqGh6f3ijLlKzJa4YCRiI37w3kTyWnr9xw6ld89xuc3Em8v/GhJc3vrlADDJCXHonqvgASB1c506ItTAuU4AmzMrPAsrtxoXEIscr6FUTml7C/tWVbQ3/c8QuSKDVPZr8iGgpgWormij2u84VCJKRm2UWViEg7LdWbo6n6aluG9yg1U/E8ZOGoFPD5Y+7rm6rTapc5nGlax6TvNPvjIOFLqNC31rTQrL6ACd8blhW8355zGu8ErHWykWOtFO0XgaPhBojBLPPz9yUaCr0F6QchZmRyzkaJXVJ8ZlqVEw/7Pv/+yIVJN2jbw78adHCnjyFgwtCtYdUWsPMVBzbV5zjtLN5+l0XKUiwzq8H+9K80+cwDBdebR5MIHyW0/wAKehbO5uuVqqFRd8Fb+RDpUyeW85FxCGtJV4YzJoVDycrw9sQkkAYc1t85GcDwBN0LQwamJn/mzEcf2bifU85y6fI/VA1kOe9rLQhM2OwhVQBAs9XhcQaPt+hcCUz3oHbDHFtc0TLFj/CTsHTJkcISeLwEpOCwySXUWUy5raw/Ln66yfvZUaQBuSfQRHRcYjHlMLK/Vv4tGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q7BWjbGpbFjKnZGT165DZp",
      "input": {
        "note": "The arm has stopped descending (likely in contact with the plush toy) and the bear's head fills the jaw area in the wrist view; closing the gripper on it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Q7BWjbGpbFjKnZGT165DZp",
      "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]: [-0.9565, 1.7298, 0.799, 0.1291, -0.7872, -0.6884, 0.2083, -0.0151, 0.7986, 0.6086, -0.3847, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.331 left_y=-0.246 left_z=0.0722 left_yaw=0.0215 left_pitch=0.0292 left_roll=-0.0321 left_gripper=0.2083 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -7.6103, 5.641, 1.3504, -0.3687, -0.022, 0.9792, -0.0342, -1.2923, 7.0222, 1.7216, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7bcd9dd6cdb5294e543862968256fb32f749010958b3bc23cf7e4865defbfaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d5c97d756b91e6f9629187c8cce200e1ad351e2750842e709f0bf7ed274c360",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db80cecb0b56a56c45be83da7eaa8d5e6f050ca743aa6e6c7d7b0fb4da5d8eff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 12.97 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9707, 1.7302, 0.8291, 0.0498, -0.783, -0.7029, 0.9996, -0.0151, 0.7986, 0.6086, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3259 left_y=-0.2493 left_z=0.0711 left_yaw=0.0117 left_pitch=-0.0011 left_roll=-0.005 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=-0.0001 right_pitch=-0.0149 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -5.1624, 4.2735, 1.1941, -0.1099, 0.0513, -0.0073, -0.2256, -0.9778, 7.1043, 1.7265, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9565, 1.7298, 0.8001, 0.1253, -0.7868, -0.6888, 0.9996, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3309 left_y=-0.2459 left_z=0.072 left_yaw=0.0214 left_pitch=0.0275 left_roll=-0.0303 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=-0.0001 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.2137, 4.0137, 1.3162, -0.2125, -0.0415, -0.0171, 0.0342, -1.265, 7.0632, 1.6972, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9565, 1.7298, 0.799, 0.1291, -0.7872, -0.6884, 0.2083, -0.0151, 0.7986, 0.6086, -0.3847, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.331 left_y=-0.246 left_z=0.0722 left_yaw=0.0215 left_pitch=0.0292 left_roll=-0.0321 left_gripper=0.2083 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -7.6103, 5.641, 1.3504, -0.3687, -0.022, 0.9792, -0.0342, -1.2923, 7.0222, 1.7216, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7bcd9dd6cdb5294e543862968256fb32f749010958b3bc23cf7e4865defbfaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d5c97d756b91e6f9629187c8cce200e1ad351e2750842e709f0bf7ed274c360",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db80cecb0b56a56c45be83da7eaa8d5e6f050ca743aa6e6c7d7b0fb4da5d8eff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnQgKjgEIEhgCKkD+yTZ7sAA1Pcjec/iUlR8SnymhH37ljCFVgpgKXXVpkhrsbqQzHvmELG14D1r64EBxzO5dVBeWE5/g45g4T2Z9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ3dzNUGEgyC5CnZG/gADiYeznkaDI+MRzAx0+8uFbFqdCIwxhgvbVzOInbeKC1i/yXsAj5URbqPTlgIy1PHJS+G11FxVxMUtiVfCp9nJFdl04LTKrsGrmxIrph2DG2kNDi1ibkJo+s5Ki6QGuZxtXVnd32sZYsVhlnZoIBtbSCcQDkcwHJGh8z9S/wlkyfip/lBXphiY2o7GrpKm/HKypxS2OZhvcNWftWyYBb/KzOYElQFobk4LJT5MJehBWbXIY5uwgVDIunITwxRNB98NN4pEh1REx4o7uqHDMZDskRkHmRhLUzZ28qyYzG8bcVNUNSpNFBbGHa/9za+7LQ0euS75MQlrRG+HFu+sw0JKL7bPU36SEl4rK8WN3fkOl7PSX+73FJx9p2RHxgHb67nYfpnZVueoYxmybXbA5rfrvkNzZAlGgexrQaRYUQHRSaVvfxxS2ARzSCgV38WY5/5MYdxI6Viu2nUIHmWc60AL1Ub2IWuhaK5zP5K/voFFCdvmhkf/np1ntg49jP8eqcTmjchB26QN3wAIFfA4rZ5rQ5nJdhwkn8SvC8lCxsduS/MbJvTerHZRBftVujWt3SrDYP3dS1vh4IrOQZPClS70I0V17IZpbvngf1GIsM0zzAPu0nloXh31PCqdkDCXR4bod4S9HDmRRr4/ArGcfNy68u/5vWsFNfAEMpe70814SMB2yLukOX9z25kdXMq3xX32iUtnug+Ni/le7rLOscNV4Ficwwe2T7246+xjBM5cj/1HwFZJXcT6l0wAjx7rMIStZXCOX9jarKmMEqZaTYTGsp7jHd4k7ZDCfC1XTRKeFjM0T4+wjH99Jl3RX3u6FTZegPzwXCIazxpaH1xZMZN7iu+1EQkKDdLmy0kFbr5KgD1KsCdJoqFyp3ElgLpkb9z3KmgBqaPpWrd0bwNczl0X1l6qOTobT9O0JFivcwHY7W/nVmctFb6oR4q6GvxNNcxardu4WgQ/ipzBrKGY7vGBG08xLmhk2RjFeOsAgOHz9Z72jgfGlIIgs3j+uMjN9X76240T5CpfRbowxgZYYSSZo90gfzD4kYlWRr7py+Fa0S15k8Gw5p7Xo+AegtDbQFWcuy8rdHGATYD8o3z32wFQnvrPMt7QuS9fxpdSPvVUC/DNzNb6DmOHT0UPFN86U+0ELLjBkZYlhDw6u/uMBRurElIvwWjkip7ii4fKEKx+1L/IcEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PUeDTFM1qSi8LYCEfmHCqN",
      "input": {
        "note": "Gripper settled at 0.21, so it has hold of the plush toy. Lifting 18 cm to confirm the toy came with it and to see the baskets in the top view.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01PUeDTFM1qSi8LYCEfmHCqN",
      "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]: [-0.9569, 1.5368, 1.2984, -0.6041, -0.7788, -0.7002, 0.2109, -0.0154, 0.7986, 0.6086, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3311 left_y=-0.2482 left_z=0.2303 left_yaw=0.0212 left_pitch=0.0012 left_roll=-0.0117 left_gripper=0.2109 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0149 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.0872, 9.1829, 1.2088, -0.4518, 0.0904, 0.2564, -0.1983, -1.0598, 7.0632, 1.7705, -0.0171, -0.0806, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:655e6f55a00515dfd6ab52c3faa3e2b4d11eac05f802e915a73fe436a42705eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:224f30e3abdba18fb48af4cef9ff066225de6c63e875b11c02d349583b7cfa51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8459dfcfea331d14b63bc04b8fb572137e3a00fe60e91b07262559973d9a9d69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 6.031 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9565, 1.7298, 0.8001, 0.1253, -0.7868, -0.6888, 0.9996, -0.0151, 0.7986, 0.6086, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3309 left_y=-0.2459 left_z=0.072 left_yaw=0.0214 left_pitch=0.0275 left_roll=-0.0303 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=-0.0001 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.2137, 4.0137, 1.3162, -0.2125, -0.0415, -0.0171, 0.0342, -1.265, 7.0632, 1.6972, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9565, 1.7298, 0.799, 0.1291, -0.7872, -0.6884, 0.2083, -0.0151, 0.7986, 0.6086, -0.3847, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.331 left_y=-0.246 left_z=0.0722 left_yaw=0.0215 left_pitch=0.0292 left_roll=-0.0321 left_gripper=0.2083 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -7.6103, 5.641, 1.3504, -0.3687, -0.022, 0.9792, -0.0342, -1.2923, 7.0222, 1.7216, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9569, 1.5368, 1.2984, -0.6041, -0.7788, -0.7002, 0.2109, -0.0154, 0.7986, 0.6086, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3311 left_y=-0.2482 left_z=0.2303 left_yaw=0.0212 left_pitch=0.0012 left_roll=-0.0117 left_gripper=0.2109 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0149 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.0872, 9.1829, 1.2088, -0.4518, 0.0904, 0.2564, -0.1983, -1.0598, 7.0632, 1.7705, -0.0171, -0.0806, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:655e6f55a00515dfd6ab52c3faa3e2b4d11eac05f802e915a73fe436a42705eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:224f30e3abdba18fb48af4cef9ff066225de6c63e875b11c02d349583b7cfa51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8459dfcfea331d14b63bc04b8fb572137e3a00fe60e91b07262559973d9a9d69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5g0KjgEIEhgCKkBgTaTkATaoTr/hzkml5TYqyfcb8w+wUM3vvMqkCOFqnmxLKDWKXq5ZPeG55uCDrds0YYiTVlvZrrMq0y6nDpFBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbLdzNUGEgwOcavC3BWNh5ty8RUaDLfhD5vkoUxm+TuPKyIwEr4s0+Yu2E+t9x6ue2Bk/EtuaTCBjf/PEl78SqwM5raQtnG4Nq2B/g0VOhjOwhnSKoQMHAlctyQt8yokH6a8vmAWKxW2EKjEEsarmLo5siD3ys4h5986QSLgipYq8YBHm+kETB3nMCPThFj9W8PZNVKkNGJHjWXfVoeRSCTXERcl7lv6xSGv+1dazE9l+s4LrMKA3o+zQz+vR40ocCIQZKHglXZJVMUfQZEdS9/O6E5myJf5Fwhv+fHMRzjPRHQy/Ida49Ny+utQhm9zkGe2muyf5w+F7mbaQgFZpXLau3eGbm9sorrxh9SquGf66pehAdd1JPEQps2V29I/8L3pSihT+8zRdBY98ffFloTfI1qYV/pl++SqxJscJiCr8N286HLjGVEAtxy1zNokw5R7f06zPmhIBaUeu35BUCmfJUd+Zi3dJ6n4f1AArEPNI+RL31f6K87m5sf8WYyfOZPdrn30LvuHzFI7VWq6e+7Ck0i4wT73uEzzOHbkDOxGYNvUYcb6w+6R+KGR9PjJ2pDzuDSoCqiDJ1R8Vg5WFtV2b0PeMLNIg2iJpywoqcOkzolxIDT+4pPQtKti4pvhadstm+7yGiOFA2eOgD0s8wtqnDBo3+u+dPmEaFql2tLL9Pl00AF7uSLBNIp90peGE73aXn4AYNXUgvQL+oqxW7stPIo8X2rmwwYw4+qW4CE9CyPq2LQIQdewRO7NFX+1o29dn28hEJ7a12iR3gFm7q5hLJO5PQV0JAuoxkJ5dEC66HqqIFlW44wIggOGYYbWaZrRCcEYYFfRUVcFL1R1pybtvA2iNpyJxRVXpyeb5t5qUX34inIg01HaaCVQQ7t5tuHEua3BEbia8YaoHxOqHNUMt/FSUC2peVtY5SAqIz5RTitbH+gBPvM4DQWmhKuCpqZWri+uSVXQ9QlaXRlb57aFJRDrgXN9a1CHNG9XpGX9BmgRH7xZO8jayHwr+FWHJdLNIdxSWnlZL/um6LvPSozHWq0d486kJf+nPvXR6etjrrwFHATrdsb0nZUWX6MttITeqC0hY68F3d3iMU+H0yoBWvwxH/2eZyis5C/nWB25KUlvH0r+gyUn+7nCSczdfjYv8uXcwzPDkfivd7ayYInMD1DmkHJ41zZ9f4P0LgcAPwkVgHnKUy0vCNAbDISbU7FlsVG18p1OCOS2ZDRu76cGZT3/Mqq58iL1aqMzzRYxcV9HN8+S5Zg0gmYLjwwVEGfTKLq78taNlTh5uIaqODIP+jeNwUOK2vFVB7YK/bKFncYRHcSS3r3KMghze/dWwjrQWEaCXmDC4KNImulcAIH3x9V+UXm3DSS32UpwwQsIqClu2E6D48yUG+9fq/831yjZS9JbrRB/sZZFyRy8yBUprOdhIIOo4V1HT7JHV+1KYt+H2h1YJXs2B91hoHYswTchTsPyIjurnEzh/0c+S79A0FhZMUsWWe+ZWLRuojwQKAxijPWwXxMSg3mFVi5JiYMJZC0rQBRE3FvD0xj0B6YL2H6O2hVgXJHoFa8pJ7KKQEbhvng3h6eZ97bOFWiUTg1BwQW6Z/zhO9MkIS5fdX4oMnF1VN1o6YqKJqrvD4DSd1BeKbAzkmaQ5Mii/UkOp2SxaMq1iX6umJWnZexUYmK9qSiehDaIObFAu4gSufHAoCvQYmhtGAelYwNRrPKu6ovIMjDeWfSCNf+mT+LJC1BNWQ1myIAVTCy8zu5k7yG9zxPF4Dc4CiaryivMwKmZCv81zE9JQVtY4R3Lh2oByqVqG1jkVFj/f8OLR8Eqm1gk3x1SZS5V/ff2FMz3caXCH4MQ8KOWg9y1HMkaFF2+HSlMu9WxOXDXHSQgYH5+kW4H1rrTT4H1GtKonP+eTsQ5YCyKc4VCzKd1hJrLv9+Hr1Hsm5RY3rTfQXwPAOmrGTfyAgt2s8dZiUwqVhJvX8ARDABp93p5KmDCwFf+fUAphnS5yymADO7DYMeuJMWsRuNIvXjXpE6Y2OBG2sE6kZwD8Cux/aSGuA2KWoHvrreM7WhcFvuDACW+DbaaOII9+1tzUsFsYASxkffhyTaZMGq7QTRNbQC6qQGpWgb9AeuKwBI7199ZWW7VpQPN7aJAYN5PrFNPPWxkUyDhSxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017vmU4EcG9N6K6Pjz6enaj4",
      "input": {
        "note": "The plush toy is securely held and lifted; the left basket lies further forward and to the arm's left. Moving over the left basket to drop the toy there (plush toys → left basket).",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.33,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017vmU4EcG9N6K6Pjz6enaj4",
      "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]: [-0.8509, 2.159, 2.3337, -0.9821, -0.6968, -0.6197, 0.2144, -0.0147, 0.8021, 0.6083, -0.3859, -0.012, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4436 left_y=-0.3285 left_z=0.2849 left_yaw=0.0279 left_pitch=-0.026 left_roll=-0.0083 left_gripper=0.2144 right_x=0.295 right_y=0.0014 right_z=0.1785 right_yaw=0.0005 right_pitch=-0.0198 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -12.0684, 7.6103, 0.9988, -0.3004, 0.2466, 0.3639, -0.294, -1.4701, 7.2547, 1.707, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f312f7325fa5fc72d2e95f299d48d83b3d6caccd5d83f147716191854488892",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:675b71648f128872826b1b1641f063bc9b2feff40a4dce6a13c74310c37946d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:54e89e94cc5c75d68d9ed4fd02b85362cbfcf6bc6b88a73899cba6d860c3b113",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 8.829 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9565, 1.7298, 0.799, 0.1291, -0.7872, -0.6884, 0.2083, -0.0151, 0.7986, 0.6086, -0.3847, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.331 left_y=-0.246 left_z=0.0722 left_yaw=0.0215 left_pitch=0.0292 left_roll=-0.0321 left_gripper=0.2083 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -7.6103, 5.641, 1.3504, -0.3687, -0.022, 0.9792, -0.0342, -1.2923, 7.0222, 1.7216, -0.0366, -0.0464, -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]: [-0.9569, 1.5368, 1.2984, -0.6041, -0.7788, -0.7002, 0.2109, -0.0154, 0.7986, 0.6086, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3311 left_y=-0.2482 left_z=0.2303 left_yaw=0.0212 left_pitch=0.0012 left_roll=-0.0117 left_gripper=0.2109 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0149 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.0872, 9.1829, 1.2088, -0.4518, 0.0904, 0.2564, -0.1983, -1.0598, 7.0632, 1.7705, -0.0171, -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 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]: [-0.8509, 2.159, 2.3337, -0.9821, -0.6968, -0.6197, 0.2144, -0.0147, 0.8021, 0.6083, -0.3859, -0.012, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4436 left_y=-0.3285 left_z=0.2849 left_yaw=0.0279 left_pitch=-0.026 left_roll=-0.0083 left_gripper=0.2144 right_x=0.295 right_y=0.0014 right_z=0.1785 right_yaw=0.0005 right_pitch=-0.0198 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -12.0684, 7.6103, 0.9988, -0.3004, 0.2466, 0.3639, -0.294, -1.4701, 7.2547, 1.707, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f312f7325fa5fc72d2e95f299d48d83b3d6caccd5d83f147716191854488892",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:675b71648f128872826b1b1641f063bc9b2feff40a4dce6a13c74310c37946d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54e89e94cc5c75d68d9ed4fd02b85362cbfcf6bc6b88a73899cba6d860c3b113",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2gUKjgEIEhgCKkANzf0rDVEEhEUq13+3FWyrQjfKpz7z7Do6lZYtJBd64j2+ubxnq7CgJZMcgJWxh71Ef0+FRRgQt+dcKGWjIBzrMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcDdzNUGEgyx0XO4kHoIC0BttuIaDE4rlwBMeMcAuhlAyiIw2IiVvY6xbFLUwof8vfUfoX0AblMMtmFWievhioEX3I08Br0p95wpJ9n/imhySX7zKvgDwYa3FFVbiTE9k/WrhUozHtlI81q9R0Z7PdEDkpOQiBm0MmpgOTsb2Vk03BYi4QhmyuAPKiz7EKvKkyfIgqZanUEagMoVewT88GxvHPXLutvP0lyces+5IBRINtsUGVm+99CT/wZukpxp7zNUO4i79OT20/5xPss1zpY1bwwUfC+w7i0sckN7ejTLYTmNENedogjtFNBHGlvvyfhaaGSvYFBT/J3BQNtHaMK+8TtujlqYQQ4/3H4J9HrV1D4hu3JYePy7yutCCyMr3P+0LRwUOPimnfcrMRL7a4b2z9OlxmpScjjPoLUvM6bWMzvjJ564MSAxEp5aEBkC+RSlbjEAyLGcH+h4qw9sHgjDi5FSUCdDPWzFC7TD/5K4sp/3Sgicv8TUxH64raT+Bg+mIdiCeXqUFYhsDkZZzwhlQnCC9wBeFadCinev3mp99TiSPgeNCVIhpvk77HfK80PMwjgck60CCwWDlgg6zPZWcMzxTxZN2LTvokLpG3LshvNxsOLgXlyUEQX5sR974azoGAEuJgQZ7E9fO8UeznCp2p0N2qv/YY6bYyMRDECcPYWZkUhIHJzaobrEoZdDjPQp/1hBh7XnbaM8jUw9Ak7ajXB9U1W6yAyerkrHqf/LS9KcFavQTJ7fq1yfhOXMmpEiAJMLRYj9R/nDWDnaGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018CA3wMFbESVHezC8uQ9BRG",
      "input": {
        "note": "The wrist view shows I'm hovering over the gap between the two baskets; shifting 7 cm to the arm's left to get over the left basket.",
        "targets": {
          "left_y": -0.4
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_018CA3wMFbESVHezC8uQ9BRG",
      "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]: [-0.9375, 2.4866, 2.7193, -1.2041, -0.7185, -0.6975, 0.2158, -0.0147, 0.8055, 0.6083, -0.3855, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4331 left_y=-0.3873 left_z=0.2202 left_yaw=0.0064 left_pitch=-0.1117 left_roll=0.069 left_gripper=0.2158 right_x=0.2953 right_y=0.0014 right_z=0.1776 right_yaw=0.0003 right_pitch=-0.0229 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -19.0154, 7.2547, 1.4676, -0.7155, -0.0708, 0.1343, -0.212, -0.9915, 7.2684, 1.746, -0.0659, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:808fad0b8ce102471e45dbd3706b7f1ec48176f8d81551f7386823adb85b2d78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bdbe6b867010b996ae91b2a4a88b4776feaadedc39b866fda8f42a617d14d4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25818086c3a1d7a61d7ef4845d81edada556ae74f1dc3c1571cd85b8ca3ab0f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 28.14 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]: [-0.9569, 1.5368, 1.2984, -0.6041, -0.7788, -0.7002, 0.2109, -0.0154, 0.7986, 0.6086, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3311 left_y=-0.2482 left_z=0.2303 left_yaw=0.0212 left_pitch=0.0012 left_roll=-0.0117 left_gripper=0.2109 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0149 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.0872, 9.1829, 1.2088, -0.4518, 0.0904, 0.2564, -0.1983, -1.0598, 7.0632, 1.7705, -0.0171, -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 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]: [-0.8509, 2.159, 2.3337, -0.9821, -0.6968, -0.6197, 0.2144, -0.0147, 0.8021, 0.6083, -0.3859, -0.012, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4436 left_y=-0.3285 left_z=0.2849 left_yaw=0.0279 left_pitch=-0.026 left_roll=-0.0083 left_gripper=0.2144 right_x=0.295 right_y=0.0014 right_z=0.1785 right_yaw=0.0005 right_pitch=-0.0198 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -12.0684, 7.6103, 0.9988, -0.3004, 0.2466, 0.3639, -0.294, -1.4701, 7.2547, 1.707, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9375, 2.4866, 2.7193, -1.2041, -0.7185, -0.6975, 0.2158, -0.0147, 0.8055, 0.6083, -0.3855, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4331 left_y=-0.3873 left_z=0.2202 left_yaw=0.0064 left_pitch=-0.1117 left_roll=0.069 left_gripper=0.2158 right_x=0.2953 right_y=0.0014 right_z=0.1776 right_yaw=0.0003 right_pitch=-0.0229 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -19.0154, 7.2547, 1.4676, -0.7155, -0.0708, 0.1343, -0.212, -0.9915, 7.2684, 1.746, -0.0659, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:808fad0b8ce102471e45dbd3706b7f1ec48176f8d81551f7386823adb85b2d78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bdbe6b867010b996ae91b2a4a88b4776feaadedc39b866fda8f42a617d14d4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25818086c3a1d7a61d7ef4845d81edada556ae74f1dc3c1571cd85b8ca3ab0f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoQoKjgEIEhgCKkDP/2tP+6nTXAeJFkxF6xeY1jAdv/T6kY0ge+B4LX1KICb6y3DMAD7dqF2bnckGDPrQo7toiC/44hX8njEk38k/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcndzNUGEgyyEShGSla2XuE5ij0aDE5iWlG6kdnFojkANCIw9oc5Q1zRi8U3LW5mzDwdexaOQ/oLcKxu26sf/Vrs2+duM9MZAG9BLN+F4dkSxhtdKr8I+RW/CMnCVo9mvTv6UT0PzG121kevPslCIKVb0hh2F4QjMP6dKVbiSem9Io9QW2Uu6k0DJ6jVhvZdf4HqwoD6maxIuSMUsuS7cq89oiDZhu55wbGQwhgTTRMGdm0OproOWngE/ndNlz2b7iT3Go86QI3xp1bO4NgpH0eugnjYHdYFMYkzp3gZwu+aj+ypHK3U5N0x0eWjkJeIzFDs5etc4hlDiad+r58Znc+Ra459RZDcxOVCRRpAhNME7P4dds9nsheKOL3JZfY08QDROljzYHbhKJ+RAEIbqLxntpoxrZz3pdxIDoY/z97snQOXTHBGM3L1y0BcsUJWhxV4tWs4qaV4jVM44d8QqEmf1z8obaLYvHp80lY5RzLI3tf00bJ6Yk8smE1VOgS7LlPoz302hA2DhVAgj5dtQ/xyYuRcyAGCtPa9cu6v0JvNuIS28M1HNJ6sim0Rl2QZ0uHf1tnHkjpy9S5qVWI4UKgAPQ2/ZmTy+dZoi+A5B64C34WqaDyyTijYLgc2awNZgFJrNpJAjEgGpaEBVIvhJc38VhxC0KOMiEqDbp8uIiKnSfhMiC2LgP9dpZWOVc5ZXfff5Pzfc7YNtHJnBRrYcOJv1D4QeC91zuBiZ0PpBQSa8sAjE34hIiYwPnVK/PjBOnGM/GWcWWind+jgbK1PrMXz4ur8uGz7bVH1a976AXH8YijsNQ6RCbiekagB3KV4xtji3N80gfyNE3V9mwI1AA0/t9lP8ni7UkVrAPyPGH4xnZKNQ770oyCMAGDayX+upiDrTu1ug6iSsPzVOSUpJXsS0cPmNPPlGVcDTDvQTxilPPH79oNLj6nSJLBJ/FYza9Do47VeAHX9xV7qQQI3P5ED6qvcg/P2h+h3i3Yf4AlC3jd9A8wo8BXu2G1/kS7F5bJaEsOgQjGK0dlZ0Bnj2OYTABK3bH03fJwJqGiaf9heg/2uYWBinQICZBsQq3ZP2cDwpsIyX5Fsre+o0dNvcjeaD4yqlz89wgu3u+LW6WAbmeF9hA+5m6x0+uWgn1aJZgIk4Yuf0FHB5Wb+j7m7cBU6Zhj0gBzqv4j8rZWPnc8HwTO8CfGf3UWp0PK50nKDkA9KrRP9s3BtX7wLIXou/DlFunLZPxzVe893d7fREa+OvAmlC9qgWUVfngmyXzkfCZ/7a/+6z7sGmJTM0ahyWfa64r3dibFJeF3bZCSbO8dLk5hMXZkbF6LnF0+znTVTTRzm3fwJ5QbQY2f3LG4od/Kw7+voCFp09skYoWYr/M8bt2oU8ssZpE6QJ/aiiNz4/sHdb4d8FKO9N/JYyWNsSUmMOej1jjAhqSGoIyoZHfKkLvR8K7bRP9ApdnY8x2DlDKNGLoXSaaT/kRGo2ymk32gmtq6vFb4oQ8xhnrLX1LETPMBTteu1PSPCs/A/e1zjM9b78ZAsjFvIJZ9p8szqKQX02oR8whgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018Kn4g3vTLv2UafijreX7bY",
