adhoc

completed
2026-09-23T00:31:42.342708+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
430.1 s
total steps
337
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: two teal baskets at the far edge, a cluster of plush toys in the middle, and pens/markers lying to the left and right of them. I'm moving the right arm over the pens on the right side to line up a grasp.
move_to
right_x0.3600right_y0.1800right_z0.1500right_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, 0.8032, 0.617, -0.3801, -0.0219, -0.0227, 0.9996, -0.0154, 0.7975, 0.6109, -0.384, -0.012, -0.0158, 0.9993] state[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=0.0011 right_z=0.1814 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9993 state[joint_eff]: [-0.5538, -2.0444, 9.2786, 1.8437, -0.0269, 0.0366, -0.0562, -0.7179, -1.5521, 9.7709, 1.7949, -0.0952, 0.0024, -0.0904] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.18, "right_z": 0.15, "right_gripper": 1}, "note": "Scene: two teal baskets at the far edge, a cluster of plush toys in the middle, and pens/markers lying to the left and right of them. I'm moving the right arm over the pens on the right side to line up a grasp."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteRight wrist view shows a blue pen at the very bottom of the frame, i.e. closer to the base than my fingertips. Pulling the gripper back ~5 cm and down to line up over it.
move_to
right_x0.3000right_y0.1900right_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.0235, 0.9996, 0.688, 1.446, 0.833, -0.1375, 0.5423, 0.3931, 0.9993] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0008 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9996 right_x=0.3523 right_y=0.1762 right_z=0.1312 right_yaw=0.025 right_pitch=-0.054 right_roll=-0.0389 right_gripper=0.9993 state[joint_eff]: [-0.212, -1.5248, 7.2274, 1.7949, -0.0562, -0.0708, -0.0122, 0.1983, -5.9419, 9.306, 1.7216, 0.4322, 0.1392, -0.0904] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.19, "right_z": 0.1}, "note": "Right wrist view shows a blue pen at the very bottom of the frame, i.e. closer to the base than my fingertips. Pulling the gripper back ~5 cm and down to line up over it."})
tool
executing move_to over 5 steps (0.5s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe blue pen now sits right on the jaw column in the right wrist view, running radially. Descending to table level to grasp it across its width.
move_to
right_x0.3050right_y0.1920right_z-0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.0235, 0.9996, 0.8639, 1.4227, 0.6804, -0.1184, 0.6403, 0.5293, 0.9992] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0008 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9996 right_x=0.2985 right_y=0.1925 right_z=0.0913 right_yaw=0.0503 right_pitch=-0.0844 right_roll=-0.0561 right_gripper=0.9992 state[joint_eff]: [-0.1026, -1.306, 7.0769, 1.7411, -0.0269, -0.0757, -0.0171, -0.0615, -6.9675, 6.1197, 1.3944, 0.4029, 0.149, -0.0171] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.305, "right_y": 0.192, "right_z": -0.005}, "note": "The blue pen now sits right on the jaw column in the right wrist view, running radially. Descending to table level to grasp it across its width."})
tool
executing move_to over 7 steps (0.7s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteContact at table level; the pen reads about 1 cm to the right of the jaw centreline in the wrist view, so I'm nudging the gripper that way before closing.
move_to
right_y0.1820right_z0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8074, 0.6147, -0.3805, -0.0223, -0.0231, 0.9996, 0.8486, 1.7485, 0.5335, 0.4313, 0.6407, 0.5205, 0.9993] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1811 left_yaw=0.0009 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9996 right_x=0.3134 right_y=0.2014 right_z=0.0138 right_yaw=0.0427 right_pitch=-0.0311 right_roll=-0.0075 right_gripper=0.9993 state[joint_eff]: [-0.1573, -0.8547, 7.0906, 1.707, -0.0415, -0.0317, -0.0122, -0.5538, -4.506, 2.8923, 0.8376, 0.0757, -0.1197, -0.0073] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.182, "right_z": 0.005}, "note": "Contact at table level; the pen reads about 1 cm to the right of the jaw centreline in the wrist view, so I'm nudging the gripper that way before closing."})
tool
executing move_to over 2 steps (0.2s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent notePen is centred between the jaws at table level; closing the gripper on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8108, 0.6113, -0.3805, -0.0216, -0.0231, 0.9996, 0.8162, 1.7515, 0.4877, 0.5312, 0.6167, 0.503, 0.9992] state[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1786 left_yaw=0.0003 left_pitch=-0.0137 left_roll=-0.0003 left_gripper=0.9996 right_x=0.3171 right_y=0.1933 right_z=0.0132 right_yaw=0.0382 right_pitch=-0.0069 right_roll=0.0259 right_gripper=0.9992 state[joint_eff]: [-0.0068, -1.6205, 7.5009, 1.7021, -0.0269, -0.0611, -0.0122, -0.4991, -6.5162, 3.1658, 0.9792, 0.0757, -0.188, -0.0171] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Pen is centred between the jaws at table level; closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
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 noteGripper settled at 0.15 (~1.4 cm), so the pen is held. Lifting clear before carrying it to the right-hand basket.
move_to
right_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]: [-0.0189, 0.8116, 0.6113, -0.3805, -0.0219, -0.0231, 0.9996, 0.812, 1.75, 0.4763, 0.5438, 0.6014, 0.498, 0.1476] state[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1784 left_yaw=0.0006 left_pitch=-0.0145 left_roll=-0.0 left_gripper=0.9996 right_x=0.3156 right_y=0.1928 right_z=0.0114 right_yaw=0.0481 right_pitch=-0.012 right_roll=0.0309 right_gripper=0.1476 state[joint_eff]: [-0.1436, -1.3197, 7.2957, 1.7314, -0.022, -0.0366, -0.0122, -0.0068, -6.2701, 5.3265, 1.3651, 0.2906, 0.0073, 1.0183] 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": {"right_z": 0.25}, "note": "Gripper settled at 0.15 (~1.4 cm), so the pen is held. Lifting clear before carrying it to the right-hand basket."})
tool
executing move_to over 16 steps (1.6s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent notePen is securely held and clear of the toys. Flying over the right-hand basket to drop the pen in; this basket will collect the pens/markers.
move_to
right_x0.4500right_y0.1400right_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8169, 0.6106, -0.3805, -0.0219, -0.0231, 0.9996, 0.8104, 1.2976, 1.1282, -0.5854, 0.5907, 0.4934, 0.1476] state[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0206 left_roll=0.0001 left_gripper=0.9996 right_x=0.3157 right_y=0.1943 right_z=0.2357 right_yaw=0.0566 right_pitch=-0.0349 right_roll=0.0153 right_gripper=0.1476 state[joint_eff]: [-0.0479, -1.6615, 7.1453, 1.6972, -0.0269, -0.0513, -0.0171, 0.0479, -5.8735, 9.5385, 1.37, 0.2515, -0.0073, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.14, "right_z": 0.28}, "note": "Pen is securely held and clear of the toys. Flying over the right-hand basket to drop the pen in; this basket will collect the pens/markers."})
tool
executing move_to over 11 steps (1.1s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteWrist view shows the pen hanging over the inside of the right basket. Nudging slightly forward and opening the gripper to drop the pen in.
move_to
right_x0.4700right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8192, 0.6094, -0.3805, -0.0216, -0.0231, 0.9996, 0.3969, 1.5997, 1.5063, -0.5877, 0.2665, 0.1978, 0.1476] state[eef_state]: left_x=0.297 left_y=0.0018 left_z=0.1754 left_yaw=0.0003 left_pitch=-0.024 left_roll=-0.0001 left_gripper=0.9996 right_x=0.4446 right_y=0.1398 right_z=0.2615 right_yaw=0.0619 right_pitch=-0.0824 right_roll=-0.0038 right_gripper=0.1476 state[joint_eff]: [-0.1162, -1.5795, 7.241, 1.7363, -0.0269, -0.0562, -0.0122, -0.5128, -8.0342, 9.6889, 1.7705, 0.0757, -0.022, 1.0232] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_gripper": 1}, "note": "Wrist view shows the pen hanging over the inside of the right basket. Nudging slightly forward and opening the gripper to drop the pen in."})
tool
executing move_to over 9 steps (0.9s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent notePen successfully dropped in the right basket. Moving the right arm back over the right-hand table area where another pen-like stick lies, to inspect it in the wrist camera.
move_to
right_x0.3300right_y0.1300right_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8211, 0.6094, -0.3805, -0.0219, -0.0231, 0.9996, 0.3771, 1.6852, 1.5589, -0.593, 0.2478, 0.1719, 0.9949] state[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1749 left_yaw=0.0006 left_pitch=-0.0259 left_roll=0.0002 left_gripper=0.9996 right_x=0.4631 right_y=0.1407 right_z=0.2441 right_yaw=0.0704 right_pitch=-0.1226 right_roll=-0.0248 right_gripper=0.9949 state[joint_eff]: [-0.1162, -1.2376, 7.0359, 1.7265, -0.0366, -0.0464, -0.0122, -0.8, -8.253, 10.6598, 1.6777, 0.0171, 0.0562, -0.1343] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.13, "right_z": 0.15}, "note": "Pen successfully dropped in the right basket. Moving the right arm back over the right-hand table area where another pen-like stick lies, to inspect it in the wrist camera."})
tool
executing move_to over 11 steps (1.1s)
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 noteA dark pen is just visible at the bottom edge of the right wrist view, meaning it is nearer the base than my fingertips. Backing off ~4 cm and descending to line up on it.
move_to
right_x0.2900right_y0.1150right_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8249, 0.6094, -0.3794, -0.0216, -0.0231, 0.9996, 0.5385, 1.2587, 0.8082, -0.3447, 0.342, 0.2649, 0.9958] state[eef_state]: left_x=0.2975 left_y=0.0018 left_z=0.174 left_yaw=0.0003 left_pitch=-0.0286 left_roll=0.0 left_gripper=0.9996 right_x=0.3301 right_y=0.1324 right_z=0.1419 right_yaw=0.0995 right_pitch=-0.168 right_roll=-0.0427 right_gripper=0.9958 state[joint_eff]: [-0.0068, -1.2923, 7.159, 1.7753, -0.0415, -0.0659, -0.0122, 0.294, -5.5043, 7.3368, 1.8779, 0.3932, 0.1197, 0.0806] 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": {"right_x": 0.29, "right_y": 0.115, "right_z": 0.08}, "note": "A dark pen is just visible at the bottom edge of the right wrist view, meaning it is nearer the base than my fingertips. Backing off ~4 cm and descending to line up on it."})
tool
executing move_to over 4 steps (0.4s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe black marker is now clearly in view running diagonally below the jaws. Rotating the wrist -45° so the jaws close across the marker, and shifting back/right to centre on it.
move_to
right_x0.2620right_y0.0980right_z0.0600right_yaw-0.7850
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8276, 0.6094, -0.3798, -0.0219, -0.0235, 0.9996, 0.5594, 1.1824, 0.511, -0.2047, 0.355, 0.2741, 0.9959] state[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.1732 left_yaw=0.0008 left_pitch=-0.0317 left_roll=-0.0 left_gripper=0.9996 right_x=0.285 right_y=0.1103 right_z=0.07 right_yaw=0.0978 right_pitch=-0.2363 right_roll=-0.0808 right_gripper=0.9959 state[joint_eff]: [-0.0068, -1.5111, 7.1179, 1.7607, -0.0366, -0.0806, -0.0171, 0.4171, -5.2718, 7.5282, 1.8828, 0.1929, 0.1099, -0.0024] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.262, "right_y": 0.098, "right_z": 0.06, "right_yaw": -0.785}, "note": "The black marker is now clearly in view running diagonally below the jaws. Rotating the wrist -45\u00b0 so the jaws close across the marker, and shifting back/right to centre on it."})
tool
executing move_to over 6 steps (0.6s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteAfter the wrist rotation the marker appears vertical and centred on the jaw column. Descending to table level to grasp it.
move_to
right_z0.0000right_x0.2680
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8314, 0.606, -0.3805, -0.0219, -0.0261, 0.9996, 0.7895, 1.6295, 0.8833, -0.7303, 0.7082, 1.2068, 0.9961] state[eef_state]: left_x=0.2973 left_y=0.0021 left_z=0.1704 left_yaw=0.003 left_pitch=-0.0396 left_roll=-0.0021 left_gripper=0.9996 right_x=0.2728 right_y=0.117 right_z=0.0501 right_yaw=-0.5525 right_pitch=-0.2953 right_roll=-0.1443 right_gripper=0.9961 state[joint_eff]: [-0.0205, -1.7709, 7.2957, 1.7705, -0.0269, 0.0171, -0.0171, 0.5675, -6.7077, 6.8581, 0.0122, 0.696, 0.3101, 0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.0, "right_x": 0.268}, "note": "After the wrist rotation the marker appears vertical and centred on the jaw column. Descending to table level to grasp it."})
tool
executing move_to over 4 steps (0.4s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteMarker is between the jaws at table level; closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8322, 0.606, -0.3805, -0.0219, -0.0269, 0.9996, 0.7944, 1.7298, 0.7876, -0.5934, 0.7166, 1.2568, 0.9962] state[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1702 left_yaw=0.0034 left_pitch=-0.0404 left_roll=-0.0027 left_gripper=0.9996 right_x=0.2633 right_y=0.1077 right_z=0.0068 right_yaw=-0.5941 right_pitch=-0.2949 right_roll=-0.1727 right_gripper=0.9962 state[joint_eff]: [-0.1709, -1.4701, 7.0496, 1.7216, -0.022, -0.0562, -0.0171, 0.3761, -5.6547, 3.7812, 0.4518, -0.2857, -0.0366, -0.0024] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Marker is between the jaws at table level; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteMarker grasped (gripper settled at 0.12 ≈ 1.2 cm). Lifting clear and straightening the wrist before carrying it to the pen basket.
move_to
right_z0.2800right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8322, 0.606, -0.3805, -0.0223, -0.0265, 0.9996, 0.7956, 1.7348, 0.7769, -0.5026, 0.7029, 1.2182, 0.1224] state[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1702 left_yaw=0.0035 left_pitch=-0.0404 left_roll=-0.0021 left_gripper=0.9996 right_x=0.2718 right_y=0.1194 right_z=0.0031 right_yaw=-0.5472 right_pitch=-0.296 right_roll=-0.119 right_gripper=0.1224 state[joint_eff]: [-0.0615, -1.265, 7.0496, 1.6825, -0.022, -0.0269, -0.0122, 0.212, -5.8462, 4.3145, 0.3297, 0.4371, 0.0122, 1.0085] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.28, "right_yaw": 0}, "note": "Marker grasped (gripper settled at 0.12 \u2248 1.2 cm). Lifting clear and straightening the wrist before carrying it to the pen basket."})
tool
executing move_to over 18 steps (1.8s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteMarker held upright; the right basket is visible ahead in the wrist view. Flying over it to drop the marker in with the other pen.
move_to
right_x0.4600right_y0.1400right_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8322, 0.606, -0.3805, -0.0219, -0.0265, 0.9996, 0.6827, 1.2697, 1.4258, -1.1641, 0.4854, 0.4995, 0.1224] state[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1702 left_yaw=0.0032 left_pitch=-0.0404 left_roll=-0.0024 left_gripper=0.9996 right_x=0.2787 right_y=0.125 right_z=0.2702 right_yaw=-0.0241 right_pitch=-0.2779 right_roll=-0.0893 right_gripper=0.1224 state[joint_eff]: [-0.0068, -1.4838, 7.0496, 1.6923, -0.0464, -0.022, -0.0122, -0.4034, -3.9726, 7.9521, 0.7839, 0.2271, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.14, "right_z": 0.28}, "note": "Marker held upright; the right basket is visible ahead in the wrist view. Flying over it to drop the marker in with the other pen."})
tool
executing move_to over 14 steps (1.4s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe basket (with the first pen inside) fills the wrist view but the point under my fingertips projects below the frame, so I'm advancing 3 cm to be over the basket interior before releasing.
move_to
right_x0.4800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8341, 0.606, -0.3805, -0.0219, -0.0265, 0.9996, 0.4141, 1.8706, 2.022, -1.087, 0.3271, 0.2596, 0.1224] state[eef_state]: left_x=0.2975 left_y=0.0021 left_z=0.1697 left_yaw=0.0032 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.9996 right_x=0.4535 right_y=0.1412 right_z=0.2696 right_yaw=-0.024 right_pitch=-0.3001 right_roll=-0.0972 right_gripper=0.1224 state[joint_eff]: [-0.1299, -1.5111, 7.1863, 1.6679, -0.0415, -0.0366, -0.0122, -0.6906, -9.6615, 8.4991, 1.072, 0.0708, -0.0366, -0.0073] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48}, "note": "The basket (with the first pen inside) fills the wrist view but the point under my fingertips projects below the frame, so I'm advancing 3 cm to be over the basket interior before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent notePositioned over the right basket interior; opening the gripper to drop the marker in with the pen.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8371, 0.606, -0.3805, -0.0219, -0.0269, 0.9996, 0.3977, 1.9644, 2.138, -1.1149, 0.3119, 0.2386, 0.1225] state[eef_state]: left_x=0.2976 left_y=0.0021 left_z=0.1689 left_yaw=0.0034 left_pitch=-0.0454 left_roll=-0.0026 left_gripper=0.9996 right_x=0.4736 right_y=0.1441 right_z=0.2648 right_yaw=-0.0167 right_pitch=-0.3116 right_roll=-0.102 right_gripper=0.1225 state[joint_eff]: [-0.0615, -1.7162, 7.0222, 1.6923, -0.0269, -0.0659, -0.0122, -0.7726, -9.9897, 8.4581, 1.1355, 0.1636, -0.0513, -0.0122] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Positioned over the right basket interior; opening the gripper to drop the marker in with the pen."})
tool
executing move_to over 9 steps (0.9s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteTwo pens are now in the right basket. Parking the right arm at home and bringing the left arm down over the grey plush toy directly in front of it, so plush toys can go into the left basket.
move_to
right_x0.3000right_y0.0000right_z0.1800left_x0.3000left_y-0.0300left_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8379, 0.606, -0.3805, -0.0219, -0.0265, 0.9996, 0.3904, 1.9923, 2.1498, -1.1168, 0.3035, 0.2279, 0.9951] state[eef_state]: left_x=0.2977 left_y=0.0021 left_z=0.1686 left_yaw=0.0032 left_pitch=-0.0461 left_roll=-0.0022 left_gripper=0.9996 right_x=0.4789 right_y=0.1439 right_z=0.2553 right_yaw=-0.0134 right_pitch=-0.3314 right_roll=-0.11 right_gripper=0.9951 state[joint_eff]: [-0.1573, -1.5658, 7.0496, 1.6923, -0.0171, -0.0317, -0.0122, -0.6222, -11.1385, 8.6906, 1.2381, 0.2173, 0.022, -0.1978] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.18, "left_x": 0.3, "left_y": -0.03, "left_z": 0.14}, "note": "Two pens are now in the right basket. Parking the right arm at home and bringing the left arm down over the grey plush toy directly in front of it, so plush toys can go into the left basket."})
tool
executing move_to over 14 steps (1.4s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteLeft wrist view: the grey plush toy sits at the bottom-left, closer to the base and to my left. Shifting left and back to hover over it.
move_to
left_x0.2700left_y0.0050left_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]: [-0.2161, 0.8776, 0.5186, -0.279, -0.168, -0.1356, 0.9996, 0.0601, 1.1145, 0.9684, -0.7715, 0.1226, -0.0166, 0.9959] state[eef_state]: left_x=0.2983 left_y=-0.0316 left_z=0.1399 left_yaw=-0.0128 left_pitch=-0.0614 left_roll=-0.0032 left_gripper=0.9996 right_x=0.3045 right_y=0.0003 right_z=0.1779 right_yaw=-0.044 right_pitch=-0.3424 right_roll=-0.109 right_gripper=0.9959 state[joint_eff]: [-0.4308, -1.388, 6.3932, 1.8632, -0.2076, -0.0757, -0.0171, -0.2256, -3.5214, 7.4325, 1.5458, -0.0659, -0.0415, 0.0659] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.27, "left_y": 0.005, "left_z": 0.12}, "note": "Left wrist view: the grey plush toy sits at the bottom-left, closer to the base and to my left. Shifting left and back to hover over it."})
tool
executing move_to over 4 steps (0.4s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe grey plush fills the lower-left of the left wrist view. Moving slightly left and back and descending onto its body to grip it.
move_to
left_x0.2500left_y0.0200left_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]: [-0.0051, 0.7223, 0.4072, -0.3031, -0.0425, -0.0467, 0.9995, 0.0528, 1.1183, 0.9554, -0.7719, 0.1047, -0.0338, 0.996] state[eef_state]: left_x=0.2746 left_y=0.0097 left_z=0.1249 left_yaw=0.0445 left_pitch=-0.0514 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3024 right_y=0.0011 right_z=0.1713 right_yaw=-0.026 right_pitch=-0.3618 right_roll=-0.1066 right_gripper=0.996 state[joint_eff]: [-0.0068, -0.7726, 6.8171, 1.7753, 0.2027, 0.1538, -0.0122, 0.4855, -3.535, 7.7197, 1.3455, 0.2418, 0.0952, -0.0073] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": 0.02, "left_z": 0.05}, "note": "The grey plush fills the lower-left of the left wrist view. Moving slightly left and back and descending onto its body to grip it."})
tool
executing move_to over 5 steps (0.5s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe previous move stopped short of the commanded height; re-sending the descent onto the grey plush's body.
move_to
left_x0.2500left_y0.0200left_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0109, 0.7048, 0.3435, -0.2729, -0.0227, -0.0376, 0.9995, 0.0521, 1.1183, 0.9554, -0.7731, 0.1024, -0.0303, 0.996] state[eef_state]: left_x=0.268 left_y=0.0105 left_z=0.1066 left_yaw=0.0388 left_pitch=-0.0678 left_roll=-0.0103 left_gripper=0.9995 right_x=0.3022 right_y=0.0013 right_z=0.1711 right_yaw=-0.0267 right_pitch=-0.3629 right_roll=-0.1025 right_gripper=0.996 state[joint_eff]: [-0.1162, -0.9641, 6.9949, 1.8535, -0.0659, -0.0708, -0.0171, -0.0205, -3.3162, 6.8718, 1.3162, 0.0171, -0.0513, -0.0171] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": 0.02, "left_z": 0.04}, "note": "The previous move stopped short of the commanded height; re-sending the descent onto the grey plush's body."})
tool
executing move_to over 5 steps (0.5s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe arm refused to descend further, likely an awkward IK pose that low and close in. Trying a slightly less extreme pose just above the grey plush.
move_to
left_x0.2600left_y0.0000left_z0.0700
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]: [0.0109, 0.7048, 0.3435, -0.2684, -0.0257, -0.0376, 0.9996, 0.0521, 1.1194, 0.9554, -0.7731, 0.1001, -0.0303, 0.996] state[eef_state]: left_x=0.2687 left_y=0.0111 left_z=0.1075 left_yaw=0.0414 left_pitch=-0.0632 left_roll=-0.0086 left_gripper=0.9996 right_x=0.3023 right_y=0.0017 right_z=0.1708 right_yaw=-0.0247 right_pitch=-0.3642 right_roll=-0.1006 right_gripper=0.996 state[joint_eff]: [-0.1026, -1.0598, 6.9812, 1.79, -0.0904, -0.022, -0.0122, -0.1846, -3.0291, 6.6803, 1.3065, 0.0024, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.26, "left_y": 0.0, "left_z": 0.07}, "note": "The arm refused to descend further, likely an awkward IK pose that low and close in. Trying a slightly less extreme pose just above the grey plush."})
tool
executing move_to over 3 steps (0.3s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteShoulder effort turned positive at z≈0.09, so the jaws are resting on the grey plush's back. Closing on its body to lift 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]: [-0.0456, 0.6926, 0.2653, -0.1776, -0.0612, -0.0612, 0.9996, 0.0521, 1.1194, 0.9554, -0.7731, 0.1001, -0.0303, 0.996] state[eef_state]: left_x=0.2679 left_y=0.0022 left_z=0.0937 left_yaw=0.0275 left_pitch=-0.0374 left_roll=-0.0087 left_gripper=0.9996 right_x=0.3023 right_y=0.0017 right_z=0.1708 right_yaw=-0.0247 right_pitch=-0.3642 right_roll=-0.1006 right_gripper=0.996 state[joint_eff]: [-0.1709, 0.5402, 5.9009, 1.6337, -0.2173, -0.0317, -0.0122, -0.0205, -3.1658, 6.6393, 1.3553, -0.0171, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Shoulder effort turned positive at z\u22480.09, so the jaws are resting on the grey plush's back. Closing on its body to lift it."})
tool
executing move_to over 10 steps (1.0s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
assistant
agent noteThe close came up empty (0.01) — the grey plush is further left than the jaws, near my y-limit. Switching to the tan plush toys in the middle of the table, which are comfortably in reach; moving above them to look.
move_to
left_gripper1.0000left_x0.3200left_y-0.1200left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0467, 0.6975, 0.2451, -0.1715, -0.0704, -0.0673, 0.0101, 0.0521, 1.1213, 0.9554, -0.7731, 0.0994, -0.0303, 0.996] state[eef_state]: left_x=0.2647 left_y=0.0036 left_z=0.0847 left_yaw=0.0375 left_pitch=-0.0559 left_roll=-0.0069 left_gripper=0.0101 right_x=0.3024 right_y=0.0018 right_z=0.1702 right_yaw=-0.0241 right_pitch=-0.3661 right_roll=-0.1001 right_gripper=0.996 state[joint_eff]: [0.1162, -0.759, 8.6085, 1.6386, 0.022, 0.0415, 0.862, -0.1299, -3.2615, 6.6803, 1.3358, -0.022, -0.0366, -0.0122] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_x": 0.32, "left_y": -0.12, "left_z": 0.15}, "note": "The close came up empty (0.01) \u2014 the grey plush is further left than the jaws, near my y-limit. Switching to the tan plush toys in the middle of the table, which are comfortably in reach; moving above them to look."})
tool
executing move_to over 11 steps (1.1s)
step 206
assistant
agent noteLeft wrist view shows a small tan plush centred on the jaw column but low in frame (nearer the base). Backing off 2 cm and descending toward its head.
move_to
left_x0.3000left_y-0.1150left_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6247, 1.1671, 0.6727, -0.2615, -0.495, -0.4297, 0.9954, 0.0521, 1.1259, 0.955, -0.7731, 0.0956, -0.0303, 0.996] state[eef_state]: left_x=0.3145 left_y=-0.1189 left_z=0.1368 left_yaw=0.0068 left_pitch=-0.0819 left_roll=-0.0005 left_gripper=0.9954 right_x=0.3026 right_y=0.0025 right_z=0.1687 right_yaw=-0.0208 right_pitch=-0.3713 right_roll=-0.0972 right_gripper=0.996 state[joint_eff]: [-0.1709, -4.0684, 8.7863, 1.3065, -0.3346, 0.0806, -0.1197, -0.0342, -3.6308, 6.6803, 1.3065, 0.0415, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.115, "left_z": 0.08}, "note": "Left wrist view shows a small tan plush centred on the jaw column but low in frame (nearer the base). Backing off 2 cm and descending toward its head."})
tool
executing move_to over 4 steps (0.4s)
step 210
assistant
agent noteThe small tan rabbit plush sits just right of the jaw column and near the bottom of the frame. Shifting right and back and lowering onto its head/body.
move_to
left_x0.2780left_y-0.1250left_z0.0550
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]: [-0.6468, 1.2072, 0.4725, -0.1047, -0.5137, -0.4503, 0.9967, 0.0521, 1.1259, 0.9546, -0.7727, 0.0956, -0.0303, 0.996] state[eef_state]: left_x=0.2921 left_y=-0.1073 left_z=0.0725 left_yaw=0.0157 left_pitch=-0.1401 left_roll=0.0447 left_gripper=0.9967 right_x=0.3026 right_y=0.0025 right_z=0.1686 right_yaw=-0.0208 right_pitch=-0.3713 right_roll=-0.0972 right_gripper=0.996 state[joint_eff]: [-0.4444, -3.535, 6.9812, 1.8632, -0.2613, -0.0611, 0.1245, -0.1436, -3.2615, 6.6803, 1.3358, -0.0171, -0.0562, -0.0171] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.278, "left_y": -0.125, "left_z": 0.055}, "note": "The small tan rabbit plush sits just right of the jaw column and near the bottom of the frame. Shifting right and back and lowering onto its head/body."})
tool
executing move_to over 2 steps (0.2s)
step 212
assistant
agent noteMove was clamped short again; re-sending to bring the jaws down onto the small tan rabbit plush.
move_to
left_x0.2780left_y-0.1280left_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]: [-0.6868, 1.2247, 0.4522, -0.0463, -0.5327, -0.4725, 0.9968, 0.0521, 1.1263, 0.9546, -0.7727, 0.0956, -0.0303, 0.996] state[eef_state]: left_x=0.2909 left_y=-0.1179 left_z=0.0701 left_yaw=0.0002 left_pitch=-0.1147 left_roll=0.0257 left_gripper=0.9968 right_x=0.3026 right_y=0.0025 right_z=0.1685 right_yaw=-0.0208 right_pitch=-0.3717 right_roll=-0.0973 right_gripper=0.996 state[joint_eff]: [-0.0615, -2.7282, 6.2701, 1.2869, -0.4029, -0.1099, 0.0024, -0.0479, -3.0154, 6.8718, 1.3309, 0.0024, -0.0366, -0.0122] 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": 0.278, "left_y": -0.128, "left_z": 0.05}, "note": "Move was clamped short again; re-sending to bring the jaws down onto the small tan rabbit plush."})
tool
executing move_to over 2 steps (0.2s)
step 214
assistant
agent noteThe rabbit plush's head is between the jaws in the wrist view. Descending onto it while closing the gripper to grab its head/neck.
move_to
left_z0.0300left_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]: [-0.7055, 1.2362, 0.4522, -0.0856, -0.543, -0.4953, 0.9968, 0.0521, 1.1294, 0.9543, -0.7731, 0.0956, -0.0303, 0.996] state[eef_state]: left_x=0.2838 left_y=-0.1171 left_z=0.0619 left_yaw=0.0058 left_pitch=-0.148 left_roll=0.0468 left_gripper=0.9968 right_x=0.3026 right_y=0.0025 right_z=0.1675 right_yaw=-0.0209 right_pitch=-0.3755 right_roll=-0.0976 right_gripper=0.996 state[joint_eff]: [-0.0068, -3.6308, 6.3658, 1.3553, -0.3346, -0.0708, -0.0122, -0.1846, -3.6581, 6.653, 1.3162, -0.0122, -0.0317, -0.0171] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03, "left_gripper": 0}, "note": "The rabbit plush's head is between the jaws in the wrist view. Descending onto it while closing the gripper to grab its head/neck."})
tool
executing move_to over 10 steps (1.0s)
step 224
assistant
agent noteEmpty close again — the fingertips reach further out than the wrist view suggests, so I'm opening and pulling back 3 cm toward the base, over the rabbit plush.
