adhoc

completed
2026-09-23T02:53:01.629827+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 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
345.3 s
total steps
354
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTop view shows two teal baskets far away and a cluster of plush toys nearer: a grey dog-like plush on the left and tan/brown teddy bears in the middle. I'm moving the left arm above the grey plush to inspect it before grasping.
move_to
left_x0.3300left_y-0.0400left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3801, -0.0219, -0.0296, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0158, 0.9997] state[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1847 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9997 state[joint_eff]: [-0.6085, -1.6479, 9.4291, 1.7656, -0.0366, 0.1441, -0.0562, -0.7726, -1.3607, 9.8256, 1.7411, -0.1245, -0.0317, -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": 0.33, "left_y": -0.04, "left_z": 0.15, "left_gripper": 1.0}, "note": "Top view shows two teal baskets far away and a cluster of plush toys nearer: a grey dog-like plush on the left and tan/brown teddy bears in the middle. I'm moving the left arm above the grey plush to inspect it before grasping."})
tool
executing move_to over 4 steps (0.4s)
step 4
top_cam
camera top_cam step 4
left_cam
camera left_cam step 4
right_cam
camera right_cam step 4
assistant
agent noteThe grey plush dog sits to the image-left of the jaws in the left wrist view, so it is further toward the left fence than I estimated. Shifting the left arm +y and down a bit to line up over it.
move_to
left_x0.3300left_y0.0200left_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]: [-0.2436, 1.0195, 0.5587, -0.1516, -0.1967, -0.1513, 0.9996, -0.0154, 0.7986, 0.6086, -0.3782, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3266 left_y=-0.0419 left_z=0.142 left_yaw=-0.0119 left_pitch=-0.0374 left_roll=0.0005 left_gripper=0.9996 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=-0.0001 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0889, -3.4803, 6.7214, 1.8974, -0.1099, -0.0464, -0.0562, -0.3761, -1.3607, 7.241, 1.7656, -0.0171, -0.0708, -0.0073] camera 'top_cam' (step 4): [image omitted: streamed camera frame] camera 'left_cam' (step 4): [image omitted: streamed camera frame] camera 'right_cam' (step 4): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": 0.02, "left_z": 0.12}, "note": "The grey plush dog sits to the image-left of the jaws in the left wrist view, so it is further toward the left fence than I estimated. Shifting the left arm +y and down a bit to line up over it."})
tool
executing move_to over 6 steps (0.6s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe grey plush dog now fills the bottom-centre of the left wrist view, aligned with the jaw column. Descending onto its body to grasp.
move_to
left_z0.0300left_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]: [0.0944, 1.0534, 0.4911, -0.0578, 0.0528, 0.0196, 0.9996, -0.0151, 0.7986, 0.6086, -0.3843, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3285 left_y=0.0253 left_z=0.1185 left_yaw=0.0241 left_pitch=-0.0575 left_roll=-0.0022 left_gripper=0.9996 right_x=0.2951 right_y=0.0013 right_z=0.1799 right_yaw=0.0003 right_pitch=-0.0145 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1162, -2.5368, 5.8872, 1.9853, 0.1392, 0.0952, -0.0122, -0.0889, -1.1419, 7.1726, 1.7705, -0.0415, -0.022, -0.0171] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03, "left_gripper": 1.0}, "note": "The grey plush dog now fills the bottom-centre of the left wrist view, aligned with the jaw column. Descending onto its body to grasp."})
tool
executing move_to over 6 steps (0.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteDescent stopped at z=0.06, resting on the plush dog. Closing the jaws on its body.
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]: [0.0952, 1.372, 0.2672, 0.5922, 0.0257, 0.0414, 0.9996, -0.0151, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3452 left_y=0.032 left_z=0.0581 left_yaw=0.0362 left_pitch=0.0486 left_roll=0.0376 left_gripper=0.9996 right_x=0.2952 right_y=0.0013 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0191 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.0889, -2.2496, 3.5487, 1.1111, 0.2418, -0.2613, -0.0562, -0.3624, -1.1009, 7.0359, 1.7509, -0.0366, -0.0464, -0.0171] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Descent stopped at z=0.06, resting on the plush dog. Closing the jaws on its body."})
tool
executing move_to over 10 steps (1.0s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe close came back empty (0.01), so the jaws missed the plush. Shifting slightly toward the fence and forward to sit over the dog's thicker neck/head area, gripper reopened.
move_to
left_gripper1.0000left_y0.0500left_x0.3700left_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0952, 1.356, 0.2798, 0.6147, 0.0082, 0.0414, 0.0116, -0.0151, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9997] state[eef_state]: left_x=0.3521 left_y=0.0358 left_z=0.0731 left_yaw=0.0509 left_pitch=0.0992 left_roll=0.0484 left_gripper=0.0116 right_x=0.2952 right_y=0.0013 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0191 right_roll=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.1026, -2.7829, 4.588, 1.5897, 0.1587, -0.0024, 0.9695, -0.2803, -1.2786, 7.1043, 1.7509, -0.0513, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_y": 0.05, "left_x": 0.37, "left_z": 0.06}, "note": "The close came back empty (0.01), so the jaws missed the plush. Shifting slightly toward the fence and forward to sit over the dog's thicker neck/head area, gripper reopened."})
tool
executing move_to over 10 steps (1.0s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe dog's head is now on the jaw column but slightly beyond the fingertips; advancing 2 cm and descending to grasp its neck/head.
move_to
left_x0.3900left_z0.0300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1474, 1.5047, 0.3153, 0.7555, 0.0429, 0.0669, 0.9953, -0.0151, 0.8032, 0.6086, -0.3851, -0.012, -0.0162, 0.9997] state[eef_state]: left_x=0.3699 left_y=0.0509 left_z=0.0669 left_yaw=0.0597 left_pitch=0.1267 left_roll=0.0583 left_gripper=0.9953 right_x=0.2953 right_y=0.0013 right_z=0.1785 right_yaw=0.0003 right_pitch=-0.0198 right_roll=-0.0002 right_gripper=0.9997 state[joint_eff]: [0.6085, -3.7402, 6.065, 1.6288, 0.1099, -0.0464, -0.0464, -0.3487, -1.3744, 7.0496, 1.746, -0.0708, -0.0611, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). 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_x": 0.39, "left_z": 0.03}, "note": "The dog's head is now on the jaw column but slightly beyond the fingertips; advancing 2 cm and descending to grasp its neck/head."})
tool
executing move_to over 3 steps (0.3s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteJaws are now straddling the dog's head/neck; closing to grasp.
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]: [0.1333, 1.7748, 0.3573, 1.0798, 0.0143, 0.075, 0.9967, -0.0151, 0.8082, 0.6083, -0.3855, -0.012, -0.0162, 0.9997] state[eef_state]: left_x=0.3995 left_y=0.0546 left_z=0.056 left_yaw=0.0646 left_pitch=0.2214 left_roll=0.0844 left_gripper=0.9967 right_x=0.2955 right_y=0.0013 right_z=0.1769 right_yaw=0.0003 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9997 state[joint_eff]: [-0.2667, -4.5744, 3.6581, 1.2332, 0.0611, -0.2222, 0.1392, -0.3624, -1.1419, 7.0359, 1.7705, -0.0171, -0.0708, -0.0073] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws are now straddling the dog's head/neck; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteGripper settled at 0.22 — it has a grip on the grey dog plush. Lifting to confirm the toy comes with it.
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]: [0.1154, 1.7599, 0.3592, 1.1126, -0.0227, 0.0704, 0.2225, -0.0151, 0.8082, 0.6083, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4034 left_y=0.0544 left_z=0.0701 left_yaw=0.0809 left_pitch=0.2705 left_roll=0.0943 left_gripper=0.2225 right_x=0.2955 right_y=0.0013 right_z=0.1769 right_yaw=0.0003 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.3214, -5.3128, 4.0274, 1.5751, 0.1001, -0.0904, 1.0281, -0.2393, -0.9778, 7.0085, 1.7265, -0.0757, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "Gripper settled at 0.22 \u2014 it has a grip on the grey dog plush. Lifting to confirm the toy comes with it."})
tool
executing move_to over 12 steps (1.2s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe grey dog is lifted and hanging from the jaws. Moving over the left basket (visible to the right in the wrist view) to drop it in.
move_to
left_x0.4400left_y-0.0900left_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]: [0.0986, 1.2087, 0.7593, 0.0669, -0.0456, 0.0521, 0.223, -0.0151, 0.8097, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3991 left_y=0.0512 left_z=0.2147 left_yaw=0.0944 left_pitch=0.1772 left_roll=0.0824 left_gripper=0.223 right_x=0.2956 right_y=0.0013 right_z=0.1765 right_yaw=0.0003 right_pitch=-0.0267 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.4718, -6.5846, 10.3316, 2.1123, -0.022, 0.0806, 1.0281, -0.3487, -1.4974, 7.0085, 1.746, -0.0415, -0.0806, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.09, "left_z": 0.25}, "note": "The grey dog is lifted and hanging from the jaws. Moving over the left basket (visible to the right in the wrist view) to drop it in."})
tool
executing move_to over 13 steps (1.3s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe dog is over the near rim of the left basket; nudging further right/forward so it hangs over the basket's interior before releasing.
move_to
left_x0.4500left_y-0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3874, 1.4384, 1.0386, -0.107, -0.4736, -0.1589, 0.223, -0.0151, 0.8101, 0.6083, -0.3855, -0.012, -0.0162, 0.9997] state[eef_state]: left_x=0.4328 left_y=-0.0857 left_z=0.2235 left_yaw=0.08 left_pitch=0.1116 left_roll=0.0959 left_gripper=0.223 right_x=0.2956 right_y=0.0013 right_z=0.1764 right_yaw=0.0003 right_pitch=-0.0275 right_roll=-0.0001 right_gripper=0.9997 state[joint_eff]: [-0.294, -6.694, 10.3316, 1.917, -0.2955, 0.1538, 1.0281, -0.1026, -1.347, 7.0085, 1.7118, -0.0269, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.12}, "note": "The dog is over the near rim of the left basket; nudging further right/forward so it hangs over the basket's interior before releasing."})
tool
executing move_to over 4 steps (0.4s)
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 noteThe grey dog is hanging inside the left basket; opening the jaws to drop it in.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4561, 1.5558, 1.0927, -0.1505, -0.5224, -0.2111, 0.223, -0.0151, 0.8108, 0.6079, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4396 left_y=-0.1135 left_z=0.1919 left_yaw=0.0751 left_pitch=0.0336 left_roll=0.1237 left_gripper=0.223 right_x=0.2957 right_y=0.0013 right_z=0.1761 right_yaw=0.0003 right_pitch=-0.0282 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.335, -8.5402, 11.3846, 1.8926, -0.3443, 0.2125, 1.0281, -0.0889, -1.3607, 7.0496, 1.7509, -0.0562, -0.0464, -0.0073] 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_gripper": 1.0}, "note": "The grey dog is hanging inside the left basket; opening the jaws to drop it in."})
tool
executing move_to over 8 steps (0.8s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteReleased the dog at the basket but it may have landed on the near rim; retracting the left arm to get an unobstructed top view.
move_to
left_x0.3000left_y-0.0500left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4614, 1.5681, 1.1057, -0.1528, -0.543, -0.2253, 0.9953, -0.0151, 0.812, 0.6079, -0.3851, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.4418 left_y=-0.1137 left_z=0.1929 left_yaw=0.0937 left_pitch=0.0394 left_roll=0.1225 left_gripper=0.9953 right_x=0.2957 right_y=0.0012 right_z=0.1757 right_yaw=-0.0001 right_pitch=-0.0294 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.3624, -8.6496, 10.5504, 1.917, -0.2271, 0.1685, -0.0855, -0.2667, -1.4154, 7.0496, 1.707, -0.0317, -0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.25}, "note": "Released the dog at the basket but it may have landed on the near rim; retracting the left arm to get an unobstructed top view."})
tool
executing move_to over 11 steps (1.1s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe grey dog is in the left basket. Now the three tan teddy bears remain; moving the right arm over the nearest bear (right side of the cluster) to line up a grasp.
move_to
right_x0.2600right_y0.2500right_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]: [-0.4938, 0.9684, 0.9176, -0.5388, -0.5545, -0.2462, 0.9967, -0.0147, 0.8165, 0.6075, -0.392, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3111 left_y=-0.0578 left_z=0.2547 left_yaw=0.0822 left_pitch=0.0658 left_roll=0.0959 left_gripper=0.9967 right_x=0.295 right_y=0.0014 right_z=0.1729 right_yaw=0.0007 right_pitch=-0.0412 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.4171, -2.3043, 6.3521, 1.7558, -0.3639, -0.0611, 0.1392, -0.0889, -1.265, 7.2137, 1.7802, -0.0317, -0.0562, -0.0171] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.26, "right_y": 0.25, "right_z": 0.18}, "note": "The grey dog is in the left basket. Now the three tan teddy bears remain; moving the right arm over the nearest bear (right side of the cluster) to line up a grasp."})
tool
executing move_to over 21 steps (2.1s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe right wrist view reveals two pens/markers lying on the table beside the right basket, so the two object types are plush toys and pens. Plushes go in the left basket (which already held one), pens in the empty right basket. Parking the right arm and bringing the left arm over the nearest teddy bear.
move_to
right_x0.3000right_y0.0000right_z0.2000left_x0.2700left_y-0.1500left_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4942, 0.9752, 0.9173, -0.5598, -0.5579, -0.2481, 0.9968, 1.1137, 1.4372, 1.0286, -0.609, 0.8009, 0.8135, 0.9997] state[eef_state]: left_x=0.3096 left_y=-0.0565 left_z=0.249 left_yaw=0.0848 left_pitch=0.0434 left_roll=0.1113 left_gripper=0.9968 right_x=0.2584 right_y=0.2462 right_z=0.1673 right_yaw=0.0356 right_pitch=-0.0744 right_roll=-0.0314 right_gripper=0.9997 state[joint_eff]: [-0.0068, -2.8376, 6.8718, 1.7998, -0.2076, -0.0073, 0.0024, 0.4171, -6.0103, 8.8684, 0.8962, 0.5983, 0.1587, -0.0171] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.2, "left_x": 0.27, "left_y": -0.15, "left_z": 0.2}, "note": "The right wrist view reveals two pens/markers lying on the table beside the right basket, so the two object types are plush toys and pens. Plushes go in the left basket (which already held one), pens in the empty right basket. Parking the right arm and bringing the left arm over the nearest teddy bear."})
tool
executing move_to over 21 steps (2.1s)
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 noteLeft wrist view shows the small brown monkey plush just below the jaw column; advancing 3 cm and descending onto it.
move_to
left_x0.3000left_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]: [-0.9852, 1.1683, 0.886, -0.6441, -0.8906, -0.691, 0.9968, -0.0071, 0.8761, 0.7391, -0.5327, 0.0319, -0.0257, 0.9997] state[eef_state]: left_x=0.2708 left_y=-0.1533 left_z=0.1996 left_yaw=0.059 left_pitch=0.0302 left_roll=0.1101 left_gripper=0.9968 right_x=0.2954 right_y=-0.0041 right_z=0.1879 right_yaw=-0.0239 right_pitch=-0.1099 right_roll=-0.0338 right_gripper=0.9997 state[joint_eff]: [-0.2667, -3.4803, 6.6667, 1.0916, -0.5739, -0.1392, -0.0122, -0.2393, -1.265, 8.5538, 1.8388, -0.1636, -0.0366, -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": {"left_x": 0.3, "left_z": 0.05}, "note": "Left wrist view shows the small brown monkey plush just below the jaw column; advancing 3 cm and descending onto it."})
tool
executing move_to over 10 steps (1.0s)
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 noteJaws are straddling the little brown monkey's head; 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]: [-0.8848, 1.5124, 0.4831, 0.1165, -0.8268, -0.5823, 0.9969, -0.0124, 0.8768, 0.7391, -0.5407, 0.0177, -0.0444, 0.9997] state[eef_state]: left_x=0.2923 left_y=-0.1463 left_z=0.0466 left_yaw=0.0638 left_pitch=-0.0134 left_roll=0.1635 left_gripper=0.9969 right_x=0.2942 right_y=-0.0032 right_z=0.1861 right_yaw=-0.0073 right_pitch=-0.1191 right_roll=-0.0396 right_gripper=0.9997 state[joint_eff]: [0.3214, -5.9556, 4.8889, 1.2625, -0.3932, 0.0073, -0.0122, 0.2803, -1.7573, 7.0085, 1.6923, 0.1343, 0.1294, -0.0122] 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": {"left_gripper": 0.0}, "note": "Jaws are straddling the little brown monkey's head; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThat close was empty (0.04) — the monkey sits a few cm beyond the fingertips. Reopening and advancing 3 cm before closing again.
move_to
left_gripper1.0000left_x0.3250
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]: [-0.8867, 1.5276, 0.4706, 0.1421, -0.8307, -0.5835, 0.0388, -0.0124, 0.8772, 0.7391, -0.5407, 0.0151, -0.0456, 0.9997] state[eef_state]: left_x=0.2913 left_y=-0.1452 left_z=0.042 left_yaw=0.0648 left_pitch=-0.0121 left_roll=0.1662 left_gripper=0.0388 right_x=0.2943 right_y=-0.0027 right_z=0.186 right_yaw=-0.0044 right_pitch=-0.1195 right_roll=-0.0388 right_gripper=0.9997 state[joint_eff]: [-0.0068, -6.2974, 5.9419, 0.9792, -0.3541, 0.0122, 1.0183, -0.1162, -1.6205, 6.9128, 1.6142, 0.022, -0.0464, -0.0122] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.325}, "note": "That close was empty (0.04) \u2014 the monkey sits a few cm beyond the fingertips. Reopening and advancing 3 cm before closing again."})
tool
executing move_to over 10 steps (1.0s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe monkey's head is now between the jaws; closing.
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]: [-0.7845, 1.6073, 0.5102, 0.2298, -0.7731, -0.485, 0.9956, -0.0124, 0.8772, 0.7391, -0.5407, 0.0147, -0.046, 0.9997] state[eef_state]: left_x=0.3176 left_y=-0.1376 left_z=0.0354 left_yaw=0.078 left_pitch=-0.0277 left_roll=0.1833 left_gripper=0.9956 right_x=0.2943 right_y=-0.0027 right_z=0.186 right_yaw=-0.0038 right_pitch=-0.1195 right_roll=-0.0389 right_gripper=0.9997 state[joint_eff]: [0.1573, -5.1897, 7.0769, 1.409, -0.2711, 0.1294, -0.1783, -0.1436, -1.6752, 6.9128, 1.6532, -0.0269, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The monkey's head is now between the jaws; closing."})
tool
executing move_to over 10 steps (1.0s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteGripper settled at 0.11, suggesting fur is held. Lifting to check the monkey comes along.
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]: [-0.7818, 1.6112, 0.5125, 0.231, -0.77, -0.4866, 0.106, -0.0124, 0.8772, 0.7391, -0.5407, 0.0147, -0.046, 0.9997] state[eef_state]: left_x=0.3183 left_y=-0.1377 left_z=0.0348 left_yaw=0.0795 left_pitch=-0.0296 left_roll=0.1808 left_gripper=0.106 right_x=0.2943 right_y=-0.0027 right_z=0.186 right_yaw=-0.0038 right_pitch=-0.1195 right_roll=-0.0389 right_gripper=0.9997 state[joint_eff]: [-0.212, -6.1197, 4.6701, 1.2674, -0.3736, 0.0073, 0.652, -0.0615, -1.4701, 6.9402, 1.6484, -0.0317, -0.0708, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "Gripper settled at 0.11, suggesting fur is held. Lifting to check the monkey comes along."})
tool
executing move_to over 14 steps (1.4s)
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 noteMonkey plush is securely hanging from the jaws. Carrying it forward over the left basket.
move_to
left_x0.4500left_y-0.1000left_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]: [-0.7818, 1.2957, 1.1381, -0.6975, -0.7589, -0.4938, 0.1072, -0.0124, 0.8772, 0.7391, -0.5411, 0.0147, -0.046, 0.9997] state[eef_state]: left_x=0.3222 left_y=-0.1436 left_z=0.2374 left_yaw=0.0756 left_pitch=-0.027 left_roll=0.1598 left_gripper=0.1072 right_x=0.2942 right_y=-0.0027 right_z=0.1859 right_yaw=-0.0038 right_pitch=-0.1199 right_roll=-0.0389 right_gripper=0.9997 state[joint_eff]: [-0.1983, -5.6, 8.4308, 1.2088, -0.4225, 0.0464, 0.1197, -0.0889, -1.3744, 7.0632, 1.619, -0.0464, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.1, "left_z": 0.26}, "note": "Monkey plush is securely hanging from the jaws. Carrying it forward over the left basket."})
tool
executing move_to over 10 steps (1.0s)
step 203
top_cam
camera top_cam step 203
left_cam
camera left_cam step 203
right_cam
camera right_cam step 203
assistant
agent noteMonkey is suspended over the left basket's interior; opening to release it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4149, 1.5772, 1.3956, -0.5526, -0.5102, -0.2199, 0.1091, -0.0124, 0.8806, 0.7391, -0.5411, 0.0147, -0.046, 0.9997] state[eef_state]: left_x=0.439 left_y=-0.0951 left_z=0.2407 left_yaw=0.1125 left_pitch=-0.0736 left_roll=0.1707 left_gripper=0.1091 right_x=0.2945 right_y=-0.0027 right_z=0.1849 right_yaw=-0.0038 right_pitch=-0.1233 right_roll=-0.0389 right_gripper=0.9997 state[joint_eff]: [0.1436, -7.9658, 9.306, 1.6825, -0.1001, 0.1685, 0.188, -0.1162, -2.0034, 6.8991, 1.6093, -0.0122, -0.0415, -0.0122] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Monkey is suspended over the left basket's interior; opening to release it."})
tool
executing move_to over 9 steps (0.9s)
step 212
top_cam
camera top_cam step 212
left_cam
camera left_cam step 212
right_cam
camera right_cam step 212
assistant
agent noteMonkey is in the left basket with the grey dog. Next target is the large tan teddy bear in the middle of the table; hovering over it with the left arm.
move_to
left_x0.3400left_y-0.1900left_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]: [-0.4118, 1.5917, 1.3994, -0.5594, -0.4969, -0.2253, 0.9953, -0.0124, 0.8814, 0.7391, -0.5411, 0.0147, -0.046, 0.9997] state[eef_state]: left_x=0.4404 left_y=-0.0965 left_z=0.2343 left_yaw=0.1086 left_pitch=-0.0928 left_roll=0.1674 left_gripper=0.9953 right_x=0.2945 right_y=-0.0027 right_z=0.1847 right_yaw=-0.0038 right_pitch=-0.1241 right_roll=-0.0389 right_gripper=0.9997 state[joint_eff]: [-0.3214, -8.9094, 6.5846, 1.6142, -0.3736, 0.0024, -0.0464, -0.1026, -1.8256, 6.9128, 1.6093, -0.0464, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.19, "left_z": 0.18}, "note": "Monkey is in the left basket with the grey dog. Next target is the large tan teddy bear in the middle of the table; hovering over it with the left arm."})
tool
executing move_to over 9 steps (0.9s)
step 221
top_cam
camera top_cam step 221
left_cam
camera left_cam step 221
right_cam
camera right_cam step 221
assistant
agent noteThe bear appears at the right edge of the left wrist view, so it is further toward the table centre than I aimed; shifting the arm 11 cm that way.
move_to
left_x0.3200left_y-0.3000left_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]: [-0.8253, 1.5486, 1.1877, -0.614, -0.7288, -0.572, 0.9967, -0.0124, 0.8829, 0.7391, -0.5411, 0.0147, -0.046, 0.9997] state[eef_state]: left_x=0.3454 left_y=-0.1954 left_z=0.1786 left_yaw=0.0604 left_pitch=-0.1151 left_roll=0.173 left_gripper=0.9967 right_x=0.2946 right_y=-0.0027 right_z=0.1843 right_yaw=-0.0038 right_pitch=-0.1256 right_roll=-0.0388 right_gripper=0.9997 state[joint_eff]: [-0.0889, -7.665, 5.8872, 1.2772, -0.5739, -0.0659, 0.1343, -0.1573, -1.6752, 6.9128, 1.6337, -0.0269, -0.0317, -0.0122] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.3, "left_z": 0.18}, "note": "The bear appears at the right edge of the left wrist view, so it is further toward the table centre than I aimed; shifting the arm 11 cm that way."})
tool
executing move_to over 10 steps (1.0s)
step 231
top_cam
camera top_cam step 231
left_cam
camera left_cam step 231
assistant
agent noteThe big teddy bear's head is centred just beyond the jaws; advancing 2.5 cm and descending onto its head/neck.
move_to
left_x0.3450left_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]: [-1.0584, 1.8511, 1.5372, -0.8627, -0.8135, -0.8501, 0.9968, -0.0124, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997] state[eef_state]: left_x=0.32 left_y=-0.2997 left_z=0.1705 left_yaw=0.0418 left_pitch=-0.1363 left_roll=0.1676 left_gripper=0.9968 right_x=0.2947 right_y=-0.0027 right_z=0.1841 right_yaw=-0.0038 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997 state[joint_eff]: [-0.3897, -9.5521, 8.3487, 0.6325, -0.735, -0.0415, 0.0024, -0.1846, -1.7983, 6.9402, 1.6435, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.345, "left_z": 0.05}, "note": "The big teddy bear's head is centred just beyond the jaws; advancing 2.5 cm and descending onto its head/neck."})
tool
executing move_to over 8 steps (0.8s)
step 239
assistant
agent noteResting on the teddy bear's head; closing the jaws to grab its head/ear.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0107, 1.9823, 1.2922, -0.4061, -0.8047, -0.799, 0.9968, -0.0124, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997] state[eef_state]: left_x=0.345 left_y=-0.3038 left_z=0.0731 left_yaw=0.0494 left_pitch=-0.1098 left_roll=0.1322 left_gripper=0.9968 right_x=0.2947 right_y=-0.0027 right_z=0.1841 right_yaw=-0.0038 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997 state[joint_eff]: [0.5949, -8.0342, 4.3145, 0.5543, -0.2418, 0.1832, -0.0122, -0.0752, -1.7436, 6.9128, 1.6288, -0.0122, -0.0659, -0.0122] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Resting on the teddy bear's head; closing the jaws to grab its head/ear."})
tool
executing move_to over 10 steps (1.0s)
step 249
assistant
agent noteGripper settled at 0.22 holding the bear's head; lifting it clear of the table before carrying to the left basket.
move_to
left_z0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0103, 2.0026, 1.2812, -0.3801, -0.8074, -0.8047, 0.2176, -0.0135, 0.8837, 0.7391, -0.5411, 0.0143, -0.046, 0.9997] state[eef_state]: left_x=0.3455 left_y=-0.3037 left_z=0.0637 left_yaw=0.0547 left_pitch=-0.1099 left_roll=0.1336 left_gripper=0.2176 right_x=0.2947 right_y=-0.0029 right_z=0.1841 right_yaw=-0.0047 right_pitch=-0.1264 right_roll=-0.0386 right_gripper=0.9997 state[joint_eff]: [-0.3761, -12.0821, 6.7214, 0.7546, -0.4127, 0.0415, 1.0232, -0.1299, -1.4974, 6.9128, 1.6093, -0.0611, -0.0269, -0.0122] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.3}, "note": "Gripper settled at 0.22 holding the bear's head; lifting it clear of the table before carrying to the left basket."})
tool
executing move_to over 16 steps (1.6s)
step 265
assistant
agent noteThe big tan dog plush is lifted clear. Carrying it over the left basket (visible up-left in the wrist view).
move_to
left_x0.4600left_y-0.1500left_z0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0103, 1.9934, 2.2047, -1.2739, -0.7868, -0.823, 0.2181, -0.0135, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997] state[eef_state]: left_x=0.3482 left_y=-0.3128 left_z=0.2928 left_yaw=0.0501 left_pitch=-0.1057 left_roll=0.076 left_gripper=0.2181 right_x=0.2947 right_y=-0.003 right_z=0.1841 right_yaw=-0.005 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997 state[joint_eff]: [-0.3487, -9.5795, 7.2137, 0.7155, -0.6325, 0.188, 1.033, -0.212, -1.6889, 6.9402, 1.5995, -0.0122, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.15, "left_z": 0.3}, "note": "The big tan dog plush is lifted clear. Carrying it over the left basket (visible up-left in the wrist view)."})
tool
executing move_to over 15 steps (1.5s)
step 280
assistant
agent noteBig plush dog is suspended over the left basket; releasing it in.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4957, 1.8252, 1.8824, -0.9119, -0.4793, -0.3656, 0.2181, -0.0132, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997] state[eef_state]: left_x=0.4596 left_y=-0.1519 left_z=0.2704 left_yaw=0.0931 left_pitch=-0.1762 left_roll=0.1024 left_gripper=0.2181 right_x=0.2947 right_y=-0.0029 right_z=0.1841 right_yaw=-0.0046 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997 state[joint_eff]: [0.0479, -13.4222, 6.653, 1.7411, -0.2418, 0.1978, 1.0232, -0.1436, -1.7436, 7.1726, 1.6093, -0.0562, -0.0366, -0.0122] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Big plush dog is suspended over the left basket; releasing it in."})
tool
executing move_to over 8 steps (0.8s)
step 288
assistant
agent noteTwo plush toys are in the left basket but the big tan dog landed back on the table. With limited moves left I'll now sort the pens: moving the right arm over the two markers lying beside the right basket, and retracting the left arm out of the way.
move_to
right_x0.2800right_y0.0700right_z0.1200left_x0.3000left_y-0.0500left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4942, 1.8252, 1.882, -0.9146, -0.4706, -0.3744, 0.9953, -0.0132, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997] state[eef_state]: left_x=0.4592 left_y=-0.1524 left_z=0.2694 left_yaw=0.0929 left_pitch=-0.182 left_roll=0.0919 left_gripper=0.9953 right_x=0.2947 right_y=-0.0029 right_z=0.1841 right_yaw=-0.0046 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997 state[joint_eff]: [-0.3077, -9.4974, 6.4479, 1.4579, -0.3394, 0.0464, -0.1245, -0.1162, -1.7573, 6.9128, 1.6288, -0.0513, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": {"right_x": 0.28, "right_y": 0.07, "right_z": 0.12, "left_x": 0.3, "left_y": -0.05, "left_z": 0.25}, "note": "Two plush toys are in the left basket but the big tan dog landed back on the table. With limited moves left I'll now sort the pens: moving the right arm over the two markers lying beside the right basket, and retracting the left arm out of the way."})
tool
executing move_to over 13 steps (1.3s)
step 301
assistant
agent noteThe black marker lies right on the jaw column in the right wrist view; advancing 2 cm and lowering to table level to grasp it across its middle.
move_to
right_x0.3000right_z0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4202, 1.1198, 1.1648, -0.87, -0.4274, -0.3283, 0.9968, 0.4412, 0.9249, 0.5179, -0.3634, 0.3302, 0.2291, 0.9997] state[eef_state]: left_x=0.3086 left_y=-0.0538 left_z=0.2512 left_yaw=0.1053 left_pitch=-0.1735 left_roll=0.0813 left_gripper=0.9968 right_x=0.2762 right_y=0.0711 right_z=0.1159 right_yaw=0.0329 right_pitch=-0.1604 right_roll=-0.0514 right_gripper=0.9997 state[joint_eff]: [0.2393, -3.1932, 6.5983, 1.5653, -0.188, 0.1636, 0.1343, 0.294, -1.894, 6.7214, 1.7509, 0.3199, 0.149, -0.0122] camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_z": 0.0}, "note": "The black marker lies right on the jaw column in the right wrist view; advancing 2 cm and lowering to table level to grasp it across its middle."})
tool
executing move_to over 8 steps (0.8s)
step 309
assistant
agent noteThe jaws are at table level straddling the black marker; closing to pick it up.