      "input": {
        "note": "The left basket's interior now fills the wrist view just forward of the jaws; advancing 4 cm and lifting slightly to hover over the basket opening.",
        "targets": {
          "left_x": 0.47,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_018Kn4g3vTLv2UafijreX7bY",
      "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]: [-0.9234, 2.6118, 2.9097, -1.3121, -0.7219, -0.6846, 0.2173, -0.0147, 0.8062, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4406 left_y=-0.3832 left_z=0.2028 left_yaw=0.0199 left_pitch=-0.1351 left_roll=0.1157 left_gripper=0.2173 right_x=0.2954 right_y=0.0014 right_z=0.1775 right_yaw=0.0003 right_pitch=-0.0233 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -14.4205, 8.212, 1.1111, -0.4127, 0.105, 0.1392, -0.1983, -1.2376, 7.0222, 1.746, -0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3a5bc77d9c11c4bd22bdf96e36671077d710f0c2ab81d2523ce35567623c409",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21e3b18551e473ee7cec3ef6cb8b6f775629bccc3ac5ca2ae3a32f2061474ded",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2146c6124e3d7d939bee2196685ac9ad376fca43303b41dd5411e8f67fd1dcb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 7.663 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]: [-0.8509, 2.159, 2.3337, -0.9821, -0.6968, -0.6197, 0.2144, -0.0147, 0.8021, 0.6083, -0.3859, -0.012, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4436 left_y=-0.3285 left_z=0.2849 left_yaw=0.0279 left_pitch=-0.026 left_roll=-0.0083 left_gripper=0.2144 right_x=0.295 right_y=0.0014 right_z=0.1785 right_yaw=0.0005 right_pitch=-0.0198 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -12.0684, 7.6103, 0.9988, -0.3004, 0.2466, 0.3639, -0.294, -1.4701, 7.2547, 1.707, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9375, 2.4866, 2.7193, -1.2041, -0.7185, -0.6975, 0.2158, -0.0147, 0.8055, 0.6083, -0.3855, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4331 left_y=-0.3873 left_z=0.2202 left_yaw=0.0064 left_pitch=-0.1117 left_roll=0.069 left_gripper=0.2158 right_x=0.2953 right_y=0.0014 right_z=0.1776 right_yaw=0.0003 right_pitch=-0.0229 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -19.0154, 7.2547, 1.4676, -0.7155, -0.0708, 0.1343, -0.212, -0.9915, 7.2684, 1.746, -0.0659, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9234, 2.6118, 2.9097, -1.3121, -0.7219, -0.6846, 0.2173, -0.0147, 0.8062, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4406 left_y=-0.3832 left_z=0.2028 left_yaw=0.0199 left_pitch=-0.1351 left_roll=0.1157 left_gripper=0.2173 right_x=0.2954 right_y=0.0014 right_z=0.1775 right_yaw=0.0003 right_pitch=-0.0233 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -14.4205, 8.212, 1.1111, -0.4127, 0.105, 0.1392, -0.1983, -1.2376, 7.0222, 1.746, -0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3a5bc77d9c11c4bd22bdf96e36671077d710f0c2ab81d2523ce35567623c409",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21e3b18551e473ee7cec3ef6cb8b6f775629bccc3ac5ca2ae3a32f2061474ded",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2146c6124e3d7d939bee2196685ac9ad376fca43303b41dd5411e8f67fd1dcb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019ZCywchFvgxbN1TpTHP9ai",
      "input": {
        "note": "I misread the direction earlier: the wrist view shows the basket I want (rig-left) off to the arm's left, so I'm moving +y by 18 cm to get over it.",
        "targets": {
          "left_y": -0.2,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_019ZCywchFvgxbN1TpTHP9ai",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6514, 2.5099, 3.1275, -1.5642, -0.5488, -0.4545, 0.2201, -0.0147, 0.8062, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4772 left_y=-0.2434 left_z=0.2797 left_yaw=0.0461 left_pitch=-0.2116 left_roll=0.1395 left_gripper=0.2201 right_x=0.2954 right_y=0.0014 right_z=0.1775 right_yaw=0.0003 right_pitch=-0.0233 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -18.2359, 5.7231, 1.3211, -0.3932, 0.2515, 0.2808, -0.3761, -1.1282, 7.0769, 1.7265, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:358eeda12cf080cb2757a1e2e5830f957f70f20892c915de565df0115f5cc240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e18834152ed5531eab647b4660c3bf5046848ea8d11e76f6c218c2d0bd6b752",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49a6b30a132c036a61f3bb58318bc31085ee1f95b89613fd7992796ebcc878fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 6.444 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]: [-0.9375, 2.4866, 2.7193, -1.2041, -0.7185, -0.6975, 0.2158, -0.0147, 0.8055, 0.6083, -0.3855, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4331 left_y=-0.3873 left_z=0.2202 left_yaw=0.0064 left_pitch=-0.1117 left_roll=0.069 left_gripper=0.2158 right_x=0.2953 right_y=0.0014 right_z=0.1776 right_yaw=0.0003 right_pitch=-0.0229 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -19.0154, 7.2547, 1.4676, -0.7155, -0.0708, 0.1343, -0.212, -0.9915, 7.2684, 1.746, -0.0659, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9234, 2.6118, 2.9097, -1.3121, -0.7219, -0.6846, 0.2173, -0.0147, 0.8062, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4406 left_y=-0.3832 left_z=0.2028 left_yaw=0.0199 left_pitch=-0.1351 left_roll=0.1157 left_gripper=0.2173 right_x=0.2954 right_y=0.0014 right_z=0.1775 right_yaw=0.0003 right_pitch=-0.0233 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -14.4205, 8.212, 1.1111, -0.4127, 0.105, 0.1392, -0.1983, -1.2376, 7.0222, 1.746, -0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6514, 2.5099, 3.1275, -1.5642, -0.5488, -0.4545, 0.2201, -0.0147, 0.8062, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4772 left_y=-0.2434 left_z=0.2797 left_yaw=0.0461 left_pitch=-0.2116 left_roll=0.1395 left_gripper=0.2201 right_x=0.2954 right_y=0.0014 right_z=0.1775 right_yaw=0.0003 right_pitch=-0.0233 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -18.2359, 5.7231, 1.3211, -0.3932, 0.2515, 0.2808, -0.3761, -1.1282, 7.0769, 1.7265, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:358eeda12cf080cb2757a1e2e5830f957f70f20892c915de565df0115f5cc240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e18834152ed5531eab647b4660c3bf5046848ea8d11e76f6c218c2d0bd6b752",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49a6b30a132c036a61f3bb58318bc31085ee1f95b89613fd7992796ebcc878fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7QcKjgEIEhgCKkDVslwI0Hvn08935JbQ2GC+A+0/QK6Tpjq0p6ZaXvBOAjO6ipW0M4hUCpjJtCDScjvOtPsbf2K18B0UhQjXdRDdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe/dzNUGEgyf8x8W4Cot+Ejd8aQaDIpAtQIf7t8HM770DCIwzy+EAGdECBO7+GurRF3MjxPDRR0k6mjFOaPgQqt+5o0akKGu1yuDrXxNpEKWDOu5KosGG3ffocstcVu6li2L1F3lGUk5gY5kNOEYQuBM/n6s5w0vDUas9J6z98ZN5HM4gaXJpx2H9VrsuUxp6Fc1fxr7FsY4i9HHBo/tekxZyFlgy9nR3g6zbyKfmXPNzdrOqlEpgrXLpjocu6cFwrli/2t2n5zAOH8aRgfcSXK29OZQZ0b3PUefBttIWY3t0TIueMMV1t73sZU+S0QUh+uuWN1cmp4Dn1l6L8OEeQJ1I69Yh7Xkk7F9Jk11YJHREZSAkqWtdo0NDsqoy7QT5UtuQNEjm6CM5ETCH5G5XsXjDPAzmj8R6I5bFXG4Rx6tieEXCJlpv7XA/dNOBHWY4zAoGBDFaFgtqzqCw1XjQH1gakG2ZjuYuXylvFBeGsClpvc5rrv5XhH1YczVaZwTxl+1q6TH7eaHTIu7f4gW09nDz97z77BCWXS2ccobqE3bcIQiBh/mBCTsZ2Y4qgaY44fDV2AS8IWaqnzilKbrvXSqZcxtDBXA4Yb9DO6m3ExTXE2vBvKdDvAVM9eI1hI2hOmcBKA5PR26YFo2qCFWykMmKVZxI2V2/5v7CgWT0qY72x/E+fnEpLVgUwulLxjesLDKecrr/FQY3jTRDNlRu4q0UpS+hrJvG4bXopXfQQZsrVTGOhJQ4qBqA091YJzO+ZYMZSa5mW1SLaeZ545eBmr8v4v4+lpNtSSaii+fMGgHFVO5E7YFYZX56eyRXw/wCnAJa4Yy5RHwF8n2iZ5KCG/pEimDXxpYa5S3BwBPHifRrIiqB65SAVnKA2EPscWtg1EIllr04HnS2a4alLnYekk3hLPPEcETKPf4oYK3vfYuu+C1gVxW8qz10xSCTFor7wT5odZIQLet0rWoxb3fJR0mQj7QOAYNzFgCI4pDoPYGXSq7l/wnwULbrcbwRa3RnJSNnG9BnhUw5tqqA4S1SvFRKCih3Lr/VpwkVjtkN2gwbRtjrdYTAeFllTaMkcL1dqYTURHWgkYMNUGi1C2bONTEW6mgeiG+SvsEVWqYhdAxUajsyllaENcsiPLCu7w+rXAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EvfXeGALTcgjtLchV3XxD2",
      "input": {
        "note": "Wrist view shows both baskets flanking the toy, so I'm still centred on the gap; moving another 11 cm to the arm's left to get over the rig-left basket.",
        "targets": {
          "left_y": -0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01EvfXeGALTcgjtLchV3XxD2",
      "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]: [-0.4259, 2.4969, 3.1275, -1.5852, -0.4118, -0.2985, 0.2208, -0.0147, 0.8062, 0.6083, -0.3851, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5111 left_y=-0.1503 left_z=0.2744 left_yaw=0.0845 left_pitch=-0.2949 left_roll=0.1603 left_gripper=0.2208 right_x=0.2954 right_y=0.0013 right_z=0.1775 right_yaw=-0.0 right_pitch=-0.0233 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -17.5658, 5.6957, 1.3993, -0.2369, 0.2515, 0.0562, -0.1846, -1.1556, 7.3368, 1.7118, -0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cae427a113e8916eb5efc13547dc8c3388a59111063324bae18a51cbb22c170",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bf74ffb86a4895337a8ce61f147389b8566684082ebac604beaa1d2f7c1359b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:39b0562ea86c989886ee02b844de2fcb9acccfbf95ef6c8eda474e8d9e32007d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 12 attempt 0 · /messages · status 200 · 6.74 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]: [-0.9234, 2.6118, 2.9097, -1.3121, -0.7219, -0.6846, 0.2173, -0.0147, 0.8062, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4406 left_y=-0.3832 left_z=0.2028 left_yaw=0.0199 left_pitch=-0.1351 left_roll=0.1157 left_gripper=0.2173 right_x=0.2954 right_y=0.0014 right_z=0.1775 right_yaw=0.0003 right_pitch=-0.0233 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -14.4205, 8.212, 1.1111, -0.4127, 0.105, 0.1392, -0.1983, -1.2376, 7.0222, 1.746, -0.0171, -0.0464, -0.0122]\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]: [-0.6514, 2.5099, 3.1275, -1.5642, -0.5488, -0.4545, 0.2201, -0.0147, 0.8062, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4772 left_y=-0.2434 left_z=0.2797 left_yaw=0.0461 left_pitch=-0.2116 left_roll=0.1395 left_gripper=0.2201 right_x=0.2954 right_y=0.0014 right_z=0.1775 right_yaw=0.0003 right_pitch=-0.0233 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -18.2359, 5.7231, 1.3211, -0.3932, 0.2515, 0.2808, -0.3761, -1.1282, 7.0769, 1.7265, -0.0464, -0.0415, -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 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]: [-0.4259, 2.4969, 3.1275, -1.5852, -0.4118, -0.2985, 0.2208, -0.0147, 0.8062, 0.6083, -0.3851, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5111 left_y=-0.1503 left_z=0.2744 left_yaw=0.0845 left_pitch=-0.2949 left_roll=0.1603 left_gripper=0.2208 right_x=0.2954 right_y=0.0013 right_z=0.1775 right_yaw=-0.0 right_pitch=-0.0233 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -17.5658, 5.6957, 1.3993, -0.2369, 0.2515, 0.0562, -0.1846, -1.1556, 7.3368, 1.7118, -0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cae427a113e8916eb5efc13547dc8c3388a59111063324bae18a51cbb22c170",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bf74ffb86a4895337a8ce61f147389b8566684082ebac604beaa1d2f7c1359b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39b0562ea86c989886ee02b844de2fcb9acccfbf95ef6c8eda474e8d9e32007d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISygUKjgEIEhgCKkD3E7kaKuGVu3i/xDNzCct7VyheizZ7mpay5f2jIN7sZThRbmo2f7na9cmhV24LNNoF3+j6KGGqm+X6qlkWQ0lOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfbdzNUGEgxXJmEZoXTyIOn2Wq0aDLZH+RLyHyUBoYjB2SIwVNz7yriy9WT4qxz3rjg5als615KcstNsY1NpdVdi0y+osAoAl33iSD2rzC01j4LsKugDWQI7+6qTr7pExIPj46AO7inTJz/LarjVk+H4zDXjR9zXo6uJd/pL5GidIiAA6sZp9ADLc7Sp+87XGjGnlTUDktRV7uA3Fq2Vp+irx9VGHZJqdBbHd2L1mYAvySuDu3b7X2xkIA2WbcGx0+lTsnsm4q4Wy6y0uGjZpXfuJk4Er5vkObeI8gOGO/jk3grKhk3YN8gTifR0AP47BN2/BhngWsGEM0IknqrnvoEX1jiryvr/KznBO7a6iUi5qgnxxsCTjMVZCK1gUxnagk8muul1Ce/tGidH5w2O+ZLGqVZR91+HkhGuWhy257fDV+5gWArSq1eEHJnmaz4YnOlqKt3lGKPenZfOB0/7qSmSs9n9STXHWNbBUnxVaUL4yvotolE85dALO05p1r3jiVZp8rr86ekx9PFUe+Yc2oLFE7GAmu9EDbN1a8hEoavULWP2E0hMQdxU59zyCBLG5vc3Ms4qO5Gr3YatJ2AoUGnZsKrV3Emdrbs64hs0Cj/q2oPV/2bsOFSUWd+A4alSf/PzOUtH5HtXGlbxPXqrUlO1T358MecAeab2DJrGNQMKZSFPInnZrEMRZmkaKFAEKUKXOeskSWJZl2FVMTzkAcymT21weO4bvxlCKrw491m9zE0Xtsie4Zf/tq5GifkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KvsmELcdLiogQ1WdY5jQAt",
      "input": {
        "note": "The rig-left basket is now just to the arm's left in the wrist view; nudging 7 cm further left and pulling back slightly to centre over its opening.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01KvsmELcdLiogQ1WdY5jQAt",
      "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]: [-0.3077, 2.4111, 2.9833, -1.5822, -0.345, -0.2272, 0.2221, -0.0147, 0.8062, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5108 left_y=-0.0958 left_z=0.2713 left_yaw=0.1175 left_pitch=-0.3762 left_roll=0.1816 left_gripper=0.2221 right_x=0.2954 right_y=0.0014 right_z=0.1775 right_yaw=0.0003 right_pitch=-0.0233 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -16.9915, 4.6154, 1.3211, -0.2125, 0.1148, 0.1197, -0.2393, -1.306, 7.0632, 1.707, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0e8b9194420481df8680efa7e79614a859fbafcd2d2f07f34648f04af8d06a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fad2092ffae8027c819bfe22ecf339614566c878271fc66eee6ed568d70e1f67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a1e82343838a596ab0f2a90c6514a8c2dfc262b8b6698666332c202c7e3ae2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /messages · status 200 · 13.03 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]: [-0.6514, 2.5099, 3.1275, -1.5642, -0.5488, -0.4545, 0.2201, -0.0147, 0.8062, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4772 left_y=-0.2434 left_z=0.2797 left_yaw=0.0461 left_pitch=-0.2116 left_roll=0.1395 left_gripper=0.2201 right_x=0.2954 right_y=0.0014 right_z=0.1775 right_yaw=0.0003 right_pitch=-0.0233 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -18.2359, 5.7231, 1.3211, -0.3932, 0.2515, 0.2808, -0.3761, -1.1282, 7.0769, 1.7265, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4259, 2.4969, 3.1275, -1.5852, -0.4118, -0.2985, 0.2208, -0.0147, 0.8062, 0.6083, -0.3851, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5111 left_y=-0.1503 left_z=0.2744 left_yaw=0.0845 left_pitch=-0.2949 left_roll=0.1603 left_gripper=0.2208 right_x=0.2954 right_y=0.0013 right_z=0.1775 right_yaw=-0.0 right_pitch=-0.0233 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -17.5658, 5.6957, 1.3993, -0.2369, 0.2515, 0.0562, -0.1846, -1.1556, 7.3368, 1.7118, -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 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]: [-0.3077, 2.4111, 2.9833, -1.5822, -0.345, -0.2272, 0.2221, -0.0147, 0.8062, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5108 left_y=-0.0958 left_z=0.2713 left_yaw=0.1175 left_pitch=-0.3762 left_roll=0.1816 left_gripper=0.2221 right_x=0.2954 right_y=0.0014 right_z=0.1775 right_yaw=0.0003 right_pitch=-0.0233 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -16.9915, 4.6154, 1.3211, -0.2125, 0.1148, 0.1197, -0.2393, -1.306, 7.0632, 1.707, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0e8b9194420481df8680efa7e79614a859fbafcd2d2f07f34648f04af8d06a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fad2092ffae8027c819bfe22ecf339614566c878271fc66eee6ed568d70e1f67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a1e82343838a596ab0f2a90c6514a8c2dfc262b8b6698666332c202c7e3ae2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxQYKjgEIEhgCKkBqrclKl1SYu49IH9lF2+lQSVyZ+mbiOK3AbBCeGmkbKR8cQ+AerK7yEgJhI2rN6TAWf7XI5ArObmsCxsz7g/HAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf3dzNUGEgze2C5GUYYk1DeNE7MaDJLa8cTI0NCx0Fpn+CIw8rKRU+vSEfTKeTq7PXe5RaxI3Hs9fLw/RCvsQrYK+Y9LQY4VyhWUq4ss2hmuNvbDKuMEO9aAc7P8gpuW/0I1zgEoMOijWT35Git6Y8bhCAWZFtH4ia4eqpZhkcua7TG35YWMRnuZxAj03EvomvksfX/+QU9/C+3VvekiHxkjdoDqG7mCBl4VwZUOquwjBmUDEOF5fOCp/Di94gpDnK4Gmyf9evLLQFZ1J9I2Kiq6MfOe2V9/IBgBx0RGFF0V5IEas0yfQ+ADGBfyyln2vzJQQDqaxrsyE1jR4oBOnk0mytez0X2XHVQp9r0UW8THhV6kkyfFBYvoxwzvKQ8DrsvEysoTyVk4uol7QFfeOo9AV4hzDfNXIsI4i0zS7aAlNWqfzcQClok8Mk9F7jLBGidKja52oOi0HNJ0wKrJfmDgQfLb8yoVhIkVOCnjDlCQpHfqFsi9BJqOU5oibfADfByYIxS6AH5uY2IBVK/6/9rVC+ruEtezGNZryY8Yb+DDsSjAFgLZX/RhHZbt+zdvyPh6vroC3Hvq0TJh2yRJMtc5fIcPONSY6M4KEPBUC1U/s/bIWGzsTlOmT7JJ49/upqzI3juQABSffV4L8IthC7U1cROQ7Zv1YW3RMT9x1f4no41GGLhLv0gqLdTvpwkoii6ogqdYmNKdUQBHQ3+Asrg9ggdi8gexKvBgSKdG2jOw8SPwqJdxzA7CGcGzL5WK3fpXShqNlUtv1NLXfO4fbFBDSr/dyCwTdGdVWaCyWyLgcjKmJZjGhenJnsnzoafv7AIfL2S8I1VX3Tt2OZhMTll3ivW3K5zyBuTFsHR6J3cBRNndpZL1Mpgif6ICHrzgl/ErzDomQndaBYSdKaIM/4lfaDi9dUTImjAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V1gijGpxFr1ZcWCfcAdwcx",
      "input": {
        "note": "The wrist view shows the left basket directly under/behind the toy; lowering slightly and opening the gripper to drop the plush toy into the rig-left basket.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01V1gijGpxFr1ZcWCfcAdwcx",