move_to
left_gripper1.0000left_x0.2560left_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]: [-0.7078, 1.3445, 0.3931, 0.0837, -0.5545, -0.4984, 0.0104, 0.0521, 1.1316, 0.9543, -0.7727, 0.0956, -0.0303, 0.996] state[eef_state]: left_x=0.2864 left_y=-0.118 left_z=0.0367 left_yaw=0.0134 left_pitch=-0.1408 left_roll=0.0499 left_gripper=0.0104 right_x=0.3028 right_y=0.0025 right_z=0.1669 right_yaw=-0.021 right_pitch=-0.3774 right_roll=-0.0977 right_gripper=0.996 state[joint_eff]: [0.0205, -2.9744, 3.9726, 0.9548, -0.0513, 0.0024, 0.9011, -0.1846, -3.2205, 6.6803, 1.2821, -0.0073, -0.0317, -0.0122] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_x": 0.256, "left_z": 0.05}, "note": "Empty close again \u2014 the fingertips reach further out than the wrist view suggests, so I'm opening and pulling back 3 cm toward the base, over the rabbit plush."})
tool
executing move_to over 10 steps (1.0s)
step 234
assistant
agent noteRe-approaching the rabbit plush: going back out to where it was centred under the jaws, but this time all the way down to table level so the jaws straddle the wide lower part of its body rather than skimming the top.
move_to
left_x0.2920left_y-0.1250left_z0.0200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8154, 1.203, 0.3794, -0.0879, -0.6064, -0.5922, 0.9953, 0.0521, 1.1339, 0.9543, -0.7731, 0.0952, -0.0303, 0.996] state[eef_state]: left_x=0.2593 left_y=-0.1232 left_z=0.0494 left_yaw=-0.0023 left_pitch=-0.1416 left_roll=0.0379 left_gripper=0.9953 right_x=0.3029 right_y=0.0026 right_z=0.1662 right_yaw=-0.0207 right_pitch=-0.3801 right_roll=-0.0976 right_gripper=0.996 state[joint_eff]: [-0.5402, -4.0547, 5.5863, 1.2918, -0.3736, 0.0073, -0.0073, -0.0752, -3.0427, 6.6393, 1.3455, -0.0317, -0.0122, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.292, "left_y": -0.125, "left_z": 0.02}, "note": "Re-approaching the rabbit plush: going back out to where it was centred under the jaws, but this time all the way down to table level so the jaws straddle the wide lower part of its body rather than skimming the top."})
tool
executing move_to over 3 steps (0.3s)
step 237
assistant
agent noteJaws are at table level straddling the rabbit plush's body; closing to grip 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]: [-0.7132, 1.4307, 0.3798, 0.0937, -0.5636, -0.535, 0.9967, 0.0521, 1.1366, 0.9543, -0.7731, 0.0952, -0.0303, 0.996] state[eef_state]: left_x=0.2783 left_y=-0.1112 left_z=0.0113 left_yaw=0.0449 left_pitch=-0.2005 left_roll=0.0891 left_gripper=0.9967 right_x=0.303 right_y=0.0026 right_z=0.1654 right_yaw=-0.0208 right_pitch=-0.3827 right_roll=-0.0978 right_gripper=0.996 state[joint_eff]: [-0.3761, -6.3248, 5.053, 1.536, -0.1587, 0.0073, 0.1197, -0.212, -3.1111, 6.6803, 1.4042, 0.0513, -0.0757, -0.0122] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Jaws are at table level straddling the rabbit plush's body; closing to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 247
assistant
agent noteGripper settled at 0.20 (~2 cm of plush between the jaws), so I have hold of the rabbit. Lifting to confirm it comes with me.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7128, 1.4395, 0.3775, 0.1196, -0.5686, -0.535, 0.2049, 0.0521, 1.1393, 0.9543, -0.7727, 0.0952, -0.0303, 0.996] state[eef_state]: left_x=0.2808 left_y=-0.1123 left_z=0.012 left_yaw=0.0467 left_pitch=-0.187 left_roll=0.0817 left_gripper=0.2049 right_x=0.3032 right_y=0.0026 right_z=0.1647 right_yaw=-0.0209 right_pitch=-0.385 right_roll=-0.098 right_gripper=0.996 state[joint_eff]: [-0.1846, -5.1761, 5.3675, 1.033, -0.2418, -0.0122, 1.033, -0.1709, -3.3983, 6.6393, 1.2772, -0.0366, -0.0415, -0.0122] camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22}, "note": "Gripper settled at 0.20 (~2 cm of plush between the jaws), so I have hold of the rabbit. Lifting to confirm it comes with me."})
tool
executing move_to over 14 steps (1.4s)
step 261
assistant
agent noteThe lift left the toys in place, so the jaws only had fur. From this higher view the tan dog's head is centred under the tool; opening and descending onto its head for a firmer grip.
move_to
left_gripper1.0000left_z0.0700
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]: [-0.7128, 1.1408, 1.0321, -0.82, -0.5613, -0.5392, 0.2071, 0.0521, 1.1393, 0.9543, -0.7727, 0.0952, -0.0303, 0.996] state[eef_state]: left_x=0.2844 left_y=-0.1168 left_z=0.2093 left_yaw=0.0421 left_pitch=-0.1808 left_roll=0.0646 left_gripper=0.2071 right_x=0.3032 right_y=0.0026 right_z=0.1647 right_yaw=-0.0209 right_pitch=-0.385 right_roll=-0.098 right_gripper=0.996 state[joint_eff]: [-0.335, -3.0974, 8.1983, 1.1209, -0.398, -0.0122, 0.525, -0.1983, -3.4256, 6.6256, 1.2772, -0.0024, -0.0317, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_z": 0.07}, "note": "The lift left the toys in place, so the jaws only had fur. From this higher view the tan dog's head is centred under the tool; opening and descending onto its head for a firmer grip."})
tool
executing move_to over 9 steps (0.9s)
step 270
assistant
agent noteThe small brown guinea-pig plush is centred between the jaws in the wrist view. Descending onto it and closing the gripper to grip its body.
move_to
left_x0.2680left_y-0.1180left_z0.0200left_gripper0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7128, 1.2369, 0.5449, -0.3058, -0.5533, -0.5426, 0.9955, 0.0521, 1.1442, 0.9543, -0.7723, 0.0956, -0.0303, 0.996] state[eef_state]: left_x=0.2748 left_y=-0.1101 left_z=0.0663 left_yaw=0.0485 left_pitch=-0.2353 left_roll=0.1057 left_gripper=0.9955 right_x=0.3036 right_y=0.0025 right_z=0.1634 right_yaw=-0.0213 right_pitch=-0.3896 right_roll=-0.0987 right_gripper=0.996 state[joint_eff]: [-0.212, -3.959, 6.5573, 1.3358, -0.3101, 0.022, -0.2027, -0.1983, -3.9179, 6.6256, 1.2576, 0.0024, -0.0611, -0.0122] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.268, "left_y": -0.118, "left_z": 0.02, "left_gripper": 0.1}, "note": "The small brown guinea-pig plush is centred between the jaws in the wrist view. Descending onto it and closing the gripper to grip its body."})
tool
executing move_to over 9 steps (0.9s)
step 279
assistant
agent noteDescent stopped on the plush at z≈0.04 with the jaws around its body; closing fully.
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]: [-0.7643, 1.3594, 0.4583, -0.0696, -0.6067, -0.5846, 0.108, 0.0521, 1.1446, 0.9543, -0.7731, 0.0952, -0.0303, 0.996] state[eef_state]: left_x=0.2781 left_y=-0.1221 left_z=0.0378 left_yaw=0.052 left_pitch=-0.1823 left_roll=0.0875 left_gripper=0.108 right_x=0.3034 right_y=0.0026 right_z=0.1631 right_yaw=-0.021 right_pitch=-0.3907 right_roll=-0.0984 right_gripper=0.996 state[joint_eff]: [-0.0889, -2.2359, 3.535, 0.8132, -0.0708, -0.149, 0.3346, -0.0752, -3.3299, 6.7077, 1.3065, 0.0024, -0.0562, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Descent stopped on the plush at z\u22480.04 with the jaws around its body; closing fully."})
tool
executing move_to over 2 steps (0.2s)
step 281
assistant
agent noteClose was empty: the jaws are just behind and right of the plush. Opening and shifting 2 cm forward and 2 cm left to straddle its body.
move_to
left_gripper1.0000left_x0.3000left_y-0.1070left_z0.0350
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]: [-0.7673, 1.3651, 0.4541, -0.0319, -0.6067, -0.5892, 0.0314, 0.0521, 1.1446, 0.9543, -0.7727, 0.0952, -0.0303, 0.996] state[eef_state]: left_x=0.2812 left_y=-0.1263 left_z=0.0396 left_yaw=0.0479 left_pitch=-0.163 left_roll=0.0635 left_gripper=0.0314 right_x=0.3035 right_y=0.0026 right_z=0.1632 right_yaw=-0.021 right_pitch=-0.3904 right_roll=-0.0984 right_gripper=0.996 state[joint_eff]: [0.2393, -4.7658, 6.3932, 0.9109, -0.2955, 0.0415, 0.9548, -0.0479, -3.5214, 6.6393, 1.2967, 0.0073, -0.0122, -0.0122] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_x": 0.3, "left_y": -0.107, "left_z": 0.035}, "note": "Close was empty: the jaws are just behind and right of the plush. Opening and shifting 2 cm forward and 2 cm left to straddle its body."})
tool
executing move_to over 10 steps (1.0s)
step 291
assistant
agent noteThe brown plush is now squarely between the open jaws in the wrist view; closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6415, 1.372, 0.4427, 0.0578, -0.5377, -0.4885, 0.9954, 0.0521, 1.145, 0.9543, -0.7731, 0.0952, -0.0303, 0.996] state[eef_state]: left_x=0.3009 left_y=-0.1074 left_z=0.0408 left_yaw=0.0625 left_pitch=-0.1523 left_roll=0.0502 left_gripper=0.9954 right_x=0.3035 right_y=0.0026 right_z=0.163 right_yaw=-0.021 right_pitch=-0.3911 right_roll=-0.0985 right_gripper=0.996 state[joint_eff]: [0.2393, -2.865, 4.7795, 1.4139, -0.1245, 0.149, -0.0659, -0.0342, -3.3299, 6.6667, 1.3065, -0.0073, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The brown plush is now squarely between the open jaws in the wrist view; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 301
assistant
agent noteThe jaws keep closing just behind the plush's hind end, so the fingertips sit nearer the base than the wrist view suggests. Opening and driving 3.5 cm further forward to straddle its body.
move_to
left_gripper1.0000left_x0.3350
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]: [-0.6399, 1.3838, 0.4427, 0.0654, -0.5327, -0.4896, 0.0394, 0.0521, 1.145, 0.9543, -0.7727, 0.0952, -0.0303, 0.996] state[eef_state]: left_x=0.3012 left_y=-0.1079 left_z=0.0382 left_yaw=0.0614 left_pitch=-0.158 left_roll=0.0491 left_gripper=0.0394 right_x=0.3035 right_y=0.0026 right_z=0.1631 right_yaw=-0.021 right_pitch=-0.3907 right_roll=-0.0984 right_gripper=0.996 state[joint_eff]: [-0.3214, -5.3675, 5.5453, 1.326, -0.3053, 0.0024, 1.0281, -0.1162, -3.5214, 6.8581, 1.2674, -0.022, -0.0562, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). 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": {"left_gripper": 1, "left_x": 0.335}, "note": "The jaws keep closing just behind the plush's hind end, so the fingertips sit nearer the base than the wrist view suggests. Opening and driving 3.5 cm further forward to straddle its body."})
tool
executing move_to over 10 steps (1.0s)
step 311
assistant
agent noteThe plush now fills the space between the open jaws. Closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5594, 1.4956, 0.5041, 0.1036, -0.4885, -0.4339, 0.995, 0.0521, 1.1446, 0.9543, -0.7731, 0.0952, -0.0303, 0.996] state[eef_state]: left_x=0.3232 left_y=-0.1003 left_z=0.0278 left_yaw=0.0801 left_pitch=-0.1909 left_roll=0.0714 left_gripper=0.995 right_x=0.3034 right_y=0.0026 right_z=0.1631 right_yaw=-0.021 right_pitch=-0.3907 right_roll=-0.0984 right_gripper=0.996 state[joint_eff]: [0.5128, -4.7521, 7.7744, 1.5995, -0.1099, 0.1587, 0.0562, -0.0342, -3.4803, 6.6667, 1.2723, -0.0024, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The plush now fills the space between the open jaws. Closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 321
assistant
agent noteGripper settled at 0.20 with plush fur between the jaws — the toy is held. Lifting and carrying it forward over the left-hand basket, which will hold the plush toys.
move_to
left_x0.4200left_y-0.1500left_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]: [-0.5575, 1.4998, 0.5068, 0.1062, -0.4866, -0.4377, 0.2, 0.0521, 1.145, 0.9543, -0.7731, 0.0952, -0.0303, 0.996] state[eef_state]: left_x=0.3242 left_y=-0.1006 left_z=0.0277 left_yaw=0.0826 left_pitch=-0.1907 left_roll=0.0667 left_gripper=0.2 right_x=0.3035 right_y=0.0026 right_z=0.163 right_yaw=-0.021 right_pitch=-0.3911 right_roll=-0.0985 right_gripper=0.996 state[joint_eff]: [-0.253, -5.6957, 5.0803, 1.3944, -0.2857, 0.0073, 0.9158, -0.1709, -3.5761, 6.6256, 1.2821, -0.0171, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.15, "left_z": 0.26}, "note": "Gripper settled at 0.20 with plush fur between the jaws \u2014 the toy is held. Lifting and carrying it forward over the left-hand basket, which will hold the plush toys."})
tool
executing move_to over 15 steps (1.5s)
step 336
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]: [-0.5377, 1.6661, 1.6169, -0.8059, -0.4702, -0.4339, 0.2018, 0.0521, 1.1458, 0.9543, -0.7731, 0.0952, -0.0303, 0.996] state[eef_state]: left_x=0.4226 left_y=-0.1546 left_z=0.2511 left_yaw=0.0845 left_pitch=-0.1726 left_roll=0.0402 left_gripper=0.2018 right_x=0.3035 right_y=0.0026 right_z=0.1628 right_yaw=-0.0211 right_pitch=-0.3919 right_roll=-0.0985 right_gripper=0.996 state[joint_eff]: [0.253, -8.2256, 8.1162, 0.9011, -0.2222, 0.188, 0.6764, -0.212, -3.3573, 6.6393, 1.3016, -0.0024, -0.0317, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 22.48 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, 0.8032, 0.617, -0.3801, -0.0219, -0.0227, 0.9996, -0.0154, 0.7975, 0.6109, -0.384, -0.012, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=0.0011 right_z=0.1814 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.5538, -2.0444, 9.2786, 1.8437, -0.0269, 0.0366, -0.0562, -0.7179, -1.5521, 9.7709, 1.7949, -0.0952, 0.0024, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:893bd77f9ddacb63a065edc1e68312d6ad3ae469d80c9d0720d4e1a2c6d544a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aa575f1b330d94ba1d73a3a74abf9dad74aa333a1ddf65d8a30b1f240368d60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1260d114b859d06f313d27cbb3b1b466687b346f9d30d48846ca8d7a0a7db6a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 12.29 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, 0.8032, 0.617, -0.3801, -0.0219, -0.0227, 0.9996, -0.0154, 0.7975, 0.6109, -0.384, -0.012, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=0.0011 right_z=0.1814 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.5538, -2.0444, 9.2786, 1.8437, -0.0269, 0.0366, -0.0562, -0.7179, -1.5521, 9.7709, 1.7949, -0.0952, 0.0024, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:893bd77f9ddacb63a065edc1e68312d6ad3ae469d80c9d0720d4e1a2c6d544a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aa575f1b330d94ba1d73a3a74abf9dad74aa333a1ddf65d8a30b1f240368d60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1260d114b859d06f313d27cbb3b1b466687b346f9d30d48846ca8d7a0a7db6a3",
        "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_017Ue88zDgpGnVnxmHKfgWLa",
      "input": {
        "note": "Scene: two teal baskets at the far edge, a cluster of plush toys in the middle, and pens/markers lying to the left and right of them. I'm moving the right arm over the pens on the right side to line up a grasp.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.36,
          "right_y": 0.18,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_017Ue88zDgpGnVnxmHKfgWLa",
      "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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.0235, 0.9996, 0.688, 1.446, 0.833, -0.1375, 0.5423, 0.3931, 0.9993]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0008 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9996 right_x=0.3523 right_y=0.1762 right_z=0.1312 right_yaw=0.025 right_pitch=-0.054 right_roll=-0.0389 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.5248, 7.2274, 1.7949, -0.0562, -0.0708, -0.0122, 0.1983, -5.9419, 9.306, 1.7216, 0.4322, 0.1392, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07625422fc80f59c8b2d853445df1b136256c551d677e7737de368da1636f430",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df7482911f611d467d7b99af794d1e50241213b2edd8fec35f82e67b7c916381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8e7394bc1113b80e28b66876529d2610c1587b32050875e05b2bfce81ed674e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 6.72 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, 0.8032, 0.617, -0.3801, -0.0219, -0.0227, 0.9996, -0.0154, 0.7975, 0.6109, -0.384, -0.012, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=0.0011 right_z=0.1814 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.5538, -2.0444, 9.2786, 1.8437, -0.0269, 0.0366, -0.0562, -0.7179, -1.5521, 9.7709, 1.7949, -0.0952, 0.0024, -0.0904]",
      "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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.0235, 0.9996, 0.688, 1.446, 0.833, -0.1375, 0.5423, 0.3931, 0.9993]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0008 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9996 right_x=0.3523 right_y=0.1762 right_z=0.1312 right_yaw=0.025 right_pitch=-0.054 right_roll=-0.0389 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.5248, 7.2274, 1.7949, -0.0562, -0.0708, -0.0122, 0.1983, -5.9419, 9.306, 1.7216, 0.4322, 0.1392, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07625422fc80f59c8b2d853445df1b136256c551d677e7737de368da1636f430",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df7482911f611d467d7b99af794d1e50241213b2edd8fec35f82e67b7c916381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e7394bc1113b80e28b66876529d2610c1587b32050875e05b2bfce81ed674e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8wsKjgEIEhgCKkDXuz+8+/7tZtDRRUTvDMfLyhs58D1VtGsTjt78Nu5DLrBF8ThzSd8ACSf6idUXzss0XumJrxSAjjJALjZQN0ifMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaW8zNUGEgxTlrSsHX80w4N9v1YaDDZ9bbWLDNVWDnFHMyIwy+u/50KY2OB/nc4dubZFt5a2YYC1tOjRMAgY/RBrZZr1MKkeZnl0OmBRzirA669SKpEK/MkZqLye/GE6hwpP/tYffBG94+8a6P+hX6oYvD3NJ2U2Ua8JD9RIlY/T9qZmZWbw4lAFfIwtz4RYXdkY0iQGadBiKgaG0lJGXFW9bqu2umJLqdKH/+U7GmWjVxYu8fTKWcgQ1URWEZBJNSnWJ0Nba4xlqTyGB14kBqvALArQpCy85EiWbtn1MVHbVnf7ii9mD/bOXNeI8H6+D2Kl7vetd0ss9W4ZX0PA6vZZZ+djf62j92wBIr4UxEe6QDGUKCVDoPAtVTEfJh6h+rtV1mhRpoUJnVKj8r0MuEJzSDwbyir9y22merZS1s6ZUi3rh8WP5ggMNfXmN1y0/C/OzsWFLCiMqJlZmUrTopoKPI5lnvRErB1S2mfuA5gVGAMCtro6aDwyIxpNPB/vkwN2O7/joN0RTBgDR7RrwFvl1+OxFbPlCeICWZw2C7aLQ4vvJKQQFC2m/Re3bx/aXlVH5rZzRp3w846PZBiNCiyZ8mfIDqROXVNdPkP7C9JOthACoiPXNO6aHiCcDbiZ/N03WDcZWyVWYs+ATS3hjz4Mc6pFOc+/x98TuG3h6D/SPvljLbc3VjFEC7HDR17NoJPkGibVolotku6UDSuR0g1g/PbxMQsBylhhBlen0I2fmNX0TREKEjsZoEt9lx1iljsexDh+DwcA+Ju7F6fX3j5mA2GSk7E0aw1tQ4YrXXc+vMlvPPm8JwSKYPm4k48AiZZY4ZVhQ+U9CWgWShpakqZDhzFfJ7zniD6O6Wj+HGEhI16DhI7BzLibPWM1aydVS5rX+UouY23T0n+vCUitJJJMs858W29+oUnU4/I9l1LUOWVnpc4ukwyYnmlfVyvM408yeBIyXWGagM2RTofbpQy/ijm0B3jpZ5l0jIfEuyYh3F/17b6VwPQ/5IZqBf1xtW0c+rzU5bX99sMFxLmE8YauZkokXZB+mL02VHBSWj8vw0a3djyPdj4eds8qgAVeJ8XFHbkFFFk3hPj5eiZgRvZARVOen1rURzuOIjbsT9MTVAL8iAfl8noe6suDGk2giRvIgzgWn037dKnSlUFzJRDLjl5nk8VlVzJ8uVdDAkPFKEvKVoK8EKJnJJl3+SCb23kQpXfKXmNlGiiY7rj3YfX9xm+yf1vWpqJImixD9amPPytzpQywZHwlf0RB7YegVa1Ie2pvTv9rGgqgZH+f6VNSM5WTtp/rqmlRHUCzvrvetkKmiAN8+zcGgQkmxOtUjQQ/Yj2ef+DzEjJfoLeKv7mPhM03Ubf2QkNRZXGDfjeiAi+VrYLkmLxDRjAT5N+mIA900f3LK+tvPJ+HSvCASFPaylmmw8Q9wBewjiZ7w+pN2E11C3/U8buGbTtI4z481OdU7k16kkG+GQjrbQSVB6UOBFCqeUIZkV6UaxVTNTgzTCoeBN5411CchU4Jn+JoUxc+C25IMWyp0bV4tSxHXq6qHZQkTXgg1pdcbSEZdd/sE35+NtsJDAfApRPjtlQXryeapQwlnXpn7SaPx/wSamZsmPj9kadUtt3ExDv3FwJdpSZ8Z2E/tZATRW2us/SLGIvZ4AcSLR7E+oEIpIMXYzAQwChkDA39ZsYqWC60NG2+CAR4/V+p2mduwJmHYk7+3oyvvOwRfUI7I979YG86QakRNC73I9u5oF407dFWDb9C2ckDXpW1vcqazgYgo0WHDzddzVsSZ5NBKCejeDttds7pXc1+L/i1EtzRhC+I4V46H55psjC4fxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WE8gKvywf9JPas8UPYMZWM",
      "input": {
        "note": "Right wrist view shows a blue pen at the very bottom of the frame, i.e. closer to the base than my fingertips. Pulling the gripper back ~5 cm and down to line up over it.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.19,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01WE8gKvywf9JPas8UPYMZWM",
      "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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.0235, 0.9996, 0.8639, 1.4227, 0.6804, -0.1184, 0.6403, 0.5293, 0.9992]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0008 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9996 right_x=0.2985 right_y=0.1925 right_z=0.0913 right_yaw=0.0503 right_pitch=-0.0844 right_roll=-0.0561 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -1.306, 7.0769, 1.7411, -0.0269, -0.0757, -0.0171, -0.0615, -6.9675, 6.1197, 1.3944, 0.4029, 0.149, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8b8ec54caf3d2ed9d678770335ed1bb15a9f7ee1817a4f373093cfced15ac93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03d643df0f20ce387275b0b19f473a60ac5513a0e74791f51f7ab54973a3641b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7948ecf1d981a6c316faa26e9794983b632dbc9889e1cf8870c502785db22cf2",
        "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 · 9.094 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, 0.8032, 0.617, -0.3801, -0.0219, -0.0227, 0.9996, -0.0154, 0.7975, 0.6109, -0.384, -0.012, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=0.0011 right_z=0.1814 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.5538, -2.0444, 9.2786, 1.8437, -0.0269, 0.0366, -0.0562, -0.7179, -1.5521, 9.7709, 1.7949, -0.0952, 0.0024, -0.0904]",
      "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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.0235, 0.9996, 0.688, 1.446, 0.833, -0.1375, 0.5423, 0.3931, 0.9993]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0008 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9996 right_x=0.3523 right_y=0.1762 right_z=0.1312 right_yaw=0.025 right_pitch=-0.054 right_roll=-0.0389 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.5248, 7.2274, 1.7949, -0.0562, -0.0708, -0.0122, 0.1983, -5.9419, 9.306, 1.7216, 0.4322, 0.1392, -0.0904]",
      "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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.0235, 0.9996, 0.8639, 1.4227, 0.6804, -0.1184, 0.6403, 0.5293, 0.9992]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0008 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9996 right_x=0.2985 right_y=0.1925 right_z=0.0913 right_yaw=0.0503 right_pitch=-0.0844 right_roll=-0.0561 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -1.306, 7.0769, 1.7411, -0.0269, -0.0757, -0.0171, -0.0615, -6.9675, 6.1197, 1.3944, 0.4029, 0.149, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8b8ec54caf3d2ed9d678770335ed1bb15a9f7ee1817a4f373093cfced15ac93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03d643df0f20ce387275b0b19f473a60ac5513a0e74791f51f7ab54973a3641b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7948ecf1d981a6c316faa26e9794983b632dbc9889e1cf8870c502785db22cf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2gYKjgEIEhgCKkDwMPlQY9YXWkTBEXyhEaMXfKghlkNZBnahUoK9vcX+v/QKFqjj66EpxImQrWP678MkO6BD/hqG+YTP5d367wOUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa28zNUGEgwlZ+x7JW7J2W+dLbAaDCF4HOZokRvemGfnRiIw+xlVX2CIC3mF2DPjHhedT8OS7ADTzYuD4oEmQ0IlzyYMbiQKTO5FR0i+VRmX6cOVKvgEEuEA6jM6L/h8PWdkpymyzw8eR4h5rRCHHO5VbbdCxPQhUw3PH0bJZJMrpcU7yGRNppzLURQllvaFrriyOP9aHYrXPLjbcCYxG/+nLgT4PuWF58bUan/LJbkwp+FsUl2eNSIlhKhlPsl3U7hnZAIkGE6fK+FgoqIzTjF5MUhultjCYLUcQv2HXx67wS/DpoRyfkyHHkm0jAdVAAg4AZeQrczdG+DpnReX50GxqB5NKHC+rqLc7UKKds7NVLmJWjTIywdNVlO0kPeDT/qADfdei++PFwEBZkbFUEnBRInsdNmoefzfaXnubz2Lu2deUTigw9SqX59ljvxrRygBH4So0w7p9iKOor0ATf3I1ob7k7EhDReLhFI8xZclmlwhyCG/kqokauD8+s9fag28qDPN5nAUlpc52ARjxe9v+lC+nBwgC6rr8ZoN9Dz1TruspJmxAcmGTxeIO2HnqOyU8Ye2nKh21WISlFklTh5GQL89a2Gu4WteNRundIFML/KU4frhe5tGP0FP+4l7JrxYLcZPIizTRZgJKIcDzfWaLohdf4vbPP5MxACijU/RKK28AnMcdut1hkKb3EGJRb0QHIgJ2CvIMl502E4eC9hORNZ+3IcM4fecdXIWYpCKAnEw1vfQ/N1L6Z6s7MRgHalSoTsGKJPw8nC+x8IcI7nIjNXd+4fCA/+tlV+IH7kGa7bDsj5YM2b8wS/cpcHvLnlSsag2/ma9FytI8lQwFDRGpDjf3/bmeS6yepMQy0183hDXdHo7WNg2NtdlYLMycNJXHgbZsOGj+2CI4RlvViMrJnfkbhpk+R9bwWLygcUT93AupEafPXU/knG7lVoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WSXJbpbuuvxY3sj6zDaazm",
      "input": {
        "note": "The blue pen now sits right on the jaw column in the right wrist view, running radially. Descending to table level to grasp it across its width.",
        "targets": {
          "right_x": 0.305,
          "right_y": 0.192,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01WSXJbpbuuvxY3sj6zDaazm",
      "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]: [-0.0189, 0.8074, 0.6147, -0.3805, -0.0223, -0.0231, 0.9996, 0.8486, 1.7485, 0.5335, 0.4313, 0.6407, 0.5205, 0.9993]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1811 left_yaw=0.0009 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9996 right_x=0.3134 right_y=0.2014 right_z=0.0138 right_yaw=0.0427 right_pitch=-0.0311 right_roll=-0.0075 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -0.8547, 7.0906, 1.707, -0.0415, -0.0317, -0.0122, -0.5538, -4.506, 2.8923, 0.8376, 0.0757, -0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d94a9a2afb8c54da31b754c10fcd831202c5bef59369a21262e9b21a1d1fb91f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f195622dfb84065aa6dbe52cce65b973325a8daee12ecd14d721dfd2cc8206fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3fa9c76e4413ff8e642c630381f9baea7f29eff4c7cb9f7e6ddf3076ddc8a9dc",