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]: [-0.4175, 1.1278, 1.1515, -0.8749, -0.4187, -0.3294, 0.9968, 0.3916, 1.4044, 0.2691, 0.392, 0.2905, 0.2024, 0.9997] state[eef_state]: left_x=0.3075 left_y=-0.0539 left_z=0.2423 left_yaw=0.1041 left_pitch=-0.1995 left_roll=0.0881 left_gripper=0.9968 right_x=0.3048 right_y=0.075 right_z=0.0137 right_yaw=0.0319 right_pitch=-0.1462 right_roll=-0.036 right_gripper=0.9997 state[joint_eff]: [-0.4171, -3.6444, 7.5556, 1.5165, -0.2662, -0.0122, -0.0024, -0.6906, -2.441, 2.5915, 0.0513, 0.1099, -0.1197, -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": {"right_gripper": 0.0}, "note": "The jaws are at table level straddling the black marker; closing to pick it up."})
tool
executing move_to over 10 steps (1.0s)
step 319
assistant
agent noteGripper settled at 0.137 — the marker's diameter — so the pen is held. Lifting and carrying it toward the empty right basket.
move_to
right_z0.2500right_x0.4200right_y0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4175, 1.1278, 1.1515, -0.8742, -0.4179, -0.3294, 0.9968, 0.3912, 1.4136, 0.2607, 0.4145, 0.2829, 0.1993, 0.1369] state[eef_state]: left_x=0.3076 left_y=-0.0541 left_z=0.2424 left_yaw=0.1034 left_pitch=-0.1991 left_roll=0.0872 left_gripper=0.9968 right_x=0.3043 right_y=0.0761 right_z=0.012 right_yaw=0.0398 right_pitch=-0.1434 right_roll=-0.0318 right_gripper=0.1369 state[joint_eff]: [-0.0889, -3.2068, 6.6667, 1.4237, -0.2027, -0.0171, -0.0122, -0.253, -4.7658, 5.4906, 1.3748, 0.1148, 0.0317, 1.0281] camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.25, "right_x": 0.42, "right_y": 0.17}, "note": "Gripper settled at 0.137 \u2014 the marker's diameter \u2014 so the pen is held. Lifting and carrying it toward the empty right basket."})
tool
executing move_to over 16 steps (1.6s)
step 335
assistant
agent noteMarker is held vertically; the right basket sits to the image-left, so shifting 10 cm toward it before releasing.
move_to
right_y0.2700right_x0.4400
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]: [-0.4175, 1.1278, 1.1515, -0.8745, -0.4183, -0.3302, 0.9968, 0.5148, 1.6016, 1.454, -0.6109, 0.3588, 0.2707, 0.1372] state[eef_state]: left_x=0.3076 left_y=-0.054 left_z=0.2424 left_yaw=0.1042 left_pitch=-0.1992 left_roll=0.0871 left_gripper=0.9968 right_x=0.4207 right_y=0.1708 right_z=0.2373 right_yaw=0.0615 right_pitch=-0.1405 right_roll=-0.0327 right_gripper=0.1372 state[joint_eff]: [-0.1846, -3.2205, 6.5436, 1.4383, -0.2027, -0.0415, -0.0122, 0.5402, -7.9932, 8.8684, 1.2234, 0.3053, 0.1587, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.27, "right_x": 0.44}, "note": "Marker is held vertically; the right basket sits to the image-left, so shifting 10 cm toward it before releasing."})
tool
executing move_to over 9 steps (0.9s)
step 344
assistant
agent noteThe marker hangs directly over the right basket's interior; opening the jaws to drop it in, completing one pen into the pen basket.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4175, 1.1278, 1.1515, -0.8749, -0.4183, -0.3325, 0.9968, 0.6952, 1.8931, 1.7817, -0.7288, 0.4622, 0.3855, 0.1372] state[eef_state]: left_x=0.3075 left_y=-0.054 left_z=0.2423 left_yaw=0.1055 left_pitch=-0.1994 left_roll=0.0856 left_gripper=0.9968 right_x=0.4368 right_y=0.2665 right_z=0.225 right_yaw=0.0916 right_pitch=-0.1709 right_roll=-0.0514 right_gripper=0.1372 state[joint_eff]: [-0.0752, -3.2479, 6.4889, 1.4335, -0.2515, 0.0073, -0.0122, 0.4308, -10.0991, 9.4701, 1.2821, 0.3687, 0.1929, 1.0232] camera 'top_cam' (step 344): [image omitted: streamed camera frame] camera 'left_cam' (step 344): [image omitted: streamed camera frame] camera 'right_cam' (step 344): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The marker hangs directly over the right basket's interior; opening the jaws to drop it in, completing one pen into the pen basket."})
tool
executing move_to over 9 steps (0.9s)
step 353
assistant
agent noteI classified the scene into plush toys vs. pens/markers. Plush toys went into the left basket (which already contained one plush): I picked and dropped the grey dog and the small brown monkey there, and moved the large tan dog toward it (it landed at the basket edge). Then with the right arm I picked the black dry-erase marker and released it over the empty right basket. Remaining unsorted when the call budget ran out: a yellow pen near the left arm, a blue pen on the right, and the large tan plush next to the left basket.
done
hindsightTop-camera scale that worked: image x≈117 is the table centre line (left_y=-0.32 / right_y=+0.33), ~2.3 px/cm horizontally, ~2.5 px/cm along image-y for depth; left_y = -0.32 - (img_x-117)/230. The wrist cameras are the reliable tool: an object sitting on the jaw column but still visible in-frame is 2-3 cm beyond the fingertips, so advance x by ~2.5 cm before descending — my first two closes failed for exactly this reason. Plush fur gives a settled gripper reading of 0.10-0.22 (good grip); below 0.04 is empty. The left basket drop point is about left_x=0.45, left_y=-0.12 at z=0.25; the right basket is near right_x=0.44, right_y=0.27. Release height 0.25 m sometimes lets bulky plush bounce off the rim — descend to ~0.18 inside the basket before opening. Also check both wrist cams early: the pens on the right side were invisible in the top view and only the right wrist camera revealed the second object class.
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]: [-0.4175, 1.1278, 1.1515, -0.8742, -0.4183, -0.3328, 0.9968, 0.6991, 1.9095, 1.7859, -0.7406, 0.4599, 0.3786, 0.9958] state[eef_state]: left_x=0.3076 left_y=-0.054 left_z=0.2424 left_yaw=0.1056 left_pitch=-0.1988 left_roll=0.0849 left_gripper=0.9968 right_x=0.4359 right_y=0.2687 right_z=0.2168 right_yaw=0.0983 right_pitch=-0.1919 right_roll=-0.069 right_gripper=0.9958 state[joint_eff]: [-0.0342, -3.1795, 6.5026, 1.4335, -0.2173, -0.022, -0.0122, -0.5128, -11.5897, 6.3658, 1.4774, 0.232, 0.0024, -0.1832] camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]
assistant
done({"summary": "I classified the scene into plush toys vs. pens/markers. Plush toys went into the left basket (which already contained one plush): I picked and dropped the grey dog and the small brown monkey there, and moved the large tan dog toward it (it landed at the basket edge). Then with the right arm I picked the black dry-erase marker and released it over the empty right basket. Remaining unsorted when the call budget ran out: a yellow pen near the left arm, a blue pen on the right, and the large tan plush next to the left basket.", "hindsight": "Top-camera scale that worked: image x\u2248117 is the table centre line (left_y=-0.32 / right_y=+0.33), ~2.3 px/cm horizontally, ~2.5 px/cm along image-y for depth; left_y = -0.32 - (img_x-117)/230. The wrist cameras are the reliable tool: an object sitting on the jaw column but still visible in-frame is 2-3 cm beyond the fingertips, so advance x by ~2.5 cm before descending \u2014 my first two closes failed for exactly this reason. Plush fur gives a settled gripper reading of 0.10-0.22 (good grip); below 0.04 is empty. The left basket drop point is about left_x=0.45, left_y=-0.12 at z=0.25; the right basket is near right_x=0.44, right_y=0.27. Release height 0.25 m sometimes lets bulky plush bounce off the rim \u2014 descend to ~0.18 inside the basket before opening. Also check both wrist cams early: the pens on the right side were invisible in the top view and only the right wrist camera revealed the second object class."})
tool
done: I classified the scene into plush toys vs. pens/markers. Plush toys went into the left basket (which already contained one plush): I picked and dropped the grey dog and the small brown monkey there, and moved the large tan dog toward it (it landed at the basket edge). Then with the right arm I picked the black dry-erase marker and released it over the empty right basket. Remaining unsorted when the call budget ran out: a yellow pen near the left arm, a blue pen on the right, and the large tan plush next to the left basket.
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 · 15.48 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, -0.3801, -0.0219, -0.0296, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1847 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.6085, -1.6479, 9.4291, 1.7656, -0.0366, 0.1441, -0.0562, -0.7726, -1.3607, 9.8256, 1.7411, -0.1245, -0.0317, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:575228ceae8673f453e8ff1d68750318b5ef52ba0ed74e02e20d58eb1e606356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc13734091f0f9150a91d8f0f997ed18879ecf2435105128bffc75a3c41efcee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff2a77c9bdcd27966ac1207b78f57b17fb8ccaf94889ae1f6e7436f2470b46c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 17.84 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, -0.3801, -0.0219, -0.0296, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1847 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.6085, -1.6479, 9.4291, 1.7656, -0.0366, 0.1441, -0.0562, -0.7726, -1.3607, 9.8256, 1.7411, -0.1245, -0.0317, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:575228ceae8673f453e8ff1d68750318b5ef52ba0ed74e02e20d58eb1e606356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc13734091f0f9150a91d8f0f997ed18879ecf2435105128bffc75a3c41efcee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff2a77c9bdcd27966ac1207b78f57b17fb8ccaf94889ae1f6e7436f2470b46c8",
        "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_01Hc9u7J9PtCPRyuiXHFGjd9",
      "input": {
        "note": "Top view shows two teal baskets far away and a cluster of plush toys nearer: a grey dog-like plush on the left and tan/brown teddy bears in the middle. I'm moving the left arm above the grey plush to inspect it before grasping.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.33,
          "left_y": -0.04,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Hc9u7J9PtCPRyuiXHFGjd9",
      "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]: [-0.2436, 1.0195, 0.5587, -0.1516, -0.1967, -0.1513, 0.9996, -0.0154, 0.7986, 0.6086, -0.3782, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3266 left_y=-0.0419 left_z=0.142 left_yaw=-0.0119 left_pitch=-0.0374 left_roll=0.0005 left_gripper=0.9996 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=-0.0001 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -3.4803, 6.7214, 1.8974, -0.1099, -0.0464, -0.0562, -0.3761, -1.3607, 7.241, 1.7656, -0.0171, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a9bc2e5ed64cc30140e9ec89aeba62e2530b29fe67588decd8ef58884ed0152",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab344fe5d5d9290e818cc3c793c18a01d5893f0c895130c12aa21f77783b2404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f51c336a8c39f53c83e629a92b7da6aa79514e5856323235c3c60f7b5ea25241",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /messages · status 200 · 6.568 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, -0.3801, -0.0219, -0.0296, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1847 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.6085, -1.6479, 9.4291, 1.7656, -0.0366, 0.1441, -0.0562, -0.7726, -1.3607, 9.8256, 1.7411, -0.1245, -0.0317, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2436, 1.0195, 0.5587, -0.1516, -0.1967, -0.1513, 0.9996, -0.0154, 0.7986, 0.6086, -0.3782, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3266 left_y=-0.0419 left_z=0.142 left_yaw=-0.0119 left_pitch=-0.0374 left_roll=0.0005 left_gripper=0.9996 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=-0.0001 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -3.4803, 6.7214, 1.8974, -0.1099, -0.0464, -0.0562, -0.3761, -1.3607, 7.241, 1.7656, -0.0171, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a9bc2e5ed64cc30140e9ec89aeba62e2530b29fe67588decd8ef58884ed0152",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab344fe5d5d9290e818cc3c793c18a01d5893f0c895130c12aa21f77783b2404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f51c336a8c39f53c83e629a92b7da6aa79514e5856323235c3c60f7b5ea25241",
        "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_01LY9C1VJDA5cgVJStvRo5tx",
      "input": {
        "note": "The grey plush dog sits to the image-left of the jaws in the left wrist view, so it is further toward the left fence than I estimated. Shifting the left arm +y and down a bit to line up over it.",
        "targets": {
          "left_x": 0.33,
          "left_y": 0.02,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01LY9C1VJDA5cgVJStvRo5tx",
      "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, 1.0534, 0.4911, -0.0578, 0.0528, 0.0196, 0.9996, -0.0151, 0.7986, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3285 left_y=0.0253 left_z=0.1185 left_yaw=0.0241 left_pitch=-0.0575 left_roll=-0.0022 left_gripper=0.9996 right_x=0.2951 right_y=0.0013 right_z=0.1799 right_yaw=0.0003 right_pitch=-0.0145 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -2.5368, 5.8872, 1.9853, 0.1392, 0.0952, -0.0122, -0.0889, -1.1419, 7.1726, 1.7705, -0.0415, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d386d0ab8ff4cd127f5633feae44dc1e0d50bcce27ab2b5a0323e7f53aa020d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:151ab08c853e079ddcf7c2282ee7b28900c007c62df07367330b8739f382859c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a5b814a775a208947776df77d9b8b7a0089e301ee3860f0c7e064ee6f758845d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 2.579 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, -0.3801, -0.0219, -0.0296, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0158, 0.9997]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1847 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.6085, -1.6479, 9.4291, 1.7656, -0.0366, 0.1441, -0.0562, -0.7726, -1.3607, 9.8256, 1.7411, -0.1245, -0.0317, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2436, 1.0195, 0.5587, -0.1516, -0.1967, -0.1513, 0.9996, -0.0154, 0.7986, 0.6086, -0.3782, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3266 left_y=-0.0419 left_z=0.142 left_yaw=-0.0119 left_pitch=-0.0374 left_roll=0.0005 left_gripper=0.9996 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=-0.0001 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -3.4803, 6.7214, 1.8974, -0.1099, -0.0464, -0.0562, -0.3761, -1.3607, 7.241, 1.7656, -0.0171, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0944, 1.0534, 0.4911, -0.0578, 0.0528, 0.0196, 0.9996, -0.0151, 0.7986, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3285 left_y=0.0253 left_z=0.1185 left_yaw=0.0241 left_pitch=-0.0575 left_roll=-0.0022 left_gripper=0.9996 right_x=0.2951 right_y=0.0013 right_z=0.1799 right_yaw=0.0003 right_pitch=-0.0145 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -2.5368, 5.8872, 1.9853, 0.1392, 0.0952, -0.0122, -0.0889, -1.1419, 7.1726, 1.7705, -0.0415, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d386d0ab8ff4cd127f5633feae44dc1e0d50bcce27ab2b5a0323e7f53aa020d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:151ab08c853e079ddcf7c2282ee7b28900c007c62df07367330b8739f382859c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5b814a775a208947776df77d9b8b7a0089e301ee3860f0c7e064ee6f758845d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6ggKjgEIEhgCKkA9FIaFjUl71pC95ActnDRVIlJt4qCO/hhfr8OQgJsey2Koil+HGhgi/ivqZLY0/cc9Lz6n2P1xSgIVW4R4jZw7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcT+zNUGEgz3r1FxPxP4/verhrIaDB+r7l9olVbygwTRlyIwxT/LWPjat++WSXD0nMO2yTqJ0tH785sPC6ValYWnGf+HL86ZHYgRe66741WR6qITKogHOyJDZ1SjaB6lQHbbcRPXS8L4m/YlrM57FFWgmiLOvhoIKZd7CMLBP9RNDG2TKXeDVQ9Fb3WX32jTtlmWWxm2hTfXPPARAAguexTCKVhROU/0eR14yaHkyfnRBOPpCAcTmzcrajNGu1lesxq5tqSG+ImQIWYBXXQE60gc5LZiEgI6hjfy5gq7HsG9o/EzMBZFD4zxd/xfPJNj1+skcHdUVjtR/edUoeCE/lcRgfOoOdJWuvi9BjwErTbVj1Hh2OAwiUlSZ4PSNP9nn/ObabJtvabNgvCG7XVfoB7nR0/aIs5NfBa6Bv/7WIPiFNolon+rRvhXVSEzbtp+hCQyKdIc7coube1IwCF/035gP+w1loyc2yHfS65msNlnv9o2pTzNqQFkYaBfEA7D8pOx3WfzkrNolDnQkymyk55sglPsYE4A3oF2L9Hw5tyVyO1KFHvhd/FY/7xIWh0A8PfZY2DWsl9BFn9Rc4wPopam8m47Wu6NLxBVB9cd87od5nPYkSx6z7rjmWWj8HwJ1RqyOk2LvFAvB+xNG1FNLV0KWnt9Tl2WrU7Szqj7bffDJSGSmLy7eZOovsNjxt3D5SLe8TfSD4fXNvTbSYW9F/5pW8P0qr4aYfX32pHzKnn+IQdZX1G+lrWQomcr5rK5o/rzn1G16NDqPZgFT7rOezDXyIqd8x+VRZveQvQeV16/ixxHbqJQGlvCTdIisqs095IPCBMY3iBTpdQI+R0R2nrtjeYMuiLncuXZw7aX5V7fd0Wpsf8bkGyhQ5jXt2vG0tKpDUkwBTRQSKMUHbOZSSE2ORkz+PkhRXgRfiP0+uJcvYWUuRzPzyQTpaSA/qKbo3qJYF5J6q+IB5X4bw1KB8XrI4NLNxYA9gtZkq/tqckVrQHmx4HDY97vleKgsZvcZf66UyBL3xHtbiVAwx7kfogvmwChCQ+8Jw1LpigKy5hlzLGgReWhqVQNJPvrWqKDiG/zJA0kUN5KXXmu2idfy8bsFqHloiJ20Ota9VGFmhQCTmHizgokR8x+oheGoz0EGPOVihmHMB7a0ePZ/f6pCTs6eYjXkz9kgP6zlCzvdaRsI4EUrcJihaY+vG+qRx2OoDRA5ZP9uWfGrtdQ1peBOVwPkz27+L33VXTuY7yUdRIW4NAjup082zD2G9dYgqi2Gorym2bE4jBzSHjAQbsova/03MtXB66wEhtp/TBSYhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W4PCkEdN1DhjexffCRLtWp",
      "input": {
        "note": "The grey plush dog now fills the bottom-centre of the left wrist view, aligned with the jaw column. Descending onto its body to grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01W4PCkEdN1DhjexffCRLtWp",
      "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]: [0.0952, 1.372, 0.2672, 0.5922, 0.0257, 0.0414, 0.9996, -0.0151, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3452 left_y=0.032 left_z=0.0581 left_yaw=0.0362 left_pitch=0.0486 left_roll=0.0376 left_gripper=0.9996 right_x=0.2952 right_y=0.0013 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0191 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -2.2496, 3.5487, 1.1111, 0.2418, -0.2613, -0.0562, -0.3624, -1.1009, 7.0359, 1.7509, -0.0366, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6256bb5359190ee3c5e0e2ea75b7b18d617185c2f73d0423b200133f71d5b1c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f9e484bc754ce6d3808fce269f9e231a639571559aadefc83a7b6ad2e7b2675",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2fab6e70acae49cea79babbf9a2e9c42c75a0151d9a065bcd94075cf534a3750",
        "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 · 7.808 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2436, 1.0195, 0.5587, -0.1516, -0.1967, -0.1513, 0.9996, -0.0154, 0.7986, 0.6086, -0.3782, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3266 left_y=-0.0419 left_z=0.142 left_yaw=-0.0119 left_pitch=-0.0374 left_roll=0.0005 left_gripper=0.9996 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=-0.0001 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -3.4803, 6.7214, 1.8974, -0.1099, -0.0464, -0.0562, -0.3761, -1.3607, 7.241, 1.7656, -0.0171, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0944, 1.0534, 0.4911, -0.0578, 0.0528, 0.0196, 0.9996, -0.0151, 0.7986, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3285 left_y=0.0253 left_z=0.1185 left_yaw=0.0241 left_pitch=-0.0575 left_roll=-0.0022 left_gripper=0.9996 right_x=0.2951 right_y=0.0013 right_z=0.1799 right_yaw=0.0003 right_pitch=-0.0145 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -2.5368, 5.8872, 1.9853, 0.1392, 0.0952, -0.0122, -0.0889, -1.1419, 7.1726, 1.7705, -0.0415, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0952, 1.372, 0.2672, 0.5922, 0.0257, 0.0414, 0.9996, -0.0151, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3452 left_y=0.032 left_z=0.0581 left_yaw=0.0362 left_pitch=0.0486 left_roll=0.0376 left_gripper=0.9996 right_x=0.2952 right_y=0.0013 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0191 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -2.2496, 3.5487, 1.1111, 0.2418, -0.2613, -0.0562, -0.3624, -1.1009, 7.0359, 1.7509, -0.0366, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6256bb5359190ee3c5e0e2ea75b7b18d617185c2f73d0423b200133f71d5b1c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f9e484bc754ce6d3808fce269f9e231a639571559aadefc83a7b6ad2e7b2675",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fab6e70acae49cea79babbf9a2e9c42c75a0151d9a065bcd94075cf534a3750",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzQIKjgEIEhgCKkAYcZBjARGbc7ToqUEaCzIdpDbadKSadQBTcUN+KK9+38f0Sf4Fx3rDxrUTvZXnh87XpSUn2obp5jq2oW/WmP/JMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcr+zNUGEgyfL2MQP/gnstScjEsaDJFnNQGdEL6UCkXRHSIwaYwXGxrIFDdGzOLlwyFmSIN+zvjT5caiIh6vz3Vk0WYQDQMeTojczW6QcCFkv+rzKmz6vAby9Wlffeg8Zb9Fv196OP1x+3naEAaXcK5zT07+n8otLOrTGF9dHucKaZClmgnb5OwBhw29ZXm13z0t7FbtvkQfWFFeEsu3bqRJnidI1+p9WO/AXbS2iiZ2rpWFNUbcK6OxEzOl6hcWTf0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CtXaNRUgNHB6eAXCKuPh7V",
      "input": {
        "note": "Descent stopped at z=0.06, resting on the plush dog. Closing the jaws on its body.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CtXaNRUgNHB6eAXCKuPh7V",