      "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]: [-0.305, 2.5351, 3.0837, -1.5829, -0.3393, -0.2398, 0.9952, -0.0147, 0.8062, 0.6083, -0.3851, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5296 left_y=-0.1013 left_z=0.2382 left_yaw=0.1266 left_pitch=-0.3991 left_roll=0.1798 left_gripper=0.9952 right_x=0.2954 right_y=0.0013 right_z=0.1775 right_yaw=-0.0 right_pitch=-0.0233 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -11.4393, 6.8034, 1.3162, -0.2418, 0.0562, 0.0464, -0.1026, -1.1009, 7.0222, 1.7265, -0.022, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10d612109f9d4ef56713d504c4d06c6f02f5de2d854ba45ea34822444fb29ac2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7af5fa4acd59a76e5c1dc75e98d2321537527f0f15249939a031c3659f24f88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1b275733ee877bc289b27afc0e7790633a86b6a9fec66c42947a15e1a814dd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 12.31 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]: [-0.4259, 2.4969, 3.1275, -1.5852, -0.4118, -0.2985, 0.2208, -0.0147, 0.8062, 0.6083, -0.3851, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5111 left_y=-0.1503 left_z=0.2744 left_yaw=0.0845 left_pitch=-0.2949 left_roll=0.1603 left_gripper=0.2208 right_x=0.2954 right_y=0.0013 right_z=0.1775 right_yaw=-0.0 right_pitch=-0.0233 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -17.5658, 5.6957, 1.3993, -0.2369, 0.2515, 0.0562, -0.1846, -1.1556, 7.3368, 1.7118, -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 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]: [-0.3077, 2.4111, 2.9833, -1.5822, -0.345, -0.2272, 0.2221, -0.0147, 0.8062, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5108 left_y=-0.0958 left_z=0.2713 left_yaw=0.1175 left_pitch=-0.3762 left_roll=0.1816 left_gripper=0.2221 right_x=0.2954 right_y=0.0014 right_z=0.1775 right_yaw=0.0003 right_pitch=-0.0233 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -16.9915, 4.6154, 1.3211, -0.2125, 0.1148, 0.1197, -0.2393, -1.306, 7.0632, 1.707, -0.0269, -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 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]: [-0.305, 2.5351, 3.0837, -1.5829, -0.3393, -0.2398, 0.9952, -0.0147, 0.8062, 0.6083, -0.3851, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5296 left_y=-0.1013 left_z=0.2382 left_yaw=0.1266 left_pitch=-0.3991 left_roll=0.1798 left_gripper=0.9952 right_x=0.2954 right_y=0.0013 right_z=0.1775 right_yaw=-0.0 right_pitch=-0.0233 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -11.4393, 6.8034, 1.3162, -0.2418, 0.0562, 0.0464, -0.1026, -1.1009, 7.0222, 1.7265, -0.022, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10d612109f9d4ef56713d504c4d06c6f02f5de2d854ba45ea34822444fb29ac2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7af5fa4acd59a76e5c1dc75e98d2321537527f0f15249939a031c3659f24f88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1b275733ee877bc289b27afc0e7790633a86b6a9fec66c42947a15e1a814dd2",
        "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_01FMhWE7ysQvTeH7abrvBbYy",
      "input": {
        "note": "The teddy bear is now in the rig-left basket. Parking the left arm back home and bringing the right arm over the pen/marker sticks lying on the right side of the table.",
        "targets": {
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.2,
          "right_x": 0.33,
          "right_y": 0.17,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01FMhWE7ysQvTeH7abrvBbYy",
      "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]: [-0.1749, 1.2091, 1.1301, -0.9329, -0.2787, -0.141, 0.9967, 0.7219, 1.3033, 0.7792, -0.2493, 0.5537, 0.408, 0.9998]\nstate[eef_state]: left_x=0.3072 left_y=-0.0013 left_z=0.1961 left_yaw=0.1449 left_pitch=-0.4072 left_roll=0.1801 left_gripper=0.9967 right_x=0.3218 right_y=0.1643 right_z=0.1422 right_yaw=0.037 right_pitch=-0.0771 right_roll=-0.0413 right_gripper=0.9998\nstate[joint_eff]: [0.212, -5.0393, 7.4462, 1.2723, -0.0269, 0.0611, 0.1392, 0.5538, -4.8205, 9.3333, 1.5751, 0.4664, 0.2418, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7558c6f61f81ba72d6c8b11658fd9b9f2d72f980969a544ef5410f0a7c85a89c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2646cd0c49b2ef74dab451def96f9699f10b42f1d1a056a81f86909badefbfa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:169f70c1f4d6f7d9146a96ce51bc0c2212bab06bebc2f9202f94704cbc3979b6",
        "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 · 9.654 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]: [-0.3077, 2.4111, 2.9833, -1.5822, -0.345, -0.2272, 0.2221, -0.0147, 0.8062, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5108 left_y=-0.0958 left_z=0.2713 left_yaw=0.1175 left_pitch=-0.3762 left_roll=0.1816 left_gripper=0.2221 right_x=0.2954 right_y=0.0014 right_z=0.1775 right_yaw=0.0003 right_pitch=-0.0233 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -16.9915, 4.6154, 1.3211, -0.2125, 0.1148, 0.1197, -0.2393, -1.306, 7.0632, 1.707, -0.0269, -0.0366, -0.0122]\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]: [-0.305, 2.5351, 3.0837, -1.5829, -0.3393, -0.2398, 0.9952, -0.0147, 0.8062, 0.6083, -0.3851, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5296 left_y=-0.1013 left_z=0.2382 left_yaw=0.1266 left_pitch=-0.3991 left_roll=0.1798 left_gripper=0.9952 right_x=0.2954 right_y=0.0013 right_z=0.1775 right_yaw=-0.0 right_pitch=-0.0233 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -11.4393, 6.8034, 1.3162, -0.2418, 0.0562, 0.0464, -0.1026, -1.1009, 7.0222, 1.7265, -0.022, -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 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]: [-0.1749, 1.2091, 1.1301, -0.9329, -0.2787, -0.141, 0.9967, 0.7219, 1.3033, 0.7792, -0.2493, 0.5537, 0.408, 0.9998]\nstate[eef_state]: left_x=0.3072 left_y=-0.0013 left_z=0.1961 left_yaw=0.1449 left_pitch=-0.4072 left_roll=0.1801 left_gripper=0.9967 right_x=0.3218 right_y=0.1643 right_z=0.1422 right_yaw=0.037 right_pitch=-0.0771 right_roll=-0.0413 right_gripper=0.9998\nstate[joint_eff]: [0.212, -5.0393, 7.4462, 1.2723, -0.0269, 0.0611, 0.1392, 0.5538, -4.8205, 9.3333, 1.5751, 0.4664, 0.2418, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7558c6f61f81ba72d6c8b11658fd9b9f2d72f980969a544ef5410f0a7c85a89c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2646cd0c49b2ef74dab451def96f9699f10b42f1d1a056a81f86909badefbfa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:169f70c1f4d6f7d9146a96ce51bc0c2212bab06bebc2f9202f94704cbc3979b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStwsKjgEIEhgCKkArdXBocduwb/ScAl2s3wW3lz1Vh3Sh1fJJTm62GL9ajE6yG1VD2qlr8IHj8H7CIdkSN6xMF3OSRPBK6/AliYF1Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZjezNUGEgyovmNqrNHT5yTIby8aDAZ32gv0uUU5uLFaaiIwdr9lpdosL5sq/fMlJeyo58c0Rskvi+Jzm+BApKG2ZDE5cOO7uWotNW4BtR72PKfKKtUJdJfOZ1xHO5mJBxqDx9RhJOPhN3mJCfn5fpXaLiljHDjT4BriVDZZU2glYqtY9AwksEcmF6qPiNvBlYbZWrOwUPhM3kOyYeuQjOXzVlmwQ4cS2nQ/6DlZ8xS+vjnHDnyJdWQs9lTAEKahpQGUPLAYfZjy6QERKAnBPjZibUwa5nWqMoyBKHxwdk4YI0TfU0BTmcVICQn9GPKqv1XTz5KRoRrwgGafBsvunzRBVpUOKAwDK0JS8C4Y2xCeQIFIFcJW81r4TuHEvOIBOkRDzYLLPJJUzQiiP48SHd2NmZl06EVY/WbWUw03i9zVpIKSplmJ6kqInlsRPn64OusvYFWOzyu2OYx+DKwZdqiMxG7pRff8q5ezpFClRStmGtj0b4lhlPkMhJi8pzGaJANYck6YhR5ikbFoQZES+Sd1Vuh/bs9dzLcHc4UT5aIPU42P33OEgw6y5bktpA9dQ5WecDhPlR/TVUFsYhj51I46s9UQyJdeFJRg56LnhL8YQVsAvsBFcHefkKOTH6kI4ENgELAcqOF7YBsEwVGCXHdte0u1fK+SVK/vhxXHRfQx8YJ/VUpe6D81sMsQnHkfnFArGqtC3jaRVwyI5MQiDr7SkE3y89Lt/1UzC3wfZJMdzLPcjejHxgGIMporcicbWTFxdQHD7sOetG/4MNR/xM3H/2kilshYlPPVhiQbkWx8qF2mRNZfXukt/4++vTJjzlwXzkH5UM6iMWSg3i0ZO4/2hAc9ZQ+KJt8zgwiUeFbRA9yZ1GVGHK6Y/JSJOc6SuOEwSi3FO3Ao6Wb1yn8FFPUY7ld7qpf85NSMa6hFhaOFRRCwVtyILNYAaZY+NN4DSooFbGjTy56gH98r/McyVPl6mgSwKXC+GClBwKG+MrV7vXwRWu7aL0A7dVZksB6DeqSQJoDkvTKtLAD8/sObWUaMhG/bQaSnNdiJHWDtTXXvJAwwtzqBNHKNC5BfT0MviqrMVh/65PzP64IvC8je5Atc+bShDIu69ZZeVjD5dcw3tHGQaW7jYWvdta3QCAtRCBeTDZ+6qP5LUlocVo1Aoj/cLKHp/aJK5e3XGuFfy98l6nKPhJ0Ke5sFdssLreetQ5Zve5Jk858/izGq/doMwWkO0oLtAYSUL4RtRvkziUW9U1ofPIKzaMmvh23oKHwsAS5JktdA4sq9fRr6uZ2r0r7AlLlcuOZkGTGvNLP9DTdJIe5MzX/gyTYeDHtAsmKsXvteeO1eynWRwDrE2KPawnOPdtojAtU1D5+5ZPdctTxymh0dKLOh1j4FQaFEtEJQIYwijDEbPHI4Yz+TZbyc35Znz1fhh9kD3PzplZYRl3Z/UHsB0ax+LHYgs1jszx0IwA4MqodOpbGU/xQefy3xEF9Em/vOlDtm5sqrf2H6wophaokRiCfhrK6lfJ2dUY1GWGa2bGNIj4GtBeYAhCSHB7FMvjeSt8m1fgU2qtKbiUNpha1yZwGxBuItF5eXksWaflhO6cjzpGZUNtyRd7zmTkIPEuROMrb4bo53XPh5UDpDsK7L7nsY8rPHxM9WBR9HY4RF42uPQyTrWFWYWtjBVANmG6Z1FwyM0VrC8MVR2k3BHkUyTj1UjOVSCmah+22RHbkJtwNDECBq9UEYxAC75GoSAoz8qPVK1nFdXBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JKGQU9xvnffFCgVgr78cNF",
      "input": {
        "note": "Right wrist view shows a blue-and-white pen lying at the lower-left, just left of the jaw column. Shifting ~5 cm to the arm's left, back 2 cm, and dropping to 8 cm to line up on it.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.21,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01JKGQU9xvnffFCgVgr78cNF",
      "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]: [-0.1741, 1.2118, 1.116, -0.9482, -0.276, -0.1387, 0.9968, 0.8913, 1.5024, 0.7048, -0.1055, 0.6384, 0.5301, 0.9997]\nstate[eef_state]: left_x=0.302 left_y=-0.0006 left_z=0.1881 left_yaw=0.1465 left_pitch=-0.4385 left_roll=0.1902 left_gripper=0.9968 right_x=0.2973 right_y=0.2062 right_z=0.0756 right_yaw=0.0708 right_pitch=-0.1248 right_roll=-0.0797 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -4.0957, 7.665, 1.2918, -0.1734, -0.0366, 0.0024, 0.3897, -6.3658, 5.5179, 1.3846, 0.4664, 0.1343, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cdd340be4d636ceeb23ce1275d18e1ae9384c0a90eedb40c355c110d88a090c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2e435a487d651b0c8ad9d2922eaded724293bb19f244010cbdc537bf89d9bf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40983c46a20f02414be80830904bee79275bff088c64d7c707417eb744fcce0e",
        "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 · 6.623 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]: [-0.305, 2.5351, 3.0837, -1.5829, -0.3393, -0.2398, 0.9952, -0.0147, 0.8062, 0.6083, -0.3851, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5296 left_y=-0.1013 left_z=0.2382 left_yaw=0.1266 left_pitch=-0.3991 left_roll=0.1798 left_gripper=0.9952 right_x=0.2954 right_y=0.0013 right_z=0.1775 right_yaw=-0.0 right_pitch=-0.0233 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -11.4393, 6.8034, 1.3162, -0.2418, 0.0562, 0.0464, -0.1026, -1.1009, 7.0222, 1.7265, -0.022, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1749, 1.2091, 1.1301, -0.9329, -0.2787, -0.141, 0.9967, 0.7219, 1.3033, 0.7792, -0.2493, 0.5537, 0.408, 0.9998]\nstate[eef_state]: left_x=0.3072 left_y=-0.0013 left_z=0.1961 left_yaw=0.1449 left_pitch=-0.4072 left_roll=0.1801 left_gripper=0.9967 right_x=0.3218 right_y=0.1643 right_z=0.1422 right_yaw=0.037 right_pitch=-0.0771 right_roll=-0.0413 right_gripper=0.9998\nstate[joint_eff]: [0.212, -5.0393, 7.4462, 1.2723, -0.0269, 0.0611, 0.1392, 0.5538, -4.8205, 9.3333, 1.5751, 0.4664, 0.2418, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1741, 1.2118, 1.116, -0.9482, -0.276, -0.1387, 0.9968, 0.8913, 1.5024, 0.7048, -0.1055, 0.6384, 0.5301, 0.9997]\nstate[eef_state]: left_x=0.302 left_y=-0.0006 left_z=0.1881 left_yaw=0.1465 left_pitch=-0.4385 left_roll=0.1902 left_gripper=0.9968 right_x=0.2973 right_y=0.2062 right_z=0.0756 right_yaw=0.0708 right_pitch=-0.1248 right_roll=-0.0797 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -4.0957, 7.665, 1.2918, -0.1734, -0.0366, 0.0024, 0.3897, -6.3658, 5.5179, 1.3846, 0.4664, 0.1343, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cdd340be4d636ceeb23ce1275d18e1ae9384c0a90eedb40c355c110d88a090c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2e435a487d651b0c8ad9d2922eaded724293bb19f244010cbdc537bf89d9bf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40983c46a20f02414be80830904bee79275bff088c64d7c707417eb744fcce0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5gcKjgEIEhgCKkBbbvP6Ug9CG8YfxMETeslAbV/Gg4OyV/RUSS0T1n8uhb1iKgnRAp+BL9j5YmXb4ETmFttfTFelGA3I+F55+sbtMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaPezNUGEgxoVJvNyBveBpDSNnsaDKqxw2A6VmK9FzHNOiIwARevb1cYaeNIjKaAvfID35BUbyD2GChI+Qm70dQ20V/YoIg6F0hm7zpri2N30Bx4KoQGlClURc9acH6kVrwjoayLB1VEw+BBKy8GmZiVSf4WU+3lXgTJfD5LpmQ7HHZl0rKKbPpNCxHuWQggi+oj3tzMMQYrIEmOCrKvv2F22V6+dj4ncWLK98Eo4v19bxz2o8lWCLWKMIk/495cM/xVAbq+JRZmNO1GucKH2wP+tpyn/yFWEHOHlVdMMCNB4F/dygHQwejpFcSDcyLEwkEEwd6U6Xoi9xm3ZwRnZSw/bK7tRnFf0Ke8/rITDJ7C2MfuNXC74PLUnfly+XS2G7WfF6IxdSsvjab8tEYY1ATDFbEcTKj+KR938rhqJQSfllVPTPx4b5tuKn1cKty3uj9j+YO8RsISemeyAd4utiSLyj4c8EM04a8CbECG0AjphKjqMoWCE2ZaJ4lUZ4/pTRhE5oH0x0HZQrEk3e09mnUvXY5yGJRd8ekzGRUH5nVocISxjvq1XvQf36FAKL7Q4nsXWbkxg0kOyW1QQQE5Y0oafJVasupspyb/tMIH67exrv/FkHB20cPBsNf54lgnfLRiKMWu/pwHc9oRHdEbrZrr3fuGu1VzX+6zqqKcc1SdnBuLsqFgRWYAqqOw8HQRRsfVSAKIhwtSiPyIV69xzMOiHSsQ9FAXyc6R7VIKv2iWVQkunFsNpSIFv2IsLVkrL6Ytfgn/IERUdAvyi4/jRlg9gD9SeNX9xHGboXM9okQ3x8L1ajjfyelVj8HRwyrg/akRVoDOSCD/GSLbijSn9+Lcar4BFVTezgn+EqxSPj46R1Y5eFcapvtFx59michHie/zocjUWKi7g7itD9edManQruWUOslBu1HiEJOx+lCz0iKLbhQ7tMLYDCCdrmRKGumx0L4zD/pGBlheFCUvPoH9VpvTpQOyqkUzK8zs6gP/ZgpujyyGtdrAuTzrVak4bHFmfhx/PBszu2wNhaoNFRGcv1Fp6eNhkXqeIc5OSdvWZGra8Eg5HJibV3TYXbK5mkVU1Pp1MisQyhDbkJohFAd3G54JU6KEFHt8tgzkaer1b3WEmVm6C0Zu3xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NUbTnBgpw5Xxks85Ezkui6",
      "input": {
        "note": "Two pens are visible at the bottom of the right wrist view; the blue/white one is just left of the jaw column. Nudging 2 cm left and back and descending to table level to straddle it.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.225,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01NUbTnBgpw5Xxks85Ezkui6",
      "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]: [-0.1741, 1.2118, 1.116, -0.9489, -0.276, -0.139, 0.9968, 0.9062, 1.5196, 0.6983, -0.0692, 0.6548, 0.5587, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.188 left_yaw=0.1469 left_pitch=-0.4392 left_roll=0.1902 left_gripper=0.9968 right_x=0.2975 right_y=0.211 right_z=0.0739 right_yaw=0.0603 right_pitch=-0.1058 right_roll=-0.0565 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -3.8769, 6.4615, 1.1795, -0.1783, -0.0513, -0.0122, 0.1846, -6.5162, 5.8598, 1.4335, 0.5446, 0.1343, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee6b611ac0fe506630151a7f4191104b51217adc5a758c89d845e88d7cf25d35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b4d6a8372a2ce64d50724355849cec97bbf25ee2b016f552e7a62b7d3ec58bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:995cc3085b3b693b343d1c7d36a2b7b24fc684676a6c378ae2d0201e8fdee55e",
        "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 · 6.81 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]: [-0.1749, 1.2091, 1.1301, -0.9329, -0.2787, -0.141, 0.9967, 0.7219, 1.3033, 0.7792, -0.2493, 0.5537, 0.408, 0.9998]\nstate[eef_state]: left_x=0.3072 left_y=-0.0013 left_z=0.1961 left_yaw=0.1449 left_pitch=-0.4072 left_roll=0.1801 left_gripper=0.9967 right_x=0.3218 right_y=0.1643 right_z=0.1422 right_yaw=0.037 right_pitch=-0.0771 right_roll=-0.0413 right_gripper=0.9998\nstate[joint_eff]: [0.212, -5.0393, 7.4462, 1.2723, -0.0269, 0.0611, 0.1392, 0.5538, -4.8205, 9.3333, 1.5751, 0.4664, 0.2418, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1741, 1.2118, 1.116, -0.9482, -0.276, -0.1387, 0.9968, 0.8913, 1.5024, 0.7048, -0.1055, 0.6384, 0.5301, 0.9997]\nstate[eef_state]: left_x=0.302 left_y=-0.0006 left_z=0.1881 left_yaw=0.1465 left_pitch=-0.4385 left_roll=0.1902 left_gripper=0.9968 right_x=0.2973 right_y=0.2062 right_z=0.0756 right_yaw=0.0708 right_pitch=-0.1248 right_roll=-0.0797 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -4.0957, 7.665, 1.2918, -0.1734, -0.0366, 0.0024, 0.3897, -6.3658, 5.5179, 1.3846, 0.4664, 0.1343, -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]: [-0.1741, 1.2118, 1.116, -0.9489, -0.276, -0.139, 0.9968, 0.9062, 1.5196, 0.6983, -0.0692, 0.6548, 0.5587, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.188 left_yaw=0.1469 left_pitch=-0.4392 left_roll=0.1902 left_gripper=0.9968 right_x=0.2975 right_y=0.211 right_z=0.0739 right_yaw=0.0603 right_pitch=-0.1058 right_roll=-0.0565 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -3.8769, 6.4615, 1.1795, -0.1783, -0.0513, -0.0122, 0.1846, -6.5162, 5.8598, 1.4335, 0.5446, 0.1343, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee6b611ac0fe506630151a7f4191104b51217adc5a758c89d845e88d7cf25d35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b4d6a8372a2ce64d50724355849cec97bbf25ee2b016f552e7a62b7d3ec58bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:995cc3085b3b693b343d1c7d36a2b7b24fc684676a6c378ae2d0201e8fdee55e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxwcKjgEIEhgCKkBWvZ7Je06dScYvBgTXXerlFpXDJ3QnXjkUG3rgL/VuA96L+g9igsZuPWYYFi062HN1r6X6/uKAezGACXsAD8PcMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAarezNUGEgwgt+xOiA/E7sZhmZ0aDDT9+sWc4Ga9T419cSIwpMkL1aq8EIXC8O7UnTezPHrjGO1mELM8bafWS/eX3iHpKgTTyrLDUjTtDiq/HabSKuUFRGh4643qM7HJCAbZTlCoPcTDAb//0w0YO8/4bYGErcUua32vMHdX+Rvgc3Nn3y2eHNSi3GJPl17ABtyN5WbKjVdMWqZREuefRaeppF5uTnxNU0ZPJvEn+0W+WHsBWdxn4FB5PWpIF0lgLHPJ5yXBeQeQd/m+tjgFumK4E7vBRuWHTe2HBdelNWHz3Q9HzuMoANE7pzWUJFKr5J5idbzqVIY3wMlDD5GJcDsGRbPwbrsYu68plJLR15rqYELLcCxhyPbvW0G5Oelkpu0T+mfHT6qAelThRsGwRnns2UJeEwXyD0/nUt9I0uYXI17095KSPUxLeWDBBuNuFzri2mcYBQkx/WMr0hhlE2GtfqZTGGPbtRZP9mKgtiVbHgw0D3KmRJfoezJ6ZRBrmfG63dSPP15NkEL2kYN6Bfemdx9zHh6AeSBXiMJP9Cldk/Lgagzby4sRXimsYca96F/dNjzQZRZ/H1MSQAlPHfCMirVTNVbwAj2osoW7yjh4CHum0Re672fWz5ohIhA35kViZ6Rr/chLMhUlya3SiinJvIGFGUN3rdlCmtpk5KcgxzVYVSpfxJXgW5z9ulA+aSbVtVXgOuCKsXeLxYmhsUnR0FBb/ERC8oFMMvxlre2wWvGyCaxX56zEOnb9dKr6Xyb0qxQ0uDgCNcW326xr9k1Vu9fjZBnx0JPmDW4E0vKxgDv2xpVqLIO1isDMAmFx/Mx+Guo21ouXBQpynrgCnuE3cQgXhNhlZRY0nSopdNEYjEE1fKM1CgLrFloBU0azN/2vDkF5BQKhP17sQzdZsrWkATjvqXHAIeEVmFyPmwbKXD+bi3f0hTJFd3peQMXabHoIbHBkk4KS4PY5ucWu+2dv7yk/iMYbOC4gMPDkRP52LGtSbNEuXchRDCZYTSHE5bF3mXv9KmjVwpWZiJbxSOjJtAxYCRwNxGS5UurA6/ql1xKYz8majm28TCr0ZmrNTH7ZCXHvlie9vN3mGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M14PfDGxGwTg7sdNE4RoYW",
      "input": {
        "note": "The pen is now centred on the jaw column but the arm stopped descending at z=0.074; trying a smaller downward step to reach the pen on the table.",
        "targets": {
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01M14PfDGxGwTg7sdNE4RoYW",
      "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]: [-0.1741, 1.2118, 1.116, -0.9489, -0.276, -0.1387, 0.9968, 0.9058, 1.5196, 0.6983, -0.0689, 0.6544, 0.5591, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.188 left_yaw=0.1466 left_pitch=-0.4393 left_roll=0.1904 left_gripper=0.9968 right_x=0.2975 right_y=0.211 right_z=0.0739 right_yaw=0.06 right_pitch=-0.1057 right_roll=-0.0558 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -3.9043, 6.4889, 1.1893, -0.2125, -0.0317, -0.0122, 0.0342, -6.5846, 5.8462, 1.409, 0.525, 0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38c99dade87706f8316da6435c268e148ef7af545fd1793efcc3f2cc83a7f548",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f18f4422c2d08f71300ab6048076f36b2d1a881841714e0dd4fd862c4066d12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9608aafe06298c2c77712251a808707298062a4c690a8f3191407ced3612e133",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 7.92 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]: [-0.1741, 1.2118, 1.116, -0.9482, -0.276, -0.1387, 0.9968, 0.8913, 1.5024, 0.7048, -0.1055, 0.6384, 0.5301, 0.9997]\nstate[eef_state]: left_x=0.302 left_y=-0.0006 left_z=0.1881 left_yaw=0.1465 left_pitch=-0.4385 left_roll=0.1902 left_gripper=0.9968 right_x=0.2973 right_y=0.2062 right_z=0.0756 right_yaw=0.0708 right_pitch=-0.1248 right_roll=-0.0797 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -4.0957, 7.665, 1.2918, -0.1734, -0.0366, 0.0024, 0.3897, -6.3658, 5.5179, 1.3846, 0.4664, 0.1343, -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]: [-0.1741, 1.2118, 1.116, -0.9489, -0.276, -0.139, 0.9968, 0.9062, 1.5196, 0.6983, -0.0692, 0.6548, 0.5587, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.188 left_yaw=0.1469 left_pitch=-0.4392 left_roll=0.1902 left_gripper=0.9968 right_x=0.2975 right_y=0.211 right_z=0.0739 right_yaw=0.0603 right_pitch=-0.1058 right_roll=-0.0565 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -3.8769, 6.4615, 1.1795, -0.1783, -0.0513, -0.0122, 0.1846, -6.5162, 5.8598, 1.4335, 0.5446, 0.1343, -0.0073]",