        "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 · 7.198 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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.0235, 0.9996, 0.688, 1.446, 0.833, -0.1375, 0.5423, 0.3931, 0.9993]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0008 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9996 right_x=0.3523 right_y=0.1762 right_z=0.1312 right_yaw=0.025 right_pitch=-0.054 right_roll=-0.0389 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.5248, 7.2274, 1.7949, -0.0562, -0.0708, -0.0122, 0.1983, -5.9419, 9.306, 1.7216, 0.4322, 0.1392, -0.0904]",
      "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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.0235, 0.9996, 0.8639, 1.4227, 0.6804, -0.1184, 0.6403, 0.5293, 0.9992]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0008 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9996 right_x=0.2985 right_y=0.1925 right_z=0.0913 right_yaw=0.0503 right_pitch=-0.0844 right_roll=-0.0561 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -1.306, 7.0769, 1.7411, -0.0269, -0.0757, -0.0171, -0.0615, -6.9675, 6.1197, 1.3944, 0.4029, 0.149, -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]: [-0.0189, 0.8074, 0.6147, -0.3805, -0.0223, -0.0231, 0.9996, 0.8486, 1.7485, 0.5335, 0.4313, 0.6407, 0.5205, 0.9993]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1811 left_yaw=0.0009 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9996 right_x=0.3134 right_y=0.2014 right_z=0.0138 right_yaw=0.0427 right_pitch=-0.0311 right_roll=-0.0075 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -0.8547, 7.0906, 1.707, -0.0415, -0.0317, -0.0122, -0.5538, -4.506, 2.8923, 0.8376, 0.0757, -0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d94a9a2afb8c54da31b754c10fcd831202c5bef59369a21262e9b21a1d1fb91f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f195622dfb84065aa6dbe52cce65b973325a8daee12ecd14d721dfd2cc8206fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fa9c76e4413ff8e642c630381f9baea7f29eff4c7cb9f7e6ddf3076ddc8a9dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9wgKjgEIEhgCKkDi4Ej+1vPGBE1sldtPz53RCJH5HGrpIH0WPwuODejboE462+yfwTvS2MnZMHMr7mhaK1LMhtoZm8F+TETuhdSfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbi8zNUGEgxJRY5uoBiJRwPVrYAaDPPnfvbBOfX55OEAOyIwn5l+Q/5/bMNEVYdn/96tTxIB0hFYhrHw4yu6Btox/paQJHncDd343rBPCvW4TjGfKpUHCKns0opPrj2JyCF5Ecq6SzOouX14D8jdXOUH13guujj6lurceWRcfyR5b+PwfsnNlZZiSEPfq2PHM0Yz+l84Tn16el1hHR5++MULqYHbQTeQYbj/oF2HJTGAnJ6wwdeVeVqedoD+1rsSv6DFT5dE5O/MP5M+lXZuICX00V2xpf6IgDlPGrl7qa0/99SqmS3obXgnJ+AzgA/al7K6lXgYCFnSZy501TL7O1NpaygvmUl04A/VnnnU0Pfsa4CiStP9MGJrdlPm32yeysjb0abp0QhWaDE1rC3FzAmd3e7KgHwvymXgfTj8XrlkrJr6eyVj0BR52iwRiaPYZYNsHZoBj5OzKOGym6sLCzZEtJWeG8Nw/zdbV0Od4SoHq52LQoqYW0e7rsIUG10O8BI/TTsbNp6TT6PmhBq6SZZaokLq8b5nPC6VOIoUkDA8hrupSRT246Xotpp9tZ/ERtaiLj9mick7IZk1aNXW0fxMCtwl7vIEiFTxYlPR92UmZSz3ynASAKaaUW86f2Lqx5R97nCDwG02KYPS0F0PsZPU/c3M5v8f+NbUDCkxXFuPFElsvQCZrxaYc+YMF94ptXv5I4Px9RkR/wbvgIwr6Za/6/ZWOvxk1ifAd+xNRpjKlugGjz7SAcjzslEuDgUEOOqdKIXx8qtaFaBFqXPTTTvP/YTWQzO+R+Jm3+F+bJ6T9aSw18Ut5JWf6uw5D87h2YPuQSG+T4JMTProBzkupe0jY13PMym9bWBOGnuW04VWMtfC+Ovk+t2MjebuWs03L+BUXEKLf2MICvsYaAwj4TdHMMhERierVdeikdioR7PSfGV5P1iwZdzzyB3b6wNQRa5f6Gu8153K/Vd9aUI2KLZiaZaeNb5Y4t+iW8vsuDoE18KurZ7sCUyU8Yr9vGS1Wediq+Hzp7FX/60MSMmo26Cpl4TbV/xQ7y5guPjxGAI3BlyizHU8PiHsRImDtAwVjzV6qM9q9P+Wg9N30t+MotGNUObfVDyIpoPY+bED8cFhLganTfxB1m83cPA0Gxu97xeHNaaeIWkn/7KOJyqN9VDAuIPAbpFxEoYmCmlGLn46QNZTF2qUEvie3fs1cLJgUJDGoMxpZPJwtmI77M69PABCWxxy5XocbsdTrMsVAxA/cT2+sPmKmGStu9q+lBwqNBmzKUENl9LIW8br0RoWECAmfx+CaluAxNJSX+jpHLMr3TdB0dfXe262peAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ut6ofaaw8v5E3kSxXauHrF",
      "input": {
        "note": "Contact at table level; the pen reads about 1 cm to the right of the jaw centreline in the wrist view, so I'm nudging the gripper that way before closing.",
        "targets": {
          "right_y": 0.182,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Ut6ofaaw8v5E3kSxXauHrF",
      "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]: [-0.0189, 0.8108, 0.6113, -0.3805, -0.0216, -0.0231, 0.9996, 0.8162, 1.7515, 0.4877, 0.5312, 0.6167, 0.503, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1786 left_yaw=0.0003 left_pitch=-0.0137 left_roll=-0.0003 left_gripper=0.9996 right_x=0.3171 right_y=0.1933 right_z=0.0132 right_yaw=0.0382 right_pitch=-0.0069 right_roll=0.0259 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -1.6205, 7.5009, 1.7021, -0.0269, -0.0611, -0.0122, -0.4991, -6.5162, 3.1658, 0.9792, 0.0757, -0.188, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c995f6cb6942189b84c69ab865d511c20e8ef0f8bdd6eb6522a97b53a90e6df6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66a1ae271e42c20943edecb833ec6056e7d39f1552e150b48ba9f9cbb3518979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea06acd314f96d5bed23783815c7b6fe23075cb6fa3f048aa9b3a21d66757987",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 8.027 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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0219, -0.0235, 0.9996, 0.8639, 1.4227, 0.6804, -0.1184, 0.6403, 0.5293, 0.9992]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0008 left_pitch=-0.005 left_roll=-0.0005 left_gripper=0.9996 right_x=0.2985 right_y=0.1925 right_z=0.0913 right_yaw=0.0503 right_pitch=-0.0844 right_roll=-0.0561 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -1.306, 7.0769, 1.7411, -0.0269, -0.0757, -0.0171, -0.0615, -6.9675, 6.1197, 1.3944, 0.4029, 0.149, -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]: [-0.0189, 0.8074, 0.6147, -0.3805, -0.0223, -0.0231, 0.9996, 0.8486, 1.7485, 0.5335, 0.4313, 0.6407, 0.5205, 0.9993]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1811 left_yaw=0.0009 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9996 right_x=0.3134 right_y=0.2014 right_z=0.0138 right_yaw=0.0427 right_pitch=-0.0311 right_roll=-0.0075 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -0.8547, 7.0906, 1.707, -0.0415, -0.0317, -0.0122, -0.5538, -4.506, 2.8923, 0.8376, 0.0757, -0.1197, -0.0073]",
      "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]: [-0.0189, 0.8108, 0.6113, -0.3805, -0.0216, -0.0231, 0.9996, 0.8162, 1.7515, 0.4877, 0.5312, 0.6167, 0.503, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1786 left_yaw=0.0003 left_pitch=-0.0137 left_roll=-0.0003 left_gripper=0.9996 right_x=0.3171 right_y=0.1933 right_z=0.0132 right_yaw=0.0382 right_pitch=-0.0069 right_roll=0.0259 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -1.6205, 7.5009, 1.7021, -0.0269, -0.0611, -0.0122, -0.4991, -6.5162, 3.1658, 0.9792, 0.0757, -0.188, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c995f6cb6942189b84c69ab865d511c20e8ef0f8bdd6eb6522a97b53a90e6df6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66a1ae271e42c20943edecb833ec6056e7d39f1552e150b48ba9f9cbb3518979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea06acd314f96d5bed23783815c7b6fe23075cb6fa3f048aa9b3a21d66757987",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrgYKjgEIEhgCKkBaO5Ue6/QPnBO8JLpOllM4s63wcvEysSEmb8LNrvGEzccmb6YYI7ZJXPRL8809lD2P4SHKmpQXzd98vkxvyRouMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcC8zNUGEgyfjPADnFKA4s8+HKEaDI4eBecFrd4pYTKULSIwvCj1GYZwUXGF27RKAAKVaE26KbgK77syc5ZDRTmhAMbtlegpr2vHFZX59o/HoRO5KswEOHWMNkTPYMtvnXATDNJRelz2FfvABCDvrLi1aWdjqry0715zB+3dsjWZpXm4rD/DyK1dVgxrGXRLN8JHzhwjajgBQJWP+Z/tUE9kJsILhGaqHshMBaauliPSu+m2nHq5dshz4kOB1gKv4oCVfMjxBnwWN5ugn0v+MxHeMXGzXKS6b5A8RD0UC2hIuAMLvSU92N8iay2EFvj2iPq0NkUlpZ5I+Og8I1b1EtSc9MDFb8+Qyevj1QBqj9lmQ8sENsnyPCK/5wpVuXAUzwyh2SxMVXh2BHb8/hvHKNzYWGMvzGxKRggfRSAePGzk6YXltRSOgCjNVueH92phy1P48sii7xQYvQ5njfxzFJ7g5xIkGLbSqtOhamg5RuGterG6sKmQxxIpBuuthUY0lGiRM6v2o3jQdw4VzAvvXtS+p6NKLaKbok2vUl4HeHlq0nPG7Sghb2v5upGOi2wj0akQRKdpUwgmnsWpGyjgJPzET89c7WVRXb9b1dZPwcmhrS8Z9523vDfKsdRaSskF1pwh97FoeOU4u/mT80K4J55nd/uBqRaDDxQwxLolp/E/0sFbkAoqcyS526BVLOkTlNCPgHD72IReKuzQxHU/B1w+6UnvLCib3cb0egApFX3Oc3Q+f5B0dGinGu1y7GqspKWQfG72BCv3FGlqwmnWij0h7WNEqhtFiSZHcts/5FHoRgd7/02OTZDp+XWHp32jv+yYwnXAl177Jn/ptIQ+haLO+WqBxalUtewVa7+B51o75FPIFmWbw6rzIZem14O4lUkBGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QA68UtqkaiFNV9sJrNSiTJ",
      "input": {
        "note": "Pen is centred between the jaws at table level; closing the gripper on it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QA68UtqkaiFNV9sJrNSiTJ",
      "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]: [-0.0189, 0.8116, 0.6113, -0.3805, -0.0219, -0.0231, 0.9996, 0.812, 1.75, 0.4763, 0.5438, 0.6014, 0.498, 0.1476]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1784 left_yaw=0.0006 left_pitch=-0.0145 left_roll=-0.0 left_gripper=0.9996 right_x=0.3156 right_y=0.1928 right_z=0.0114 right_yaw=0.0481 right_pitch=-0.012 right_roll=0.0309 right_gripper=0.1476\nstate[joint_eff]: [-0.1436, -1.3197, 7.2957, 1.7314, -0.022, -0.0366, -0.0122, -0.0068, -6.2701, 5.3265, 1.3651, 0.2906, 0.0073, 1.0183]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04f2eb5c5c1ac4ce52b13dea66a079a7895e260ceb7ebd8d31b32c963910b120",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2220cce1c0775fafb1f39e45331170d0d0e4be3694ae2572fcc0a5a28f74fd2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0fa94b8646c1246b55e2a8c8460b17604a05ed9ea1e879a90569d12b374b3137",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 5.513 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]: [-0.0189, 0.8074, 0.6147, -0.3805, -0.0223, -0.0231, 0.9996, 0.8486, 1.7485, 0.5335, 0.4313, 0.6407, 0.5205, 0.9993]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1811 left_yaw=0.0009 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9996 right_x=0.3134 right_y=0.2014 right_z=0.0138 right_yaw=0.0427 right_pitch=-0.0311 right_roll=-0.0075 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -0.8547, 7.0906, 1.707, -0.0415, -0.0317, -0.0122, -0.5538, -4.506, 2.8923, 0.8376, 0.0757, -0.1197, -0.0073]",
      "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]: [-0.0189, 0.8108, 0.6113, -0.3805, -0.0216, -0.0231, 0.9996, 0.8162, 1.7515, 0.4877, 0.5312, 0.6167, 0.503, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1786 left_yaw=0.0003 left_pitch=-0.0137 left_roll=-0.0003 left_gripper=0.9996 right_x=0.3171 right_y=0.1933 right_z=0.0132 right_yaw=0.0382 right_pitch=-0.0069 right_roll=0.0259 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -1.6205, 7.5009, 1.7021, -0.0269, -0.0611, -0.0122, -0.4991, -6.5162, 3.1658, 0.9792, 0.0757, -0.188, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6113, -0.3805, -0.0219, -0.0231, 0.9996, 0.812, 1.75, 0.4763, 0.5438, 0.6014, 0.498, 0.1476]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1784 left_yaw=0.0006 left_pitch=-0.0145 left_roll=-0.0 left_gripper=0.9996 right_x=0.3156 right_y=0.1928 right_z=0.0114 right_yaw=0.0481 right_pitch=-0.012 right_roll=0.0309 right_gripper=0.1476\nstate[joint_eff]: [-0.1436, -1.3197, 7.2957, 1.7314, -0.022, -0.0366, -0.0122, -0.0068, -6.2701, 5.3265, 1.3651, 0.2906, 0.0073, 1.0183]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04f2eb5c5c1ac4ce52b13dea66a079a7895e260ceb7ebd8d31b32c963910b120",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2220cce1c0775fafb1f39e45331170d0d0e4be3694ae2572fcc0a5a28f74fd2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fa94b8646c1246b55e2a8c8460b17604a05ed9ea1e879a90569d12b374b3137",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISowcKjgEIEhgCKkBSTWUEyhXIYxqq2Z4bVOVeg1Rk/qOblg7UOahDzXMpUYze13C/4e8iQyNzpyejSRZ5zx7EdrskaH9uD8tNnBmqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcm8zNUGEgyHIFREU3Sp7dDAy0IaDPPAXcmxsBQSE2+ceiIwR/UfhUN/9MF6jPlCQNrA4RyPxldseITxjDYu1FozK9og1EXzDipho/b4CtfO9DBaKsEFXW6wRfqTgPHNnlChjY/Q5oPFLd8HH4fZ3w7QD1bH1xkd8mMaXJx4Y+R98oh7zwe1RWB0OpI6XSvWt/ae4qpYro/PTODdOhXkpA/8edRTrojdMAF9lz2Pze/1PoorTwgL4zcw3uMRhVa1ULKcrW/e4/VeKA8JQyNCvsoykISbTGNkQtz1YZGyeUjkYnegc6TTNaYAKbWuL1j6+A7Jfw7EiePWDWBSAfsdxvEZXpRvM9lqPnc6nvVglkf84iprobfgin7+uNCHt3LI7pdlkmH1jyD9ISD7wcocXFU6oW8zWEFs4PKfT0kiSgzlhkk6nDcSHG6edWCzY5DW2mSfb93jrt4DlcFFb+VMtx6+AiUEmMjqY6WhVbvIEkuUSkVZEgsdMk9ZE73JRBwFmrOB7LVIt3Zt3MP2innthbakFud7unyfj6+RQppNLKyro3ynZ9yUm38J9Id2mE8Ep5xZ9IyX844OHBmCB2y5MAyStl5s5IF4G+erqqyfgn5RVg2XrM8SaokIXbASdpPfw88SqLn0pQ9PENa0E+WhCvyw/GNy3OQjnx+gYydKPqQ8bEs8Uy3gw1IU3KQEB5leklCc1Ie1kWeVBJ2jA3ivgLfYA1iGTnNyvcLH/5/OoZe/W2Uep54IZ7W8mKaM99vrZob3lsnGDZ91ALSWWZMx5SWOvpDNYLHf+rtWTmHaVbsXDLxyc006ur2Dcou6GLG8VPQQ7tD7r+6vlSrO6655pX4Oe2uDij/qrkz1pc7TVcoguEzDHb66GvyjXuJsxmj2RIWM48J6cUV9fjyeKN0rcBjzAdmtG1c5gezKMiqXWOcmi8PSVdb+fTzAmaoXyFfxZqCBPGvsjGORPOWAeYbPRirB03xieqHt/yTP11piOXpYNnerYdCpv3uu7SxiEgQsW/WIFvTR90jm8FYlUqCJYnZckAxLwmgIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015cAzZQAxfwcypFLPdx79Wg",
      "input": {
        "note": "Gripper settled at 0.15 (~1.4 cm), so the pen is held. Lifting clear before carrying it to the right-hand basket.",
        "targets": {
          "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_015cAzZQAxfwcypFLPdx79Wg",
      "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]: [-0.0189, 0.8169, 0.6106, -0.3805, -0.0219, -0.0231, 0.9996, 0.8104, 1.2976, 1.1282, -0.5854, 0.5907, 0.4934, 0.1476]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0206 left_roll=0.0001 left_gripper=0.9996 right_x=0.3157 right_y=0.1943 right_z=0.2357 right_yaw=0.0566 right_pitch=-0.0349 right_roll=0.0153 right_gripper=0.1476\nstate[joint_eff]: [-0.0479, -1.6615, 7.1453, 1.6972, -0.0269, -0.0513, -0.0171, 0.0479, -5.8735, 9.5385, 1.37, 0.2515, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8db90a4442adf7c18d11aad9503f940de54ef376581ba6b73863af8443d76266",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baec150129cefabb2f4e445b560d0f3f11f4cd43fe21842e3ea079301072638a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ef6487cc03e3c997cbba0e05dd7fe7a507c69abe7871f08e57bc539a01b31a69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 8.045 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]: [-0.0189, 0.8108, 0.6113, -0.3805, -0.0216, -0.0231, 0.9996, 0.8162, 1.7515, 0.4877, 0.5312, 0.6167, 0.503, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1786 left_yaw=0.0003 left_pitch=-0.0137 left_roll=-0.0003 left_gripper=0.9996 right_x=0.3171 right_y=0.1933 right_z=0.0132 right_yaw=0.0382 right_pitch=-0.0069 right_roll=0.0259 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -1.6205, 7.5009, 1.7021, -0.0269, -0.0611, -0.0122, -0.4991, -6.5162, 3.1658, 0.9792, 0.0757, -0.188, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6113, -0.3805, -0.0219, -0.0231, 0.9996, 0.812, 1.75, 0.4763, 0.5438, 0.6014, 0.498, 0.1476]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1784 left_yaw=0.0006 left_pitch=-0.0145 left_roll=-0.0 left_gripper=0.9996 right_x=0.3156 right_y=0.1928 right_z=0.0114 right_yaw=0.0481 right_pitch=-0.012 right_roll=0.0309 right_gripper=0.1476\nstate[joint_eff]: [-0.1436, -1.3197, 7.2957, 1.7314, -0.022, -0.0366, -0.0122, -0.0068, -6.2701, 5.3265, 1.3651, 0.2906, 0.0073, 1.0183]",
      "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]: [-0.0189, 0.8169, 0.6106, -0.3805, -0.0219, -0.0231, 0.9996, 0.8104, 1.2976, 1.1282, -0.5854, 0.5907, 0.4934, 0.1476]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0206 left_roll=0.0001 left_gripper=0.9996 right_x=0.3157 right_y=0.1943 right_z=0.2357 right_yaw=0.0566 right_pitch=-0.0349 right_roll=0.0153 right_gripper=0.1476\nstate[joint_eff]: [-0.0479, -1.6615, 7.1453, 1.6972, -0.0269, -0.0513, -0.0171, 0.0479, -5.8735, 9.5385, 1.37, 0.2515, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8db90a4442adf7c18d11aad9503f940de54ef376581ba6b73863af8443d76266",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baec150129cefabb2f4e445b560d0f3f11f4cd43fe21842e3ea079301072638a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef6487cc03e3c997cbba0e05dd7fe7a507c69abe7871f08e57bc539a01b31a69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2wQKjgEIEhgCKkDh1MVcC8CpdtyOsDd4jo6Q3J77AR12YCVI1g6xAJSipS8JMDqVBJSuMQISB6Nw671au5lw95ZZZLRm8pGzvXdkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdK8zNUGEgzCC2QHAOn2nLj+kAkaDNuisqx8HUwRCVtkYiIwSDwlE2dWcasEcUoE8JACpSGPuASq9qPSkv9pc6ZNOQplg7vAxfA09G4YGMizub6HKvkCVB+UKSZrKgxPnUkG8XiE58+XLqtPKB5nw46fIR9Nh5ORHF4L7EmTs/AcJ91jylzqC0xum25DDIHAI+B3JWP1eNHgF8PwSvVMz5Qg/5KBRzXbYDo1k0hJxuAqvnOFtNqaCnG3szsroHlxl0p2wzhX3wEHVSfmNf+W5048h83ikrYELUltlkgeiK3p+/fnKSbRprKjwe4ILSUwV6AS/29dOeDlk89b3v4qHTOTbaAmbnNvntTwT5G6CQNNq63J7VTmOXisYHxOIM7++Wkea7VhV2emLoEjrSR+833YhidsIqnJUb0KOeFh/b9j3vzaqUJN9bEXYTeoFqjh9JE8cc+gSL+3KCPhJ7EnlR/JG2egltpQxep7YfXpnKEh1LZeTgZl8KzYeUSE6rF3SESvfIUUMiUdrX2KEpWrLGo7JYd1GkvUrVAZDloeraznQymMR1N/U//PlEXuVx59JGDp+trmU1vndfbyxmRO5rIVr6vapKK5KbZVAqa+8HsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VJFFHzCJPFgeCJ8wGYebM7",
      "input": {
        "note": "Pen is securely held and clear of the toys. Flying over the right-hand basket to drop the pen in; this basket will collect the pens/markers.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.14,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01VJFFHzCJPFgeCJ8wGYebM7",
      "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]: [-0.0189, 0.8192, 0.6094, -0.3805, -0.0216, -0.0231, 0.9996, 0.3969, 1.5997, 1.5063, -0.5877, 0.2665, 0.1978, 0.1476]\nstate[eef_state]: left_x=0.297 left_y=0.0018 left_z=0.1754 left_yaw=0.0003 left_pitch=-0.024 left_roll=-0.0001 left_gripper=0.9996 right_x=0.4446 right_y=0.1398 right_z=0.2615 right_yaw=0.0619 right_pitch=-0.0824 right_roll=-0.0038 right_gripper=0.1476\nstate[joint_eff]: [-0.1162, -1.5795, 7.241, 1.7363, -0.0269, -0.0562, -0.0122, -0.5128, -8.0342, 9.6889, 1.7705, 0.0757, -0.022, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd484d57790657353564991d149f08a4680e0698edfd01ed7f51faa801e5c20f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2f33d427781243fd00e05c4c0ed3d85ac0a71850508473edb75ebfd2f4af5ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b20fc2ebc193da72f3d7a7a1f79eefe2b8ed5ddc6c4fc198c0651e28bb4346c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 12.96 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]: [-0.0189, 0.8116, 0.6113, -0.3805, -0.0219, -0.0231, 0.9996, 0.812, 1.75, 0.4763, 0.5438, 0.6014, 0.498, 0.1476]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1784 left_yaw=0.0006 left_pitch=-0.0145 left_roll=-0.0 left_gripper=0.9996 right_x=0.3156 right_y=0.1928 right_z=0.0114 right_yaw=0.0481 right_pitch=-0.012 right_roll=0.0309 right_gripper=0.1476\nstate[joint_eff]: [-0.1436, -1.3197, 7.2957, 1.7314, -0.022, -0.0366, -0.0122, -0.0068, -6.2701, 5.3265, 1.3651, 0.2906, 0.0073, 1.0183]",
      "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]: [-0.0189, 0.8169, 0.6106, -0.3805, -0.0219, -0.0231, 0.9996, 0.8104, 1.2976, 1.1282, -0.5854, 0.5907, 0.4934, 0.1476]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0206 left_roll=0.0001 left_gripper=0.9996 right_x=0.3157 right_y=0.1943 right_z=0.2357 right_yaw=0.0566 right_pitch=-0.0349 right_roll=0.0153 right_gripper=0.1476\nstate[joint_eff]: [-0.0479, -1.6615, 7.1453, 1.6972, -0.0269, -0.0513, -0.0171, 0.0479, -5.8735, 9.5385, 1.37, 0.2515, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0189, 0.8192, 0.6094, -0.3805, -0.0216, -0.0231, 0.9996, 0.3969, 1.5997, 1.5063, -0.5877, 0.2665, 0.1978, 0.1476]\nstate[eef_state]: left_x=0.297 left_y=0.0018 left_z=0.1754 left_yaw=0.0003 left_pitch=-0.024 left_roll=-0.0001 left_gripper=0.9996 right_x=0.4446 right_y=0.1398 right_z=0.2615 right_yaw=0.0619 right_pitch=-0.0824 right_roll=-0.0038 right_gripper=0.1476\nstate[joint_eff]: [-0.1162, -1.5795, 7.241, 1.7363, -0.0269, -0.0562, -0.0122, -0.5128, -8.0342, 9.6889, 1.7705, 0.0757, -0.022, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd484d57790657353564991d149f08a4680e0698edfd01ed7f51faa801e5c20f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2f33d427781243fd00e05c4c0ed3d85ac0a71850508473edb75ebfd2f4af5ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b20fc2ebc193da72f3d7a7a1f79eefe2b8ed5ddc6c4fc198c0651e28bb4346c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiQgKjgEIEhgCKkANA3UU5JYTuK8CHAxlhp+WSv+y7yf7URf6S+DSs/zIEMmDW8uGFCbgTjxUF0Ol3OHcf5Ir4ofxQmqEmAvtocbyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeW8zNUGEgwj8/eNhtwNTczptqAaDGZE7dIpLS1rmabs8iIw4e5QSXYXtJuBOS/j9Y7hS87vtYh4iQxrJGKu+/PghvIw8zRec3o+WJ89KzLv7Y13KqcGJFw1Bg5WtoPdsDRLy29r3MivfXdfrGwsB+IZ2bYGVUsY9wDqfoIL/lZOEmYMu0j3H4PtAZlBSQphe20RDuPES1jzXqQVUBvoGEB+8SVOdV8SeBKk9xI9ynkWuq3L21scqfGvqpip5Q6C5unqdKsY6PQWxHWRjlp7DXMnHnu17KHt5AT2VZ8FcRz0J0Wm9//2iZBelcTpHUGBQZbdRezwCJOlks1/GtuhBFqU7DYbzusO8kUA+3H2bxeho+8keK7VbzENQgxbsSUN+iwU3J3tAj/zLwtNFI1ZINyxYwyaF0USp2UqgbSWKspSgU2lcDZalyMIPasdjvNZwF8gH9sg+g3rpBHeTkKLZ7YtCOr/U0VKcN1prC4PczHSHJot4Ypbpj38GxeJ0Sui5JgjvFONT1JB+y9W9ibjp+3s3sUoPK5/D1YdV6cn2V4hT21lcfNPRgv7K8hKfjykYjql3y4xL3mL1PdkbjH5CII28RtiQ+hpfz47+7c8qWsBeidUGnh5ar4EpDXFJhVi9pXcXo5nNOvByBlLRXldtUwnEXpUnQ1NdH9mrdHuQM9qzi0eQkMUWBHGbjN4wWHEMwdFJgEM3WlXYDu7FG/5+SgvHOasFAOOKV/7Lw54IbAFkdcoKUrfV/GNUL63bRoAeHuUoyaw+q04/R9tqz4a3umtIgxeG3qaADOX1n6EDViYMOv+GUmHfNoFnFQOapngRZZ/x49S5ByOffc+J2qLMVfwdKwl2KkqIMDfk9OyPCKVJ+ZlEkwGQnX3IboQwMo8fvzZav9JGiodPbXD+0tzKcTayhfPCKqoUfinRMy0KVzvWK3DH18WLzt5rGYr8pXyQiJRNjbxHapPLrSx9ymoyhVQnYZwSZsi2umB7UiP23BqeCmi6b8rVpaSSFGZA4QKoqQoRH8ZoCP6PsZm9V0MM7xKqrfjV0gGRVZulf2k4cGWYNuLFdzYW0nvimO6bu4g5V3WnOrWmhysowhvREcQLrdhmIyCqPzae77p0zrjBKwL7l3dX5WY7rJAvZNBrexDRpkPjtuXprQJn9UvQ96CWXVfsS+FLl7/NGegyTabGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SjrNKcBoG2XLssT5vhiYrp",
      "input": {
        "note": "Wrist view shows the pen hanging over the inside of the right basket. Nudging slightly forward and opening the gripper to drop the pen in.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.47
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01SjrNKcBoG2XLssT5vhiYrp",
      "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]: [-0.0189, 0.8211, 0.6094, -0.3805, -0.0219, -0.0231, 0.9996, 0.3771, 1.6852, 1.5589, -0.593, 0.2478, 0.1719, 0.9949]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1749 left_yaw=0.0006 left_pitch=-0.0259 left_roll=0.0002 left_gripper=0.9996 right_x=0.4631 right_y=0.1407 right_z=0.2441 right_yaw=0.0704 right_pitch=-0.1226 right_roll=-0.0248 right_gripper=0.9949\nstate[joint_eff]: [-0.1162, -1.2376, 7.0359, 1.7265, -0.0366, -0.0464, -0.0122, -0.8, -8.253, 10.6598, 1.6777, 0.0171, 0.0562, -0.1343]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8e34ffdaa8c0cb083915a7c605b7e872068714bebbad45f6f1a40830a373a07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f09fec3ca4c941deb98a42e08c29534d8d494e0d278b2e8313f76e9b1b644c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9078e3bca18908891bb3e910f745e153f50e6a2babf370355170331d6f390dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 7.598 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]: [-0.0189, 0.8169, 0.6106, -0.3805, -0.0219, -0.0231, 0.9996, 0.8104, 1.2976, 1.1282, -0.5854, 0.5907, 0.4934, 0.1476]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0206 left_roll=0.0001 left_gripper=0.9996 right_x=0.3157 right_y=0.1943 right_z=0.2357 right_yaw=0.0566 right_pitch=-0.0349 right_roll=0.0153 right_gripper=0.1476\nstate[joint_eff]: [-0.0479, -1.6615, 7.1453, 1.6972, -0.0269, -0.0513, -0.0171, 0.0479, -5.8735, 9.5385, 1.37, 0.2515, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0189, 0.8192, 0.6094, -0.3805, -0.0216, -0.0231, 0.9996, 0.3969, 1.5997, 1.5063, -0.5877, 0.2665, 0.1978, 0.1476]\nstate[eef_state]: left_x=0.297 left_y=0.0018 left_z=0.1754 left_yaw=0.0003 left_pitch=-0.024 left_roll=-0.0001 left_gripper=0.9996 right_x=0.4446 right_y=0.1398 right_z=0.2615 right_yaw=0.0619 right_pitch=-0.0824 right_roll=-0.0038 right_gripper=0.1476\nstate[joint_eff]: [-0.1162, -1.5795, 7.241, 1.7363, -0.0269, -0.0562, -0.0122, -0.5128, -8.0342, 9.6889, 1.7705, 0.0757, -0.022, 1.0232]",
      "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]: [-0.0189, 0.8211, 0.6094, -0.3805, -0.0219, -0.0231, 0.9996, 0.3771, 1.6852, 1.5589, -0.593, 0.2478, 0.1719, 0.9949]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1749 left_yaw=0.0006 left_pitch=-0.0259 left_roll=0.0002 left_gripper=0.9996 right_x=0.4631 right_y=0.1407 right_z=0.2441 right_yaw=0.0704 right_pitch=-0.1226 right_roll=-0.0248 right_gripper=0.9949\nstate[joint_eff]: [-0.1162, -1.2376, 7.0359, 1.7265, -0.0366, -0.0464, -0.0122, -0.8, -8.253, 10.6598, 1.6777, 0.0171, 0.0562, -0.1343]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8e34ffdaa8c0cb083915a7c605b7e872068714bebbad45f6f1a40830a373a07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f09fec3ca4c941deb98a42e08c29534d8d494e0d278b2e8313f76e9b1b644c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9078e3bca18908891bb3e910f745e153f50e6a2babf370355170331d6f390dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XKZVfmzV1aetgjcg6RCD3t",