      "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]: [0.0952, 1.356, 0.2798, 0.6147, 0.0082, 0.0414, 0.0116, -0.0151, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3521 left_y=0.0358 left_z=0.0731 left_yaw=0.0509 left_pitch=0.0992 left_roll=0.0484 left_gripper=0.0116 right_x=0.2952 right_y=0.0013 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0191 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -2.7829, 4.588, 1.5897, 0.1587, -0.0024, 0.9695, -0.2803, -1.2786, 7.1043, 1.7509, -0.0513, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5d2c8ce4e37668969efeaa3b0b0089ef62ac254daec8b83fcb36aeef8a52171",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d51d046695dc48f82bb3932be6c87580ab36913f4adf87df231e34f1f301295b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:95114384989b104e0b872af6999ac07891ee459ff7672fb4f8d8885f152219ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 6.946 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0944, 1.0534, 0.4911, -0.0578, 0.0528, 0.0196, 0.9996, -0.0151, 0.7986, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3285 left_y=0.0253 left_z=0.1185 left_yaw=0.0241 left_pitch=-0.0575 left_roll=-0.0022 left_gripper=0.9996 right_x=0.2951 right_y=0.0013 right_z=0.1799 right_yaw=0.0003 right_pitch=-0.0145 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -2.5368, 5.8872, 1.9853, 0.1392, 0.0952, -0.0122, -0.0889, -1.1419, 7.1726, 1.7705, -0.0415, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0952, 1.372, 0.2672, 0.5922, 0.0257, 0.0414, 0.9996, -0.0151, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3452 left_y=0.032 left_z=0.0581 left_yaw=0.0362 left_pitch=0.0486 left_roll=0.0376 left_gripper=0.9996 right_x=0.2952 right_y=0.0013 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0191 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -2.2496, 3.5487, 1.1111, 0.2418, -0.2613, -0.0562, -0.3624, -1.1009, 7.0359, 1.7509, -0.0366, -0.0464, -0.0171]",
      "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]: [0.0952, 1.356, 0.2798, 0.6147, 0.0082, 0.0414, 0.0116, -0.0151, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3521 left_y=0.0358 left_z=0.0731 left_yaw=0.0509 left_pitch=0.0992 left_roll=0.0484 left_gripper=0.0116 right_x=0.2952 right_y=0.0013 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0191 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -2.7829, 4.588, 1.5897, 0.1587, -0.0024, 0.9695, -0.2803, -1.2786, 7.1043, 1.7509, -0.0513, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5d2c8ce4e37668969efeaa3b0b0089ef62ac254daec8b83fcb36aeef8a52171",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d51d046695dc48f82bb3932be6c87580ab36913f4adf87df231e34f1f301295b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95114384989b104e0b872af6999ac07891ee459ff7672fb4f8d8885f152219ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1AcKjgEIEhgCKkDntOYa9vP3bhZs8cinTSMF0Jw3eIX5i9GhaBxFsRo+1sceyCL1SHpN5awLIGa3fgBKkA4ySfYkMce/C8ErhrbzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdL+zNUGEgy6HrbblTFIpacqeTAaDG6aLOIGNqEjADlZWSIwQD/rWSxJIefNRd06umrwYB9niA5fWvFIcZMgNU3t8F6R0JWZNTMIxuOELiim35r4KvIFGqlSrhk8CAAJqd1lgF4/xMb7icBcq4X9RF7jXgkIesPZpy9PGQOVqLlNmJPnh0LnCtOrogYhth6vqO7NyMJaRBwazMVtdMPVavBKFqBHtjPX2RH+UgOXA4J1D9VRF64kby2x7lIuW4EoH9+oWP4m6GaEsngs/rj8g4ZQxgLm+pgJN6r4/IXqdPv16WePL0JeY21jGnAjnSPpxvquxC98j5fDimkBqHwQMUBiQ7S2nHM2gFS6cRqXLTqn1BmKBjCwY8mSzgFuP6nzPyJDEWdcm49HQ23QXJ0YbAoOTGQIMXGmRVs2ZzqTY994igPYdY9wW5MomiV5nIl6DNxlkMZkL6y3TUpK7hCsGtw6UVla9GgRVtzyOf6A0QUxTtXJ7pVECDlYeIyBOc+hnbC8uCQfVjzn79NfhT1XerPzET1Q7kL3G3cI+JQI5W4utCgOPoxHQVq5ga1QoZEeAQyeu7nUdM5srTGUVMi/grPDLlY+2ONkg3ffLMhIh1CxyRJfLlLt3jxmVDenhOADGQ7qAwrBDWtbJ1wKcx8Bw9P6hMnbsGJcK2f7Rosn+8vvxFUPjtvA03bPjh+c3sTWsrj+p5Rhj0PkgnrzWVS0CqUCD8pejD9nnB/Os6YOofAhSnMzb2brLPGQmiyE4nUKKI/Ro78VZwu0U437jq6/ac3D1UY6qXZZze7L3AcZettwfd14Kqp4efaINC81wBwphxbGqNBeL1eT+/47deBZREbxAoWf5k1KOxG6WA6KmXiwDFtbWiJ/anJTZ8zdr5JZlIx9fmys9oSzW1JRbk4BIF+G1Mc8Dm1dJRxcJ6PiCKybuNmkkYDRM8T7NaHppIJ43JNcHUcNABm08QTf3zb42d3isPtSxKoOkVrVwsFoHImO6o+ZDEc9qWLqwxbwRGukScmwLreye7nDma2k7Tgv7mSgfRaT73F4hJB0MsQ9QpGhOpH1psQihiUlJhVRPN4UktpqKUHCHKurcIVS28liQ7aDFxFOw+UMtBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TmVhE9Q2srA57Q24dkprwz",
      "input": {
        "note": "The close came back empty (0.01), so the jaws missed the plush. Shifting slightly toward the fence and forward to sit over the dog's thicker neck/head area, gripper reopened.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.37,
          "left_y": 0.05,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TmVhE9Q2srA57Q24dkprwz",
      "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]: [0.1474, 1.5047, 0.3153, 0.7555, 0.0429, 0.0669, 0.9953, -0.0151, 0.8032, 0.6086, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3699 left_y=0.0509 left_z=0.0669 left_yaw=0.0597 left_pitch=0.1267 left_roll=0.0583 left_gripper=0.9953 right_x=0.2953 right_y=0.0013 right_z=0.1785 right_yaw=0.0003 right_pitch=-0.0198 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.6085, -3.7402, 6.065, 1.6288, 0.1099, -0.0464, -0.0464, -0.3487, -1.3744, 7.0496, 1.746, -0.0708, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95c3559bc000bd0961731326d6f30bb5498b65ba88c1e4bca8eb823af31c6bf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80d6616b0b5eb9bfed861de2e61e8fa15ad7ae75ff8854215e66cf523f49f168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c6e5de37b3dca484ab77e1e4c4071f53b341d3784b9edb9be08803a2977274eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 2.145 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]: [0.0952, 1.372, 0.2672, 0.5922, 0.0257, 0.0414, 0.9996, -0.0151, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3452 left_y=0.032 left_z=0.0581 left_yaw=0.0362 left_pitch=0.0486 left_roll=0.0376 left_gripper=0.9996 right_x=0.2952 right_y=0.0013 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0191 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -2.2496, 3.5487, 1.1111, 0.2418, -0.2613, -0.0562, -0.3624, -1.1009, 7.0359, 1.7509, -0.0366, -0.0464, -0.0171]",
      "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]: [0.0952, 1.356, 0.2798, 0.6147, 0.0082, 0.0414, 0.0116, -0.0151, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3521 left_y=0.0358 left_z=0.0731 left_yaw=0.0509 left_pitch=0.0992 left_roll=0.0484 left_gripper=0.0116 right_x=0.2952 right_y=0.0013 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0191 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -2.7829, 4.588, 1.5897, 0.1587, -0.0024, 0.9695, -0.2803, -1.2786, 7.1043, 1.7509, -0.0513, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [0.1474, 1.5047, 0.3153, 0.7555, 0.0429, 0.0669, 0.9953, -0.0151, 0.8032, 0.6086, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3699 left_y=0.0509 left_z=0.0669 left_yaw=0.0597 left_pitch=0.1267 left_roll=0.0583 left_gripper=0.9953 right_x=0.2953 right_y=0.0013 right_z=0.1785 right_yaw=0.0003 right_pitch=-0.0198 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.6085, -3.7402, 6.065, 1.6288, 0.1099, -0.0464, -0.0464, -0.3487, -1.3744, 7.0496, 1.746, -0.0708, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95c3559bc000bd0961731326d6f30bb5498b65ba88c1e4bca8eb823af31c6bf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80d6616b0b5eb9bfed861de2e61e8fa15ad7ae75ff8854215e66cf523f49f168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6e5de37b3dca484ab77e1e4c4071f53b341d3784b9edb9be08803a2977274eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAUKjgEIEhgCKkCj+bc/OsIAnvckcBqdKdaauReAYwgmDUAu+1aNZelKQb/k4mw+bkNUjnnMr9vry6tq5FZ7zkvs4nb+HQFebirCMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdv+zNUGEgxuRnKyQclQDDM38dQaDKJOTyXFVwdK6MbLPSIwlHV2QL1OXq1u5aODFkZxeWjr5L2QmeoPeO1I4HYSA/CM1iCzmDC57tJdYPt1oAR0KtIDxXhAlBL4b8XOwHfJE/Mx8ID1u6BErC8j9GTC8cm5hzc9U5zDMgekJZlLCui/Bqj/LVnY5vl+VHhgcDH9Iwja6Qo2mYqsURr6KWSBYmxajg5YnHg4oF54e1JWb4Z1dDupwGDWn9x51cCkA9WDd0msfj6Pd/4Hg87z32IKhkEDVbKzZPansfnbIuNlqLuv6deY7XZ16QmpQUHc2F/rwA6IOFR3S2waDG1u9c2lVNf+evbFe6yDtgq9i5x4Nlt2IsfAv9GHse0U8PPH1emsg6410Hd9U14/Jl53DLMmXMUu0DQRk827huPK38DSfPoCNsmbT84KxPgfaoCTj0DuY8MU9tuNZDeLP3deAVTJOIUzkPTSLPCjlGY2IQ7WW35Brpw5DiVx+C94Tgp1k5yftVmudQaOYrsVJEmu47s1HxJPfyi8ykgtZASQC7zJQw1GPTywoH3SnYQTEV5VLPFSQ5eum4eibiTzSxAJzNcOUtyD5ZRKWXxOAVPSHSxMUFmDgLC3iVgiA4/GMn0zk7v1CeFf/UY4e6eF0OOEveWggenR2VJYuVshmFMNKaLXI0SHV90bVAv2ONznhG4Ee859iKJXj/5PC3XAmWk5bFBrcY3MqzFxZhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EJJRdzBGxZqYcoJFGxXWLH",
      "input": {
        "note": "The dog's head is now on the jaw column but slightly beyond the fingertips; advancing 2 cm and descending to grasp its neck/head.",
        "targets": {
          "left_x": 0.39,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01EJJRdzBGxZqYcoJFGxXWLH",
      "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]: [0.1333, 1.7748, 0.3573, 1.0798, 0.0143, 0.075, 0.9967, -0.0151, 0.8082, 0.6083, -0.3855, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3995 left_y=0.0546 left_z=0.056 left_yaw=0.0646 left_pitch=0.2214 left_roll=0.0844 left_gripper=0.9967 right_x=0.2955 right_y=0.0013 right_z=0.1769 right_yaw=0.0003 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -4.5744, 3.6581, 1.2332, 0.0611, -0.2222, 0.1392, -0.3624, -1.1419, 7.0359, 1.7705, -0.0171, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79f483841f9326ea61e9d8e07eabf318e0d389c5610a141715e5303221a119cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a672464d1b411bc3bfaf4e2b0ba2eb58630ccb6ff14a1462622ea610b7579ecc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:76c54aba7cad8845a4ceaa06d9b609b7e0aff8b332f97492b8e2840556febdef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 13.28 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]: [0.0952, 1.356, 0.2798, 0.6147, 0.0082, 0.0414, 0.0116, -0.0151, 0.8024, 0.6086, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3521 left_y=0.0358 left_z=0.0731 left_yaw=0.0509 left_pitch=0.0992 left_roll=0.0484 left_gripper=0.0116 right_x=0.2952 right_y=0.0013 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0191 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -2.7829, 4.588, 1.5897, 0.1587, -0.0024, 0.9695, -0.2803, -1.2786, 7.1043, 1.7509, -0.0513, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [0.1474, 1.5047, 0.3153, 0.7555, 0.0429, 0.0669, 0.9953, -0.0151, 0.8032, 0.6086, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3699 left_y=0.0509 left_z=0.0669 left_yaw=0.0597 left_pitch=0.1267 left_roll=0.0583 left_gripper=0.9953 right_x=0.2953 right_y=0.0013 right_z=0.1785 right_yaw=0.0003 right_pitch=-0.0198 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.6085, -3.7402, 6.065, 1.6288, 0.1099, -0.0464, -0.0464, -0.3487, -1.3744, 7.0496, 1.746, -0.0708, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [0.1333, 1.7748, 0.3573, 1.0798, 0.0143, 0.075, 0.9967, -0.0151, 0.8082, 0.6083, -0.3855, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3995 left_y=0.0546 left_z=0.056 left_yaw=0.0646 left_pitch=0.2214 left_roll=0.0844 left_gripper=0.9967 right_x=0.2955 right_y=0.0013 right_z=0.1769 right_yaw=0.0003 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -4.5744, 3.6581, 1.2332, 0.0611, -0.2222, 0.1392, -0.3624, -1.1419, 7.0359, 1.7705, -0.0171, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79f483841f9326ea61e9d8e07eabf318e0d389c5610a141715e5303221a119cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a672464d1b411bc3bfaf4e2b0ba2eb58630ccb6ff14a1462622ea610b7579ecc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76c54aba7cad8845a4ceaa06d9b609b7e0aff8b332f97492b8e2840556febdef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrgIKjgEIEhgCKkA+mLAC2gtilAIUVtnh61LsSibWQy98EiyHxMcBd4YcndUtZPBVR8EsKKy5zmpJs3nf5R1eVG+rOQqflrQkEaoDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd/+zNUGEgw7I61FE7Mhta0vfxsaDFj9Fvc4qUs/4qnmJSIwv/Ry8S/8AjBDYUOb+cuYbsWzT6Xy0keKuinRZoe9hltE4sZQKTeHeVse4IDq5UbnKk0ZWAyPugfG+TIeLslcNIy2edsxav7eZhB9xYHJQe5NXT5BMjH7KN5p1zhQ1t7vjvc67Ya9T+W5blk1fyx+84wOmTwovQeEGAJY8i4p3BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Be4zh3AoNuGA6wVPCTTprZ",
      "input": {
        "note": "Jaws are now straddling the dog's head/neck; closing to grasp.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Be4zh3AoNuGA6wVPCTTprZ",
      "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]: [0.1154, 1.7599, 0.3592, 1.1126, -0.0227, 0.0704, 0.2225, -0.0151, 0.8082, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4034 left_y=0.0544 left_z=0.0701 left_yaw=0.0809 left_pitch=0.2705 left_roll=0.0943 left_gripper=0.2225 right_x=0.2955 right_y=0.0013 right_z=0.1769 right_yaw=0.0003 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.3128, 4.0274, 1.5751, 0.1001, -0.0904, 1.0281, -0.2393, -0.9778, 7.0085, 1.7265, -0.0757, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:481dab5a44549f98842f1b141e1d3fdbf1494fc5e78ac54a929b73317cdc3ef3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d38fad29f29d2af632128a9f3d264045d4767dc97d1519d172fad9728ceda05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77ad6cb66c2f11317f32c7505db093d2b67421a3962b1cc9972145eb73e406fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 5.748 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]: [0.1474, 1.5047, 0.3153, 0.7555, 0.0429, 0.0669, 0.9953, -0.0151, 0.8032, 0.6086, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3699 left_y=0.0509 left_z=0.0669 left_yaw=0.0597 left_pitch=0.1267 left_roll=0.0583 left_gripper=0.9953 right_x=0.2953 right_y=0.0013 right_z=0.1785 right_yaw=0.0003 right_pitch=-0.0198 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.6085, -3.7402, 6.065, 1.6288, 0.1099, -0.0464, -0.0464, -0.3487, -1.3744, 7.0496, 1.746, -0.0708, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [0.1333, 1.7748, 0.3573, 1.0798, 0.0143, 0.075, 0.9967, -0.0151, 0.8082, 0.6083, -0.3855, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3995 left_y=0.0546 left_z=0.056 left_yaw=0.0646 left_pitch=0.2214 left_roll=0.0844 left_gripper=0.9967 right_x=0.2955 right_y=0.0013 right_z=0.1769 right_yaw=0.0003 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -4.5744, 3.6581, 1.2332, 0.0611, -0.2222, 0.1392, -0.3624, -1.1419, 7.0359, 1.7705, -0.0171, -0.0708, -0.0073]",
      "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]: [0.1154, 1.7599, 0.3592, 1.1126, -0.0227, 0.0704, 0.2225, -0.0151, 0.8082, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4034 left_y=0.0544 left_z=0.0701 left_yaw=0.0809 left_pitch=0.2705 left_roll=0.0943 left_gripper=0.2225 right_x=0.2955 right_y=0.0013 right_z=0.1769 right_yaw=0.0003 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.3128, 4.0274, 1.5751, 0.1001, -0.0904, 1.0281, -0.2393, -0.9778, 7.0085, 1.7265, -0.0757, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:481dab5a44549f98842f1b141e1d3fdbf1494fc5e78ac54a929b73317cdc3ef3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d38fad29f29d2af632128a9f3d264045d4767dc97d1519d172fad9728ceda05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77ad6cb66c2f11317f32c7505db093d2b67421a3962b1cc9972145eb73e406fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0118GAVMDepzRcYSCdJRg3FJ",
      "input": {
        "note": "Gripper settled at 0.22 — it has a grip on the grey dog plush. Lifting to confirm the toy comes with it.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_0118GAVMDepzRcYSCdJRg3FJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0986, 1.2087, 0.7593, 0.0669, -0.0456, 0.0521, 0.223, -0.0151, 0.8097, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3991 left_y=0.0512 left_z=0.2147 left_yaw=0.0944 left_pitch=0.1772 left_roll=0.0824 left_gripper=0.223 right_x=0.2956 right_y=0.0013 right_z=0.1765 right_yaw=0.0003 right_pitch=-0.0267 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -6.5846, 10.3316, 2.1123, -0.022, 0.0806, 1.0281, -0.3487, -1.4974, 7.0085, 1.746, -0.0415, -0.0806, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed1cc188176c822b44fafa7560c599988adb7e2099596d84c04047a2f5d75958",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b99a0fe473acfce7741682dd7314abe140f286f04025eabc4efce2e9e0d74bc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc30d61c76550277e51f200cf872b00a150659e87aea6580ec41198927bb0c67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 3.749 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]: [0.1333, 1.7748, 0.3573, 1.0798, 0.0143, 0.075, 0.9967, -0.0151, 0.8082, 0.6083, -0.3855, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3995 left_y=0.0546 left_z=0.056 left_yaw=0.0646 left_pitch=0.2214 left_roll=0.0844 left_gripper=0.9967 right_x=0.2955 right_y=0.0013 right_z=0.1769 right_yaw=0.0003 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -4.5744, 3.6581, 1.2332, 0.0611, -0.2222, 0.1392, -0.3624, -1.1419, 7.0359, 1.7705, -0.0171, -0.0708, -0.0073]",
      "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]: [0.1154, 1.7599, 0.3592, 1.1126, -0.0227, 0.0704, 0.2225, -0.0151, 0.8082, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4034 left_y=0.0544 left_z=0.0701 left_yaw=0.0809 left_pitch=0.2705 left_roll=0.0943 left_gripper=0.2225 right_x=0.2955 right_y=0.0013 right_z=0.1769 right_yaw=0.0003 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.3128, 4.0274, 1.5751, 0.1001, -0.0904, 1.0281, -0.2393, -0.9778, 7.0085, 1.7265, -0.0757, -0.0611, -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 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]: [0.0986, 1.2087, 0.7593, 0.0669, -0.0456, 0.0521, 0.223, -0.0151, 0.8097, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3991 left_y=0.0512 left_z=0.2147 left_yaw=0.0944 left_pitch=0.1772 left_roll=0.0824 left_gripper=0.223 right_x=0.2956 right_y=0.0013 right_z=0.1765 right_yaw=0.0003 right_pitch=-0.0267 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -6.5846, 10.3316, 2.1123, -0.022, 0.0806, 1.0281, -0.3487, -1.4974, 7.0085, 1.746, -0.0415, -0.0806, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed1cc188176c822b44fafa7560c599988adb7e2099596d84c04047a2f5d75958",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b99a0fe473acfce7741682dd7314abe140f286f04025eabc4efce2e9e0d74bc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc30d61c76550277e51f200cf872b00a150659e87aea6580ec41198927bb0c67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgwYKjgEIEhgCKkCjjzOEfR2wlNyod/cdP0bjvioEmbgGIz9jIS69mFCZjn+MiBEssCd++glsaHZ0odZo2Ny+LbZlLelUVwTFgCHVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf3+zNUGEgyZkjxLjPxFkC6po5UaDKRTlvgRLeDe3W22wCIwmsOiJGGQ0i7ezCUbYCn5mKVwoGAX0YvWaCoxbIaoc/5Em/FlQ3aW7K1PRzlWpSStKqEEURlO6uzVZ2fihmEZOA6aIYZyZMVU+zdyhhlU6yilCPVVwfahSv3P0oOXqm81gl0RYUEpSr2YSmbbN9ctl9v6cN/e3wTyr1oaqWOEIIYQzM5KP5xiUqpyoL07ZIej3N7Xne72QJPsEa0r3ZmH5jD9OWdNBa068JWXW6yby73Fp9FZqIRtncXtt/TDZCr5t9D9REwXaPqHaaUyJwWb/ioNHC7t78wUpVIUTQi7c4uj0HClxzx0mKVmsBRn5vjBeDTeEhRA1vF1Gk0xcRY5Evu9bQjcjTcl+5dDvqQLE+WM9nZ6HA2zcTexISDDLYKLMsC9DYn5ClBMS6uPJE+57KrcM25rWYwI/j1sDgW4EBAW26ry19gQIfeFxgrWQeJ/P3KquEa+bwI1UDnbaTKmmjZzKicuAgjk2ubtWhLTULjbddIZhU0+DtEkSHVTK8IVuZqdaiz2d+fJg01/7MMuvY11+tI5qJoHrqApt/jgfAAd50/vY7r7UJKpRZfaXD7hcz26XeG1kinoL0MFSRTKQodj8hWqfKck8iqe9VWLMrIc+WlHZXqX3HIJffCXbEPjpAPsxlBlKbLAhMk6wadXeWLeVEAGg40rZmnem8AjoWZZK4SIbtgySsDkBamrFgB9ld0baD/DPmHY4aCMdzxsm7pLHAySqdXfxWp41XwpKMp0y5EV57Fnlz2WFhxlLPeJxuG/WJbndNFBAA5mJz1wQ9s4B9UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0171qHMvXAHRRPhRmW3Wr2Dw",
      "input": {
        "note": "The grey dog is lifted and hanging from the jaws. Moving over the left basket (visible to the right in the wrist view) to drop it in.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.09,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_0171qHMvXAHRRPhRmW3Wr2Dw",
      "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]: [-0.3874, 1.4384, 1.0386, -0.107, -0.4736, -0.1589, 0.223, -0.0151, 0.8101, 0.6083, -0.3855, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4328 left_y=-0.0857 left_z=0.2235 left_yaw=0.08 left_pitch=0.1116 left_roll=0.0959 left_gripper=0.223 right_x=0.2956 right_y=0.0013 right_z=0.1764 right_yaw=0.0003 right_pitch=-0.0275 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -6.694, 10.3316, 1.917, -0.2955, 0.1538, 1.0281, -0.1026, -1.347, 7.0085, 1.7118, -0.0269, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff8b46ef212b15ceffb98279b37fe20d877bbe7c67cea6a825011f0b43d71386",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17b7dd9457c0a3958f362f7cb6e27a586e22e8134fb8771fb2d6da1ea8e57af3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec49f36c8dc4b88c717aeb2c3baa6a06578127c7994dbf9021a73ec05fc48e03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 2.475 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]: [0.1154, 1.7599, 0.3592, 1.1126, -0.0227, 0.0704, 0.2225, -0.0151, 0.8082, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4034 left_y=0.0544 left_z=0.0701 left_yaw=0.0809 left_pitch=0.2705 left_roll=0.0943 left_gripper=0.2225 right_x=0.2955 right_y=0.0013 right_z=0.1769 right_yaw=0.0003 right_pitch=-0.0256 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.3128, 4.0274, 1.5751, 0.1001, -0.0904, 1.0281, -0.2393, -0.9778, 7.0085, 1.7265, -0.0757, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0986, 1.2087, 0.7593, 0.0669, -0.0456, 0.0521, 0.223, -0.0151, 0.8097, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3991 left_y=0.0512 left_z=0.2147 left_yaw=0.0944 left_pitch=0.1772 left_roll=0.0824 left_gripper=0.223 right_x=0.2956 right_y=0.0013 right_z=0.1765 right_yaw=0.0003 right_pitch=-0.0267 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -6.5846, 10.3316, 2.1123, -0.022, 0.0806, 1.0281, -0.3487, -1.4974, 7.0085, 1.746, -0.0415, -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 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]: [-0.3874, 1.4384, 1.0386, -0.107, -0.4736, -0.1589, 0.223, -0.0151, 0.8101, 0.6083, -0.3855, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4328 left_y=-0.0857 left_z=0.2235 left_yaw=0.08 left_pitch=0.1116 left_roll=0.0959 left_gripper=0.223 right_x=0.2956 right_y=0.0013 right_z=0.1764 right_yaw=0.0003 right_pitch=-0.0275 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -6.694, 10.3316, 1.917, -0.2955, 0.1538, 1.0281, -0.1026, -1.347, 7.0085, 1.7118, -0.0269, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff8b46ef212b15ceffb98279b37fe20d877bbe7c67cea6a825011f0b43d71386",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17b7dd9457c0a3958f362f7cb6e27a586e22e8134fb8771fb2d6da1ea8e57af3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec49f36c8dc4b88c717aeb2c3baa6a06578127c7994dbf9021a73ec05fc48e03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiQQKjgEIEhgCKkDyJLLJ8QieEha2Y57xbvjtd5uRFFyaJgSj+nxHKrelyEwB3+AoZlVosDGAAMdGcfgCQNLt7hR+YfNLW2p4yw/ZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYj/zNUGEgygzVChC8Zqpoq2E7kaDNeqGYdykRTqD3L32SIwtXCVEPi8F0c7HOswcnAeujOwMBKuUtwI00ZlVBebn45PgQrzud13ye2yeie8Kv1iKqcCxgG/inSxV8/MVq+dbDRQdt7GOU7xYmRancTdiwYLOM8Ul3R5knYRUtqSZkcLB4etMQt4BoqGBQQFfpoftrPWCMclwDtrmmHE10UBIko+i4k7IINaObnWt5GoILs8rXg+NoxUPyDr7gbDXKHhoCryJn7+dKkuUz5NSiutg8FJOeyfnTPCyKZZqzCIZRrPjlP+Wl+YiyDKL1FQIDfO1HazuncRUNg2Po+9vhajWkisg0Hq4a4zOPJtjBZQSgiHkVAgM7f6tQlVk/ASMCfpchgtwQpGVH+uNVaPKDvW/OcxNdeCd73VUIEAmL6bDRPYq3j/UzU/5IjGEwzVLCqr4/4xaYdfgy/3NUesuyvI+KFQ0CZ/NcmieCz2QB8UxCqAawd7QB2qQZN8TRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C7WnetGwGVxKTsgcEdBW89",