      "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]: [-0.1741, 1.2118, 1.116, -0.9489, -0.276, -0.1387, 0.9968, 0.9058, 1.5196, 0.6983, -0.0689, 0.6544, 0.5591, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.188 left_yaw=0.1466 left_pitch=-0.4393 left_roll=0.1904 left_gripper=0.9968 right_x=0.2975 right_y=0.211 right_z=0.0739 right_yaw=0.06 right_pitch=-0.1057 right_roll=-0.0558 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -3.9043, 6.4889, 1.1893, -0.2125, -0.0317, -0.0122, 0.0342, -6.5846, 5.8462, 1.409, 0.525, 0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38c99dade87706f8316da6435c268e148ef7af545fd1793efcc3f2cc83a7f548",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f18f4422c2d08f71300ab6048076f36b2d1a881841714e0dd4fd862c4066d12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9608aafe06298c2c77712251a808707298062a4c690a8f3191407ced3612e133",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlQcKjgEIEhgCKkAyETCIMUU0kHBnw6qFOiVKJlGhOzOUxmy5g+IQhv7apkCvPVBG70BAwDmUYRkh7iBN7yxpPbZTlLwWGT2lCrX3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbHezNUGEgywywOa02jQy3GpKLcaDDsHvPKDalqfC5ueViIw36p9dJS7rJfUR1KE2N78TOePRQ9i8KkT2LzcfK6R3dJh18WGf5ocrNCgUVQ//8FMKrMF41mcdDLpzUiHOGXfI1hY3LanGs52VPU9w/ODAMWk493A8jtW0Jt8a7Fm4qr3qUA3Easo08kjzuaGpDcm/3r8nKmmeDu8W7jbcRnUjNL5G3KplcJtBc4T7RCjqof1j8Z9pSmunAGtZU2IQOoSWz7MYcmFqI2dDEhtzOQqcRUUaZWhzUXAOjxeDMhugt24P9dR+1D0DgDlkGYmCWtNkkkAe6XAPqdX/X17xHJeOlsR0wR9SeHLq4NByEyj9ZNpN0kq+Lf1hghknxJIB2+0P/ka5N/juqgQ5MpV9dtmSaCJI9XvFgryfjk0f65Cs6ZFy4/fzD7lDMoXYSzE3rW45v57XfmPoHFPLmVwKLpZgit2GPmxKzsnUDJksMWgufa6SynUJSi6+6uKMAHr4xiLjsG+XKwt8Np4e/++MPPP/GnUDKhQJXkvzmVUTFUAjK8o7yG6KaweXlxHW46VhWHpumanG7Q1za2+RP+OV+4j7DgEusJmrRB9fWz3mPk/X+RkvBrlJpElqZs2FrYZErA/XQb2WC5joFDWMFeD16NaEhYQ170lHNG432NhoxGXgvfCeRMBBVn2LEdcuNKzT8YpUIobobHS3SWJaJtaZKDpajROBtLsNB/5LBSdONvIj9e6AgkQFQkrjC+Jp5GaRweUGDEmpFqO4SljDWPUCLWSv0QK4/kN4mrSfqYvQLWoW4c87tkvWbpFSN3NkIjrfZmoapEXEhOF5dYyMy7Gkq401JNcyYR/ilgPbX2OsN9O2Wks/rC8VTtpp/WSJrZQUqQgkbJuqcNzirXf5nV4KuOK4IKxotjEczPCBYWHk4tTyy3QdiW2gViHFijWbCDWVS1FK2EE6HPAXjvNr/y0tZQKoi3NvK50p6q1FLQjIhzzx3FoCqkKDykUA8Zy0vkE0ERjZ0pA9uN40hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MPmodZfTMEJRTpPYLHqY5x",
      "input": {
        "note": "The right arm is completely stuck at z=0.074 (no tracking at all), so I'm backing out and up to a cleaner pose before re-approaching the pen.",
        "targets": {
          "right_x": 0.32,
          "right_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_01MPmodZfTMEJRTpPYLHqY5x",
      "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]: [-0.1741, 1.2118, 1.116, -0.9493, -0.276, -0.1387, 0.9968, 0.8486, 1.4734, 0.9012, -0.2554, 0.6163, 0.514, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.188 left_yaw=0.1467 left_pitch=-0.4396 left_roll=0.1906 left_gripper=0.9968 right_x=0.3237 right_y=0.2184 right_z=0.1349 right_yaw=0.0579 right_pitch=-0.085 right_roll=-0.0259 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -3.8906, 6.5299, 1.1502, -0.2027, -0.0317, -0.0122, -0.294, -7.4188, 6.8034, 0.8181, 0.1929, 0.0171, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bfb36acc8d52fc375c593a72bd2ddd58dee1b5aa262da2f72532a76154ace5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b2bc5b3ea9fb88d442295cda4512aba349da96aef1821874ab29085afffc3fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e830361e89e3db983cfc323431caf7c482f3d22e3323b72d89c2f426b84801bd",
        "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 · 3.966 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]: [-0.1741, 1.2118, 1.116, -0.9489, -0.276, -0.139, 0.9968, 0.9062, 1.5196, 0.6983, -0.0692, 0.6548, 0.5587, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.188 left_yaw=0.1469 left_pitch=-0.4392 left_roll=0.1902 left_gripper=0.9968 right_x=0.2975 right_y=0.211 right_z=0.0739 right_yaw=0.0603 right_pitch=-0.1058 right_roll=-0.0565 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -3.8769, 6.4615, 1.1795, -0.1783, -0.0513, -0.0122, 0.1846, -6.5162, 5.8598, 1.4335, 0.5446, 0.1343, -0.0073]",
      "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]: [-0.1741, 1.2118, 1.116, -0.9489, -0.276, -0.1387, 0.9968, 0.9058, 1.5196, 0.6983, -0.0689, 0.6544, 0.5591, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.188 left_yaw=0.1466 left_pitch=-0.4393 left_roll=0.1904 left_gripper=0.9968 right_x=0.2975 right_y=0.211 right_z=0.0739 right_yaw=0.06 right_pitch=-0.1057 right_roll=-0.0558 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -3.9043, 6.4889, 1.1893, -0.2125, -0.0317, -0.0122, 0.0342, -6.5846, 5.8462, 1.409, 0.525, 0.1197, -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 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]: [-0.1741, 1.2118, 1.116, -0.9493, -0.276, -0.1387, 0.9968, 0.8486, 1.4734, 0.9012, -0.2554, 0.6163, 0.514, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.188 left_yaw=0.1467 left_pitch=-0.4396 left_roll=0.1906 left_gripper=0.9968 right_x=0.3237 right_y=0.2184 right_z=0.1349 right_yaw=0.0579 right_pitch=-0.085 right_roll=-0.0259 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -3.8906, 6.5299, 1.1502, -0.2027, -0.0317, -0.0122, -0.294, -7.4188, 6.8034, 0.8181, 0.1929, 0.0171, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bfb36acc8d52fc375c593a72bd2ddd58dee1b5aa262da2f72532a76154ace5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b2bc5b3ea9fb88d442295cda4512aba349da96aef1821874ab29085afffc3fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e830361e89e3db983cfc323431caf7c482f3d22e3323b72d89c2f426b84801bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS5wcKjgEIEhgCKkDHQopZpnUWJHQZXwkohklFC3ktXpxi72KZHXE6xmfGYSuGpt21evON/WufRLMsmBR23LraULbqJ1/pzScRoHZpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbnezNUGEgwyno3cstp29pElN7UaDAeOVsJkWugmnV90myIwmh5d8ZOa99Lt1e+BxUlVbbXj8Z8VsdhzRS54Dc88IkTrk6ZbYc6XxLsg7ZIMBNKGKoUGdq+y3x6o3ggHA3386pC3mISLVYYwY0qtzGnt/KSE9ZhNajK1X4a80joeU2+nzAF1exNUzqyMgCc3P2mnuWD27ts/rcnco/58N4MgVMfeEQNGOhSu1bWq4qn6HM3dM2uTnvlCAOfLPXYnM3gWFGmRZpASOUg1B10d9w3ltnc3V7J/xjLI3Zpo2PkEf2x5TAGS01CCT2ACYx8hmoEbUYUYWCR4+9gh3aqDTRx86bs/Fc912lsLUe+tSy6lVcD4Sq7rxfLaJCgyJJb7NC8d1LzeWihCTVplJWbFdmnE+eryb9ir6dUwMCTYUNNw/GNc0bjoJqBO5hT4OaeivW2mgOw+ExxAZvs95Ath3fE1r4SO7j01+E2fYaYetx6RKODClBChKQah3FjgL+FPpVusvvBhdZwD9yn3jfg1zoPGE87KCiPEcrWowfdNyJYO+R47WWTJGzJd+hnhmVwDEmjGLwBv5Krf+EgvMMHKPv+uAwfs9yfSSUT4tg/I0+GzGNeUjG/pMX4qfwRFJxZi4IEQ0VjPryml7MlvAAi6RsAV/x9EHboLgxtppKzCOpYoSHwRR8CpjI/qLbfxZHGvXYdrj7JkXPwWknqTzUiOY9HNQxFN0dTQrBTPvERJMSQ53KJuMG+KxW+rTzuPVLkw9gd2FFkqkvqbjlA2yBo/cyJz2tLoNgI2hMNtjawrac/YmARgzyWRKXDodiVitROvZWNK0NxCa655bMOyyShwb3wAXqwYmzuepWSGqEgi8v1JMs/Spu8IbegVGsxEutVp/nRNw8rcffHt6Gzo6Et6wCCoyz0VfbMUTWl4kSwnas39at5ARNHpX1RoNKpM4pTS7SJawl96MjafGeo/QiqUMUTtPV3TE/4Zpr6u+v/p+sarKP9vWhH3sVBOU4dMsEA0SbZpHRyj3toNsr4StohERxPzf/W3j2iYkUmLB9xMnxpn6cbgU7Q8NqkrCjMRAbQwuTYrtOIgB7GuzoY3RnZdHO+zGwmo/ciI9DkFr/e53rYbVqj0QBAKxPZqGRYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RuwoPLqGbX2EB3gWBGQSfN",
      "input": {
        "note": "The arm is free again; descending back onto the pen, which was centred on the jaw column at x≈0.30, y≈0.21, this time going all the way to table level.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.215,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01RuwoPLqGbX2EB3gWBGQSfN",
      "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]: [-0.1741, 1.2118, 1.116, -0.9493, -0.2756, -0.1387, 0.9968, 0.897, 1.689, 0.6048, 0.1764, 0.6281, 0.551, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.188 left_yaw=0.1464 left_pitch=-0.4397 left_roll=0.1902 left_gripper=0.9968 right_x=0.2966 right_y=0.2109 right_z=0.0179 right_yaw=0.0719 right_pitch=-0.133 right_roll=-0.0612 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -3.8632, 6.5162, 1.1697, -0.1538, -0.0269, -0.0122, 0.7043, -6.7487, 4.8068, 1.3504, 0.5153, 0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7d8cce182a885c8a26d82fbed302eb002b0873b3900f23c54c4be60dc7e8574",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a81233a56a9133285595e1c939266874138f9e578bca4590a7d99fd67e69aa49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:412dc783c2ee6717fac4a3f12e336412107e0520f6cc2245256aec6cfe758b29",
        "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 · 6.374 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]: [-0.1741, 1.2118, 1.116, -0.9489, -0.276, -0.1387, 0.9968, 0.9058, 1.5196, 0.6983, -0.0689, 0.6544, 0.5591, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.188 left_yaw=0.1466 left_pitch=-0.4393 left_roll=0.1904 left_gripper=0.9968 right_x=0.2975 right_y=0.211 right_z=0.0739 right_yaw=0.06 right_pitch=-0.1057 right_roll=-0.0558 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -3.9043, 6.4889, 1.1893, -0.2125, -0.0317, -0.0122, 0.0342, -6.5846, 5.8462, 1.409, 0.525, 0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1741, 1.2118, 1.116, -0.9493, -0.276, -0.1387, 0.9968, 0.8486, 1.4734, 0.9012, -0.2554, 0.6163, 0.514, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.188 left_yaw=0.1467 left_pitch=-0.4396 left_roll=0.1906 left_gripper=0.9968 right_x=0.3237 right_y=0.2184 right_z=0.1349 right_yaw=0.0579 right_pitch=-0.085 right_roll=-0.0259 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -3.8906, 6.5299, 1.1502, -0.2027, -0.0317, -0.0122, -0.294, -7.4188, 6.8034, 0.8181, 0.1929, 0.0171, -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 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]: [-0.1741, 1.2118, 1.116, -0.9493, -0.2756, -0.1387, 0.9968, 0.897, 1.689, 0.6048, 0.1764, 0.6281, 0.551, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.188 left_yaw=0.1464 left_pitch=-0.4397 left_roll=0.1902 left_gripper=0.9968 right_x=0.2966 right_y=0.2109 right_z=0.0179 right_yaw=0.0719 right_pitch=-0.133 right_roll=-0.0612 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -3.8632, 6.5162, 1.1697, -0.1538, -0.0269, -0.0122, 0.7043, -6.7487, 4.8068, 1.3504, 0.5153, 0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7d8cce182a885c8a26d82fbed302eb002b0873b3900f23c54c4be60dc7e8574",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a81233a56a9133285595e1c939266874138f9e578bca4590a7d99fd67e69aa49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:412dc783c2ee6717fac4a3f12e336412107e0520f6cc2245256aec6cfe758b29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1QMKjgEIEhgCKkDKtFt195Thd0I6L08gUmbeCZf8R7V700kf0DNTrJ5x5Kp0XsqC15rkVNqdc/Hpoq7ERMyyrRf5d99FyAtJsoG2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb/ezNUGEgx3jYPTUp+w2nIYHpIaDA4NOuKVEEdncnmiYiIwkGdT+DqWgqc8gJ7I3RO46eaSLu5ZBgJVtG+SKXCN8HY9l2mTQfnc+YeyCVwkLMmrKvMBSJjvnJizrsooz2SXjpmjGuzPDlSQOzouKO70RT2cVf3TBUkXHNRq2oiTcH6WcwmMqIXJXQj+yzUaWJ30kANafDgCAGbDoUr971ivujJoRQjX9YGG3xAfaiRObLUWQPUQ6NwHfIlQCIQkqVpKVbhVaHPK+0QwXgzaaanrk/aftjjLU0CXmuAlVLiDhj6kLBoMVFa+4HyjsNWAoxlypbvIgnyYA3qimhDHE4meEKFdyLbzF3em17rzX2l9GMhiiw0YrBAIjs+b3y3M00cNGSQLhcWuHqkMXRZ361QZSvoduMA0OoF7VVnrdA6NrB1IJNm1Nf9VGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E12S5eNGUpVGU8YHVRm1Sy",
      "input": {
        "note": "The blue pen is centred between the jaws at table level; closing the gripper on it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01E12S5eNGUpVGU8YHVRm1Sy",
      "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]: [-0.1741, 1.2121, 1.116, -0.9493, -0.2756, -0.1387, 0.9968, 0.8993, 1.7016, 0.5938, 0.1928, 0.6197, 0.5495, 0.1343]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.1879 left_yaw=0.1464 left_pitch=-0.4401 left_roll=0.1903 left_gripper=0.9968 right_x=0.294 right_y=0.2108 right_z=0.012 right_yaw=0.0801 right_pitch=-0.1429 right_roll=-0.0632 right_gripper=0.1343\nstate[joint_eff]: [-0.1026, -3.8632, 6.653, 1.1893, -0.1734, -0.0415, -0.0122, -0.2803, -7.706, 5.6547, 1.1306, 0.3199, -0.0562, 0.9841]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:295767bea3022fc284ec2532e18fdff1b387c1f8df09532efe28fad3ab7f8844",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d4f6c95f1a03ca5ddbe1604c0e61258386b3c6ac8710f76273695feb7eb7a63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92909bdcc68894507865d685b3ef22e4fc9888d83a95895a4dba4c9aee57e50b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 4.97 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]: [-0.1741, 1.2118, 1.116, -0.9493, -0.276, -0.1387, 0.9968, 0.8486, 1.4734, 0.9012, -0.2554, 0.6163, 0.514, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.188 left_yaw=0.1467 left_pitch=-0.4396 left_roll=0.1906 left_gripper=0.9968 right_x=0.3237 right_y=0.2184 right_z=0.1349 right_yaw=0.0579 right_pitch=-0.085 right_roll=-0.0259 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -3.8906, 6.5299, 1.1502, -0.2027, -0.0317, -0.0122, -0.294, -7.4188, 6.8034, 0.8181, 0.1929, 0.0171, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1741, 1.2118, 1.116, -0.9493, -0.2756, -0.1387, 0.9968, 0.897, 1.689, 0.6048, 0.1764, 0.6281, 0.551, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.188 left_yaw=0.1464 left_pitch=-0.4397 left_roll=0.1902 left_gripper=0.9968 right_x=0.2966 right_y=0.2109 right_z=0.0179 right_yaw=0.0719 right_pitch=-0.133 right_roll=-0.0612 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -3.8632, 6.5162, 1.1697, -0.1538, -0.0269, -0.0122, 0.7043, -6.7487, 4.8068, 1.3504, 0.5153, 0.0708, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1741, 1.2121, 1.116, -0.9493, -0.2756, -0.1387, 0.9968, 0.8993, 1.7016, 0.5938, 0.1928, 0.6197, 0.5495, 0.1343]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.1879 left_yaw=0.1464 left_pitch=-0.4401 left_roll=0.1903 left_gripper=0.9968 right_x=0.294 right_y=0.2108 right_z=0.012 right_yaw=0.0801 right_pitch=-0.1429 right_roll=-0.0632 right_gripper=0.1343\nstate[joint_eff]: [-0.1026, -3.8632, 6.653, 1.1893, -0.1734, -0.0415, -0.0122, -0.2803, -7.706, 5.6547, 1.1306, 0.3199, -0.0562, 0.9841]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:295767bea3022fc284ec2532e18fdff1b387c1f8df09532efe28fad3ab7f8844",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d4f6c95f1a03ca5ddbe1604c0e61258386b3c6ac8710f76273695feb7eb7a63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92909bdcc68894507865d685b3ef22e4fc9888d83a95895a4dba4c9aee57e50b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpAUKjgEIEhgCKkBQG7JG5HKflauxZDbjaQXA1TDDfMdWG6WjJJ8Rq5kpbZgHnvOw2GQ1aLRoy3tUctI7kMaFnRFNG4HaVux6LV6CMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcbezNUGEgzymUUiC3S6KhMv2v0aDC8D+FoRElyLWgHQLyIwCT+otMhS834FsjR8An9Yn1v2zFk22plDMuIX2SyE9pY/uKIECrSJvhAyrVpgs6PIKsIDfKmIWGmYGkkNoQTYzDNoCASRnqQq++3bb68YeSAiJRNT1C8pfYOxMhzperHQ73/k5Cmrwp8GBplhE3WhkfCyNpY6l/QJy0l/QK2ogPMYDsRU5ofrYVdV99iJbeE+aqMDu6PQPKVpb7XaLgP3cD30DMONX9M6CXMvi0wGQpPeJDqopdakpEj21/hCUu4YtiO0YAeMefYC1MzTqROsOS8q6DiXslxynu4kP0hythfs7U8hHxdDcjdODifPc5oVV8cunrDorao5K+Z6oUFCMKoL41Suxn8fUzct//QyLkHuH44eZcfFkZNpj+KS2nU6d3luS1LVtJiqz/Ehh7NnHyQPyyF6JNSCsVN6cFJoQRa2ekQ/dXAQgbejJ4tlx/4USppCtBTl+qnDTomwRp80UBbBviM3lO65U+kVOx6qgneeUXPinzkXp8OXcoOmIWVtmgEVmRHlsgGss7/G99qHXsUUuOzxBySyHe9FRGdH6tTyvXSC/QBYz32fs87AE0ZGnp5dDD6ykm7octJA/78u+Oqtc7j8tHsRdrSOQ3uIRY2atindx3+Bg5QbnIYLjz9A7+0KxMrIJGFG86DiiXf9IkdoKUOtGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CSq6x4tLnuRi2JZVD4qRfv",
      "input": {
        "note": "Gripper settled at 0.13 — the pen is held. Lifting and moving forward over the rig-right basket to drop the pen there (pens → right basket).",
        "targets": {
          "right_x": 0.42,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01CSq6x4tLnuRi2JZVD4qRfv",
      "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]: [-0.1741, 1.2121, 1.116, -0.9497, -0.276, -0.1387, 0.9968, 0.6247, 1.7134, 1.7031, -0.7715, 0.4324, 0.3084, 0.1392]\nstate[eef_state]: left_x=0.3017 left_y=-0.0006 left_z=0.1878 left_yaw=0.1468 left_pitch=-0.4403 left_roll=0.1908 left_gripper=0.9968 right_x=0.4198 right_y=0.2158 right_z=0.2686 right_yaw=0.0863 right_pitch=-0.1354 right_roll=-0.0548 right_gripper=0.1392\nstate[joint_eff]: [-0.3214, -3.8906, 6.4752, 1.2088, -0.1832, -0.0562, -0.0122, -0.5538, -8.3897, 8.8547, 1.1355, 0.1538, -0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:060f2283e60996a086dad4b71843cc25e20869fd1084b06ada75dcd0dd6f5ab3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9285c5d17d049da5753379128eb11eda8ab47006ef26e7255897da6e0ec3d69d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43871a6d5bf66471bd8f9250c8f0a3e822d944d4665ba6f0013c2ce0d050c495",
        "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 · 6.06 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]: [-0.1741, 1.2118, 1.116, -0.9493, -0.2756, -0.1387, 0.9968, 0.897, 1.689, 0.6048, 0.1764, 0.6281, 0.551, 0.9998]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.188 left_yaw=0.1464 left_pitch=-0.4397 left_roll=0.1902 left_gripper=0.9968 right_x=0.2966 right_y=0.2109 right_z=0.0179 right_yaw=0.0719 right_pitch=-0.133 right_roll=-0.0612 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -3.8632, 6.5162, 1.1697, -0.1538, -0.0269, -0.0122, 0.7043, -6.7487, 4.8068, 1.3504, 0.5153, 0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1741, 1.2121, 1.116, -0.9493, -0.2756, -0.1387, 0.9968, 0.8993, 1.7016, 0.5938, 0.1928, 0.6197, 0.5495, 0.1343]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.1879 left_yaw=0.1464 left_pitch=-0.4401 left_roll=0.1903 left_gripper=0.9968 right_x=0.294 right_y=0.2108 right_z=0.012 right_yaw=0.0801 right_pitch=-0.1429 right_roll=-0.0632 right_gripper=0.1343\nstate[joint_eff]: [-0.1026, -3.8632, 6.653, 1.1893, -0.1734, -0.0415, -0.0122, -0.2803, -7.706, 5.6547, 1.1306, 0.3199, -0.0562, 0.9841]",