      "input": {
        "note": "Pen successfully dropped in the right basket. Moving the right arm back over the right-hand table area where another pen-like stick lies, to inspect it in the wrist camera.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.13,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01XKZVfmzV1aetgjcg6RCD3t",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6094, -0.3794, -0.0216, -0.0231, 0.9996, 0.5385, 1.2587, 0.8082, -0.3447, 0.342, 0.2649, 0.9958]\nstate[eef_state]: left_x=0.2975 left_y=0.0018 left_z=0.174 left_yaw=0.0003 left_pitch=-0.0286 left_roll=0.0 left_gripper=0.9996 right_x=0.3301 right_y=0.1324 right_z=0.1419 right_yaw=0.0995 right_pitch=-0.168 right_roll=-0.0427 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -1.2923, 7.159, 1.7753, -0.0415, -0.0659, -0.0122, 0.294, -5.5043, 7.3368, 1.8779, 0.3932, 0.1197, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc5bab796eb7d668801d658d0d24e5fd6fcd9324a1965dc91963473748efc42c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9180c686cc943b1f5187f8a1f158b61c23baa6701fd98b20e1e930d4f0a3aea1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec097c9c37be08ea85ce12143290e4bd79cfddb90f9f6c116b8082e4252079f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 14.58 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]: [-0.0189, 0.8192, 0.6094, -0.3805, -0.0216, -0.0231, 0.9996, 0.3969, 1.5997, 1.5063, -0.5877, 0.2665, 0.1978, 0.1476]\nstate[eef_state]: left_x=0.297 left_y=0.0018 left_z=0.1754 left_yaw=0.0003 left_pitch=-0.024 left_roll=-0.0001 left_gripper=0.9996 right_x=0.4446 right_y=0.1398 right_z=0.2615 right_yaw=0.0619 right_pitch=-0.0824 right_roll=-0.0038 right_gripper=0.1476\nstate[joint_eff]: [-0.1162, -1.5795, 7.241, 1.7363, -0.0269, -0.0562, -0.0122, -0.5128, -8.0342, 9.6889, 1.7705, 0.0757, -0.022, 1.0232]",
      "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]: [-0.0189, 0.8211, 0.6094, -0.3805, -0.0219, -0.0231, 0.9996, 0.3771, 1.6852, 1.5589, -0.593, 0.2478, 0.1719, 0.9949]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1749 left_yaw=0.0006 left_pitch=-0.0259 left_roll=0.0002 left_gripper=0.9996 right_x=0.4631 right_y=0.1407 right_z=0.2441 right_yaw=0.0704 right_pitch=-0.1226 right_roll=-0.0248 right_gripper=0.9949\nstate[joint_eff]: [-0.1162, -1.2376, 7.0359, 1.7265, -0.0366, -0.0464, -0.0122, -0.8, -8.253, 10.6598, 1.6777, 0.0171, 0.0562, -0.1343]",
      "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]: [-0.0189, 0.8249, 0.6094, -0.3794, -0.0216, -0.0231, 0.9996, 0.5385, 1.2587, 0.8082, -0.3447, 0.342, 0.2649, 0.9958]\nstate[eef_state]: left_x=0.2975 left_y=0.0018 left_z=0.174 left_yaw=0.0003 left_pitch=-0.0286 left_roll=0.0 left_gripper=0.9996 right_x=0.3301 right_y=0.1324 right_z=0.1419 right_yaw=0.0995 right_pitch=-0.168 right_roll=-0.0427 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -1.2923, 7.159, 1.7753, -0.0415, -0.0659, -0.0122, 0.294, -5.5043, 7.3368, 1.8779, 0.3932, 0.1197, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc5bab796eb7d668801d658d0d24e5fd6fcd9324a1965dc91963473748efc42c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9180c686cc943b1f5187f8a1f158b61c23baa6701fd98b20e1e930d4f0a3aea1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec097c9c37be08ea85ce12143290e4bd79cfddb90f9f6c116b8082e4252079f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuwUKjgEIEhgCKkD03Pd105qymHBcKKAC1auXi3WC+4pV9RUo0Fancu7ZkcwjqwuGrnxDOpNMKPeAjA7QEKaJICglQd6xOkQB+VU6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfy8zNUGEgz6lW4ZAea45tRI6CYaDEHk7OwUG2Hoa5V+gSIwv4GDj2R/a4vRs2CwKx5Zl0Lw+tH8r/W4MRT7MZO9SgB8g60sxgcQ3wr5qO6nWHCwKtkDu5S6L/+hJyY1vk2H95cbGq7uCNUabNeEp1fSMpeyd+YjM07p1uVnvFQ9UOz6GOPGzhauhrFTj5Ip9j/SDEQcXoF8qUnApbNdgdBxXYdzCbv9qw0IDVTE+SSVLATBVm6+ydEY58cLIP9feN0+vSoUypk7u+NJ76vGwJPcFqMPR5QikSZAqaugoUcU/csh2wVFbQouNseOGW9ovqsBTe07w2kpgBnahw6ARWMoCQ+amwq3Ds5b/4uz0IiADcdzqAQE5JJkmDMqpIvaBz5LuMCqP4FGQZaLefYjtCuHLYPdfBjIl3AlCyKBzAG6TfTUvE44dTHqsp9JbzOwEMqUStUYAsSIFHGUy8q3rXh81ep8t/0fMWmNMTQdONSUaq2+sGep6rODQnBVI5sLepEjjKvPCPCHqc6yawsMyrGDPxCoF+01KAaWixPGE0IvNrcTWL9Ul/5kkY5v6PJk7m9ZnP+jzq77AcLucbTfkLpwAdl8bc51aTzxW0yKXpFOnoh6VENPdFjID/NgOsAMYrYZ4D19zT9uNOS+StNIu3O/ISjJUpA6h0zBI4RuXCfb+qFo6FX8/tu0ARRhIgPVWAUtizeF5cb/ifRJyCaRIdT8kn30YW1hciS4hcLqPKkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HNd4sL4EZ1LHVBfSxmwNDG",
      "input": {
        "note": "A dark pen is just visible at the bottom edge of the right wrist view, meaning it is nearer the base than my fingertips. Backing off ~4 cm and descending to line up on it.",
        "targets": {
          "right_x": 0.29,
          "right_y": 0.115,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HNd4sL4EZ1LHVBfSxmwNDG",
      "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]: [-0.0189, 0.8276, 0.6094, -0.3798, -0.0219, -0.0235, 0.9996, 0.5594, 1.1824, 0.511, -0.2047, 0.355, 0.2741, 0.9959]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.1732 left_yaw=0.0008 left_pitch=-0.0317 left_roll=-0.0 left_gripper=0.9996 right_x=0.285 right_y=0.1103 right_z=0.07 right_yaw=0.0978 right_pitch=-0.2363 right_roll=-0.0808 right_gripper=0.9959\nstate[joint_eff]: [-0.0068, -1.5111, 7.1179, 1.7607, -0.0366, -0.0806, -0.0171, 0.4171, -5.2718, 7.5282, 1.8828, 0.1929, 0.1099, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa0b2a736622d28405f12e10b5389d40d4ea15d3de7ab9c7d8eecc355ab0806c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b417090d20714e52c9e4e9856ab7dfd5efb307ba58697f422304ecb77b0c66df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ce84c310cb6cf9564f78b282b09a150206a049e413d273a03d9c0c965a11547",
        "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 · 8.14 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]: [-0.0189, 0.8211, 0.6094, -0.3805, -0.0219, -0.0231, 0.9996, 0.3771, 1.6852, 1.5589, -0.593, 0.2478, 0.1719, 0.9949]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1749 left_yaw=0.0006 left_pitch=-0.0259 left_roll=0.0002 left_gripper=0.9996 right_x=0.4631 right_y=0.1407 right_z=0.2441 right_yaw=0.0704 right_pitch=-0.1226 right_roll=-0.0248 right_gripper=0.9949\nstate[joint_eff]: [-0.1162, -1.2376, 7.0359, 1.7265, -0.0366, -0.0464, -0.0122, -0.8, -8.253, 10.6598, 1.6777, 0.0171, 0.0562, -0.1343]",
      "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]: [-0.0189, 0.8249, 0.6094, -0.3794, -0.0216, -0.0231, 0.9996, 0.5385, 1.2587, 0.8082, -0.3447, 0.342, 0.2649, 0.9958]\nstate[eef_state]: left_x=0.2975 left_y=0.0018 left_z=0.174 left_yaw=0.0003 left_pitch=-0.0286 left_roll=0.0 left_gripper=0.9996 right_x=0.3301 right_y=0.1324 right_z=0.1419 right_yaw=0.0995 right_pitch=-0.168 right_roll=-0.0427 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -1.2923, 7.159, 1.7753, -0.0415, -0.0659, -0.0122, 0.294, -5.5043, 7.3368, 1.8779, 0.3932, 0.1197, 0.0806]",
      "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]: [-0.0189, 0.8276, 0.6094, -0.3798, -0.0219, -0.0235, 0.9996, 0.5594, 1.1824, 0.511, -0.2047, 0.355, 0.2741, 0.9959]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.1732 left_yaw=0.0008 left_pitch=-0.0317 left_roll=-0.0 left_gripper=0.9996 right_x=0.285 right_y=0.1103 right_z=0.07 right_yaw=0.0978 right_pitch=-0.2363 right_roll=-0.0808 right_gripper=0.9959\nstate[joint_eff]: [-0.0068, -1.5111, 7.1179, 1.7607, -0.0366, -0.0806, -0.0171, 0.4171, -5.2718, 7.5282, 1.8828, 0.1929, 0.1099, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa0b2a736622d28405f12e10b5389d40d4ea15d3de7ab9c7d8eecc355ab0806c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b417090d20714e52c9e4e9856ab7dfd5efb307ba58697f422304ecb77b0c66df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ce84c310cb6cf9564f78b282b09a150206a049e413d273a03d9c0c965a11547",
        "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_01JUUcBLdMBwPV4vfWcaiuAJ",
      "input": {
        "note": "The black marker is now clearly in view running diagonally below the jaws. Rotating the wrist -45° so the jaws close across the marker, and shifting back/right to centre on it.",
        "targets": {
          "right_x": 0.262,
          "right_y": 0.098,
          "right_yaw": -0.785,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01JUUcBLdMBwPV4vfWcaiuAJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8314, 0.606, -0.3805, -0.0219, -0.0261, 0.9996, 0.7895, 1.6295, 0.8833, -0.7303, 0.7082, 1.2068, 0.9961]\nstate[eef_state]: left_x=0.2973 left_y=0.0021 left_z=0.1704 left_yaw=0.003 left_pitch=-0.0396 left_roll=-0.0021 left_gripper=0.9996 right_x=0.2728 right_y=0.117 right_z=0.0501 right_yaw=-0.5525 right_pitch=-0.2953 right_roll=-0.1443 right_gripper=0.9961\nstate[joint_eff]: [-0.0205, -1.7709, 7.2957, 1.7705, -0.0269, 0.0171, -0.0171, 0.5675, -6.7077, 6.8581, 0.0122, 0.696, 0.3101, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1eca5ae66911dac242c80e8492fa84c58d9ea0fe826ad67d2a9e9d301ed9706",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:995ae3634210618eb4a2e8bc3a755592f46e2b15c29ceebe2de6e1c7b5dc267f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61d01ca7a2ebe72408b599a4866b29783d9855a84ae996211ae5ddcf5898ba8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 3.705 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]: [-0.0189, 0.8249, 0.6094, -0.3794, -0.0216, -0.0231, 0.9996, 0.5385, 1.2587, 0.8082, -0.3447, 0.342, 0.2649, 0.9958]\nstate[eef_state]: left_x=0.2975 left_y=0.0018 left_z=0.174 left_yaw=0.0003 left_pitch=-0.0286 left_roll=0.0 left_gripper=0.9996 right_x=0.3301 right_y=0.1324 right_z=0.1419 right_yaw=0.0995 right_pitch=-0.168 right_roll=-0.0427 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -1.2923, 7.159, 1.7753, -0.0415, -0.0659, -0.0122, 0.294, -5.5043, 7.3368, 1.8779, 0.3932, 0.1197, 0.0806]",
      "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]: [-0.0189, 0.8276, 0.6094, -0.3798, -0.0219, -0.0235, 0.9996, 0.5594, 1.1824, 0.511, -0.2047, 0.355, 0.2741, 0.9959]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.1732 left_yaw=0.0008 left_pitch=-0.0317 left_roll=-0.0 left_gripper=0.9996 right_x=0.285 right_y=0.1103 right_z=0.07 right_yaw=0.0978 right_pitch=-0.2363 right_roll=-0.0808 right_gripper=0.9959\nstate[joint_eff]: [-0.0068, -1.5111, 7.1179, 1.7607, -0.0366, -0.0806, -0.0171, 0.4171, -5.2718, 7.5282, 1.8828, 0.1929, 0.1099, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8314, 0.606, -0.3805, -0.0219, -0.0261, 0.9996, 0.7895, 1.6295, 0.8833, -0.7303, 0.7082, 1.2068, 0.9961]\nstate[eef_state]: left_x=0.2973 left_y=0.0021 left_z=0.1704 left_yaw=0.003 left_pitch=-0.0396 left_roll=-0.0021 left_gripper=0.9996 right_x=0.2728 right_y=0.117 right_z=0.0501 right_yaw=-0.5525 right_pitch=-0.2953 right_roll=-0.1443 right_gripper=0.9961\nstate[joint_eff]: [-0.0205, -1.7709, 7.2957, 1.7705, -0.0269, 0.0171, -0.0171, 0.5675, -6.7077, 6.8581, 0.0122, 0.696, 0.3101, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1eca5ae66911dac242c80e8492fa84c58d9ea0fe826ad67d2a9e9d301ed9706",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:995ae3634210618eb4a2e8bc3a755592f46e2b15c29ceebe2de6e1c7b5dc267f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61d01ca7a2ebe72408b599a4866b29783d9855a84ae996211ae5ddcf5898ba8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmwgKjgEIEhgCKkA/xLWSly/Rw6Z5A2EjRs+moDhb3d7LCpk7X5JSylS/Q6eJBP8yzJcNZ/JRpWABj42j4FHRnzAZA8thBgFL8zuwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZS9zNUGEgzEkUWXhN250bnUvcEaDGLQRZRsWpl32PmfKCIwlR1L6ixWURkBLEryEMfaGCxVyc7EVkgTrKhWJKqdp9gXdWPh7gP5EFuSiGCF9yE/KrkGq5PsRuQflgeUZFV+IdD2emYMHbnsDekxnDpw3dfblm/hgUl8DHqoH7uNmjvkdasQqDzhHkhhwtLyROBLaRRg3rKSTbeR+oQ259x8/1jjxUFhUGeBiHNQzXpFQOQhfIUtxAwysuRv0ghQnQS6woiNZ7mv9M9GG7LrGRxL8z3SM3N36AowVmlrsXBnnFmyEoifoGNSYJJ6k2RYdncB5YKCcxxRzXlhMPr/K2TRazNODsHFO4FeLUPk1HHNcoQ2e87PS2feVD1JnX2yAPMeG84mvX1ZW0fMbk4XbKRTOkg4BIzTLSWZrVY1uV5E6cSeNzT20C6rywJP58PyoD3KbrXyCjFHgUYAQbUrM0y9VQiGjawkbkYnRAsdUpjYDShFoSvML88yP92dWMW5MJItf+F3JDBomlhMVBLI+xq1eK4iSP2LeoJf3LuN86FB32pRMlvCkLZPT/TFXRnKsGkayHjfoomX6joQ15pGCWglI7/cpMYHxyH8o4RkVnvJyfuMcItIteR78eg5kJvnD1E3AYpYPZHlBhgabjBmwqPK0+DTGIlkae3vu5dLA8mvSvEraeFHIN34kGm5wWGzkQEcUc08jIVp3ixg6v8Qj4vWsuDB3omncPn9aPiXz0eEO6YDxJpAJZVKLunrbvkf1aL7jIGokLOssmFQ76wnH1nAYojh7zvPjIoG+AUOODdkthGtLCapJHnNSeYxkx7GZKrFOtWuF1uLelvuzmF+N0FNfPfdw9dLzW2UUsXod2JmLsF18H9ozOSEcCNX0J04UgiqI5uPxNRFnzh6us55SYEpnyGNklFC6cVXGlDBWlhmDRSszGEBEr1GB1+F16LQ5+661kvoE0+daWlAPMGqspqkEocQaUjnRo28U+5DI15NJCnPFqLW+9cCXDQMI1OR+ltVgVwMJdI3dRzm6OKGHOgf+Gur2iehInx+Iv4hl9GoT4EtK8wQCdbEjz6/P4PYoytqvWrWhHz4edr5/A48G8NzGWY5OxCLeeSJW4IWp8pEs3ElxET6lfML6GTFbpqnHA1adUCi/ErG8Aed2pDiqZVwGICGhV0J89muFvWX+ITgYt2mZUWohgQBHkQb5tqjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018UMfUFxFBbDgyg9WHU8HZa",
      "input": {
        "note": "After the wrist rotation the marker appears vertical and centred on the jaw column. Descending to table level to grasp it.",
        "targets": {
          "right_x": 0.268,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018UMfUFxFBbDgyg9WHU8HZa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8322, 0.606, -0.3805, -0.0219, -0.0269, 0.9996, 0.7944, 1.7298, 0.7876, -0.5934, 0.7166, 1.2568, 0.9962]\nstate[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1702 left_yaw=0.0034 left_pitch=-0.0404 left_roll=-0.0027 left_gripper=0.9996 right_x=0.2633 right_y=0.1077 right_z=0.0068 right_yaw=-0.5941 right_pitch=-0.2949 right_roll=-0.1727 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -1.4701, 7.0496, 1.7216, -0.022, -0.0562, -0.0171, 0.3761, -5.6547, 3.7812, 0.4518, -0.2857, -0.0366, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ab2e225df7212ddf313a4287931acfeb61a70630d7745c0cefab0ab763c5f04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:944e363a17fbd253d53a4862c03d94543b244bae371780d37507c289b2febf68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d771bea9754d09a6ec87c2569b5b2940493ac53460cefe83233759698967831d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 3.795 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]: [-0.0189, 0.8276, 0.6094, -0.3798, -0.0219, -0.0235, 0.9996, 0.5594, 1.1824, 0.511, -0.2047, 0.355, 0.2741, 0.9959]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.1732 left_yaw=0.0008 left_pitch=-0.0317 left_roll=-0.0 left_gripper=0.9996 right_x=0.285 right_y=0.1103 right_z=0.07 right_yaw=0.0978 right_pitch=-0.2363 right_roll=-0.0808 right_gripper=0.9959\nstate[joint_eff]: [-0.0068, -1.5111, 7.1179, 1.7607, -0.0366, -0.0806, -0.0171, 0.4171, -5.2718, 7.5282, 1.8828, 0.1929, 0.1099, -0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8314, 0.606, -0.3805, -0.0219, -0.0261, 0.9996, 0.7895, 1.6295, 0.8833, -0.7303, 0.7082, 1.2068, 0.9961]\nstate[eef_state]: left_x=0.2973 left_y=0.0021 left_z=0.1704 left_yaw=0.003 left_pitch=-0.0396 left_roll=-0.0021 left_gripper=0.9996 right_x=0.2728 right_y=0.117 right_z=0.0501 right_yaw=-0.5525 right_pitch=-0.2953 right_roll=-0.1443 right_gripper=0.9961\nstate[joint_eff]: [-0.0205, -1.7709, 7.2957, 1.7705, -0.0269, 0.0171, -0.0171, 0.5675, -6.7077, 6.8581, 0.0122, 0.696, 0.3101, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8322, 0.606, -0.3805, -0.0219, -0.0269, 0.9996, 0.7944, 1.7298, 0.7876, -0.5934, 0.7166, 1.2568, 0.9962]\nstate[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1702 left_yaw=0.0034 left_pitch=-0.0404 left_roll=-0.0027 left_gripper=0.9996 right_x=0.2633 right_y=0.1077 right_z=0.0068 right_yaw=-0.5941 right_pitch=-0.2949 right_roll=-0.1727 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -1.4701, 7.0496, 1.7216, -0.022, -0.0562, -0.0171, 0.3761, -5.6547, 3.7812, 0.4518, -0.2857, -0.0366, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ab2e225df7212ddf313a4287931acfeb61a70630d7745c0cefab0ab763c5f04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:944e363a17fbd253d53a4862c03d94543b244bae371780d37507c289b2febf68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d771bea9754d09a6ec87c2569b5b2940493ac53460cefe83233759698967831d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9QIKjgEIEhgCKkAoRuAMgrL2WAfHrwrv+LtYPCiLY5MsrMgTPmd41OEf5aevCR1w/EBvJxYthxHSDH1w16s2awxay60C3B4wJf2FMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZm9zNUGEgwYw5PHyTKdVJuvaxwaDI9bNSoZeBVkbqU1hSIw60NdWuzwF8EeKXUYlTNZAEFaDwMi2CUoQUG3Dm1AZrmys3YX1YBZS/o5IZHbhHcPKpMBgvHDoYs0MShRNy+Zo4XcbMOrzgwuAzH9TYzMeC0OsE7LpMSREt9tYtsNQPkHzzRhbY3lKJbwKidGNv+NgXi2pTYDOGjuFQvgaC+LIAXSeUbTjZiRf02C60Bd8ObDAPVktGPintdFD9aAJtX9+v0Yv9n89ucW50jyOl2U26vFPgnssw5xI0nsV/qMBBlQGPNFgKIfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DgXFmRgLonpBA2GS4tyTMZ",
      "input": {
        "note": "Marker is between the jaws at table level; closing to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DgXFmRgLonpBA2GS4tyTMZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8322, 0.606, -0.3805, -0.0223, -0.0265, 0.9996, 0.7956, 1.7348, 0.7769, -0.5026, 0.7029, 1.2182, 0.1224]\nstate[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1702 left_yaw=0.0035 left_pitch=-0.0404 left_roll=-0.0021 left_gripper=0.9996 right_x=0.2718 right_y=0.1194 right_z=0.0031 right_yaw=-0.5472 right_pitch=-0.296 right_roll=-0.119 right_gripper=0.1224\nstate[joint_eff]: [-0.0615, -1.265, 7.0496, 1.6825, -0.022, -0.0269, -0.0122, 0.212, -5.8462, 4.3145, 0.3297, 0.4371, 0.0122, 1.0085]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c36b7b2d89296b32f060891e1cf50d919028c617ff308a6664ac29c23e5e4cf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:367529561c5f84512561992a079329c11e6af6fbc71147010bbd3647941d830c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61cd9672d4a356cbef8b4b8efdebc5a724e0338a8aee9d87d78c7d40c8e74d8c",
        "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 · 3.126 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8314, 0.606, -0.3805, -0.0219, -0.0261, 0.9996, 0.7895, 1.6295, 0.8833, -0.7303, 0.7082, 1.2068, 0.9961]\nstate[eef_state]: left_x=0.2973 left_y=0.0021 left_z=0.1704 left_yaw=0.003 left_pitch=-0.0396 left_roll=-0.0021 left_gripper=0.9996 right_x=0.2728 right_y=0.117 right_z=0.0501 right_yaw=-0.5525 right_pitch=-0.2953 right_roll=-0.1443 right_gripper=0.9961\nstate[joint_eff]: [-0.0205, -1.7709, 7.2957, 1.7705, -0.0269, 0.0171, -0.0171, 0.5675, -6.7077, 6.8581, 0.0122, 0.696, 0.3101, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8322, 0.606, -0.3805, -0.0219, -0.0269, 0.9996, 0.7944, 1.7298, 0.7876, -0.5934, 0.7166, 1.2568, 0.9962]\nstate[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1702 left_yaw=0.0034 left_pitch=-0.0404 left_roll=-0.0027 left_gripper=0.9996 right_x=0.2633 right_y=0.1077 right_z=0.0068 right_yaw=-0.5941 right_pitch=-0.2949 right_roll=-0.1727 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -1.4701, 7.0496, 1.7216, -0.022, -0.0562, -0.0171, 0.3761, -5.6547, 3.7812, 0.4518, -0.2857, -0.0366, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8322, 0.606, -0.3805, -0.0223, -0.0265, 0.9996, 0.7956, 1.7348, 0.7769, -0.5026, 0.7029, 1.2182, 0.1224]\nstate[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1702 left_yaw=0.0035 left_pitch=-0.0404 left_roll=-0.0021 left_gripper=0.9996 right_x=0.2718 right_y=0.1194 right_z=0.0031 right_yaw=-0.5472 right_pitch=-0.296 right_roll=-0.119 right_gripper=0.1224\nstate[joint_eff]: [-0.0615, -1.265, 7.0496, 1.6825, -0.022, -0.0269, -0.0122, 0.212, -5.8462, 4.3145, 0.3297, 0.4371, 0.0122, 1.0085]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c36b7b2d89296b32f060891e1cf50d919028c617ff308a6664ac29c23e5e4cf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:367529561c5f84512561992a079329c11e6af6fbc71147010bbd3647941d830c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61cd9672d4a356cbef8b4b8efdebc5a724e0338a8aee9d87d78c7d40c8e74d8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShgMKjgEIEhgCKkC5aLVnlapW3rW2iJeQvu2Wi4YNnAcx0CD6h5dJQdhy8ULhWV38zlUS1j47XWKNHUdSdHYRtPYIS2cCU5pMuu0iMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ29zNUGEgy7OYTo8eFimUMplsAaDO6FyBoQ5Gplbp5ntSIwOoCLbqe7S9pPi3zjj6kDScMarr9vKn9Bf4Zme+4YOVP2sLMGKq9eKYY/W2lXCq0TKqQBtgtmfvvh6/nm/qxR0VgR3njBf7nBG3ARTUbLRDYDiBK01gtU6gr+fq3hMibKzEHMBuypLohd6/9yOXbaGcSsT5CwIntVRormRdBeWF9iPL+T4YJ1+I2RxeAizkn7OqDq99S8gX5KOobW7ud9bDE7qFxSrgEscp+KZV0xsgVbDMxPZkZ3/dnZDquFZtSq+aUv3fmsdXxlbVpKPDKb9owzb+EXrRcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Uwgpt3ihdcmgPQTT8iUNsf",
      "input": {
        "note": "Marker grasped (gripper settled at 0.12 ≈ 1.2 cm). Lifting clear and straightening the wrist before carrying it to the pen basket.",
        "targets": {
          "right_yaw": 0,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01Uwgpt3ihdcmgPQTT8iUNsf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8322, 0.606, -0.3805, -0.0219, -0.0265, 0.9996, 0.6827, 1.2697, 1.4258, -1.1641, 0.4854, 0.4995, 0.1224]\nstate[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1702 left_yaw=0.0032 left_pitch=-0.0404 left_roll=-0.0024 left_gripper=0.9996 right_x=0.2787 right_y=0.125 right_z=0.2702 right_yaw=-0.0241 right_pitch=-0.2779 right_roll=-0.0893 right_gripper=0.1224\nstate[joint_eff]: [-0.0068, -1.4838, 7.0496, 1.6923, -0.0464, -0.022, -0.0122, -0.4034, -3.9726, 7.9521, 0.7839, 0.2271, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:649f108a6897768c13a5efb84961ba511083c506c57349c54ec295e7f716578d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a61c508ff2c9f76b6173ac376cbcc20f6cbbecb78ae63c1b409cb22293cc116f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c44eeed407436ec769a2e7a894186a272239137f024cca834ae1e3446d6f9d62",
        "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 · 5.675 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8322, 0.606, -0.3805, -0.0219, -0.0269, 0.9996, 0.7944, 1.7298, 0.7876, -0.5934, 0.7166, 1.2568, 0.9962]\nstate[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1702 left_yaw=0.0034 left_pitch=-0.0404 left_roll=-0.0027 left_gripper=0.9996 right_x=0.2633 right_y=0.1077 right_z=0.0068 right_yaw=-0.5941 right_pitch=-0.2949 right_roll=-0.1727 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -1.4701, 7.0496, 1.7216, -0.022, -0.0562, -0.0171, 0.3761, -5.6547, 3.7812, 0.4518, -0.2857, -0.0366, -0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8322, 0.606, -0.3805, -0.0223, -0.0265, 0.9996, 0.7956, 1.7348, 0.7769, -0.5026, 0.7029, 1.2182, 0.1224]\nstate[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1702 left_yaw=0.0035 left_pitch=-0.0404 left_roll=-0.0021 left_gripper=0.9996 right_x=0.2718 right_y=0.1194 right_z=0.0031 right_yaw=-0.5472 right_pitch=-0.296 right_roll=-0.119 right_gripper=0.1224\nstate[joint_eff]: [-0.0615, -1.265, 7.0496, 1.6825, -0.022, -0.0269, -0.0122, 0.212, -5.8462, 4.3145, 0.3297, 0.4371, 0.0122, 1.0085]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8322, 0.606, -0.3805, -0.0219, -0.0265, 0.9996, 0.6827, 1.2697, 1.4258, -1.1641, 0.4854, 0.4995, 0.1224]\nstate[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1702 left_yaw=0.0032 left_pitch=-0.0404 left_roll=-0.0024 left_gripper=0.9996 right_x=0.2787 right_y=0.125 right_z=0.2702 right_yaw=-0.0241 right_pitch=-0.2779 right_roll=-0.0893 right_gripper=0.1224\nstate[joint_eff]: [-0.0068, -1.4838, 7.0496, 1.6923, -0.0464, -0.022, -0.0122, -0.4034, -3.9726, 7.9521, 0.7839, 0.2271, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:649f108a6897768c13a5efb84961ba511083c506c57349c54ec295e7f716578d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a61c508ff2c9f76b6173ac376cbcc20f6cbbecb78ae63c1b409cb22293cc116f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c44eeed407436ec769a2e7a894186a272239137f024cca834ae1e3446d6f9d62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YDqCG3qBU3ANXmxRpvihw7",
      "input": {