      "input": {
        "note": "The dog is over the near rim of the left basket; nudging further right/forward so it hangs over the basket's interior before releasing.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01C7WnetGwGVxKTsgcEdBW89",
      "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]: [-0.4561, 1.5558, 1.0927, -0.1505, -0.5224, -0.2111, 0.223, -0.0151, 0.8108, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4396 left_y=-0.1135 left_z=0.1919 left_yaw=0.0751 left_pitch=0.0336 left_roll=0.1237 left_gripper=0.223 right_x=0.2957 right_y=0.0013 right_z=0.1761 right_yaw=0.0003 right_pitch=-0.0282 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -8.5402, 11.3846, 1.8926, -0.3443, 0.2125, 1.0281, -0.0889, -1.3607, 7.0496, 1.7509, -0.0562, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9f9d6146d484f358665d07a7392fa15dd3098261a2b5162d26958e23e3a48db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:438cde0b3c467158f6d475f7ebd92ef1553a84b161d2db764f4545bc0d063654",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3b584616d09ad8f645e16223e7330a5e94da868bcbb52e1928d08e30c404c23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 5.95 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]: [0.0986, 1.2087, 0.7593, 0.0669, -0.0456, 0.0521, 0.223, -0.0151, 0.8097, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3991 left_y=0.0512 left_z=0.2147 left_yaw=0.0944 left_pitch=0.1772 left_roll=0.0824 left_gripper=0.223 right_x=0.2956 right_y=0.0013 right_z=0.1765 right_yaw=0.0003 right_pitch=-0.0267 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -6.5846, 10.3316, 2.1123, -0.022, 0.0806, 1.0281, -0.3487, -1.4974, 7.0085, 1.746, -0.0415, -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 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]: [-0.3874, 1.4384, 1.0386, -0.107, -0.4736, -0.1589, 0.223, -0.0151, 0.8101, 0.6083, -0.3855, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4328 left_y=-0.0857 left_z=0.2235 left_yaw=0.08 left_pitch=0.1116 left_roll=0.0959 left_gripper=0.223 right_x=0.2956 right_y=0.0013 right_z=0.1764 right_yaw=0.0003 right_pitch=-0.0275 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -6.694, 10.3316, 1.917, -0.2955, 0.1538, 1.0281, -0.1026, -1.347, 7.0085, 1.7118, -0.0269, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4561, 1.5558, 1.0927, -0.1505, -0.5224, -0.2111, 0.223, -0.0151, 0.8108, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4396 left_y=-0.1135 left_z=0.1919 left_yaw=0.0751 left_pitch=0.0336 left_roll=0.1237 left_gripper=0.223 right_x=0.2957 right_y=0.0013 right_z=0.1761 right_yaw=0.0003 right_pitch=-0.0282 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -8.5402, 11.3846, 1.8926, -0.3443, 0.2125, 1.0281, -0.0889, -1.3607, 7.0496, 1.7509, -0.0562, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9f9d6146d484f358665d07a7392fa15dd3098261a2b5162d26958e23e3a48db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:438cde0b3c467158f6d475f7ebd92ef1553a84b161d2db764f4545bc0d063654",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3b584616d09ad8f645e16223e7330a5e94da868bcbb52e1928d08e30c404c23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISggMKjgEIEhgCKkDe3lN5r+AeW00fMqcljfO9tBD9ia6/xBE/uOo9P6v+LG3ivt2f0h0E+KojezlKKEcfPVCydqHPLthNMHQwvtv3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYv/zNUGEgw69J9aGvmRMpkdYKcaDC3EyIvS5ThBOgvjIiIwtHH2ZoLgjkHsgRTdbVRA2BDaDstLYzhlW0TVUE//3FdKvPguIu7+fGjjXcyDx5udKqABL7My+ivbrEpZwEWGqd7Ke/Tq7qtC/uxsfkg3pJaHNM69eIujv6NxlTo7ZAVnKFyCQYPqSsIgOIh7YUEf4Izz+8+c/hdfar5ZiN8C7SQ0Bp7b6jPmCaxjjA2x6AutakXXm75Q5m1Rb/0N5H2G2Y4bZYCf//e8kjYnRLc/nrueHB8oVk0/mp2o/2eYheRIdyxr3azPDU6M82ZUPyi2fPS+2RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XujLinqT37NS4toEVjiUoi",
      "input": {
        "note": "The grey dog is hanging inside the left basket; opening the jaws to drop it in.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01XujLinqT37NS4toEVjiUoi",
      "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]: [-0.4614, 1.5681, 1.1057, -0.1528, -0.543, -0.2253, 0.9953, -0.0151, 0.812, 0.6079, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4418 left_y=-0.1137 left_z=0.1929 left_yaw=0.0937 left_pitch=0.0394 left_roll=0.1225 left_gripper=0.9953 right_x=0.2957 right_y=0.0012 right_z=0.1757 right_yaw=-0.0001 right_pitch=-0.0294 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -8.6496, 10.5504, 1.917, -0.2271, 0.1685, -0.0855, -0.2667, -1.4154, 7.0496, 1.707, -0.0317, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3433661f9fcfb489bba4f29f6b70a29308b771f465186f5b2614cd218c3d972",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17b3d75c6c8d358e2b4706fc830b1cb73225c8869410b1cd9b55546f9997acd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c11e90e7c32466782bc5a9439a8929e1d7f13fc3931ec2d9f782260dabd9138b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 33.21 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]: [-0.3874, 1.4384, 1.0386, -0.107, -0.4736, -0.1589, 0.223, -0.0151, 0.8101, 0.6083, -0.3855, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4328 left_y=-0.0857 left_z=0.2235 left_yaw=0.08 left_pitch=0.1116 left_roll=0.0959 left_gripper=0.223 right_x=0.2956 right_y=0.0013 right_z=0.1764 right_yaw=0.0003 right_pitch=-0.0275 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -6.694, 10.3316, 1.917, -0.2955, 0.1538, 1.0281, -0.1026, -1.347, 7.0085, 1.7118, -0.0269, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4561, 1.5558, 1.0927, -0.1505, -0.5224, -0.2111, 0.223, -0.0151, 0.8108, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4396 left_y=-0.1135 left_z=0.1919 left_yaw=0.0751 left_pitch=0.0336 left_roll=0.1237 left_gripper=0.223 right_x=0.2957 right_y=0.0013 right_z=0.1761 right_yaw=0.0003 right_pitch=-0.0282 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -8.5402, 11.3846, 1.8926, -0.3443, 0.2125, 1.0281, -0.0889, -1.3607, 7.0496, 1.7509, -0.0562, -0.0464, -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 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]: [-0.4614, 1.5681, 1.1057, -0.1528, -0.543, -0.2253, 0.9953, -0.0151, 0.812, 0.6079, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4418 left_y=-0.1137 left_z=0.1929 left_yaw=0.0937 left_pitch=0.0394 left_roll=0.1225 left_gripper=0.9953 right_x=0.2957 right_y=0.0012 right_z=0.1757 right_yaw=-0.0001 right_pitch=-0.0294 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -8.6496, 10.5504, 1.917, -0.2271, 0.1685, -0.0855, -0.2667, -1.4154, 7.0496, 1.707, -0.0317, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3433661f9fcfb489bba4f29f6b70a29308b771f465186f5b2614cd218c3d972",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17b3d75c6c8d358e2b4706fc830b1cb73225c8869410b1cd9b55546f9997acd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c11e90e7c32466782bc5a9439a8929e1d7f13fc3931ec2d9f782260dabd9138b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlAgKjgEIEhgCKkCT1Cmss87l0Pu3kECjG4wUnDDlXvKt1q9r2AvitgqxkNTQtl5if4z86wHreLEgla447uHRrR5x+T6thamKpYtgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZH/zNUGEgwls3smcFih22TCJrkaDN2HI42zjFm0Xq+N1CIwvC1N+V0TbsPkfTaFugj1phYSyk3wKNTQD28VicwRp5Qg+b7m7ytMA9lHJF1b3cueKrIG6HEaNYfRw2ZvEkDBYd79kYHtyguwr7oOKZPBsp3+/0G/R0qmfANXgYcVMkpkrPU0dx52GNvxRIeiXEoM0UmLU8B1kh5qigaqdvpvyMbTcQd1QxEpwAk/PdsDSoGq3VeuRaty8aMV1DkVzHDh+ZYNq9vy1TH39LOqpu51mGc8uAuMesxMsDwXpY0xRzn8/ImRe5loU+DhjCed4lIiwAQhj8LimOhCNXlxFvK0Hge9vUHBNyQbQkM5E7uGT+pR98vpdg85yViufmT+j6vQ113pN2/wyyq11YDEfyrY41WRdrXT3zbaaiRMqsaBoYynwWwnhCBHXEGmXz/2GUXu3Dony1ifm4n8BAlYq651H9of5vngkmyQ4Tf1nUWvx883mfJnQt/ZRYI30m8LZY2Um+ofFLgsJkJ3yuLhpJV0P9HuDdwpBWeXYSRaxQA4jdY1vPIXd/hx2G40bfOCQ0pWcATWhpoa4gwJmwYCbA0uO+6OBQlqSiblE2/Jo6tSlktJ7EVtPM5i+N2sUgJuuEO1omt2BVrVvNy/WW7QJHtad1hxkjySaYo/st9MZU7yOzTRnqmx3mWpZ8oBExmW+xSMHzyE5BUHV4pR6RPDcxxtSyZE38nJujVyQZykDJZk/e6z5l97YnTk0V4/acadtbaYl6PCJ/s8Gi7kZY7vKU0hFOpACEAYTCYzRecw1qPNyPa1FVOL+cYsH62b70gWMVH2QlISpchV3l4iiwQMF0ISd7N0fJ+/zK7Vb8ixFbk0ARpEK6McGvoSl8WZ6CpKdgPN9tfp1zoYQbeCC0AHRGBqVQI+8i3JUsyTaiVkswTtnXMW+Y1zJOJWD0orK1yvewEUMX1tMpe6dvxTZ9NKBRn1IZ1nSzAVIV3nXHYxnOyYAHNSgnabfUFodhQD2tBfRtdVB6wGfgceg9tlVYUSDLksulm6fFhIJG1tcApujeiFZeYzIMJrea1FIQEUM1qg0dH/MDfcZKEJedbrcEAOfGWJV2ymQeHJf17rGQP9txtijZrWH5zImULwkLi4RFKHZ+NcrBvbYnyo0hZ7SeLaLEL6z7jbjxsdaDi7GWUq9bDhav9FJOoPw0oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GybQ6PVTY19WiGPEGPdbQx",
      "input": {
        "note": "Released the dog at the basket but it may have landed on the near rim; retracting the left arm to get an unobstructed top view.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01GybQ6PVTY19WiGPEGPdbQx",
      "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]: [-0.4938, 0.9684, 0.9176, -0.5388, -0.5545, -0.2462, 0.9967, -0.0147, 0.8165, 0.6075, -0.392, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3111 left_y=-0.0578 left_z=0.2547 left_yaw=0.0822 left_pitch=0.0658 left_roll=0.0959 left_gripper=0.9967 right_x=0.295 right_y=0.0014 right_z=0.1729 right_yaw=0.0007 right_pitch=-0.0412 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.3043, 6.3521, 1.7558, -0.3639, -0.0611, 0.1392, -0.0889, -1.265, 7.2137, 1.7802, -0.0317, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8538e1fe71b976fc8fad7928d3cdef4a0f613ee345e812cb9ec3f1caab7d93ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89dffe346b21c55007ddb812dc60ae49a13e6d4e1f249c62a740708766af3e5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:817b0fb0508842f39b0e456df48ab1f16e8ad9e967ec998c832a8c1e8feeb737",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 25.56 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]: [-0.4561, 1.5558, 1.0927, -0.1505, -0.5224, -0.2111, 0.223, -0.0151, 0.8108, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4396 left_y=-0.1135 left_z=0.1919 left_yaw=0.0751 left_pitch=0.0336 left_roll=0.1237 left_gripper=0.223 right_x=0.2957 right_y=0.0013 right_z=0.1761 right_yaw=0.0003 right_pitch=-0.0282 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -8.5402, 11.3846, 1.8926, -0.3443, 0.2125, 1.0281, -0.0889, -1.3607, 7.0496, 1.7509, -0.0562, -0.0464, -0.0073]\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]: [-0.4614, 1.5681, 1.1057, -0.1528, -0.543, -0.2253, 0.9953, -0.0151, 0.812, 0.6079, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4418 left_y=-0.1137 left_z=0.1929 left_yaw=0.0937 left_pitch=0.0394 left_roll=0.1225 left_gripper=0.9953 right_x=0.2957 right_y=0.0012 right_z=0.1757 right_yaw=-0.0001 right_pitch=-0.0294 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -8.6496, 10.5504, 1.917, -0.2271, 0.1685, -0.0855, -0.2667, -1.4154, 7.0496, 1.707, -0.0317, -0.022, -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 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]: [-0.4938, 0.9684, 0.9176, -0.5388, -0.5545, -0.2462, 0.9967, -0.0147, 0.8165, 0.6075, -0.392, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3111 left_y=-0.0578 left_z=0.2547 left_yaw=0.0822 left_pitch=0.0658 left_roll=0.0959 left_gripper=0.9967 right_x=0.295 right_y=0.0014 right_z=0.1729 right_yaw=0.0007 right_pitch=-0.0412 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.3043, 6.3521, 1.7558, -0.3639, -0.0611, 0.1392, -0.0889, -1.265, 7.2137, 1.7802, -0.0317, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8538e1fe71b976fc8fad7928d3cdef4a0f613ee345e812cb9ec3f1caab7d93ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89dffe346b21c55007ddb812dc60ae49a13e6d4e1f249c62a740708766af3e5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:817b0fb0508842f39b0e456df48ab1f16e8ad9e967ec998c832a8c1e8feeb737",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrSwKjgEIEhgCKkBESSCF2oCDoEINew39m/yY+pZ70hUj+koNx09XJrB0VX1v1m0dRUvqnEp/Bwq+KRH7n1BxffSjepIj+9u3Vxr4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbP/zNUGEgykcvuXZIB0cDorPIUaDN8km/ROAgmS9QslliIwvEZgtX/vLyh2d+yJlCh20CSuJAJGqxvD7sobHOztEe62gLgmmPK5y5/VqhGDHNJGKssqhAJGjeYMfAUcb81C6sYUHMJ+HCSOJ55lK0sKqDbEa5eDqCamLK7yvVcZGcrcq3MN1A8+ZBost2QXD3WnQV5sOsrNdEzol4TEXxwn0uOS5TfKj2gQpjWFsFkb+FakyKVnT6VzpVr8aFRaGjFnnXZpyryiexaxm5ZVeuCuzPvmaDiQnJNUp35v27NeXkS0GCa4tcC0OUCpD3+EaRiy8kUWpZBB825cHCm7acGOZZXIV2LRk41T3YC7UoQBNHVcQpVOYNjSiFRE710+qEvVhOnpVErGV+DR6nyZrBZN5Ploej8xS7nZi6ylL5jvD7OCYpFNokyxf8NKeONLfPNVVlNeA0stpgF6Qjo1KXUQVExIQrcuadaAfYaKrbBIyUUkAaQavj+6alHLQ2uVJGSvNIairtX9N9YPzXXY0APQg8W8aL6x1UMLohezqya5Iu6M3AzYBcYi/Uqckh4mjsV4Bnsu62SIj0RJP+utPcDk9055Kp7hell/IEt7GE9WhRCh9x0WvTPzXVKU/rAfXQBq4Vf+B+kbf+yfrOA3vH5ZqX7b59SybLiCZmqP+ZYciyfKRHnSMFce/6QCQRKOn+ttAI248JT7RsktqaAURCuV31fPobZc8TwDpgqjBuyNUJAPsXkdc6J1uAwxL0+Xf3DaChhJL9EdOWcGLifLhVI5MDoR30kHxd/KZyJjp+u7heMWBjRisHIc/PC9/0CwIQJRaONWVoCrn9cod9oPBGtDBSuyErHoa/+1L2lDjv/g4Mg/v7IvhDayw3i2OOiQwc9SXuVLvxo9dFm8fLV60iGWHcTuahdii5gjiE/NXcq/ZYPXIjE2g0ST02udbajqlS7sxny6GrE39hCSPcojudyGf4Xuwi1fDJksI9fFcT0bqLpoHAGJV5/swE5midvQybNlcHi/ciHOY3ZT6yS/m8INd0m8zJhsRq8F1LrA8p6t+xJ+ZmD25dUGtz+kapR5HNuQJuIfbj17v9NStXriy6Jf7BzIKkfmKyYs1CJ/u4VW22DoqFPVlpVF/AH+uiz4IiQmpc4P1U1y/app2Kcxk7yf6Oz6ncvsR78YMU/kVDHp9AeG9TShdkTxNXiINB+mZ+F/6U0SWyjZVsM/8/L/YI/O7OnTGhz7kV324W1oiZUl4PogK6l4gCHw6buoQFKEksV5S5Cf6TMgOBosY8l0EGJ49zPdGomut49kzvBhR/CTkCa982XLXAAOGezNQ7srxXvD5mjR/fUVNbMCrfrlWYXeHxSHF5lC7dN9fEg90YhoG9wrwoe99vJ+idaOL17Y24zlAkieS+w1eGcplOjbWnSg5hdjQGJMAZUlF4n5O2c9UZBugOXQ1dpBT6dqUnNHA5H7b2//qIppS4KguWK3P2j1bC2kg5uBRr1Lms9D15vsexfzIq2u75fN7f6DgZ00VYXdkfSZXHpxKCeJKqoqfCpY7OKQGhbaOl8AoDVS4h0+AZZD/sGQSgTPdoLZvcIX1BirTfnAKj4A+h+JuxDcuxHuaPnvE7n0OlGMkJr1F8Y2u0zqGnPJovQNSnlLMeXQiet4YyzXgDLSkModP+NeStQicfkvme8DNpvxeiDXBZHsX0W6pgKsEw87HzrH9Qozzd7JfPBrOPPGgCPayl4VkM+vBuuSymjR4m5OXjrUvif1kLq1UYpiKK+gdGyPtX9OZM5uOAAPaHAPWkIi+ZSZBNMxFQGHsRX4ILMfSU5TagHT3n4c3LTYz+wAgGMfyiFmb4lfy/yskExIR3QTdNnumEGeiAJOZDgeho0Mfptilg+K1sKaD25rmzj4ucYxH2mg2tIb8hI+kmvOPtW/ElR/T7C7zn9FmjSKtFvrzCJAdy3rcGiOFs+eHaj08gyKcjQLZyei1eKK/RVRDSzGs+LGZggXCkZAj0wxVNlMfG9zhHh6DWL+9BCE2JeJjO3n1x3GK0MojQlMuVQpIQxwrN/THHn2yPYswtzNeRgIo8hJ/e9Zey+A0EaT6wSTxjcyY1FSQ2yC7bOwiu20o/bbOYgRVLo+FR6m4MkO8mumsFrdI9xWxU2zMvBvN0/8tX8XMU7VX+EY0seeuRQwqKihYdHpBOGORT/xiDtt7PG3hOW7qCD6gzAvlXturbQnbTK4LlfwL92fP4CGvXW1XV5+8L0NvzFbNkPTzbw73Y8vMdZWR24wn/Hxvrhv0IVE2WbqEJ1pwshm7Z5CgIV67pAe2DRaHNnYux8UC0muv2uNljrRXlMZgv5pkAXOgwKaugVS36HDjwNuoRblAwKCEy5S3AUZ6s30EIGGDDg09zhSWEXL2sUWu8zsKPtYZZd0IeEDOtIXI79pWAFj5g6yVCEF+peGCvDZNnKXiFguJ3buB5uvGyEtLG2td+izQA1UETCXvZOVpMPuvRCtd473nXoqsDhgi7NlKPWE00hJ3rtD2JJ/GKrbqNt3NSF+RWRNELuG8nz3pSOawJL4GbWQKzupWv4hTQ+nqoMsiGCPCcPvcehgxUC78b3bmFI4wlTPt7Yc+8xseaPEPXcR3j6Mxyi0T7HME8IbA6WY2BOhrcwastwmEJ2TDSN4kLjRhv6HOzn241b8D8Dw7vkLoUxwU69m3KYzaDNCf1kxvwi1BHedh8jZKXzI0eiejMJvvlTU8PefTz9dF9OrSvPFHeVunMzh/o7WLTJ6wohZwLgytRUq4evRYYcPyrxfJ7kUgULUxHxDjJCkDmOMVmtIc07LhTgcBKt4Q/sWM32fSkdPgSiHWGcoyb/wqGCChfLTdw0yFKm02XL3frde9HnOFU7sG+117CwuMvWub9tV5RuX3Hpg0G76vcHPK+05JX2FGwOOJKAZSI9eZfJWXC4esKKhkp+f3tiASzrC0Ys+06h/y5WolB82hRp6CkX3uHdkqT07ovtl5VrBhQJgHQ3+HmXJ6iEUFeoQmG5JEydZLpBgGrgv8GkdVfVylgJdHR7OcaNocQs8N6zBnVu23A2fc9dhCAfuhANXcMQR17shm51RqMV7yvMQtOp63s6ai4WU5U4WbrVvBanCnFUAqIy2EA1BRjGcLGpAuYjFjctlM010rCb/ZRSuVWCVpgf8pgo6uvvYJt23PgrUhBcVjxFYBPRFkrZXEIw6wLeP0JJwklHCkfK8SNnlHZmEPV4ogGTvuKbruBoTejn2spGmW4tf80m6+YF/JwD36dn9twMK5yKDv4iIuzqezbjZfLkZ01qsRIuYo+k4eFUYCCH29bVJAqT9+wZlK772VO46Vfx1EkvynE/AZ//YuMwaj8TSobj4itEuGka6nlxO7NZMKReJPSgUAM9ljNd4RQM/2RnfQ3HaOyS6AlCnmjGkGcDeeGdZEMHZnePY2pW/n2ttt2NfkpN1kYRi/VvYz5DJfBXh+aSHW2+fQEDYH0fKqKM3yOhlJRMKSx2g3q9NlpQTL/N57zXknVzYrJnQ9ypamazXR9uwweijWZFO2Y/7IG5/J+QL68lijTi2jSQbNUVSYT2V8PcBrPyt6uFX630Zur6RLwi+AeW+eXNIsseUwGabrSy5ULCARAxKGPXPT93JpsURyZTrgK0B+NlwJ9R8DVisOq7C4TYpvhfdjBm0rTts9dlHgwPX+zoI9a0ZY/34miDDAJQucEiTXevnbALJPk64W2AZFeRFusFyNGMeE6RkSx9BhEFgJpXZWIohj12B3QTJXmx0S0gP8P9QBrWWDfBvdJSDG29ihZ/bus6xaKSrTzCPxykYMcCpJC8rvXbaIoDGdCKSb8/qk3p4HRhWNXxZjy/jeeLjBi0YLANoEeeH4eID10zbM3UB6SDZQVlpKoK2JBsafs8H3aU5XyJeNMA7KOccepMK9c5oPz8qICaFm4jSHbY23RAA7uM6HnuMRXU6jHuT337GDKp28Ht64CJHUZJnVyKqLoRedLI4HGzSS0trZH0sbfAtkigGIocGn1If3RBlQGT/ca1kAyMvnwjnQEMXLSnY9DseST2wBMV9xI5m2g1BBraH49LKS9r98w01H5L9EFfRBNONBzmOjB4XzZ+J0bUQoUyhECvPVwW2Wm916Z+vedw4ElPtR/WKIFIrzGMHqO1a/i3I0YzqBxNJqRh8K/rtXA5LwqHxwKvxZedTCrfESZ9b4/h83v8E0U9CcE9PF2G7A3C4AIuNMrk/8s745RpvouNlK+gmO4FNjysd2mLwDyb2WnFIlneS+xV8tCKFWLbSVVe207ezaR8V8KAK/pf/DHthNvnrLhT2cZgKqZR5W6MWF2HmUiph7/1AQrGhAsl4P7g0d1GAXD1UiqmUMW9BvE2u06eDGTaMb3Hanvee30Ble+GyeN6q9dT07shRXo+U4fICoBlEJhiMZzU7zwSkN2EEXXc1oMBRo2A8uQjGqVhmxQcEyZS4Lh78wwVPCH9TEP31moW5AgQEayCSw+XAShfVBMzCmV6gDP6oo6SiN8A4aWlUW2RTrNnXAHb2tO0/N5e3TuHo18sS//KfwMyM5/TQDUZfryLSXI2brgToDAXT+5JxF+05IBMtiO60Pz3Kn/eQNBMiOzcPfCRTeetDP9w/vp6iX99lvHGfetp43BuzmYw82waK83ojx6B98NKaYEmfVB+BAluBvoL9N8wqH9ZAI5f3oUL2F8++v58gFS1zmjSjqJs/HZfFCw0SbV/sQYhg+ed1rFpeJWkDNRPwPKnfjplf8Mq5cye71oGM0ayox67o6sn6bfecfwBp1cPqP3u1gx8H7ewGmPccjDdx9N+rySpGXfd4PMHMeA4pdWc6AyEkqmEqY1cipTwJ1L0WAzd+/7LgaeDLpycIQ/7yGODZzBCjA6cXTFpP4HnbzB2/ZnfBut7nD2Hxnx6RnU35BVEB9Tg+7uVvbdR0pnqzU2axGzouyVqFtthsU1JHLNsLiFXsGkOyIErg7ts52OZy8YJYqsUPqV7Ta1muXoSl3+S79d57QzOEN/a4dhVW4J2ttVqC0dEgjzhxLhK5Cbd8M9qyWYV/wqN8iYuTchoXmr7I0m5Ieob/EKbN6OpAaVfdnfoo9tyB5sROIaRe4IVCWinPAJql4OSNQEonkQh6XoCMr3wMHJtdUQJxPr5JXi7fe1lXTTfTZHC5VsD9qqlmkEP2fnLf4eEbp1HeJvzz1+7sPCsDjg1VMdmcE82KE+ZTJNhXKop4OX5UZvT6xqbEL2pjJnJ3Exzrd4Hvo4F3Yr54rBchm6JhdqmjAmK1QHG6Sp/SUYuO2dh/aax7NPgdOOW/ab0/nhtehu1QJlCpPrNUJGZa8+1oG0mbARFH9d2GOFoeFZiX68E1ZR2aYXVE7hck5fkXoAv248Ol+oJYvVCV6IQd7BtKRhOX1o/b5PKQZ/CqVsq/JOL4usar7RgE6Ggax6zoLu7gVFwXIfD+lWC4/lSY0XFCrtCZOOuxLh5RQU9BrawB6heWCgs0tqCYaXmv0CHi9UJ/hpl4g2a0wxz0vdtdONJA5b7dqxZt9fgw6P+cDv2O3TxWdFguxCgRj6R06gUbLCyocG/HFWx0jIKoRr9uO0W++cT62CRsO9dVHKQkZ6knTwC+e4S2SyMgf06o11IuY5UPNJGpba3Eo0a8KPozMXtmolJ8zz9KfnEGm7JFJuIeA3uhLzRF7/tuyFn1+8GXVSVTa/Hl+Nf6cAlKzf3XktnuQY1XZtbcEereuP9CVCC3tGNcwQHEIYC+8hN6FI8bwEZ6ThqA7pzJB7KR3uInXoAFrM/zXZkjrlMWxQGeY1TSV0UCjO3lX+ikmEkQMXRi1XLakf3BabsaBWYI61CUtYWYC2tc95q8qTe9cqYhWEwvVKtuskyICVv38iwlXCoevOwsKawxTJODUsYw/ZqqEbPjOlQ+X+TfvFRzwEUGunBMfPMcRk9b0FzfLPdxgLgHcefAetLV1OZYOrXfiD5EqqFeEt/WStNJySACq5YKyaEPhUTH7OAYcdMJUUnhriLXo+54VWxsK+IT9VeoC8r4HdFb+nLpsBX6b0os5c1Cg+ZCQUhBfFfLhkJhmofz51UvejFI2WVHwG0WtWtIVbB885x9NgQ0VJh6bZoXkbyzwgw7Gj3zT6YSv0t5rZlsylrMQNRBqt1/1icikiCbcxrd08srS1AZyrBw/Z0RZumHZOiwAKOs/3/DTCrLUgZkvje21UUDKDKdf0OL4+pFAeFQa8U7joAC9aqcmd9Kp/q4hJVwIybpEzFRcPx55KDl5+a/L+FVwLFRg/fjg6nEZVyc/ZP+X2XisBn7/CpdVbTZfTCeuGFhRFcYEqh+nOlnNtq9JoGcwVn7I2rcGRNOjU2KHaL2N/xJxFwDdZpJ8Kb/UexccQ7ltvzw3NY7tACZymci7mJ4xfmq4spIxgYQqms7z2ljvb+qkqNcDrV/rqNn9Y8rmVI6smCLGLHBpnte2aWY3IWe6HcPamvwiOliuIEnbneoUKjlkFxUg5NbMJVqSusxVUrYiKjgY/R4vpCRDtdcH1fe0ceFNkSIFtfRGrDSf1L8Xv37u/gBaByYssSKl9vH2Yer55OmjeLXuF7IUKWw66DGZRKI5fzCRnxd+PZagwLsMJ1WrpZ8s+ql/f4Z2ImORFwdGk+2vBqFgGhqZ0jjYMHmidJ20DGaJaNQuR+zaJVrVBHmd5R1rmal/wT4QKI0NXnVz2JjHevGMLYCdPtPiYLXls5/g7zy/XzcL3WN4oQOXcVF1OEFEFtUYlI3NBV1FiZgXgcSmONqmDrAGR05ZWlpc3i6iZktUBPxJH9uXCLep9u/y1ecAOd4BDsaPVXkMUI9ZTBCLNHX0nFu8vKOa7kyYbIk73KrkeiEwUCVfzOT1G11ZPlHc7Umanj0AWp3l1TitA5BsVr1hSAzclVISsLItTFzMANcUKs/mme3vOVkpS8wrHczZ5FpKWcQQGFCbNRL018qLSSeG14DSBmPeX9CVT2ro9scW2kqBqFEde3OioR/BTQDdCqJF+q1av5c+9BC7WoPkN1YSR0arUOOoBuSXD7gKz+tYEkBypgtHQKQCtnw9GUxHrDYTSpYimwifBve7q1/T0X9s5YOObvG7vrw6RjTbwnJvjYgDCPIFDhkvEfakg5n93qzs639iwkQqta0GrmUGCNMIgzH59oTaq5gj10c8VUKqQKIWdm7hoVZZsFRFg79PqStxq+1GuUjnGldJj76+knPDZRYFE3M54XulL920F+H++YKOnIz4QWgt2+KobvwiXDxa56XO2HcrPKK9nK168c40l7TfSF8o2Np/dgjpYhZ9LE69KZYPaH5J6f8qw+3GBBzWiapd+CUUisdi6Sd0cOwO8CnYzZLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HZBMTRnKhNESB4esQArrHE",
      "input": {
        "note": "The grey dog is in the left basket. Now the three tan teddy bears remain; moving the right arm over the nearest bear (right side of the cluster) to line up a grasp.",
        "targets": {
          "right_x": 0.26,
          "right_y": 0.25,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01HZBMTRnKhNESB4esQArrHE",
      "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]: [-0.4942, 0.9752, 0.9173, -0.5598, -0.5579, -0.2481, 0.9968, 1.1137, 1.4372, 1.0286, -0.609, 0.8009, 0.8135, 0.9997]\nstate[eef_state]: left_x=0.3096 left_y=-0.0565 left_z=0.249 left_yaw=0.0848 left_pitch=0.0434 left_roll=0.1113 left_gripper=0.9968 right_x=0.2584 right_y=0.2462 right_z=0.1673 right_yaw=0.0356 right_pitch=-0.0744 right_roll=-0.0314 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -2.8376, 6.8718, 1.7998, -0.2076, -0.0073, 0.0024, 0.4171, -6.0103, 8.8684, 0.8962, 0.5983, 0.1587, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fb7e313680449cdb3bd4ba03a792c7404a75423df34284689210525bc520f3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7793efde25b2e10f74aaeee359f8b71227943e2261868873215c46c054af0be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:82041d0bf983bca328f4d26dfaa30685bcdc755d3ac8408dd1086b9b6d7f472a",