      "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]: [-0.1741, 1.2121, 1.116, -0.9497, -0.276, -0.1387, 0.9968, 0.6247, 1.7134, 1.7031, -0.7715, 0.4324, 0.3084, 0.1392]\nstate[eef_state]: left_x=0.3017 left_y=-0.0006 left_z=0.1878 left_yaw=0.1468 left_pitch=-0.4403 left_roll=0.1908 left_gripper=0.9968 right_x=0.4198 right_y=0.2158 right_z=0.2686 right_yaw=0.0863 right_pitch=-0.1354 right_roll=-0.0548 right_gripper=0.1392\nstate[joint_eff]: [-0.3214, -3.8906, 6.4752, 1.2088, -0.1832, -0.0562, -0.0122, -0.5538, -8.3897, 8.8547, 1.1355, 0.1538, -0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:060f2283e60996a086dad4b71843cc25e20869fd1084b06ada75dcd0dd6f5ab3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9285c5d17d049da5753379128eb11eda8ab47006ef26e7255897da6e0ec3d69d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43871a6d5bf66471bd8f9250c8f0a3e822d944d4665ba6f0013c2ce0d050c495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrgQKjgEIEhgCKkBJjO1wPVG0ozr5Rmq7YdCLPuGOlbBoNyxnq0cyf3G3EfWoOGJmUwnKDUfmYCc/QxrjfFGJNmReAfHmPzeMubOcMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAczezNUGEgz3cp6znGAdM4YB5tQaDN1e2cO5zs2VXio7AiIwU6CSDMFtc4hBBXKXcRxI84wECCsrxJUT6Ab/gbUJIl3JVq3UN6EULkNRB3TBODFSKswC3GZncX2sGZP4P9KekWnKIzKC9Yumgkw3FA9VDBa/SgIcH50H/oGgCrj43P7V1Yuoya8UhV50zJo32lHWuQc4XUmrm484vbPXR2jtcv4Dl8eR+amjgDj9KVn9pTpTz1zFPNY0TkG5Tv/RsuHLQkAxRFiw41T8f3CfSoqB9BuOnFmIoRVMzMiFygxSsiVu8Xk+yPxngfThGxKalnDOxeLXdHMxQXkrlQl+GnwX+kIQ78LhryZhQgiEArqiQ/nWt6mubTg4KQgVF2MU3cGpme+x/RPh4Ab97Ijg0aedFhM4LrgFD7qcNU9iegFJCenYQF+UJHiDsJ62WxUgt+fXIhdflpA0eCj9EJ+p1P4BKlR00jZQHEb6LOI4xwWB5g52s1mqwll0pY4n9VlprmDMpaZFcj6/MgbvXG5cQd3aAJRCT7j4kHsApxCeiDMszIMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V1sYSX4c5xDhtJfRBaKU34",
      "input": {
        "note": "The right basket's interior is just beyond the held pen; advancing 5 cm to get the pen over the opening.",
        "targets": {
          "right_x": 0.47,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01V1sYSX4c5xDhtJfRBaKU34",
      "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]: [-0.1741, 1.2118, 1.116, -0.9501, -0.276, -0.139, 0.9968, 0.5602, 1.8584, 1.7596, -0.746, 0.3851, 0.2604, 0.1392]\nstate[eef_state]: left_x=0.3016 left_y=-0.0005 left_z=0.1879 left_yaw=0.147 left_pitch=-0.4403 left_roll=0.1906 left_gripper=0.9968 right_x=0.4568 right_y=0.2124 right_z=0.226 right_yaw=0.0801 right_pitch=-0.209 right_roll=-0.0918 right_gripper=0.1392\nstate[joint_eff]: [-0.1709, -3.8222, 6.5709, 1.1795, -0.1832, -0.0415, -0.0122, -0.5402, -11.2889, 10.6188, 1.5067, 0.1832, 0.0415, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15b7066492a979dc921a2662894ace281a4c812c12d5d71dc15a0eb2356c055d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0cf2f2c4be2b51927f8013dd2c5ab33e0e06cfee03dd570166c9b1acc3e3f05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff57e881dd638d1f9017620bbc1b0b2653778321eec62fafa4ca303c861fe7c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 5.786 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]: [-0.1741, 1.2121, 1.116, -0.9493, -0.2756, -0.1387, 0.9968, 0.8993, 1.7016, 0.5938, 0.1928, 0.6197, 0.5495, 0.1343]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.1879 left_yaw=0.1464 left_pitch=-0.4401 left_roll=0.1903 left_gripper=0.9968 right_x=0.294 right_y=0.2108 right_z=0.012 right_yaw=0.0801 right_pitch=-0.1429 right_roll=-0.0632 right_gripper=0.1343\nstate[joint_eff]: [-0.1026, -3.8632, 6.653, 1.1893, -0.1734, -0.0415, -0.0122, -0.2803, -7.706, 5.6547, 1.1306, 0.3199, -0.0562, 0.9841]",
      "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]: [-0.1741, 1.2121, 1.116, -0.9497, -0.276, -0.1387, 0.9968, 0.6247, 1.7134, 1.7031, -0.7715, 0.4324, 0.3084, 0.1392]\nstate[eef_state]: left_x=0.3017 left_y=-0.0006 left_z=0.1878 left_yaw=0.1468 left_pitch=-0.4403 left_roll=0.1908 left_gripper=0.9968 right_x=0.4198 right_y=0.2158 right_z=0.2686 right_yaw=0.0863 right_pitch=-0.1354 right_roll=-0.0548 right_gripper=0.1392\nstate[joint_eff]: [-0.3214, -3.8906, 6.4752, 1.2088, -0.1832, -0.0562, -0.0122, -0.5538, -8.3897, 8.8547, 1.1355, 0.1538, -0.0464, 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 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]: [-0.1741, 1.2118, 1.116, -0.9501, -0.276, -0.139, 0.9968, 0.5602, 1.8584, 1.7596, -0.746, 0.3851, 0.2604, 0.1392]\nstate[eef_state]: left_x=0.3016 left_y=-0.0005 left_z=0.1879 left_yaw=0.147 left_pitch=-0.4403 left_roll=0.1906 left_gripper=0.9968 right_x=0.4568 right_y=0.2124 right_z=0.226 right_yaw=0.0801 right_pitch=-0.209 right_roll=-0.0918 right_gripper=0.1392\nstate[joint_eff]: [-0.1709, -3.8222, 6.5709, 1.1795, -0.1832, -0.0415, -0.0122, -0.5402, -11.2889, 10.6188, 1.5067, 0.1832, 0.0415, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15b7066492a979dc921a2662894ace281a4c812c12d5d71dc15a0eb2356c055d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0cf2f2c4be2b51927f8013dd2c5ab33e0e06cfee03dd570166c9b1acc3e3f05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff57e881dd638d1f9017620bbc1b0b2653778321eec62fafa4ca303c861fe7c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStQQKjgEIEhgCKkCJk8Vy/qvlQ8o18t2ti1/0QpejyBRpK7m/t+0J+UJDzu9Rc1kRwhTk0k7rU5R4iMWMRRHIHISt2pIYCz+MBaDkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdPezNUGEgyDHy38pdAD6EbfiDIaDLTR2x96gHIR0bA39CIwA4rMAKUtWYJk3MnWWNTDxNpH/5/W3WX4gA7DAZZAEKJnK5GPQbV5RJ4BvbIOHU2VKtMCmHQsNZdxSG64i8kl+yUv+pUnkGLYBTK042xXq9l+Wbb29jxLiPuZ2nk/UrR9WNSez/MP0N3fYt3G/SYqlsIxpznplMsim2OtochE8q0ufU7clKI3pqsQfePF0LYpRMA+W499i9PPW2xLwpju5U+d/u093h2SOHKoXeg7lAfeYzKvKvrdNohT7MRU8uGBkJ5zQA9H4tMK4XJOHGCSC2TYJX2PAvV4WEe+N5h/aUCpv1IwYh3Ke74fWVivCXPTGJIQr3LmWImFx7tbWFgXnVjxLFXCmrohBE+qRwjm8iKouH/iXMnLDis9qbX0kskZXKuTsQ2Y7TBmD67e73dcDYu7P6DUvu/oOmm9Gkc5BUWeMDzBamZ5uor+l7NLKhDQzpy98tthw4aeoV09eMSGU7QSyUGwN0FdC2t9Xyi/aNXn6rOTCGWSwHZ3MepuQQKIfQbNiLjoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011aRS2aH9m5J78abVNNCs81",
      "input": {
        "note": "Pen is over the basket's near rim; pushing 4 cm further in and down slightly before releasing so it falls inside.",
        "targets": {
          "right_x": 0.5,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011aRS2aH9m5J78abVNNCs81",
      "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]: [-0.1741, 1.2121, 1.116, -0.9493, -0.2756, -0.1387, 0.9968, 0.5495, 1.8835, 1.7702, -0.7277, 0.3717, 0.2462, 0.1428]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.1879 left_yaw=0.1464 left_pitch=-0.4401 left_roll=0.1903 left_gripper=0.9968 right_x=0.4648 right_y=0.2136 right_z=0.2204 right_yaw=0.0882 right_pitch=-0.2108 right_roll=-0.0913 right_gripper=0.1428\nstate[joint_eff]: [-0.1162, -3.8906, 6.5436, 1.16, -0.1538, -0.0317, -0.0122, -0.1983, -11.9316, 9.6752, 1.6532, 0.1587, 0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc049ddfde050900981962543e3356d1ebd9abdf3812d5c45c8b3456f740c9c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:748a483083a97bc0ea2fd2fa30cfbe212ec5e6dfc4a805eabed4e49341ffc9a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5706e642ac2a34f6da5fb972e8e48c8755d70dd7eea4cf5a739ba5039329b12d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 18.15 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]: [-0.1741, 1.2121, 1.116, -0.9497, -0.276, -0.1387, 0.9968, 0.6247, 1.7134, 1.7031, -0.7715, 0.4324, 0.3084, 0.1392]\nstate[eef_state]: left_x=0.3017 left_y=-0.0006 left_z=0.1878 left_yaw=0.1468 left_pitch=-0.4403 left_roll=0.1908 left_gripper=0.9968 right_x=0.4198 right_y=0.2158 right_z=0.2686 right_yaw=0.0863 right_pitch=-0.1354 right_roll=-0.0548 right_gripper=0.1392\nstate[joint_eff]: [-0.3214, -3.8906, 6.4752, 1.2088, -0.1832, -0.0562, -0.0122, -0.5538, -8.3897, 8.8547, 1.1355, 0.1538, -0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1741, 1.2118, 1.116, -0.9501, -0.276, -0.139, 0.9968, 0.5602, 1.8584, 1.7596, -0.746, 0.3851, 0.2604, 0.1392]\nstate[eef_state]: left_x=0.3016 left_y=-0.0005 left_z=0.1879 left_yaw=0.147 left_pitch=-0.4403 left_roll=0.1906 left_gripper=0.9968 right_x=0.4568 right_y=0.2124 right_z=0.226 right_yaw=0.0801 right_pitch=-0.209 right_roll=-0.0918 right_gripper=0.1392\nstate[joint_eff]: [-0.1709, -3.8222, 6.5709, 1.1795, -0.1832, -0.0415, -0.0122, -0.5402, -11.2889, 10.6188, 1.5067, 0.1832, 0.0415, 1.033]",
      "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]: [-0.1741, 1.2121, 1.116, -0.9493, -0.2756, -0.1387, 0.9968, 0.5495, 1.8835, 1.7702, -0.7277, 0.3717, 0.2462, 0.1428]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.1879 left_yaw=0.1464 left_pitch=-0.4401 left_roll=0.1903 left_gripper=0.9968 right_x=0.4648 right_y=0.2136 right_z=0.2204 right_yaw=0.0882 right_pitch=-0.2108 right_roll=-0.0913 right_gripper=0.1428\nstate[joint_eff]: [-0.1162, -3.8906, 6.5436, 1.16, -0.1538, -0.0317, -0.0122, -0.1983, -11.9316, 9.6752, 1.6532, 0.1587, 0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc049ddfde050900981962543e3356d1ebd9abdf3812d5c45c8b3456f740c9c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:748a483083a97bc0ea2fd2fa30cfbe212ec5e6dfc4a805eabed4e49341ffc9a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5706e642ac2a34f6da5fb972e8e48c8755d70dd7eea4cf5a739ba5039329b12d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4AUKjgEIEhgCKkBSM8yqkg13x+G2uEhXfRLTjY9zRlpxN6eLUT7C+dn4DlY+PegSpYYt2PXewYjJDowBVrkomM7Q7wbjGTqbZYQAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdnezNUGEgwdtBNDSkP/PJ9SEwUaDIsHOKifj4/IMCvx7iIwmxOPBp/GsXZImpIHMCzMeVGfQ/XwwQ7aNzu+dSlNFo2kcsK0IR81j2UoO7xus7OqKv4Dgb3PY7zRsY2Td0zJXrQxhM416bB1cbjEnHNK0NAGXzWPELBt171zZJToFoQ2Y3tYDVipkdlONbJgwNKMeWWAiBc6pIHZC7oHPVzx+txUKq8aRIP5UazipAvmFIionOmSzsDdWDm7hGm21Rm4mOgSjSTD87vr38o53h/n0DcIVLHgJ7rFicJrVzGy+3uhAxG0JajkkKgaNm22iN2JgMeQwOtSAu20Qu7Rb5YoKIu6G7gVYizBUPX3AkLWLgfYhEh9Hrts1QiCg4zzN4UERg+01j/1mLXUwM5spmngFnJ2qpzTqddqmU6AwQMfA9uwu9he4X90idEX1pxNW5B58lH+W8yV3IHq3TkcnSYB6uRDkX0cf0P7U2MlFQUVpTtCPgIFhSeen6E9TevLo1PNPPfGxDlKApUmNEqBeg9dn7+bI/L6Ks1bIItbk8PWCCQoPOqGJJGdRl2tvF9k3Bo5zloSYCHeV9JoCOJSXPOkUaCUqUn+M9U0/KlAmZ8MyTH979zBjJ9g+WnVZyVeU9IIL7S78hQCweBSNERseb9o5FHqsZNGmUDfIKF76UopHu5EHILZTnCDjpMQp/ht7N5sdac0cumI5m+0zlL3FZpZ4kAjbdbwTCL3WYiYqQaLEqrUeRNiBWptyZ9j9RJz3AaFjP/5h+OqpU4lqkMnmQIgG9oDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EV3JbiarvAvEvX8aYAkvQr",
      "input": {
        "note": "At the forward reach limit with the pen over the basket interior; lowering into the basket and opening to release the pen.",
        "targets": {
          "right_gripper": 1,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01EV3JbiarvAvEvX8aYAkvQr",
      "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]: [-0.1741, 1.2121, 1.116, -0.9489, -0.2756, -0.1387, 0.9968, 0.5495, 1.8725, 1.5646, -0.5529, 0.3683, 0.2417, 0.9951]\nstate[eef_state]: left_x=0.3019 left_y=-0.0007 left_z=0.1879 left_yaw=0.1464 left_pitch=-0.4397 left_roll=0.1902 left_gripper=0.9968 right_x=0.4605 right_y=0.2117 right_z=0.169 right_yaw=0.0915 right_pitch=-0.23 right_roll=-0.1013 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -3.8769, 6.5846, 1.2039, -0.149, 0.0073, -0.0122, -0.2393, -9.7299, 7.8701, 1.8779, 0.149, 0.0024, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0f250d81dc9eb655b330ec9f12ebec4b8757ef6c866154093eb3f5e29c2a8e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f173cac61467faa17aca28c962ccafbdc3d309872c22ac0a01eec9a02abd20de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:188f46a56dd690d9dd46e4381c13633f091cddecfee49995af7edda67d2e2b51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 7.252 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]: [-0.1741, 1.2118, 1.116, -0.9501, -0.276, -0.139, 0.9968, 0.5602, 1.8584, 1.7596, -0.746, 0.3851, 0.2604, 0.1392]\nstate[eef_state]: left_x=0.3016 left_y=-0.0005 left_z=0.1879 left_yaw=0.147 left_pitch=-0.4403 left_roll=0.1906 left_gripper=0.9968 right_x=0.4568 right_y=0.2124 right_z=0.226 right_yaw=0.0801 right_pitch=-0.209 right_roll=-0.0918 right_gripper=0.1392\nstate[joint_eff]: [-0.1709, -3.8222, 6.5709, 1.1795, -0.1832, -0.0415, -0.0122, -0.5402, -11.2889, 10.6188, 1.5067, 0.1832, 0.0415, 1.033]",
      "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]: [-0.1741, 1.2121, 1.116, -0.9493, -0.2756, -0.1387, 0.9968, 0.5495, 1.8835, 1.7702, -0.7277, 0.3717, 0.2462, 0.1428]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.1879 left_yaw=0.1464 left_pitch=-0.4401 left_roll=0.1903 left_gripper=0.9968 right_x=0.4648 right_y=0.2136 right_z=0.2204 right_yaw=0.0882 right_pitch=-0.2108 right_roll=-0.0913 right_gripper=0.1428\nstate[joint_eff]: [-0.1162, -3.8906, 6.5436, 1.16, -0.1538, -0.0317, -0.0122, -0.1983, -11.9316, 9.6752, 1.6532, 0.1587, 0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1741, 1.2121, 1.116, -0.9489, -0.2756, -0.1387, 0.9968, 0.5495, 1.8725, 1.5646, -0.5529, 0.3683, 0.2417, 0.9951]\nstate[eef_state]: left_x=0.3019 left_y=-0.0007 left_z=0.1879 left_yaw=0.1464 left_pitch=-0.4397 left_roll=0.1902 left_gripper=0.9968 right_x=0.4605 right_y=0.2117 right_z=0.169 right_yaw=0.0915 right_pitch=-0.23 right_roll=-0.1013 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -3.8769, 6.5846, 1.2039, -0.149, 0.0073, -0.0122, -0.2393, -9.7299, 7.8701, 1.8779, 0.149, 0.0024, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0f250d81dc9eb655b330ec9f12ebec4b8757ef6c866154093eb3f5e29c2a8e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f173cac61467faa17aca28c962ccafbdc3d309872c22ac0a01eec9a02abd20de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:188f46a56dd690d9dd46e4381c13633f091cddecfee49995af7edda67d2e2b51",
        "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_012a22fMz1DbqtsyQzJQuaPA",
      "input": {
        "note": "Pen delivered to the right basket. Now the left wrist view shows a grey plush toy just left of the jaw column; shifting 3 cm left, levelling the tool and descending toward it.",
        "targets": {
          "left_pitch": 0,
          "left_x": 0.3,
          "left_y": 0.03,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_012a22fMz1DbqtsyQzJQuaPA",
      "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]: [-0.0944, 0.9382, 0.3302, -0.0673, -0.3065, -0.0101, 0.9968, 0.5495, 1.9003, 1.5345, -0.5484, 0.3607, 0.239, 0.9963]\nstate[eef_state]: left_x=0.2896 left_y=0.0297 left_z=0.0852 left_yaw=0.1537 left_pitch=-0.0917 left_roll=0.1972 left_gripper=0.9968 right_x=0.4565 right_y=0.2107 right_z=0.1439 right_yaw=0.093 right_pitch=-0.2807 right_roll=-0.1221 right_gripper=0.9963\nstate[joint_eff]: [0.2393, -2.6735, 7.2821, 1.8535, -0.1197, 0.1099, -0.0122, -0.253, -12.6017, 9.4564, 1.3065, 0.2027, -0.022, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:251edd234dd5c596f6c77d1c3b3ff947a7595b317afbb6c17037b4f79a87b817",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98e0526aa445c2fd4a97c232dfd30d77d48dfdb267c3bef37196749e59d5bba6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2cdc73414cdc625f759ac1cbc57a88982f976cdf4cc723232a310bd5b6aaafb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 4.662 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]: [-0.1741, 1.2121, 1.116, -0.9493, -0.2756, -0.1387, 0.9968, 0.5495, 1.8835, 1.7702, -0.7277, 0.3717, 0.2462, 0.1428]\nstate[eef_state]: left_x=0.3018 left_y=-0.0006 left_z=0.1879 left_yaw=0.1464 left_pitch=-0.4401 left_roll=0.1903 left_gripper=0.9968 right_x=0.4648 right_y=0.2136 right_z=0.2204 right_yaw=0.0882 right_pitch=-0.2108 right_roll=-0.0913 right_gripper=0.1428\nstate[joint_eff]: [-0.1162, -3.8906, 6.5436, 1.16, -0.1538, -0.0317, -0.0122, -0.1983, -11.9316, 9.6752, 1.6532, 0.1587, 0.0073, 1.0281]\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]: [-0.1741, 1.2121, 1.116, -0.9489, -0.2756, -0.1387, 0.9968, 0.5495, 1.8725, 1.5646, -0.5529, 0.3683, 0.2417, 0.9951]\nstate[eef_state]: left_x=0.3019 left_y=-0.0007 left_z=0.1879 left_yaw=0.1464 left_pitch=-0.4397 left_roll=0.1902 left_gripper=0.9968 right_x=0.4605 right_y=0.2117 right_z=0.169 right_yaw=0.0915 right_pitch=-0.23 right_roll=-0.1013 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -3.8769, 6.5846, 1.2039, -0.149, 0.0073, -0.0122, -0.2393, -9.7299, 7.8701, 1.8779, 0.149, 0.0024, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0944, 0.9382, 0.3302, -0.0673, -0.3065, -0.0101, 0.9968, 0.5495, 1.9003, 1.5345, -0.5484, 0.3607, 0.239, 0.9963]\nstate[eef_state]: left_x=0.2896 left_y=0.0297 left_z=0.0852 left_yaw=0.1537 left_pitch=-0.0917 left_roll=0.1972 left_gripper=0.9968 right_x=0.4565 right_y=0.2107 right_z=0.1439 right_yaw=0.093 right_pitch=-0.2807 right_roll=-0.1221 right_gripper=0.9963\nstate[joint_eff]: [0.2393, -2.6735, 7.2821, 1.8535, -0.1197, 0.1099, -0.0122, -0.253, -12.6017, 9.4564, 1.3065, 0.2027, -0.022, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:251edd234dd5c596f6c77d1c3b3ff947a7595b317afbb6c17037b4f79a87b817",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98e0526aa445c2fd4a97c232dfd30d77d48dfdb267c3bef37196749e59d5bba6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cdc73414cdc625f759ac1cbc57a88982f976cdf4cc723232a310bd5b6aaafb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlwYKjgEIEhgCKkDQo6WzNDetP96dU0bqMZsziV5zOPl9Z2KHg/uyuownvnhFCYFJC2pgPRJE9mzqrp8puAB4wkAuoERevJ6HbrQwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfTezNUGEgwN9PXlZ6Yi/5DY2Y4aDEPE5mThDtfI2d2UiiIw731y9cWIE5rPQ1jveCanpb4JHQBrUb5Ut7KoweXUdyeX8kM1ZRZT7HlGSMhH9yFYKrUEL4VvFahoAdsq/aBSOZ1Bqz5wHFYCks62KL9cctlmFjfz3iPi33QADTHGcBVYYZeRWvcm9g2EMUNqTYEjFfl2zW75lZlULXwp+a9dYKF23JJi5+nE4UNHRDc7SOKrr3g1Mz+oB45QAVYuIpkh9j3ri3b5LW+kXGlwDtn5ebCZS6hQto0qGedcCC4Fz8t1VfDTWGbWFUyxEZwxu7GWxuuzg1Gx+nayLHOD8DVwY4dgriX9aa+Wgdeww9/j5M/CpYKTkynAjdhTGuE5chsFtc5sdxtl5/3raYrXykxEij4GRhOxcoSXU42adXp93J0pQC4B+fkLM9xz2C+vSm/O6GhlOFOYvS2/ygVjh7YXaQ8o6NgWEqO7tcLSvkzUAKTN+ad4KLaLvfsbEYYkoyo/4Rxfc+IJB40hTqKYyroo0aJnJQ0NBB44cJfodESPOW1DvaHttIvCPXCz9PCVTGb3NN6XQzhMbJU534lE/z0ZNVxrWjlWijl0kd3miggaOikRwQ8PUXDrQrW0+Cbzzg7siHIJj5EHTTbbTQi8vNZCiMsxqDIJgTdkwcg5csoj6SxxYtS4kf5G5T9INGkEv4JhCgjzQTSLrFDqPjhO8fyhy0DxFtVaWttC3RDJ3cc/XTG82wmQt7arc2QMvQhSqmrYRgFETIKIbhDAwrDoSo+/B1AiNcqx0QKYlouffyKCaeTB0VlpsBwLv0qXJDirA2uWtsjCXbKVzFnS/P7mD5ZDrJR5gVeU5mFH8RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PgnBB86mByazCsGDoGyHfv",
      "input": {
        "note": "The grey plush sits between the open jaws, slightly to the arm's left; shifting to the y limit and descending onto it, while parking the right arm back home.",
        "targets": {
          "left_y": 0.05,
          "left_z": 0.04,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01PgnBB86mByazCsGDoGyHfv",