        "note": "Marker held upright; the right basket is visible ahead in the wrist view. Flying over it to drop the marker in with the other pen.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.14,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01YDqCG3qBU3ANXmxRpvihw7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8341, 0.606, -0.3805, -0.0219, -0.0265, 0.9996, 0.4141, 1.8706, 2.022, -1.087, 0.3271, 0.2596, 0.1224]\nstate[eef_state]: left_x=0.2975 left_y=0.0021 left_z=0.1697 left_yaw=0.0032 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.9996 right_x=0.4535 right_y=0.1412 right_z=0.2696 right_yaw=-0.024 right_pitch=-0.3001 right_roll=-0.0972 right_gripper=0.1224\nstate[joint_eff]: [-0.1299, -1.5111, 7.1863, 1.6679, -0.0415, -0.0366, -0.0122, -0.6906, -9.6615, 8.4991, 1.072, 0.0708, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc85598c8fb8a57e370ff63b3581ebabe14310e31be004fb7928c1ab22c0cd65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e5c52a2e51bbed669b611d327bb7dac81c9cb4cf3a2204dd9a6887cb1f53793",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f977cf61e79a7e4d44c43de643519fb8ad92390d74047eda3243badca1f3b732",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 2.609 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8322, 0.606, -0.3805, -0.0223, -0.0265, 0.9996, 0.7956, 1.7348, 0.7769, -0.5026, 0.7029, 1.2182, 0.1224]\nstate[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1702 left_yaw=0.0035 left_pitch=-0.0404 left_roll=-0.0021 left_gripper=0.9996 right_x=0.2718 right_y=0.1194 right_z=0.0031 right_yaw=-0.5472 right_pitch=-0.296 right_roll=-0.119 right_gripper=0.1224\nstate[joint_eff]: [-0.0615, -1.265, 7.0496, 1.6825, -0.022, -0.0269, -0.0122, 0.212, -5.8462, 4.3145, 0.3297, 0.4371, 0.0122, 1.0085]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8322, 0.606, -0.3805, -0.0219, -0.0265, 0.9996, 0.6827, 1.2697, 1.4258, -1.1641, 0.4854, 0.4995, 0.1224]\nstate[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1702 left_yaw=0.0032 left_pitch=-0.0404 left_roll=-0.0024 left_gripper=0.9996 right_x=0.2787 right_y=0.125 right_z=0.2702 right_yaw=-0.0241 right_pitch=-0.2779 right_roll=-0.0893 right_gripper=0.1224\nstate[joint_eff]: [-0.0068, -1.4838, 7.0496, 1.6923, -0.0464, -0.022, -0.0122, -0.4034, -3.9726, 7.9521, 0.7839, 0.2271, -0.0073, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8341, 0.606, -0.3805, -0.0219, -0.0265, 0.9996, 0.4141, 1.8706, 2.022, -1.087, 0.3271, 0.2596, 0.1224]\nstate[eef_state]: left_x=0.2975 left_y=0.0021 left_z=0.1697 left_yaw=0.0032 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.9996 right_x=0.4535 right_y=0.1412 right_z=0.2696 right_yaw=-0.024 right_pitch=-0.3001 right_roll=-0.0972 right_gripper=0.1224\nstate[joint_eff]: [-0.1299, -1.5111, 7.1863, 1.6679, -0.0415, -0.0366, -0.0122, -0.6906, -9.6615, 8.4991, 1.072, 0.0708, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc85598c8fb8a57e370ff63b3581ebabe14310e31be004fb7928c1ab22c0cd65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e5c52a2e51bbed669b611d327bb7dac81c9cb4cf3a2204dd9a6887cb1f53793",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f977cf61e79a7e4d44c43de643519fb8ad92390d74047eda3243badca1f3b732",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrgUKjgEIEhgCKkBqW4X3qqeAib+9r3e+JOq1Rm0Y2lRNXEsocBZ//sk4chL/Mzw0QgNokjCbQyxlbRvzWRsz+y1l9Nnrz3S34IwCMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAam9zNUGEgwPPe5SrApHKnqZIAYaDHYxmrJ40w6GipwhiiIwegmLlJll3p2SAClutEd+lipds1rXu5vLsDIXNK0rm9jlyjuvd9jZQhq8lNWQNOFgKswDbQ9A+C3ow3wZl9fO3yogPrQiCRiRAad4mT5PsqR4lJPWs6mtjMMdiTQ2byPULmnD7XWAUD4xMxJzLTwZr2kDY69IZQ/bnm51WNXuDwRo618T1db5S919Gbu0x2mYhyX4mUNQoB+DgsdcP3jbgOl29B2wBqOTovC2KZ45tRDdLTE6xVlIZKzEY2YD6VYnXldiIjJWCf0XGgqzgkQa2tCoGWgzQSM7jZ7UwMqBF7fL4RoweSHOSX4wKvRc+YWp8Xl/jlWpcLob1TCWri9zztwc51nLxERjS6Y+3l2N+JQtosiU2FtcwHHN3QmhiBYZeoJpbwK+su2FEKpK8cPGsrjGlOAXU4/1j0qHxKBtjAYuSE4qONWNKVkYD2H1Cce/xQpSF1eBpVrD9mdec6V0X+SJYXqPmqblyXDzYA0p+EmrpkAzdxfCBPg5UqBYrqgBdgiVCN2LIw32hazrnYvjvVQ75DSQWVOC0vlgoRmyUqxUAXTzQ3RV7Lc4xhqK3YUGawAO10F641eaIpAgZ4iCOkyFApOYWqG03IEtwkPqly9renFVDQEiZr0bRvdgNOB5LCEFg8KAbCyKvgq6lG6L4h9vLH9vR48FLj9e7JCeGBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CWgbyGF45x4NzzeFMTP2Yg",
      "input": {
        "note": "The basket (with the first pen inside) fills the wrist view but the point under my fingertips projects below the frame, so I'm advancing 3 cm to be over the basket interior before releasing.",
        "targets": {
          "right_x": 0.48
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01CWgbyGF45x4NzzeFMTP2Yg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8371, 0.606, -0.3805, -0.0219, -0.0269, 0.9996, 0.3977, 1.9644, 2.138, -1.1149, 0.3119, 0.2386, 0.1225]\nstate[eef_state]: left_x=0.2976 left_y=0.0021 left_z=0.1689 left_yaw=0.0034 left_pitch=-0.0454 left_roll=-0.0026 left_gripper=0.9996 right_x=0.4736 right_y=0.1441 right_z=0.2648 right_yaw=-0.0167 right_pitch=-0.3116 right_roll=-0.102 right_gripper=0.1225\nstate[joint_eff]: [-0.0615, -1.7162, 7.0222, 1.6923, -0.0269, -0.0659, -0.0122, -0.7726, -9.9897, 8.4581, 1.1355, 0.1636, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:576008b9bf477d2d99a9f0b0a5185355fa25c360991738ce5f26b49527ed598a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9381b5556f89b25b5d86108571c68924b568745212a9ef9eafd27f984e195df8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a838548146218c0ddada387f6c618d5d0a6b63b7ee77d1524e74960b4cd3f3a5",
        "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 · 36.09 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8322, 0.606, -0.3805, -0.0219, -0.0265, 0.9996, 0.6827, 1.2697, 1.4258, -1.1641, 0.4854, 0.4995, 0.1224]\nstate[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1702 left_yaw=0.0032 left_pitch=-0.0404 left_roll=-0.0024 left_gripper=0.9996 right_x=0.2787 right_y=0.125 right_z=0.2702 right_yaw=-0.0241 right_pitch=-0.2779 right_roll=-0.0893 right_gripper=0.1224\nstate[joint_eff]: [-0.0068, -1.4838, 7.0496, 1.6923, -0.0464, -0.022, -0.0122, -0.4034, -3.9726, 7.9521, 0.7839, 0.2271, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8341, 0.606, -0.3805, -0.0219, -0.0265, 0.9996, 0.4141, 1.8706, 2.022, -1.087, 0.3271, 0.2596, 0.1224]\nstate[eef_state]: left_x=0.2975 left_y=0.0021 left_z=0.1697 left_yaw=0.0032 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.9996 right_x=0.4535 right_y=0.1412 right_z=0.2696 right_yaw=-0.024 right_pitch=-0.3001 right_roll=-0.0972 right_gripper=0.1224\nstate[joint_eff]: [-0.1299, -1.5111, 7.1863, 1.6679, -0.0415, -0.0366, -0.0122, -0.6906, -9.6615, 8.4991, 1.072, 0.0708, -0.0366, -0.0073]",
      "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]: [-0.0181, 0.8371, 0.606, -0.3805, -0.0219, -0.0269, 0.9996, 0.3977, 1.9644, 2.138, -1.1149, 0.3119, 0.2386, 0.1225]\nstate[eef_state]: left_x=0.2976 left_y=0.0021 left_z=0.1689 left_yaw=0.0034 left_pitch=-0.0454 left_roll=-0.0026 left_gripper=0.9996 right_x=0.4736 right_y=0.1441 right_z=0.2648 right_yaw=-0.0167 right_pitch=-0.3116 right_roll=-0.102 right_gripper=0.1225\nstate[joint_eff]: [-0.0615, -1.7162, 7.0222, 1.6923, -0.0269, -0.0659, -0.0122, -0.7726, -9.9897, 8.4581, 1.1355, 0.1636, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:576008b9bf477d2d99a9f0b0a5185355fa25c360991738ce5f26b49527ed598a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9381b5556f89b25b5d86108571c68924b568745212a9ef9eafd27f984e195df8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a838548146218c0ddada387f6c618d5d0a6b63b7ee77d1524e74960b4cd3f3a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D764vHGxyEdVVdMvwx3f2p",
      "input": {
        "note": "Positioned over the right basket interior; opening the gripper to drop the marker in with the pen.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01D764vHGxyEdVVdMvwx3f2p",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8379, 0.606, -0.3805, -0.0219, -0.0265, 0.9996, 0.3904, 1.9923, 2.1498, -1.1168, 0.3035, 0.2279, 0.9951]\nstate[eef_state]: left_x=0.2977 left_y=0.0021 left_z=0.1686 left_yaw=0.0032 left_pitch=-0.0461 left_roll=-0.0022 left_gripper=0.9996 right_x=0.4789 right_y=0.1439 right_z=0.2553 right_yaw=-0.0134 right_pitch=-0.3314 right_roll=-0.11 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -1.5658, 7.0496, 1.6923, -0.0171, -0.0317, -0.0122, -0.6222, -11.1385, 8.6906, 1.2381, 0.2173, 0.022, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a36a890036a5639ea7f8d8fe98fa1c6382da1411556cfaac963adf262ddfe94f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd86f065d4a2ce349466f03cef1bfb581a479146dca865a3b406779e0fa41185",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bab270b296300d495bc879b721a36db49988d49c09ed08021c894030fea879d0",
        "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 · 12.97 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8341, 0.606, -0.3805, -0.0219, -0.0265, 0.9996, 0.4141, 1.8706, 2.022, -1.087, 0.3271, 0.2596, 0.1224]\nstate[eef_state]: left_x=0.2975 left_y=0.0021 left_z=0.1697 left_yaw=0.0032 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.9996 right_x=0.4535 right_y=0.1412 right_z=0.2696 right_yaw=-0.024 right_pitch=-0.3001 right_roll=-0.0972 right_gripper=0.1224\nstate[joint_eff]: [-0.1299, -1.5111, 7.1863, 1.6679, -0.0415, -0.0366, -0.0122, -0.6906, -9.6615, 8.4991, 1.072, 0.0708, -0.0366, -0.0073]",
      "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]: [-0.0181, 0.8371, 0.606, -0.3805, -0.0219, -0.0269, 0.9996, 0.3977, 1.9644, 2.138, -1.1149, 0.3119, 0.2386, 0.1225]\nstate[eef_state]: left_x=0.2976 left_y=0.0021 left_z=0.1689 left_yaw=0.0034 left_pitch=-0.0454 left_roll=-0.0026 left_gripper=0.9996 right_x=0.4736 right_y=0.1441 right_z=0.2648 right_yaw=-0.0167 right_pitch=-0.3116 right_roll=-0.102 right_gripper=0.1225\nstate[joint_eff]: [-0.0615, -1.7162, 7.0222, 1.6923, -0.0269, -0.0659, -0.0122, -0.7726, -9.9897, 8.4581, 1.1355, 0.1636, -0.0513, -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]: [-0.0181, 0.8379, 0.606, -0.3805, -0.0219, -0.0265, 0.9996, 0.3904, 1.9923, 2.1498, -1.1168, 0.3035, 0.2279, 0.9951]\nstate[eef_state]: left_x=0.2977 left_y=0.0021 left_z=0.1686 left_yaw=0.0032 left_pitch=-0.0461 left_roll=-0.0022 left_gripper=0.9996 right_x=0.4789 right_y=0.1439 right_z=0.2553 right_yaw=-0.0134 right_pitch=-0.3314 right_roll=-0.11 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -1.5658, 7.0496, 1.6923, -0.0171, -0.0317, -0.0122, -0.6222, -11.1385, 8.6906, 1.2381, 0.2173, 0.022, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a36a890036a5639ea7f8d8fe98fa1c6382da1411556cfaac963adf262ddfe94f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd86f065d4a2ce349466f03cef1bfb581a479146dca865a3b406779e0fa41185",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bab270b296300d495bc879b721a36db49988d49c09ed08021c894030fea879d0",
        "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_018krFNtSsgRCvfJYQ9CjHSw",
      "input": {
        "note": "Two pens are now in the right basket. Parking the right arm at home and bringing the left arm down over the grey plush toy directly in front of it, so plush toys can go into the left basket.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.03,
          "left_z": 0.14,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_018krFNtSsgRCvfJYQ9CjHSw",
      "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]: [-0.2161, 0.8776, 0.5186, -0.279, -0.168, -0.1356, 0.9996, 0.0601, 1.1145, 0.9684, -0.7715, 0.1226, -0.0166, 0.9959]\nstate[eef_state]: left_x=0.2983 left_y=-0.0316 left_z=0.1399 left_yaw=-0.0128 left_pitch=-0.0614 left_roll=-0.0032 left_gripper=0.9996 right_x=0.3045 right_y=0.0003 right_z=0.1779 right_yaw=-0.044 right_pitch=-0.3424 right_roll=-0.109 right_gripper=0.9959\nstate[joint_eff]: [-0.4308, -1.388, 6.3932, 1.8632, -0.2076, -0.0757, -0.0171, -0.2256, -3.5214, 7.4325, 1.5458, -0.0659, -0.0415, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76e72e9bf8131693929db48a275f2ed5d50ec6489d15d67fd3475999b284359c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f11f96794e1ae15ae7b5fc0714f1e165b93486fb575d9305d239286bacb9171d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25f8cdd175c7120c29eceb72d9b973055fa2216e622a38ae34e00e23f0b74351",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 9.715 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]: [-0.0181, 0.8371, 0.606, -0.3805, -0.0219, -0.0269, 0.9996, 0.3977, 1.9644, 2.138, -1.1149, 0.3119, 0.2386, 0.1225]\nstate[eef_state]: left_x=0.2976 left_y=0.0021 left_z=0.1689 left_yaw=0.0034 left_pitch=-0.0454 left_roll=-0.0026 left_gripper=0.9996 right_x=0.4736 right_y=0.1441 right_z=0.2648 right_yaw=-0.0167 right_pitch=-0.3116 right_roll=-0.102 right_gripper=0.1225\nstate[joint_eff]: [-0.0615, -1.7162, 7.0222, 1.6923, -0.0269, -0.0659, -0.0122, -0.7726, -9.9897, 8.4581, 1.1355, 0.1636, -0.0513, -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]: [-0.0181, 0.8379, 0.606, -0.3805, -0.0219, -0.0265, 0.9996, 0.3904, 1.9923, 2.1498, -1.1168, 0.3035, 0.2279, 0.9951]\nstate[eef_state]: left_x=0.2977 left_y=0.0021 left_z=0.1686 left_yaw=0.0032 left_pitch=-0.0461 left_roll=-0.0022 left_gripper=0.9996 right_x=0.4789 right_y=0.1439 right_z=0.2553 right_yaw=-0.0134 right_pitch=-0.3314 right_roll=-0.11 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -1.5658, 7.0496, 1.6923, -0.0171, -0.0317, -0.0122, -0.6222, -11.1385, 8.6906, 1.2381, 0.2173, 0.022, -0.1978]",
      "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]: [-0.2161, 0.8776, 0.5186, -0.279, -0.168, -0.1356, 0.9996, 0.0601, 1.1145, 0.9684, -0.7715, 0.1226, -0.0166, 0.9959]\nstate[eef_state]: left_x=0.2983 left_y=-0.0316 left_z=0.1399 left_yaw=-0.0128 left_pitch=-0.0614 left_roll=-0.0032 left_gripper=0.9996 right_x=0.3045 right_y=0.0003 right_z=0.1779 right_yaw=-0.044 right_pitch=-0.3424 right_roll=-0.109 right_gripper=0.9959\nstate[joint_eff]: [-0.4308, -1.388, 6.3932, 1.8632, -0.2076, -0.0757, -0.0171, -0.2256, -3.5214, 7.4325, 1.5458, -0.0659, -0.0415, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76e72e9bf8131693929db48a275f2ed5d50ec6489d15d67fd3475999b284359c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f11f96794e1ae15ae7b5fc0714f1e165b93486fb575d9305d239286bacb9171d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25f8cdd175c7120c29eceb72d9b973055fa2216e622a38ae34e00e23f0b74351",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014Yeca6WzZUj3E8z9YrjKAZ",
      "input": {
        "note": "Left wrist view: the grey plush toy sits at the bottom-left, closer to the base and to my left. Shifting left and back to hover over it.",
        "targets": {
          "left_x": 0.27,
          "left_y": 0.005,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_014Yeca6WzZUj3E8z9YrjKAZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0051, 0.7223, 0.4072, -0.3031, -0.0425, -0.0467, 0.9995, 0.0528, 1.1183, 0.9554, -0.7719, 0.1047, -0.0338, 0.996]\nstate[eef_state]: left_x=0.2746 left_y=0.0097 left_z=0.1249 left_yaw=0.0445 left_pitch=-0.0514 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3024 right_y=0.0011 right_z=0.1713 right_yaw=-0.026 right_pitch=-0.3618 right_roll=-0.1066 right_gripper=0.996\nstate[joint_eff]: [-0.0068, -0.7726, 6.8171, 1.7753, 0.2027, 0.1538, -0.0122, 0.4855, -3.535, 7.7197, 1.3455, 0.2418, 0.0952, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06ac457dba46aae2bb84c1e77649e7b4f3724149619a4f1b91fc2283a87cce0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5533940b5ebcafda7fbbc076c6a0e39778b3ac628579ed322fbd864320a5170e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e04c189c075e5b268fe226089055101f19f2093ad5e0d57f4b1c61796623fb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 5.498 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]: [-0.0181, 0.8379, 0.606, -0.3805, -0.0219, -0.0265, 0.9996, 0.3904, 1.9923, 2.1498, -1.1168, 0.3035, 0.2279, 0.9951]\nstate[eef_state]: left_x=0.2977 left_y=0.0021 left_z=0.1686 left_yaw=0.0032 left_pitch=-0.0461 left_roll=-0.0022 left_gripper=0.9996 right_x=0.4789 right_y=0.1439 right_z=0.2553 right_yaw=-0.0134 right_pitch=-0.3314 right_roll=-0.11 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -1.5658, 7.0496, 1.6923, -0.0171, -0.0317, -0.0122, -0.6222, -11.1385, 8.6906, 1.2381, 0.2173, 0.022, -0.1978]",
      "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]: [-0.2161, 0.8776, 0.5186, -0.279, -0.168, -0.1356, 0.9996, 0.0601, 1.1145, 0.9684, -0.7715, 0.1226, -0.0166, 0.9959]\nstate[eef_state]: left_x=0.2983 left_y=-0.0316 left_z=0.1399 left_yaw=-0.0128 left_pitch=-0.0614 left_roll=-0.0032 left_gripper=0.9996 right_x=0.3045 right_y=0.0003 right_z=0.1779 right_yaw=-0.044 right_pitch=-0.3424 right_roll=-0.109 right_gripper=0.9959\nstate[joint_eff]: [-0.4308, -1.388, 6.3932, 1.8632, -0.2076, -0.0757, -0.0171, -0.2256, -3.5214, 7.4325, 1.5458, -0.0659, -0.0415, 0.0659]",
      "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]: [-0.0051, 0.7223, 0.4072, -0.3031, -0.0425, -0.0467, 0.9995, 0.0528, 1.1183, 0.9554, -0.7719, 0.1047, -0.0338, 0.996]\nstate[eef_state]: left_x=0.2746 left_y=0.0097 left_z=0.1249 left_yaw=0.0445 left_pitch=-0.0514 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3024 right_y=0.0011 right_z=0.1713 right_yaw=-0.026 right_pitch=-0.3618 right_roll=-0.1066 right_gripper=0.996\nstate[joint_eff]: [-0.0068, -0.7726, 6.8171, 1.7753, 0.2027, 0.1538, -0.0122, 0.4855, -3.535, 7.7197, 1.3455, 0.2418, 0.0952, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06ac457dba46aae2bb84c1e77649e7b4f3724149619a4f1b91fc2283a87cce0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5533940b5ebcafda7fbbc076c6a0e39778b3ac628579ed322fbd864320a5170e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e04c189c075e5b268fe226089055101f19f2093ad5e0d57f4b1c61796623fb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvQoKjgEIEhgCKkBEahiogjsU8FUqhaiW+bTppEEDHSh88I6qd0OI6h2TqCDv+rPmJZYLUghWuo4F7NjmtPGDpK+DQ46QyAjFdIYpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAem9zNUGEgwDvv+W0tFRtZx+Y2waDEeQHFmApBZq4sizEiIw1YHZf8PaeWw9WX6+hMfxOaWBaqRt2wASyh6xnveiO6g5IZpA0uHWfcADAyx87NcYKtsIzkU0Lp4t3n62l/w5Ah1DVSvb/H5mrJmWRQaSvIp3cld3QlAW6A34nsC57RshRD4mvu8W6tvZVTa18cFw+NnzGfKCA53ULztc5oV1HrIsJp9pymlyZq0T3iQ/grkJxAtMlnqJXrwS80lsYgIgJYaHeeBO80LCcJoNoXTELHcDo5bdys7Dyq2umRLkJ1zKCv5xmBpFtQnf2XHbrXI9mG8OhHa+At7mthQlwHUtkFSwFwuz3pY4GFIkKc5W9XBsLXO3dNKa9rdr7DKAGPBypKgJkb7oU5JtXZvIG622V+J7Qg0DGSnkAavSOmPoOu8FVnObVcUHbqb+1ezCWtnQl2t30G5/eR/QU3kCRLwsHKAonr86p1bjKbt7cmuVrksXZ5WILWjCOfYMz33ctOCxS+Jx9DktJNHMEYFX9uAMBpSr8Uu/i/XkaQwRft3VnTKqWyxcY/8LQgk4hmjYqQ/WOJClPRw2cDIdjvbWROuqccOO9u9jT21/yjdBMcTX5u5GvIS2rdVle5NwnPJ00/+RriL7L9XaQEcwcF/mYDA6Pvq9/1FNrlv4ImlxVBLfPPYxrw0X7ktQ5izf2rH5UltG7ZXC8tYA6hQcRs4QFlVMbTY9tX9LwMrfjbG5w8Nr06n5LIDu3/RO+pXnA4SGknqAV+fOoEnbiO2G6N/o4pHqsjROqUs+/uRCC/eOSCenDKrdNLzO+ocOgQ71Z0ESAXmdyR+CvD5IAWZMB7pqUdW/12tQh0c0fgn6ZU+3Lo6I21wHUSVTsklvqEjXD4MNS2kDE/Uw9txSy9aScezOrGjR9eINPtkICnGZWX1RwWdzhAlkgQfBVQTV8m11bOHLB7gP79pq2w4K6EuRvqfAxMgqSvioBWVqQty7yuaNlQHRSNiki/qdZL/y8IvplMlFSbUS1O5Thj2A0S+oueqpBJtF30AKoUy2bR+JqR4jtpdhPjO0F07jNF5r2HtMIWFnThLfSRfDZpeg0g5kEd+LAH3Wzt8mlmVbn/KwsD5tOX88pRJAuz/StGFxpIf+DDnHJJrxfoS/QNkyGDH6kVAOc0GNd0T7KqSseM2+dUOGl5oYv4WAQEcx95gXZfD2yp1NMthg8BYR1BF2WTLn2Xsmpj0tZyz0oKXwFBJBXXNKUOD26NQvPPrtvXqKc17R2tzxCnfrZxiYQviRk9PhyoWbZaCJ/muJUN00Y+VAyUXuB+liUZ3dRY8m7onu96GMT6M3vWyEHavediY/Gefl/tfZPKMlYPnvgvaGOTeInVGE2e0tW/4xxzltCDj0YBvXGEN9FU+KC0MOpBBbHsK06MGVTO8gFUoEepVXO7y5q3a+HBbhM/MIiCYtmU6EZnmOgwXdGcVIqSx589D2Hwrg+aK6ppPZxYdYoQHhzLKoJb8rQ3L2w0u8a5OIOrM6k5OsYJ9EHRYS8UeJjhkCgFkQc9yDldqib5gM5f14yenu33YZ8ElhegqBP5v6A6BUte0d7ucmr7sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V8HZgwvmF6DGEn8cUzrN3R",
      "input": {
        "note": "The grey plush fills the lower-left of the left wrist view. Moving slightly left and back and descending onto its body to grip it.",
        "targets": {
          "left_x": 0.25,
          "left_y": 0.02,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01V8HZgwvmF6DGEn8cUzrN3R",
      "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]: [0.0109, 0.7048, 0.3435, -0.2729, -0.0227, -0.0376, 0.9995, 0.0521, 1.1183, 0.9554, -0.7731, 0.1024, -0.0303, 0.996]\nstate[eef_state]: left_x=0.268 left_y=0.0105 left_z=0.1066 left_yaw=0.0388 left_pitch=-0.0678 left_roll=-0.0103 left_gripper=0.9995 right_x=0.3022 right_y=0.0013 right_z=0.1711 right_yaw=-0.0267 right_pitch=-0.3629 right_roll=-0.1025 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -0.9641, 6.9949, 1.8535, -0.0659, -0.0708, -0.0171, -0.0205, -3.3162, 6.8718, 1.3162, 0.0171, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26dd41d007e9ce90420f94638672b85d60758db2a803f7a2b51b07df4ae9fb4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b34c9fe661b3f1e5414676c5e3b70cdd5e41f07af4713a2ab80acc4ae94e5a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c6762191650d3516436368a027f02636c43b48a234f6c023596649a77921302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 11.18 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]: [-0.2161, 0.8776, 0.5186, -0.279, -0.168, -0.1356, 0.9996, 0.0601, 1.1145, 0.9684, -0.7715, 0.1226, -0.0166, 0.9959]\nstate[eef_state]: left_x=0.2983 left_y=-0.0316 left_z=0.1399 left_yaw=-0.0128 left_pitch=-0.0614 left_roll=-0.0032 left_gripper=0.9996 right_x=0.3045 right_y=0.0003 right_z=0.1779 right_yaw=-0.044 right_pitch=-0.3424 right_roll=-0.109 right_gripper=0.9959\nstate[joint_eff]: [-0.4308, -1.388, 6.3932, 1.8632, -0.2076, -0.0757, -0.0171, -0.2256, -3.5214, 7.4325, 1.5458, -0.0659, -0.0415, 0.0659]",
      "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]: [-0.0051, 0.7223, 0.4072, -0.3031, -0.0425, -0.0467, 0.9995, 0.0528, 1.1183, 0.9554, -0.7719, 0.1047, -0.0338, 0.996]\nstate[eef_state]: left_x=0.2746 left_y=0.0097 left_z=0.1249 left_yaw=0.0445 left_pitch=-0.0514 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3024 right_y=0.0011 right_z=0.1713 right_yaw=-0.026 right_pitch=-0.3618 right_roll=-0.1066 right_gripper=0.996\nstate[joint_eff]: [-0.0068, -0.7726, 6.8171, 1.7753, 0.2027, 0.1538, -0.0122, 0.4855, -3.535, 7.7197, 1.3455, 0.2418, 0.0952, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0109, 0.7048, 0.3435, -0.2729, -0.0227, -0.0376, 0.9995, 0.0521, 1.1183, 0.9554, -0.7731, 0.1024, -0.0303, 0.996]\nstate[eef_state]: left_x=0.268 left_y=0.0105 left_z=0.1066 left_yaw=0.0388 left_pitch=-0.0678 left_roll=-0.0103 left_gripper=0.9995 right_x=0.3022 right_y=0.0013 right_z=0.1711 right_yaw=-0.0267 right_pitch=-0.3629 right_roll=-0.1025 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -0.9641, 6.9949, 1.8535, -0.0659, -0.0708, -0.0171, -0.0205, -3.3162, 6.8718, 1.3162, 0.0171, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26dd41d007e9ce90420f94638672b85d60758db2a803f7a2b51b07df4ae9fb4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b34c9fe661b3f1e5414676c5e3b70cdd5e41f07af4713a2ab80acc4ae94e5a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c6762191650d3516436368a027f02636c43b48a234f6c023596649a77921302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvwUKjgEIEhgCKkDWnxi1Doy6I6N3WBBNhY6AAQCHLA8pD+hSDMfNybz4S6juR6GSUOGREAcWZUv3crIflQQjiU26h9NkOEdimZXFMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe+9zNUGEgyQ2lJKRGBOb07tEkMaDKMdcdlzYx5asE8bsCIwXCRcZSZaPuNPXyNs6cd4GQtoF0hWmHBen5711+vn1j1EGGA/nXe5YyovNHlBynQXKt0DwofTbdEgs3U0LyqrchfY6UfbsanDPVBUka4Yy4fySD4hSHFYcRe2iSKvyy547wIKpGC8I2xcGD+wUSkmHzakID/NQo9WCrpb5EH7qn5J9OUsvsJViY19rPtHlddTh1M9m6bks98J3XJkkR8CkgQC4G3lpah/ua6XzEOLsAQ9moigcPYuzHSyLpb0uSZ1GtXSFDMTVKJHUO6PxrH4Fo82rvzJem9jqnK0LedHuAjxnKRVgVT8YGxZPv1XN1SAfrOwaZvOqbdrYV48r+OwlQmX0yibRGRKkfWSD2oaK/8uuRNR7BASzSlkAsgVxa2B883Yx+Gxk10lr0st1iaf71bGquu5q8ZhWPKUtsaP8dn9pFfD14mTEEsJsf2nJSM8ZcTSqz1yU6+RhgKgX07rGSmhj0g2rAyn0iiquoMvRZPY1UsQZx5EXC0oTW068BTmWb8cI5iwaCr0whloUwm2353t2Cq/GSsyzrCj7BZ8e2MgDW+Bp4+1xmrLoTd9aQm8nKr6TsP8G6AHhGl/WoRi0d+UfvZHDuwVWUm6bUWLBqfq/tQdR3VUFAt53YbIljts0pLkIXCL7LnzbfrFlO5SvNLfikZvfe7EtLZqKwHWeGjzH4chUXpZiY5k+V2ZSjtAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MBYcvKLz7SMNP4Jqg2uQBA",
      "input": {
        "note": "The previous move stopped short of the commanded height; re-sending the descent onto the grey plush's body.",
        "targets": {
          "left_x": 0.25,
          "left_y": 0.02,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01MBYcvKLz7SMNP4Jqg2uQBA",
      "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]: [0.0109, 0.7048, 0.3435, -0.2684, -0.0257, -0.0376, 0.9996, 0.0521, 1.1194, 0.9554, -0.7731, 0.1001, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2687 left_y=0.0111 left_z=0.1075 left_yaw=0.0414 left_pitch=-0.0632 left_roll=-0.0086 left_gripper=0.9996 right_x=0.3023 right_y=0.0017 right_z=0.1708 right_yaw=-0.0247 right_pitch=-0.3642 right_roll=-0.1006 right_gripper=0.996\nstate[joint_eff]: [-0.1026, -1.0598, 6.9812, 1.79, -0.0904, -0.022, -0.0122, -0.1846, -3.0291, 6.6803, 1.3065, 0.0024, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7bd624bb249282d22c590d8b6bdbddf79c38e7002c47b8986226ea540fca280",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6de64d39bee0d9f1dffdb6aa3f7ca00a5d525a9c6d9dbad6f1e55dfb341098b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:814ac549883385a206709c49527da686e265d9a5704cdec29f5e1c10a6192220",