        "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 · 7.028 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]: [-0.4614, 1.5681, 1.1057, -0.1528, -0.543, -0.2253, 0.9953, -0.0151, 0.812, 0.6079, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4418 left_y=-0.1137 left_z=0.1929 left_yaw=0.0937 left_pitch=0.0394 left_roll=0.1225 left_gripper=0.9953 right_x=0.2957 right_y=0.0012 right_z=0.1757 right_yaw=-0.0001 right_pitch=-0.0294 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -8.6496, 10.5504, 1.917, -0.2271, 0.1685, -0.0855, -0.2667, -1.4154, 7.0496, 1.707, -0.0317, -0.022, -0.0171]\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]: [-0.4938, 0.9684, 0.9176, -0.5388, -0.5545, -0.2462, 0.9967, -0.0147, 0.8165, 0.6075, -0.392, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3111 left_y=-0.0578 left_z=0.2547 left_yaw=0.0822 left_pitch=0.0658 left_roll=0.0959 left_gripper=0.9967 right_x=0.295 right_y=0.0014 right_z=0.1729 right_yaw=0.0007 right_pitch=-0.0412 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.3043, 6.3521, 1.7558, -0.3639, -0.0611, 0.1392, -0.0889, -1.265, 7.2137, 1.7802, -0.0317, -0.0562, -0.0171]",
      "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]: [-0.4942, 0.9752, 0.9173, -0.5598, -0.5579, -0.2481, 0.9968, 1.1137, 1.4372, 1.0286, -0.609, 0.8009, 0.8135, 0.9997]\nstate[eef_state]: left_x=0.3096 left_y=-0.0565 left_z=0.249 left_yaw=0.0848 left_pitch=0.0434 left_roll=0.1113 left_gripper=0.9968 right_x=0.2584 right_y=0.2462 right_z=0.1673 right_yaw=0.0356 right_pitch=-0.0744 right_roll=-0.0314 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -2.8376, 6.8718, 1.7998, -0.2076, -0.0073, 0.0024, 0.4171, -6.0103, 8.8684, 0.8962, 0.5983, 0.1587, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fb7e313680449cdb3bd4ba03a792c7404a75423df34284689210525bc520f3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7793efde25b2e10f74aaeee359f8b71227943e2261868873215c46c054af0be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82041d0bf983bca328f4d26dfaa30685bcdc755d3ac8408dd1086b9b6d7f472a",
        "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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TpCUgf2Zr9aZnpseLxqhzhnOLAd5j9PgUOgwGodudKjGZ42abPvmpqfZo1fgpKGMOFGymknZGGR7ch5kMLYqoG4SH2n3GISLCaWbA6FVFkxU+AsLnr0BPVYzlKHUkWX2aPwtUz86m0NvVN1a2YyGGjii/RGw1GQctN0Q/7WTKb1TV0amcv+UQzNO5KsrZf8TF5KXODN4TAy0VG/PfTbUydyj3mTV8/7Xf7NkoHVgUkNkBypygNjyxrFCHcQqH4bpKoXjgf4x/2VlZUcGeSQKfSm7imtV2TbQ4VjCrhq48o6lj5edA/6lpNDpKYHi0NIKy+S5DKs5Tj05RO5oK/CpqKFhjlcv+/S5fyeYIviVvif76hzKtaceEj0Z+d8AgqsCFb9q4RzFfMCxGIkU/cw2AjnyrHq936eIENCtDQZ9ZEoJZOyd3rNU1MWnnd54NQjn8yZAaB6JJt428h2kZk6GLiNXjeeH4B3W8pL9XMp39q8nuBzNoZK7p0whCUduofWrf8C5x5LCUSF/fPaqLDSz5/EGlPzlCCfV3w4Du2DiEPV+Ng5Qe9XzNx5BAggG6rWsGehGAeYUxdZabQS92Ny1tasd7kemmlsdLRPLD8dax8ROey9eh/4+HrUEw7bOkfVdEoDZp72CCryEvUQvE83GGI7DgciDDep8Y6lSlVYQ9iAdk2lQsQF4JxRI8HHR0qjFUl8JTBp7k0TMW+ZyFcD1p227EAMTzH9Yho6jXjL34BXj6A16eNSVyo+yY/VMVgCUJ12xKhn+NZzVSih8aC/Asg4lCrpgPqtzfG2yaKLlKeDinM41guzd0YnpRPDtcbQD5Qakk3R6B6Ao6qtohBSO+Q1baetvFE3/0brGJRLRNSVVW5P2fCD34NeM4lNIMv5E9XKVy9dSY4OEhVll6KvgB6HG/9/5/riWzU+7u6YTWXg9KM+33n51F8jW+Igp3al4Ftui3lRmuXaaywdOp7kHuejw5E8cxPo1cCrw2UF53sbFGhMiQ+a3ff2ii+kr+BxNFxW14pHbnc1gYofHAN6ynZxbNde+2a5GiEZ+fTV8ewJd3j0CZMTO8bto89jLERvSmAM7B0zDYBnUFRYMolbUFsK7GE9c+NXOoqi2odFBup+Tzs4Lnk/BYfoBevBmdTj7Vujm8g97NLBdRCHbeGudFCwV2hK9L5ARI60EniqhupxoZ3tC5AdZYLxH8tkZNIO/6o14/ejAFOiVAt4zpMuHlwdSiAyhn5TIj7ar7S9gLgw2LNFuQgsOYfM73RE2V3QgXI40oouZNYpEx9xxibtHIyDdZzdlEr+0W2zELSOD5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KvJdhGy2RBMFnXRQdCheYV",
      "input": {
        "note": "The right wrist view reveals two pens/markers lying on the table beside the right basket, so the two object types are plush toys and pens. Plushes go in the left basket (which already held one), pens in the empty right basket. Parking the right arm and bringing the left arm over the nearest teddy bear.",
        "targets": {
          "left_x": 0.27,
          "left_y": -0.15,
          "left_z": 0.2,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01KvJdhGy2RBMFnXRQdCheYV",
      "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]: [-0.9852, 1.1683, 0.886, -0.6441, -0.8906, -0.691, 0.9968, -0.0071, 0.8761, 0.7391, -0.5327, 0.0319, -0.0257, 0.9997]\nstate[eef_state]: left_x=0.2708 left_y=-0.1533 left_z=0.1996 left_yaw=0.059 left_pitch=0.0302 left_roll=0.1101 left_gripper=0.9968 right_x=0.2954 right_y=-0.0041 right_z=0.1879 right_yaw=-0.0239 right_pitch=-0.1099 right_roll=-0.0338 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -3.4803, 6.6667, 1.0916, -0.5739, -0.1392, -0.0122, -0.2393, -1.265, 8.5538, 1.8388, -0.1636, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a168226f04953d1dcccc8fc2160febf3f6d1475039a5662402a2f943a2ae81b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efac94b751a7e9cf954de8e59301fbdf7e68e578983c06b17f7d774219af0fb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b857be17881fe9d022d04404f138eff6bda10d747d5db8e9bcdc6c673722e276",
        "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 · 2.757 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]: [-0.4938, 0.9684, 0.9176, -0.5388, -0.5545, -0.2462, 0.9967, -0.0147, 0.8165, 0.6075, -0.392, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3111 left_y=-0.0578 left_z=0.2547 left_yaw=0.0822 left_pitch=0.0658 left_roll=0.0959 left_gripper=0.9967 right_x=0.295 right_y=0.0014 right_z=0.1729 right_yaw=0.0007 right_pitch=-0.0412 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -2.3043, 6.3521, 1.7558, -0.3639, -0.0611, 0.1392, -0.0889, -1.265, 7.2137, 1.7802, -0.0317, -0.0562, -0.0171]",
      "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]: [-0.4942, 0.9752, 0.9173, -0.5598, -0.5579, -0.2481, 0.9968, 1.1137, 1.4372, 1.0286, -0.609, 0.8009, 0.8135, 0.9997]\nstate[eef_state]: left_x=0.3096 left_y=-0.0565 left_z=0.249 left_yaw=0.0848 left_pitch=0.0434 left_roll=0.1113 left_gripper=0.9968 right_x=0.2584 right_y=0.2462 right_z=0.1673 right_yaw=0.0356 right_pitch=-0.0744 right_roll=-0.0314 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -2.8376, 6.8718, 1.7998, -0.2076, -0.0073, 0.0024, 0.4171, -6.0103, 8.8684, 0.8962, 0.5983, 0.1587, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9852, 1.1683, 0.886, -0.6441, -0.8906, -0.691, 0.9968, -0.0071, 0.8761, 0.7391, -0.5327, 0.0319, -0.0257, 0.9997]\nstate[eef_state]: left_x=0.2708 left_y=-0.1533 left_z=0.1996 left_yaw=0.059 left_pitch=0.0302 left_roll=0.1101 left_gripper=0.9968 right_x=0.2954 right_y=-0.0041 right_z=0.1879 right_yaw=-0.0239 right_pitch=-0.1099 right_roll=-0.0338 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -3.4803, 6.6667, 1.0916, -0.5739, -0.1392, -0.0122, -0.2393, -1.265, 8.5538, 1.8388, -0.1636, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a168226f04953d1dcccc8fc2160febf3f6d1475039a5662402a2f943a2ae81b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efac94b751a7e9cf954de8e59301fbdf7e68e578983c06b17f7d774219af0fb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b857be17881fe9d022d04404f138eff6bda10d747d5db8e9bcdc6c673722e276",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS+AcKjgEIEhgCKkDJezilfbZvsIphpHRTr9RcZZnykEfTDbW2gxm7w6ztFs8NcUXsJtaJlEy9v+UbVYrTrZ6MG7YljGfHpTLOgACxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdj/zNUGEgzUKohWHMeRoE18faYaDK61fDhnB0ufsYFDjSIw8BV/0ErMgyt640RgZQpkuCSFR4AtqK6ctgCXamXPlpR8DsnHtcqR4uJCzheOI7eMKpYG/7/V2QHYgcUIIQkqVCGnoIe6j5WNxiZ7BQy/jftiyjc8iKLorAJ0cNx4sAA3z07n+bQOl7KBtIxEjjOb3HQuBkr1cvXsVcXSaLfDS+x5cKRPkgwXaqvYAgVh0CLlpLCQ5ATlRUGcuBCcRtrf11rr3kXOT+hHfv1TmiFiKmv5swXXXJaBm6xqJo+FgnWO6JFbklF1+7hoSyEUO25oVB9R+o29Ubf2T8StbKJBy9fVS6crKL8hVGbgJWTjkvJWyiy6zPTdeKocYgbPkPXKqqJc67c8Hg+hEras4CxSQWVdQxx2fm/TOjW7u5v8Cu+ad4qkt5P5Hhdg0HjGSXhlxHK7UuRyVfpi57m+diiBFTkSEThVufLbpmJ369zK+bCWKtkmNl4z/LcDdveEfx5vzq6ctU6X3cXjGOcYAG7ObLVLP8RaneLJnZE4SkzyGJ9m/GCcYOFffL/lrvAiohLIgjMN2XT8DCc6GV+oOmpK9gmcm25LQbmuPSJmHfoWrIh2d5tHZLk6LeYIUxwoIDPRG8fReZGMQS4yDBvvzjiJvO1dJCGnfQYkOzhw9ihRCQ/ml+Eq67FTJHB+xS3vUKXA4I5s9+KMxnzqSKcdNDF+0rl4ectQaqaxulrF2+hK8j3C6ojEnKoY9JKJM7iAd95cJhEstPFowYAfPG8CJ755XpaShHP981CEABEKG5GYB/mT8UO0a3kTKWJtEMQgjcbKnoQtEkxh6ZaM9aqWX7KE3i3PErZ1Lb4uOfo4hRR+cmzsitDXnagD/Z/TJhmpfzJOb0Z5XaOVQ27XT/IUM8Ixc9Ehxlv9MckBw9nzGUSI7+ipvXhfXng9hUXpGPHYWzYzAYV4RZS2lfLSFhxrocQwCUzUaPMnHq4cs+VHc5aD4ac3GnxdgkyKMrOtG+XZfQcAuRjDPkAcoDJ8gfuws6Ks/QRPjwQBnof/IDC+/MIe99O0ORhgV7UZG7musFVBhQYSF+2+XGf9ZpRRsz2Q02XguAojgBEptkfQuDhubLuHa5/RYfSs3tvab3fTAxdZ+phpcRcBUVDCehw+mxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013GVwYsRwMjPWvh3cuLFomD",
      "input": {
        "note": "Left wrist view shows the small brown monkey plush just below the jaw column; advancing 3 cm and descending onto it.",
        "targets": {
          "left_x": 0.3,
          "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_013GVwYsRwMjPWvh3cuLFomD",
      "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]: [-0.8848, 1.5124, 0.4831, 0.1165, -0.8268, -0.5823, 0.9969, -0.0124, 0.8768, 0.7391, -0.5407, 0.0177, -0.0444, 0.9997]\nstate[eef_state]: left_x=0.2923 left_y=-0.1463 left_z=0.0466 left_yaw=0.0638 left_pitch=-0.0134 left_roll=0.1635 left_gripper=0.9969 right_x=0.2942 right_y=-0.0032 right_z=0.1861 right_yaw=-0.0073 right_pitch=-0.1191 right_roll=-0.0396 right_gripper=0.9997\nstate[joint_eff]: [0.3214, -5.9556, 4.8889, 1.2625, -0.3932, 0.0073, -0.0122, 0.2803, -1.7573, 7.0085, 1.6923, 0.1343, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43045222b8012f1d8465233e9e558fda8fcbbe9de54a8885d8bd4ad508f455ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa4a5c381200127620f497875519aa2527f71ab07eeef607aa60a975d2d797fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad5840ff818b7d6a7c707e7d125408bed9b8522994ad94a6c99df6201060668e",
        "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 · 4.417 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]: [-0.4942, 0.9752, 0.9173, -0.5598, -0.5579, -0.2481, 0.9968, 1.1137, 1.4372, 1.0286, -0.609, 0.8009, 0.8135, 0.9997]\nstate[eef_state]: left_x=0.3096 left_y=-0.0565 left_z=0.249 left_yaw=0.0848 left_pitch=0.0434 left_roll=0.1113 left_gripper=0.9968 right_x=0.2584 right_y=0.2462 right_z=0.1673 right_yaw=0.0356 right_pitch=-0.0744 right_roll=-0.0314 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -2.8376, 6.8718, 1.7998, -0.2076, -0.0073, 0.0024, 0.4171, -6.0103, 8.8684, 0.8962, 0.5983, 0.1587, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9852, 1.1683, 0.886, -0.6441, -0.8906, -0.691, 0.9968, -0.0071, 0.8761, 0.7391, -0.5327, 0.0319, -0.0257, 0.9997]\nstate[eef_state]: left_x=0.2708 left_y=-0.1533 left_z=0.1996 left_yaw=0.059 left_pitch=0.0302 left_roll=0.1101 left_gripper=0.9968 right_x=0.2954 right_y=-0.0041 right_z=0.1879 right_yaw=-0.0239 right_pitch=-0.1099 right_roll=-0.0338 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -3.4803, 6.6667, 1.0916, -0.5739, -0.1392, -0.0122, -0.2393, -1.265, 8.5538, 1.8388, -0.1636, -0.0366, -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]: [-0.8848, 1.5124, 0.4831, 0.1165, -0.8268, -0.5823, 0.9969, -0.0124, 0.8768, 0.7391, -0.5407, 0.0177, -0.0444, 0.9997]\nstate[eef_state]: left_x=0.2923 left_y=-0.1463 left_z=0.0466 left_yaw=0.0638 left_pitch=-0.0134 left_roll=0.1635 left_gripper=0.9969 right_x=0.2942 right_y=-0.0032 right_z=0.1861 right_yaw=-0.0073 right_pitch=-0.1191 right_roll=-0.0396 right_gripper=0.9997\nstate[joint_eff]: [0.3214, -5.9556, 4.8889, 1.2625, -0.3932, 0.0073, -0.0122, 0.2803, -1.7573, 7.0085, 1.6923, 0.1343, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43045222b8012f1d8465233e9e558fda8fcbbe9de54a8885d8bd4ad508f455ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa4a5c381200127620f497875519aa2527f71ab07eeef607aa60a975d2d797fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad5840ff818b7d6a7c707e7d125408bed9b8522994ad94a6c99df6201060668e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStwIKjgEIEhgCKkAwhgiMzSer98c4NJ77y8nK5rjCP/4wa03Qdv+q6bzW750FdcSYgnfE0LIlreGj8v6fg9qnV9tkZq7s2MlgDR3yMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdz/zNUGEgwDySvadZ7g2FBc6MsaDIujpMleJwEHNxJ1oyIwWxW3kmfCnz7PKfkqt4zmPAyTElVBGyaYgVPhH6/NRDLfYFRmETmK6+R9V7KAwpREKlaoxLRGJUBeuJePa/7se4BJ9mwiYfcaaiTJVQVQef72drPqZTrBuza4YekRCPbDnumcZSbMuEAK9Pg9NysIAPssyYjkXlMNPsIKDCoeX0s1o+f0SrkjfBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B5EGBATiBZdQQA7bKxqwNC",
      "input": {
        "note": "Jaws are straddling the little brown monkey's head; closing to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01B5EGBATiBZdQQA7bKxqwNC",
      "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]: [-0.8867, 1.5276, 0.4706, 0.1421, -0.8307, -0.5835, 0.0388, -0.0124, 0.8772, 0.7391, -0.5407, 0.0151, -0.0456, 0.9997]\nstate[eef_state]: left_x=0.2913 left_y=-0.1452 left_z=0.042 left_yaw=0.0648 left_pitch=-0.0121 left_roll=0.1662 left_gripper=0.0388 right_x=0.2943 right_y=-0.0027 right_z=0.186 right_yaw=-0.0044 right_pitch=-0.1195 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -6.2974, 5.9419, 0.9792, -0.3541, 0.0122, 1.0183, -0.1162, -1.6205, 6.9128, 1.6142, 0.022, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adc70995d3cc9be577be6470e65850d3bc7374593796c5e73dde46dc8af5d585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edfcbe325785f0e7a8da8b7a492789eaaff9576b8e96b09edd864313d7d65f04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:02b9da87b712973b32dac2bb8a34779fb96a5544702265a0c10e385c68e9bf0e",
        "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 · 2.203 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]: [-0.9852, 1.1683, 0.886, -0.6441, -0.8906, -0.691, 0.9968, -0.0071, 0.8761, 0.7391, -0.5327, 0.0319, -0.0257, 0.9997]\nstate[eef_state]: left_x=0.2708 left_y=-0.1533 left_z=0.1996 left_yaw=0.059 left_pitch=0.0302 left_roll=0.1101 left_gripper=0.9968 right_x=0.2954 right_y=-0.0041 right_z=0.1879 right_yaw=-0.0239 right_pitch=-0.1099 right_roll=-0.0338 right_gripper=0.9997\nstate[joint_eff]: [-0.2667, -3.4803, 6.6667, 1.0916, -0.5739, -0.1392, -0.0122, -0.2393, -1.265, 8.5538, 1.8388, -0.1636, -0.0366, -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]: [-0.8848, 1.5124, 0.4831, 0.1165, -0.8268, -0.5823, 0.9969, -0.0124, 0.8768, 0.7391, -0.5407, 0.0177, -0.0444, 0.9997]\nstate[eef_state]: left_x=0.2923 left_y=-0.1463 left_z=0.0466 left_yaw=0.0638 left_pitch=-0.0134 left_roll=0.1635 left_gripper=0.9969 right_x=0.2942 right_y=-0.0032 right_z=0.1861 right_yaw=-0.0073 right_pitch=-0.1191 right_roll=-0.0396 right_gripper=0.9997\nstate[joint_eff]: [0.3214, -5.9556, 4.8889, 1.2625, -0.3932, 0.0073, -0.0122, 0.2803, -1.7573, 7.0085, 1.6923, 0.1343, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8867, 1.5276, 0.4706, 0.1421, -0.8307, -0.5835, 0.0388, -0.0124, 0.8772, 0.7391, -0.5407, 0.0151, -0.0456, 0.9997]\nstate[eef_state]: left_x=0.2913 left_y=-0.1452 left_z=0.042 left_yaw=0.0648 left_pitch=-0.0121 left_roll=0.1662 left_gripper=0.0388 right_x=0.2943 right_y=-0.0027 right_z=0.186 right_yaw=-0.0044 right_pitch=-0.1195 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -6.2974, 5.9419, 0.9792, -0.3541, 0.0122, 1.0183, -0.1162, -1.6205, 6.9128, 1.6142, 0.022, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adc70995d3cc9be577be6470e65850d3bc7374593796c5e73dde46dc8af5d585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edfcbe325785f0e7a8da8b7a492789eaaff9576b8e96b09edd864313d7d65f04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02b9da87b712973b32dac2bb8a34779fb96a5544702265a0c10e385c68e9bf0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISywQKjgEIEhgCKkD+Av8/kIsc7fUey49CbOl0N3ucQDYZkPWUpGFAWsgzUIQt5e08YcECZNFHhhcE6VdxUxHdoiASo64mk2oCSOEeMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeH/zNUGEgwWf5Wsa/gDvsRhyUwaDN5D2+R+dj1HdWK54yIwpq9B8H0+UIjlQlsdu5T3WyTbGpLo5CtIS63Sne/+GoyzHewD/2PqOF98dYr3VRuFKukC3ZgG3wEH2NidhqhKxdSFXoXvVcUSrRm24Vj04ol+MWPrqQYhGkNLJnEDhQwH4XD6wh47SNkfIMEAL87+ph2/dcmh96zLmFnXdq9TWvG7ZwLvfYq6NQeyK+4zZEcynnV9mXxtjFcW8PiwM1myOG/pL/Ab1oGm3aKSVwmmayY/ejmkn5ts4q/68OstXDJYSputTjKH5QNEvKvOchEOnfq9aTvJ12Q/5tiW9uYseDIxIJ45upP1hbwPcBIBvR6/MXKHAkkuxuYHntYnlsarZy6WWI4Wu1HMhPCxn1KFbgkfgGOtgcbJtxc2aQmOToQYpnIdkF6wv9dnIahl05kHmx1JUMbA68ZYcvBKL9nyJVqq5di2yRTGo9PZo98JCY1oG+sP0ib7pM+iC5ZePFBW/iSwInrno7LBKCmLoDGyAqJim8ONIfkzGB3cD1Nza0gEcqBFMKxP3JiKbjM9E/h6brH6MHG7B1cUW/4AeRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016voPDVCzHHHHM89Azm2XX4",
      "input": {
        "note": "That close was empty (0.04) — the monkey sits a few cm beyond the fingertips. Reopening and advancing 3 cm before closing again.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.325
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016voPDVCzHHHHM89Azm2XX4",
      "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]: [-0.7845, 1.6073, 0.5102, 0.2298, -0.7731, -0.485, 0.9956, -0.0124, 0.8772, 0.7391, -0.5407, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3176 left_y=-0.1376 left_z=0.0354 left_yaw=0.078 left_pitch=-0.0277 left_roll=0.1833 left_gripper=0.9956 right_x=0.2943 right_y=-0.0027 right_z=0.186 right_yaw=-0.0038 right_pitch=-0.1195 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [0.1573, -5.1897, 7.0769, 1.409, -0.2711, 0.1294, -0.1783, -0.1436, -1.6752, 6.9128, 1.6532, -0.0269, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2779bf6b5160feae69b293f872819f8e7a08222fd986a6239b5a2d075b407f1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b601f9c006c1015e7f2dc2ecdadb1c29595a77c3950de76274f01e146bd261ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6877e87822e53d290b6fffa41820ac6c737235a4cea71fbbe91b18255fd4ec84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 5.078 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]: [-0.8848, 1.5124, 0.4831, 0.1165, -0.8268, -0.5823, 0.9969, -0.0124, 0.8768, 0.7391, -0.5407, 0.0177, -0.0444, 0.9997]\nstate[eef_state]: left_x=0.2923 left_y=-0.1463 left_z=0.0466 left_yaw=0.0638 left_pitch=-0.0134 left_roll=0.1635 left_gripper=0.9969 right_x=0.2942 right_y=-0.0032 right_z=0.1861 right_yaw=-0.0073 right_pitch=-0.1191 right_roll=-0.0396 right_gripper=0.9997\nstate[joint_eff]: [0.3214, -5.9556, 4.8889, 1.2625, -0.3932, 0.0073, -0.0122, 0.2803, -1.7573, 7.0085, 1.6923, 0.1343, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8867, 1.5276, 0.4706, 0.1421, -0.8307, -0.5835, 0.0388, -0.0124, 0.8772, 0.7391, -0.5407, 0.0151, -0.0456, 0.9997]\nstate[eef_state]: left_x=0.2913 left_y=-0.1452 left_z=0.042 left_yaw=0.0648 left_pitch=-0.0121 left_roll=0.1662 left_gripper=0.0388 right_x=0.2943 right_y=-0.0027 right_z=0.186 right_yaw=-0.0044 right_pitch=-0.1195 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -6.2974, 5.9419, 0.9792, -0.3541, 0.0122, 1.0183, -0.1162, -1.6205, 6.9128, 1.6142, 0.022, -0.0464, -0.0122]",
      "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]: [-0.7845, 1.6073, 0.5102, 0.2298, -0.7731, -0.485, 0.9956, -0.0124, 0.8772, 0.7391, -0.5407, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3176 left_y=-0.1376 left_z=0.0354 left_yaw=0.078 left_pitch=-0.0277 left_roll=0.1833 left_gripper=0.9956 right_x=0.2943 right_y=-0.0027 right_z=0.186 right_yaw=-0.0038 right_pitch=-0.1195 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [0.1573, -5.1897, 7.0769, 1.409, -0.2711, 0.1294, -0.1783, -0.1436, -1.6752, 6.9128, 1.6532, -0.0269, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2779bf6b5160feae69b293f872819f8e7a08222fd986a6239b5a2d075b407f1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b601f9c006c1015e7f2dc2ecdadb1c29595a77c3950de76274f01e146bd261ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6877e87822e53d290b6fffa41820ac6c737235a4cea71fbbe91b18255fd4ec84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStwIKjgEIEhgCKkBmTpE7B4gzhmXFzePrVFiODTGad6tZU/th72yzAGGdzjegGIFayRJ3cGx0ue0I8/06QG8mf+Ub+7KaZhV5cxOgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeX/zNUGEgwkmIRJ5D5pCW0GLmQaDGUCgristkGsgscYTSIw5JZy//vLUMX9k6b5D/aqhBE6P2Z9tSQplUzeVm4ht4/BTGjWCZS/sdj6uyC3RRYOKlaVX6h34ua+6UYzi0bk0KF18P7JhHfHUyj+Csq4cQ0CoDSnfcpkWFfso0VKTUwWLO6mA/NvP2jr4AW8eSQU++U8TE+6yPYyy478HNiM5HQxbY0kRg4JqRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DDhmGMV4NLdPoLFKANa56i",
      "input": {
        "note": "The monkey's head is now between the jaws; closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DDhmGMV4NLdPoLFKANa56i",
      "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]: [-0.7818, 1.6112, 0.5125, 0.231, -0.77, -0.4866, 0.106, -0.0124, 0.8772, 0.7391, -0.5407, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3183 left_y=-0.1377 left_z=0.0348 left_yaw=0.0795 left_pitch=-0.0296 left_roll=0.1808 left_gripper=0.106 right_x=0.2943 right_y=-0.0027 right_z=0.186 right_yaw=-0.0038 right_pitch=-0.1195 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -6.1197, 4.6701, 1.2674, -0.3736, 0.0073, 0.652, -0.0615, -1.4701, 6.9402, 1.6484, -0.0317, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f641d21faa01fe61aed2b630095781fae46beb29ba293b1c0d871c78a25f23c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0e1218687d96b9a6601f9af9b3cfedd26d9fc112535632181e4d8b6addfb17e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:448039224bf1dde9e3edbf3fd7248b6d3bf6aaed59c0afde191cb18c9edb1ffb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 3.928 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]: [-0.8867, 1.5276, 0.4706, 0.1421, -0.8307, -0.5835, 0.0388, -0.0124, 0.8772, 0.7391, -0.5407, 0.0151, -0.0456, 0.9997]\nstate[eef_state]: left_x=0.2913 left_y=-0.1452 left_z=0.042 left_yaw=0.0648 left_pitch=-0.0121 left_roll=0.1662 left_gripper=0.0388 right_x=0.2943 right_y=-0.0027 right_z=0.186 right_yaw=-0.0044 right_pitch=-0.1195 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -6.2974, 5.9419, 0.9792, -0.3541, 0.0122, 1.0183, -0.1162, -1.6205, 6.9128, 1.6142, 0.022, -0.0464, -0.0122]",