      "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]: [0.0296, 1.1053, 0.2058, 0.2844, -0.2298, 0.0719, 0.9968, 0.0071, 1.0512, 0.8902, -0.6575, 0.0376, -0.1497, 0.9964]\nstate[eef_state]: left_x=0.2973 left_y=0.0526 left_z=0.0539 left_yaw=0.1695 left_pitch=-0.0506 left_roll=0.2066 left_gripper=0.9968 right_x=0.3089 right_y=-0.0009 right_z=0.1812 right_yaw=0.0483 right_pitch=-0.2637 right_roll=-0.1234 right_gripper=0.9964\nstate[joint_eff]: [0.5812, -1.5521, 4.4103, 1.4383, 0.1636, -0.0562, -0.0073, -0.3214, -3.453, 6.5299, 1.5311, -0.1832, -0.0562, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84ce944aaf78a1cb5ac1aa2297cb8cdd310edae9aa555cecde5c5b30581e3a9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3342caa6a9c645cea226d6c309e0e7e5f6727b15e3ca84040d8410f35d640289",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:33d4f15283b06031375d8f14dc38244a58ffdcc2cccb9a634ec0880af5c7633e",
        "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 · 10.86 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]: [-0.1741, 1.2121, 1.116, -0.9489, -0.2756, -0.1387, 0.9968, 0.5495, 1.8725, 1.5646, -0.5529, 0.3683, 0.2417, 0.9951]\nstate[eef_state]: left_x=0.3019 left_y=-0.0007 left_z=0.1879 left_yaw=0.1464 left_pitch=-0.4397 left_roll=0.1902 left_gripper=0.9968 right_x=0.4605 right_y=0.2117 right_z=0.169 right_yaw=0.0915 right_pitch=-0.23 right_roll=-0.1013 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -3.8769, 6.5846, 1.2039, -0.149, 0.0073, -0.0122, -0.2393, -9.7299, 7.8701, 1.8779, 0.149, 0.0024, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0944, 0.9382, 0.3302, -0.0673, -0.3065, -0.0101, 0.9968, 0.5495, 1.9003, 1.5345, -0.5484, 0.3607, 0.239, 0.9963]\nstate[eef_state]: left_x=0.2896 left_y=0.0297 left_z=0.0852 left_yaw=0.1537 left_pitch=-0.0917 left_roll=0.1972 left_gripper=0.9968 right_x=0.4565 right_y=0.2107 right_z=0.1439 right_yaw=0.093 right_pitch=-0.2807 right_roll=-0.1221 right_gripper=0.9963\nstate[joint_eff]: [0.2393, -2.6735, 7.2821, 1.8535, -0.1197, 0.1099, -0.0122, -0.253, -12.6017, 9.4564, 1.3065, 0.2027, -0.022, 0.1099]",
      "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]: [0.0296, 1.1053, 0.2058, 0.2844, -0.2298, 0.0719, 0.9968, 0.0071, 1.0512, 0.8902, -0.6575, 0.0376, -0.1497, 0.9964]\nstate[eef_state]: left_x=0.2973 left_y=0.0526 left_z=0.0539 left_yaw=0.1695 left_pitch=-0.0506 left_roll=0.2066 left_gripper=0.9968 right_x=0.3089 right_y=-0.0009 right_z=0.1812 right_yaw=0.0483 right_pitch=-0.2637 right_roll=-0.1234 right_gripper=0.9964\nstate[joint_eff]: [0.5812, -1.5521, 4.4103, 1.4383, 0.1636, -0.0562, -0.0073, -0.3214, -3.453, 6.5299, 1.5311, -0.1832, -0.0562, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84ce944aaf78a1cb5ac1aa2297cb8cdd310edae9aa555cecde5c5b30581e3a9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3342caa6a9c645cea226d6c309e0e7e5f6727b15e3ca84040d8410f35d640289",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33d4f15283b06031375d8f14dc38244a58ffdcc2cccb9a634ec0880af5c7633e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7wQKjgEIEhgCKkBz8M+ST5UKoAk9jD1K/QO/AzDxklSC1Cq9I6gj7Nar7zvNUaLhskrRpnqKXuGSg0Rzpiv9tud3o4X0nSHqLFDeMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfvezNUGEgyUS7L/6LAMETfTLUQaDJVtWmk/tA8k8tNAxyIwKk5Uv/xkPeAUjAV0/eLiqdRRfMUJt9uiuBjjdVxWqtw5bACVyLZvzOs7wvYADtWAKo0DQCsuppquWkFT8FrdjOXEj2bBO8/VnJ/hxvWHRCxceOowvQ9/daNYyxlajtoQ/fzExJt/yvRe1gjit7tW0t7Wts1BhXnhA+kgHNWV/NIxQoFCJtol31hhRncl+9Fq2Qg9sD1d7m/dWdxwt0ZmONq8ZSL7jLO3PSdOoaQajRFXkrgo5pI57calRm6xK+NEq5Gpfzm9XzH56G06Q8o0S5k+xx1Ydt0yVR83Rm8llatW5Q+DWY0OZT0bdYN4VNZmdT/ofnvrglVhtbPB3LXB4Zp4rhcBkc/DkLmQu9DyxDkew8N+qImSn8bzl/CC1YsBoU1B9k56T65SC66EuT0fBBsJ8zCLL9rnOTtsl5gqqviD+tXDl9dDtCacLwKafqJq/rDqtscyYA5tvcH9Zkq1l5SPie2sMFkIdOIRziBvtYhw5K7AkIcVXp/+FibCrwmExl5FJqjudf2kG6V2d9HnqhcKfzx7DRppc4Q8sHDQ5cyhdGhfxJX0Yfjv2hk0k1dsRncyK869UK9asLVOWbK05RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KickgU4bYUVrcf1jBZtCVk",
      "input": {
        "note": "The grey plush fills the jaw area in the left wrist view; closing to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KickgU4bYUVrcf1jBZtCVk",
      "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]: [0.0162, 1.1042, 0.2016, 0.3199, -0.2611, 0.0658, 0.0362, 0.0055, 1.0557, 0.8886, -0.6716, 0.025, -0.1711, 0.9964]\nstate[eef_state]: left_x=0.3005 left_y=0.0541 left_z=0.0603 left_yaw=0.1855 left_pitch=-0.0152 left_roll=0.214 left_gripper=0.0362 right_x=0.3065 right_y=0.0009 right_z=0.1768 right_yaw=0.0698 right_pitch=-0.2848 right_roll=-0.1276 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -2.3316, 6.3521, 1.3211, 0.0659, -0.0366, 1.0085, -0.1299, -3.1111, 7.0769, 1.58, 0.0952, 0.2076, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7057a8b414e85c4ccd38dcecb8202ec31daa00a3ecc8d31519f7d3c1fb9cc987",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b088051e590c01e174486035652e592aaf55aa2b7b7f13299acf0c9dc8b310c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:943dfa67104b2396437c29d384d32fdec134c46095f24189d27f5aec5aab6098",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 5.428 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]: [-0.0944, 0.9382, 0.3302, -0.0673, -0.3065, -0.0101, 0.9968, 0.5495, 1.9003, 1.5345, -0.5484, 0.3607, 0.239, 0.9963]\nstate[eef_state]: left_x=0.2896 left_y=0.0297 left_z=0.0852 left_yaw=0.1537 left_pitch=-0.0917 left_roll=0.1972 left_gripper=0.9968 right_x=0.4565 right_y=0.2107 right_z=0.1439 right_yaw=0.093 right_pitch=-0.2807 right_roll=-0.1221 right_gripper=0.9963\nstate[joint_eff]: [0.2393, -2.6735, 7.2821, 1.8535, -0.1197, 0.1099, -0.0122, -0.253, -12.6017, 9.4564, 1.3065, 0.2027, -0.022, 0.1099]",
      "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]: [0.0296, 1.1053, 0.2058, 0.2844, -0.2298, 0.0719, 0.9968, 0.0071, 1.0512, 0.8902, -0.6575, 0.0376, -0.1497, 0.9964]\nstate[eef_state]: left_x=0.2973 left_y=0.0526 left_z=0.0539 left_yaw=0.1695 left_pitch=-0.0506 left_roll=0.2066 left_gripper=0.9968 right_x=0.3089 right_y=-0.0009 right_z=0.1812 right_yaw=0.0483 right_pitch=-0.2637 right_roll=-0.1234 right_gripper=0.9964\nstate[joint_eff]: [0.5812, -1.5521, 4.4103, 1.4383, 0.1636, -0.0562, -0.0073, -0.3214, -3.453, 6.5299, 1.5311, -0.1832, -0.0562, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [0.0162, 1.1042, 0.2016, 0.3199, -0.2611, 0.0658, 0.0362, 0.0055, 1.0557, 0.8886, -0.6716, 0.025, -0.1711, 0.9964]\nstate[eef_state]: left_x=0.3005 left_y=0.0541 left_z=0.0603 left_yaw=0.1855 left_pitch=-0.0152 left_roll=0.214 left_gripper=0.0362 right_x=0.3065 right_y=0.0009 right_z=0.1768 right_yaw=0.0698 right_pitch=-0.2848 right_roll=-0.1276 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -2.3316, 6.3521, 1.3211, 0.0659, -0.0366, 1.0085, -0.1299, -3.1111, 7.0769, 1.58, 0.0952, 0.2076, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7057a8b414e85c4ccd38dcecb8202ec31daa00a3ecc8d31519f7d3c1fb9cc987",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b088051e590c01e174486035652e592aaf55aa2b7b7f13299acf0c9dc8b310c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:943dfa67104b2396437c29d384d32fdec134c46095f24189d27f5aec5aab6098",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsgsKjgEIEhgCKkDaOpbUP83OgzOtMeFqLpqpZuYSI4K2YCY2/dpjMk3X04T7f8orA7Oz9foA0dJ6g0I5J7ZiVdU3nQFqRK9t6QWTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYbfzNUGEgyPtkPW9c0lHQ3wlf8aDOEfUKbgJ94YIz1pkyIwmsIhOiIIC7hQXEFDHHinTK3JEoECIZHnXj1Yx0f8CwmVpwEVKMVvhK3TENEyKjnsKtAJlVGibhUm3CbIhYEvixUzpvOsCEXggCKimYqmSSa9cYj/c8WGqBCelhyDnYYTDG8LCJdsykZM3tMLaTqsE42iHvUGXs7ctPc/Il/tKSMkLXT8Tw957CXcqt5MhBR8LQGQ8XGOeSEMSxnd4Lg493PKbkYytDZM+ZUumIX1dCRwTXxBOfHjlFujPLPB0M7331iOnscwprFO15kTYOLg6Iv6CkZPaNcNi7I/+SGRPIdLmFWzQRGw8VOHc8d+xKoTPHrlgjxlOazMidsT1Bc0PlI+UWUpHhxritQO98Rg8rKFWaVeWLui2ILOsSA2kZsecOf5xjwv87t+XP/s+xX44/hewSKPESgIEkb6CaayDVuqHx8PaVAILAtfLIg3vNQuciK4Ou1kZ5EJetFTPJFSd+B8o53Eyv1gnb1s4f6d8E7rwrj1ndgVrVLY1vHi9zKBEq0WAaBvKOFB0XbcnbiLXasbNdeCPCHiBxGbx2OuJngTR8AutnPI0VRQk5d7xoMzC3Oyh1E2HF938uGykEfGrn4LTpuuKZ4AntuelMOnYDppbRjk2u4JEJIpkgWNVWEiXMSGs72fTwJMlz3CZ17/ZB0ZHFydXoReHGTVoVWVGXjW2sFE4P5lo28CoktjpGybheTehrGfDtHsHRU8DbuVBjfvo4CbPtYzSqxB2wgb1p1efD6eaovYAMTfR+OnQcfvefNVC0vfecTkFbDKplyxx6VqjG5dgeHegfCYouBRjeuiePVUm02LEX4eoL2M9d3+EskQKShLaxOI+bh3Q8QXC0fi7JntMNyI2e59sNoFGq5RUKAiVzrkoT8SPQTHI9P6PCjF7LAo+Lp//nRx5fDRNwCjSzmKGhX8ReTM6JOi6AZI2igWAeGKGNdVY06FEe85d8D+3uJiUP27+5U5wWWAZ2TUC4F2itxWkQ8orS4sGEAoPTAwJkqkBO/Qh3voeWbERTgRFne+ZoMojs9wghR53ReyGMuuFsbc6P0MsumwFgdqeYXn70vlWUWPYeS5cQEHSt/GLkHcHA9JrDC+Q6ekSFs8f5pcXS+7wDnpMfPv7WXD932pZfSZvNQfqnLp/bs9LsbE+r/yIKagYcCU+whxI3rRyfx31vmgXKtsfWGRmvVN5mmAuvRVz41ODt+iTaJRJx2v/YHs6UtVnjWRXpsjlR7wCs1ElpZUSiQZhWdSI2SBcRYjmHgxds64kIDusyI3P0gGNRKxJZBUjQNGX0gj9HfSESok3KAamfoHx88Bmf3NhVtnGkub0PueFuSlVNzF6S9dg7rg8pPmXeAE57y2UdEoe0nDCu0M0PDT6QdPNykxPNFuL7eqX2iooA1fEvfDPLhI5qeOTeJUCcadnGmiirBPQwY78T41ZJhqBGQiQGE8AgajO+nBrzL3hMiHqOCAwewMOfKl6XnmWcm9D3Uwuw9rDfqWaUGwCOufJsZiYT5AGxQa8Gl9tRBZyxUvvJ2kP6/6H3RDZX3k2Z/CD4Bndksv1iSUf0HwxVqsN24VZ2GmGifA+3uF3zHNmYjPUBPhQtjK0GiDRdIp9h7CtplsuZczmRf0fnzoDdaFIbbJLCxf7vTNdo3GNX0GDbMuQJfKDcm2W0PsgdKYjfxL/iJHiylR3mRbXthVkS3OzdDUMOkxo6gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012aWXBBbkF3qdMV6s2JGFiM",
      "input": {
        "note": "That close came up empty (0.036), so the plush is nearer the base than the fingertips; reopening and pulling back 3 cm to sit over it before retrying.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.27,
          "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_012aWXBBbkF3qdMV6s2JGFiM",
      "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]: [-0.0116, 0.9291, 0.1093, 0.2687, -0.281, 0.0517, 0.9953, 0.0055, 1.0569, 0.8886, -0.6697, 0.0242, -0.1726, 0.9964]\nstate[eef_state]: left_x=0.2781 left_y=0.0493 left_z=0.0599 left_yaw=0.1818 left_pitch=0.0196 left_roll=0.2068 left_gripper=0.9953 right_x=0.3069 right_y=0.001 right_z=0.1768 right_yaw=0.0713 right_pitch=-0.2841 right_roll=-0.1281 right_gripper=0.9964\nstate[joint_eff]: [0.2393, -1.6068, 5.4496, 1.4823, -0.1245, -0.0073, 0.0464, -0.0615, -3.0154, 7.0496, 1.4676, -0.0073, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdd9055b334265149244e21959dd93b32e1eaba6b3ec9b6815508268aa114373",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6833a20b0a900b4650f7580e699fbc09556e989520ca806b6c4db0d3bc675511",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:840094d27f43e9e1e0fcc8900c9c0c2bcefdce801c3ae1080b033f3d17a1dc39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 5.965 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]: [0.0296, 1.1053, 0.2058, 0.2844, -0.2298, 0.0719, 0.9968, 0.0071, 1.0512, 0.8902, -0.6575, 0.0376, -0.1497, 0.9964]\nstate[eef_state]: left_x=0.2973 left_y=0.0526 left_z=0.0539 left_yaw=0.1695 left_pitch=-0.0506 left_roll=0.2066 left_gripper=0.9968 right_x=0.3089 right_y=-0.0009 right_z=0.1812 right_yaw=0.0483 right_pitch=-0.2637 right_roll=-0.1234 right_gripper=0.9964\nstate[joint_eff]: [0.5812, -1.5521, 4.4103, 1.4383, 0.1636, -0.0562, -0.0073, -0.3214, -3.453, 6.5299, 1.5311, -0.1832, -0.0562, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [0.0162, 1.1042, 0.2016, 0.3199, -0.2611, 0.0658, 0.0362, 0.0055, 1.0557, 0.8886, -0.6716, 0.025, -0.1711, 0.9964]\nstate[eef_state]: left_x=0.3005 left_y=0.0541 left_z=0.0603 left_yaw=0.1855 left_pitch=-0.0152 left_roll=0.214 left_gripper=0.0362 right_x=0.3065 right_y=0.0009 right_z=0.1768 right_yaw=0.0698 right_pitch=-0.2848 right_roll=-0.1276 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -2.3316, 6.3521, 1.3211, 0.0659, -0.0366, 1.0085, -0.1299, -3.1111, 7.0769, 1.58, 0.0952, 0.2076, -0.0122]",
      "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]: [-0.0116, 0.9291, 0.1093, 0.2687, -0.281, 0.0517, 0.9953, 0.0055, 1.0569, 0.8886, -0.6697, 0.0242, -0.1726, 0.9964]\nstate[eef_state]: left_x=0.2781 left_y=0.0493 left_z=0.0599 left_yaw=0.1818 left_pitch=0.0196 left_roll=0.2068 left_gripper=0.9953 right_x=0.3069 right_y=0.001 right_z=0.1768 right_yaw=0.0713 right_pitch=-0.2841 right_roll=-0.1281 right_gripper=0.9964\nstate[joint_eff]: [0.2393, -1.6068, 5.4496, 1.4823, -0.1245, -0.0073, 0.0464, -0.0615, -3.0154, 7.0496, 1.4676, -0.0073, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdd9055b334265149244e21959dd93b32e1eaba6b3ec9b6815508268aa114373",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6833a20b0a900b4650f7580e699fbc09556e989520ca806b6c4db0d3bc675511",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:840094d27f43e9e1e0fcc8900c9c0c2bcefdce801c3ae1080b033f3d17a1dc39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwAUKjgEIEhgCKkCo3aIyrSFUnjS8P9Yq1uVHEX6BNIUU+aXwSFFllQdNuNY4mFrg9DDU5qv9Vb9P8lE/1DUc5yKPkF3exxIs7CapMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY3fzNUGEgw9gx6D9lkUcjFZYU8aDDlAHLQcu1FULNlqMyIwnfdMEWzmmj8rf7EGM4yHk9pn9RGVxpUl8Vh3brN1B7M1XAtJuzGy7gSmpxzfkymfKt4DQGqG/DVhoo6CFTKYNSl70sWVEv4HQ0Z8tXSughIQOjJTy7RH5ZQrCkW3dWZl4aSV5OhCC7+vhdux9Rm4t97RC5Ne7DB8fIq67e63D73kJHO4cyay2bDoqsKqObYLABHGneT+UZfusudI1+bblvKFJS29BOztEh3Tr/yPuX7WBZg61HM7IDn5uZJRp6zKNwe00e8+s6HNOCxNMNSHla56tetcehxLhZIapbW2jYfBgTtqCOvgXjwlBCMfwiWs0dp7wYT+ggJAmDiFOpM1ZAo7QvZZ4t9qrckdQd/baI3mN1tOM9ZBMJexMYyLl9y/bqOD3I/8IQcw3oDte8X9PqyDT5Vyv+/8vcN1rLKg9VL2sPDzLmRO0UGTpYbyNDTiatjn8LworRdOYlQ6NKfCZU0WVHk3f9mytGKBQU/9egpDWad8GVMXHNJhYjmQWLlfCrlrz33BPv1gtVpYWZh38UmgVbkI1Lj6uxJregoipjKKT5kJnwOYCpd7FXHF9I1QMNHZ+eWCdpvFOpRoUtb31ghW+fmI7N8YraNwt1IXGXtwTq5uOPhEht01KRKC2y0T5F+Psp2rbiB3HUbTMYfz6h6SvyHAE6CXmPhpnXsvlcQ6MNMvXCVdVVWgBb5+eTXrShgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GGKu9wVPcGiNvpQrKF4T15",
      "input": {
        "note": "The grey plush now sits directly in the jaw opening after pulling back 3 cm; closing again to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GGKu9wVPcGiNvpQrKF4T15",
      "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]: [-0.0116, 0.9283, 0.1028, 0.2756, -0.2848, 0.0525, 0.213, 0.0055, 1.0569, 0.8886, -0.6697, 0.0216, -0.1726, 0.9964]\nstate[eef_state]: left_x=0.2771 left_y=0.05 left_z=0.059 left_yaw=0.1846 left_pitch=0.021 left_roll=0.2092 left_gripper=0.213 right_x=0.3069 right_y=0.0015 right_z=0.1768 right_yaw=0.0737 right_pitch=-0.284 right_roll=-0.1261 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -1.3197, 6.7624, 1.7021, -0.0757, -0.0659, 0.7546, -0.1299, -2.906, 6.9949, 1.4335, -0.0269, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49a923bcaa5c348e4bf42690a2dc2968c946c27b0932930c1d7fc50559af5062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d346148c276eb17c99a754a9ea3ea4b51b33b0280c2ff35e10f27126e7c52d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6121b40a32461b403defcbbb735cea18c77bcb033d9e1842eacbd9aacb0f9973",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 6.581 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]: [0.0162, 1.1042, 0.2016, 0.3199, -0.2611, 0.0658, 0.0362, 0.0055, 1.0557, 0.8886, -0.6716, 0.025, -0.1711, 0.9964]\nstate[eef_state]: left_x=0.3005 left_y=0.0541 left_z=0.0603 left_yaw=0.1855 left_pitch=-0.0152 left_roll=0.214 left_gripper=0.0362 right_x=0.3065 right_y=0.0009 right_z=0.1768 right_yaw=0.0698 right_pitch=-0.2848 right_roll=-0.1276 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -2.3316, 6.3521, 1.3211, 0.0659, -0.0366, 1.0085, -0.1299, -3.1111, 7.0769, 1.58, 0.0952, 0.2076, -0.0122]",
      "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]: [-0.0116, 0.9291, 0.1093, 0.2687, -0.281, 0.0517, 0.9953, 0.0055, 1.0569, 0.8886, -0.6697, 0.0242, -0.1726, 0.9964]\nstate[eef_state]: left_x=0.2781 left_y=0.0493 left_z=0.0599 left_yaw=0.1818 left_pitch=0.0196 left_roll=0.2068 left_gripper=0.9953 right_x=0.3069 right_y=0.001 right_z=0.1768 right_yaw=0.0713 right_pitch=-0.2841 right_roll=-0.1281 right_gripper=0.9964\nstate[joint_eff]: [0.2393, -1.6068, 5.4496, 1.4823, -0.1245, -0.0073, 0.0464, -0.0615, -3.0154, 7.0496, 1.4676, -0.0073, -0.0317, -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 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]: [-0.0116, 0.9283, 0.1028, 0.2756, -0.2848, 0.0525, 0.213, 0.0055, 1.0569, 0.8886, -0.6697, 0.0216, -0.1726, 0.9964]\nstate[eef_state]: left_x=0.2771 left_y=0.05 left_z=0.059 left_yaw=0.1846 left_pitch=0.021 left_roll=0.2092 left_gripper=0.213 right_x=0.3069 right_y=0.0015 right_z=0.1768 right_yaw=0.0737 right_pitch=-0.284 right_roll=-0.1261 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -1.3197, 6.7624, 1.7021, -0.0757, -0.0659, 0.7546, -0.1299, -2.906, 6.9949, 1.4335, -0.0269, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49a923bcaa5c348e4bf42690a2dc2968c946c27b0932930c1d7fc50559af5062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d346148c276eb17c99a754a9ea3ea4b51b33b0280c2ff35e10f27126e7c52d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6121b40a32461b403defcbbb735cea18c77bcb033d9e1842eacbd9aacb0f9973",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8AUKjgEIEhgCKkA/0NfINn1Z3QmSl08/n30KaEKJiTBdgP9kstVmnlCiSpdqkUCvbioE64hBLhXYzlWf2xPefRy/g7T0jwAw/42UMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZTfzNUGEgxSIFvLOxexBaeCZtEaDFHfJ2qyOH0HHNW/dCIwagu5RT8KPcOxKPV2imyqVnkBE2QQUUJmbA7gsaV2nIPf9PNSZ6MRkjxpx8DT0MuMKo4E1UFpKRxBtAiICRYoUNb0+2UiB3nwWrNvtC/quOESnAjUYDPnk/CRlYKsRvDIHsTzsp6ibXb3kTZ30CEeG+Ws8uRvaFLfBaEG8NHJaa/1Q+5fdNF6c7Q7bS1B92WYREHFot0dn/BAlxFQ1lZXuZYQnudthL0BoXgiyzN1f2qTsTA/1SmpwZWlPU1msv7EnyuSiKmbkgM5T80Y4YuONOGXTjqSaj4v7WtYfycFopz3Yg/9FmdNcNgcJd20Tf901rZ+x0mXECKAnw61vmGDPX8BpS435PheJx79Rk1fVcPZ1rKaH4pg4c9pPEennb37cgQHdICP7Dx9UIQdjAJn/wx5Q0dUul5wlB/i0NSCcewAUt9ywJtQK/+bO5LvuWaRoALe+VqejH8zDWZ9/sQQuerWp8v74rrtspOifRdMD2KtqgiSOip57n3b3NPX4BR/ulGYmHroB+4Ul1RmiKFdfaii53TouVBoSWZ8MetA8B+t51ELF1fkUPEvx/LPo1Vhz+b/X38/1/C/gE7P8W8okDNckh4wyneRFvfFoicNvBbtrC1Bllvac25ymbVZbUoziboJOieRx0fbSMEbHOgCoXGxZtPTvRIG7CN7B3So5UYXQOQv/w6fPbXzLdskyQ17rzdmFHNPD2KCVr/myCau2S3Kc+SXkxpce8AJzlB/z3+ftan/Ack0o/f1XpBH/tdaJRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LdErkqtjfmatgs9g6fGUp6",
      "input": {
        "note": "Gripper settled at 0.21 with fur between the jaws; lifting the grey plush clear of the table before carrying it to the left basket.",
        "targets": {
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01LdErkqtjfmatgs9g6fGUp6",
      "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]: [-0.0116, 0.8242, 0.9333, -0.6872, -0.2844, 0.0479, 0.2154, 0.0055, 1.0588, 0.8886, -0.6697, 0.0212, -0.1722, 0.9964]\nstate[eef_state]: left_x=0.2791 left_y=0.0499 left_z=0.2613 left_yaw=0.1866 left_pitch=-0.0062 left_roll=0.2106 left_gripper=0.2154 right_x=0.307 right_y=0.0015 right_z=0.1763 right_yaw=0.0739 right_pitch=-0.2859 right_roll=-0.1254 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.4154, 8.9915, 1.8388, -0.1538, -0.0122, 0.2369, -0.0479, -3.0701, 6.7897, 1.4432, -0.022, -0.0122, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a81d86b3fc6dcf7422e1daf3dfb3e10f75fa881016a4a84fcde5df5de1b87723",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a590b36cbd1b200a1c98af38e4e8ed6891e7fb604461fbf37f04127fa4e2040d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:28777f7a8c7e089681f8be57e4dc7e9c0226b167be7bdaa7882bfd81bf25c451",