        "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 · 7.5 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]: [-0.0051, 0.7223, 0.4072, -0.3031, -0.0425, -0.0467, 0.9995, 0.0528, 1.1183, 0.9554, -0.7719, 0.1047, -0.0338, 0.996]\nstate[eef_state]: left_x=0.2746 left_y=0.0097 left_z=0.1249 left_yaw=0.0445 left_pitch=-0.0514 left_roll=-0.0067 left_gripper=0.9995 right_x=0.3024 right_y=0.0011 right_z=0.1713 right_yaw=-0.026 right_pitch=-0.3618 right_roll=-0.1066 right_gripper=0.996\nstate[joint_eff]: [-0.0068, -0.7726, 6.8171, 1.7753, 0.2027, 0.1538, -0.0122, 0.4855, -3.535, 7.7197, 1.3455, 0.2418, 0.0952, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0109, 0.7048, 0.3435, -0.2729, -0.0227, -0.0376, 0.9995, 0.0521, 1.1183, 0.9554, -0.7731, 0.1024, -0.0303, 0.996]\nstate[eef_state]: left_x=0.268 left_y=0.0105 left_z=0.1066 left_yaw=0.0388 left_pitch=-0.0678 left_roll=-0.0103 left_gripper=0.9995 right_x=0.3022 right_y=0.0013 right_z=0.1711 right_yaw=-0.0267 right_pitch=-0.3629 right_roll=-0.1025 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -0.9641, 6.9949, 1.8535, -0.0659, -0.0708, -0.0171, -0.0205, -3.3162, 6.8718, 1.3162, 0.0171, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0109, 0.7048, 0.3435, -0.2684, -0.0257, -0.0376, 0.9996, 0.0521, 1.1194, 0.9554, -0.7731, 0.1001, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2687 left_y=0.0111 left_z=0.1075 left_yaw=0.0414 left_pitch=-0.0632 left_roll=-0.0086 left_gripper=0.9996 right_x=0.3023 right_y=0.0017 right_z=0.1708 right_yaw=-0.0247 right_pitch=-0.3642 right_roll=-0.1006 right_gripper=0.996\nstate[joint_eff]: [-0.1026, -1.0598, 6.9812, 1.79, -0.0904, -0.022, -0.0122, -0.1846, -3.0291, 6.6803, 1.3065, 0.0024, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7bd624bb249282d22c590d8b6bdbddf79c38e7002c47b8986226ea540fca280",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6de64d39bee0d9f1dffdb6aa3f7ca00a5d525a9c6d9dbad6f1e55dfb341098b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:814ac549883385a206709c49527da686e265d9a5704cdec29f5e1c10a6192220",
        "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_01F6eoCMYW42aM26dNRhornB",
      "input": {
        "note": "The arm refused to descend further, likely an awkward IK pose that low and close in. Trying a slightly less extreme pose just above the grey plush.",
        "targets": {
          "left_x": 0.26,
          "left_y": 0.0,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01F6eoCMYW42aM26dNRhornB",
      "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]: [-0.0456, 0.6926, 0.2653, -0.1776, -0.0612, -0.0612, 0.9996, 0.0521, 1.1194, 0.9554, -0.7731, 0.1001, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2679 left_y=0.0022 left_z=0.0937 left_yaw=0.0275 left_pitch=-0.0374 left_roll=-0.0087 left_gripper=0.9996 right_x=0.3023 right_y=0.0017 right_z=0.1708 right_yaw=-0.0247 right_pitch=-0.3642 right_roll=-0.1006 right_gripper=0.996\nstate[joint_eff]: [-0.1709, 0.5402, 5.9009, 1.6337, -0.2173, -0.0317, -0.0122, -0.0205, -3.1658, 6.6393, 1.3553, -0.0171, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c73ac755da289b20d92e828256b1bcb66f9aa35e0973fad8bedce21c8192669a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d86fd1b297f92f9773c496d7069be90ef94a552817d2bf3439c16808ed13e4b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f91be388e3ae4218d5a5d49c6d7db79394c29b6f4eb75a5d45188b59b5b8c042",
        "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 · 27.29 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]: [0.0109, 0.7048, 0.3435, -0.2729, -0.0227, -0.0376, 0.9995, 0.0521, 1.1183, 0.9554, -0.7731, 0.1024, -0.0303, 0.996]\nstate[eef_state]: left_x=0.268 left_y=0.0105 left_z=0.1066 left_yaw=0.0388 left_pitch=-0.0678 left_roll=-0.0103 left_gripper=0.9995 right_x=0.3022 right_y=0.0013 right_z=0.1711 right_yaw=-0.0267 right_pitch=-0.3629 right_roll=-0.1025 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -0.9641, 6.9949, 1.8535, -0.0659, -0.0708, -0.0171, -0.0205, -3.3162, 6.8718, 1.3162, 0.0171, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0109, 0.7048, 0.3435, -0.2684, -0.0257, -0.0376, 0.9996, 0.0521, 1.1194, 0.9554, -0.7731, 0.1001, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2687 left_y=0.0111 left_z=0.1075 left_yaw=0.0414 left_pitch=-0.0632 left_roll=-0.0086 left_gripper=0.9996 right_x=0.3023 right_y=0.0017 right_z=0.1708 right_yaw=-0.0247 right_pitch=-0.3642 right_roll=-0.1006 right_gripper=0.996\nstate[joint_eff]: [-0.1026, -1.0598, 6.9812, 1.79, -0.0904, -0.022, -0.0122, -0.1846, -3.0291, 6.6803, 1.3065, 0.0024, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0456, 0.6926, 0.2653, -0.1776, -0.0612, -0.0612, 0.9996, 0.0521, 1.1194, 0.9554, -0.7731, 0.1001, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2679 left_y=0.0022 left_z=0.0937 left_yaw=0.0275 left_pitch=-0.0374 left_roll=-0.0087 left_gripper=0.9996 right_x=0.3023 right_y=0.0017 right_z=0.1708 right_yaw=-0.0247 right_pitch=-0.3642 right_roll=-0.1006 right_gripper=0.996\nstate[joint_eff]: [-0.1709, 0.5402, 5.9009, 1.6337, -0.2173, -0.0317, -0.0122, -0.0205, -3.1658, 6.6393, 1.3553, -0.0171, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c73ac755da289b20d92e828256b1bcb66f9aa35e0973fad8bedce21c8192669a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d86fd1b297f92f9773c496d7069be90ef94a552817d2bf3439c16808ed13e4b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f91be388e3ae4218d5a5d49c6d7db79394c29b6f4eb75a5d45188b59b5b8c042",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShAcKjgEIEhgCKkBzzEjtOnUwwzUCtTwAhufG3Ael8IuwkELwEoFWqcRX37f+29R4Sm6nrGc82blH/XjJlWBvc18eP5sOc+pPd9YFMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYK+zNUGEgyxgUg7fGJ248huyg8aDNn0FLTTDpyUsCJ45yIw72XXklkrXvlWwbVoau96iBwAMIWNv53JAS8LnnWRG6H7O8HYu6BGAPsUF0yEKwV9KqIFK78B/CxCtsS0PY/SjB8EJ0jZjBWzo0kFvORg9UB1JzjKdQrYpcHjToIGmIxMCpUL+QoUINc2uWEd+hpGW4J9+5PFyIHVJ8WG+amWOS/CmVQO7/a9TwqRvARbZVDkozoJKM3DRmAV0IFa6Ffhr19Bi8ntbuXdwUlaTSygdDhwitXGMxgmWbFtEnjKQ6F6r1T+JLHmXWAp8weueLIijNxDzorwFb7m7QK6g3jaDXZPn/d8qU/YYV4mhmzkWH3jkEXSbmVBtc0JW2eFW8akU3ccKvyxH8rxfpltUbRfxUZknRiOP+QIuohKL4zpfJfMXfMWJcJTqFjsG52masgYkPquhmazdtlsGBMudhi8HiCtoUbcqrb0d3bzIsGqSKx5x4MUvFUioLaTfvRbTAF5Aav1cXjGHO/HUGFPBX7381ztcX+Y1/Oo1NtCqAbGN11+xkh8RR0TBvwnS1GQWQRVzjHCRqzHbK59kEvtDHRkyyiwhfasU4L+cEPuSMN7X/tTkXLiJKuaC0IyWaCQ9+0MAO6DLC4Dquq5PGV197vjZdGEt32TbKDD7q41fODX87EZySfmFOxDv7wu9YSBgbVG5l2iCbhkzO7ZSXV0sUUvrpjxOD8M6XJcWlWW0xMbv/d6ENj1s0v0W/r+R3yrmjiy94yj+LkWm1p1yZIFunVY4SiANnAblYHYs5I+BHcP67DwwJfwu67MyF5EBloBNFRx4oZ9trvX25nUEoTcGXIQVARASEXC452AyX0nBn8kmpuXAF9o4QP7ee+pTqdBPYEvVt73cAoc8qk4dOVwbskCdY68JliUf/6+Rg1StGJJsNg0cZso4V9orBnAJKuN7gnvIOQdC9qwyllVs0uWxgRK06LcrIdMJwbXSV6kqhKkGwqEVGIriAUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RBJRYQJCSuNAtYd9jyUaHc",
      "input": {
        "note": "Shoulder effort turned positive at z≈0.09, so the jaws are resting on the grey plush's back. Closing on its body to lift it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RBJRYQJCSuNAtYd9jyUaHc",
      "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]: [-0.0467, 0.6975, 0.2451, -0.1715, -0.0704, -0.0673, 0.0101, 0.0521, 1.1213, 0.9554, -0.7731, 0.0994, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2647 left_y=0.0036 left_z=0.0847 left_yaw=0.0375 left_pitch=-0.0559 left_roll=-0.0069 left_gripper=0.0101 right_x=0.3024 right_y=0.0018 right_z=0.1702 right_yaw=-0.0241 right_pitch=-0.3661 right_roll=-0.1001 right_gripper=0.996\nstate[joint_eff]: [0.1162, -0.759, 8.6085, 1.6386, 0.022, 0.0415, 0.862, -0.1299, -3.2615, 6.6803, 1.3358, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73f71a6a8c08b394e01b68ce84bf290395fa535be9895a590f9da5ba25b5f928",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb58115083bc6d5e974ec332a552351caf4b9fd458859e17c7db0b19a2b4359b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8512aac37c7a9eb877aa997cfbce88d9893ef9f5a12ce2601dbbf050f5175c3",
        "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 · 7.254 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]: [0.0109, 0.7048, 0.3435, -0.2684, -0.0257, -0.0376, 0.9996, 0.0521, 1.1194, 0.9554, -0.7731, 0.1001, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2687 left_y=0.0111 left_z=0.1075 left_yaw=0.0414 left_pitch=-0.0632 left_roll=-0.0086 left_gripper=0.9996 right_x=0.3023 right_y=0.0017 right_z=0.1708 right_yaw=-0.0247 right_pitch=-0.3642 right_roll=-0.1006 right_gripper=0.996\nstate[joint_eff]: [-0.1026, -1.0598, 6.9812, 1.79, -0.0904, -0.022, -0.0122, -0.1846, -3.0291, 6.6803, 1.3065, 0.0024, -0.0366, -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]: [-0.0456, 0.6926, 0.2653, -0.1776, -0.0612, -0.0612, 0.9996, 0.0521, 1.1194, 0.9554, -0.7731, 0.1001, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2679 left_y=0.0022 left_z=0.0937 left_yaw=0.0275 left_pitch=-0.0374 left_roll=-0.0087 left_gripper=0.9996 right_x=0.3023 right_y=0.0017 right_z=0.1708 right_yaw=-0.0247 right_pitch=-0.3642 right_roll=-0.1006 right_gripper=0.996\nstate[joint_eff]: [-0.1709, 0.5402, 5.9009, 1.6337, -0.2173, -0.0317, -0.0122, -0.0205, -3.1658, 6.6393, 1.3553, -0.0171, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0467, 0.6975, 0.2451, -0.1715, -0.0704, -0.0673, 0.0101, 0.0521, 1.1213, 0.9554, -0.7731, 0.0994, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2647 left_y=0.0036 left_z=0.0847 left_yaw=0.0375 left_pitch=-0.0559 left_roll=-0.0069 left_gripper=0.0101 right_x=0.3024 right_y=0.0018 right_z=0.1702 right_yaw=-0.0241 right_pitch=-0.3661 right_roll=-0.1001 right_gripper=0.996\nstate[joint_eff]: [0.1162, -0.759, 8.6085, 1.6386, 0.022, 0.0415, 0.862, -0.1299, -3.2615, 6.6803, 1.3358, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73f71a6a8c08b394e01b68ce84bf290395fa535be9895a590f9da5ba25b5f928",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb58115083bc6d5e974ec332a552351caf4b9fd458859e17c7db0b19a2b4359b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8512aac37c7a9eb877aa997cfbce88d9893ef9f5a12ce2601dbbf050f5175c3",
        "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_01AZLfFjyxG2pc6faminQJ8Z",
      "input": {
        "note": "The close came up empty (0.01) — the grey plush is further left than the jaws, near my y-limit. Switching to the tan plush toys in the middle of the table, which are comfortably in reach; moving above them to look.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.32,
          "left_y": -0.12,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01AZLfFjyxG2pc6faminQJ8Z",
      "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]: [-0.6247, 1.1671, 0.6727, -0.2615, -0.495, -0.4297, 0.9954, 0.0521, 1.1259, 0.955, -0.7731, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.3145 left_y=-0.1189 left_z=0.1368 left_yaw=0.0068 left_pitch=-0.0819 left_roll=-0.0005 left_gripper=0.9954 right_x=0.3026 right_y=0.0025 right_z=0.1687 right_yaw=-0.0208 right_pitch=-0.3713 right_roll=-0.0972 right_gripper=0.996\nstate[joint_eff]: [-0.1709, -4.0684, 8.7863, 1.3065, -0.3346, 0.0806, -0.1197, -0.0342, -3.6308, 6.6803, 1.3065, 0.0415, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd6223c9a9fc0f68e3e59ff931b2c1ba04242b4bb942c86751da8c9714a31c48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b073528a0dd0f4e9a2fa1b84ceb0cb12f6afa32ed08f2e4a4bb974d38101122",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1201ae04700b6afd2d6c612eedf9dd68afc445143f1bf77306ea4fbfbebf49ce",
        "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 · 5.999 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]: [-0.0456, 0.6926, 0.2653, -0.1776, -0.0612, -0.0612, 0.9996, 0.0521, 1.1194, 0.9554, -0.7731, 0.1001, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2679 left_y=0.0022 left_z=0.0937 left_yaw=0.0275 left_pitch=-0.0374 left_roll=-0.0087 left_gripper=0.9996 right_x=0.3023 right_y=0.0017 right_z=0.1708 right_yaw=-0.0247 right_pitch=-0.3642 right_roll=-0.1006 right_gripper=0.996\nstate[joint_eff]: [-0.1709, 0.5402, 5.9009, 1.6337, -0.2173, -0.0317, -0.0122, -0.0205, -3.1658, 6.6393, 1.3553, -0.0171, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0467, 0.6975, 0.2451, -0.1715, -0.0704, -0.0673, 0.0101, 0.0521, 1.1213, 0.9554, -0.7731, 0.0994, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2647 left_y=0.0036 left_z=0.0847 left_yaw=0.0375 left_pitch=-0.0559 left_roll=-0.0069 left_gripper=0.0101 right_x=0.3024 right_y=0.0018 right_z=0.1702 right_yaw=-0.0241 right_pitch=-0.3661 right_roll=-0.1001 right_gripper=0.996\nstate[joint_eff]: [0.1162, -0.759, 8.6085, 1.6386, 0.022, 0.0415, 0.862, -0.1299, -3.2615, 6.6803, 1.3358, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6247, 1.1671, 0.6727, -0.2615, -0.495, -0.4297, 0.9954, 0.0521, 1.1259, 0.955, -0.7731, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.3145 left_y=-0.1189 left_z=0.1368 left_yaw=0.0068 left_pitch=-0.0819 left_roll=-0.0005 left_gripper=0.9954 right_x=0.3026 right_y=0.0025 right_z=0.1687 right_yaw=-0.0208 right_pitch=-0.3713 right_roll=-0.0972 right_gripper=0.996\nstate[joint_eff]: [-0.1709, -4.0684, 8.7863, 1.3065, -0.3346, 0.0806, -0.1197, -0.0342, -3.6308, 6.6803, 1.3065, 0.0415, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd6223c9a9fc0f68e3e59ff931b2c1ba04242b4bb942c86751da8c9714a31c48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b073528a0dd0f4e9a2fa1b84ceb0cb12f6afa32ed08f2e4a4bb974d38101122",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1201ae04700b6afd2d6c612eedf9dd68afc445143f1bf77306ea4fbfbebf49ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvwYKjgEIEhgCKkAS3EpI+K452JZ+LOmW3UV021d6j62Hgj2qzPBHSKofEaSuTK0qApSvHQ2KRGKkD/U0Jxq4LoFGkGEfxJVX3s8HMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaa+zNUGEgzs8Qq94Ed2GKUiBnYaDKA1oXBLpbrMlNtmhCIw/9b87fYt/fSVM990sQK8eDs+dvk49IJohNkGZA58H3VcR1EBVF9tLp3dkLQRYqEJKt0EW3PDL49O83L3PRnyOosXwkjZIK8M3GiU80KY4P/h1HgskKq9GyrxYMQd9ux+RGd8AQEVBUTAD+hwDJmsTFf/YzY9TWAM+8zyh/OVgDFw048Z/3idOHQw2XUsqEKk6tXeIsKH+4SbnR6QJInK/Pfuoi5ybeZtOwQwh3wzlDK+KTTdXnfNWOwAjJuUZJUFOlfaQrLnUxpGW2c3DRfn/+J/4LgN++dqEqe8Vk4HtoubF9EXxL2A0UlN6gR5A307hCPlv3+jQigpCeWQvhIBIrtPJ2HeorMLNKHPF0C8HgatHkL4MOC+P1PJEonIRB2hFf+83uPo2ZMkd8qshaly0j60SgG3+KKgAk9HmpCsHQbUkzwhkf9YMtHszSjsNZdXB/sqo0Lq5zIJIJZLDLKfpDHQfzAip2YFzhhkQpsPmtbRt5Q2Xb9v+u5NP4kc90UB8XupGgzsH0o4w/prutyBAzH0aimPAso4bW0y9GR7Phf5a/xeS/HrOP1+6LID8fk/UtxAIzh5W0TYUSYISutLfjZgF2ACHYhkBln7ulp8/rR1EZqma5DDrmS4fUE8+HiqONb6wbDO1o5P2Y0a/exvvynHB9eb9+eL0G3kw00dIBfcl/LwXZ7gGrdJ84WOdOsRpDfhaE80KLLhOdYnvpMb3G/gX+RWooMPvNfPfdS+KJFwAEySp/cyDV0xRy1NIMtqQt/kGl8AE5zuVMSmZne4VUbHhv5ttcJNK0trv9O63Y9YmnAx5rKGIfWapHlSnGjGx0UCe5Syj+7DVnvbm7X60Pyq5fcprL3wma8avLFc098YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NLBrZhRyz9yyN3exCkCZXq",
      "input": {
        "note": "Left wrist view shows a small tan plush centred on the jaw column but low in frame (nearer the base). Backing off 2 cm and descending toward its head.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.115,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01NLBrZhRyz9yyN3exCkCZXq",
      "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]: [-0.6468, 1.2072, 0.4725, -0.1047, -0.5137, -0.4503, 0.9967, 0.0521, 1.1259, 0.9546, -0.7727, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2921 left_y=-0.1073 left_z=0.0725 left_yaw=0.0157 left_pitch=-0.1401 left_roll=0.0447 left_gripper=0.9967 right_x=0.3026 right_y=0.0025 right_z=0.1686 right_yaw=-0.0208 right_pitch=-0.3713 right_roll=-0.0972 right_gripper=0.996\nstate[joint_eff]: [-0.4444, -3.535, 6.9812, 1.8632, -0.2613, -0.0611, 0.1245, -0.1436, -3.2615, 6.6803, 1.3358, -0.0171, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d2f37979631942bed257cf277856aa37e0248a97e29f311d3fe506a88da88e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5682181534ac28a35e608c1989e5c20865d0573f71c00ca990724f20282c3ae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3565743642c42555199e0546f7b35ea04cd08428454a177d01427a295ad2da2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 4.81 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0467, 0.6975, 0.2451, -0.1715, -0.0704, -0.0673, 0.0101, 0.0521, 1.1213, 0.9554, -0.7731, 0.0994, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2647 left_y=0.0036 left_z=0.0847 left_yaw=0.0375 left_pitch=-0.0559 left_roll=-0.0069 left_gripper=0.0101 right_x=0.3024 right_y=0.0018 right_z=0.1702 right_yaw=-0.0241 right_pitch=-0.3661 right_roll=-0.1001 right_gripper=0.996\nstate[joint_eff]: [0.1162, -0.759, 8.6085, 1.6386, 0.022, 0.0415, 0.862, -0.1299, -3.2615, 6.6803, 1.3358, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6247, 1.1671, 0.6727, -0.2615, -0.495, -0.4297, 0.9954, 0.0521, 1.1259, 0.955, -0.7731, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.3145 left_y=-0.1189 left_z=0.1368 left_yaw=0.0068 left_pitch=-0.0819 left_roll=-0.0005 left_gripper=0.9954 right_x=0.3026 right_y=0.0025 right_z=0.1687 right_yaw=-0.0208 right_pitch=-0.3713 right_roll=-0.0972 right_gripper=0.996\nstate[joint_eff]: [-0.1709, -4.0684, 8.7863, 1.3065, -0.3346, 0.0806, -0.1197, -0.0342, -3.6308, 6.6803, 1.3065, 0.0415, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6468, 1.2072, 0.4725, -0.1047, -0.5137, -0.4503, 0.9967, 0.0521, 1.1259, 0.9546, -0.7727, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2921 left_y=-0.1073 left_z=0.0725 left_yaw=0.0157 left_pitch=-0.1401 left_roll=0.0447 left_gripper=0.9967 right_x=0.3026 right_y=0.0025 right_z=0.1686 right_yaw=-0.0208 right_pitch=-0.3713 right_roll=-0.0972 right_gripper=0.996\nstate[joint_eff]: [-0.4444, -3.535, 6.9812, 1.8632, -0.2613, -0.0611, 0.1245, -0.1436, -3.2615, 6.6803, 1.3358, -0.0171, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d2f37979631942bed257cf277856aa37e0248a97e29f311d3fe506a88da88e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5682181534ac28a35e608c1989e5c20865d0573f71c00ca990724f20282c3ae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3565743642c42555199e0546f7b35ea04cd08428454a177d01427a295ad2da2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkAUKjgEIEhgCKkAIwl76rjE1GXphGHtBdWHehBeeFzLda8mNKFcAPDMnqyV4nzI4V1tAbBqIcHxPxMok2doG46087IdF5za5xSJpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa2+zNUGEgzXDGVVeeqqeKXSC3oaDKTyQdm5f/E2K+bpcCIwwHLzAGXLsF93k7WV5ASZI6tCUE6pLu1We06rEx9S3+lQ75GoE7Wpd6ZWg5p9a2H8Kq4DqNn5Kl3TlwzQeCEK1xrklAPfcvVyrN5u/94eDGqD5CerZfTlbima+izP+4QQmKCLtrN+3VmPwtKvV3ACyjAj6jQLXQ4H7HHPC1pVKq6urdA1PIy0nr8xFizYsrHEMprDl6g25/z1l+Ej8/bxzpNS2ZILb0VswY25Rn/qBrrMU6WEG0kmUfKOZ8rCRPe5gDgSqIfV/sDBhigm0C3SwECjV13InguvWJy0KzPK+FJzHgIe07DmaKRwLjPhKjQd4BgOHXBH/9bXy3CqCGHcSpd2M7INAAp5s61YkpKQjT3YSYnu5MrBXLLaM6GoMJFBkzvMjS15eqIkqc5gqUg3svHKYdhKoJ+rOaRe1I779ZOEEG617EnYNn6CJMYXVgJd4liQcUqgDyFyQ4BNwy5OivrFeuBvd0V3TOlqC0Ka4ekqK1sLb2mMCCsqGfhxs4CMf5CzazlmFsEupB+78aZEIjHBs7E4YEjrNzrjFj30EDDXnPdSv3sT+fiUHXWap7Mf91rY/D7axB4HRqFCUZZF5ot0QnZAhtaPzSMT8YmbJFxqbNSfEG5+VVpcxrL6TYNr1xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JCg7gArJUMFZbbkf6hfagm",
      "input": {
        "note": "The small tan rabbit plush sits just right of the jaw column and near the bottom of the frame. Shifting right and back and lowering onto its head/body.",
        "targets": {
          "left_x": 0.278,
          "left_y": -0.125,
          "left_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01JCg7gArJUMFZbbkf6hfagm",
      "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]: [-0.6868, 1.2247, 0.4522, -0.0463, -0.5327, -0.4725, 0.9968, 0.0521, 1.1263, 0.9546, -0.7727, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2909 left_y=-0.1179 left_z=0.0701 left_yaw=0.0002 left_pitch=-0.1147 left_roll=0.0257 left_gripper=0.9968 right_x=0.3026 right_y=0.0025 right_z=0.1685 right_yaw=-0.0208 right_pitch=-0.3717 right_roll=-0.0973 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -2.7282, 6.2701, 1.2869, -0.4029, -0.1099, 0.0024, -0.0479, -3.0154, 6.8718, 1.3309, 0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af179c615f211ea375b4a3c58ace587a821fd58ba94b686c4151c93c34f40316",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0e03244ebd5d37bb85644fbbb27b530d22671f18c5d4e9151936288e8667330",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f85e40fd02e3e1f59318b51bfad17ac453bbd8d7560fd07c368630154c68a15",
        "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 · 7.147 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6247, 1.1671, 0.6727, -0.2615, -0.495, -0.4297, 0.9954, 0.0521, 1.1259, 0.955, -0.7731, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.3145 left_y=-0.1189 left_z=0.1368 left_yaw=0.0068 left_pitch=-0.0819 left_roll=-0.0005 left_gripper=0.9954 right_x=0.3026 right_y=0.0025 right_z=0.1687 right_yaw=-0.0208 right_pitch=-0.3713 right_roll=-0.0972 right_gripper=0.996\nstate[joint_eff]: [-0.1709, -4.0684, 8.7863, 1.3065, -0.3346, 0.0806, -0.1197, -0.0342, -3.6308, 6.6803, 1.3065, 0.0415, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6468, 1.2072, 0.4725, -0.1047, -0.5137, -0.4503, 0.9967, 0.0521, 1.1259, 0.9546, -0.7727, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2921 left_y=-0.1073 left_z=0.0725 left_yaw=0.0157 left_pitch=-0.1401 left_roll=0.0447 left_gripper=0.9967 right_x=0.3026 right_y=0.0025 right_z=0.1686 right_yaw=-0.0208 right_pitch=-0.3713 right_roll=-0.0972 right_gripper=0.996\nstate[joint_eff]: [-0.4444, -3.535, 6.9812, 1.8632, -0.2613, -0.0611, 0.1245, -0.1436, -3.2615, 6.6803, 1.3358, -0.0171, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6868, 1.2247, 0.4522, -0.0463, -0.5327, -0.4725, 0.9968, 0.0521, 1.1263, 0.9546, -0.7727, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2909 left_y=-0.1179 left_z=0.0701 left_yaw=0.0002 left_pitch=-0.1147 left_roll=0.0257 left_gripper=0.9968 right_x=0.3026 right_y=0.0025 right_z=0.1685 right_yaw=-0.0208 right_pitch=-0.3717 right_roll=-0.0973 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -2.7282, 6.2701, 1.2869, -0.4029, -0.1099, 0.0024, -0.0479, -3.0154, 6.8718, 1.3309, 0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af179c615f211ea375b4a3c58ace587a821fd58ba94b686c4151c93c34f40316",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0e03244ebd5d37bb85644fbbb27b530d22671f18c5d4e9151936288e8667330",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f85e40fd02e3e1f59318b51bfad17ac453bbd8d7560fd07c368630154c68a15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISywMKjgEIEhgCKkApD1zHr4JX7lKmMQe3Noi1U8ptYsRETWjYwebSlJBruVIGoRKLvzB9nA6fGCJ6AP14Z94iFFcZ9O8jyKp1ZIleMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbK+zNUGEgzT3y6xNoLt33wsPGkaDOV+Kewap0Xo2SUrmSIwcCv3dc5aRXZ8vMyJ3uNCtoJRpQ+woVau9WcPXBrZeCYlEgAvGQTsqVG7Fr8OUkceKukBDPJx8BLb/rPjEFEneqR6aZjGjrGobIk6Vq7vglupyZADm/88sLmBK2/IOSMsSizzbiXit3Xky41N9//n9QrehkTPFAoZEVVP2f4iKxt5QvGbj6r1OT7QN0cEJvGIH9kw3GbOkF4HBCn1h19CmyKkC+390FcogWaQQLLCmyFzPzMafcIjO3DP5jvqQKufH1kV/P3GOz1WUXVnC2u7tKGefoIiZ3Rs7Q1sNWXI5YA7nH333FD8ETcTrmjUOhsMwwNubWvqAXEglZspGTFV+nLJGFHrzIhzJ7GOIssAQpYumOqT9FEVhKUwJuAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P1Nm23wEsLyWDRFnDffwB2",
      "input": {
        "note": "Move was clamped short again; re-sending to bring the jaws down onto the small tan rabbit plush.",
        "targets": {
          "left_x": 0.278,
          "left_y": -0.128,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01P1Nm23wEsLyWDRFnDffwB2",
      "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]: [-0.7055, 1.2362, 0.4522, -0.0856, -0.543, -0.4953, 0.9968, 0.0521, 1.1294, 0.9543, -0.7731, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2838 left_y=-0.1171 left_z=0.0619 left_yaw=0.0058 left_pitch=-0.148 left_roll=0.0468 left_gripper=0.9968 right_x=0.3026 right_y=0.0025 right_z=0.1675 right_yaw=-0.0209 right_pitch=-0.3755 right_roll=-0.0976 right_gripper=0.996\nstate[joint_eff]: [-0.0068, -3.6308, 6.3658, 1.3553, -0.3346, -0.0708, -0.0122, -0.1846, -3.6581, 6.653, 1.3162, -0.0122, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f7bd587e1ba05f907ee641b2f69c2063bd22e3980d6e60101b5b2645f2af2cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e20db82dc216b73b956e38e6eff850990d7a3e9e0ae467c6cbcb71c8426be61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e4b327db87594163a0c9ed7afd145fe4eb5aca4742d8f481a9e361200d1e764e",