      "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]: [-0.7845, 1.6073, 0.5102, 0.2298, -0.7731, -0.485, 0.9956, -0.0124, 0.8772, 0.7391, -0.5407, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3176 left_y=-0.1376 left_z=0.0354 left_yaw=0.078 left_pitch=-0.0277 left_roll=0.1833 left_gripper=0.9956 right_x=0.2943 right_y=-0.0027 right_z=0.186 right_yaw=-0.0038 right_pitch=-0.1195 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [0.1573, -5.1897, 7.0769, 1.409, -0.2711, 0.1294, -0.1783, -0.1436, -1.6752, 6.9128, 1.6532, -0.0269, -0.0513, -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 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]: [-0.7818, 1.6112, 0.5125, 0.231, -0.77, -0.4866, 0.106, -0.0124, 0.8772, 0.7391, -0.5407, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3183 left_y=-0.1377 left_z=0.0348 left_yaw=0.0795 left_pitch=-0.0296 left_roll=0.1808 left_gripper=0.106 right_x=0.2943 right_y=-0.0027 right_z=0.186 right_yaw=-0.0038 right_pitch=-0.1195 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -6.1197, 4.6701, 1.2674, -0.3736, 0.0073, 0.652, -0.0615, -1.4701, 6.9402, 1.6484, -0.0317, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f641d21faa01fe61aed2b630095781fae46beb29ba293b1c0d871c78a25f23c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0e1218687d96b9a6601f9af9b3cfedd26d9fc112535632181e4d8b6addfb17e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:448039224bf1dde9e3edbf3fd7248b6d3bf6aaed59c0afde191cb18c9edb1ffb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxAQKjgEIEhgCKkDb4Hg/jfNeMkiVq4UiuLPv7FSSWFyIWk9eZ2jPUc6qVhDLRxlS4Hr5WuAYlNRZRRl7mcHX/UaUWDbUNMNGTX7QMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAer/zNUGEgzu16cIIbvd6lRbQisaDLzB2WLmX5FSn8LKYiIwBzYdf1qQ4rQLRcfq6EgDhMzVXgfCxm3QcS9Af+56gHw5MjXlcOA7s2P61Dr0HqwgKuICcu6abo0VEl7IF+0tQyDqxBgna+eiATa0KcBmnEcYk4RydhNZAkVODGIzd8c5j+mMX2/EeCpUH5I15QFZEcGj4cn47HNgIm24VfWv6SnTeDTw0hiTXDABbhFBl8FXqJ0JS5bnH+zFRjBwuAH14kYBbNIAwI5ywXgcwiCfFK231dH3nsnaPOonwHA14Ql6+hIkkJ3Gh8Gbv9R56QzqJ/8+yGvvum+AIn00rlE7+17o9PMcSnjzLRIGin++Q2uaZfPDKrzKfpWAF5f2xyO6FuIblEAMtew4XWyWx2qtqep7kjDrg8Mf+YUWLCKid+AAip7IfopTm8FzaSQx8ZddB24Xpr/r4uluUwzcAQMsu7c4QLz6AyiiSs6BjdhsD/mSv2MLgGC2pcQ+8dexXaF6mx9Z1ye35JWgndWKS9SzLYLZhfxDB4A9eSXFpKuMiJC74BGhi9plRXYaZ+Cbo2oRJNjLYCXeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UnmKLJxHm171zHTvy87Pdi",
      "input": {
        "note": "Gripper settled at 0.11, suggesting fur is held. Lifting to check the monkey comes along.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01UnmKLJxHm171zHTvy87Pdi",
      "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]: [-0.7818, 1.2957, 1.1381, -0.6975, -0.7589, -0.4938, 0.1072, -0.0124, 0.8772, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3222 left_y=-0.1436 left_z=0.2374 left_yaw=0.0756 left_pitch=-0.027 left_roll=0.1598 left_gripper=0.1072 right_x=0.2942 right_y=-0.0027 right_z=0.1859 right_yaw=-0.0038 right_pitch=-0.1199 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -5.6, 8.4308, 1.2088, -0.4225, 0.0464, 0.1197, -0.0889, -1.3744, 7.0632, 1.619, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86b230a293d2b3143da509dd52bfd8a1406b90b5555871bbd9ab81d4d6a8fdc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0660d046be69f9753be239fd3ce4dd1a40c47f9cb242904eb47d09fdb00a785f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f9fb4aef4c34db619aff3302239ddb34ba8866f697f3f7e61bdc6d0c02362ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 5.829 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]: [-0.7845, 1.6073, 0.5102, 0.2298, -0.7731, -0.485, 0.9956, -0.0124, 0.8772, 0.7391, -0.5407, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3176 left_y=-0.1376 left_z=0.0354 left_yaw=0.078 left_pitch=-0.0277 left_roll=0.1833 left_gripper=0.9956 right_x=0.2943 right_y=-0.0027 right_z=0.186 right_yaw=-0.0038 right_pitch=-0.1195 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [0.1573, -5.1897, 7.0769, 1.409, -0.2711, 0.1294, -0.1783, -0.1436, -1.6752, 6.9128, 1.6532, -0.0269, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7818, 1.6112, 0.5125, 0.231, -0.77, -0.4866, 0.106, -0.0124, 0.8772, 0.7391, -0.5407, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3183 left_y=-0.1377 left_z=0.0348 left_yaw=0.0795 left_pitch=-0.0296 left_roll=0.1808 left_gripper=0.106 right_x=0.2943 right_y=-0.0027 right_z=0.186 right_yaw=-0.0038 right_pitch=-0.1195 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -6.1197, 4.6701, 1.2674, -0.3736, 0.0073, 0.652, -0.0615, -1.4701, 6.9402, 1.6484, -0.0317, -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 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]: [-0.7818, 1.2957, 1.1381, -0.6975, -0.7589, -0.4938, 0.1072, -0.0124, 0.8772, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3222 left_y=-0.1436 left_z=0.2374 left_yaw=0.0756 left_pitch=-0.027 left_roll=0.1598 left_gripper=0.1072 right_x=0.2942 right_y=-0.0027 right_z=0.1859 right_yaw=-0.0038 right_pitch=-0.1199 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -5.6, 8.4308, 1.2088, -0.4225, 0.0464, 0.1197, -0.0889, -1.3744, 7.0632, 1.619, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86b230a293d2b3143da509dd52bfd8a1406b90b5555871bbd9ab81d4d6a8fdc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0660d046be69f9753be239fd3ce4dd1a40c47f9cb242904eb47d09fdb00a785f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f9fb4aef4c34db619aff3302239ddb34ba8866f697f3f7e61bdc6d0c02362ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5wMKjgEIEhgCKkBYj/eP7u4AYlgmtZYko4CUam3x5XCYPKoWzUJdfmoT4JQbNktyYfaicyHRggYsRxzO+ovGAcXReJWatvWtAum6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe//zNUGEgxTUx2FrvLE1XHZzdgaDHULwOj9VDqifLrDNyIwXBMa0BfDsTLoBcvhP0V0cmyW70QrxJRupGf+OTM4eQen7hQX9TIqFyZCWdMv2UGDKoUCZoaZ8JU1zNQFoBD/QGBEpSPRFflwVIm9x1hgI3vjamARR3qgB1Mr9Xqxv1xMCNbRvnzSIPRgVaNh3fGfqCScDwsQl0eP4rSTQ9d6WXhzNZCxzACnC+op3ucw5tVR3z5nqb3mrNAzKW8R9yOS11XNPPFek6zta8gy/RyUhIEW6qwzH49xoRHcegRZPyVH3cNc5cqq2TdRkXPLSmQwuJgYhh/SuxijDnc63NpRkwgobgApTUMl6YL/qVymoVyaxxsdoZYL9oQOJ9+wK6PH61swOHiHDFob2ABe2+7voHrDvgSWy+iVgR76ghwPu1GPIBBSMgAD/MJ2M9qwanlvxuXEDHNtQf3rGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AawfqxxdfS3rw8kWHymMFm",
      "input": {
        "note": "Monkey plush is securely hanging from the jaws. Carrying it forward over the left basket.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.1,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AawfqxxdfS3rw8kWHymMFm",
      "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]: [-0.4149, 1.5772, 1.3956, -0.5526, -0.5102, -0.2199, 0.1091, -0.0124, 0.8806, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.439 left_y=-0.0951 left_z=0.2407 left_yaw=0.1125 left_pitch=-0.0736 left_roll=0.1707 left_gripper=0.1091 right_x=0.2945 right_y=-0.0027 right_z=0.1849 right_yaw=-0.0038 right_pitch=-0.1233 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -7.9658, 9.306, 1.6825, -0.1001, 0.1685, 0.188, -0.1162, -2.0034, 6.8991, 1.6093, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c669f31ee2191976bd056e2f787e814c6f94799b369d8b6be6cb45f25f7409fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfc7478f7f953c6eb83c608fa222664ce94d41106969750d66153bbae6cb4862",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d640d2dcd16a59e5d52e4e2248f1cfae79de76d657964ce8a5d2d519ee316da",
        "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 · 9.306 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]: [-0.7818, 1.6112, 0.5125, 0.231, -0.77, -0.4866, 0.106, -0.0124, 0.8772, 0.7391, -0.5407, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3183 left_y=-0.1377 left_z=0.0348 left_yaw=0.0795 left_pitch=-0.0296 left_roll=0.1808 left_gripper=0.106 right_x=0.2943 right_y=-0.0027 right_z=0.186 right_yaw=-0.0038 right_pitch=-0.1195 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -6.1197, 4.6701, 1.2674, -0.3736, 0.0073, 0.652, -0.0615, -1.4701, 6.9402, 1.6484, -0.0317, -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 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]: [-0.7818, 1.2957, 1.1381, -0.6975, -0.7589, -0.4938, 0.1072, -0.0124, 0.8772, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3222 left_y=-0.1436 left_z=0.2374 left_yaw=0.0756 left_pitch=-0.027 left_roll=0.1598 left_gripper=0.1072 right_x=0.2942 right_y=-0.0027 right_z=0.1859 right_yaw=-0.0038 right_pitch=-0.1199 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -5.6, 8.4308, 1.2088, -0.4225, 0.0464, 0.1197, -0.0889, -1.3744, 7.0632, 1.619, -0.0464, -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 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]: [-0.4149, 1.5772, 1.3956, -0.5526, -0.5102, -0.2199, 0.1091, -0.0124, 0.8806, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.439 left_y=-0.0951 left_z=0.2407 left_yaw=0.1125 left_pitch=-0.0736 left_roll=0.1707 left_gripper=0.1091 right_x=0.2945 right_y=-0.0027 right_z=0.1849 right_yaw=-0.0038 right_pitch=-0.1233 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -7.9658, 9.306, 1.6825, -0.1001, 0.1685, 0.188, -0.1162, -2.0034, 6.8991, 1.6093, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c669f31ee2191976bd056e2f787e814c6f94799b369d8b6be6cb45f25f7409fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfc7478f7f953c6eb83c608fa222664ce94d41106969750d66153bbae6cb4862",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d640d2dcd16a59e5d52e4e2248f1cfae79de76d657964ce8a5d2d519ee316da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3QYKjgEIEhgCKkB/JnwBA5clr4xv8oNXUZb4C+7eZL4e9S85sT2LvfrM3QPfxWjO9lAYAB+7egefPxqHBK5AAV+KhUGoD9vlUnC6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAff/zNUGEgzQuTO/8uD2QQzODEgaDEPCp6ujbwpQW31yKCIwPWSdpgtJwnVM/0zyIJ9Ww49vqPbo9O/TbqrJXzdP8Mp1nQ+h2rzngRlbjrN+R0zNKvsEVV3kV2zZAZmInxVU3bk8X34d2GaJVBgOVA+Qwr153wDSQ8OmS8M1B+l7Y1TLF+qYMd0K1dlvFsOZaW411JTkX/Xmp52jndvuUXifWj7tlIWgOtOksCj9ie1jlaeTy588vQehmcTUw9JWyfjNWC405/GXMvTvQmZcJfKhou541oBWGBS5+S5o/8doM/ZDZ11hZsYiQnoIkj9mb+L+rcwbBEwkRxFjqrHQEWOoCRw92mVxTpGsBgRzJeR6SLBVbpVRVklegmfHLvsFUcGB8I5y2IaP15tSsJirI7C6WVZm+zoU9yDSQ3Bc8K3TEcXZwhJtNqzm+7EDw80pwAGOx5tDNFovgfrfyISayCNl2kjUOFI4K8yk/IUihGbOmabm1u1YvJ7UzTAE0eEije5xrAWRgOLfdkq7I1aBPvs8g77Y9xMIAahnRxfl5pE2/NwFolsdOI3mc0k+ehu+sKotAqU43jVCPLpbDK8SkV15jXoVi/1wV+wodLqfWYEkbQhehSg2UY3EjmvG2VtqMv1zDpVj1jLyKWJbbMnW1MTteefoGjurkCiEdOXtn9YxwpKcGpPyXY+ZLerGDME8VsV645TwdeEbQTdnsVT39lzuDcp27h1zVxIrMVypa0RAULfIF84y36LvmFV0eMY4593HKVgI+/zS4Z7kBlu5swvVSH4QAP2INc8qyHgA4t/RK+LG0B2sMAHx5KwLWKmYK5xhOICZees4j5U1xexkclZVrxIy9yFVcnP2alq6V5/X59RSzh8OcneWyPaU2+yJ8IM58owpUOzm11vNKhEQ27t8aHaCezGfVkrZt/6eWonTl1vIwQPfDM9+YhZociV3aUcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014fV2QG5CP4yTBamekTTwEt",
      "input": {
        "note": "Monkey is suspended over the left basket's interior; opening to release it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_014fV2QG5CP4yTBamekTTwEt",
      "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]: [-0.4118, 1.5917, 1.3994, -0.5594, -0.4969, -0.2253, 0.9953, -0.0124, 0.8814, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.4404 left_y=-0.0965 left_z=0.2343 left_yaw=0.1086 left_pitch=-0.0928 left_roll=0.1674 left_gripper=0.9953 right_x=0.2945 right_y=-0.0027 right_z=0.1847 right_yaw=-0.0038 right_pitch=-0.1241 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -8.9094, 6.5846, 1.6142, -0.3736, 0.0024, -0.0464, -0.1026, -1.8256, 6.9128, 1.6093, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c60ce9f64b9f7b5edbc8564592abaaaa53713a6e64b81843db0293e4f62fba6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2b0b60480bc8ab3518785b852976d24092ff7d1368c7bacdaf39edaee9c6e8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b634f634c34011eae4154f6914f7ca0721cf6a8956367b6de85c6cb6bcef1757",
        "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 · 4.796 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]: [-0.7818, 1.2957, 1.1381, -0.6975, -0.7589, -0.4938, 0.1072, -0.0124, 0.8772, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3222 left_y=-0.1436 left_z=0.2374 left_yaw=0.0756 left_pitch=-0.027 left_roll=0.1598 left_gripper=0.1072 right_x=0.2942 right_y=-0.0027 right_z=0.1859 right_yaw=-0.0038 right_pitch=-0.1199 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -5.6, 8.4308, 1.2088, -0.4225, 0.0464, 0.1197, -0.0889, -1.3744, 7.0632, 1.619, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4149, 1.5772, 1.3956, -0.5526, -0.5102, -0.2199, 0.1091, -0.0124, 0.8806, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.439 left_y=-0.0951 left_z=0.2407 left_yaw=0.1125 left_pitch=-0.0736 left_roll=0.1707 left_gripper=0.1091 right_x=0.2945 right_y=-0.0027 right_z=0.1849 right_yaw=-0.0038 right_pitch=-0.1233 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -7.9658, 9.306, 1.6825, -0.1001, 0.1685, 0.188, -0.1162, -2.0034, 6.8991, 1.6093, -0.0122, -0.0415, -0.0122]",
      "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]: [-0.4118, 1.5917, 1.3994, -0.5594, -0.4969, -0.2253, 0.9953, -0.0124, 0.8814, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.4404 left_y=-0.0965 left_z=0.2343 left_yaw=0.1086 left_pitch=-0.0928 left_roll=0.1674 left_gripper=0.9953 right_x=0.2945 right_y=-0.0027 right_z=0.1847 right_yaw=-0.0038 right_pitch=-0.1241 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -8.9094, 6.5846, 1.6142, -0.3736, 0.0024, -0.0464, -0.1026, -1.8256, 6.9128, 1.6093, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c60ce9f64b9f7b5edbc8564592abaaaa53713a6e64b81843db0293e4f62fba6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2b0b60480bc8ab3518785b852976d24092ff7d1368c7bacdaf39edaee9c6e8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b634f634c34011eae4154f6914f7ca0721cf6a8956367b6de85c6cb6bcef1757",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuQsKjgEIEhgCKkCb2skdz8czJmRnd+7h1ApRc1XhSS2D+AhEzGYXQT8pHLzjL2XNSTzAekg9FHGufM73EFUQkvItebvek7i5cJLvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYCAzdUGEgykxKXOQ0etUXgxUvgaDIUMZbDFGFa2XZPtYyIwyJkPzhJKNWJ3eCj3MKdWE7GJOniKLCL76oqN1ngAisEGYYElT+N5VB6TYLGui5OAKtcJ++H/g7L2jRUA8qfQMPCt8GgHK9jECmXia48otMbjoQisccaWChtzZn/hbX8lVWPpomiv0hiFhXeXvp3bxWZqnp5XEOpx8KfaK2RUdDy5g6xky/LnPTncQH5f86CZayHwYzqgMexteZyckze/k1q0AOWa4uJFU1vQbhCd87+QTa1aGAYYbQo5BbIMZZ7EhXOCKbwArkFMrvdruH0UuCOI9tlL1T/d1OXBtrcD+UHu95BkjZKS7Cv5GivVifSKbtCTz5LCN8Riqxp/PwXYuuLqNC3JJ4WBRRageNoZQLugAp+r4nu3OsCyIOYXn+GL3HLCKiQfC4BCRC5u2hzYYi8LIbgcN+MNWnEvaQMrUB7Bl2CKtrozoA4SXT8sCFKH6L113sMGIoX3ky+UmCz/JgEXxtfP/y6Jz7TmEPvpAGkBZ6ifTpktlskqYmiRyf6Jk2jd2AGQkNodufcszkK/f3/6Gjiza4dGkgLw5hD4VxpwLQwny/VOppK3S1hbFQxAKwVaSTrC9+yXhTDeEsY8X7SEiUkzcqXvFGQYRflm/rrhX+2VHpjGzKpxfWFLFb4b6qCKreiczFEgEdWh1uZgBDq/J1aXu9MTohYNvDwlZ6tjbb0bRc2j2wnmDLDS0ReFQKiIHqM8CaMfx5xler+T8GUWXVb0e5jHN+J0Xu5EaqfpkQOM2IHuwGt/sNnsPBBq88QWtqU/eDPzdIfniRv9SDpmgFKx+IR3QjsMxh/mFi09cyqnCSofuFwlw1xW/fZYggvAus5zKo8bjZoRP/IWC8dC6XU5nW5hLbdA70QJ16pVp08/eXal5K8UwCeWFS1V2j5R4SI7VwH3wd9AwT5RjSTpmXin8xTRb0CJCjErdvsQLMKMU0rPgts9/Pvx1VfrHNPETX9FtU2BvNkZbHDss9TxIZ8ZGKYjUhqPcgnng6nUvFmxDboCx8M/MP2RfRQBjm4BZeXqbu7Arf15vikv5LOpowzLKaX1bnL4W7iDbngm7cWR1McbFtxJYM/4N52JXnzDtpPfLLDqnRqxMaVxN0aB9l4wleblwZw/92auoAol0Wu0axeaFoTGH3vX4b2bvn/1DMR1qA9AJqZHK0v5t1fJFvQnpeTcifNt8NnOYeSIn3yk23I85DWeIqCUYMQqb2mHke5argBGP63flrs66JXB0XxlCKUA27m0vQ0azRAF/QzvelINdG1hJ8nqhLWW5B2//XvCQ+Qy5au+HJp4Nq+gxxGH+RVF+u0kMZosgk/jw2GTVuEFXxnP6OB/saOiZZuyWvY5QZ3p2aruweD8BucX51imoE8tMnb/YoYBSsphWnW3SR6pyMavSN7PqJ5uI34L8clRgQtb80JI7bQ1XtRzVsrsDKjvPaP/g63DSIURUj4PmmS7LZ6iHcS59skTP7tMBJgqvaKtiDxp/+18eLQV4vvmIzdh04/rg3AfsZBVe2p/WHMfGRDsUcfjzRwxUlRXANBeL/E00Fsh33w2V2shTpycjbylRLBTdSrIHvuucN4vh3puz6SmMf6b/pyuxlxXn73B/l+V40QIO8J4xA1FnWWwxlIPS8gOxrPan2DN5cUadS0VJI8TpzstzCOwq+T/IXcSz6aczQTun5uHFlEloYZn1V6hHvz5BwIMoOVy4FDw/A9EpSW8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017DX6frM7BnZiFW3vypEvaY",
      "input": {
        "note": "Monkey is in the left basket with the grey dog. Next target is the large tan teddy bear in the middle of the table; hovering over it with the left arm.",
        "targets": {
          "left_x": 0.34,
          "left_y": -0.19,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_017DX6frM7BnZiFW3vypEvaY",
      "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]: [-0.8253, 1.5486, 1.1877, -0.614, -0.7288, -0.572, 0.9967, -0.0124, 0.8829, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3454 left_y=-0.1954 left_z=0.1786 left_yaw=0.0604 left_pitch=-0.1151 left_roll=0.173 left_gripper=0.9967 right_x=0.2946 right_y=-0.0027 right_z=0.1843 right_yaw=-0.0038 right_pitch=-0.1256 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -7.665, 5.8872, 1.2772, -0.5739, -0.0659, 0.1343, -0.1573, -1.6752, 6.9128, 1.6337, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cbd14fc3b4314d97c0b2b814728e6815ce70f506718254a7d9a1573168e256b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0784fe7d50745d5db930a250f7481805720850617d347163e51577624174cc70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:03cc619968c74ad8dbc6a569e8d98cff8e77ebc2ec5320fb34e6becc37fa47a6",
        "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 · 5.904 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]: [-0.4149, 1.5772, 1.3956, -0.5526, -0.5102, -0.2199, 0.1091, -0.0124, 0.8806, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.439 left_y=-0.0951 left_z=0.2407 left_yaw=0.1125 left_pitch=-0.0736 left_roll=0.1707 left_gripper=0.1091 right_x=0.2945 right_y=-0.0027 right_z=0.1849 right_yaw=-0.0038 right_pitch=-0.1233 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [0.1436, -7.9658, 9.306, 1.6825, -0.1001, 0.1685, 0.188, -0.1162, -2.0034, 6.8991, 1.6093, -0.0122, -0.0415, -0.0122]",
      "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]: [-0.4118, 1.5917, 1.3994, -0.5594, -0.4969, -0.2253, 0.9953, -0.0124, 0.8814, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.4404 left_y=-0.0965 left_z=0.2343 left_yaw=0.1086 left_pitch=-0.0928 left_roll=0.1674 left_gripper=0.9953 right_x=0.2945 right_y=-0.0027 right_z=0.1847 right_yaw=-0.0038 right_pitch=-0.1241 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -8.9094, 6.5846, 1.6142, -0.3736, 0.0024, -0.0464, -0.1026, -1.8256, 6.9128, 1.6093, -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 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]: [-0.8253, 1.5486, 1.1877, -0.614, -0.7288, -0.572, 0.9967, -0.0124, 0.8829, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3454 left_y=-0.1954 left_z=0.1786 left_yaw=0.0604 left_pitch=-0.1151 left_roll=0.173 left_gripper=0.9967 right_x=0.2946 right_y=-0.0027 right_z=0.1843 right_yaw=-0.0038 right_pitch=-0.1256 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -7.665, 5.8872, 1.2772, -0.5739, -0.0659, 0.1343, -0.1573, -1.6752, 6.9128, 1.6337, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cbd14fc3b4314d97c0b2b814728e6815ce70f506718254a7d9a1573168e256b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0784fe7d50745d5db930a250f7481805720850617d347163e51577624174cc70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03cc619968c74ad8dbc6a569e8d98cff8e77ebc2ec5320fb34e6becc37fa47a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsgUKjgEIEhgCKkDF/DhO8pN3OlfPcmgo+aV1HOG3ImEvbTlhmwcYj1z00pMNVWwahRYwD+7X1//ruA9A+UC5EhvbbihdCBTfcnYtMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYaAzdUGEgxuwgqsh2ahou7I9hQaDOTl3bKTwRvifGP3SiIwc2D7/jobXAtGHupf0GWWb5so3exKX/lbx2FvkhRqtV8vwm6NC/AXyQlNBw1/nxwhKtADbNXgRTcz8L1Lpd3wwSXvVBlm5KvFnlTIhxXupCfQ6GB+/jlaVYWKXEKmKuuGrqpkoYObtlehq5iTr8mgtw11JzoWgC06Xa5R7XxlZ5gSjokPrW2L+HalsEk1VCTgNbC3SY90HACTTr6CPeDlN2kordvXbgBsuXu7NSjMJ74FSi+qiZZE6ttyXVf/qL9KEOn0zahSJ0C/EPoAWCewrmkBJtuCT+oRduEVIbl4ZVM4gTx0tRSMuYTTvwERrsKU1VV+k/S3c9nNaBE8lUkQlYdfTtcjjqLbqpKWuuqA0jut0wAlnVqhz/bSgjNGar1iVhgJ+63krNSagzvNEedVgx9IaWJ7RsbRTMEFghkJTMXDqepw22+7Qe7622vaj2SqgLZlMRMxOvzGm7BHizViknzUQpGouEudcqT7pOmLxJYaLZ7bA0/hdgXJZ9Z1+dCSKh/QifH/OC4lkW48QNHpsOAFeisnOZQkfoljyIgFkoPe00MShCGrBJum1M9wysBlYLmi4xTBOrjapkKLnPsiZX85cFIU5lcH1mJkepmvUTqTIftnemLltr82ikPE/0F1aYcK3IRWEcsPfCsfLP/4a8fdtoK1dGOGXczudRMHAoFmdwsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ALeXWupndESKdaucyxnyJQ",
      "input": {
        "note": "The bear appears at the right edge of the left wrist view, so it is further toward the table centre than I aimed; shifting the arm 11 cm that way.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.3,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01ALeXWupndESKdaucyxnyJQ",