        "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 · 5.334 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]: [-0.0116, 0.9291, 0.1093, 0.2687, -0.281, 0.0517, 0.9953, 0.0055, 1.0569, 0.8886, -0.6697, 0.0242, -0.1726, 0.9964]\nstate[eef_state]: left_x=0.2781 left_y=0.0493 left_z=0.0599 left_yaw=0.1818 left_pitch=0.0196 left_roll=0.2068 left_gripper=0.9953 right_x=0.3069 right_y=0.001 right_z=0.1768 right_yaw=0.0713 right_pitch=-0.2841 right_roll=-0.1281 right_gripper=0.9964\nstate[joint_eff]: [0.2393, -1.6068, 5.4496, 1.4823, -0.1245, -0.0073, 0.0464, -0.0615, -3.0154, 7.0496, 1.4676, -0.0073, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0116, 0.9283, 0.1028, 0.2756, -0.2848, 0.0525, 0.213, 0.0055, 1.0569, 0.8886, -0.6697, 0.0216, -0.1726, 0.9964]\nstate[eef_state]: left_x=0.2771 left_y=0.05 left_z=0.059 left_yaw=0.1846 left_pitch=0.021 left_roll=0.2092 left_gripper=0.213 right_x=0.3069 right_y=0.0015 right_z=0.1768 right_yaw=0.0737 right_pitch=-0.284 right_roll=-0.1261 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -1.3197, 6.7624, 1.7021, -0.0757, -0.0659, 0.7546, -0.1299, -2.906, 6.9949, 1.4335, -0.0269, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0116, 0.8242, 0.9333, -0.6872, -0.2844, 0.0479, 0.2154, 0.0055, 1.0588, 0.8886, -0.6697, 0.0212, -0.1722, 0.9964]\nstate[eef_state]: left_x=0.2791 left_y=0.0499 left_z=0.2613 left_yaw=0.1866 left_pitch=-0.0062 left_roll=0.2106 left_gripper=0.2154 right_x=0.307 right_y=0.0015 right_z=0.1763 right_yaw=0.0739 right_pitch=-0.2859 right_roll=-0.1254 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.4154, 8.9915, 1.8388, -0.1538, -0.0122, 0.2369, -0.0479, -3.0701, 6.7897, 1.4432, -0.022, -0.0122, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a81d86b3fc6dcf7422e1daf3dfb3e10f75fa881016a4a84fcde5df5de1b87723",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a590b36cbd1b200a1c98af38e4e8ed6891e7fb604461fbf37f04127fa4e2040d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28777f7a8c7e089681f8be57e4dc7e9c0226b167be7bdaa7882bfd81bf25c451",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShAUKjgEIEhgCKkCPX+u6Z8BHZcvKlTBNYQbpy/eBJh0+GTZ+xNMdOsc/wvjcp0AfRrA5sUDB4zYFMRo+zdxsMM5fpgZqQKExjTHqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZzfzNUGEgxzkk7xKEXJpyPcKd0aDGNP0vABy0KY8BeqFiIwT5OqC84zxPRgcmYYxS1BSnYgUd4mYiyicgJaO2N1PdaS747Dwhw5KAJhBIRsFHXdKqIDI5vOkuV0Y0fGVdJse2fBgKAIb2Hi07xndl+FtSjH/zo2KLl8sd5S+TaeiyRc/EN1Ado3A8WrT6YU/UnAUvoVJklrZwpIYacp565CLYTriXVLaMsgaK5NiBqiDAhlh7baHE/lpPVfAtOPtectqmanVrNnifIZNNvTqDwDx+QxBIAVJCEkdlTYQycJ+wqphPsFYTk6Qe/VCTG+zAVKpGKI9InjvD9MbVHuarSg4msbfk47jJBVKD1ecTC4hxweQqq3agjMSEFQ5y55y/+GfMUbP4mPu4tPYowCDMAFb3Q2j64Hd8dTmy8G94V0nwzPa8TlqnfuncYc9n+/JjxFsf/w4LYfekhCSugwJ8rIQFW3+HyH3L7+68oSlyIqq1+Z/qqI2Cf1P+8VYlbDoCXvKs/wjVNNXNsJavpDkiXSmYWUxxmpJ0aF+jnt2GORJGSBEn5qUv+fpGqSjVGIwfF9f9VUtAB7wFWkJRCn187h3mZGOl/0UsY1HN+9XHVVxVIP2qhWKANCJMiSd+a6HCs9tDcsvMyEqYxjuUJsQ9t6tJ/qdfJY2RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EMHwh5PRNZve7tdswLJmfo",
      "input": {
        "note": "The grey plush is lifted; the left basket (with the bear already in it) is forward and to the arm's right in the wrist view. Moving to the drop pose that worked before.",
        "targets": {
          "left_x": 0.5,
          "left_y": -0.09,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01EMHwh5PRNZve7tdswLJmfo",
      "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]: [-0.3729, 1.8091, 1.7969, -0.7151, -0.556, -0.1921, 0.2172, 0.0055, 1.0603, 0.8886, -0.6697, 0.0219, -0.1726, 0.9964]\nstate[eef_state]: left_x=0.494 left_y=-0.0893 left_z=0.2793 left_yaw=0.1738 left_pitch=-0.0558 left_roll=0.2189 left_gripper=0.2172 right_x=0.3071 right_y=0.0014 right_z=0.1758 right_yaw=0.0734 right_pitch=-0.2875 right_roll=-0.1261 right_gripper=0.9964\nstate[joint_eff]: [-0.4855, -10.4, 8.9504, 1.536, -0.4615, 0.0464, 0.1685, -0.0889, -2.9607, 6.7624, 1.4335, -0.0317, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:160b46547e9826e504a220bf90e869a15b8494ed53c45ee478a1a5900661ff08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10edbe8ddc1d153b62858928f7ba9555ec7fc207d293bf92714af63ab03c9fdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61aa4ed2326e153a5d27c648e31c0ff42618b6299d3d21b9e48586e1ad7f71cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 4.532 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]: [-0.0116, 0.9283, 0.1028, 0.2756, -0.2848, 0.0525, 0.213, 0.0055, 1.0569, 0.8886, -0.6697, 0.0216, -0.1726, 0.9964]\nstate[eef_state]: left_x=0.2771 left_y=0.05 left_z=0.059 left_yaw=0.1846 left_pitch=0.021 left_roll=0.2092 left_gripper=0.213 right_x=0.3069 right_y=0.0015 right_z=0.1768 right_yaw=0.0737 right_pitch=-0.284 right_roll=-0.1261 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -1.3197, 6.7624, 1.7021, -0.0757, -0.0659, 0.7546, -0.1299, -2.906, 6.9949, 1.4335, -0.0269, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0116, 0.8242, 0.9333, -0.6872, -0.2844, 0.0479, 0.2154, 0.0055, 1.0588, 0.8886, -0.6697, 0.0212, -0.1722, 0.9964]\nstate[eef_state]: left_x=0.2791 left_y=0.0499 left_z=0.2613 left_yaw=0.1866 left_pitch=-0.0062 left_roll=0.2106 left_gripper=0.2154 right_x=0.307 right_y=0.0015 right_z=0.1763 right_yaw=0.0739 right_pitch=-0.2859 right_roll=-0.1254 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.4154, 8.9915, 1.8388, -0.1538, -0.0122, 0.2369, -0.0479, -3.0701, 6.7897, 1.4432, -0.022, -0.0122, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3729, 1.8091, 1.7969, -0.7151, -0.556, -0.1921, 0.2172, 0.0055, 1.0603, 0.8886, -0.6697, 0.0219, -0.1726, 0.9964]\nstate[eef_state]: left_x=0.494 left_y=-0.0893 left_z=0.2793 left_yaw=0.1738 left_pitch=-0.0558 left_roll=0.2189 left_gripper=0.2172 right_x=0.3071 right_y=0.0014 right_z=0.1758 right_yaw=0.0734 right_pitch=-0.2875 right_roll=-0.1261 right_gripper=0.9964\nstate[joint_eff]: [-0.4855, -10.4, 8.9504, 1.536, -0.4615, 0.0464, 0.1685, -0.0889, -2.9607, 6.7624, 1.4335, -0.0317, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:160b46547e9826e504a220bf90e869a15b8494ed53c45ee478a1a5900661ff08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10edbe8ddc1d153b62858928f7ba9555ec7fc207d293bf92714af63ab03c9fdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61aa4ed2326e153a5d27c648e31c0ff42618b6299d3d21b9e48586e1ad7f71cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAUKjgEIEhgCKkB0XdeYfWlf/Y1NebB+8upSUv8u9pbh7WkQgnuDcwEzacJ7vBXQnNbaMQ9yOl0fb/iQOI9dnBBA0tCc9pkemUGkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaPfzNUGEgzxDyJFqUVGfO/cUDQaDKVKL7kg+64Fp5AC7CIwP4s8L++vfCgHHieCrB3my1r1MEpJZGpB4xu1NukxhwB8cVOSDimerndg9bZaDkCJKtID6ot3qeqk21qlON+rwV6jSG/A9sQrAJgDiM3ZmtRJw0LppIuP3DZUu0VrRpW3EnAkq2x8WEjxnAwY113y7/38/QpXUm3UrR8mJmzfFYdV6kdGF5ZG1VWIyTYanVSKtRB6qG5MW7cSk0pGMn0N5AXrdh2zS1TgMYkE0JEpXfiOnXQQxDTgBtSMXCZxppwlPk7658Kruwa8sV585XqH59fGV/ALFfpDW9CjPwfwPQz8Ovlzz6C+XSwiYfXcjcATF5Cx/NCBmF9tqdKAC1LNNbzWKu7iSm/AWJOTnDnzga2heUgJhaJdSkYaR4MBOc3S7yWy5DmGvb+fHTB9Li3KNg8kA3RJ2ge//94xnIwwoVWVOxi98KFclFqZqCMll7StD+8PWEONpLMMop3HKv3F0aRDhOnVEwGUYaG7XGxFn+79/xUcvwnmYxhcE/iSPce/rRMGQ7oaAZhSe21DuXEPmyzY6s7tGXkP/ZLi7dbAhiK4qkvqGlAGXW1AiZi3lKs756/nov3ST8i5yuYe0FFPzBtSPJUJjMI879QP+8yNiEx5iCBM2AnC2jH+PChe7Irfepd9nNwlTuNujGJcE948IuqlAsuhg3AapxWEK5YC/tssw3voQxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kiq6rSUTKZNyceHRM6rbQU",
      "input": {
        "note": "The basket rim appears at the lower-right of the wrist view, meaning I'm slightly past it; backing off 4 cm and shifting 2 cm right to centre over the basket.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.11,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Kiq6rSUTKZNyceHRM6rbQU",
      "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]: [-0.4683, 1.755, 1.6764, -0.7547, -0.5896, -0.2535, 0.22, 0.0055, 1.0615, 0.8886, -0.6693, 0.0216, -0.1726, 0.9964]\nstate[eef_state]: left_x=0.4593 left_y=-0.1182 left_z=0.2517 left_yaw=0.1412 left_pitch=-0.1239 left_roll=0.2478 left_gripper=0.22 right_x=0.3073 right_y=0.0015 right_z=0.1756 right_yaw=0.0738 right_pitch=-0.2882 right_roll=-0.1258 right_gripper=0.9964\nstate[joint_eff]: [0.4171, -13.1077, 6.9402, 1.6093, -0.6471, -0.022, 0.2906, -0.0889, -3.0838, 6.7624, 1.5067, 0.0024, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:906bd5736d6adc2b89670d6dc8311cbbf1f089763ce50d700c20e00387bc4bda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f19413c2bfe14491c1deadad6224d7f1ec372224def19ef2cfb3ed00f20b1f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a315b1b152bcb810a3ca183a73eb00767186fab43ae5f8858617df56d564ebab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 11.96 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]: [-0.0116, 0.8242, 0.9333, -0.6872, -0.2844, 0.0479, 0.2154, 0.0055, 1.0588, 0.8886, -0.6697, 0.0212, -0.1722, 0.9964]\nstate[eef_state]: left_x=0.2791 left_y=0.0499 left_z=0.2613 left_yaw=0.1866 left_pitch=-0.0062 left_roll=0.2106 left_gripper=0.2154 right_x=0.307 right_y=0.0015 right_z=0.1763 right_yaw=0.0739 right_pitch=-0.2859 right_roll=-0.1254 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.4154, 8.9915, 1.8388, -0.1538, -0.0122, 0.2369, -0.0479, -3.0701, 6.7897, 1.4432, -0.022, -0.0122, -0.0073]\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]: [-0.3729, 1.8091, 1.7969, -0.7151, -0.556, -0.1921, 0.2172, 0.0055, 1.0603, 0.8886, -0.6697, 0.0219, -0.1726, 0.9964]\nstate[eef_state]: left_x=0.494 left_y=-0.0893 left_z=0.2793 left_yaw=0.1738 left_pitch=-0.0558 left_roll=0.2189 left_gripper=0.2172 right_x=0.3071 right_y=0.0014 right_z=0.1758 right_yaw=0.0734 right_pitch=-0.2875 right_roll=-0.1261 right_gripper=0.9964\nstate[joint_eff]: [-0.4855, -10.4, 8.9504, 1.536, -0.4615, 0.0464, 0.1685, -0.0889, -2.9607, 6.7624, 1.4335, -0.0317, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4683, 1.755, 1.6764, -0.7547, -0.5896, -0.2535, 0.22, 0.0055, 1.0615, 0.8886, -0.6693, 0.0216, -0.1726, 0.9964]\nstate[eef_state]: left_x=0.4593 left_y=-0.1182 left_z=0.2517 left_yaw=0.1412 left_pitch=-0.1239 left_roll=0.2478 left_gripper=0.22 right_x=0.3073 right_y=0.0015 right_z=0.1756 right_yaw=0.0738 right_pitch=-0.2882 right_roll=-0.1258 right_gripper=0.9964\nstate[joint_eff]: [0.4171, -13.1077, 6.9402, 1.6093, -0.6471, -0.022, 0.2906, -0.0889, -3.0838, 6.7624, 1.5067, 0.0024, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:906bd5736d6adc2b89670d6dc8311cbbf1f089763ce50d700c20e00387bc4bda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f19413c2bfe14491c1deadad6224d7f1ec372224def19ef2cfb3ed00f20b1f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a315b1b152bcb810a3ca183a73eb00767186fab43ae5f8858617df56d564ebab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuwMKjgEIEhgCKkBJ8Y8YZMaG/TiFRGh9d4WZcBxexR1a9zKT8E/ntRoJ+znY0PvQPaFZzV//HBMiimoMMiMNcdjCetsyxKhjoEYPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAajfzNUGEgxy20Q2WHVIsnU/JgAaDMEJqjPrAyAF1GZQ2yIw64p7BfxntN0nVUOJuQQXnU2cuwAUUMtUON/ekBksT2xYMQ3bpkrecRVGgSubqd/vKtkBlIeRf2+/50/MKmQeOGjkHpYLcoBdmVSfSPcNxmM3ztAL0WqpbiSGWyf1twHliVLK+tZu6CnZz4lFzje25pAjB3EbV+n724yxF5lw9fgltwAmh5ctmbGC6EL5WyMZRfFRfHxK+t9xv5OlHSmkkCNuYA3EbdGd6myYQJYQ7v6K+ddE0ydoa8M/ZROb21Yc62QQeYsKSTI4eLCdSdvbUWwVO+lXaRAINBJ9JjPATAyavNszkl3c9Bn1ag7U5SvDkxNXz/xrpfVuJp9/S/WQ3hsl3rdzivtTu4NwIhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014jwbe65CdvBjVNij1PyfzR",
      "input": {
        "note": "The basket is directly beneath the held plush; lowering and opening to drop it into the left basket with the bear.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_014jwbe65CdvBjVNij1PyfzR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4725, 1.7348, 1.6714, -0.7654, -0.6144, -0.2825, 0.9953, 0.0055, 1.0615, 0.8886, -0.6693, 0.0212, -0.1726, 0.9964]\nstate[eef_state]: left_x=0.4543 left_y=-0.1138 left_z=0.2589 left_yaw=0.1701 left_pitch=-0.1056 left_roll=0.2372 left_gripper=0.9953 right_x=0.3073 right_y=0.0015 right_z=0.1756 right_yaw=0.0741 right_pitch=-0.2882 right_roll=-0.1255 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -12.2325, 6.5162, 1.5311, -0.4908, 0.0171, -0.0659, -0.0615, -2.947, 6.7897, 1.4481, -0.0073, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:653a5a3cc094bbe75ee727e062cfb00ab187090752a759aec59d1791e2cd2413",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90aee804dd5d3a829ae21fe8dd690a8374ab4a424210878f99dcfe4a4313ac14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71fcb2f3c74c0ae3250dad785e0d11c4e07249f625fd071e2c6d3033ad3d2ca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /messages · status 200 · 6.108 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3729, 1.8091, 1.7969, -0.7151, -0.556, -0.1921, 0.2172, 0.0055, 1.0603, 0.8886, -0.6697, 0.0219, -0.1726, 0.9964]\nstate[eef_state]: left_x=0.494 left_y=-0.0893 left_z=0.2793 left_yaw=0.1738 left_pitch=-0.0558 left_roll=0.2189 left_gripper=0.2172 right_x=0.3071 right_y=0.0014 right_z=0.1758 right_yaw=0.0734 right_pitch=-0.2875 right_roll=-0.1261 right_gripper=0.9964\nstate[joint_eff]: [-0.4855, -10.4, 8.9504, 1.536, -0.4615, 0.0464, 0.1685, -0.0889, -2.9607, 6.7624, 1.4335, -0.0317, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4683, 1.755, 1.6764, -0.7547, -0.5896, -0.2535, 0.22, 0.0055, 1.0615, 0.8886, -0.6693, 0.0216, -0.1726, 0.9964]\nstate[eef_state]: left_x=0.4593 left_y=-0.1182 left_z=0.2517 left_yaw=0.1412 left_pitch=-0.1239 left_roll=0.2478 left_gripper=0.22 right_x=0.3073 right_y=0.0015 right_z=0.1756 right_yaw=0.0738 right_pitch=-0.2882 right_roll=-0.1258 right_gripper=0.9964\nstate[joint_eff]: [0.4171, -13.1077, 6.9402, 1.6093, -0.6471, -0.022, 0.2906, -0.0889, -3.0838, 6.7624, 1.5067, 0.0024, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4725, 1.7348, 1.6714, -0.7654, -0.6144, -0.2825, 0.9953, 0.0055, 1.0615, 0.8886, -0.6693, 0.0212, -0.1726, 0.9964]\nstate[eef_state]: left_x=0.4543 left_y=-0.1138 left_z=0.2589 left_yaw=0.1701 left_pitch=-0.1056 left_roll=0.2372 left_gripper=0.9953 right_x=0.3073 right_y=0.0015 right_z=0.1756 right_yaw=0.0741 right_pitch=-0.2882 right_roll=-0.1255 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -12.2325, 6.5162, 1.5311, -0.4908, 0.0171, -0.0659, -0.0615, -2.947, 6.7897, 1.4481, -0.0073, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:653a5a3cc094bbe75ee727e062cfb00ab187090752a759aec59d1791e2cd2413",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90aee804dd5d3a829ae21fe8dd690a8374ab4a424210878f99dcfe4a4313ac14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71fcb2f3c74c0ae3250dad785e0d11c4e07249f625fd071e2c6d3033ad3d2ca8",
        "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_018LR76BRRko5izN5V43nFJF",
      "input": {
        "note": "Grey plush is in the left basket with the bear. Parking the left arm and moving the right arm over the remaining black pen on the right side of the table.",
        "targets": {
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.2,
          "right_x": 0.32,
          "right_y": 0.16,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_018LR76BRRko5izN5V43nFJF",
      "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]: [-0.3019, 1.0061, 0.8497, -0.6052, -0.5072, -0.1627, 0.9967, 0.6453, 1.3903, 0.8745, -0.4923, 0.3985, 0.3035, 0.9964]\nstate[eef_state]: left_x=0.306 left_y=-0.0017 left_z=0.2013 left_yaw=0.1926 left_pitch=-0.1057 left_roll=0.2309 left_gripper=0.9967 right_x=0.3104 right_y=0.1523 right_z=0.1062 right_yaw=0.1082 right_pitch=-0.3437 right_roll=-0.154 right_gripper=0.9964\nstate[joint_eff]: [0.2256, -2.4684, 6.9812, 1.6435, -0.0611, 0.1832, 0.1392, 0.3077, -5.6547, 9.4154, 1.2332, 0.3443, 0.1978, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8be0476f4415e68594a88b6028e6576ab5b130f2c17dc41a99db737cfb727efa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9f46683d71f5ea53e6a05b5d5347cc30a11cb2a196474a10229e868fc504f96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:465fb53f15e2ebb5edb1190f14a7dd0fc28577ccf97954a8fc794fcf87fc58c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 2.694 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4683, 1.755, 1.6764, -0.7547, -0.5896, -0.2535, 0.22, 0.0055, 1.0615, 0.8886, -0.6693, 0.0216, -0.1726, 0.9964]\nstate[eef_state]: left_x=0.4593 left_y=-0.1182 left_z=0.2517 left_yaw=0.1412 left_pitch=-0.1239 left_roll=0.2478 left_gripper=0.22 right_x=0.3073 right_y=0.0015 right_z=0.1756 right_yaw=0.0738 right_pitch=-0.2882 right_roll=-0.1258 right_gripper=0.9964\nstate[joint_eff]: [0.4171, -13.1077, 6.9402, 1.6093, -0.6471, -0.022, 0.2906, -0.0889, -3.0838, 6.7624, 1.5067, 0.0024, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4725, 1.7348, 1.6714, -0.7654, -0.6144, -0.2825, 0.9953, 0.0055, 1.0615, 0.8886, -0.6693, 0.0212, -0.1726, 0.9964]\nstate[eef_state]: left_x=0.4543 left_y=-0.1138 left_z=0.2589 left_yaw=0.1701 left_pitch=-0.1056 left_roll=0.2372 left_gripper=0.9953 right_x=0.3073 right_y=0.0015 right_z=0.1756 right_yaw=0.0741 right_pitch=-0.2882 right_roll=-0.1255 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -12.2325, 6.5162, 1.5311, -0.4908, 0.0171, -0.0659, -0.0615, -2.947, 6.7897, 1.4481, -0.0073, -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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3019, 1.0061, 0.8497, -0.6052, -0.5072, -0.1627, 0.9967, 0.6453, 1.3903, 0.8745, -0.4923, 0.3985, 0.3035, 0.9964]\nstate[eef_state]: left_x=0.306 left_y=-0.0017 left_z=0.2013 left_yaw=0.1926 left_pitch=-0.1057 left_roll=0.2309 left_gripper=0.9967 right_x=0.3104 right_y=0.1523 right_z=0.1062 right_yaw=0.1082 right_pitch=-0.3437 right_roll=-0.154 right_gripper=0.9964\nstate[joint_eff]: [0.2256, -2.4684, 6.9812, 1.6435, -0.0611, 0.1832, 0.1392, 0.3077, -5.6547, 9.4154, 1.2332, 0.3443, 0.1978, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8be0476f4415e68594a88b6028e6576ab5b130f2c17dc41a99db737cfb727efa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9f46683d71f5ea53e6a05b5d5347cc30a11cb2a196474a10229e868fc504f96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:465fb53f15e2ebb5edb1190f14a7dd0fc28577ccf97954a8fc794fcf87fc58c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7wUKjgEIEhgCKkALTMlOMfr/bzm80tAzVr/AxrnDkZDVO3AYLlaImoYlT06EJ+cMNmdxNUOCBJWFGWFFtQy/cMiMeblB4WVVFWt5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbzfzNUGEgwWFC+fLTOh+aXDP1MaDLq5bIvm32NX/mep8yIwLii2ny0VYBQPZFXe9QuVbfoy1mREwM4a9TR08ilj/yeS+JoMsTvzOEY0O5Nqd5r8Ko0EZx4oPosOrUmh34652KdYU3ES7xwZNHXOhnNx9VZ+YWFYFfSMiEKVdxT0a7hn8EW7j9jmWphYfnKgT1FbbGWVaRujqMm7EapdqSAVmpRzhAYFEn9QroekxS39YE6iCJY0ep7nLYXBDKXgGJAE5ZxsGF7R5fEuiHbhJ2PIwgfpOZ/0ntwqXFwW8/L6uAeQO0le/TZskfCcqXWJPPqzB8RTC1kSVhZAHH1TrBInAiv0e19enJO5NbRer5HCSih0gcm5Y43tFdLQbVpXvkaQ4qXXkS76Y9QK0BcTvpbmHFwjvY5RLA2r6RfXGorL0nPF94m6vVrcl0IMyGcep+Ax9jMHChlytP6+R2CFhiB6Ufsuw6SRifVqmVZW2ELC+rjycenhnuKcu4bku327nYk3uRTIk73pOdHSlQOmscgnNU4nPzCek3BNSAO1PKiq/6hgoDDqrVygsvhKkSwlIvEXZe+w/uIhW7Zqu/dUUcVj2RRpnVSq9xL/38McJpuP8Ij8qzjDsUguACSCCQl9IcmiyVyeLYrcN+a6tPjcebHCYS/kZ27OXifIZDmFydPRxlQdj5+mUVOg42i9Wo8cGaOpaOw3B+KY5ROGa9MvpOJUfZopQlmPafUxlAt0yee+MWonYx2OmvIAkT7hffzihNoYVCZCEMlC2y0s9rh7d6BZaiyYcY/ew3BG97pJnYiHU19kGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VnifqWeULpbRVFDG7A8PDS",