        "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 · 6.94 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6468, 1.2072, 0.4725, -0.1047, -0.5137, -0.4503, 0.9967, 0.0521, 1.1259, 0.9546, -0.7727, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2921 left_y=-0.1073 left_z=0.0725 left_yaw=0.0157 left_pitch=-0.1401 left_roll=0.0447 left_gripper=0.9967 right_x=0.3026 right_y=0.0025 right_z=0.1686 right_yaw=-0.0208 right_pitch=-0.3713 right_roll=-0.0972 right_gripper=0.996\nstate[joint_eff]: [-0.4444, -3.535, 6.9812, 1.8632, -0.2613, -0.0611, 0.1245, -0.1436, -3.2615, 6.6803, 1.3358, -0.0171, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6868, 1.2247, 0.4522, -0.0463, -0.5327, -0.4725, 0.9968, 0.0521, 1.1263, 0.9546, -0.7727, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2909 left_y=-0.1179 left_z=0.0701 left_yaw=0.0002 left_pitch=-0.1147 left_roll=0.0257 left_gripper=0.9968 right_x=0.3026 right_y=0.0025 right_z=0.1685 right_yaw=-0.0208 right_pitch=-0.3717 right_roll=-0.0973 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -2.7282, 6.2701, 1.2869, -0.4029, -0.1099, 0.0024, -0.0479, -3.0154, 6.8718, 1.3309, 0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7055, 1.2362, 0.4522, -0.0856, -0.543, -0.4953, 0.9968, 0.0521, 1.1294, 0.9543, -0.7731, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2838 left_y=-0.1171 left_z=0.0619 left_yaw=0.0058 left_pitch=-0.148 left_roll=0.0468 left_gripper=0.9968 right_x=0.3026 right_y=0.0025 right_z=0.1675 right_yaw=-0.0209 right_pitch=-0.3755 right_roll=-0.0976 right_gripper=0.996\nstate[joint_eff]: [-0.0068, -3.6308, 6.3658, 1.3553, -0.3346, -0.0708, -0.0122, -0.1846, -3.6581, 6.653, 1.3162, -0.0122, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f7bd587e1ba05f907ee641b2f69c2063bd22e3980d6e60101b5b2645f2af2cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e20db82dc216b73b956e38e6eff850990d7a3e9e0ae467c6cbcb71c8426be61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4b327db87594163a0c9ed7afd145fe4eb5aca4742d8f481a9e361200d1e764e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzgcKjgEIEhgCKkBq/SlzZnnGWXuuq+zZ6X7oYvNpkkPFgnjdeCm4hDWgLUl/RG34ezGI74m6kjGrs3r371QGfpDggidc+o9pSkrzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbm+zNUGEgzdCTKlDplldVe7VhcaDLahN/1U9zpi3BXv/CIwUfEQ9MGWrRXHoR1+E92dG1vd0BHJc5D5kkjRUH6a5LbRNLhN3qZJ1urNqvQbbb8tKuwFP3Pj1NGw0QD+IB2oA4NrJsM4gJ6/YiSY88Q4GveUdWHsZ12EvO9mHXPS3RKZZFd0x/RS9+QhS3m9JxBInW/18kuRMB6rHtFIxM+ScjuGCCk0JWGLCqNCbtESn51in7ahsI5WjV2JI6W1CYd9roq8lQdREru/aRckkqIR3C3+JCO0muNxY/WbJFied+I23m7Ec5pJYxLMYabaLd8ubRz7JswXBRkZFoUkjWTzgSh0asjV9zFZAxXDh1jzsKzHM6ZGkUz0uBQeApGyWt9QAHbf2qomOjd6hSuEH7BijqLiurNOlureAF966FUNEVq/u7/B0z303dP26uB3OEuZN25cEmjB4l05IftriPxWQXC9v7KHUo54nEgFmfb0rDy8aOkFtXc2i//gadNgjE0h9MpMjuqH7czOxq14gb+sxxfxmL+0W+yMYFV9wJuz0mZEqrcr2XDiMXWXRxx/KH9Ju4eCJB0/9Q31XyjOlftL7M0A7CCwH3kZvTFH1j2OFMiJeEXsj6OiDF5edGG8XDM3scG4b4DZzbq47bw6j8CzIOdl6QB+6BrrrLv2k1h6RIEI5Tm/9UUqg9NWGqvTCYbi1+yGkvwWJ6k3vKtP9QqzMxQMEj7YtKRDyy5b+cBkQUqxYUCCLMi0cw6yb0MZpXaVqDnB2ymYocMvWg1nd5FEQGyHMCRKQREkGiau3ySD1Mh1Mpg9E14n16/ga0YA13f9BeBr2oD0g2P4awGPeIMOEvaT5QXnhhsx/GdJahDbmnDim9Cdv6FTyDOqI4YVIe2EP/ac3cdG7ppqntDdO1rwV1NsYxh6Cznoxl8qu+qBzOtZt0rEd82eGUM3ciEB5hkrFZy2Qf4fBtCqUXaicQCYCm1h55r1EbsH0idaEi5+m8gbiSWU/86FOcFVTj147IxK0CS2IquPJlMrf0Xy0iGhCCguLQxvd2kRyDUohLHAw9sqU6nJseFM79W/HEf68F1zSP0UooJPAXHIIiSxhxoY0hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015cKy5LTnZGKb9Fe92k7p54",
      "input": {
        "note": "The rabbit plush's head is between the jaws in the wrist view. Descending onto it while closing the gripper to grab its head/neck.",
        "targets": {
          "left_gripper": 0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015cKy5LTnZGKb9Fe92k7p54",
      "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]: [-0.7078, 1.3445, 0.3931, 0.0837, -0.5545, -0.4984, 0.0104, 0.0521, 1.1316, 0.9543, -0.7727, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2864 left_y=-0.118 left_z=0.0367 left_yaw=0.0134 left_pitch=-0.1408 left_roll=0.0499 left_gripper=0.0104 right_x=0.3028 right_y=0.0025 right_z=0.1669 right_yaw=-0.021 right_pitch=-0.3774 right_roll=-0.0977 right_gripper=0.996\nstate[joint_eff]: [0.0205, -2.9744, 3.9726, 0.9548, -0.0513, 0.0024, 0.9011, -0.1846, -3.2205, 6.6803, 1.2821, -0.0073, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db569c3bd7acaf08b4ca97e48972842a5bbd1fe7145309e468f4b1a8a8b9bc2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72bbe2a69fd4234726b89e9c13982ca67eee9d29a47f3d7ab2a954b9affebc83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0cb75f2773369a4da72db3c71e768ceb815b8e168c9579f7d043ac76d46fc99e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 16.93 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6868, 1.2247, 0.4522, -0.0463, -0.5327, -0.4725, 0.9968, 0.0521, 1.1263, 0.9546, -0.7727, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2909 left_y=-0.1179 left_z=0.0701 left_yaw=0.0002 left_pitch=-0.1147 left_roll=0.0257 left_gripper=0.9968 right_x=0.3026 right_y=0.0025 right_z=0.1685 right_yaw=-0.0208 right_pitch=-0.3717 right_roll=-0.0973 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -2.7282, 6.2701, 1.2869, -0.4029, -0.1099, 0.0024, -0.0479, -3.0154, 6.8718, 1.3309, 0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7055, 1.2362, 0.4522, -0.0856, -0.543, -0.4953, 0.9968, 0.0521, 1.1294, 0.9543, -0.7731, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2838 left_y=-0.1171 left_z=0.0619 left_yaw=0.0058 left_pitch=-0.148 left_roll=0.0468 left_gripper=0.9968 right_x=0.3026 right_y=0.0025 right_z=0.1675 right_yaw=-0.0209 right_pitch=-0.3755 right_roll=-0.0976 right_gripper=0.996\nstate[joint_eff]: [-0.0068, -3.6308, 6.3658, 1.3553, -0.3346, -0.0708, -0.0122, -0.1846, -3.6581, 6.653, 1.3162, -0.0122, -0.0317, -0.0171]",
      "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]: [-0.7078, 1.3445, 0.3931, 0.0837, -0.5545, -0.4984, 0.0104, 0.0521, 1.1316, 0.9543, -0.7727, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2864 left_y=-0.118 left_z=0.0367 left_yaw=0.0134 left_pitch=-0.1408 left_roll=0.0499 left_gripper=0.0104 right_x=0.3028 right_y=0.0025 right_z=0.1669 right_yaw=-0.021 right_pitch=-0.3774 right_roll=-0.0977 right_gripper=0.996\nstate[joint_eff]: [0.0205, -2.9744, 3.9726, 0.9548, -0.0513, 0.0024, 0.9011, -0.1846, -3.2205, 6.6803, 1.2821, -0.0073, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db569c3bd7acaf08b4ca97e48972842a5bbd1fe7145309e468f4b1a8a8b9bc2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72bbe2a69fd4234726b89e9c13982ca67eee9d29a47f3d7ab2a954b9affebc83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cb75f2773369a4da72db3c71e768ceb815b8e168c9579f7d043ac76d46fc99e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4gYKjgEIEhgCKkDFZMuYobN0QVSl0pU4IxET+asBH+x7ZBYcSZ/vEe4jc33LN+HLySBnguXJ6E75wipipXCcA7nv2qqNGENbMgKhMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcG+zNUGEgwdn8qETsJSLr8CwoMaDMBNgyGtDOnm7sjgvSIwBSCpnpMBm/fTBv7VeACIB7doqKxccbK85A3sbPe1yU5m7N1C58c/wjSdHK9/DUvVKoAFb7FkxCR2OiSFUjzHNjZUkXoumXjRH+6+mludHcBdSACrurwPRQhR7F/+fiKgHfJy1pxMwEQr9k9QVJh/iWOQ9EX8YuebXqmU4qxixC2S0LmDhtQfG6TCswA7VCxnrT3h3QXVlfI9lcz7x+1TZCyhT4huAjJ+PaO61Ur3RouuFXW3uy/PKlFCHdFdZM0S/YKe0zGeg7bzy3QjdXm0jV8NkEJbjq1IATUBw2TkKYtTnnxbflHCDLI4x+8NDbj4jsgxoqVDDAyK0F2nCITd88zxNNqT2unlRyaPVmvBC7qC1PfMW9KhBpeh9HIaFDKrSpao7FPlh1p9z+qbV3vfayGQ4sZHvIEc3QQcnGxhzxtk6EJaVaLt/wSEprHvSJfDxXy50BcQU/Y1HgcM/ryZQ816k0JIpANXhylOGxbO+glJmNTW1bojSz47B7bo998PXL0aGH+K3q9F3K1UKtpbPqckACPhmhSiUFLq4ULbxTWvSTk3lAwD4461wELbSa0bW6smBkiOdKOBfzXsZ3STZsnHFuwIr45SF9aC2Plw9B+jhwP+rTiCtEhCJLxMXp+NAouFo+BM1pDe4Fi/QvTMDcg7HF3Z7f5mRADzFikByUQXo3fA4cqMWuJbjAMWqt+M3eKrSHIual8TYHfbRX91qFKbAAi3jwOp4blE7Sl8JWuiPV2PdSw/R3NPzgtjRZeqgizww0CPHODRXBNYWvtFxAhBXyGoki2pCiDpWsoH3qgax925KhnzSvUmszYRWu7/QR6X0k00IidXQj/l/IHoMWvJ/kCXcAMS6fZLoYh0/yMNUkA7EQ2Zgzl3ZLoP+uSUDah6wzz7ErGiLl86delwyJKkERgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DWmDw7oW28YyuAXWcYbUvW",
      "input": {
        "note": "Empty close again — the fingertips reach further out than the wrist view suggests, so I'm opening and pulling back 3 cm toward the base, over the rabbit plush.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.256,
          "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_01DWmDw7oW28YyuAXWcYbUvW",
      "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]: [-0.8154, 1.203, 0.3794, -0.0879, -0.6064, -0.5922, 0.9953, 0.0521, 1.1339, 0.9543, -0.7731, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2593 left_y=-0.1232 left_z=0.0494 left_yaw=-0.0023 left_pitch=-0.1416 left_roll=0.0379 left_gripper=0.9953 right_x=0.3029 right_y=0.0026 right_z=0.1662 right_yaw=-0.0207 right_pitch=-0.3801 right_roll=-0.0976 right_gripper=0.996\nstate[joint_eff]: [-0.5402, -4.0547, 5.5863, 1.2918, -0.3736, 0.0073, -0.0073, -0.0752, -3.0427, 6.6393, 1.3455, -0.0317, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8df08087f55971cee422cecdb0ae32cff22c85479be6b9b22ff32cf9a9682671",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a2b0350eb6c60edaabeed76fef55643c60d2003e6a9778b62109bd68f864bdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19f0d9acecd9868f52105e811a045bffe085ae473981d9e1cc9582e1d54946e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 4.641 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]: [-0.7055, 1.2362, 0.4522, -0.0856, -0.543, -0.4953, 0.9968, 0.0521, 1.1294, 0.9543, -0.7731, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2838 left_y=-0.1171 left_z=0.0619 left_yaw=0.0058 left_pitch=-0.148 left_roll=0.0468 left_gripper=0.9968 right_x=0.3026 right_y=0.0025 right_z=0.1675 right_yaw=-0.0209 right_pitch=-0.3755 right_roll=-0.0976 right_gripper=0.996\nstate[joint_eff]: [-0.0068, -3.6308, 6.3658, 1.3553, -0.3346, -0.0708, -0.0122, -0.1846, -3.6581, 6.653, 1.3162, -0.0122, -0.0317, -0.0171]",
      "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]: [-0.7078, 1.3445, 0.3931, 0.0837, -0.5545, -0.4984, 0.0104, 0.0521, 1.1316, 0.9543, -0.7727, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2864 left_y=-0.118 left_z=0.0367 left_yaw=0.0134 left_pitch=-0.1408 left_roll=0.0499 left_gripper=0.0104 right_x=0.3028 right_y=0.0025 right_z=0.1669 right_yaw=-0.021 right_pitch=-0.3774 right_roll=-0.0977 right_gripper=0.996\nstate[joint_eff]: [0.0205, -2.9744, 3.9726, 0.9548, -0.0513, 0.0024, 0.9011, -0.1846, -3.2205, 6.6803, 1.2821, -0.0073, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8154, 1.203, 0.3794, -0.0879, -0.6064, -0.5922, 0.9953, 0.0521, 1.1339, 0.9543, -0.7731, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2593 left_y=-0.1232 left_z=0.0494 left_yaw=-0.0023 left_pitch=-0.1416 left_roll=0.0379 left_gripper=0.9953 right_x=0.3029 right_y=0.0026 right_z=0.1662 right_yaw=-0.0207 right_pitch=-0.3801 right_roll=-0.0976 right_gripper=0.996\nstate[joint_eff]: [-0.5402, -4.0547, 5.5863, 1.2918, -0.3736, 0.0073, -0.0073, -0.0752, -3.0427, 6.6393, 1.3455, -0.0317, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8df08087f55971cee422cecdb0ae32cff22c85479be6b9b22ff32cf9a9682671",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a2b0350eb6c60edaabeed76fef55643c60d2003e6a9778b62109bd68f864bdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19f0d9acecd9868f52105e811a045bffe085ae473981d9e1cc9582e1d54946e8",
        "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_01VqnNjqY4ZeywpTgK4ZhJAL",
      "input": {
        "note": "Re-approaching the rabbit plush: going back out to where it was centred under the jaws, but this time all the way down to table level so the jaws straddle the wide lower part of its body rather than skimming the top.",
        "targets": {
          "left_x": 0.292,
          "left_y": -0.125,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VqnNjqY4ZeywpTgK4ZhJAL",
      "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]: [-0.7132, 1.4307, 0.3798, 0.0937, -0.5636, -0.535, 0.9967, 0.0521, 1.1366, 0.9543, -0.7731, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2783 left_y=-0.1112 left_z=0.0113 left_yaw=0.0449 left_pitch=-0.2005 left_roll=0.0891 left_gripper=0.9967 right_x=0.303 right_y=0.0026 right_z=0.1654 right_yaw=-0.0208 right_pitch=-0.3827 right_roll=-0.0978 right_gripper=0.996\nstate[joint_eff]: [-0.3761, -6.3248, 5.053, 1.536, -0.1587, 0.0073, 0.1197, -0.212, -3.1111, 6.6803, 1.4042, 0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c4bd7fbee96353583f1f88934c5abb1e277f345efa5c85e9c9d651cd81379af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33aa0a7d64bfbccd2fb8a850f149e3481a7145fa407967b3f535d9e59959c1c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:281abc4f402dbb11b8407601aa5fdcd16e8e4c739f64071ec05880b514aa0c14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 4.805 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]: [-0.7078, 1.3445, 0.3931, 0.0837, -0.5545, -0.4984, 0.0104, 0.0521, 1.1316, 0.9543, -0.7727, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2864 left_y=-0.118 left_z=0.0367 left_yaw=0.0134 left_pitch=-0.1408 left_roll=0.0499 left_gripper=0.0104 right_x=0.3028 right_y=0.0025 right_z=0.1669 right_yaw=-0.021 right_pitch=-0.3774 right_roll=-0.0977 right_gripper=0.996\nstate[joint_eff]: [0.0205, -2.9744, 3.9726, 0.9548, -0.0513, 0.0024, 0.9011, -0.1846, -3.2205, 6.6803, 1.2821, -0.0073, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8154, 1.203, 0.3794, -0.0879, -0.6064, -0.5922, 0.9953, 0.0521, 1.1339, 0.9543, -0.7731, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2593 left_y=-0.1232 left_z=0.0494 left_yaw=-0.0023 left_pitch=-0.1416 left_roll=0.0379 left_gripper=0.9953 right_x=0.3029 right_y=0.0026 right_z=0.1662 right_yaw=-0.0207 right_pitch=-0.3801 right_roll=-0.0976 right_gripper=0.996\nstate[joint_eff]: [-0.5402, -4.0547, 5.5863, 1.2918, -0.3736, 0.0073, -0.0073, -0.0752, -3.0427, 6.6393, 1.3455, -0.0317, -0.0122, -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 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]: [-0.7132, 1.4307, 0.3798, 0.0937, -0.5636, -0.535, 0.9967, 0.0521, 1.1366, 0.9543, -0.7731, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2783 left_y=-0.1112 left_z=0.0113 left_yaw=0.0449 left_pitch=-0.2005 left_roll=0.0891 left_gripper=0.9967 right_x=0.303 right_y=0.0026 right_z=0.1654 right_yaw=-0.0208 right_pitch=-0.3827 right_roll=-0.0978 right_gripper=0.996\nstate[joint_eff]: [-0.3761, -6.3248, 5.053, 1.536, -0.1587, 0.0073, 0.1197, -0.212, -3.1111, 6.6803, 1.4042, 0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c4bd7fbee96353583f1f88934c5abb1e277f345efa5c85e9c9d651cd81379af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33aa0a7d64bfbccd2fb8a850f149e3481a7145fa407967b3f535d9e59959c1c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:281abc4f402dbb11b8407601aa5fdcd16e8e4c739f64071ec05880b514aa0c14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiAMKjgEIEhgCKkCpuAMuXc5F7xrMpWstZpwMGTP969N22vAR6ESExH1ginhq5Y53kJJxu211P2H1zyg0KFCstlSdEmI9Wbj8fbt3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdi+zNUGEgzDjaYhK+eZ5UbcPFgaDLDYwMF3inIRAVBS7yIwVgiAGbqW8T3F0iJYkctOnFwBMp4UDV5S6+LIUiXqcC/2eBVXn907IuCEETSdTUUZKqYBaoiXTIAOXx2G6OqkOLRX55N7XZDZxuIsI3ShoFi4vZ8WlOpjnXqvKf1wNZwppZMEOwIZIGEjr/PYrforVWk+Q9fJH5Jd1Y8BB6nGcSIhqag/e6+EhuhUo2AX/di00fRnEtyF18XAIOF2yt0PpqTcBH66PrQnyranHgsJedBAeaFaRd2EKoXm+qJPKsfg5COR+RawZ0R8vwc8qBQ+FZiT/R8yBgJLSBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S36QngB9NYb1quzZHEzBxq",
      "input": {
        "note": "Jaws are at table level straddling the rabbit plush's body; closing to grip it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01S36QngB9NYb1quzZHEzBxq",
      "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]: [-0.7128, 1.4395, 0.3775, 0.1196, -0.5686, -0.535, 0.2049, 0.0521, 1.1393, 0.9543, -0.7727, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2808 left_y=-0.1123 left_z=0.012 left_yaw=0.0467 left_pitch=-0.187 left_roll=0.0817 left_gripper=0.2049 right_x=0.3032 right_y=0.0026 right_z=0.1647 right_yaw=-0.0209 right_pitch=-0.385 right_roll=-0.098 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -5.1761, 5.3675, 1.033, -0.2418, -0.0122, 1.033, -0.1709, -3.3983, 6.6393, 1.2772, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:816827cbbee90899f84271a7b8158f5d785bbe88d3e5a5656de130d9b08f17c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ff7622cda1147674cbe747003dcb668733286559815df2eab7e9d5507fef3b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f5c81e97e156e0067ef1bcb587254bed3c5405c9d8543ac2c3b5304c317a9bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 12.51 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]: [-0.8154, 1.203, 0.3794, -0.0879, -0.6064, -0.5922, 0.9953, 0.0521, 1.1339, 0.9543, -0.7731, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2593 left_y=-0.1232 left_z=0.0494 left_yaw=-0.0023 left_pitch=-0.1416 left_roll=0.0379 left_gripper=0.9953 right_x=0.3029 right_y=0.0026 right_z=0.1662 right_yaw=-0.0207 right_pitch=-0.3801 right_roll=-0.0976 right_gripper=0.996\nstate[joint_eff]: [-0.5402, -4.0547, 5.5863, 1.2918, -0.3736, 0.0073, -0.0073, -0.0752, -3.0427, 6.6393, 1.3455, -0.0317, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7132, 1.4307, 0.3798, 0.0937, -0.5636, -0.535, 0.9967, 0.0521, 1.1366, 0.9543, -0.7731, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2783 left_y=-0.1112 left_z=0.0113 left_yaw=0.0449 left_pitch=-0.2005 left_roll=0.0891 left_gripper=0.9967 right_x=0.303 right_y=0.0026 right_z=0.1654 right_yaw=-0.0208 right_pitch=-0.3827 right_roll=-0.0978 right_gripper=0.996\nstate[joint_eff]: [-0.3761, -6.3248, 5.053, 1.536, -0.1587, 0.0073, 0.1197, -0.212, -3.1111, 6.6803, 1.4042, 0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7128, 1.4395, 0.3775, 0.1196, -0.5686, -0.535, 0.2049, 0.0521, 1.1393, 0.9543, -0.7727, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2808 left_y=-0.1123 left_z=0.012 left_yaw=0.0467 left_pitch=-0.187 left_roll=0.0817 left_gripper=0.2049 right_x=0.3032 right_y=0.0026 right_z=0.1647 right_yaw=-0.0209 right_pitch=-0.385 right_roll=-0.098 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -5.1761, 5.3675, 1.033, -0.2418, -0.0122, 1.033, -0.1709, -3.3983, 6.6393, 1.2772, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:816827cbbee90899f84271a7b8158f5d785bbe88d3e5a5656de130d9b08f17c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ff7622cda1147674cbe747003dcb668733286559815df2eab7e9d5507fef3b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f5c81e97e156e0067ef1bcb587254bed3c5405c9d8543ac2c3b5304c317a9bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8wMKjgEIEhgCKkDi3iRmkf83vp2qAFvryI35Viv1/ZXBHIBu+7W+2TKUvt4cC4EPGMI8QzGr++njd7rJFVPGjc/DpDQfnUhfQXYlMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd2+zNUGEgxqERN9e+FWPKH3J1UaDBYVhDMjxnqjjVIr+yIwYOG2oHpThx9Iu9GvxoB7meMeqnoLODX7NBj5+49dktBMYzYbUQLzBvrhpF1Dw4sIKpECO1C39qy9tYPj40nNwOmvNo4sN6choHiTBJ0eYBHbgAOl+IbO0XklbffhY6W/Fbb3Y48OAMK4SCtWRt7vGiat5TQztGYWI2DyK9je/84iLGmBqaP0nGvp08PXEF3MnU13+69B9RWyhSrSQHO9HnPn4VjWrDJpb2HeeIeszeeoKsVDtoIHa9gGtKENJJuNJzWYanloaLUfx6J0omTDZ+C65a4ImYTQyy1O1KqVPMFqagAVtnTZjz3kfORoHgsK2oG0f5PKWmnv2iPfbAdWW3ZlUxJxXNBe5VcZKzOsyWNBQXNq2+9KGoP12c7Rax8ekiMprYIIjaT+KeyvJVqJe693PcRKEf8ZIJxQCriTpPfGiDDhGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PqJiCjgHDcxDZhD2hrkxwn",
      "input": {
        "note": "Gripper settled at 0.20 (~2 cm of plush between the jaws), so I have hold of the rabbit. Lifting to confirm it comes with me.",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01PqJiCjgHDcxDZhD2hrkxwn",
      "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]: [-0.7128, 1.1408, 1.0321, -0.82, -0.5613, -0.5392, 0.2071, 0.0521, 1.1393, 0.9543, -0.7727, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2844 left_y=-0.1168 left_z=0.2093 left_yaw=0.0421 left_pitch=-0.1808 left_roll=0.0646 left_gripper=0.2071 right_x=0.3032 right_y=0.0026 right_z=0.1647 right_yaw=-0.0209 right_pitch=-0.385 right_roll=-0.098 right_gripper=0.996\nstate[joint_eff]: [-0.335, -3.0974, 8.1983, 1.1209, -0.398, -0.0122, 0.525, -0.1983, -3.4256, 6.6256, 1.2772, -0.0024, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:320a2c76bd04a0104003dc76b94945643ba19abf197b3e9c15c646fa0a105739",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79df375bb32e53ad2e751f743281238721f1f21ec1370c1c1a9403c54068e435",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3790d5f399aa281f36d22f8ad496492903621275c2109338773d5b9dff77a965",
        "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 · 7.173 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]: [-0.7132, 1.4307, 0.3798, 0.0937, -0.5636, -0.535, 0.9967, 0.0521, 1.1366, 0.9543, -0.7731, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2783 left_y=-0.1112 left_z=0.0113 left_yaw=0.0449 left_pitch=-0.2005 left_roll=0.0891 left_gripper=0.9967 right_x=0.303 right_y=0.0026 right_z=0.1654 right_yaw=-0.0208 right_pitch=-0.3827 right_roll=-0.0978 right_gripper=0.996\nstate[joint_eff]: [-0.3761, -6.3248, 5.053, 1.536, -0.1587, 0.0073, 0.1197, -0.212, -3.1111, 6.6803, 1.4042, 0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7128, 1.4395, 0.3775, 0.1196, -0.5686, -0.535, 0.2049, 0.0521, 1.1393, 0.9543, -0.7727, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2808 left_y=-0.1123 left_z=0.012 left_yaw=0.0467 left_pitch=-0.187 left_roll=0.0817 left_gripper=0.2049 right_x=0.3032 right_y=0.0026 right_z=0.1647 right_yaw=-0.0209 right_pitch=-0.385 right_roll=-0.098 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -5.1761, 5.3675, 1.033, -0.2418, -0.0122, 1.033, -0.1709, -3.3983, 6.6393, 1.2772, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7128, 1.1408, 1.0321, -0.82, -0.5613, -0.5392, 0.2071, 0.0521, 1.1393, 0.9543, -0.7727, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2844 left_y=-0.1168 left_z=0.2093 left_yaw=0.0421 left_pitch=-0.1808 left_roll=0.0646 left_gripper=0.2071 right_x=0.3032 right_y=0.0026 right_z=0.1647 right_yaw=-0.0209 right_pitch=-0.385 right_roll=-0.098 right_gripper=0.996\nstate[joint_eff]: [-0.335, -3.0974, 8.1983, 1.1209, -0.398, -0.0122, 0.525, -0.1983, -3.4256, 6.6256, 1.2772, -0.0024, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:320a2c76bd04a0104003dc76b94945643ba19abf197b3e9c15c646fa0a105739",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79df375bb32e53ad2e751f743281238721f1f21ec1370c1c1a9403c54068e435",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3790d5f399aa281f36d22f8ad496492903621275c2109338773d5b9dff77a965",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DzBRNmSyNzchkkuzyDWM94",
      "input": {
        "note": "The lift left the toys in place, so the jaws only had fur. From this higher view the tan dog's head is centred under the tool; opening and descending onto its head for a firmer grip.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01DzBRNmSyNzchkkuzyDWM94",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7128, 1.2369, 0.5449, -0.3058, -0.5533, -0.5426, 0.9955, 0.0521, 1.1442, 0.9543, -0.7723, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2748 left_y=-0.1101 left_z=0.0663 left_yaw=0.0485 left_pitch=-0.2353 left_roll=0.1057 left_gripper=0.9955 right_x=0.3036 right_y=0.0025 right_z=0.1634 right_yaw=-0.0213 right_pitch=-0.3896 right_roll=-0.0987 right_gripper=0.996\nstate[joint_eff]: [-0.212, -3.959, 6.5573, 1.3358, -0.3101, 0.022, -0.2027, -0.1983, -3.9179, 6.6256, 1.2576, 0.0024, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1389bf9fd0e926149f3b14408f3588428c192c1cf46f9b6c0ce0e7a4840661fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecc86bc07e51c4104f86eeb82ced8a91c04ea49b21e9677f9558f045e913ee8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e272485496856652ae25d0651b3d4e999afcb0c417872c2c4dd413a4623eb3b4",