      "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]: [-1.0584, 1.8511, 1.5372, -0.8627, -0.8135, -0.8501, 0.9968, -0.0124, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.32 left_y=-0.2997 left_z=0.1705 left_yaw=0.0418 left_pitch=-0.1363 left_roll=0.1676 left_gripper=0.9968 right_x=0.2947 right_y=-0.0027 right_z=0.1841 right_yaw=-0.0038 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -9.5521, 8.3487, 0.6325, -0.735, -0.0415, 0.0024, -0.1846, -1.7983, 6.9402, 1.6435, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1d7849a00a494a2f445096a6067062f3a5140b721374626dab60f07f6e950f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d3655ffc244f8d2fbea315110c3262a92fdc86f8590a6cf992f63c40dc168c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:334e5effad39a69aeb98c345b7a65927cecfaca8eeb924321c6b103fa004b6ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 2.757 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]: [-0.4118, 1.5917, 1.3994, -0.5594, -0.4969, -0.2253, 0.9953, -0.0124, 0.8814, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.4404 left_y=-0.0965 left_z=0.2343 left_yaw=0.1086 left_pitch=-0.0928 left_roll=0.1674 left_gripper=0.9953 right_x=0.2945 right_y=-0.0027 right_z=0.1847 right_yaw=-0.0038 right_pitch=-0.1241 right_roll=-0.0389 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -8.9094, 6.5846, 1.6142, -0.3736, 0.0024, -0.0464, -0.1026, -1.8256, 6.9128, 1.6093, -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 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]: [-0.8253, 1.5486, 1.1877, -0.614, -0.7288, -0.572, 0.9967, -0.0124, 0.8829, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3454 left_y=-0.1954 left_z=0.1786 left_yaw=0.0604 left_pitch=-0.1151 left_roll=0.173 left_gripper=0.9967 right_x=0.2946 right_y=-0.0027 right_z=0.1843 right_yaw=-0.0038 right_pitch=-0.1256 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -7.665, 5.8872, 1.2772, -0.5739, -0.0659, 0.1343, -0.1573, -1.6752, 6.9128, 1.6337, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0584, 1.8511, 1.5372, -0.8627, -0.8135, -0.8501, 0.9968, -0.0124, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.32 left_y=-0.2997 left_z=0.1705 left_yaw=0.0418 left_pitch=-0.1363 left_roll=0.1676 left_gripper=0.9968 right_x=0.2947 right_y=-0.0027 right_z=0.1841 right_yaw=-0.0038 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -9.5521, 8.3487, 0.6325, -0.735, -0.0415, 0.0024, -0.1846, -1.7983, 6.9402, 1.6435, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1d7849a00a494a2f445096a6067062f3a5140b721374626dab60f07f6e950f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d3655ffc244f8d2fbea315110c3262a92fdc86f8590a6cf992f63c40dc168c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:334e5effad39a69aeb98c345b7a65927cecfaca8eeb924321c6b103fa004b6ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAcKjgEIEhgCKkAVC5KCJkH0QlsES9AU2sBZi9O11jFrCbAHKXsFCAr3AJxxQsMeBOdWvl4k2tB5PIqIbSnp07ygFcc+zBKRerX4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY2AzdUGEgzBrV30K1V4+gi5YAIaDO47/+gNYrDt7JNfkCIwd0ssOr7r7t5k5t0J3aHrXyO7kvqUiqA8KQ/cUBGQYUigWr7hbwXSa1hoL1iOJZ5CKtIFVtcEotsEWKd8NFQYl/nYvIU2N4SpJywsMXh8w6bEfnj9ly8Zjyw2DMjPPRroJVw9f/3rKYyOVg8R0iWeS784sdhNzAiizHwWh7rMLq6+Om9+IJZOrpatNQNhOPdAfAXquqBJeRY6dlOlxQ4OiikR8cofaVt9auPzxSLWrXq99weRoSQKHhoIUvULT6Y40PrubAYoLhcFxcmGcNURnPXOGetd4MnNO6IQ2CqGOe3DHsxzTNyGl164BzvLGZ1VcYRFlK/5lWtzuq2lEuzWGBN6vp05T2CDVUG802CKR7lZobeX4YAknMxkUuEinXKrRk/G43DWXaF1teFQg7MFAl9Dm5XQhClcqDFEilKidfi7KdUXC53X3V/cqSUhHuXA2hcN4SHXacESusYyLmeWQq+r4Bimf7nvs3ZJpa3F8L9Wg/uy796UVF+LTgj354QPoAs0KINrHYP0txT0uK6NtRtT91GvZ9WC9EIGMNgaOpQB5Cx++89yu+7EQuQd3WX359u1W9MIF3rLkV6au4o1dxzBBKv22sh/qUQCpHH9LVcD25lFKZicsIv9AieWPinbbd7mBZHAxIJ76hAnQHZmvVyxokoe68t5ibXzMH+lQCTFjz11xdg1Yd5bo3WQGRZHPVvpg1NKzGTsrNvzQkv3c2dxd7WPzFzNHcFZLLVKIusW2UAoN7jejJE3guxTXcjsXvcHMCK/5Pw8AOR+jmos2Jv5TsTbjxUT/0cnBWtxv2vA00cyJZevvHvx9v4A1UZL7+JY0LaNf3SwRs19hAmFeuAKq1GYWwq6j5XD/YW2OoR712po3+UXH3kxP65bLYdu3Bx8N3xdpS/OUfbCeASgby1IPb0VZ/YOjDuHyGn5FiqFA5xU8E2hRisz5KJBXOGy/MK1dImX2W9dKrCFhbtDooSeSD7/r687IAU8KtE5R6QpCj0pH1ZZEC4n1iKEFMBjJZQqO/EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AXddoMLLtLQsPqHckQt5iF",
      "input": {
        "note": "The big teddy bear's head is centred just beyond the jaws; advancing 2.5 cm and descending onto its head/neck.",
        "targets": {
          "left_x": 0.345,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01AXddoMLLtLQsPqHckQt5iF",
      "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]: [-1.0107, 1.9823, 1.2922, -0.4061, -0.8047, -0.799, 0.9968, -0.0124, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.345 left_y=-0.3038 left_z=0.0731 left_yaw=0.0494 left_pitch=-0.1098 left_roll=0.1322 left_gripper=0.9968 right_x=0.2947 right_y=-0.0027 right_z=0.1841 right_yaw=-0.0038 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [0.5949, -8.0342, 4.3145, 0.5543, -0.2418, 0.1832, -0.0122, -0.0752, -1.7436, 6.9128, 1.6288, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:944ec5e0b269014fecb97fb9317685ff9a9a5655f1c4494516fac9944a52606c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:134f3a0d1fc537df3242c1b8316501fd74673b83f00db8cf608e7b14a6d480fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:88b56925800a47c81c600512329ea1595540a399808ea8fee469a74fba0436cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 10.25 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]: [-0.8253, 1.5486, 1.1877, -0.614, -0.7288, -0.572, 0.9967, -0.0124, 0.8829, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3454 left_y=-0.1954 left_z=0.1786 left_yaw=0.0604 left_pitch=-0.1151 left_roll=0.173 left_gripper=0.9967 right_x=0.2946 right_y=-0.0027 right_z=0.1843 right_yaw=-0.0038 right_pitch=-0.1256 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -7.665, 5.8872, 1.2772, -0.5739, -0.0659, 0.1343, -0.1573, -1.6752, 6.9128, 1.6337, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0584, 1.8511, 1.5372, -0.8627, -0.8135, -0.8501, 0.9968, -0.0124, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.32 left_y=-0.2997 left_z=0.1705 left_yaw=0.0418 left_pitch=-0.1363 left_roll=0.1676 left_gripper=0.9968 right_x=0.2947 right_y=-0.0027 right_z=0.1841 right_yaw=-0.0038 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -9.5521, 8.3487, 0.6325, -0.735, -0.0415, 0.0024, -0.1846, -1.7983, 6.9402, 1.6435, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0107, 1.9823, 1.2922, -0.4061, -0.8047, -0.799, 0.9968, -0.0124, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.345 left_y=-0.3038 left_z=0.0731 left_yaw=0.0494 left_pitch=-0.1098 left_roll=0.1322 left_gripper=0.9968 right_x=0.2947 right_y=-0.0027 right_z=0.1841 right_yaw=-0.0038 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [0.5949, -8.0342, 4.3145, 0.5543, -0.2418, 0.1832, -0.0122, -0.0752, -1.7436, 6.9128, 1.6288, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:944ec5e0b269014fecb97fb9317685ff9a9a5655f1c4494516fac9944a52606c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:134f3a0d1fc537df3242c1b8316501fd74673b83f00db8cf608e7b14a6d480fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88b56925800a47c81c600512329ea1595540a399808ea8fee469a74fba0436cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpgIKjgEIEhgCKkD22b62NxP2PnHcEbEr2IbwtJ3tJkNAu08Klo0Ag5xHpUoeMJqe37g/iATLykHsW6LHuraGOVRXD04l+QDdV3jkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZGAzdUGEgwAgc8GPZ/mDsWcg28aDIk5ZJT6NOu1BLunziIw5646rBvrM+ELt597xajwZjSxz+nx5/Mjeba4WmiS2m4vphiVQZ63AuuYCT48K2WkKkX7GInyQyFgk+zIniYUsD+lgWmUBhwXkgCa/dffB9tkTEzixIACdYQeAM26Qn9JPuYhiLbuuxE/6qJDpVXFn40KERgyzQ0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018FiRA9nmob5jqMcTdfPT2W",
      "input": {
        "note": "Resting on the teddy bear's head; closing the jaws to grab its head/ear.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018FiRA9nmob5jqMcTdfPT2W",
      "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]: [-1.0103, 2.0026, 1.2812, -0.3801, -0.8074, -0.8047, 0.2176, -0.0135, 0.8837, 0.7391, -0.5411, 0.0143, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3455 left_y=-0.3037 left_z=0.0637 left_yaw=0.0547 left_pitch=-0.1099 left_roll=0.1336 left_gripper=0.2176 right_x=0.2947 right_y=-0.0029 right_z=0.1841 right_yaw=-0.0047 right_pitch=-0.1264 right_roll=-0.0386 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -12.0821, 6.7214, 0.7546, -0.4127, 0.0415, 1.0232, -0.1299, -1.4974, 6.9128, 1.6093, -0.0611, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c3852544018e049f9298e011417a3bd6bc36e48a5e968534dc8a5c1d6aaef44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf15a138875774f3f0863e18913c626539f590d4e0d2afaeebe680191e70cfb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b5514f599bb184d8c7348c26e5d088435069576a4df887f25dc27f2491d85e7",
        "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 · 5.511 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]: [-1.0584, 1.8511, 1.5372, -0.8627, -0.8135, -0.8501, 0.9968, -0.0124, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.32 left_y=-0.2997 left_z=0.1705 left_yaw=0.0418 left_pitch=-0.1363 left_roll=0.1676 left_gripper=0.9968 right_x=0.2947 right_y=-0.0027 right_z=0.1841 right_yaw=-0.0038 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -9.5521, 8.3487, 0.6325, -0.735, -0.0415, 0.0024, -0.1846, -1.7983, 6.9402, 1.6435, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0107, 1.9823, 1.2922, -0.4061, -0.8047, -0.799, 0.9968, -0.0124, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.345 left_y=-0.3038 left_z=0.0731 left_yaw=0.0494 left_pitch=-0.1098 left_roll=0.1322 left_gripper=0.9968 right_x=0.2947 right_y=-0.0027 right_z=0.1841 right_yaw=-0.0038 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [0.5949, -8.0342, 4.3145, 0.5543, -0.2418, 0.1832, -0.0122, -0.0752, -1.7436, 6.9128, 1.6288, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0103, 2.0026, 1.2812, -0.3801, -0.8074, -0.8047, 0.2176, -0.0135, 0.8837, 0.7391, -0.5411, 0.0143, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3455 left_y=-0.3037 left_z=0.0637 left_yaw=0.0547 left_pitch=-0.1099 left_roll=0.1336 left_gripper=0.2176 right_x=0.2947 right_y=-0.0029 right_z=0.1841 right_yaw=-0.0047 right_pitch=-0.1264 right_roll=-0.0386 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -12.0821, 6.7214, 0.7546, -0.4127, 0.0415, 1.0232, -0.1299, -1.4974, 6.9128, 1.6093, -0.0611, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c3852544018e049f9298e011417a3bd6bc36e48a5e968534dc8a5c1d6aaef44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf15a138875774f3f0863e18913c626539f590d4e0d2afaeebe680191e70cfb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b5514f599bb184d8c7348c26e5d088435069576a4df887f25dc27f2491d85e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStwgKjgEIEhgCKkC/sRf+ZbZ1/hrrvX+oAIxmZiaSiDRY5A9q+OoIXseQV0i1GIXlyRMP8oB8xJtdFDEKA6qSkch8TDNsswDa2qpCMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZyAzdUGEgzQOpMgATKVAL1KLm8aDBN7dDABT8iEkd40QiIw8NQ5YbbUSUQdH2ugsBN2kN/D4nBftr2n7ezd3aBk15XUgmCNU9FVDR6c4eE7/0ksKtUGr+hCVtjgd/EUjR/xkpq35oLDmYHDOHrppbhHvFS856UFVpOiYH4S4B3VmSITH7CimZ+x8hrsMXc/xmwz0tcLCaCwfK3udu78VFwccT5ZO4nCnfV8UUxdD4d7+vRKbLb1342cFfMRFt6SY22yW62l0SGnc7E2Lu/7LqzLffRJBhcxVx9fLEVaii58sLcpUL1nqqQtSCiJectWNv6+P0ACvh2RmZ2Gvv8xoRMLjj2B1MgMH54ZMhF1uvfMoDynvFQONVb0EmZML+07RCRfZecBXrG2/dUdvf/uozgxE5ulw4ojs5MYnTpsjxILthkfXtsSsWiTw1qMN+dcSJdNBuXSRnxODLRQ4Etrsrq018lqSSaEGT/VMt+K+c8C2oViy9Lb56OLtMNuO0RTXfad1JNZlvogrA5xouhzaRfz+xbxHDZ5lTONYtKuvxaagkGb6foGrTTi6UYDs0tMtl+XuvNWibw9tLlm/2GNTQRkwfGa8FYMHI3jWe5+wn6z/dgqg1YgkocpiOH1VFpcbA7df4vvb3Zi6Rwtv94OaJfR6Tm7GeHmbs6dPfTePlCYQ1UNO2J1qcr7OG3Z6oBUTsrd+RA81NaMtVUk+MYT+iVYJKwyW+cNcjE0uxjVtjWki8vbH/FNTf0v9QfrMICmDVqGVxB+fu9tAgCSapQD6vVt/RNl08e0Opj7M3R3fOUzcAi/IcDmvs8aV7v830tKYNVxYM2Cs64unOJCl37C3aUKmfC16E5svKcKhxKe654NucrYq78O61Wttug0UuIFjjHg2GUkEjmpipOYFDlfn37UVS+Z3Y3Ik/TK2+SBJEH4pZhEqq2eRglayNM1ERHeiCtQmptEuclfABzzllAnADX+wUk6ErV+ZZx9naOFqOInn3MFWHFnyjWpgZZUDSgHpNVWtWt2VVgfiWD/GoL3V8PbsLbc1iNh9fuc17QrbAbt44hF83OnIRadkAdkMjhh9mLdlEkjhFijBAQn8fVaUGdAQeM756oEl6IRuhtNdRngQejbbBPoAliHRB3v1+RxPzhhCcLn0gC8a0Ryk7l5VakjFe+cMJBO7x1dZTBP33I3/rNgSOQupQfo2yjT0LSPxQG7vmHvSo4xa0WkHUQRMTmrpxZiVVNKcbppFhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N4CshccqPyixLQo9kDbYbY",
      "input": {
        "note": "Gripper settled at 0.22 holding the bear's head; lifting it clear of the table before carrying to the left basket.",
        "targets": {
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01N4CshccqPyixLQo9kDbYbY",
      "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]: [-1.0103, 1.9934, 2.2047, -1.2739, -0.7868, -0.823, 0.2181, -0.0135, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3482 left_y=-0.3128 left_z=0.2928 left_yaw=0.0501 left_pitch=-0.1057 left_roll=0.076 left_gripper=0.2181 right_x=0.2947 right_y=-0.003 right_z=0.1841 right_yaw=-0.005 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -9.5795, 7.2137, 0.7155, -0.6325, 0.188, 1.033, -0.212, -1.6889, 6.9402, 1.5995, -0.0122, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d592c95eb8986b87faeab7b8d737b74ae5c28614b77a9ec816e09c3e4efba0df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb4b7a7ee7f3aded2940111400886670f535449da8ff5cddd763f258a7e6f71c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09b6e45c732d07ca05cc5415a041bf2d988e07e114968bcf1c14068f6fefa699",
        "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 · 2.106 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]: [-1.0107, 1.9823, 1.2922, -0.4061, -0.8047, -0.799, 0.9968, -0.0124, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.345 left_y=-0.3038 left_z=0.0731 left_yaw=0.0494 left_pitch=-0.1098 left_roll=0.1322 left_gripper=0.9968 right_x=0.2947 right_y=-0.0027 right_z=0.1841 right_yaw=-0.0038 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [0.5949, -8.0342, 4.3145, 0.5543, -0.2418, 0.1832, -0.0122, -0.0752, -1.7436, 6.9128, 1.6288, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0103, 2.0026, 1.2812, -0.3801, -0.8074, -0.8047, 0.2176, -0.0135, 0.8837, 0.7391, -0.5411, 0.0143, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3455 left_y=-0.3037 left_z=0.0637 left_yaw=0.0547 left_pitch=-0.1099 left_roll=0.1336 left_gripper=0.2176 right_x=0.2947 right_y=-0.0029 right_z=0.1841 right_yaw=-0.0047 right_pitch=-0.1264 right_roll=-0.0386 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -12.0821, 6.7214, 0.7546, -0.4127, 0.0415, 1.0232, -0.1299, -1.4974, 6.9128, 1.6093, -0.0611, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0103, 1.9934, 2.2047, -1.2739, -0.7868, -0.823, 0.2181, -0.0135, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3482 left_y=-0.3128 left_z=0.2928 left_yaw=0.0501 left_pitch=-0.1057 left_roll=0.076 left_gripper=0.2181 right_x=0.2947 right_y=-0.003 right_z=0.1841 right_yaw=-0.005 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -9.5795, 7.2137, 0.7155, -0.6325, 0.188, 1.033, -0.212, -1.6889, 6.9402, 1.5995, -0.0122, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d592c95eb8986b87faeab7b8d737b74ae5c28614b77a9ec816e09c3e4efba0df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb4b7a7ee7f3aded2940111400886670f535449da8ff5cddd763f258a7e6f71c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09b6e45c732d07ca05cc5415a041bf2d988e07e114968bcf1c14068f6fefa699",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS+QUKjgEIEhgCKkCujP59vduG/gN1+Sma6LM9uhUFZhn597VZcjSZ2T/l4RKhEBQ2hPBYDVYDBPmLMEoWdt2aQox73DLQN/66GkL8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaOAzdUGEgym3b8sQ1yDekxFKuYaDNhe0yRWD8rNZW8rViIw+MdtyaeLQVMkmYPqZUcPB/7GmE4Q3qXzXydX0a8/pLn1k3Ax69z2tEpBSkYnJz3sKpcEq8BFZDh7H2GjjcOk5SnOEmeRUO9oGI84r+c0d0j543JwlTmV0zfEKVGqrKumXfgSwemCKo6rHk+j9jwGb21AeiH/34iFMvRY6BeCdEZLn9FAVpZy2mYf+a+cJpvLFAvllAGIPxTKiwKMnySjdlyPCNVOrgwe4oz3hX2FxNLadP+4i8pZFwDzcjuX2RYYqFeZRx9l7s+ER7oNX4AYk6DaFb0plF15g6AWCM44LF9KvxRYiIeg86VDD8h18VdIaDZpuoYgpTtrw0phlfH4LnXcXL5HyCn1huLVwU3H39BX/XksRVmxFRWQanQmiL6pEzsiZPDC/CrOsl6Ix/HGccQuKc0wlOgzh/P1dXafvePoAyk4H9seCytfCs5JjPeNSkn5grDsAfhzJNl4pyCGae857QJh/B076ECNiBwtL17uS4I6BtDVOJKCqe5Hz1dBSKLcXDmELs4NFTxdm7YkuUQg2GHyELA7TKrnt6HL3ZOpgvUnDOSqDAPfUiJuPfF7DR+1hCvxNqB7F4n8SHT/+A2Y5/Um7nBvwEeF7ZKA302QWSlaSq1IXV2go/ZnsHmkki3+R3tAl9dFwYUx1tg7LEVetC7+TJcwHmXGuo6Hu09LOgi3ZlLFuK/h41UwPbWPlrO/PIfehnk6e1EJPCNvJmqaG5sa5/Dv+uZDfSyrZ+qXsagu/Zv37S4JaEzQaS6ZBisS6aF34TY+fRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SByVDQc1QwJxUogHARPmPH",
      "input": {
        "note": "The big tan dog plush is lifted clear. Carrying it over the left basket (visible up-left in the wrist view).",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.15,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01SByVDQc1QwJxUogHARPmPH",
      "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]: [-0.4957, 1.8252, 1.8824, -0.9119, -0.4793, -0.3656, 0.2181, -0.0132, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.4596 left_y=-0.1519 left_z=0.2704 left_yaw=0.0931 left_pitch=-0.1762 left_roll=0.1024 left_gripper=0.2181 right_x=0.2947 right_y=-0.0029 right_z=0.1841 right_yaw=-0.0046 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -13.4222, 6.653, 1.7411, -0.2418, 0.1978, 1.0232, -0.1436, -1.7436, 7.1726, 1.6093, -0.0562, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14b946c7057f1a98fc884f46718e1b658ce31823d330038835601e7a93a5ef1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6992c69b1f6bd3edf759383d45cd763d9fb936bdb6aedd61102cb47f9a76126",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d53eba431a60672f734b9d3e98304bb64a35d8e53eb573b5deb6e040dd47be25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 18.97 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0103, 2.0026, 1.2812, -0.3801, -0.8074, -0.8047, 0.2176, -0.0135, 0.8837, 0.7391, -0.5411, 0.0143, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3455 left_y=-0.3037 left_z=0.0637 left_yaw=0.0547 left_pitch=-0.1099 left_roll=0.1336 left_gripper=0.2176 right_x=0.2947 right_y=-0.0029 right_z=0.1841 right_yaw=-0.0047 right_pitch=-0.1264 right_roll=-0.0386 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -12.0821, 6.7214, 0.7546, -0.4127, 0.0415, 1.0232, -0.1299, -1.4974, 6.9128, 1.6093, -0.0611, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0103, 1.9934, 2.2047, -1.2739, -0.7868, -0.823, 0.2181, -0.0135, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3482 left_y=-0.3128 left_z=0.2928 left_yaw=0.0501 left_pitch=-0.1057 left_roll=0.076 left_gripper=0.2181 right_x=0.2947 right_y=-0.003 right_z=0.1841 right_yaw=-0.005 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -9.5795, 7.2137, 0.7155, -0.6325, 0.188, 1.033, -0.212, -1.6889, 6.9402, 1.5995, -0.0122, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4957, 1.8252, 1.8824, -0.9119, -0.4793, -0.3656, 0.2181, -0.0132, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.4596 left_y=-0.1519 left_z=0.2704 left_yaw=0.0931 left_pitch=-0.1762 left_roll=0.1024 left_gripper=0.2181 right_x=0.2947 right_y=-0.0029 right_z=0.1841 right_yaw=-0.0046 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -13.4222, 6.653, 1.7411, -0.2418, 0.1978, 1.0232, -0.1436, -1.7436, 7.1726, 1.6093, -0.0562, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14b946c7057f1a98fc884f46718e1b658ce31823d330038835601e7a93a5ef1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6992c69b1f6bd3edf759383d45cd763d9fb936bdb6aedd61102cb47f9a76126",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d53eba431a60672f734b9d3e98304bb64a35d8e53eb573b5deb6e040dd47be25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpgIKjgEIEhgCKkAN4mR20V93NDzCI7ZEEb58J5dkfgQ4J3rGCEkzQpw+Z85j40pps5Smalxsq7ZbQfHMAHytV0aU/K8p+PABrjGwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaeAzdUGEgwtPrMnmP6TatKJZt0aDDoSSFP30f1ElCtxkSIwLYMxW5vYRwuiW6LuaMxfMAMDJytDmElmgxdh3uoyuGyyVosCmMEgbmyjhYyGW3rTKkXcyROMNTQh423JMTl/+FB6Dh1i8AiYs7jhq1TLFnA4T+FsdAXCaujM2NdBIKIBQUC0GoA5yIDbp2P+YV90bjXMub7C3l0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N3288XWmR7V86Ma9WH6kjC",
      "input": {
        "note": "Big plush dog is suspended over the left basket; releasing it in.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01N3288XWmR7V86Ma9WH6kjC",
      "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]: [-0.4942, 1.8252, 1.882, -0.9146, -0.4706, -0.3744, 0.9953, -0.0132, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.4592 left_y=-0.1524 left_z=0.2694 left_yaw=0.0929 left_pitch=-0.182 left_roll=0.0919 left_gripper=0.9953 right_x=0.2947 right_y=-0.0029 right_z=0.1841 right_yaw=-0.0046 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -9.4974, 6.4479, 1.4579, -0.3394, 0.0464, -0.1245, -0.1162, -1.7573, 6.9128, 1.6288, -0.0513, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:474785e23624848d8e6f8a82591e584b4e736c59932c6228b15a4689f878dec2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:651ae8860dc776b548e8c4525a73407a501d96750739c088946f53c800e1c462",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:54837dc040a5880ad8162a0108c87ebbc5a43eadf99d8a44ab2a9a3574fc86ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 8.242 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0103, 1.9934, 2.2047, -1.2739, -0.7868, -0.823, 0.2181, -0.0135, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.3482 left_y=-0.3128 left_z=0.2928 left_yaw=0.0501 left_pitch=-0.1057 left_roll=0.076 left_gripper=0.2181 right_x=0.2947 right_y=-0.003 right_z=0.1841 right_yaw=-0.005 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -9.5795, 7.2137, 0.7155, -0.6325, 0.188, 1.033, -0.212, -1.6889, 6.9402, 1.5995, -0.0122, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4957, 1.8252, 1.8824, -0.9119, -0.4793, -0.3656, 0.2181, -0.0132, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.4596 left_y=-0.1519 left_z=0.2704 left_yaw=0.0931 left_pitch=-0.1762 left_roll=0.1024 left_gripper=0.2181 right_x=0.2947 right_y=-0.0029 right_z=0.1841 right_yaw=-0.0046 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -13.4222, 6.653, 1.7411, -0.2418, 0.1978, 1.0232, -0.1436, -1.7436, 7.1726, 1.6093, -0.0562, -0.0366, -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]: [-0.4942, 1.8252, 1.882, -0.9146, -0.4706, -0.3744, 0.9953, -0.0132, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.4592 left_y=-0.1524 left_z=0.2694 left_yaw=0.0929 left_pitch=-0.182 left_roll=0.0919 left_gripper=0.9953 right_x=0.2947 right_y=-0.0029 right_z=0.1841 right_yaw=-0.0046 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -9.4974, 6.4479, 1.4579, -0.3394, 0.0464, -0.1245, -0.1162, -1.7573, 6.9128, 1.6288, -0.0513, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:474785e23624848d8e6f8a82591e584b4e736c59932c6228b15a4689f878dec2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:651ae8860dc776b548e8c4525a73407a501d96750739c088946f53c800e1c462",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54837dc040a5880ad8162a0108c87ebbc5a43eadf99d8a44ab2a9a3574fc86ee",