      "input": {
        "note": "The black pen is centred on the jaw column in the right wrist view; descending to table level just behind its tip to straddle the barrel.",
        "targets": {
          "right_x": 0.295,
          "right_y": 0.152,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VnifqWeULpbRVFDG7A8PDS",
      "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]: [-0.3031, 1.0134, 0.8265, -0.6125, -0.4969, -0.1574, 0.9968, 0.6735, 1.5246, 0.614, -0.1608, 0.4088, 0.3252, 0.9964]\nstate[eef_state]: left_x=0.3024 left_y=-0.0026 left_z=0.188 left_yaw=0.1828 left_pitch=-0.1431 left_roll=0.2465 left_gripper=0.9968 right_x=0.289 right_y=0.1454 right_z=0.0153 right_yaw=0.1032 right_pitch=-0.391 right_roll=-0.1837 right_gripper=0.9964\nstate[joint_eff]: [0.1299, -2.8239, 8.6359, 1.5165, -0.3248, -0.1099, 0.0024, 0.6632, -5.5043, 5.3402, 1.0379, 0.2173, 0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44bb57314125da7ea6c2526ef3f86edbb54ba780245eff8085080b1fe9a696f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48ab1410bdb05b47cda2f1e20297af66b03332c2eabcaef711734a394fa165fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cbc975c248e9bbcafa34f394b797f7860a934a2f59b4fd4106827ec162c89b3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 5.298 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4725, 1.7348, 1.6714, -0.7654, -0.6144, -0.2825, 0.9953, 0.0055, 1.0615, 0.8886, -0.6693, 0.0212, -0.1726, 0.9964]\nstate[eef_state]: left_x=0.4543 left_y=-0.1138 left_z=0.2589 left_yaw=0.1701 left_pitch=-0.1056 left_roll=0.2372 left_gripper=0.9953 right_x=0.3073 right_y=0.0015 right_z=0.1756 right_yaw=0.0741 right_pitch=-0.2882 right_roll=-0.1255 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -12.2325, 6.5162, 1.5311, -0.4908, 0.0171, -0.0659, -0.0615, -2.947, 6.7897, 1.4481, -0.0073, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3019, 1.0061, 0.8497, -0.6052, -0.5072, -0.1627, 0.9967, 0.6453, 1.3903, 0.8745, -0.4923, 0.3985, 0.3035, 0.9964]\nstate[eef_state]: left_x=0.306 left_y=-0.0017 left_z=0.2013 left_yaw=0.1926 left_pitch=-0.1057 left_roll=0.2309 left_gripper=0.9967 right_x=0.3104 right_y=0.1523 right_z=0.1062 right_yaw=0.1082 right_pitch=-0.3437 right_roll=-0.154 right_gripper=0.9964\nstate[joint_eff]: [0.2256, -2.4684, 6.9812, 1.6435, -0.0611, 0.1832, 0.1392, 0.3077, -5.6547, 9.4154, 1.2332, 0.3443, 0.1978, -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 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3031, 1.0134, 0.8265, -0.6125, -0.4969, -0.1574, 0.9968, 0.6735, 1.5246, 0.614, -0.1608, 0.4088, 0.3252, 0.9964]\nstate[eef_state]: left_x=0.3024 left_y=-0.0026 left_z=0.188 left_yaw=0.1828 left_pitch=-0.1431 left_roll=0.2465 left_gripper=0.9968 right_x=0.289 right_y=0.1454 right_z=0.0153 right_yaw=0.1032 right_pitch=-0.391 right_roll=-0.1837 right_gripper=0.9964\nstate[joint_eff]: [0.1299, -2.8239, 8.6359, 1.5165, -0.3248, -0.1099, 0.0024, 0.6632, -5.5043, 5.3402, 1.0379, 0.2173, 0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44bb57314125da7ea6c2526ef3f86edbb54ba780245eff8085080b1fe9a696f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48ab1410bdb05b47cda2f1e20297af66b03332c2eabcaef711734a394fa165fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbc975c248e9bbcafa34f394b797f7860a934a2f59b4fd4106827ec162c89b3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmgIKjgEIEhgCKkCPMRQXcz9KBhqxrmh5yf6GXtx1rCXKiZK/1Azf/+h6wFhP1iY8kKd02zADcAQE0UUDdx8brMtcu0pExZqy3bo5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcDfzNUGEgxDfOqI3E1WtGFZ23UaDDQq0VTPil/fNrJvTCIw33dxMHEoQjQ7a9Q/VWrqkSRhy7kSKyZvBqmDvgQ+r6U6tfLX1LwdJaQpLZrAArzfKjk3vaxJPpAjJhC2Ssze5QFUMtjZPd3bF9U4e0Z6hhsPoWR7wsg7WWQEi1srdvqVgxnvtB1Hv+PWe3cYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VYXtn5CPazDSqz7GraywEs",
      "input": {
        "note": "The black pen lies right between the open jaws at table level; closing on it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VYXtn5CPazDSqz7GraywEs",
      "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]: [-0.3031, 1.0138, 0.8261, -0.6125, -0.4965, -0.1566, 0.9968, 0.6739, 1.5307, 0.5991, -0.1452, 0.408, 0.3187, 0.1241]\nstate[eef_state]: left_x=0.3024 left_y=-0.0026 left_z=0.1878 left_yaw=0.1821 left_pitch=-0.144 left_roll=0.2472 left_gripper=0.9968 right_x=0.2867 right_y=0.1439 right_z=0.0106 right_yaw=0.1067 right_pitch=-0.3965 right_roll=-0.1903 right_gripper=0.1241\nstate[joint_eff]: [-0.212, -2.3726, 6.8444, 1.4579, -0.2711, 0.0073, -0.0122, -0.1299, -5.7778, 6.735, 0.9304, 0.1978, 0.0122, 1.0037]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6bca8f22273a3d82b0591b379a2e3a250ea95599ed753c4212be7562277b68d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c31775f87db5115e36611fc7d1bea24ba935957d4e65cdd359ce0829402ac059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9be4c93128b2a6f586918a29f39896a1150bf6e85158cb321861da9df1875267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 3.249 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3019, 1.0061, 0.8497, -0.6052, -0.5072, -0.1627, 0.9967, 0.6453, 1.3903, 0.8745, -0.4923, 0.3985, 0.3035, 0.9964]\nstate[eef_state]: left_x=0.306 left_y=-0.0017 left_z=0.2013 left_yaw=0.1926 left_pitch=-0.1057 left_roll=0.2309 left_gripper=0.9967 right_x=0.3104 right_y=0.1523 right_z=0.1062 right_yaw=0.1082 right_pitch=-0.3437 right_roll=-0.154 right_gripper=0.9964\nstate[joint_eff]: [0.2256, -2.4684, 6.9812, 1.6435, -0.0611, 0.1832, 0.1392, 0.3077, -5.6547, 9.4154, 1.2332, 0.3443, 0.1978, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3031, 1.0134, 0.8265, -0.6125, -0.4969, -0.1574, 0.9968, 0.6735, 1.5246, 0.614, -0.1608, 0.4088, 0.3252, 0.9964]\nstate[eef_state]: left_x=0.3024 left_y=-0.0026 left_z=0.188 left_yaw=0.1828 left_pitch=-0.1431 left_roll=0.2465 left_gripper=0.9968 right_x=0.289 right_y=0.1454 right_z=0.0153 right_yaw=0.1032 right_pitch=-0.391 right_roll=-0.1837 right_gripper=0.9964\nstate[joint_eff]: [0.1299, -2.8239, 8.6359, 1.5165, -0.3248, -0.1099, 0.0024, 0.6632, -5.5043, 5.3402, 1.0379, 0.2173, 0.0513, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3031, 1.0138, 0.8261, -0.6125, -0.4965, -0.1566, 0.9968, 0.6739, 1.5307, 0.5991, -0.1452, 0.408, 0.3187, 0.1241]\nstate[eef_state]: left_x=0.3024 left_y=-0.0026 left_z=0.1878 left_yaw=0.1821 left_pitch=-0.144 left_roll=0.2472 left_gripper=0.9968 right_x=0.2867 right_y=0.1439 right_z=0.0106 right_yaw=0.1067 right_pitch=-0.3965 right_roll=-0.1903 right_gripper=0.1241\nstate[joint_eff]: [-0.212, -2.3726, 6.8444, 1.4579, -0.2711, 0.0073, -0.0122, -0.1299, -5.7778, 6.735, 0.9304, 0.1978, 0.0122, 1.0037]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6bca8f22273a3d82b0591b379a2e3a250ea95599ed753c4212be7562277b68d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c31775f87db5115e36611fc7d1bea24ba935957d4e65cdd359ce0829402ac059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9be4c93128b2a6f586918a29f39896a1150bf6e85158cb321861da9df1875267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1wQKjgEIEhgCKkDqFWZCVWtQODUROK/4Taf/3EDa9Y5338yb1vPGTibYJoyxTfYJlq6Qp3awM5vaaIv1snrO0SyXW+RGbKztvaMHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcXfzNUGEgy3flCLu+v6qJVSbywaDAoQmbFTSeuCkQvzKiIwNrBdIQrADVAR44RWXju9YNKvmqx0QE5mFRq/arq8KIyoTL5apB20IsRNPC0NyNQPKvUCkvXR+sCzzoU8gniXuiNoZPQzy2etpBxyFsYoFBTr2MLYLdCTnzEjT0ucyLdo1twc/Gleb52jTuFzi1R/ViIXZxk0f1NwKCtgpYQzZ9qj7Fr62VcCSTx7bcUOHiavffk7nBzQ3PsBfXAnAmJl40NN86CfcLdSgQ9o2/a55FVu0GFod2Thzj6/19//rOlpGhqY0gkU0V+F4Gl0VPCDZzokoqpzk8kzg46M9bpzZcIwM5XAAZ4vrscRjOFJLj6FrzQrRmhVtdA7WLBiHyuQzPubGO79MQb6ueXjtaK4S5QKPsltpleJJTrLJ2taWIx7ZhCKvpwrbb8eoN8RA4xVeyZXKUHrAkh8JqIr8E5897IYJj7roR5hle++FslmHbHhhGb5+vxvRbTiE8gjf93SYOvYIoe1ywt4uRqPVn6Vl3cSEqdwv/v/zE2T2x6THWK/dMKbzYK1XKRN+cJtrGgBmQ+9q8VPpuIS80xDNWSuPaorDcmmjNuOXxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LqXxTm8irSEAqQ4e5VDY74",
      "input": {
        "note": "Pen grasped (gripper 0.12). Carrying it forward over the right basket, to the same drop pose that worked for the first pen.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.21,
          "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_01LqXxTm8irSEAqQ4e5VDY74",
      "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]: [-0.3035, 1.0157, 0.8242, -0.6128, -0.4961, -0.157, 0.9968, 0.5465, 2.0224, 2.0277, -0.992, 0.3347, 0.1902, 0.1269]\nstate[eef_state]: left_x=0.3022 left_y=-0.0028 left_z=0.1864 left_yaw=0.1819 left_pitch=-0.1478 left_roll=0.2487 left_gripper=0.9968 right_x=0.4645 right_y=0.2188 right_z=0.2133 right_yaw=0.1282 right_pitch=-0.359 right_roll=-0.1672 right_gripper=0.1269\nstate[joint_eff]: [-0.1709, -2.5504, 6.9538, 1.4481, -0.2808, -0.0659, -0.0122, -0.6496, -11.412, 7.4051, 0.3736, 0.1978, 0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f68fbd8dfe4f4ca30305f32c5ac7eb6e0db859d6c6a440b8b8624f5fb3538a8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc8a0cb7695d4b71da9ce657b01fc1c06477bc3820d71f15f59b4b1b1e081e23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:891bff1461d892c3e3ec294243abb408d1253c4a70c975280bcd46ef895b4deb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /messages · status 200 · 8.447 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3031, 1.0134, 0.8265, -0.6125, -0.4969, -0.1574, 0.9968, 0.6735, 1.5246, 0.614, -0.1608, 0.4088, 0.3252, 0.9964]\nstate[eef_state]: left_x=0.3024 left_y=-0.0026 left_z=0.188 left_yaw=0.1828 left_pitch=-0.1431 left_roll=0.2465 left_gripper=0.9968 right_x=0.289 right_y=0.1454 right_z=0.0153 right_yaw=0.1032 right_pitch=-0.391 right_roll=-0.1837 right_gripper=0.9964\nstate[joint_eff]: [0.1299, -2.8239, 8.6359, 1.5165, -0.3248, -0.1099, 0.0024, 0.6632, -5.5043, 5.3402, 1.0379, 0.2173, 0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3031, 1.0138, 0.8261, -0.6125, -0.4965, -0.1566, 0.9968, 0.6739, 1.5307, 0.5991, -0.1452, 0.408, 0.3187, 0.1241]\nstate[eef_state]: left_x=0.3024 left_y=-0.0026 left_z=0.1878 left_yaw=0.1821 left_pitch=-0.144 left_roll=0.2472 left_gripper=0.9968 right_x=0.2867 right_y=0.1439 right_z=0.0106 right_yaw=0.1067 right_pitch=-0.3965 right_roll=-0.1903 right_gripper=0.1241\nstate[joint_eff]: [-0.212, -2.3726, 6.8444, 1.4579, -0.2711, 0.0073, -0.0122, -0.1299, -5.7778, 6.735, 0.9304, 0.1978, 0.0122, 1.0037]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3035, 1.0157, 0.8242, -0.6128, -0.4961, -0.157, 0.9968, 0.5465, 2.0224, 2.0277, -0.992, 0.3347, 0.1902, 0.1269]\nstate[eef_state]: left_x=0.3022 left_y=-0.0028 left_z=0.1864 left_yaw=0.1819 left_pitch=-0.1478 left_roll=0.2487 left_gripper=0.9968 right_x=0.4645 right_y=0.2188 right_z=0.2133 right_yaw=0.1282 right_pitch=-0.359 right_roll=-0.1672 right_gripper=0.1269\nstate[joint_eff]: [-0.1709, -2.5504, 6.9538, 1.4481, -0.2808, -0.0659, -0.0122, -0.6496, -11.412, 7.4051, 0.3736, 0.1978, 0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f68fbd8dfe4f4ca30305f32c5ac7eb6e0db859d6c6a440b8b8624f5fb3538a8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc8a0cb7695d4b71da9ce657b01fc1c06477bc3820d71f15f59b4b1b1e081e23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:891bff1461d892c3e3ec294243abb408d1253c4a70c975280bcd46ef895b4deb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3wIKjgEIEhgCKkD0ksGVj17q69+QQFRx6wpZN+IKD6lf/Z5vRy8RTS5M8I7c/tW1zz8f96bKbSaD/oSGhnx9MXOn//mQH8eRkK6qMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcrfzNUGEgzDPaSyCB2iX9AbVcEaDIQ/+4DsELDa0BPkliIw3oiT1Z04tqcJQmmA7Kw5BifrjFiD3ZpgvCd5gNq07sf36unOckKtfsds+bEvNgY0Kn5xDY9eM8A8HhYCRvQLZ2m2EXjfzgsUmzPksIOs3B/fsgiQw9bpXhr2RBJEYJWeOZDDTAGRjWuP+KC+RDEf4gQHD1b6craooOvd78AeGwrWWCCo/3Jbf7G5Uti1W8/ZbwBDjGkTCuISKyR4SCyTEWwc51xIHduNJftGOLbllScYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016k7WwLWCs3SUa4SzW5kv2c",
      "input": {
        "note": "The first pen is visible inside the right basket and the held black pen is over the opening; lowering and releasing to drop it in.",
        "targets": {
          "right_gripper": 1,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_016k7WwLWCs3SUa4SzW5kv2c",
      "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]: [-0.3035, 1.0176, 0.8242, -0.6128, -0.4934, -0.157, 0.9968, 0.543, 2.0247, 1.8198, -0.8307, 0.3283, 0.1802, 0.9963]\nstate[eef_state]: left_x=0.3024 left_y=-0.0032 left_z=0.1857 left_yaw=0.18 left_pitch=-0.1504 left_roll=0.2478 left_gripper=0.9968 right_x=0.4632 right_y=0.2173 right_z=0.1542 right_yaw=0.1279 right_pitch=-0.4069 right_roll=-0.1894 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -2.5778, 6.8034, 1.4286, -0.2955, -0.0708, -0.0122, 0.1709, -13.6957, 6.5846, 1.3114, 0.2466, 0.0855, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d2fe0427a41d4652346204c01c332d2745e27a9b8cf4f3cf43093e023c2797b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58a053cf3d87653bbc491483ad4b05fb8ca9b4776fa06797952bc98a51e8ecc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e4455569c29ea4b1f83720427d50fb6f3aae3908ca1b79aa9259518cc658731",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /messages · status 200 · 6.594 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3031, 1.0138, 0.8261, -0.6125, -0.4965, -0.1566, 0.9968, 0.6739, 1.5307, 0.5991, -0.1452, 0.408, 0.3187, 0.1241]\nstate[eef_state]: left_x=0.3024 left_y=-0.0026 left_z=0.1878 left_yaw=0.1821 left_pitch=-0.144 left_roll=0.2472 left_gripper=0.9968 right_x=0.2867 right_y=0.1439 right_z=0.0106 right_yaw=0.1067 right_pitch=-0.3965 right_roll=-0.1903 right_gripper=0.1241\nstate[joint_eff]: [-0.212, -2.3726, 6.8444, 1.4579, -0.2711, 0.0073, -0.0122, -0.1299, -5.7778, 6.735, 0.9304, 0.1978, 0.0122, 1.0037]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3035, 1.0157, 0.8242, -0.6128, -0.4961, -0.157, 0.9968, 0.5465, 2.0224, 2.0277, -0.992, 0.3347, 0.1902, 0.1269]\nstate[eef_state]: left_x=0.3022 left_y=-0.0028 left_z=0.1864 left_yaw=0.1819 left_pitch=-0.1478 left_roll=0.2487 left_gripper=0.9968 right_x=0.4645 right_y=0.2188 right_z=0.2133 right_yaw=0.1282 right_pitch=-0.359 right_roll=-0.1672 right_gripper=0.1269\nstate[joint_eff]: [-0.1709, -2.5504, 6.9538, 1.4481, -0.2808, -0.0659, -0.0122, -0.6496, -11.412, 7.4051, 0.3736, 0.1978, 0.0171, 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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3035, 1.0176, 0.8242, -0.6128, -0.4934, -0.157, 0.9968, 0.543, 2.0247, 1.8198, -0.8307, 0.3283, 0.1802, 0.9963]\nstate[eef_state]: left_x=0.3024 left_y=-0.0032 left_z=0.1857 left_yaw=0.18 left_pitch=-0.1504 left_roll=0.2478 left_gripper=0.9968 right_x=0.4632 right_y=0.2173 right_z=0.1542 right_yaw=0.1279 right_pitch=-0.4069 right_roll=-0.1894 right_gripper=0.9963\nstate[joint_eff]: [-0.2667, -2.5778, 6.8034, 1.4286, -0.2955, -0.0708, -0.0122, 0.1709, -13.6957, 6.5846, 1.3114, 0.2466, 0.0855, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d2fe0427a41d4652346204c01c332d2745e27a9b8cf4f3cf43093e023c2797b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58a053cf3d87653bbc491483ad4b05fb8ca9b4776fa06797952bc98a51e8ecc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e4455569c29ea4b1f83720427d50fb6f3aae3908ca1b79aa9259518cc658731",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISxQkKjgEIEhgCKkBfJGsfC+76M8vss/lHpXjNoAHqBTp3dl/qvtRC/Y5b5DdPbwiS4MIyi+q6rOCqR9dqF/CqOIUD5Hztw9JVbkRfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdPfzNUGEgwHTY7YkE7B78DDgN0aDL7f/liKFx/dihqu1SIwuY92pjyvzXOFEWTo7P7+MjKwcRev1Rdv5nT+EFC0nhl9SAhO+107D/u+e0kaxM1XKuMHBOwoCVogQ0gxa17QSAXfoBs0sm4VLOt2GwCAcz8eUTB3hloB+BKEaqjKEWWvEzbYJeE1HAPKfZM6RR4NPE5/h5XHEeFhAk/VHt+IVWgFX+OTcQiHJ2BHhu/oWDXi2YnOa+imTI+pf9ElYoU9AMa4I9vyFEfHzr96ShHBnaWxSoJ+SHugCKKVMNznubuL1JrKKZpKZx0LevWBkxqUlrKie0RdNk384PvrIjB/+JCZARvJBLNcHjjJK+QW38E2Nl8ZOU2Kib4y8J/b4Zkjuw6LWI05C5lZedGOICUL4/GNuMrABMJYnK6oA/wJ1TKny0ML8cZnk6jobsEZWlXJTfJoiFjdDCB31j0Xn1g5YZnZ/booAFCKH4ymPm2C+koDbeiWoI17wgFuvv0HwDpHF4v8R554z082rCYByZK3o1/sHuwZ6wNUnm1Zy21Lm9nNTukqvIXNGHneBtC5rmgy/Xv+PxbuAzWc5TZ0Va1ZMcs4ntx87tIujU27G4ycL8+mDFxJOEhtecB0VRsons6gshmKwP6FUTrNir8Zq5hqDdR7BpklwI6+t9W9ymz7uMyl0eCgOUoLlqj+BaTgrtpoOG437irocuYBo1JcGoHmnBO9nfgxG+HPj7b6WiPkx6qff4ntQyntlb1ZGb7W94aS8Na0GhY1dGRdKVAh+Oh1kTmpxCb0Cn90C5yC28n4Lzl67COtXJW4XsmeRXemf3+qhSGPZNOvBTQhgFBm25TDWwrowIde/l3kxusB2ZX46h4O8fhwY2jIKQ2djFbqhStVBhcBpM2meJSYiTUEDfsRneA42dnVN7K9zdzb0ltrukbe+wBDFuU2eTrzOWVcLmf1LRr4mNFC058j4mA0Y9s58O458pQsD65nS6GjOZ5VjQIUuP6hBnDobEPJ6MKz2hUNZYQyoI0vxhhvYh70J3MbEfqFa1OzyMB6WUwx4kF50t02v9xHH+mZ3xqmCQtMZ5uDRTPMFWuX5KvUAln1t8NpWZgbOhqyaHPLk8juLzlGRRsoxyAM7ymFWrnpn91aSBU7WhBD5LzsgEGGgUsyDAzi9ERVhCM6AyXkL0wWmpmXRNIAbXQlsJn+Z4+WZLULeKfIWg8B61GZfzql8An5dg5EzttOIAdA20V9ptgOCWLGMuhScUbLa3P7GrZDXAV3f4mV3VwCxCC7hHVQBhEb3uNCb40MTAXm3ukNRPdperCPuX1A8icH+cysDeYq43O50CjJEXDRvZiO95bKtXGo5+3ec+T8YYMKjl/ETB9yLgomMMCw+aJUWIax+GibaVHUgzo6yGztOJhhDPQk9ReEa4zt2Xwfvx5LV1YYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011RiszaaBvuuzjpqPR6WiwQ",
      "input": {
        "note": "Both pens are now in the right basket. A yellow highlighter lies just below the left gripper; descending onto it to pick it up next.",
        "targets": {
          "left_pitch": 0,
          "left_x": 0.28,
          "left_y": -0.02,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_011RiszaaBvuuzjpqPR6WiwQ",
      "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]: [-0.4885, 1.3201, 0.1505, 0.3489, -0.6674, -0.2405, 0.9968, 0.5426, 2.0247, 1.8088, -0.82, 0.3279, 0.1787, 0.9969]\nstate[eef_state]: left_x=0.2718 left_y=-0.0166 left_z=0.013 left_yaw=0.171 left_pitch=-0.0817 left_roll=0.297 left_gripper=0.9968 right_x=0.4633 right_y=0.2171 right_z=0.1514 right_yaw=0.1286 right_pitch=-0.4075 right_roll=-0.1902 right_gripper=0.9969\nstate[joint_eff]: [-0.2393, -3.9726, 3.9863, 1.2039, -0.442, -0.0024, -0.0122, -0.3487, -11.2068, 7.5829, 1.1502, 0.1587, -0.0269, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1970277c66fbfdf5d93f652da9215f80f1255b57f18342fdbc3d79c66b134ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ca817bf81202b4d044cbe6bc90e0efd77d04d82e3aa5fc32a2865cafc3fc3c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0d1c0d45502686620974e60f7abbc1cacd6320ecc525db5fd7117f054273673",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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