        "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 · 5.015 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]: [-0.7128, 1.4395, 0.3775, 0.1196, -0.5686, -0.535, 0.2049, 0.0521, 1.1393, 0.9543, -0.7727, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2808 left_y=-0.1123 left_z=0.012 left_yaw=0.0467 left_pitch=-0.187 left_roll=0.0817 left_gripper=0.2049 right_x=0.3032 right_y=0.0026 right_z=0.1647 right_yaw=-0.0209 right_pitch=-0.385 right_roll=-0.098 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -5.1761, 5.3675, 1.033, -0.2418, -0.0122, 1.033, -0.1709, -3.3983, 6.6393, 1.2772, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7128, 1.1408, 1.0321, -0.82, -0.5613, -0.5392, 0.2071, 0.0521, 1.1393, 0.9543, -0.7727, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2844 left_y=-0.1168 left_z=0.2093 left_yaw=0.0421 left_pitch=-0.1808 left_roll=0.0646 left_gripper=0.2071 right_x=0.3032 right_y=0.0026 right_z=0.1647 right_yaw=-0.0209 right_pitch=-0.385 right_roll=-0.098 right_gripper=0.996\nstate[joint_eff]: [-0.335, -3.0974, 8.1983, 1.1209, -0.398, -0.0122, 0.525, -0.1983, -3.4256, 6.6256, 1.2772, -0.0024, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.7128, 1.2369, 0.5449, -0.3058, -0.5533, -0.5426, 0.9955, 0.0521, 1.1442, 0.9543, -0.7723, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2748 left_y=-0.1101 left_z=0.0663 left_yaw=0.0485 left_pitch=-0.2353 left_roll=0.1057 left_gripper=0.9955 right_x=0.3036 right_y=0.0025 right_z=0.1634 right_yaw=-0.0213 right_pitch=-0.3896 right_roll=-0.0987 right_gripper=0.996\nstate[joint_eff]: [-0.212, -3.959, 6.5573, 1.3358, -0.3101, 0.022, -0.2027, -0.1983, -3.9179, 6.6256, 1.2576, 0.0024, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1389bf9fd0e926149f3b14408f3588428c192c1cf46f9b6c0ce0e7a4840661fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecc86bc07e51c4104f86eeb82ced8a91c04ea49b21e9677f9558f045e913ee8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e272485496856652ae25d0651b3d4e999afcb0c417872c2c4dd413a4623eb3b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0wYKjgEIEhgCKkAl/JEHwW1GWSvzyXW6qoyiLgEXbPhMfJkYYrbAodk8cEo42bLDio232LNz9STgpgXZKtvHDjf/Tt9uEIVpLv93Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfO+zNUGEgxYoB8fLEO61u6/3SIaDMi+OGG2UjI+c7gzbyIwV5MHY7CoTga0u6NngSV8XM9mPai2VO6K9JFpSjVB/lkgXgB3N3n1eI1PQh4b2aiqKvEERkQOEsezl0hl4YLqWvj1uQnSCmhjeO4swvSr6kiSYmiI9+d1x/borZnH6Cnvc6ccXkdqBrjofUGvD6iPTd5/4Whj6QeXMCLOho+XP0TNE5etWCO2AXYHCC4ZDJ7Uj14RmT5ZFULQ0aXTm5WBN1+gmbiLIY86dr46C7udY9cOhqo7kt0w38JMi6FNDNQbPx98DEQHzCw1o4W9dYeojiqI1tYJI6NYO3+aIYxBqS2TnVE8M6mLP9WzwRLbBGsAHt6NHTr8u4ioIpxty10rnrufVtWcM85WO5Hy4azlF4c/2V3WF98Hh2WtQZfDoCPDa4sxJWTDLoddMzfaherzLRyk73g3MaBqgvYeY4wj2xTnSXdfTg/3sP3VmWzAO8x4clTyDFUSblC3x+rWneVtjgUA/4T9lLnsn8/+QZ4VhCfjXMxrln0mfPKQ7q+gSmMDmFi76EMqxGHKKZ///5oDhmfIdMe3aF1eTlGoxb/b28NxqDUGT9ozJsvGbQPpZL0xNXFfuTOGZmwU5aq1/ouvy1rS2vp/Qxlyk+Xpoj2ZPeHH+2R3XtVt6gC8NoCu7nWui9esMvcIawtV4JOV6glv/ux73cLwqCHCcacvuSzuD9sIcYEicU+dTE59EyDXbwax3QcTuEmxXd0sktHTgO/r0pXYd8pJRuu59z1YL/k6Q1K1+SEeXPumcma7jRNiSRhTAJtisLKM2VvT7pJ2WR1lYLAMyVWyih2M7Um0B7rKOH8pSSNKSyxUVZDmmbBjag11JqjmLfcj7iqv2MGbLi9Lf+m6qzGazz9JY3Ia8PGC1/SeVlEHSO636pKB1QfQbvchyMl6sxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0177hdownMJFoAghfVvf9Vbu",
      "input": {
        "note": "The small brown guinea-pig plush is centred between the jaws in the wrist view. Descending onto it and closing the gripper to grip its body.",
        "targets": {
          "left_gripper": 0.1,
          "left_x": 0.268,
          "left_y": -0.118,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0177hdownMJFoAghfVvf9Vbu",
      "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]: [-0.7643, 1.3594, 0.4583, -0.0696, -0.6067, -0.5846, 0.108, 0.0521, 1.1446, 0.9543, -0.7731, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2781 left_y=-0.1221 left_z=0.0378 left_yaw=0.052 left_pitch=-0.1823 left_roll=0.0875 left_gripper=0.108 right_x=0.3034 right_y=0.0026 right_z=0.1631 right_yaw=-0.021 right_pitch=-0.3907 right_roll=-0.0984 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -2.2359, 3.535, 0.8132, -0.0708, -0.149, 0.3346, -0.0752, -3.3299, 6.7077, 1.3065, 0.0024, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad4566478577a4136869dfa6794ff16dc2a5981a32d0ece73ae1ea367e08e677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61d951df1f2d15c5462bd680d7438ce0ba1bfa11dee1452a99f642bd42099b92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a08903c824f4a37e2c46b48f6786f005e05a15ec9d7ca81cbca85c1aa2dec80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 8.448 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7128, 1.1408, 1.0321, -0.82, -0.5613, -0.5392, 0.2071, 0.0521, 1.1393, 0.9543, -0.7727, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2844 left_y=-0.1168 left_z=0.2093 left_yaw=0.0421 left_pitch=-0.1808 left_roll=0.0646 left_gripper=0.2071 right_x=0.3032 right_y=0.0026 right_z=0.1647 right_yaw=-0.0209 right_pitch=-0.385 right_roll=-0.098 right_gripper=0.996\nstate[joint_eff]: [-0.335, -3.0974, 8.1983, 1.1209, -0.398, -0.0122, 0.525, -0.1983, -3.4256, 6.6256, 1.2772, -0.0024, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.7128, 1.2369, 0.5449, -0.3058, -0.5533, -0.5426, 0.9955, 0.0521, 1.1442, 0.9543, -0.7723, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2748 left_y=-0.1101 left_z=0.0663 left_yaw=0.0485 left_pitch=-0.2353 left_roll=0.1057 left_gripper=0.9955 right_x=0.3036 right_y=0.0025 right_z=0.1634 right_yaw=-0.0213 right_pitch=-0.3896 right_roll=-0.0987 right_gripper=0.996\nstate[joint_eff]: [-0.212, -3.959, 6.5573, 1.3358, -0.3101, 0.022, -0.2027, -0.1983, -3.9179, 6.6256, 1.2576, 0.0024, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7643, 1.3594, 0.4583, -0.0696, -0.6067, -0.5846, 0.108, 0.0521, 1.1446, 0.9543, -0.7731, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2781 left_y=-0.1221 left_z=0.0378 left_yaw=0.052 left_pitch=-0.1823 left_roll=0.0875 left_gripper=0.108 right_x=0.3034 right_y=0.0026 right_z=0.1631 right_yaw=-0.021 right_pitch=-0.3907 right_roll=-0.0984 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -2.2359, 3.535, 0.8132, -0.0708, -0.149, 0.3346, -0.0752, -3.3299, 6.7077, 1.3065, 0.0024, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad4566478577a4136869dfa6794ff16dc2a5981a32d0ece73ae1ea367e08e677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61d951df1f2d15c5462bd680d7438ce0ba1bfa11dee1452a99f642bd42099b92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a08903c824f4a37e2c46b48f6786f005e05a15ec9d7ca81cbca85c1aa2dec80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2QQKjgEIEhgCKkBaF7GI2As+wpPZeEVQKr+N0Ay5QPpZDXbkVUBYUhCrSH3v/bR3bUSyuoLHL5Svn7aJvsy66nO8lL9RpMJaEPbwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfq+zNUGEgyB0A0O7rfQwNBRq1saDN+dxNAC/GQZEWKYVyIwkHb7C5MWI04/ET4Ux2pcsVdaP49NlguwupJEToRwrEtDwC+4SVXq6Za2UCA4+RIRKvcCytnJEPxIqEn19aOmXewxB3XlOYORdgqF1CPcuq+VCIC10G0TZ3xPPpk0lnbrUemwMqTg4ufW9aSjueEls5EwYEAyExdwtvJ5yojn9AYEnLi/teGKoIzEIN+CyMvcYeCq4IFF6TGgGjF3Yvw9pSKKXJ68j8Z240Gaqa2HK0kZiye3PV/7zM7bmhQze/69CCQImxaQ9SLzVOVZAU7x/ViG1n1LW3zrwnOTuG4gLXoodpDu/RgexGLuklScPdmp1LN+EJb+poOuVRSAW+6CY6GZYD+vXMu7nbrR/NFO6AxHLZHwcOPFIO1GKMarKCmUxAS70LgITdpTqSpRVpgaT/eNL0Z4fGFvLjsSIb+m1DPuc6nUVwYESYdNyn/I2kzMfr2mHhReJNedYQQtvrvDmuSoS9FPcw4xsPv/ndN5Xzt8DIEFyg9LKWANhkSFNnAeYJskRTXsDbaeRscXaF4x2Y075haqiVokgn6dL71rsY7K6zQ2CT8WIIf2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016HrPQ86tYAyXYzRh5xrZ3J",
      "input": {
        "note": "Descent stopped on the plush at z≈0.04 with the jaws around its body; closing fully.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_016HrPQ86tYAyXYzRh5xrZ3J",
      "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]: [-0.7673, 1.3651, 0.4541, -0.0319, -0.6067, -0.5892, 0.0314, 0.0521, 1.1446, 0.9543, -0.7727, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2812 left_y=-0.1263 left_z=0.0396 left_yaw=0.0479 left_pitch=-0.163 left_roll=0.0635 left_gripper=0.0314 right_x=0.3035 right_y=0.0026 right_z=0.1632 right_yaw=-0.021 right_pitch=-0.3904 right_roll=-0.0984 right_gripper=0.996\nstate[joint_eff]: [0.2393, -4.7658, 6.3932, 0.9109, -0.2955, 0.0415, 0.9548, -0.0479, -3.5214, 6.6393, 1.2967, 0.0073, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cea576e6386c8de00a57158aad7120ce0a221ac55500e1c68b709af8c726568",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86ac66b6e719fe9de53ee2221667b04780076cede515f6f4e6874eb8929255ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5756c9cea621b99a4cc5f6fce73d9832f1b8456182a575ecef27b9359cf29a61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 4.227 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7128, 1.2369, 0.5449, -0.3058, -0.5533, -0.5426, 0.9955, 0.0521, 1.1442, 0.9543, -0.7723, 0.0956, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2748 left_y=-0.1101 left_z=0.0663 left_yaw=0.0485 left_pitch=-0.2353 left_roll=0.1057 left_gripper=0.9955 right_x=0.3036 right_y=0.0025 right_z=0.1634 right_yaw=-0.0213 right_pitch=-0.3896 right_roll=-0.0987 right_gripper=0.996\nstate[joint_eff]: [-0.212, -3.959, 6.5573, 1.3358, -0.3101, 0.022, -0.2027, -0.1983, -3.9179, 6.6256, 1.2576, 0.0024, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7643, 1.3594, 0.4583, -0.0696, -0.6067, -0.5846, 0.108, 0.0521, 1.1446, 0.9543, -0.7731, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2781 left_y=-0.1221 left_z=0.0378 left_yaw=0.052 left_pitch=-0.1823 left_roll=0.0875 left_gripper=0.108 right_x=0.3034 right_y=0.0026 right_z=0.1631 right_yaw=-0.021 right_pitch=-0.3907 right_roll=-0.0984 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -2.2359, 3.535, 0.8132, -0.0708, -0.149, 0.3346, -0.0752, -3.3299, 6.7077, 1.3065, 0.0024, -0.0562, -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 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7673, 1.3651, 0.4541, -0.0319, -0.6067, -0.5892, 0.0314, 0.0521, 1.1446, 0.9543, -0.7727, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2812 left_y=-0.1263 left_z=0.0396 left_yaw=0.0479 left_pitch=-0.163 left_roll=0.0635 left_gripper=0.0314 right_x=0.3035 right_y=0.0026 right_z=0.1632 right_yaw=-0.021 right_pitch=-0.3904 right_roll=-0.0984 right_gripper=0.996\nstate[joint_eff]: [0.2393, -4.7658, 6.3932, 0.9109, -0.2955, 0.0415, 0.9548, -0.0479, -3.5214, 6.6393, 1.2967, 0.0073, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cea576e6386c8de00a57158aad7120ce0a221ac55500e1c68b709af8c726568",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86ac66b6e719fe9de53ee2221667b04780076cede515f6f4e6874eb8929255ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5756c9cea621b99a4cc5f6fce73d9832f1b8456182a575ecef27b9359cf29a61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnAgKjgEIEhgCKkAuU9GFHe3T6GZHtq+1RdA+WtESsa1QyLU7c70Ji+796d+1qCcbaNpPekJU8G2g16I3Z4zJ65flhC5q0vDVjHaRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYG/zNUGEgxzfCcrZR/OV3BIfIIaDIWz9sF08CjsGT5rFSIwvxmULodlpcdwfGoC1DlbbImcIhpoJ/uXrgd23tVsSepbLr3ATEt1bB5MVtT+jJ41KroG2KJldvkVJf99v1RUUWSaONt9R9mfeggA1NhZXLjjI4RVdx+M5NPHGCY2F9uIbzzX27FBcGLoCN8ypT7gdoCaUphsF2ym2JLZ24Sq7EtAqaOSCgeOaoDbjMHjFgs4W+UuCML6WyWWpI0jLLvm71G16BT5llYaJwr0huwBBITkUFF6qKSbkGYZHIp9b4OMKIXDLjcacRMBs/NBG5dPKcIdSOeHoqX5J+O2zDaL2BIApYsTJXs8blpRkEoJLAlfHNxq6b4u4Ve9osn9XIQqOvURYndKFfScdaetb8Lp81BAQ94013/2ZkUXSwLa42P+JijMlEmp3VqJ0HAvH2SUWrVrb0VmiCjKcRuRruJZcz9t/WoAn02rDz3sNsHV2cNhkRmLddfdV7L8GKRq9wtDUUP/96p6kxQT2/Rm+YV3cBp/olhVe9kX9rWnS/LKocjuyQdxxqY3Sq1ggqFxF58Y3+ZXQ1h9+GO/mxniYHCooZGwbMcaPUOvfG74gG687XvYENYT2QoMpxi0+esU7ZdZn0YsbeJSB/mZ6rYMT+4oPOSM0lonER3jgCryr8Qj70cXTJeASk1Ixv8uvMErhUEBBepPsQeESzQ1DmI+uk1UDFc2CjlY5pFDUljRhs0j7KfiGhdyRkw5wqZJ+/tKmqXhyFMXUrMn80s9WUBGG7pge9bS25LHtn7K+2c5YWIN+FimlUMSuve2zKgjj/e4+bVunr9qnJBUoGMe+VaV3NAAYRSFRBHfvNM7peSsj4NBTb1tGo97Oc32d3O+w7cAoSxNsarZVfd8NqrkuadcxzFMnFIuaip41pYr7JEHC1OoaTqe7vPHEMIr76GLOcP1pzIuZoJX1VK8FQ3F2HV13pmfO8OjvWLtIwvbdbUdv9gAUXQFAJIRj4eu6fhWDbi/1Cs8QcSHhN3YncglPAbh0x6RGlkeRtf0Nf9y80En/mFSaF87/abvvCD9KQfOTFMEPE4b++mT4YOn0kjPHrvWKdfkyVEj57EZ+hzg0KHNyTdD9vmW1ePZxzon5ciNo7vbUbNWYY3mppEY0jhCL0HromhQYCEZfn1BLRPIVxNnnyuZIeTQLBdjhwRYvwgehHAyJxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017KwZjW7prniFP5WoUPJuCD",
      "input": {
        "note": "Close was empty: the jaws are just behind and right of the plush. Opening and shifting 2 cm forward and 2 cm left to straddle its body.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.3,
          "left_y": -0.107,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017KwZjW7prniFP5WoUPJuCD",
      "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]: [-0.6415, 1.372, 0.4427, 0.0578, -0.5377, -0.4885, 0.9954, 0.0521, 1.145, 0.9543, -0.7731, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.3009 left_y=-0.1074 left_z=0.0408 left_yaw=0.0625 left_pitch=-0.1523 left_roll=0.0502 left_gripper=0.9954 right_x=0.3035 right_y=0.0026 right_z=0.163 right_yaw=-0.021 right_pitch=-0.3911 right_roll=-0.0985 right_gripper=0.996\nstate[joint_eff]: [0.2393, -2.865, 4.7795, 1.4139, -0.1245, 0.149, -0.0659, -0.0342, -3.3299, 6.6667, 1.3065, -0.0073, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc8df0954e26212bd5886857d18c667d979cb8f9dcb214a5ab74ea19c1f48ec4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:762e38b0fdaf604c9bac2f011294b3870b4f12bfae7307159552a4de833a8546",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b3ff5655de3cce36ed4fa20a3c148b89c261018ae16725918ce9c735dfb167b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 8.21 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7643, 1.3594, 0.4583, -0.0696, -0.6067, -0.5846, 0.108, 0.0521, 1.1446, 0.9543, -0.7731, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2781 left_y=-0.1221 left_z=0.0378 left_yaw=0.052 left_pitch=-0.1823 left_roll=0.0875 left_gripper=0.108 right_x=0.3034 right_y=0.0026 right_z=0.1631 right_yaw=-0.021 right_pitch=-0.3907 right_roll=-0.0984 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -2.2359, 3.535, 0.8132, -0.0708, -0.149, 0.3346, -0.0752, -3.3299, 6.7077, 1.3065, 0.0024, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7673, 1.3651, 0.4541, -0.0319, -0.6067, -0.5892, 0.0314, 0.0521, 1.1446, 0.9543, -0.7727, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2812 left_y=-0.1263 left_z=0.0396 left_yaw=0.0479 left_pitch=-0.163 left_roll=0.0635 left_gripper=0.0314 right_x=0.3035 right_y=0.0026 right_z=0.1632 right_yaw=-0.021 right_pitch=-0.3904 right_roll=-0.0984 right_gripper=0.996\nstate[joint_eff]: [0.2393, -4.7658, 6.3932, 0.9109, -0.2955, 0.0415, 0.9548, -0.0479, -3.5214, 6.6393, 1.2967, 0.0073, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6415, 1.372, 0.4427, 0.0578, -0.5377, -0.4885, 0.9954, 0.0521, 1.145, 0.9543, -0.7731, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.3009 left_y=-0.1074 left_z=0.0408 left_yaw=0.0625 left_pitch=-0.1523 left_roll=0.0502 left_gripper=0.9954 right_x=0.3035 right_y=0.0026 right_z=0.163 right_yaw=-0.021 right_pitch=-0.3911 right_roll=-0.0985 right_gripper=0.996\nstate[joint_eff]: [0.2393, -2.865, 4.7795, 1.4139, -0.1245, 0.149, -0.0659, -0.0342, -3.3299, 6.6667, 1.3065, -0.0073, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc8df0954e26212bd5886857d18c667d979cb8f9dcb214a5ab74ea19c1f48ec4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:762e38b0fdaf604c9bac2f011294b3870b4f12bfae7307159552a4de833a8546",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3ff5655de3cce36ed4fa20a3c148b89c261018ae16725918ce9c735dfb167b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvAMKjgEIEhgCKkAy8U9dDnDE93OoBf3rluFbYkPhNtkOzGJ2CV1NWie2LIXfi0fV6wIxuycxqzr7WNnbYSzjLOrbHYnRQ3eWW/y4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYe/zNUGEgyvHOCNhowpiEd+olMaDAH4u/yMW4mh+ZnJpiIwUA8xMI7RdHmu3hv46HiL3QbV65PYBi2q4YnuF1ru/oX0iL1GIOiGy//jw3liDcHsKtoBhEbnWEpOqCKZD/gOVC/ZBXGlukF6zqbjYqrwOfED2Sm2KW/bNkqPX3LkoGfu9xd5nasYp0KCgphFtoY/SxyWnMh3M6w1naRpBVtU46pszuuxA2HuOf5OY+ylRFAHO2mZ0nTkeKJABWolnDSvoAA4/C5WbFjHq+VqVJvknIbzY5d2WBDGZPfMKBuA7I9xYtsLAyg+iisS3JmwClYkH5vRcTsAnHKmzJeCXe6pKoq0brGaxX4E929pY9cEU2KKq7vg3Cy56n9yQMTfvxIHFI9P4kNI0sTQ8oWRaJoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016dRUEmG84z8xvjtjFaS1m8",
      "input": {
        "note": "The brown plush is now squarely between the open jaws in the wrist view; closing to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016dRUEmG84z8xvjtjFaS1m8",
      "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]: [-0.6399, 1.3838, 0.4427, 0.0654, -0.5327, -0.4896, 0.0394, 0.0521, 1.145, 0.9543, -0.7727, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.3012 left_y=-0.1079 left_z=0.0382 left_yaw=0.0614 left_pitch=-0.158 left_roll=0.0491 left_gripper=0.0394 right_x=0.3035 right_y=0.0026 right_z=0.1631 right_yaw=-0.021 right_pitch=-0.3907 right_roll=-0.0984 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -5.3675, 5.5453, 1.326, -0.3053, 0.0024, 1.0281, -0.1162, -3.5214, 6.8581, 1.2674, -0.022, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bed90e046259d210f99a0b7267a8fe113af551982b11e854439af84dc884fee6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bb8bcb72018db54d867eefa3c9ec35b60a9b22756dccfd13ed5e7828287c7b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a5fcb7f9f3248686dc97d8fed7a2f15a416941e631dd1c834029c7400878fa0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /messages · status 200 · 3.429 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7673, 1.3651, 0.4541, -0.0319, -0.6067, -0.5892, 0.0314, 0.0521, 1.1446, 0.9543, -0.7727, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.2812 left_y=-0.1263 left_z=0.0396 left_yaw=0.0479 left_pitch=-0.163 left_roll=0.0635 left_gripper=0.0314 right_x=0.3035 right_y=0.0026 right_z=0.1632 right_yaw=-0.021 right_pitch=-0.3904 right_roll=-0.0984 right_gripper=0.996\nstate[joint_eff]: [0.2393, -4.7658, 6.3932, 0.9109, -0.2955, 0.0415, 0.9548, -0.0479, -3.5214, 6.6393, 1.2967, 0.0073, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6415, 1.372, 0.4427, 0.0578, -0.5377, -0.4885, 0.9954, 0.0521, 1.145, 0.9543, -0.7731, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.3009 left_y=-0.1074 left_z=0.0408 left_yaw=0.0625 left_pitch=-0.1523 left_roll=0.0502 left_gripper=0.9954 right_x=0.3035 right_y=0.0026 right_z=0.163 right_yaw=-0.021 right_pitch=-0.3911 right_roll=-0.0985 right_gripper=0.996\nstate[joint_eff]: [0.2393, -2.865, 4.7795, 1.4139, -0.1245, 0.149, -0.0659, -0.0342, -3.3299, 6.6667, 1.3065, -0.0073, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6399, 1.3838, 0.4427, 0.0654, -0.5327, -0.4896, 0.0394, 0.0521, 1.145, 0.9543, -0.7727, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.3012 left_y=-0.1079 left_z=0.0382 left_yaw=0.0614 left_pitch=-0.158 left_roll=0.0491 left_gripper=0.0394 right_x=0.3035 right_y=0.0026 right_z=0.1631 right_yaw=-0.021 right_pitch=-0.3907 right_roll=-0.0984 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -5.3675, 5.5453, 1.326, -0.3053, 0.0024, 1.0281, -0.1162, -3.5214, 6.8581, 1.2674, -0.022, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bed90e046259d210f99a0b7267a8fe113af551982b11e854439af84dc884fee6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bb8bcb72018db54d867eefa3c9ec35b60a9b22756dccfd13ed5e7828287c7b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a5fcb7f9f3248686dc97d8fed7a2f15a416941e631dd1c834029c7400878fa0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4QcKjgEIEhgCKkAaMCxFWODfDYb4aGOXwvI0NMhbNmG8cgXEX90HdvYbp585J2Q0vHBIq5iSsRQOaoOMHml60HxinTPkhWRQ4VdUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZC/zNUGEgybNTMhXyT6pIZJhlAaDKmC8vMsGxxZrmL39iIw7lws6ORv66GjxY/7/OOd8mk3ITLg54mW0fRDJWsFK+n3VlhZek/zSdRPoRDJNpmUKv8Fwt6/hN9zND7ZE9HkS+qYwLhmfauLkUNBdpjlqNh9U7xKR7Ott7xC9O+Zwok3wdFpsOLaJzxpEKZ6bGNlF04zhmxI8dDwCKHQl1lGCTjFcOCkGnJwLJ1jsR5qsT1jheZtApFndD0XeW7OaftJgvGMMbjxUxxCvteWWcyFgca+09+dP+fx7T/gqsfPF+4nab9Ge+6bmYRbw2GXr95mhr7zn4ObkJorJ/lzIrQSd1vU1auS8qg8mSDpHkRaOb0x1B0//O1HCni7mhcd3atAO93iUnhXMcz77/LeYFApJFqFUNOzL607mkvwXFVDVciL4HO4hCZvI/mAcIJ5pLWO7/gc+o3KbHx/kTgA8e2hdgZXvIkKrcMhCjpveqIVPwD5RiM/mRDSa9idWFgALSHjpVArnwiyvggpAKIeWthqZgkQzTfpmiklQq93DSEsoS8kv5UeHB5z5s5OY3HKv1WUfzEwoypbQ9IVR/AaULq242/UTT+FI+scjyyYFrbHUWPzkwnZQVqqg6DZk4yKaEUnlyKG6+BpZPxDfyIwURZr/zZoD6CMCv5RI7+TvXYGgZN75lDRQjyi1mHK5drqIPX9y6dGVsWx35Og+JbAA5fuMh6E9i0n7P4owaBQbVnQj/isowXwLwSWGsNZqujO08k5iFnt9+fhc4hEZEnq2naE5WaLEX3kA0xW56k+alaiPjK7gHpY/Qv5MZj4O6KMDqNSFmrpmSvPAMH3gyd9g/xKvEvNbB4FvbueW0bjn0ABtuQgsANnQ7u3QrLCTbVu+gk05c2N3LBKsSmSbvhOl0RGvDOlhqcZ7DYdIe2Zp/wW2yTCoIdRi3Om+oz8slaaS9fZWKEV+rQGUglCGEmMZlDX73ZjbWXPpCexl1JI3bM/rV645c4ZNzMh2D2AJX/ePkivIdm3ck/ICvW4+kdTToEM8tOGjtP/W7IKY46+hZsuSMs7Ek7cJe5Ggzsg1tzj5jlaexG5yJi1UkjUmiLglLovbCLpju+jOOnlZZ5TC/gt3pa5+jQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R81uFeFfdrMAfPPjZii6qo",
      "input": {
        "note": "The jaws keep closing just behind the plush's hind end, so the fingertips sit nearer the base than the wrist view suggests. Opening and driving 3.5 cm further forward to straddle its body.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.335
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01R81uFeFfdrMAfPPjZii6qo",
      "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]: [-0.5594, 1.4956, 0.5041, 0.1036, -0.4885, -0.4339, 0.995, 0.0521, 1.1446, 0.9543, -0.7731, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.3232 left_y=-0.1003 left_z=0.0278 left_yaw=0.0801 left_pitch=-0.1909 left_roll=0.0714 left_gripper=0.995 right_x=0.3034 right_y=0.0026 right_z=0.1631 right_yaw=-0.021 right_pitch=-0.3907 right_roll=-0.0984 right_gripper=0.996\nstate[joint_eff]: [0.5128, -4.7521, 7.7744, 1.5995, -0.1099, 0.1587, 0.0562, -0.0342, -3.4803, 6.6667, 1.2723, -0.0024, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55ce2deae12fb0902d53d810cb3cd7443b19cae1c80e442fbbf7a5ecb15a4a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1f2265af9a4bedd74f0483b8bcc5d0f6ca5ab45495cc090fc58eead97bd809c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae2e2690aec7f00d7ebe30307d26ec6f3f9253f6d26e90b012b5a4c8024bfd35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 39 attempt 0 · /messages · status 200 · 8.934 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6415, 1.372, 0.4427, 0.0578, -0.5377, -0.4885, 0.9954, 0.0521, 1.145, 0.9543, -0.7731, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.3009 left_y=-0.1074 left_z=0.0408 left_yaw=0.0625 left_pitch=-0.1523 left_roll=0.0502 left_gripper=0.9954 right_x=0.3035 right_y=0.0026 right_z=0.163 right_yaw=-0.021 right_pitch=-0.3911 right_roll=-0.0985 right_gripper=0.996\nstate[joint_eff]: [0.2393, -2.865, 4.7795, 1.4139, -0.1245, 0.149, -0.0659, -0.0342, -3.3299, 6.6667, 1.3065, -0.0073, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6399, 1.3838, 0.4427, 0.0654, -0.5327, -0.4896, 0.0394, 0.0521, 1.145, 0.9543, -0.7727, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.3012 left_y=-0.1079 left_z=0.0382 left_yaw=0.0614 left_pitch=-0.158 left_roll=0.0491 left_gripper=0.0394 right_x=0.3035 right_y=0.0026 right_z=0.1631 right_yaw=-0.021 right_pitch=-0.3907 right_roll=-0.0984 right_gripper=0.996\nstate[joint_eff]: [-0.3214, -5.3675, 5.5453, 1.326, -0.3053, 0.0024, 1.0281, -0.1162, -3.5214, 6.8581, 1.2674, -0.022, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5594, 1.4956, 0.5041, 0.1036, -0.4885, -0.4339, 0.995, 0.0521, 1.1446, 0.9543, -0.7731, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.3232 left_y=-0.1003 left_z=0.0278 left_yaw=0.0801 left_pitch=-0.1909 left_roll=0.0714 left_gripper=0.995 right_x=0.3034 right_y=0.0026 right_z=0.1631 right_yaw=-0.021 right_pitch=-0.3907 right_roll=-0.0984 right_gripper=0.996\nstate[joint_eff]: [0.5128, -4.7521, 7.7744, 1.5995, -0.1099, 0.1587, 0.0562, -0.0342, -3.4803, 6.6667, 1.2723, -0.0024, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55ce2deae12fb0902d53d810cb3cd7443b19cae1c80e442fbbf7a5ecb15a4a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1f2265af9a4bedd74f0483b8bcc5d0f6ca5ab45495cc090fc58eead97bd809c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae2e2690aec7f00d7ebe30307d26ec6f3f9253f6d26e90b012b5a4c8024bfd35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlAMKjgEIEhgCKkBVgagRD7PdyiWwsj1dltNbLllODNTgCEQDV3gQd4oi9kaUKgM3Q5XW6VABfAuxaZR4YWw+O51CA9qPr4z0ZQXLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZW/zNUGEgx8XlG9LhvxNX+Za9gaDI0d7GGplwphwDsFRyIwfJTCVX4JGz8hFJwL7GdVzFLZi7uXSCDkZQeJXA9BsTNCBKt/xnDHorTY3J0dmL3CKrIBiPmM5/iRlVU8JBbw6l2PXVlFOuKBozpp8CLghUWCHMJm8zlGFDYPk0meHXiFp3fmiNwrlYk46Q//1ZzuR7FNlQu79N9bQ/C92J3hXKC1IiAo0mxLv+fcxaNbeppbTWzi3o7gupMnzZ0+f7glDjAY554lS0+gAftLocU/W7oWG6k69sHNb7JFEuTiAYd7udDaCWbEs76ZiVEcPKP57UDJVis8ZlSwPCwhC2p2i8YizCvXZhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XmYu4JK8XvdAwZXg3uNjwb",
      "input": {
        "note": "The plush now fills the space between the open jaws. Closing to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XmYu4JK8XvdAwZXg3uNjwb",
      "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]: [-0.5575, 1.4998, 0.5068, 0.1062, -0.4866, -0.4377, 0.2, 0.0521, 1.145, 0.9543, -0.7731, 0.0952, -0.0303, 0.996]\nstate[eef_state]: left_x=0.3242 left_y=-0.1006 left_z=0.0277 left_yaw=0.0826 left_pitch=-0.1907 left_roll=0.0667 left_gripper=0.2 right_x=0.3035 right_y=0.0026 right_z=0.163 right_yaw=-0.021 right_pitch=-0.3911 right_roll=-0.0985 right_gripper=0.996\nstate[joint_eff]: [-0.253, -5.6957, 5.0803, 1.3944, -0.2857, 0.0073, 0.9158, -0.1709, -3.5761, 6.6256, 1.2821, -0.0171, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61898d33f479c83102a6404ac5cd7eee0ba835db4a24af976c08f533fcb7db36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3bf9ddd0c5f22cdc7346c00bc2a54f5f0f4214b0b164042a12c439b50454822",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d9c8c1be8aaa5150ad08085a72fdb781d1db06844c8cd06783abee47c1e8a226",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]