        "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_01HNHQ8FSH9EKia5VX2bV5wt",
      "input": {
        "note": "Two plush toys are in the left basket but the big tan dog landed back on the table. With limited moves left I'll now sort the pens: moving the right arm over the two markers lying beside the right basket, and retracting the left arm out of the way.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.25,
          "right_x": 0.28,
          "right_y": 0.07,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01HNHQ8FSH9EKia5VX2bV5wt",
      "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]: [-0.4202, 1.1198, 1.1648, -0.87, -0.4274, -0.3283, 0.9968, 0.4412, 0.9249, 0.5179, -0.3634, 0.3302, 0.2291, 0.9997]\nstate[eef_state]: left_x=0.3086 left_y=-0.0538 left_z=0.2512 left_yaw=0.1053 left_pitch=-0.1735 left_roll=0.0813 left_gripper=0.9968 right_x=0.2762 right_y=0.0711 right_z=0.1159 right_yaw=0.0329 right_pitch=-0.1604 right_roll=-0.0514 right_gripper=0.9997\nstate[joint_eff]: [0.2393, -3.1932, 6.5983, 1.5653, -0.188, 0.1636, 0.1343, 0.294, -1.894, 6.7214, 1.7509, 0.3199, 0.149, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:965354131f0facb6acd3a313be458ea7aa56c2e0559604623f23e10f244d8f32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:423cf8ae789d60ccc6e8c9cd6e6cab80b8b31111127ccf3e6b71c55c64122abb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e2d548a8dfe38897fd3b6e4216905d6ce5233208cbd85a4a2026d55a2cc5f953",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 2.542 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]: [-0.4957, 1.8252, 1.8824, -0.9119, -0.4793, -0.3656, 0.2181, -0.0132, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.4596 left_y=-0.1519 left_z=0.2704 left_yaw=0.0931 left_pitch=-0.1762 left_roll=0.1024 left_gripper=0.2181 right_x=0.2947 right_y=-0.0029 right_z=0.1841 right_yaw=-0.0046 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -13.4222, 6.653, 1.7411, -0.2418, 0.1978, 1.0232, -0.1436, -1.7436, 7.1726, 1.6093, -0.0562, -0.0366, -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]: [-0.4942, 1.8252, 1.882, -0.9146, -0.4706, -0.3744, 0.9953, -0.0132, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.4592 left_y=-0.1524 left_z=0.2694 left_yaw=0.0929 left_pitch=-0.182 left_roll=0.0919 left_gripper=0.9953 right_x=0.2947 right_y=-0.0029 right_z=0.1841 right_yaw=-0.0046 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -9.4974, 6.4479, 1.4579, -0.3394, 0.0464, -0.1245, -0.1162, -1.7573, 6.9128, 1.6288, -0.0513, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4202, 1.1198, 1.1648, -0.87, -0.4274, -0.3283, 0.9968, 0.4412, 0.9249, 0.5179, -0.3634, 0.3302, 0.2291, 0.9997]\nstate[eef_state]: left_x=0.3086 left_y=-0.0538 left_z=0.2512 left_yaw=0.1053 left_pitch=-0.1735 left_roll=0.0813 left_gripper=0.9968 right_x=0.2762 right_y=0.0711 right_z=0.1159 right_yaw=0.0329 right_pitch=-0.1604 right_roll=-0.0514 right_gripper=0.9997\nstate[joint_eff]: [0.2393, -3.1932, 6.5983, 1.5653, -0.188, 0.1636, 0.1343, 0.294, -1.894, 6.7214, 1.7509, 0.3199, 0.149, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:965354131f0facb6acd3a313be458ea7aa56c2e0559604623f23e10f244d8f32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:423cf8ae789d60ccc6e8c9cd6e6cab80b8b31111127ccf3e6b71c55c64122abb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2d548a8dfe38897fd3b6e4216905d6ce5233208cbd85a4a2026d55a2cc5f953",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISsAkKjgEIEhgCKkBUNEB6vFtYNps0plyFsZGojtoZTORemS+Eyo7KTP3Auh+jMLrg/a5CnzkBLZpfFUAGu5njshS/UoKmzvJRwmt5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcOAzdUGEgzlYfITgvKOIRakXakaDBLLW1zSQq5PDBhBCyIwE4po1ekqeibLg018JwoixnKn9iWmOKze4e2OcE6yOp6WUaWuKlnfHdW1yso5oi3pKs4HCVOCLTn8O899tvBNJoz16ykuECavS2GBi5yry9womTv3r5IbbYg2G7lGoUwbWDf9JcxhCb7zJ8OlyFRZvwDGhcuvJeakkRstOZBeQ8oztrtMdGQvpbLMlAcmM5rYvJ7JTi4+gd73t9aHfktH5SLtflj4zd9YAS+BcXND8/o5re/qu9Y7hq+WlBvlH/wonVuxsoTKPanJydcFP5dp+XDw+UENjuyEdyn4m6G62styIY9ZFSaxoBQvAvRh+4c1CZ0qw+S47NoWCSpOZIBQ70TFzAs/7T1m/bRESjzszdO6qcymNlfpqY63tjjoH4vLq2ay9QevEyGDchzyuToeOlADMgEW7jQi2pqem6axbJqQNAwY3XabXzukkDWt20g3691yrnaMA8QM6TRv9iAr9k/BF10JVwxDbD/DqgZ4BV5N5EbrnliuZE0/BgbpApBfp2bwpnx+dqoklvmQcHhBbZCDbmuIR8iBJaBClRxXC8I+APeXF+CS0TT7kK9u+eoBGcWiUvo4dNB5FbervX0uf6WOf8jJavHCOcgY0FLstZWtD82w84tvuTuikfJ/gvy+q147E280E5oZgS2Fa8EadQfCkelHsd0caIDilAvpvLd696zlorj7FMVRF9SXLLcRqJxbxW/TXxaw/17pSfKJkSQIwYa5K8HIC33Z6MfrCz0puW5w2QGLeV3ar0SBis0w8BFlZG5yKdZUpx9+l4oIavCqCcnXs8+/m2By6h2U/5/PonB+iZIJnfmrvITJJ19IDj5h6D+avLENL6u2S6O4lGP7tC1DruzgkpFHTTREJtCzinStUnHngXaY7P8PRWv7WdH2Q/9+xpvtlYaQUTXhHOt2093FfGDXktJe2PtEGFjHccswKPiodYTmGPi/OsCp60WSOLu6tzhnv3t8gojDm6QqYhJFnzmbZ0nRetGHdXUdMqetXcThDui47kYwOdQ0xoGsHmImsWYFDaXjjnSETvUlgXRIXGlaAZW5/7ygWm6JgL6whB7njrHQc03k76fvO/QD9MZb/hkIUmXQmc3UlD1lJ1RsJAqD9TP3Hvp2SrAzsASyaj0Y8HGzxZQCV/vdjVYlPokq3swN4vIjNX1G0zAyTRVYzmU7U5smBSxuCVoLlUzKuF0+cJZ9zKa7HFu8ir19T5JEz992YeS2aJQhu9BXt8IWXzStWniiM30nGVr32382KCMKd5/oUiAW5QYKlr3SbGXaGT24/6wBDmMzDF/TOhooQT9nrtdqDJw3OCz7XJDzuph7/tyRrU+FhQjSrNSSx02vL9kkEe8/l5mtYCUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cf47iGnghjTXwR6wsXskQJ",
      "input": {
        "note": "The black marker lies right on the jaw column in the right wrist view; advancing 2 cm and lowering to table level to grasp it across its middle.",
        "targets": {
          "right_x": 0.3,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Cf47iGnghjTXwR6wsXskQJ",
      "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]: [-0.4175, 1.1278, 1.1515, -0.8749, -0.4187, -0.3294, 0.9968, 0.3916, 1.4044, 0.2691, 0.392, 0.2905, 0.2024, 0.9997]\nstate[eef_state]: left_x=0.3075 left_y=-0.0539 left_z=0.2423 left_yaw=0.1041 left_pitch=-0.1995 left_roll=0.0881 left_gripper=0.9968 right_x=0.3048 right_y=0.075 right_z=0.0137 right_yaw=0.0319 right_pitch=-0.1462 right_roll=-0.036 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -3.6444, 7.5556, 1.5165, -0.2662, -0.0122, -0.0024, -0.6906, -2.441, 2.5915, 0.0513, 0.1099, -0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:313fc8f54d0b6e6e3324652702f34daeaf71ecb4b240e2c60fb8e51c31d50289",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69c50b2e3e1447898b4aaa74ab70c2178aefb496fcc905f601bc5114939f7b59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7746f11edaf518feb6e9f32d4483adf25d5f23a130721afef3ad2621a7988d7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 13.33 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]: [-0.4942, 1.8252, 1.882, -0.9146, -0.4706, -0.3744, 0.9953, -0.0132, 0.8837, 0.7391, -0.5411, 0.0147, -0.046, 0.9997]\nstate[eef_state]: left_x=0.4592 left_y=-0.1524 left_z=0.2694 left_yaw=0.0929 left_pitch=-0.182 left_roll=0.0919 left_gripper=0.9953 right_x=0.2947 right_y=-0.0029 right_z=0.1841 right_yaw=-0.0046 right_pitch=-0.1264 right_roll=-0.0388 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -9.4974, 6.4479, 1.4579, -0.3394, 0.0464, -0.1245, -0.1162, -1.7573, 6.9128, 1.6288, -0.0513, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4202, 1.1198, 1.1648, -0.87, -0.4274, -0.3283, 0.9968, 0.4412, 0.9249, 0.5179, -0.3634, 0.3302, 0.2291, 0.9997]\nstate[eef_state]: left_x=0.3086 left_y=-0.0538 left_z=0.2512 left_yaw=0.1053 left_pitch=-0.1735 left_roll=0.0813 left_gripper=0.9968 right_x=0.2762 right_y=0.0711 right_z=0.1159 right_yaw=0.0329 right_pitch=-0.1604 right_roll=-0.0514 right_gripper=0.9997\nstate[joint_eff]: [0.2393, -3.1932, 6.5983, 1.5653, -0.188, 0.1636, 0.1343, 0.294, -1.894, 6.7214, 1.7509, 0.3199, 0.149, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4175, 1.1278, 1.1515, -0.8749, -0.4187, -0.3294, 0.9968, 0.3916, 1.4044, 0.2691, 0.392, 0.2905, 0.2024, 0.9997]\nstate[eef_state]: left_x=0.3075 left_y=-0.0539 left_z=0.2423 left_yaw=0.1041 left_pitch=-0.1995 left_roll=0.0881 left_gripper=0.9968 right_x=0.3048 right_y=0.075 right_z=0.0137 right_yaw=0.0319 right_pitch=-0.1462 right_roll=-0.036 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -3.6444, 7.5556, 1.5165, -0.2662, -0.0122, -0.0024, -0.6906, -2.441, 2.5915, 0.0513, 0.1099, -0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:313fc8f54d0b6e6e3324652702f34daeaf71ecb4b240e2c60fb8e51c31d50289",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69c50b2e3e1447898b4aaa74ab70c2178aefb496fcc905f601bc5114939f7b59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7746f11edaf518feb6e9f32d4483adf25d5f23a130721afef3ad2621a7988d7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgAMKjgEIEhgCKkDxlJIknNcYf/FaX5LLx3ODo0NihK9uZqH041q0GF3f3UnirPqa3yzDnSwIld3FhRiumcf8zkuwf7Ae8IZ245buMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAceAzdUGEgxqyclhdI/vRZwwLJYaDKdBmVgEhIEw4fqNHiIwt2TxvC0eZX9HbUimP1Lyrf6IkB8n5v2cp72rSyE7mGXtBzTnvrl+9Hgk4YqEIqvYKp4BYqzaCbXkRBhlzyGsjQvL2Xzao7LpMPDmb4rrZJhXI280nbFEfoydFA4yTrIaV/ceoQq9k7gK09dLBFC+HxuC1tCvcrWGmm+L2llgbvTPeP97w2S9cjAptF9ifAMVmqZxc0hYdh6Z1baIaRrA719cgM0GD+/RhzjbYFp986mIQ9HWNOrRU/n3GudAqdHEa0p61rLCrxcqzTHoIqqfy3UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VmLXKeyadEAQybFeZFrn9v",
      "input": {
        "note": "The jaws are at table level straddling the black marker; closing to pick it up.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VmLXKeyadEAQybFeZFrn9v",
      "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]: [-0.4175, 1.1278, 1.1515, -0.8742, -0.4179, -0.3294, 0.9968, 0.3912, 1.4136, 0.2607, 0.4145, 0.2829, 0.1993, 0.1369]\nstate[eef_state]: left_x=0.3076 left_y=-0.0541 left_z=0.2424 left_yaw=0.1034 left_pitch=-0.1991 left_roll=0.0872 left_gripper=0.9968 right_x=0.3043 right_y=0.0761 right_z=0.012 right_yaw=0.0398 right_pitch=-0.1434 right_roll=-0.0318 right_gripper=0.1369\nstate[joint_eff]: [-0.0889, -3.2068, 6.6667, 1.4237, -0.2027, -0.0171, -0.0122, -0.253, -4.7658, 5.4906, 1.3748, 0.1148, 0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bfa4d243e2fa8172dc62a0a123b63b406e37b536ae4baa106353cd31d97dbb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:365258a88329f41bdfcab62529b56633f5ee4bb32c6463be059f0224394c9c6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ebc6a7510819f325c605c68fbdd961220081fb0c43fbeb0f83790c7bcbf35b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 4.667 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]: [-0.4202, 1.1198, 1.1648, -0.87, -0.4274, -0.3283, 0.9968, 0.4412, 0.9249, 0.5179, -0.3634, 0.3302, 0.2291, 0.9997]\nstate[eef_state]: left_x=0.3086 left_y=-0.0538 left_z=0.2512 left_yaw=0.1053 left_pitch=-0.1735 left_roll=0.0813 left_gripper=0.9968 right_x=0.2762 right_y=0.0711 right_z=0.1159 right_yaw=0.0329 right_pitch=-0.1604 right_roll=-0.0514 right_gripper=0.9997\nstate[joint_eff]: [0.2393, -3.1932, 6.5983, 1.5653, -0.188, 0.1636, 0.1343, 0.294, -1.894, 6.7214, 1.7509, 0.3199, 0.149, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4175, 1.1278, 1.1515, -0.8749, -0.4187, -0.3294, 0.9968, 0.3916, 1.4044, 0.2691, 0.392, 0.2905, 0.2024, 0.9997]\nstate[eef_state]: left_x=0.3075 left_y=-0.0539 left_z=0.2423 left_yaw=0.1041 left_pitch=-0.1995 left_roll=0.0881 left_gripper=0.9968 right_x=0.3048 right_y=0.075 right_z=0.0137 right_yaw=0.0319 right_pitch=-0.1462 right_roll=-0.036 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -3.6444, 7.5556, 1.5165, -0.2662, -0.0122, -0.0024, -0.6906, -2.441, 2.5915, 0.0513, 0.1099, -0.1197, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4175, 1.1278, 1.1515, -0.8742, -0.4179, -0.3294, 0.9968, 0.3912, 1.4136, 0.2607, 0.4145, 0.2829, 0.1993, 0.1369]\nstate[eef_state]: left_x=0.3076 left_y=-0.0541 left_z=0.2424 left_yaw=0.1034 left_pitch=-0.1991 left_roll=0.0872 left_gripper=0.9968 right_x=0.3043 right_y=0.0761 right_z=0.012 right_yaw=0.0398 right_pitch=-0.1434 right_roll=-0.0318 right_gripper=0.1369\nstate[joint_eff]: [-0.0889, -3.2068, 6.6667, 1.4237, -0.2027, -0.0171, -0.0122, -0.253, -4.7658, 5.4906, 1.3748, 0.1148, 0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bfa4d243e2fa8172dc62a0a123b63b406e37b536ae4baa106353cd31d97dbb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:365258a88329f41bdfcab62529b56633f5ee4bb32c6463be059f0224394c9c6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ebc6a7510819f325c605c68fbdd961220081fb0c43fbeb0f83790c7bcbf35b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PzGY6nZyETMstHL5Mx4tY1",
      "input": {
        "note": "Gripper settled at 0.137 — the marker's diameter — so the pen is held. Lifting and carrying it toward the empty right basket.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.17,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01PzGY6nZyETMstHL5Mx4tY1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4175, 1.1278, 1.1515, -0.8745, -0.4183, -0.3302, 0.9968, 0.5148, 1.6016, 1.454, -0.6109, 0.3588, 0.2707, 0.1372]\nstate[eef_state]: left_x=0.3076 left_y=-0.054 left_z=0.2424 left_yaw=0.1042 left_pitch=-0.1992 left_roll=0.0871 left_gripper=0.9968 right_x=0.4207 right_y=0.1708 right_z=0.2373 right_yaw=0.0615 right_pitch=-0.1405 right_roll=-0.0327 right_gripper=0.1372\nstate[joint_eff]: [-0.1846, -3.2205, 6.5436, 1.4383, -0.2027, -0.0415, -0.0122, 0.5402, -7.9932, 8.8684, 1.2234, 0.3053, 0.1587, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57c0572a665ac923b36a77f70d4a1a3b138037efe6a0b0e1bc6b0f028a640081",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9f177f99a6c2f24464f435781f4c0df02070fd8ee4092d6fa67c1236a14ba89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aa8ed4b456db5b05caa5b50166928adcaf5565c0cdb6746bebf84512f2805bc5",
        "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 · 2.886 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]: [-0.4175, 1.1278, 1.1515, -0.8749, -0.4187, -0.3294, 0.9968, 0.3916, 1.4044, 0.2691, 0.392, 0.2905, 0.2024, 0.9997]\nstate[eef_state]: left_x=0.3075 left_y=-0.0539 left_z=0.2423 left_yaw=0.1041 left_pitch=-0.1995 left_roll=0.0881 left_gripper=0.9968 right_x=0.3048 right_y=0.075 right_z=0.0137 right_yaw=0.0319 right_pitch=-0.1462 right_roll=-0.036 right_gripper=0.9997\nstate[joint_eff]: [-0.4171, -3.6444, 7.5556, 1.5165, -0.2662, -0.0122, -0.0024, -0.6906, -2.441, 2.5915, 0.0513, 0.1099, -0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4175, 1.1278, 1.1515, -0.8742, -0.4179, -0.3294, 0.9968, 0.3912, 1.4136, 0.2607, 0.4145, 0.2829, 0.1993, 0.1369]\nstate[eef_state]: left_x=0.3076 left_y=-0.0541 left_z=0.2424 left_yaw=0.1034 left_pitch=-0.1991 left_roll=0.0872 left_gripper=0.9968 right_x=0.3043 right_y=0.0761 right_z=0.012 right_yaw=0.0398 right_pitch=-0.1434 right_roll=-0.0318 right_gripper=0.1369\nstate[joint_eff]: [-0.0889, -3.2068, 6.6667, 1.4237, -0.2027, -0.0171, -0.0122, -0.253, -4.7658, 5.4906, 1.3748, 0.1148, 0.0317, 1.0281]",
      "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]: [-0.4175, 1.1278, 1.1515, -0.8745, -0.4183, -0.3302, 0.9968, 0.5148, 1.6016, 1.454, -0.6109, 0.3588, 0.2707, 0.1372]\nstate[eef_state]: left_x=0.3076 left_y=-0.054 left_z=0.2424 left_yaw=0.1042 left_pitch=-0.1992 left_roll=0.0871 left_gripper=0.9968 right_x=0.4207 right_y=0.1708 right_z=0.2373 right_yaw=0.0615 right_pitch=-0.1405 right_roll=-0.0327 right_gripper=0.1372\nstate[joint_eff]: [-0.1846, -3.2205, 6.5436, 1.4383, -0.2027, -0.0415, -0.0122, 0.5402, -7.9932, 8.8684, 1.2234, 0.3053, 0.1587, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57c0572a665ac923b36a77f70d4a1a3b138037efe6a0b0e1bc6b0f028a640081",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9f177f99a6c2f24464f435781f4c0df02070fd8ee4092d6fa67c1236a14ba89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa8ed4b456db5b05caa5b50166928adcaf5565c0cdb6746bebf84512f2805bc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvQQKjgEIEhgCKkC6pWxQ1PfhfeJUWwA82VHDRq8+qdzs8j7Xz/P5Qdq4QJQdp9mPs35fB6b86kIUoYDiVF/opWSQPMCb5+S04VRGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAduAzdUGEgwe48pcX6p3k5gjkhoaDIZxTxDvUioV1VuL+SIwjeTtq/m2BflHnZ7g8r2+PBhxqlc+RnPxV5KYo3tnw3u9NW1JmvCSkcuIma8ox2FFKtsCm1AD3gFZhQQo1O/0/8sTYnNxvmQfrHqN/BLBZudnlUTTiPBQxHykB2LloXtj8BMtiaR4k77eODVCbaLKy6qcQr5gl/NHrsT2hhCWDnkh7BkJoU6gk6OP41Lcmca55rGzueEUJOZIGGrXb1h9LeEvG8YPW7C76FVKzJueJrfZULC8/zouAqTCEvtDH9M3dkjEYfkIXT9zWPahm5MQMGdyoh5pLu+GqND+wZzQgVuZrlT2Vj38XPOdFFjVpLbOG2W5kPb98cb7FTQ88H5w0C2wjxusXLCnHThX8t141wMsv0jZebEfY+DMf/Ix0eHrXA/6w+G8rFW6FJTQZef0v2q7+r6v4hN1W2+ALx6TUD2iYUuCkwP1O1JW+U3gQ+wN2stPvD9SuSoO1EhmeM8igmzoh3n2Q21Agu4A5EiQDqvcCba0tjyfG+3SGc+1SGl4KQzqndudmQdw7VppE+EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016cBahgGT73rcpBxWS4re4A",
      "input": {
        "note": "Marker is held vertically; the right basket sits to the image-left, so shifting 10 cm toward it before releasing.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_016cBahgGT73rcpBxWS4re4A",
      "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]: [-0.4175, 1.1278, 1.1515, -0.8749, -0.4183, -0.3325, 0.9968, 0.6952, 1.8931, 1.7817, -0.7288, 0.4622, 0.3855, 0.1372]\nstate[eef_state]: left_x=0.3075 left_y=-0.054 left_z=0.2423 left_yaw=0.1055 left_pitch=-0.1994 left_roll=0.0856 left_gripper=0.9968 right_x=0.4368 right_y=0.2665 right_z=0.225 right_yaw=0.0916 right_pitch=-0.1709 right_roll=-0.0514 right_gripper=0.1372\nstate[joint_eff]: [-0.0752, -3.2479, 6.4889, 1.4335, -0.2515, 0.0073, -0.0122, 0.4308, -10.0991, 9.4701, 1.2821, 0.3687, 0.1929, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93ef0084973092c693962007291ad71fc31a9f8efba2911f98472bf5e668f05f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:212c4f8c35da82ff5eaf5ed635e1859b499b4f404717a03c1f9289cbb28db886",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee52d66e3694d937268d9f6566c546c8fbccbfe3e341b64150d78d2e9a476f81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 10.87 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]: [-0.4175, 1.1278, 1.1515, -0.8742, -0.4179, -0.3294, 0.9968, 0.3912, 1.4136, 0.2607, 0.4145, 0.2829, 0.1993, 0.1369]\nstate[eef_state]: left_x=0.3076 left_y=-0.0541 left_z=0.2424 left_yaw=0.1034 left_pitch=-0.1991 left_roll=0.0872 left_gripper=0.9968 right_x=0.3043 right_y=0.0761 right_z=0.012 right_yaw=0.0398 right_pitch=-0.1434 right_roll=-0.0318 right_gripper=0.1369\nstate[joint_eff]: [-0.0889, -3.2068, 6.6667, 1.4237, -0.2027, -0.0171, -0.0122, -0.253, -4.7658, 5.4906, 1.3748, 0.1148, 0.0317, 1.0281]",
      "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]: [-0.4175, 1.1278, 1.1515, -0.8745, -0.4183, -0.3302, 0.9968, 0.5148, 1.6016, 1.454, -0.6109, 0.3588, 0.2707, 0.1372]\nstate[eef_state]: left_x=0.3076 left_y=-0.054 left_z=0.2424 left_yaw=0.1042 left_pitch=-0.1992 left_roll=0.0871 left_gripper=0.9968 right_x=0.4207 right_y=0.1708 right_z=0.2373 right_yaw=0.0615 right_pitch=-0.1405 right_roll=-0.0327 right_gripper=0.1372\nstate[joint_eff]: [-0.1846, -3.2205, 6.5436, 1.4383, -0.2027, -0.0415, -0.0122, 0.5402, -7.9932, 8.8684, 1.2234, 0.3053, 0.1587, 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 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]: [-0.4175, 1.1278, 1.1515, -0.8749, -0.4183, -0.3325, 0.9968, 0.6952, 1.8931, 1.7817, -0.7288, 0.4622, 0.3855, 0.1372]\nstate[eef_state]: left_x=0.3075 left_y=-0.054 left_z=0.2423 left_yaw=0.1055 left_pitch=-0.1994 left_roll=0.0856 left_gripper=0.9968 right_x=0.4368 right_y=0.2665 right_z=0.225 right_yaw=0.0916 right_pitch=-0.1709 right_roll=-0.0514 right_gripper=0.1372\nstate[joint_eff]: [-0.0752, -3.2479, 6.4889, 1.4335, -0.2515, 0.0073, -0.0122, 0.4308, -10.0991, 9.4701, 1.2821, 0.3687, 0.1929, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93ef0084973092c693962007291ad71fc31a9f8efba2911f98472bf5e668f05f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:212c4f8c35da82ff5eaf5ed635e1859b499b4f404717a03c1f9289cbb28db886",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee52d66e3694d937268d9f6566c546c8fbccbfe3e341b64150d78d2e9a476f81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS1wIKjgEIEhgCKkBH/bIqTcMOhlUp1zsIQPezYJDhGcZd/MMgwCOlpp+D1OxmRkl5toojeUhrUxksondEHIbro5XCmhQ5nPjT3Y4MMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd+AzdUGEgz5T5Wg4iyMHd7NcKgaDM8+USbui2cADvMUhyIw3IJ3FWMxdnoHpzXipOwmoWglLfyz0vukYrp77xCAQB3itM+93wfVA5QZqUpET2ogKnZuZW5DpcfQQll7jfvWudcUI3+l1nGem0122Q6QRMXFIsnXQQe01RN7NLDaIS+A9GIYFv3WAp40ATM6uJbFrmqEtdZYAHyV+nQkRAlyPIQprsl2pJ1c+rrUR/97WLuRjXKsnmk12OjZhTioII+jWUqmpTf7yQbnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RQ6LCWbfmvUreGJWaHJsmv",
      "input": {
        "note": "The marker hangs directly over the right basket's interior; opening the jaws to drop it in, completing one pen into the pen basket.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01RQ6LCWbfmvUreGJWaHJsmv",
      "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]: [-0.4175, 1.1278, 1.1515, -0.8742, -0.4183, -0.3328, 0.9968, 0.6991, 1.9095, 1.7859, -0.7406, 0.4599, 0.3786, 0.9958]\nstate[eef_state]: left_x=0.3076 left_y=-0.054 left_z=0.2424 left_yaw=0.1056 left_pitch=-0.1988 left_roll=0.0849 left_gripper=0.9968 right_x=0.4359 right_y=0.2687 right_z=0.2168 right_yaw=0.0983 right_pitch=-0.1919 right_roll=-0.069 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -3.1795, 6.5026, 1.4335, -0.2173, -0.022, -0.0122, -0.5128, -11.5897, 6.3658, 1.4774, 0.232, 0.0024, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3a36d7c1ea95934ace2c95cf1f6a3a705eeb1e99ff589451199e49adf893081",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82ba4ef0d28516c8042839dcef7023ce58bbb1621a238d379b8659a2d868564c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:31097c128ad6336bc081f0b47cb672f91a5dfc2faaff1128e5d5c39c211fc69a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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